The invention relates to a vector torque balancing device of a high-speed unmanned bicycle and a control method, a central processing unit adopts a self-adaptive control method to control a balancing system according to the bicycle speed, the inclination angle and the momentum wheel rotating speed which are periodically acquired by a six-axis sensor so as to maintain the balance of the bicycle; the six-axis sensor is used for periodically collecting the bicycle speed, the inclination angle and the momentum wheel rotating speed and transmitting the collected information to the central processing unit; the balance system comprises a balance motor, a steering engine, an inclination angle steering engine and a momentum wheel so as to provide balance torque. The problems that an existing balance bicycle is limited to dynamic low-speed balance and a balance device is too large in size are solved, and high-speed stable movement and static and dynamic balance of the unmanned bicycle are achieved.
本发明涉及一种高速无人自行车的矢量力矩平衡装置与控制方法,中央处理单元根据六轴传感器周期性采集的自行车速度、倾角和动量轮转速,采用自适应控制方法控制平衡系统,以维持自行车平衡;六轴传感器用于周期性采集自行车速度、倾角和动量轮转速,并将采集的信息传输至所述中央处理单元;平衡系统包括平衡电机、转向舵机、倾角舵机和动量轮,以提供平衡力矩。本发明解决了目前平衡自行车局限于动态低速平衡和平衡装置体积过大的问题,实现无人自行车高速稳定运动和静态、动态平衡。
Vector torque balancing device of high-speed unmanned bicycle and control method
一种高速无人自行车的矢量力矩平衡装置与控制方法
2023-11-17
Patent
Electronic Resource
Chinese
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