The invention discloses a bicycle self-balancing device and a control system thereof. The bicycle self-balancing device comprises a bicycle body, a main control system, a driving system, a steering system and an auxiliary balancing system. The main control system comprises a main controller, a serial port display screen and a communication module; the driving system comprises a driving motor and a motor controller, and the bicycle is controlled to run forwards and stop through a serial port remote controller and a mobile phone; the steering system comprises a steering motor and a speed reducer composed of a large gear and a small gear which are meshed. The steering motor controls the bicycle head to rotate through rotation of the speed reducer. The auxiliary balance system comprises a shell device, an electric screw, auxiliary supporting legs and auxiliary wheels and is used for assisting in controlling balance of the bicycle. The main controller detects the inclination angle and the angular speed of the bicycle body, the inclination angle of the bicycle is restored to the angle value of the bicycle balance state through angle and position closed-loop control according to the inclination angle and the angular speed, and the bicycle can achieve high-speed movement balance and can also achieve low-speed movement balance and static balance.
本发明公开了一种自行车自平衡装置及其控制系统,设计包括自行车车体、主控系统、驱动系统、转向系统和辅助平衡系统。主控系统包括主控制器、串口显示屏和通信模块;驱动系统包括驱动电机和电机控制器,通过串口遥控器和手机控制自行车向前行驶和停止;转向系统包括转向电机和相互啮合的大小齿轮组成的减速器,转向电机通过减速器转动控制自行车车头转动;辅助平衡系统包括外壳装置、电动螺杆、辅助支腿和辅助车轮,用于辅助控制自行车平衡。主控制器检测自行车车体的倾角和角速度,根据倾角和角速度通过角度和位置闭环控制使自行车的倾斜角恢复到自行车平衡状态的角度值,自行车既可以实现高速运动平衡,也可以实现低速运动平衡和静止平衡。
Bicycle self-balancing device and control system thereof
一种自行车自平衡装置及其控制系统
2022-08-09
Patent
Elektronische Ressource
Chinesisch
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