Two-wheeled linkage balance vehicle and control method thereof

Abstract

The invention relates to a two-wheeled linkage balance vehicle and a control method thereof, wherein the two-wheeled linkage balance vehicle comprises: left and right frames to rotate relatively, a left wheel mounted on the left frame, a right wheel mounted on the right frame, a left motor for driving the left wheel to rotate, a right motor for driving the right wheel to rotate, a first sensing module for sensing state information of the left frame, and a master control module for sensing state information of the right frame and controlling the left frame and the right frame according to the state information of the left frame and the state information of the right frame so as to jointly balance. All the first sensing module, the left motor and the right motor are connected to the master control module. Upon riding, the balance vehicle herein can adjust the speed of the right wheel and the speed of the left wheel in coordinated manner such that the speed of the left wheel and the speedof the right wheel tend to be consistent. The two wheels of the balance vehicle herein are controlled in coordinated manner to arrive at joint balance, good riding stability is provided, and steeringis safe.

Description

technical field [0001] The invention relates to a two-wheel linkage balancing vehicle and a control method thereof. Background technique [0002] For the self-balancing of the self-balancing car, the longitudinal axis of the overall center of gravity of the driver standing on the car and the vehicle is used as the reference line. When this axis tilts forward, the built-in electric motor in the balance car body will generate forward force, on the one hand, it will balance the torque that the person and the car fall forward, on the other hand, it will generate the acceleration that makes the vehicle move forward. On the contrary, when the gyroscope The instrument found that when the driver's center of gravity tilts backward, it will also generate a backward force to achieve a balance effect. One type of balancing car is a self-balancing twisting car, and the two car bodies can rotate relative to each other. The independent self-balancing of the left body and the right body o...

AI Technical Summary

Problems solved by technology

[0003] When riding, due to the relatively real-time independent control of the left and right wheels, after the speed reaches 8km / h, it is difficult to control the feet to keep the pedals on both sides at the same angle, resulting in different speeds of the left and right wheels, so that the car will ride at high speed. Shaking from side to side while walking, feeling insecure

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