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Self-balancing driving device and control method thereof

A driving device and self-balancing technology, which is applied in two-dimensional position/channel control, vehicle position/route/altitude control, control/adjustment system and other directions, which can solve the problems of single control method and poor control effect of driving device.

Active Publication Date: 2021-03-09
TENCENT TECH (SHENZHEN) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the current control method is relatively single, either static balance control or dynamic balance control, and the control effect of the driving device is poor

Method used

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  • Self-balancing driving device and control method thereof
  • Self-balancing driving device and control method thereof
  • Self-balancing driving device and control method thereof

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Embodiment Construction

[0052] The following description provides specific details for a thorough understanding and practice of various embodiments of the present disclosure. It should be understood by those skilled in the art that the technical solutions of the present disclosure may be practiced without some of these details. In some instances, well-known structures and functions have not been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments of the present disclosure. Terms used in this disclosure are to be interpreted in their broadest reasonable manner, even though they are used in connection with specific embodiments of this disclosure.

[0053] First of all, some of the terms involved in the embodiments of the present application are explained, so that those skilled in the art can understand:

[0054] 1. Balance: refers to the balance of the traveling device at the target inclination angle, that is, when the traveling device is at any initial inc...

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PUM

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Abstract

The invention discloses a self-balancing traveling device and a control method thereof, a computer readable storage medium, and computing equipment. The self-balancing traveling device comprises a frame body, a front wheel steering system, a rear wheel driving system, a sensor unit and a controller, wherein the controller is configured to control the angular speed of the front rotating shaft driving device for driving the front rotating shaft to rotate based on parameters related to the traveling device and sensed by the sensor so that the traveling device is kept balanced at a target inclination angle. The self-balancing traveling device may also comprise a momentum wheel system, and the controller may also be configured to perform control of a torque of rotation of the momentum wheel driven by the momentum wheel driving device to keep the traveling device balanced at the target inclination angle.

Description

technical field [0001] The present disclosure relates to the technical field of automatic control, and in particular to a self-balancing driving device, a control method thereof, a computer-readable storage medium, and a computing device. Background technique [0002] Traveling devices such as bicycles, motorcycles, two-wheeled robots, etc., including front wheels and rear wheels, are common types of driving devices in daily life. This type of driving device is typically an underactuated system. , which is unstable. For theoretical and practical significance, the self-balancing control of this type of traveling device has attracted a lot of attention. However, the current control method is relatively single, either static balance control or dynamic balance control, and the control effect of the traveling device is poor. Contents of the invention [0003] In view of this, the present disclosure provides a self-balancing driving device and a control method thereof, hoping ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0223G05D1/0242G05D1/0257G05D1/0263G05D1/0276G05D1/028G05D2201/02
Inventor 王帅张正友郑宇来杰陈相羽杨思成赵龙飞
Owner TENCENT TECH (SHENZHEN) CO LTD