Device and method capable of achieving self-balance of bicycle, and bicycle

Abstract

The invention provides a device capable of realizing self-balance of a bicycle. The device comprises a main controller, and the main controller connected with a detection system and a driving system;the detection system comprises an inclination angle sensor used for detecting the inclination angle state of the bicycle and transmitting detection information to the main controller; the driving system comprises a balance system and a steering system, the steering system comprises a steering motor, and the steering motor is connected with a head of the bicycle through a speed reducer to control head rotation angle and speed; the balance system comprises a flywheel balance mechanism and a sliding block balance mechanism, and the flywheel balance mechanism is connected with wheels of the bicycle and coaxially fixed to a wheel rotating shaft; the sliding block balance mechanism comprises a guide rail and a sliding block slidably connected with the guide rail, and the guide rail is connectedwith a bicycle support; and the main controller processes the detection information and then generates a control signal, and the control signal is transmitted to the driving system. The problem that an existing self-balancing bicycle is only limited to motion balance is solved, and motion and static balance of the bicycle can be achieved.

Description

technical field [0001] The invention relates to a device, a method and a bicycle capable of realizing the self-balancing of the bicycle, in particular to a control method capable of realizing the self-balancing of the bicycle, an experimental device and the bicycle, belonging to the 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 ...

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, but the analysis content is single and the physical model is relatively simple, so it cannot analyze the mechanics and kinematics models of bicycles well.

Some research teams have modified conventional bicycles. The simple movement balance of the bicycle can be achieved by the swing of the bicycle's head, but the movement balance is only for the forward movement of the bicycle, and it still cannot be achieved under low speed and static conditions. self-balancing bicycle

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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