Unmanned bicycle realizing balance control during speed changing
An unmanned, balance control technology, applied in bicycle accessories, bicycle brackets, vehicle parts, etc., can solve the problems of difficult stability and noise of bicycle systems, and achieve the effects of enhancing stability, speeding up response, and flexible steering.
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[0043] Now refer to the attached figure 1 -4 The embodiments of the present invention will be described in detail.
[0044] Such as figure 1 As shown, an unmanned bicycle hardware structure with variable speed balance control includes a body 1, a speed sensor 2, an angle sensor 3, a handlebar steering motor 4, a rear-wheel drive motor 5, a brake motor 6 and a controller 7, among which,
[0045] Speed sensor 2 uses the principle of spoke counting or Hall sensor to measure the speed of the rear wheels, and the speed of the rear wheels V x Indicates the speed of the bicycle;
[0046] The angle sensor 3 obtains the body tilt angle by measuring the attitude of the bicycle body And angular velocity;
[0047] The handlebar steering motor 4 adopts a position mode control motor that speeds up the system response time, and realizes the function of bicycle balance by driving the handlebar rotation angle δ;
[0048] The rear-wheel drive motor 5 is a torque mode control motor. Preferably, a hub m...
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