The embodiment of the invention provides a self-balancing vehicle and a static balance control method and device thereof, a medium and equipment. The static balance control method comprises: obtaininga dynamic model constructed according to dynamic characteristics of a self-balancing vehicle and a physical model constructed according to physical characteristics of a momentum wheel motor; obtaining a rotation angle of a momentum wheel and an attitude angle of a self-balancing vehicle, wherein the attitude angle is an included angle between a vehicle body of the self-balancing vehicle and the gravity direction; based on the kinetic model, the physical model, the rotation angle of the momentum wheel and the attitude angle of the self-balancing vehicle, calculating control parameters requiredfor maintaining the self-balancing vehicle in a static balance state; and controlling the momentum wheel motor based on the control parameters. According to the technical scheme, static balance control over the self-balancing vehicle can be effectively achieved, and the control stability can be guaranteed.
本申请的实施例提供了一种自平衡车辆及其静态平衡控制方法、装置、介质及设备。该静态平衡控制方法包括:获取根据自平衡车辆的动力学特性构造的动力学模型,以及根据动量轮电机的物理特性构造的物理模型;获取动量轮的转动角度和自平衡车辆的姿态角,所述姿态角是所述自平衡车辆的车身与重力方向之间的夹角;基于动力学模型和物理模型,以及动量轮的转动角度和所述自平衡车辆的姿态角,计算在维持所述自平衡车辆处于静态平衡状态所需的控制参数;基于所述控制参数对所述动量轮电机进行控制。本申请实施例的技术方案可以有效实现对自平衡车辆的静态平衡控制,且能够保证控制的稳定性。
Self-balancing vehicle and static balance control method and device thereof, medium and equipment
自平衡车辆及其静态平衡控制方法、装置、介质及设备
2020-06-12
Patent
Electronic Resource
Chinese
IPC: | B62K Fahrräder , CYCLES / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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