The invention relates to the technical field of self-balancing bicycles, in particular to an electric bicycle balance control method. Comprising the following steps: constructing an electric bicycle dynamics model and a state space equation; when the electric bicycle steers, centrifugal force compensation is calculated; and in consideration of centrifugal force compensation, a double-loop PID algorithm is used for simultaneously controlling the precession angle of the double gyroscopes and the inclination angle of the electric bicycle, so that self-balancing control is realized. Through cooperative control of the inner ring and the outer ring, the dynamic response performance, the stability and the anti-interference capability of the system are remarkably improved, and a more advanced and reliable solution is provided for balance control of the electric bicycle. The improvement is beneficial for improving the safety and reliability of the electric bicycle under various complex road conditions and use environments.
本发明涉及自平衡自行车技术领域,特别涉及一种电动自行车平衡控制方法。包括:构建电动自行车动力学模型以及状态空间方程;在电动自行车转向时,计算离心力补偿;考虑离心力补偿,以双环PID算法同时控制双陀螺进动角和电动自行车倾角,实现自平衡控制。本发明通过内外环的协同控制,显著提升了系统的动态响应性能、稳定性和抗干扰能力,为电动自行车的平衡控制提供了一种更为先进和可靠的解决方案。这种改进有助于提高电动自行车在各种复杂路况和使用环境下的安全性和可靠性。
Electric bicycle balance control method
一种电动自行车平衡控制方法
2024-10-29
Patent
Electronic Resource
Chinese
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