The invention relates to the technical field of balance, in particular to a self-balancing device which comprises a gyroscope assembly, a precession driving component and a precession braking component, and the gyroscope assembly comprises an inner frame body rotatably installed on a vehicle body, a rotating body rotatably arranged in the inner frame body and a power piece driving the rotating body to rotate. The rotating axis of the inner frame body is orthogonal to the rotating axis of the rotating body, the precession driving part is used for controlling the inner frame body to rotate, and the precession braking part is used for locking or loosening the inner frame body, so that the inner frame body is fixed or can rotate relative to a vehicle body. The invention further relates to the vehicle with the front wheel and the rear wheel comprising the self-balancing device and a control method of the vehicle with the front wheel and the rear wheel, and the control method mainly comprises the steps that a control system switches the working state of the self-balancing device according to vehicle speed information detected by a vehicle speed sensor; and when the vehicle speed is reduced to the set low-speed value, the precession balance state is switched, and the set high-speed value is larger than or equal to the set low-speed value.

    本发明涉及平衡技术领域,尤其涉及一种自平衡装置,包括陀螺组件、进动驱动部件和进动刹车部件,陀螺组件包括可转动地安装于车身上的内框体、可转动地设于内框体内部的转动体和驱动转动体转动的动力件,内框体的转动轴线与转动体的转动轴线正交,进动驱动部件用于控制内框体转动,进动刹车部件用于锁定或松开内框体,使内框体相对车身固定或可转动。还涉及包括该自平衡装置的前后两轮车辆及该前后两轮车辆的控制方法,控制方法主要是控制系统根据车速传感器检测到的车速信息切换自平衡装置的工作状态:当车速升高至设定高速值时切换为无进动状态,当车速降低至设定低速值时切换为进动平衡状态,设定高速值大于或等于设定低速值。


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    Title :

    Self-balancing device, vehicle with front wheel and rear wheel and control method of vehicle


    Additional title:

    自平衡装置、前后两轮车辆及其控制方法


    Contributors:

    Publication date :

    2023-03-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62K Fahrräder , CYCLES / B62D MOTOR VEHICLES , Motorfahrzeuge



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