The invention relates to the field of monocycles, in particular to a balance control method of a monocycle. The method comprises the steps: obtaining an inclined attitude of a monocycle body in a left-right direction, calculating control speed caused by left and right inclination according to the left and right inclined attitude, and generating balance speed of the monocycle body by combining the control speed caused by the left and right inclination of the monocycle body with speed in an anterior-posterior direction of the monocycle body. The method obtains the control speed arising from the left and right inclination by obtaining the inclined attitude in the left-right direction of the monocycle body and combines the control speed with the speed in the anterior-posterior direction of the monocycle body to further obtain the balance speed of the monocycle body keeping left-right and anterior-posterior balance. The attitude of the monocycle body can be sensed when the monocycle is inclined to left, right, front and rear, corresponding balance control is carried out on the monocycle body by a corresponding dynamic balance control principle, the monocycle body is not inclined to left and right or does not back up easily when the monocycle body runs forward and backward, and a user is easier and more comfort during ridding and use.
Balance control method of monocycle
2015-04-29
Patent
Elektronische Ressource
Englisch