The invention discloses a steering saturation system for a momentum wheel monocycle, and relates to the technical field of momentum wheel monocycles, the steering saturation system is characterized in that the resultant force of the gravity G and the centrifugal force F is vertical to the tires of the monocycle when the stress analysis is # imgabs0 # (wherein # imgabs1 # G = mg), and the resultant force is not influenced by the centrifugal force; according to the steering saturation system for the momentum wheel monocycle, long-time continuous steering can be achieved through dynamic zero-point auxiliary steering, and the purpose of improving steering stability is achieved; static errors can be eliminated under the condition that the response speed of a system is guaranteed, namely integral saturation is caused due to continuous integration of steering hysteresis in the steering process, and force generated by acceleration of a momentum wheel is not enough to counteract friction force when the angle is small due to the fact that the wheelbarrow conducts acceleration steering by means of the momentum wheel. Therefore, when the angle is small, integration is carried out, so that the problem can be well solved, and integration saturation is avoided.
本发明公开了一种用于动量轮独轮车的转向饱和系统,涉及动量轮独轮车技术领域,包括受力分析当#imgabs0#(其中#imgabs1#G=mg)时重力G和离心力F的合力垂直小车轮胎即可以不受离心力的影响;该用于动量轮独轮车的转向饱和系统,通过动态零点辅助转向可以实现长时间持续转向,达到提高转向稳定性的目的;能够在保证系统响应速度的情况下消除静态误差就是由于转向的滞后性在转向过程中是会不断积分的从而导致积分饱和,由于独轮车是依靠动量轮加速转向所以当角度较小的时候容易出现动量轮加速产生的力不足以抵消摩擦力,所以当角度较小时进行积分可以很好地解决这个问题并且不会出现积分饱和。
Steering saturation system for momentum wheel wheelbarrow
一种用于动量轮独轮车的转向饱和系统
2024-11-29
Patent
Electronic Resource
Chinese
IPC: | B62K Fahrräder , CYCLES |