A method of controlling travel of a two-wheel travel system, a two-wheel travel system, and a computer readable storage medium are provided. The two-wheel driving system comprises a front handlebar steering assembly and a rear wheel driving assembly, and the method comprises the steps that based on driving state parameters of the two-wheel driving system, the dynamic characteristic quantity and the kinematics characteristic quantity of the two-wheel driving system are determined; based on the kinematics characteristic quantity of the two-wheel driving system and the expected trajectory, determining a tracking constraint condition for the two-wheel driving system to continue driving along the expected trajectory; based on the dynamic characteristic quantity and the kinematics characteristic quantity of the two-wheel driving system, determining balance constraint conditions for keeping dynamic balance of the two-wheel driving system in the driving process; and based on this, determining a driving force provided by the rear wheel drive assembly and a steering angular acceleration provided by the front handlebar steering assembly. According to the method, the dynamic balance of the two-wheel driving system is ensured, and the two-wheel driving system is ensured to accurately drive along the required track.
提供一种控制双轮行驶系统的行驶的方法、一种双轮行驶系统以及一种计算机可读存储介质。其中,该双轮行驶系统包括前把转向组件和后轮驱动组件,该方法包括:基于该双轮行驶系统的行驶状态参数,确定该双轮行驶系统的动力学特征量和运动学特征量;基于该双轮行驶系统的运动学特征量以及期望轨迹,确定该双轮行驶系统继续沿期望轨迹行驶的跟踪约束条件;基于该双轮行驶系统的动力学特征量和运动学特征量,确定该双轮行驶系统在行驶过程中保持动态平衡的平衡约束条件;以及基于此,确定由该后轮驱动组件提供的行驶驱动力、以及由该前把转向组件提供的转向角加速度。该方法在保证双轮行驶系统的动态平衡时,又保证了双轮行驶系统精准地沿着所需轨迹行驶。
Method for controlling travel of two-wheel travel system and two-wheel travel system
控制双轮行驶系统的行驶的方法以及双轮行驶系统
2022-11-01
Patent
Electronic Resource
Chinese
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