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Overturn prevention control device for two-wheel vehicle

A control device and technology for two-wheeled vehicles, applied in toy vehicles, bicycle accessories, transportation and packaging, etc., can solve problems such as inability to realize independent driving, and achieve the effect of simple structure, easy implementation, and prevention of overturning

Active Publication Date: 2008-11-26
MURATA MFG CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this way, although Figure 7 The control method shown is a simple control method, but due to the zeroing error θ in the actual control 0 And the influence of bias and noise Δ, there is a problem that stable independent driving cannot be realized

Method used

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  • Overturn prevention control device for two-wheel vehicle
  • Overturn prevention control device for two-wheel vehicle
  • Overturn prevention control device for two-wheel vehicle

Examples

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Embodiment Construction

[0044] Next, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

[0045] (first embodiment)

[0046] Figure 1 ~ Figure 3 A first embodiment in which the fall prevention control device of the present invention is applied to a bicycle robot is shown. This bicycle robot A has: a handlebar 1 for steering; a front wheel 2 capable of being steered by the handlebar 1 for steering; a rear wheel 3; a rear wheel drive motor 4 for driving the rear wheel 3; Its free-rotating vehicle frame 5; a dummy 6 mounted on the vehicle frame 5; and an actuator 7 for steering the handlebar 1 (front wheel 2).

[0047] In this example, although the actuator 7 is provided at the center of the handlebar 1, any position and form may be used as long as the front wheel 2 can be steered. For example, the front wheel 2 may be steered by the arm of the dummy 6 through the handlebar 1 . In addition, although the example in which the rear wheel drive...

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Abstract

An overturn prevention controller for a two-wheeled vehicle, enabling the vehicle to perform stable autonomous traveling by a rather simple control loop even if a zero-set error and offset noise occur. The two-wheeled vehicle has a body, a front wheel, an actuator (7) for steering the front wheel, a rear wheel, and a rear wheel drive part. The vehicle further has an angular velocity sensor (8) and a control means. The angular velocity sensor (8) has a detection shaft attached to a vehicle body, tilted downward a predetermined angle from the horizontal axis in the advance direction of the vehicle, and detecting the angular velocity (Omega) around the detection shaft. The control means outputs a steering angle command signal (dr) for controlling the actuator. Since an angular velocity (Omega 1) in the lateral tilt direction and an angular velocity (Omega 2) in the azimuth direction are included in the angular velocity (Omega) detected by the angular velocity sensor, and the zero-set angle and the offset noise are included in the azimuth command, the motorcycle can be prevented from overturning.

Description

technical field [0001] The invention relates to a control device for preventing overturning of a two-wheel vehicle, in particular to a control device for preventing overturning of a two-wheel vehicle that can run independently without people. Background technique [0002] Conventionally, there is known an unmanned autonomous two-wheeled vehicle that uses an electric motor or an internal combustion engine as a prime mover, and whose travel is controlled by wireless control or automatic control. When driving in a straight line, turn the steering wheel to the right when the vehicle body is tilted to the right, and turn the steering wheel to the left when the vehicle body is tilted to the left, thereby ensuring balance. In addition, in the case of curve driving, as long as the target value of the inclination angle of the vehicle body is set in the direction of inclination from the vertical direction, and using this angle as a reference, when the vehicle body tilts to the right, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62K21/10B62J39/00B62J99/00
CPCA63H17/21A63H17/16A63H17/36B62H7/00
Inventor 平田笃彦辻滋渡边智也福永茂树吉川浩一河合康治
Owner MURATA MFG CO LTD
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