A stand-and-sit dual-purpose two-wheel self-balancing vehicle and its balance control method

Abstract

The invention discloses a balance control method for a two-wheeled self-balancing vehicle with dual-purpose standing and sitting. Step on the pedal of the self-balancing car, and collect status information such as the current pitch angle and pitch rate of the self-balancing car, the rotation speed of the left and right wheels, as well as the accelerator command to control the speed of the self-balancing car, and the steering command to control the steering speed of the self-balancing car. The state feedback controller calculates and gives the driving voltage of the left servo motor and the right servo motor in real time, so that the main body of the vehicle can maintain balance during straight driving and turning, and implement acceleration, deceleration and steering according to the driver's wishes. The invention has a flexible, safe and energy-saving starting mode.

Description

technical field [0001] The invention relates to the field of short-distance scooter, in particular to a two-wheel self-balancing vehicle for standing and sitting and a balance control method thereof. Background technique [0002] The two-wheel self-balancing vehicle is an intelligent mobile robot, which belongs to a type of wheeled inverted pendulum robot. As a short-distance walking tool, many advantages of the two-wheel self-balancing vehicle make it have good practical value and market prospect. [0003] Existing two-wheel self-balancing vehicles are operated in the somatosensory mode. The driver stands on the pedal and operates the two-wheel self-balancing vehicle to move forward, backward and stop by changing the center of gravity of the body. Long-distance driving will cause driving fatigue. [0004] Disclosed in Chinese patent CN200610052273 is a dual-purpose self-balancing two-wheeled vehicle for standing and sitting. Although the vehicle has both vertical and sitti...

AI Technical Summary

Problems solved by technology

[0004] Disclosed in Chinese patent CN200610052273 is a dual-purpose self-balancing two-wheeled vehicle for standing and sitting. Although the vehicle has both vertical and sitting modes of operation, its working principle is to change the center of gravity of the body by the driver. uncomfortable in a way

[0005] The inclination angle of the body of the traditional standing balance car and the dual-purpose balance car described in the above patent is changed by leaning forward and backward of the human body. It is a very bad driving experience and increases the driver's fatigue

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