Balancing control system and method for electric two-wheeled vehicle
The electric two-wheeled vehicle balance control system, which uses a state perception module, a state estimator, and an LQR control calculation module, solves the problem that traditional electric two-wheeled vehicles struggle to balance stability, response speed, and optimal energy consumption under complex working conditions, achieving stable, energy-saving, and adaptive balance control without manual parameter tuning.
CN122402265APending Publication Date: 2026-07-17BRIGHTWAY INNOVATION INTELLIGENT TECH (SUZHOU) CO LTD
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Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- BRIGHTWAY INNOVATION INTELLIGENT TECH (SUZHOU) CO LTD
- Filing Date
- 2026-05-28
- Publication Date
- 2026-07-17
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Figure CN122402265A_ABST
Abstract
本申请实施例提供了一种电动两轮车辆的平衡控制系统和方法，其中，该系统包括：状态感知模块，用于实时采集电动两轮车辆的车体姿态信息和驱动轮运动信息；状态估计器，与状态感知模块连接，用于对车体姿态信息和驱动轮运动信息进行滤波融合，构建电动两轮车辆的状态向量，其中，状态向量至少用于指示电动两轮车辆的车体横滚角、横滚角速度和驱动轮角速度；LQR控制计算模块，与状态估计器连接，用于通过预存的最优状态反馈增益矩阵对状态向量进行矩阵乘法运算，计算出电动两轮车辆在当前时刻的最优控制量；执行模块，与LQR控制计算模块连接，用于将最优控制量转换为实际电机转矩，并通过实际电机转矩驱动电动两轮车辆平衡运动。
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