36results about How to "With self-balancing function" patented technology

The invention discloses a self-balancing unmanned bicycle based on a model and a model driving control method thereof. The self-balancing unmanned bicycle based on the model comprises a bicycle, a sensor module, a handlebar control module, a bicycle body middle part control module and a bicycle body rear part control module. The model driving control method comprises self-balancing control and unmanned driving control. In the self-balancing control, the driving is made on the basis of a bicycle model and a model is established by using a mechanism to design a controller so that the self-balancing of the bicycle is realized. In the unmanned driving control, an expected bicycle variable is selected according to a target motion state to realize unmanned driving of the bicycle. The self-balancing unmanned bicycle based on the model can realize a self-balancing function in multiple motion states by using a coupled control method; and meanwhile, as an indirect driving method is adopted and the common bicycle does not need to be further remodeled, the self-balancing and unmanned driving of the bicycle can be realized only by mounting three controller modules on a common bicycle.

The invention discloses an action-driven self-balancing unmanned bicycle and an equivalent mapping control method thereof. The self-balancing unmanned bicycle comprises a bicycle, a sensor module, a handlebar control module, a bicycle body middle part control module and a bicycle body rear part control module. The control method comprises self-balancing control and unmanned driving control. The self-balancing control regards a rear wheel as a ball and establishes a coordinate system based on the ball, bicycle variables are decomposed in the coordinate system, then controller variables are projected to the coordinate system so as to establish association, and finally self-balancing of the bicycle is realized based on equivalent mapping. The self-balancing unmanned bicycle can realize a self-balancing function in multiple motion states by using a coupled control method; and meanwhile, an indirect driving method is adopted, and the common bicycle does not need to be further modified, andthe self-balancing and unmanned driving of the bicycle can be realized only by mounting three controller modules on the common bicycle.

The invention discloses a turbine extraction control valve which is provided with a plurality of valves connected in parallel, the valve body is a cylinder body of the turbine; the valve core is a disk valve core and comprises a valve disc and a disc set, the valve disc is connected with a valve rod, the disc set is in fixed connection with a valve cover, the valve disc is covered in the disc setand in longitudinal slide fit with the same; the valve disc is provided with a balance cavity which is communicated with a steam outlet cavity through a balance hole, the top surface of the valve discforms an upper pressure bearing surface, the bottom surface of the valve disc forms a lower pressure bearing surface, a circular boss is arranged on the peripheral surface of the lower end of the valve disc, which makes the pressure bearing area of the upper pressure bearing surface and the lower pressure bearing surface meet the relation formula: S1 / S2 is approximated to 0.78; a valve cover is asharing valve cover of the whole structure. The turbine extraction control valve has the advantages that: a valve core has self-balancing function, has no need to assemble a pre-start valve, simplifying the structure, reducing the size, weight greatly and so does the cost and also improving the flow regulation performances; the sharing valve is convenient to assemble and disassemble and can shorten the time for installation and maintenance.

The invention discloses a model-based self-balancing driverless bicycle and a model-driven control method thereof. The self-balancing driverless bicycle includes a bicycle, a sensor module, a handlebar control module, a middle control module of the vehicle body and a rear vehicle body. internal control module. The control method includes two parts: self-balancing control and driverless control. The self-balancing control is driven by the bicycle model, and the controller is designed through the mechanism construction model to achieve the self-balancing of the bicycle. Unmanned driving control selects the desired bicycle variables based on the target motion state to achieve unmanned driving of the bicycle. The driverless bicycle of the present invention can have a self-balancing function in a variety of motion states through the coupled control method. At the same time, it adopts an indirect drive method and does not require further modification of ordinary bicycles. It only needs to combine three controls. If the controller module is installed on an ordinary bicycle, the bicycle can realize self-balancing and unmanned driving.

The invention discloses a structure with a self-balancing function. The structure with the self-balancing function comprises a frame and supporting leg assemblies, wherein supporting leg mounting plates are arranged on the two sides of the frame; two first shaft mounting blocks are symmetrically arranged at the upper ends of the supporting leg mounting plates, and two second shaft mounting blocks are symmetrically arranged at the lower ends of the supporting leg mounting plates; the supporting leg assemblies are symmetrically arranged on the left side and right side of the frame; each supporting leg assembly comprises an oil cylinder and a supporting plate assembly; a short shaft is arranged on each supporting plate assembly; one end of the oil cylinder is hinged with the two first shaft mounting blocks through a first long shaft, the other end of the oil cylinder is connected with the short shaft; one end of each supporting plate assembly is hinged with the two second shaft mounting blocks through a second long shaft, and a supporting wheel is arranged at the other end of each supporting plate assembly; each oil cylinder is a double-acting cylinder and is connected with a pump station; the extension and the retraction of a piston rod of each oil cylinder can realize the unfolding and folding of the corresponding supporting plate assembly. The structure with the self-balancing function can increase the support of the ground to a vehicle, so that the vehicle is enabled not to easily roll over and the safety of cargoes and personnel on the vehicle is improved.

The invention discloses a self-balancing unmanned bicycle and a control method thereof. The self-balancing unmanned bicycle comprises a bicycle, a sensor module, a handlebar control module, a vehiclebody middle control module and a vehicle body rear control module. The control method comprises self-balancing control and unmanned control. Realization of self-balancing comprises simulation modeling, automatic modeling and intelligent modeling; the step of unmanned control comprises the content of selecting a desired bicycle variable according to the target motion state, and unmanned driving ofthe bicycle is achieved. According to the unmanned bicycle, a self-balancing function can be achieved in various motion states with a coupled control method, an indirect driving method is adopted, further refitting of the ordinary bicycle is not needed, and self-balancing and unmanned driving of the bicycle can be achieved by only mounting three controller modules on the ordinary bicycle.