A device and method capable of realizing bicycle self-balancing and bicycle

Abstract

The invention provides a device capable of realizing bicycle self-balancing, including a main controller, which is connected with a detection system and a driving system; the detection system includes an inclination sensor, which is used to detect the inclination state of the bicycle, and transmit the detection information to The main controller; the driving system includes a balance system and a steering system, the steering system includes a steering motor, and the steering motor is connected to the head of the bicycle through a reducer to control the rotation angle and speed of the head; the balance system includes a flywheel balance mechanism and a slider balance mechanism, the flywheel The balance mechanism is connected with the wheel of the bicycle and fixed coaxially with the wheel shaft; the slider balance mechanism includes a guide rail and a slider that is slidably connected with the guide rail, and the guide rail is connected with the bracket of the bicycle; the main controller processes the detection information to generate a control signal, The control signal is transmitted to the drive system. The problem that the current self-balancing bicycle is limited to movement balance is solved, so that the bicycle can achieve movement and static balance.

Description

technical field [0001] The invention relates to a device, a method and a bicycle capable of realizing the self-balancing of the bicycle, in particular to a control method capable of realizing the self-balancing of the bicycle, an experimental device and the bicycle, belonging to the field of electromechanical control. Background technique [0002] Bicycle is one of the most common means of transportation in people's daily life. Throughout the development history of bicycle, in the process of development and evolution of bicycle, although the structure is simple, it contains rich scientific problems. Since the bicycle has only two contact points with the supporting road surface, it is physically unstable, similar to the "inverted pendulum" structure, but when the bicycle is controlled by humans, or the bicycle is under the appropriate speed conditions, the bicycle can achieve real stability. The "self" presents a perfect dynamical stability problem. [0003] At present, the ...

AI Technical Summary

Problems solved by technology

Since the bicycle has only two contact points with the supporting road surface, it is physically unstable, similar to the "inverted pendulum" structure, but when the bicycle is controlled by humans, or the bicycle is under the appropriate speed conditions, the bicycle can achieve real stability. The "self" presents a perfect dynamical stability problem

[0003] At present, the research on the self-balancing of bicycles is mainly aimed at the establishment of mechanical models and the analysis of dynamic kinematics, but the analysis content is single and the physical model is relatively simple, so it cannot analyze the mechanics and kinematics models of bicycles well.

Some research teams have modified conventional bicycles. The simple movement balance of the bicycle can be achieved by the swing of the bicycle's head, but the movement balance is only for the forward movement of the bicycle, and it still cannot be achieved under low speed and static conditions. self-balancing bicycle

There is also the TMS bicycle used to verify the dynamic balance of bicycles. It can achieve self-balancing of the car body only by using its own structural characteristics without any auxiliary control at a certain speed. For static and low-speed situations, it still cannot achieve self-balancing, and its structure Special cannot be ridden normally, it is only used for experimental verification

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