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A control system and control method for a wheelbase-less vehicle

A vehicle control system and wheelbase technology, which is applied in the field of stability systems of vehicles without wheelbase, can solve problems such as no control method found, poor turning stability, and excessive weight of the control moment gyro

Active Publication Date: 2019-09-03
徐伟科
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

All these two-wheeled vehicles use the control torque gyro, which can maintain the stability of the rolling direction of the vehicle to a certain extent, but problems such as poor turning stability, excessive turning radius, need for auxiliary support, and excessive weight of the control torque gyro have been troubled. development of two-wheeled vehicles
These problems are due to the lack of better torque gyro technology and electronic technology on the one hand, and the lack of reasonable and effective control methods on the other hand
But at rest or at low speed, this balance mechanism does not exist or is too weak
[0013] Judging from the published literature and patents, the prior art has not yet found the most reasonable and effective attitude control method for a wheelbase-less vehicle

Method used

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  • A control system and control method for a wheelbase-less vehicle
  • A control system and control method for a wheelbase-less vehicle
  • A control system and control method for a wheelbase-less vehicle

Examples

Experimental program
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Effect test

Embodiment 1

[0074] like figure 1 As shown, the trackless vehicle is a two-wheeled vehicle, which has two wheels 4, and the two wheels are connected in the middle of the lower part of the car body one after the other, and each is driven to rotate by a full-disc motor. Both wheels have steering capability, each driven by a servo motor. The motion state sensitive unit 1 only has a gyroscope, and the drift of the gyroscope is relatively large, and the drift amount is unknown. The gyroscope measures the attitude angle of the vehicle along the direction 3 of the line connecting the grounding points of the wheels, and the attitude angle may have a large drift error. The angular momentum device consists of two control moment gyros 2 . The angular momentum of the two control moment gyroscopes 2 is the same, and the direction of the angular momentum is coplanar with the direction 3 of the connection line of the ground point of the wheel. The included angle between the direction of the angular mo...

Embodiment 2

[0086] like figure 1 As shown, the trackless vehicle is a two-wheeled vehicle, which has two wheels 4, and the two wheels are connected in the middle of the lower part of the car body one after the other, and each is driven to rotate by a full-disc motor. Both wheels have steering capability, each driven by a servo motor. The motion state sensitive unit 1 only has an angular velocity meter, and the constant value error of the angular velocity meter is relatively large, and the constant value error is unknown. The angular velocity of the vehicle measured by the angular velocity meter along the direction of the line connecting the wheel ground points is integrated to obtain the attitude in this direction. Since the angular velocity meter inevitably has a constant value error, the integrated attitude angle will drift. The angular momentum device consists of two control moment gyros 2 . The angular momentum of the two control moment gyroscopes 2 is the same, and the direction of...

Embodiment 3

[0092] like image 3As shown, the trackless vehicle is a two-wheeled vehicle, which has two wheels 4, and the two wheels are connected in the middle of the lower part of the car body one after the other, and each is driven to rotate by a full-disc motor. Both wheels have steering capability, each driven by a servo motor. There is an adjustable aerodynamic rudder surface 5 on both sides of the car body, and the angle of the aerodynamic rudder surface 5 can be adjusted. By adjusting the angle of the aerodynamic rudder surface 5, the windward area and windward angle of the aerodynamic rudder surface 5 can be changed, thereby changing the angle of the two sides of the vehicle. torque on the body. The angular momentum device is a control moment gyroscope, and the motion state sensitive unit is a gyroscope or an angular velocity meter. The angular momentum when the rotational axis of the control moment gyro is perpendicular to the connection line of the wheel ground point is defin...

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Abstract

The invention provides a control system and a control method of a wheel-span-free vehicle. An angular momentum device is used for attitude control, and besides, the angular momentum device is unloaded by using gravity moment at least, so that under the premise of supplying power for the control system, the wheel-span-free vehicle can also be kept in a static or low-speed travelling state for indefinitely long time by not using an auxiliary support. Through the management of angular momentum, the problem of angular momentum saturation of the angular momentum device is solved, the resistance to external disturbance torque of the wheel-span-free vehicle is enhanced, the turning maneuvering capability of the wheel-span-free vehicle is improved, and an accuracy requirement of an attitude senor is reduced greatly. In one embodiment of the invention, the gravity moment is utilized in a manner of tilting the complete vehicle, and in another embodiment of the invention, the gravity moment is utilized by directly adjusting the center of gravity of the complete vehicle by an adjusting device. The wheel-span-free vehicle can be a two-wheeled car, a two-wheeled motorcycle, a single-track train, a one-wheeled vehicle, and the like. The typical angular momentum device is a control moment gyroscope.

Description

technical field [0001] The present invention relates to traffic vehicles, and in particular to a stabilization system for vehicles without a wheelbase. Background technique [0002] Trackless vehicles refer to vehicles with no track between the wheels, that is, vehicles with all wheels arranged along a straight line, such as two-wheeled motorcycles, two-wheeled bicycles, monorail trains, unicycles, two-wheeled cars, etc. [0003] Compared with traffic vehicles such as four-wheel vehicles, tricycles, and double-track trains, non-wheelbase vehicles generally have fewer wheels, so energy consumption is lower, and there is no inner wheel difference, thereby avoiding steering tire wear and additional energy consumption. In a modern society where the call for energy saving and emission reduction is rising day by day, the potential for energy saving due to the number of wheels is a major advantage of vehicles without wheelbase. In addition, since the size of the trackless vehicle ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62K11/00B60W30/02
Inventor 徐伟科
Owner 徐伟科