The invention provides a control method for a two-wheeled balance bike. The control method includes the steps that a controller, a timer and a sensor are initialized; the sensor transmits collected signals to the controller; the controller processes the collected signals to obtain the current pitching angle angle, the pitching angular velocity palastance, the handlebar steering angle sampling value angle_AD, the pitching angle difference angle -_dif of pre-time of comparison time interval T0, and the pitching angular velocity difference palastance_dif of a bike body; the controller executes the formula (1); the controller executes the formula (2); the controller executes the formulas (3 and 4); the controller outputs obtained current left motor output rotating speed pwm_L into a left motor and obtained current right motor output rotating speed pwm_R into a right motor. The control method has the advantage that by the adoption of the steps, steering flexibility and traveling stability of the balance bike can be guaranteed.
Control method for two-wheeled balance bike
2015-11-18
Patent
Elektronische Ressource
Englisch