Static balance control system and method for two-wheeled single-track carrier

Abstract

The invention provides a two-wheel single-track carrier static balance control system and method. The two-wheel single-track carrier is of a double-SGCMG parallel symmetrical structure, the two-wheel single-track carrier static balance control system is provided with a first frame motor, a second frame, a first control moment gyroscope and a second control moment gyroscope, the first control moment gyroscope and the second control moment gyroscope correspond to the first frame motor and the second frame respectively, and the first frame motor is provided with a first rotor; the second frame has a second rotor; the two-wheeled single-track vehicle static balance control system comprises a frame desaturation and singularity avoidance controller which executes the following calculation and control of calculating a frame angle error; calculating a bias angle for realizing frame desaturation and singularity avoidance based on the frame angle error; a bias angle being added to the input of the angle loop controller.

Description

Technical field [0001] The present invention relates to the field of transportation, and more particularly to a two-wheeled single carrier static balance control system and method. Background technique [0002] Two-wheeled plug-in carrier is similar to a inverted pendulum system, is a complicated nonlinear, strong coupling, and multivariate natural instability system. Its horizontal dynamics is more complicated than the car, especially the traditional two-wheeled plug-in carrier is almost unable to stabilize it. The self-balanced control of the two rounds of plurality of truss is currently three methods of controlling tumble control and center of gravity by steering control. [0003] However, it is currently researching a single control method. The steering control cannot guarantee self-balance in static cases in two rounds of monorail vehicles, while the center of gravity control is complicated with the help of human robots, and its structure is poor. At present, for the self-ba...

AI Technical Summary

Problems solved by technology

However, the simulation model is less disturbing than the real model, and its control structure and algorithm order are high, and the calculation delay of the algorithm is difficult to be practically used in the real-time balance control of two-wheel single-track vehicles.

[0006] All in all, the existing two-wheel single-track vehicle has a simple control structure, and the vehicle's immunity is poor. It is difficult to ensure the singularity avoidance and desaturation of the control moment gyro while ensuring the balance of the two-wheel single-track vehicle. ability

Moreover, the hysteresis calculated by many control methods is difficult to apply to the actual real-time balance control of two-wheeled single-track vehicles.

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