Self-balancing bicycle and control method thereof

Abstract

The invention provides a self-balancing bicycle which is characterized by comprising a bicycle body. The bicycle body is connected with a main controller, a detection system, a balancing system and asteering system; the detection system comprises a gyroscope and is used for detecting the horizontal state of the vehicle body and transmitting detection information to the main controller; the steering system comprises a steering motor which is connected with a vehicle head of the vehicle body through a speed reducer to control the rotation angle and speed of the vehicle head; the balance systemcomprises a balance motor, a rotating movement mechanism and a balancing weight, one end of the rotating movement mechanism is connected with the balancing weight, the other end of the rotating movement mechanism is connected with the balance motor, and the balance motor is electrically connected with the main controller; the main controller processes the detection information and then generates acontrol signal, and the control signal is transmitted to the balance system and the steering system; the problem that an existing self-balancing bicycle is only limited to movement balance is solved,and movement and static balance of the bicycle can be achieved.

Description

technical field [0001] The invention relates to a self-balancing bicycle and its control method, in particular to a self-balancing bicycle and its control method, belonging to the technical field of electromechanical control. Background technique [0002] Bicycle is one of the most common means of transportation in people's daily life. Throughout the development history of bicycle, in the process of development and evolution of bicycle, although the structure is simple, it contains rich scientific problems. Since the bicycle has only two contact points with the supporting road surface, it is physically unstable, similar to the "inverted pendulum" structure, but when the bicycle is controlled by humans, or the bicycle is under the appropriate speed conditions, the bicycle can achieve real stability. The "self" presents a perfect dynamical stability problem. [0003] At present, the research on the self-balancing of bicycles is mainly aimed at the establishment of mechanical ...

AI Technical Summary

Problems solved by technology

Since the bicycle has only two contact points with the supporting road surface, it is physically unstable, similar to the "inverted pendulum" structure, but when the bicycle is controlled by humans, or the bicycle is under the appropriate speed conditions, the bicycle can achieve real stability. The "self" presents a perfect dynamical stability problem

[0003] At present, the research on the self-balancing of bicycles is mainly aimed at the establishment of mechanical models and the analysis of dynamic kinematics. Some research teams have realized the modification on conventional bicycles, which can realize the simple motion balance of bicycles, but their motion balance is only for bicycles. Forward driving conditions, and at low speeds and stationary conditions, the bicycle still cannot be self-balanced

There is also the TMS bicycle used to verify the dynamic balance of bicycles. It can achieve self-balancing of the car body only by using its own structural characteristics without any auxiliary control at a certain speed. For static and low-speed situations, it still cannot achieve self-balancing, and its structure Special cannot be ridden normally, it is only used for experimental verification

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