Self-balance manned electric single-wheel vehicle control method

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...

AI Technical Summary

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 manned unicycle based on inertial balance wheels, which realizes left and right balance control. However, due to the existence of inertial balance wheels, the control scheme is relatively complicated and is not suitable for the current popular unicycle in the market. electric unicycle structure

Images