A two-wheeled upright vehicle capable of real-time adjustment of the center of gravity

Abstract

The invention discloses a two-wheel upright vehicle capable of adjusting the position of the gravity center in real time. The two-wheel upright vehicle comprises a vehicle body, a steering engine, a small connection rod, a large connection rod, a battery base for mounting a battery and other higher-mass devices, a bearing for connecting the large connection rod with the battery base, a bearing for connecting the small connection rod with the large connection rod, a bearing for connecting the battery base with the vehicle body, a sliding rail, a sliding sheet, a gear and a strip-type gear. The two-wheel upright vehicle can adjust the position of the gravity center back and forth to keep a vehicle die fixed and upright, and acceleration and deceleration are realized; the position of the gravity center can be adjusted left and right to improve the steering performance.

Description

technical field [0001] The invention relates to a two-wheeled upright vehicle capable of real-time adjustment of the position of the center of gravity. Background technique [0002] The control technology of the two-wheel upright vehicle is mature, and its control scheme consists of three parts: upright control, speed control and steering control. The current technology used to realize upright control and speed control is to change the inclination angle of the car model's center of gravity through the forward and backward motion of the two wheels. At the same time, sensors such as gyroscopes and accelerometers obtain real-time inclination of the center of gravity, thereby forming a closed-loop feedback of the inclination of the center of gravity. However, such a method of relying on two-wheel movement to change the inclination of the center of gravity to achieve speed control and upright control requires two wheels to move backward to obtain forward acceleration when accele...

AI Technical Summary

Problems solved by technology

However, such a method of relying on two-wheel movement to change the inclination of the center of gravity to achieve speed control and upright control requires two wheels to move backward to obtain forward acceleration when accelerating, and two wheels to move forward to obtain backward acceleration when decelerating. Contradictions, leading to the defect that the car model moves sluggishly during acceleration and deceleration

Steering control is realized by the method of two-wheel differential speed, but due to the characteristics of the structure of the two-wheeled upright vehicle, the car model will rollover due to insufficient centripetal force when turning at high speed

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