Self-balance manned electric single-wheel vehicle control method

An electric unicycle and control method technology, applied in non-electric variable control, vehicle position/route/height control, attitude control and other directions, can solve the problems of complex control scheme, inapplicability, and no detailed control scheme proposed.

Inactive Publication Date: 2016-09-28
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The invention patent with application number 201410014863.4 proposed a self-balancing electric unicycle with a simple and compact structure, but did not propose a specific control scheme in detail
The invention patent with the application number 201210217335.X proposes a self-balancing m

Method used

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  • Self-balance manned electric single-wheel vehicle control method
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Embodiment Construction

[0070] The present invention will be further described below in conjunction with accompanying drawing.

[0071] The characters used in the present invention are defined as follows:

[0072]

[0073]

[0074] As common knowledge in this field, the electric unicycle of the present invention comprises auxiliary wheel 1, wheel 2, permanent magnet synchronous motor 3, pedal 4, shell 5, controller 6 and battery pack 7, wherein, described controller 6 and battery Group 7 is respectively located in the left and right grooves of the housing 4, and then fixed with a silicone protective pad and the cover plate as one piece. The accelerometer and gyroscope 8 are located on the controller 6, such as figure 1 As shown, the control method of the present invention can be applied to electric unicycles with different mechanical structures to realize self-balancing and passenger-riding functions. Control method of the present invention is as follows:

[0075] (1) Collect the data of the ...

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Abstract

The invention discloses a self-balance manned electric single-wheel vehicle attitude balance control method. The method includes that the attitude information about inclination angle and inclination angle speed of a single-wheel self-balance vehicle body is obtained through measurement by an accelerometer and a gyroscope arranged on the electric single-wheel vehicle, and then on the basis of a system model, an attitude balance control method based on an LQR (Linear Quadratic Regulator) is designed to obtain the optical control quantity of an attitude balance controller through calculation, and at the end, the optical control quantity of the attitude balance controller is taken as the torque current given, a motor is driven by means of a vector control method to move based on the given torque to maintain the attitude balance of the vehicle body. According to the attitude balance control method based on an LQR (Linear Quadratic Regulator), the attitude balance controller based on the LQR is good in rapidity and stability, has the advantage of energy saving, and can realize the attitude balance control of the single-wheel self-balance vehicle.

Description

technical field [0001] The invention belongs to the field of transportation tools, and relates to a control method for a self-balancing electric unicycle carrying people, which is self-balanced front and rear and left and right by riders to control the balance manually. Background technique [0002] Riding a purely mechanical unicycle is an activity that requires special learning and training to complete. When riding, it is necessary to maintain the balance in the front-back direction and the left-right direction at the same time, and riding requires human effort, and the traveling speed is relatively low. An electric unicycle is a riding device driven by a motor. It is similar to riding a bicycle. You only need to master the left and right balance to ride smoothly. The self-balancing manned electric unicycle uses the principle of the inverted pendulum system to control the front and rear balance of the car body. The rider puts his feet on the folding pedals on both sides o...

Claims

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0891
Inventor 姚维魏乐乐章玮姚云瀚
Owner ZHEJIANG UNIV
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