A two-wheel monorail vehicle and its balancing control method

Abstract

The present invention provides a two-wheeled monorail vehicle and its balance control method. In the present invention, the embedded computer calculates and outputs the coordinated motor drive signal according to the driving data and the driving target data, and the motor drive subsystem according to Each signal in the coordinated motor drive signals controls the torque output of the corresponding motor, so that the two-wheeled monorail vehicle can achieve dynamic balance and plan to travel according to the travel target data. This method does not limit the state of the vehicle, that is, whether the vehicle is in a stopped state, a driving state, or a mutual switching state between a parking state and a driving state, it can ensure that the vehicle is dynamically balanced and drives, which solves the existing automatic The two-wheeled monorail vehicle that controls the balance cannot automatically maintain the dynamic balance when the vehicle is from the parking state to the driving state or from the driving state to the parking state.

Description

technical field [0001] The invention relates to the field of two-wheel monorail vehicle control, and more specifically, relates to a two-wheel monorail vehicle and a method for controlling the balance thereof. Background technique [0002] Two-wheel monorail vehicles, such as electric bicycles and motorcycles, are more and more popular with users due to their high energy saving, low emission and low space occupancy rate, and the utilization rate of two-wheel monorail vehicles is increasing year by year. [0003] When the driver is using the two-wheel monorail vehicle, in order to ensure the dynamic balance of the two-wheel monorail vehicle, a two-wheel monorail vehicle with automatic control balance is proposed. The controller on the two-wheel monorail vehicle with automatic control balance measures according to the sensor installed on the vehicle Based on the obtained vehicle driving data and driving target data, the multibody dynamics model and the underactuated system con...

AI Technical Summary

Problems solved by technology

[0005] In view of this, the present invention provides a two-wheeled monorail vehicle and its balance control method to solve the problem of the existing two-wheeled monorail vehicle with automatic balance control, when the vehicle is from a parking state to a driving state or from a driving state to a parking state. , the problem of not being able to maintain dynamic balance automatically

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