Title:
UNMANNED BICYCLE BALANCE CONTROL METHOD BASED ON RATE GYROSCOPE
Document Type and Number:
WIPO Patent Application WO/2018/176597
Kind Code:
A1
Abstract:
An unmanned bicycle balance control method based on a rate gyroscope, comprising the following steps: (1) establishing a balance system model of an unmanned bicycle; (2) designing an upright attitude balance controller; and (3) calculating by means of a control algorithm according to an offset signal acquired by an offset sensor to obtain a control moment, and then providing the control moment for a rate gyroscope frame so as to generate a corresponding restoring moment on a bicycle frame. According to the method of the present invention, upright balance of an unmanned bicycle can be effectively controlled.
Inventors:
WU JIANGUO (CN)
Application Number:
PCT/CN2017/084511
Publication Date:
October 04, 2018
Filing Date:
May 16, 2017
Export Citation:
Assignee:
SHENZHEN JING ZHOU TECH CO LTD (CN)
International Classes:
G05D1/08; B62K11/00
Foreign References:
| CN2889862Y | 2007-04-18 | |||
| EP2931578A1 | 2015-10-21 | |||
| CN205273726U | 2016-06-01 | |||
| CN205891096U | 2017-01-18 | |||
| CH707284A2 | 2014-05-30 | |||
| CN201856757U | 2011-06-08 |
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