The invention discloses a method and device for controlling balance of a longitudinal two-wheeled vehicle. One specific embodiment of the method comprises the following steps of: acquiring a target rotation angle of the longitudinal two-wheeled vehicle; regularly executing a control step at a first time interval: judging whether the time for executing a balance algorithm is reached or not, and ifso, executing the balance algorithm: obtaining attitude data of the longitudinal two-wheeled vehicle, calculating a current vehicle body inclination angle, calculating a balance angle based on a PD algorithm, controlling the longitudinal two-wheeled vehicle to rotate by the balance angle, and skipping to execute the control step; if the time for executing the balance algorithm is not reached, reading a current rotation angle, and controlling the longitudinal two-wheeled vehicle to steer based on the PID algorithm; and updating the current rotation angle, and skipping to execute the control step if the current rotation angle is smaller than the target rotation angle. Steering of the longitudinal two-wheeled vehicle and balance of a vehicle body are controlled to be executed in an interlacedmode, and balance correction is continuously carried out by intermittently controlling the rotation balance angle of the vehicle body in the process of multiple times of controlling steering.
本申请公开了一种控制纵向两轮车平衡的方法和装置。所述方法的一具体实施方式包括:获取纵向两轮车的目标转动角度;以第一时间间隔定时执行控制步骤:判断是否到达执行平衡算法的时间,如果到达,则执行平衡算法:获取纵向两轮车的姿态数据,计算当前车体倾斜角,基于PD算法,计算平衡角度,控制纵向两轮车转动平衡角度后,跳转执行控制步骤;如果未到达执行平衡算法的时间,读取当前转动角度,基于PID算法,控制纵向两轮车转向;更新当前转动角度,如果该当前转动角度小于目标转动角度,则跳转执行控制步骤。实现了控制纵向两轮车转向与车体平衡交织执行,在多次控制转向的过程中,间断的通过控制车体转动平衡角度,来不断的进行平衡矫正。
Method and device for controlling balance of longitudinal two-wheeled vehicle
控制纵向两轮车平衡的方法和装置
2020-12-22
Patent
Electronic Resource
Chinese
INVERTED TWO-WHEELED VEHICLE TYPE BALANCE TRAINING DEVICE
European Patent Office | 2019
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