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CN108146564A - Balance control method, system, device and sulky vehicle - Google Patents

Balance control method, system, device and sulky vehicle Download PDF

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Publication number
CN108146564A
CN108146564A CN201711449536.1A CN201711449536A CN108146564A CN 108146564 A CN108146564 A CN 108146564A CN 201711449536 A CN201711449536 A CN 201711449536A CN 108146564 A CN108146564 A CN 108146564A
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CN
China
Prior art keywords
front wheel
wheeled vehicle
data
wheel steering
gyro
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201711449536.1A
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Chinese (zh)
Inventor
翟坤
黄琳
李春福
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BEIJING LINGYUN INTELLIGENT TECHNOLOGY Co Ltd
Original Assignee
BEIJING LINGYUN INTELLIGENT TECHNOLOGY Co Ltd
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Priority to CN201711449536.1A priority Critical patent/CN108146564A/en
Publication of CN108146564A publication Critical patent/CN108146564A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D37/00Stabilising vehicle bodies without controlling suspension arrangements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62JCYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J27/00Safety equipment

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

The embodiment of the present invention provides a kind of balance control method, system, device and sulky vehicle.The balance control method includes:The balance controller, which receives, it is expected steering instructions, and the expectation steering instructions include steering order, assisted instruction or reduction of speed instruction;The current status data of the sulky vehicle is obtained, the current status data includes one or more in speed, acceleration and the roll angle of sulky vehicle;It according to the current status data of the expectation steering instructions and sulky vehicle carries out that gyro gimbal rotation data is calculated, to generate gyro gimbal driving instruction according to the gyro gimbal rotation data;The gyro gimbal driving instruction is sent to the gyroscopic apparatus so that the gyroscopic apparatus rotates, to be balanced adjusting to the sulky vehicle.

Description

Balance control method, system and device and two-wheeled vehicle
Technical Field
The invention relates to the technical field of automobiles, in particular to a balance control method, a balance control system, a balance control device and a two-wheeled vehicle.
Background
At present, with the increasing number of urban automobiles, the problems of traffic jam, environmental pollution, difficult parking and the like become more serious. In order to solve the problems, solutions such as limited number driving, electric vehicles and shared bicycles are developed successively, and the solutions relieve the urban traffic problem to a certain extent, but still have many unsolved problems. The two-wheeled vehicle is a novel vehicle, two wheels of the two-wheeled vehicle are arranged in front of and behind each other, one to two seats are provided on the vehicle, the size of the two-wheeled vehicle is only half of the width of a normal four-wheeled vehicle, and the weight of the two-wheeled vehicle is not half of that of the normal four-wheeled vehicle. The two-wheeled vehicle is popularized in urban traffic, the travel requirements of people under most conditions can be met, the problems of traffic jam, parking difficulty and the like can be greatly avoided, and part of defects of the existing solutions are overcome. The single-track structure of the two-wheeled vehicle is more adaptive than that of the four-wheeled vehicle if the two-wheeled vehicle is used in severe conditions such as mountainous regions, jungles, deserts and the like.
However, since the two-wheeled vehicle is constituted by only the front and rear wheels, it is an unstable system. The problem of balancing with respect to two-wheeled vehicles is therefore the problem that two-wheeled vehicles are the first to solve.
Disclosure of Invention
In view of the above, an object of the embodiments of the present invention is to provide a balance control method, system, device and two-wheeled vehicle.
The balance control method provided by the embodiment of the invention is applied to a balance control system, the balance control system is arranged on a two-wheeled vehicle, and the balance control system comprises a balance controller and a gyro device; the balance control method comprises the following steps:
the balance controller receives an expected driving instruction, wherein the expected driving instruction comprises a steering instruction, an acceleration instruction or a deceleration instruction;
acquiring current state data of the two-wheeled vehicle, wherein the current state data comprises one or more of speed, acceleration and rolling angle of the two-wheeled vehicle;
calculating according to the expected driving instruction and the current state data of the two-wheeled vehicle to obtain gyro frame rotation data, and generating a gyro frame driving instruction according to the gyro frame rotation data;
and sending the gyro frame driving instruction to the gyro device to enable the gyro device to rotate so as to perform balance adjustment on the two-wheeled vehicle.
An embodiment of the present invention further provides a balance control system, which is mounted on a two-wheeled vehicle, and includes: the device comprises a balance controller, a front wheel steering driving system and a gyro device;
the front wheel steering driving system comprises a front wheel driving component and a front fork which are connected with each other;
the balance controller is used for calculating to obtain front wheel steering data and gyro frame rotation data according to a received expected driving instruction and current state data of the two-wheeled vehicle, respectively generating a front wheel steering driving instruction and a gyro frame driving instruction according to the front wheel steering data and the gyro frame rotation data, sending the front wheel steering driving instruction to the front wheel driving assembly to enable the front wheel driving assembly to drive a front fork to rotate so as to enable the front fork to drive a front wheel to move, and sending the gyro frame driving instruction to the gyro device to control the gyro device to rotate, wherein the expected driving instruction comprises a steering instruction, an acceleration instruction or a deceleration instruction, and the current state data comprises one or more of the speed, the acceleration and the rolling angle of the two-wheeled vehicle.
An embodiment of the present invention further provides a balance control apparatus, where the balance control apparatus includes:
the system comprises a receiving module, a control module and a control module, wherein the receiving module is used for receiving an expected driving instruction, and the expected driving instruction comprises a steering instruction, an acceleration instruction or a deceleration instruction;
the acquisition module is used for acquiring current state data of the two-wheeled vehicle, wherein the current state data comprises one or more of speed, acceleration and rolling angle of the two-wheeled vehicle;
the calculation module is used for calculating to obtain front wheel steering data and gyro frame rotation data according to the received expected driving instruction and the current state data of the two-wheeled vehicle, and respectively generating a front wheel steering driving instruction and a gyro frame driving instruction according to the front wheel steering data and the gyro frame rotation data;
and the sending module is used for sending the front wheel steering driving instruction to the front wheel steering driving system so as to enable the front wheel steering driving system to drive the front wheels of the two-wheeled vehicle, and sending the gyro frame driving instruction to the gyro device so as to control the gyro device to rotate.
An embodiment of the present invention also provides a two-wheeled vehicle, including:
a frame;
a front wheel and a rear wheel mounted on the frame; and the number of the first and second groups,
the balance control system is described above.
Compared with the prior art, according to the balance control method, the system and the device as well as the two-wheeled vehicle, the expected driving instruction input to the two-wheeled vehicle by the user is balanced and calculated according to the expected driving instruction and the current state data of the two-wheeled vehicle, and then the gyro frame driving instruction for controlling the movement of the gyro is obtained, so that the expected driving instruction obtained by the two-wheeled vehicle in the movement process is prevented from exceeding the balance range which can be borne by the two-wheeled vehicle, and the balance and the safety of the two-wheeled vehicle in the driving process are improved.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a two-wheeled vehicle according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a gyro device according to a preferred embodiment of the present invention.
Fig. 3 is a block diagram of a balance control system according to an embodiment of the present invention.
Fig. 4 is a block diagram of a balance control device according to an embodiment of the present invention.
Fig. 5 is a flowchart illustrating a balance control method according to an embodiment of the present invention.
Fig. 6 is another schematic flow chart of a balance control method according to an embodiment of the present invention.
Fig. 7 is a schematic structural view of a two-wheeled vehicle according to another angle in the preferred embodiment of the invention.
FIG. 8 is a graph illustrating a vehicle speed variation of a two-wheeled vehicle according to an example.
Fig. 9 is a graph showing a comparison of the actual disturbance torque and the estimated disturbance torque of the two-wheeled vehicle in one example.
Fig. 10 is a graph showing a comparison between the current roll angle and the equilibrium roll angle of the two-wheeled vehicle in one example.
Fig. 11 is a schematic view of gyro frame rotation data of a gyro device of a two-wheeled vehicle in one example.
Fig. 12 is a graph illustrating a comparison between a desired yaw angle and an actual yaw angle of a two-wheeled vehicle in one example.
Icon: 10-a two-wheeled vehicle; 100-front wheel steering drive system; 110-a front wheel drive assembly; 120-a front fork; 130-a steering wheel; 200-a frame; 300-a gyro device; 310-a rotor; 320-a rotor drive motor; 330-a gyroscope frame; 340-frame drive motor; 350-a bracket; 400-front wheels; 500-rear wheel; 600-a balance controller; 700-a sensor; 710-a first encoder; 720-a second encoder; 730-a third encoder; 740-a fourth encoder; 750-an inertial measurement unit; 800-balance control means; 810-a receiving module; 820-an acquisition module; 830-a calculation module; 840-sending module.
Detailed description of the invention
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
As shown in fig. 1, a schematic structural view of a two-wheeled vehicle 10 according to an embodiment of the present invention is shown. The two-wheeled vehicle 10 includes a frame 200, front and rear wheels 400 and 500 mounted on the frame 200, and a balance control system. The balance control system includes: balance controller 600, front-wheel steering drive system 100, and gyroscopic device 300 (shown in fig. 2).
As shown in FIG. 1, the front steering drive system 100 includes a front wheel drive assembly 110 and a front fork 120 coupled to each other. Further, the front-wheel steering drive system 100 may also include a steering wheel 130.
As shown in fig. 2, the gyro device 300 includes a rotor 310 rotating at a high speed, a rotor driving motor 320 installed at the center of the rotor 310, a gyro frame 330 sleeved outside the rotor 310, frame driving motors 340 disposed at both ends of the gyro frame 330, and a bracket 350. After the spinning top device 300 is started, the rotor driving motor 320 controls the rotor 310 to rotate up to the working rotation speed and maintain the rotation speed. When the gyro device 300 needs to be used for balance control, the balance controller 600 sends a gyro frame driving instruction, so that the frame driving motor 340 controls the gyro frame 330 to drive the rotor 310 to rotate.
In detail, the balance controller 600 may calculate front wheel steering data and gyro frame rotation data according to the received expected driving instruction and the current state data of the two-wheeled vehicle. The balance controller 600 generates a front wheel steering drive instruction according to the front wheel steering data, and generates a gyro frame drive instruction according to the gyro frame rotation data. The balance controller 600 sends the front wheel steering drive command to the front wheel drive assembly 110 to cause the front wheel drive assembly 110 to drive the front fork 120 to move the front wheel 400. The balance controller 600 transmits the gyro frame driving command to the gyro device 300 to control the gyro device 300 to rotate. Wherein the desired driving instruction comprises a steering instruction, an acceleration instruction, or a deceleration instruction. The current state data includes one or more of the current speed, acceleration, and roll angle of the two-wheeled vehicle 10. The current state parameters may specifically include speed, acceleration, steering angle of the front wheel, steering angular speed of the front wheel, roll angle, roll angular speed, roll angular acceleration, gyro rotor angle, and frame angle of the two-wheeled vehicle.
The balance controller 600 may be mounted on the vehicle frame 200 or in the front wheel steering driving system 100.
The balance controller 600 may be an integrated circuit chip having signal processing capability. The balance controller 600 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The balance control system may further include a Memory (not shown), which may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an erasable Read-Only Memory (EPROM), an electrically erasable Read-Only Memory (EEPROM), and the like. The memory is used for storing a program, and the balance controller 600 executes the program after receiving an execution instruction.
As shown in fig. 3, the balance control system may further include a plurality of sensors 700, and the sensors 700 may include a first encoder 710, and the first encoder 710 may be mounted on the front wheel steering drive system 100, for example, may be mounted on the steering wheel 130. The first encoder 710 is configured to measure a desired yaw angle corresponding to a steering operation performed by a user and received by the front wheel steering driving system 100, and send a steering instruction carrying the desired yaw angle to the balance controller 600. In one example, when a user turns the steering wheel 130 to perform a steering operation, the first encoder 710 may measure a desired yaw angle of the user operating the steering wheel 130.
Referring again to fig. 3, the sensor 700 may further include a second encoder 720, the second encoder 720 being configured to measure a steering angle of a front wheel of the two-wheeled vehicle. The sensor 700 may further include a third encoder 730, and the third encoder 730 is used for measuring the rotation angle of the gyro device 300. The rotation angle of the gyro device 300 includes a rotor rotation angle, a gyro frame rotation angle, and the like. Wherein the third encoder 730 may include two parts for testing the rotor rotation angle and the gyro frame rotation angle, respectively. The third encoder 730 may further include two sensors for measuring the rotor rotation angle and the gyro frame rotation angle, respectively. The sensor 700 may further include an inertial measurement unit 750, the inertial measurement unit 750 being configured to measure linear acceleration and angular velocity of the two-wheeled vehicle 10. Further, the sensor 700 may further include a fourth encoder 740, and the fourth encoder 740 is used for measuring the rotation angle of the rear wheel 500.
Specifically, the balance controller 600 may calculate the current state data according to the measurement data measured by the second encoder 720, the third encoder 730, the fourth encoder 740, and the inertia measurement unit 750.
Data obtained by testing by the first encoder 710, the second encoder 720, the third encoder 730, the fourth encoder 740 and the inertia measurement unit 750, which are included in the sensor 700, may be filtered to reduce interference such as measurement noise and data mutation in the data obtained by testing, so that current state data obtained by calculating the data after denoising is closer to a real state of the two-wheeled vehicle, and an expected driving instruction corresponding to the data after denoising is closer to a value input by a real operation of a user.
The following describes the balancing control process of the two-wheeled vehicle in a complete example, as described in detail below.
As shown in fig. 3, the following describes a process of the balance control of the two-wheeled vehicle based on fig. 3. First, the two-wheeled vehicle 10 receives an acceleration, deceleration, or steering operation input by the user. The balance controller 600 calculates the current state data according to the measurement data measured by the second encoder 720, the third encoder 730, the fourth encoder 740, and the inertia measurement unit 750. The state data of the front wheel steering driving system 100 and the gyro device 300 are updated in real time during the movement process, interference torque is generated due to the two-wheeled vehicle, crosswind acting on the vehicle body and the activities of personnel on the vehicle during the movement process, and the current data can also comprise the interference torque. For example, if a user performs a steering operation, the first encoder 710 measures a desired yaw angle of the steering wheel 130, and transmits a steering command to the balance controller 600 according to the desired yaw angle. The balance controller 600 generates a control command according to the input command and the current state data. The control instructions include front wheel steering drive instructions and top frame drive instructions generated from top frame rotation data. Finally, the front wheel steering drive system 100 and the gyro device 300 of the two-wheeled vehicle 10 perform corresponding operations according to the received control instruction.
As shown in fig. 4, the embodiment of the present invention further provides a balance control device 800 applied to the two-wheeled vehicle 10, where the balance control device 800 includes a receiving module 810, an obtaining module 820, a calculating module 830, and a sending module 840.
The receiving module 810 is configured to receive a desired driving instruction.
The obtaining module 820 is configured to obtain current status data of the two-wheeled vehicle 10.
The calculating module 830 is configured to calculate front wheel steering data and gyro frame rotation data according to the received expected driving instruction and the current state data of the two-wheeled vehicle 10, so as to generate a front wheel steering driving instruction and a gyro frame driving instruction according to the front wheel steering data and the gyro frame rotation data, respectively.
The sending module 840 is configured to send the front wheel steering driving instruction to the front wheel steering driving system 100, so that the front wheel steering driving system 100 drives the front wheels 100 of the two-wheeled vehicle, and send the gyro frame driving instruction to the gyro device 300 to control the gyro device 300 to rotate.
Wherein the balance control apparatus 800 includes at least one software function module that can be stored in a memory of the balance control system in a form of software or firmware (firmware). The balance controller 600 is used to execute executable modules stored in a memory, such as software functional modules or programs included in the balance control apparatus 800.
The balance control device 800 in this embodiment is executed by the balance controller 600, and further details regarding the balance control device 800 in this embodiment may refer to the description of the execution content of the balance controller 600 in the first embodiment, which is not repeated herein.
Please refer to fig. 5, which is a flowchart illustrating a balance control method applied to the balance control system shown in fig. 3 according to an embodiment of the present invention. The balance control method in the embodiment of the present invention may include steps S101 to S104. The steps of the present method embodiment may be performed by the modules of the balance control apparatus 800, respectively. The specific flow of steps S101-S104 shown in fig. 5 will be described in detail below.
The balance control system may perform steps S101 to S104 to perform balance control of the two-wheeled vehicle.
In step S101, a desired driving instruction is received.
In detail, the first encoder 710 in the balance control system shown in fig. 3 may measure a wished yaw angle corresponding to a steering operation performed by a user, which is received by the front-wheel steering drive system 100. When the desired driving instruction is a steering instruction, in step S101, the steering instruction carrying the desired yaw angle, which is sent by the first encoder 710, may be directly received, and the steering instruction carrying the desired yaw angle.
The desired driving instruction may also be an acceleration instruction or a deceleration instruction that can be obtained by the two-wheeled vehicle 10 according to an acceleration or deceleration operation performed by the user.
Step S102, current state data of the two-wheeled vehicle 10 is acquired.
In detail, the current state data includes one or more of a speed, an acceleration, and a roll angle of the two-wheeled vehicle. The current state parameters may specifically include speed, acceleration, steering angle of the front wheel, steering angular speed of the front wheel, roll angle, roll angular speed, roll angular acceleration, gyro rotor angle, and frame angle of the two-wheeled vehicle. Further, the current state data may further include other data calculated from the measurement data measured by the sensor, for example, a gravitational moment of the two-wheeled vehicle, a centrifugal moment related to a steering angle of the two-wheeled vehicle, an output moment of a centrifugal moment gyro device related to a steering angular velocity, an angular momentum of the rotor 310, and the like.
And step S103, calculating according to the expected driving instruction and the current state data of the two-wheeled vehicle to obtain gyro frame rotation data, and generating a gyro frame driving instruction according to the gyro frame rotation data.
And step S104, sending the gyro frame driving instruction to the gyro device to enable the gyro device to rotate so as to perform balance adjustment on the two-wheeled vehicle.
It should be noted that, in the present embodiment, the above-described steps S101 to S104 are preferably executed when the vehicle speed of the two-wheeled vehicle is less than a preset threshold value, and when the vehicle speed of the two-wheeled vehicle is greater than or equal to the preset threshold value, in order to enhance the balance of the two-wheeled vehicle 10, the balance control method shown in fig. 6 is preferably adopted.
Referring to fig. 6, when the speed of the two-wheeled vehicle is greater than or equal to the predetermined threshold, another balance control method is provided in an embodiment of the present invention to further ensure the balance of the two-wheeled vehicle 10. Of course, it should be understood that the method shown in fig. 6 may be performed when the vehicle speed of the two-wheeled vehicle is less than the preset threshold, and the balance of the two-wheeled vehicle 10 may still be controlled. The method shown in fig. 6 is substantially the same as the method shown in fig. 5, except that step S1031 is further included after step S103, and step S1041 is further included after step S104, which is described in detail below.
In step S101, a desired driving instruction is received.
Step S102, current state data of the two-wheeled vehicle 10 is acquired.
And step S103, calculating according to the expected driving instruction and the current state data of the two-wheeled vehicle to obtain gyro frame rotation data, and generating a gyro frame driving instruction according to the gyro frame rotation data.
And step S1031, calculating according to the expected driving instruction and the current state data of the two-wheeled vehicle to obtain front wheel steering data, and generating a front wheel steering driving instruction according to the front wheel steering data. Wherein the top frame rotation data may include an angular velocity of the top frame.
Wherein the front wheel steering data may comprise a yaw angle controlling the front wheel with respect to a current roll angle.
And step S104, sending the gyro frame driving instruction to the gyro device to enable the gyro device to rotate so as to perform balance adjustment on the two-wheeled vehicle.
Step S1041, sending the front wheel steering driving command to the front wheel steering driving system, so that the front wheel steering driving system drives the front wheels of the two-wheeled vehicle.
According to the balance control method provided by the embodiment of the invention, the gyro frame rotation data is obtained through calculation of the expected driving instruction and the current state data to generate the gyro frame driving instruction, and the parallel balance adjustment is carried out on the two-wheeled vehicle, so that the problem that the two-wheeled vehicle is out of balance if the two-wheeled vehicle rotates according to the operation executed by the user after the user executes the turning operation when the two-wheeled vehicle runs at a high speed when the balance of the two-wheeled vehicle is controlled in a single-row mode through a gyro device is effectively avoided, and the balance of the two-wheeled vehicle is improved.
Among them, the front wheel steering drive command and the gyro frame drive command in the above embodiments may be generated in the following manner.
The balance controller receives the measurement data respectively sent by the second encoder, the third encoder, the fourth encoder and the inertia measurement unit;
calculating current state data of the two-wheeled vehicle according to the received measurement data;
calculating the interference torque of the two-wheeled vehicle according to the current state data;
calculating a balance rolling angle of the two-wheeled vehicle corresponding to the willingness deflection angle according to the interference moment and the willingness deflection angle corresponding to the steering instruction; and
and calculating to obtain front wheel steering data and gyro frame rotation data according to the balance roll angle and the current roll angle of the two-wheeled vehicle, and respectively generating a front wheel steering driving instruction and a gyro frame driving instruction according to the front wheel steering data and the gyro frame rotation data.
Wherein the motion of the two-wheeled vehicle about the roll axis can be described using the following equation:
wherein, Jb-xxIs the moment of inertia of the two-wheeled vehicle about the rolling axis (approximately the line connecting the front and rear wheels 500 with the ground contact point),is the roll angular acceleration of the two-wheeled vehicle.
TgIs the moment of gravity of the two-wheeled vehicle, m is the mass of the two-wheeled vehicle, g is the acceleration of gravity, hbzThe height of the center of mass of the two-wheeled vehicle from the touchdown point of the rear wheel 500,as a roll angle, as shown in fig. 7, the inclination angle of the two-wheeled vehicle with respect to the vertical direction, in one example, the two-wheeled vehicle is inclined to the right in the forward direction,is positive.
TsIs the centrifugal moment in relation to the steering angle, wherein,lrw-fwis the track width, theta, of the front wheel 400 and the rear wheel 500sIs the angle between the front wheel steering axis and the yaw axis of the frame 200, wherein, andthe moment of inertia about the axis of rotation of the front and rear wheels 400 and 500, respectively, and r is the wheel radius. J. the design is a squareb-xzFor the product of inertia of the two-wheeled vehicle with respect to the roll and yaw axes, the origin of coordinates is assumed to be at the rear wheel 500 touchdown point.Is the roll angular velocity of the two-wheeled vehicle. v. ofrwAndthe vehicle speed and acceleration of the two-wheeled vehicle. PsisIs the steering angle of the front wheel relative to the frame 200, in one example the front wheel is turned to the left in the forward direction, ψsIs positive.
TdsIs the centrifugal moment related to the steering angular velocity. At TdsIn the description of (a) above, the description of (b),is the front wheel steering angular velocity.
TcmgIs the output torque of the gyro device 300,is the moment of inertia of the rotor 310 about the axis of rotation,is the rotational angular velocity, theta, of the rotor 310gcAndthe rotation angle and the rotational angular velocity of the gyro frame 330 around the frame axis, respectively.
TdRepresentation includes doing on two-wheeled vehiclesDisturbance moments used and other unmodeled coupling moments.
Based on the current state data of the two-wheeled vehicle, which can be calculated by equation (1), the estimated value of the disturbance torque may be:
wherein the subscript "-m" indicates that the quantity is calculated based on the current measurement data, and the subscript "-e" indicates that the quantity is an estimated value; e.g. Td-eRepresents TdEstimate of (a), Tg-mRepresenting T calculated from detected datagThe value of (c).
In order to achieve the balance stability of the two-wheeled vehicle, it is necessary to calculate a balance point, i.e., the balance roll angle, at which the balance stability control of the two-wheeled vehicle is achieved. In one example, assuming that the derivative terms of the states are all 0, such as roll angular velocity, roll angular acceleration, steering angular velocity, frame angular velocity of the control moment gyro, etc., the calculation formula of the equilibrium roll angle can be obtained according to equation (1):
wherein,to balance the roll angle,. psis-inAnd the steering command is a corresponding willingness deflection angle.
Further, the balance roll angle is obtained through calculationDesired yaw angle psi corresponding to steering commandss-inAnd calculating to obtain the gyro frame rotation data and the front wheel steering data.
Specifically, the balance controller 600 may calculate the gyro frame rotation data and the front wheel steering data by using different calculation methods according to the current speed of the two-wheeled vehicle. For example, when the current speed of the two-wheeled vehicle is less than the threshold value and the current speed of the two-wheeled vehicle is greater than the threshold value, two different calculation manners are adopted, and the following is a detailed description about two different running states of the two-wheeled vehicle.
In a first state, the step of calculating to obtain front wheel steering data and gyro frame rotation data according to the balance roll angle and the current roll angle of the two-wheeled vehicle, and generating the front wheel steering driving instruction and the gyro frame driving instruction according to the front wheel steering data and the gyro frame rotation data respectively comprises: when the maximum value of the speed change range of the two-wheeled vehicle is smaller than a specified value, calculating a difference value between a balance roll angle and a current roll angle of the two-wheeled vehicle as the gyro frame rotation data, and taking the willingness deflection angle as the front wheel steering data; and generating the front wheel steering driving instruction and the gyro frame driving instruction according to the front wheel steering data and the gyro frame rotation data.
In the first state, different specified values may be set according to different running states of the two-wheeled vehicle. The specified value is a first threshold value v when the two-wheeled vehicle is running with accelerationrw0(ii) a When the two-wheeled vehicle is running at a reduced speed, the specified value is a second threshold value vrw0-ΔvrwWherein Δ vrwIs greater than 0. By setting Δ vrwTo avoid the vehicle speed being at vrw0When the fluctuation is nearby, the balance control method is frequently switched. In this implementation, the roll angle can be balancedAnd current roll angleThe deviation of the gyro angle is constructed to obtain the rotation data of the gyro frame by the closed-loop controller of the roll angleCan makeDesign gyro frame rotation data of gyro device by using Differential advanced PID (Proportion integration Differential) control algorithmComprises the following steps:
in a first state, the intention is deflected by psis-inAs the front wheel steering data. In the first state, when the running speed of the two-wheeled vehicle is low, the gyro frame rotation data is obtained through calculation so as to control the balance of the two-wheeled vehicle through the gyro device, and the calculation amount of the balance controller can be reduced by adopting a simpler calculation mode while the balance of the two-wheeled vehicle is kept.
In a second state, the step of calculating to obtain front wheel steering data and gyro frame rotation data according to the balance roll angle and the current roll angle of the two-wheeled vehicle, and generating the front wheel steering driving instruction and the gyro frame driving instruction according to the front wheel steering data and the gyro frame rotation data respectively comprises: when the minimum value of the speed change range of the two-wheeled vehicle is larger than a specified value, calculating the balance roll angle and the current roll angle of the two-wheeled vehicle by a PID algorithm to obtain an expected control torque; and calculating to obtain front wheel steering data and gyro frame rotation data by using the expected control moment and the current state data, and generating the front wheel steering driving instruction and the gyro frame driving instruction according to the front wheel steering data and the gyro frame rotation data.
In the above manner, the gyro device 300 and the front wheel steering driving system 100 jointly control the balance of the two-wheeled vehicle, so that the front wheel steering driving system 100 and the gyro device 300 control the balance of the two-wheeled vehicle in parallel.
In the second state, different specified values may be set according to different running states of the two-wheeled vehicle. The specified value is a first threshold value v when the two-wheeled vehicle is running with accelerationrw0(ii) a When the two-wheeled vehicle is running at a reduced speed, the specified value is a second threshold value vrw0-ΔvrwWherein Δ vrw>0。
By using the parallel control mode in the second state, the balance controller obtains the front wheel steering data and the gyro frame rotation data through calculation, so that the condition that the rotation range of the two-wheeled vehicle exceeds the balance range which can be controlled by the gyro device due to the turning of the two-wheeled vehicle only through the gyro device in the prior art when the vehicle speed is large is avoided.
The process by which the balance controller calculates the front wheel steering data and the gyro frame rotation data is described below by two methods.
In the first method, can makeDesign gyro frame rotation data of gyro device by using differential advanced PID (Proportion integration differential) control algorithmComprises the following steps:
wherein T iscTo obtain a desired balance stability control moment according to the balance stability control method of the gyro device 300.Andis a control parameter of the PID control algorithm. Lambda is a control weight coefficient assigned to the gyro device 300 in the parallel control process, and the value range of lambda is 0-1.
In detail, in order to realize the balance stabilization control of the balance roll angle, the control weight assigned to the steering balance control during the parallel control is (1- λ) · Tc. In order to match the control weight, a coordination controller is firstly designed, and the coordination controller can be realized by adopting a PID control algorithm, namely:
further obtainable from the above formula (6):
front wheel steering data psi obtained by solving equation (7)s-eAccording to said front-wheel steering data psis-eA front wheel steering drive command may be generated.
In the second method, can makeThe expected balance stability control torque T is obtained by adopting a differential advanced PID control algorithm based on a front wheel steering balance stability control methodc
Wherein,andis a control parameter of the PID control algorithm.
Further, the steering angle command ψ of the front wheel can be obtained from the following equations-eComprises the following steps:
further, in order to match the control weight, a coordination controller is first designed, and the coordination controller can be implemented by using a PID control algorithm, and can obtain:
the gyro frame rotation data of the gyro device 300 can be further obtained as follows:
by forming a roll angle closed loop by using the parallel control of the front wheel steering driving command and the gyro frame driving command and then adding a frame angle closed loop and a front wheel steering angle closed loop outside the parallel control, the gyro frame 330 of the gyro device 300 is ensured to be maintained near 0 degrees and meet the driving requirement.
The starting point of the balance stability parallel control method provided by the embodiment of the invention is that the balance control of the gyro device 300 and the steering balance control of the front wheels are fully combined, and the gyro balance control method is applied under the conditions of static and low speed; under the condition of high speed, a gyro balance control method and a steering balance control method are simultaneously applied to strengthen the balance stability control capability. Meanwhile, in order to ensure the driving requirement, outer loop control is added on the basis of the traditional method to form double closed loop control.
The flow of the balance control method is described below in a specific example with two-wheeled vehicle travel data.
In the present example, the first threshold value vrw0The balance stability control can be carried out by selecting a parallel control method for obtaining front wheel steering data and gyro frame rotation data through calculation under the condition of medium and high speed, and respectively generating a front wheel steering driving instruction and a gyro frame driving instruction according to the front wheel steering data and the gyro frame rotation data. In one example, the control weight coefficient may be 0.5. In one example, suppose a two-wheeled vehicle accelerates uniformly to 18km/h within 0-6 s; then the vehicle runs at a constant speed within 6-25 s, and is subjected to a constant disturbance torque of 50Nm within 6-10 s; the acceleration is uniformly accelerated to 28km/h within 25-30 s, and the intention of front wheel steering of 5 degrees is exerted through the steering wheel 130 at 30 s. FIG. 8 is a schematic view showing a change curve of the vehicle speed of the two-wheeled vehicle, and it can be seen that the vehicle speed of the two-wheeled vehicle reaches 20km/h at 26 s.
First, disturbance torque estimation is performed, and the estimation result is shown in fig. 9. As can be seen from the figure, the estimated disturbance torque and the actual disturbance torque at most of the time points are well matched.
Since there is no front wheel steering intention during the disturbance torque application time, the balance point (i.e., the balance roll angle) of the balance stabilization control depends on the estimated disturbance torque, as shown in fig. 10. And controlling the balance of the two-wheeled vehicle by means of the generated gyro frame driving command corresponding to the calculated gyro frame rotation data in the balance stability control mode when the speed of the two-wheeled vehicle is lower than 20 km/h. As can be seen from fig. 10, the current roll angle and the equilibrium roll angle are substantially the same, i.e., equilibrium stabilization is achieved. Meanwhile, as can be seen from fig. 11, since the closed-loop controller of the gyro device 300 is used, the frame angle of the gyro device 300 is maintained at about 0 ° during the balance stabilization control.
When the driver applies a 5 deg. intention to steer the front wheel through the steering wheel 130 at 30s, at which the speed of the two-wheeled vehicle is higher than 20km/h, the balance stabilization control is adopted to achieve the balance of the two-wheeled vehicle controlled by the front wheel steering drive system 100 in parallel with the gyro device 300. As can be seen from fig. 10, the current roll angle and the equilibrium roll angle are substantially the same, i.e., equilibrium stabilization is achieved. As can be seen from fig. 12, the steering balance control automatically completes the "steering" operation in which the steering wheel 130 is turned in the opposite direction to obtain a moment for tilting the vehicle body in the turning direction before turning, and then the desired turning operation is performed. Meanwhile, the front wheel steering angle closed-loop controller is added outside the rolling angle closed-loop controller, so that the actual front wheel steering angle and the front wheel steering will be kept consistent in the balance and stability control process, namely the driving requirement of a driver is ensured.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. A balance control method is applied to a balance control system, the balance control system is installed on a two-wheeled vehicle, and the balance control system comprises a balance controller and a gyro device; the balance control method comprises the following steps:
the balance controller receives an expected driving instruction, wherein the expected driving instruction comprises a steering instruction, an acceleration instruction or a deceleration instruction;
acquiring current state data of the two-wheeled vehicle, wherein the current state data comprises one or more of speed, acceleration and rolling angle of the two-wheeled vehicle;
calculating according to the expected driving instruction and the current state data of the two-wheeled vehicle to obtain gyro frame rotation data, and generating a gyro frame driving instruction according to the gyro frame rotation data;
and sending the gyro frame driving instruction to the gyro device to enable the gyro device to rotate so as to perform balance adjustment on the two-wheeled vehicle.
2. The balance control method according to claim 1, wherein the balance control system further comprises a front wheel steering drive system; the method further comprises the following steps:
calculating according to the expected driving instruction and the current state data of the two-wheeled vehicle to obtain front wheel steering data, and generating a front wheel steering driving instruction according to the front wheel steering data;
sending the front wheel steering drive command to the front wheel steering drive system to cause the front wheel steering drive system to drive the front wheels of the two-wheeled vehicle.
3. The balance control method according to claim 1, wherein the balance control system further comprises a first encoder installed in the front wheel steering drive system, the first encoder being configured to measure a desired yaw angle corresponding to a steering operation performed by a user received by the front wheel steering drive system; the step of the balance controller receiving a desired driving instruction comprises:
and receiving a steering instruction which is sent by the first encoder and carries the intention deflection angle, wherein the steering instruction carries the intention deflection angle.
4. The balance control method according to claim 3, wherein the balance control system further comprises a second encoder for measuring a steering angle of a front wheel of the two-wheeled vehicle, a third encoder for measuring a rotation angle of a gyro device, a fourth encoder for measuring a rotation angle of a rear wheel of the two-wheeled vehicle, and an inertial measurement unit for measuring a linear acceleration and an angular velocity of the two-wheeled vehicle; the front wheel steering drive command and the top frame drive command are generated by:
the balance controller receives the measurement data respectively sent by the second encoder, the third encoder, the fourth encoder and the inertia measurement unit;
calculating current state data of the two-wheeled vehicle according to the received measurement data;
calculating the interference torque of the two-wheeled vehicle according to the current state data;
calculating a balance rolling angle of the two-wheeled vehicle corresponding to the willingness deflection angle according to the interference moment and the willingness deflection angle corresponding to the steering instruction;
and calculating to obtain front wheel steering data and gyro frame rotation data according to the balance roll angle and the current roll angle of the two-wheeled vehicle, and respectively generating a front wheel steering driving instruction and a gyro frame driving instruction according to the front wheel steering data and the gyro frame rotation data.
5. The balance control method according to claim 4, wherein the step of calculating front wheel steering data and gyro frame rotation data based on the balance roll angle and a current roll angle of the two-wheeled vehicle to generate the front wheel steering drive command and the gyro frame drive command based on the front wheel steering data and the gyro frame rotation data, respectively, comprises:
when the maximum value of the speed change range of the two-wheeled vehicle is smaller than a specified value, calculating a difference value between a balance roll angle and a current roll angle of the two-wheeled vehicle as the gyro frame rotation data, and taking the willingness deflection angle as the front wheel steering data;
and generating the front wheel steering driving instruction and the gyro frame driving instruction according to the front wheel steering data and the gyro frame rotation data.
6. The balance control method according to claim 4, wherein the step of calculating front wheel steering data and gyro frame rotation data based on the balance roll angle and a current roll angle of the two-wheeled vehicle to generate the front wheel steering drive command and the gyro frame drive command based on the front wheel steering data and the gyro frame rotation data, respectively, comprises:
when the minimum value of the speed change range of the two-wheeled vehicle is larger than a specified value, calculating the balance roll angle and the current roll angle of the two-wheeled vehicle by a PID algorithm to obtain an expected control torque;
and calculating to obtain front wheel steering data and gyro frame rotation data by using the expected control moment and the current state data, and generating the front wheel steering driving instruction and the gyro frame driving instruction according to the front wheel steering data and the gyro frame rotation data.
7. A balance control system mounted on a two-wheeled vehicle, the balance control system comprising: the device comprises a balance controller, a front wheel steering driving system and a gyro device;
the front wheel steering driving system comprises a front wheel driving component and a front fork which are connected with each other;
the balance controller is used for calculating to obtain front wheel steering data and gyro frame rotation data according to a received expected driving instruction and current state data of the two-wheeled vehicle, respectively generating a front wheel steering driving instruction and a gyro frame driving instruction according to the front wheel steering data and the gyro frame rotation data, sending the front wheel steering driving instruction to the front wheel driving assembly to enable the front wheel driving assembly to drive a front fork to rotate so as to enable the front fork to drive a front wheel to move, and sending the gyro frame driving instruction to the gyro device to control the gyro device to rotate, wherein the expected driving instruction comprises a steering instruction, an acceleration instruction or a deceleration instruction, and the current state data comprises one or more of the speed, the acceleration and the rolling angle of the two-wheeled vehicle.
8. The balance control system of claim 7, further comprising:
a second encoder for measuring a steering angle of a front wheel of the two-wheeled vehicle;
a third encoder for measuring a rotation angle of the gyro device;
a fourth encoder for measuring a rotation angle of a rear wheel of the two-wheeled vehicle;
an inertia measurement unit that measures linear acceleration and angular velocity of the two-wheeled vehicle;
and the balance controller is also used for calculating the current state data according to the measurement data measured by the second encoder, the third encoder, the fourth encoder and the inertia measurement unit.
9. A balance control apparatus, characterized by comprising:
the system comprises a receiving module, a control module and a control module, wherein the receiving module is used for receiving an expected driving instruction, and the expected driving instruction comprises a steering instruction, an acceleration instruction or a deceleration instruction;
the acquisition module is used for acquiring current state data of the two-wheeled vehicle, wherein the current state data comprises one or more of speed, acceleration and rolling angle of the two-wheeled vehicle;
the calculation module is used for calculating to obtain front wheel steering data and gyro frame rotation data according to the received expected driving instruction and the current state data of the two-wheeled vehicle, and respectively generating a front wheel steering driving instruction and a gyro frame driving instruction according to the front wheel steering data and the gyro frame rotation data;
and the sending module is used for sending the front wheel steering driving instruction to the front wheel steering driving system so as to enable the front wheel steering driving system to drive the front wheels of the two-wheeled vehicle, and sending the gyro frame driving instruction to the gyro device so as to control the gyro device to rotate.
10. A two-wheeled vehicle, characterized in that it comprises:
a frame;
a front wheel and a rear wheel mounted on the frame; and the number of the first and second groups,
the balance control system of any one of claims 7 to 8.
CN201711449536.1A 2017-12-27 2017-12-27 Balance control method, system, device and sulky vehicle Pending CN108146564A (en)

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Application publication date: 20180612