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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.

Active Publication Date: 2016-11-09
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] Secondly, during the speed change process, there is a lot of noise in the measurement of the vehicle speed. Sensor errors, road surface changes, and rear wheels flying in the air will all bring noise. The introduction of noise makes the bicycle system difficult to stabilize.

Method used

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  • Unmanned bicycle realizing balance control during speed changing
  • Unmanned bicycle realizing balance control during speed changing
  • Unmanned bicycle realizing balance control during speed changing

Examples

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Embodiment Construction

[0043] Now refer to the attached figure 1 -4 The embodiment of the present invention will be described in detail.

[0044] Such as figure 1 As shown, a hardware structure of an unmanned bicycle with variable speed balance control, including 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, wherein,

[0045] The speed sensor 2 uses the principles of spoke counting or Hall sensing to measure the rotational speed of the rear wheels, and calculates the speed of the rear wheels V x Indicates the bicycle speed;

[0046] Angle sensor 3 obtains the inclination angle of the bicycle body by measuring the posture of the bicycle body and angular velocity;

[0047] The handlebar steering motor 4 adopts the position mode control motor that speeds up the system response time, and realizes the bicycle balance function by driving the handlebar rotation angle δ;

[0048] The rear wheel drive motor 5...

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Abstract

An unmanned bicycle realizing balance control during speed changing comprises a hardware structure and a control system. A brand-new speed-changing control system structure is designed by improving the hardware structure of the bicycle and additionally arranging a speed sensor, an angle sensor, a handlebar steering motor, a rear wheel drive motor, a brake motor and a controller. The control system comprises a steering controller module, a speed fusion and parameter switching module, a brake module and a protection module and can control steering of a handlebar of the bicycle, rotation of a rear wheel and the brake force according to the acquired body attitude of the bicycle and bicycle speed information, and accordingly, the balancing and steering functions of the bicycle are realized in the speed changing process.

Description

technical field [0001] The invention belongs to the field of unmanned bicycles, and in particular relates to an unmanned bicycle capable of realizing flexible speed balance control. Background technique [0002] Compared with unmanned cars, unmanned bicycles have the advantages of low price, light and portable, flexible mobility, environmental protection and energy saving. At the same time, compared with the four-wheel structure of a car, the two-wheel structure of a bicycle is less stable, requiring additional controls to maintain balance. [0003] At present, the most common and effective way to maintain balance in the existing technology is to imitate the steering of the handlebar to control the inclination angle of the bicycle when the cyclist is driving a bicycle, so as to achieve balance and steering. This method has the advantages of low energy consumption and fast response. characteristics, but the principle of this method can only guarantee the balance of the bicyc...

Claims

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Application Information

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IPC IPC(8): B62M6/45B62H1/10
CPCB62H1/10B62M6/45
Inventor 赵明国何家瑞
Owner TSINGHUA UNIV
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