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A smooth transition method for a two-wheel balance car

A smooth transition and balance car technology, applied in the field of smooth transition, can solve problems such as the system cannot transition smoothly, the amount of new control, and the system cannot be timely, etc., to achieve the effect of improving the operating experience and ensuring a sense of smoothness

Active Publication Date: 2016-02-17
INMOTION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Control technology often encounters smoothness problems. For example, when changing parameters of PID control, it is easy to generate steps when switching between different parameters, resulting in the system not being able to transition smoothly, so that the two-wheeled self-balancing vehicle will experience setbacks during driving. feeling, causing discomfort to the user
Most of the current control systems adopt a fixed-period and new output control method for transformation, so that the system cannot timely follow the new control value when the parameters are switched, resulting in a large step for the balance car

Method used

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Experimental program
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Embodiment Construction

[0013] In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with specific embodiments.

[0014] The invention discloses a smooth transition method for a two-wheel balance vehicle, comprising the following steps:

[0015] S1, to determine the given input of the control target and the number of smoothing steps. The control target can be the driving speed, tilt angle or displacement of the balance car, or others. The number of smoothing steps refers to the number of intermediate steps required to complete the change between two points, that is, when the parameters of the balance car change, the change between the current moment and the previous moment needs to be completed through the determined smoothing steps, so that the control system can When switching parameters (such as speed changes), the transition can be smoother without large steps. The number of smoothing steps is set according to ...

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PUM

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Abstract

The invention discloses a smooth transition method for a two-wheeled balance car. The method includes the steps that S1, set input and a smooth step number of a control target are determined; S2, whether the current set input of the control target changes relative to set input at the last moment or not is compared; S3, if yes, a final output value corresponding to new set input data is obtained; S4, according to a result of the formula dif*(dif+div_value), whether smooth transition accumulation exits or not is judged, so that it is ensured that after parameters are switched, an accurate output quantity can be obtained, and overshooting does not happen. In the process of switching the parameters, smooth transition can be achieved, a large phase step can not be generated, and using experience is ensured.

Description

technical field [0001] The invention relates to a method for smooth transition, in particular to a method for a two-wheeled balance vehicle that can smoothly transition without generating too large a step when switching parameters. Background technique [0002] As a new type of scooter, the operation of the two-wheeled balance car is becoming more and more intelligent, and some actions have been sensed according to the user's somatosensory actions, and these actions are all completed through the automatic control system. With the rapid development of technology, more new requirements are put forward for automatic control theory. Three basic performance indicators in automatic control: fast, accurate and stable, which are fully reflected in practical applications. Control technology often encounters smoothness problems. For example, when changing parameters of PID control, it is easy to generate steps when switching between different parameters, resulting in the system not b...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60L15/20B62K11/00
CPCY02T10/72
Inventor 郭盖华吴泽晓
Owner INMOTION TECH CO LTD