种自平衡载人电动独轮车的控制方法

• Format: Patent
• Language: Chinese
• Published: 17.08.2016
• Subjects: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TOTRANSPORTATION; CYCLE AXLE SUSPENSIONS; CYCLE FRAMES; CYCLE SIDE-CARS, FORECARS, OR THE LIKE; CYCLE STEERING DEVICES; CYCLES; ELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLEDVEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; PERFORMING OPERATIONS; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FORCYCLES; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS; TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINSTCLIMATE CHANGE; TRANSPORTING; VEHICLES IN GENERAL

本发明公开了种自平衡载人电动独轮车的控制方法，该方法首先采集置于电动独轮车上的加速度计和陀螺仪的数据，将采集的数据经过卡尔曼滤波得到当前车体倾斜角度和倾斜角速度，然后通过非线性PD控制器得到电机转速给定值，电机转速给定值与当前测得的电机转速反馈值的差值通过PI控制器得到转矩电流的给定值，最后通过矢量控制方法得到驱动信号，电机输出合适的转矩保持车体的平衡。本发明的控制策略具备良好的动静态性能，减小了系统振动以及噪声，可以实现电动独轮车的姿态自平衡以及载人骑行功能。