A double-wheel mini type motorcycle is composed of a mechanical system and a control system; the mechanical system comprises two wheels, a motorcycle body and a frame; the control system comprises a motor, a drive, sensors and batteries; the sensors provide feedback signals to the system, construct a state-space equation of a closed-loop system and control the balance motion of the systems by means of PID (Positional Integral Differential). The double-wheel mini type motorcycle is similar to a simple wheel-type moving robot with a traditional inverted pendulum structure. The purposes are realized as follows: the double-wheel mini type motorcycle is designed on the basis of the typical mobile inverted pendulum structure and can be divided into two main parts according to kinetic characteristics; the first part is the mechanical system which comprises two wheels, the motorcycle body and the frame is responsible for realizing the mechanism functions of the robot, bearing hardware circuits and constructing a working platform; the second part is the control system, comprising the motor, the drive, the sensors and the batteries. The sensors provide feedback signals to the systems, construct the state-space equation of the closed-loop system and control the balance motion of the systems by means of PID.
Double-wheel mini type motorcycle
2015-06-03
Patent
Elektronische Ressource
Englisch
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