Control method of two-wheeled self-balance vehicle

Abstract

A control method of a two-wheeled self-balance vehicle comprises the steps as follows: (1), performing initialization: (2), reading values of a gyroscope, an accelerometer and a rotation angle sensor as well as the pulse number of an encoder respectively; (3), obtaining a vehicle body inclination, a handlebar turning angle, motor speeds and a vehicle speed; (4), then calculating PWM (pulse width modulation) values of vertical control, direction control and speed control respectively through a PID (proportion integration differentiation) control algorithm; (5), superposing the three PWM values together and outputting the three PWM values to left and right motors; (6), then sending data of the gyroscope, the accelerometer, the vehicle body inclination, a battery voltage, motor currents and the vehicle speed to an upper computer so as to monitor the operating status of the whole vehicle; (7), when the battery voltage is monitored to be smaller than a preset value, and the motor currents or the vehicle speed is monitored to be larger than the preset value through monitoring, turning on corresponding LED warning lights; and (8), when the vehicle body inclination is larger than a preset angle through monitoring when the vehicle body inclination is monitored to be larger than a preset angle, determining that the vehicle body falls down, stopping the operation and returning to an initializer. According to the control method, a more accurate operational method is adopted.

Description

technical field [0001] The invention relates to a two-wheel self-balancing vehicle, in particular to a control method for a two-wheel self-balancing vehicle. Background technique [0002] The automatic balancing operation principle of self-balancing electric vehicles is mainly based on a basic principle called "Dynamic Stabilization", that is, the automatic balancing ability of the vehicle itself. The built-in precision solid-state gyroscope (Solid-State Gyroscopes) is used to judge the posture state of the car body, and the precise and high-speed central microprocessor calculates the appropriate command and drives the motor to achieve the balance effect. The current balance bike allows the user to shake freely while riding, and the control system on it will automatically process the drive motor for balance correction; due to the algorithmic defects of the existing control system, it takes a long time for the drive motor to process balance correction. This type of self-bala...

AI Technical Summary

Problems solved by technology

The current balance bike allows the user to shake freely while riding, and the control system on it will automatically process the drive motor for balance correction; due to the al

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