Control method of self-balancing man-riding electric unicycle

Abstract

The invention discloses a control method of a self-balancing man-riding electric unicycle. The method includes: acquiring data from an accelerator and a gyroscope disposed on the unicycle, subjecting the acquired data to Kalman filtering to obtain current tilt angle and tilt angular velocity of the unicycle, acquiring a given motor speed value through a nonlinear PD (proportional plus derivative) controller, acquiring a given torque current value from a difference between the given motor speed value and a currently measured motor speed fed-back value through a PI (proportional plus integral) controller, acquiring a drive signal through vector control, and allowing a motor to output a proper torque to keep the unicycle balanced. The control method has the advantages that a control strategy features good dynamic and static properties, system vibration and noise are reduced, and the unicycle is allowed to self-balance the attitude and to carry a man riding.

Description

technical field [0001] The invention belongs to the field of transportation tools, and relates to a control method for a self-balancing electric unicycle carrying people, which is self-balanced front and rear and left and right by riders to control the balance manually. Background technique [0002] Riding a purely mechanical unicycle is an activity that requires special learning and training to complete. When riding, it is necessary to maintain the balance in the front-back direction and the left-right direction at the same time, and riding requires human effort, and the traveling speed is relatively low. An electric unicycle is a riding device driven by a motor. It is similar to riding a bicycle. You only need to master the left and right balance to ride smoothly. The self-balancing manned electric unicycle uses the principle of the inverted pendulum system to control the front and rear balance of the car body. The rider puts his feet on the folding pedals on both sides o...

AI Technical Summary

Problems solved by technology

[0004] The invention patent with application number 201410014863.4 proposed a self-balancing electric unicycle with a simple and compact structure, but did not propose a specific control scheme in detail

The invention patent with the application number 201210217335.X proposes a self-balancing manned unicycle based on inertial balance wheels, which realizes left and right balance control. However, due to the existence of inertial balance wheels, the control scheme is relatively complicated and is not suitable for the current popular unicycle in the market. electric unicycle structure

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