CN106882341B - A kind of Self-Balancing vehicle device waterborne - Google Patents
A kind of Self-Balancing vehicle device waterborne Download PDFInfo
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- CN106882341B CN106882341B CN201710037740.6A CN201710037740A CN106882341B CN 106882341 B CN106882341 B CN 106882341B CN 201710037740 A CN201710037740 A CN 201710037740A CN 106882341 B CN106882341 B CN 106882341B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B34/00—Vessels specially adapted for water sports or leisure; Body-supporting devices specially adapted for water sports or leisure
- B63B34/10—Power-driven personal watercraft, e.g. water scooters; Accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a kind of Self-Balancing vehicle waterborne, including steering yoke, pedal, control box, battery, steering engine, driving motor and propeller；Steering yoke is placed on pedal, for control direction；Pedal is the skeleton of whole balance car, and the structure of fixed whole car, carry object and detected whether weight above；Control box is used for the posture for detecting balance car waterborne, and controls steering engine and driving motor；Battery provides electric energy to whole balance car waterborne；Steering engine is fixed on the pedal；Driving motor is fixed in the shaft of the steering engine, drives the axial direction of motor and the angle of pedal surface normal vector with changing respectively with the output angle of its corresponding steering engine；Propeller is fixed in the shaft of driving motor, thrust can be provided by rotating forward, the direction of thrust is consistent with driving the axial direction of motor, and the adjustment of continuous adjustment and the driving motor speed of steering engine output angle can realize the upright of Self-Balancing vehicle waterborne, advance, retreat, turning function.
Description
Technical field
The invention belongs to Self-Balancing vehicle technical field, more particularly, to a kind of Self-Balancing vehicle waterborne.
Background technology
As the improvement of people's living standards, pursuit of the people to the vehicles is also from simple performance to novel and wound
Meaning.The fast development of this several years Self-Balancing vehicles just illustrates this point.Self-Balancing vehicle is a kind of control theory and practical application knot
The product of conjunction, gives people new understanding a kind of to the vehicles.Self-Balancing vehicle is also not only a kind of vehicles, or a kind of high
The toy of shelves, it can advance, retreat according to the posture of your body.And at present for Self-Balancing vehicle application on land, but
It is also many times our traffic, the place of amusement on the water surface.This just needs the Self-Balancing vehicle of land being transferred on the water surface
.And can not be applied directly on the water surface there is presently no the Self-Balancing vehicle occurred on flow surface, land Self-Balancing vehicle, because
For on the face of land balance car be a two-dimentional control, and on the water surface be a three-dimensional control, more dimensions, control
It can become relative complex.
The content of the invention
The defects of for the prior art, it is an object of the invention to provide a kind of Self-Balancing vehicle waterborne, it is intended to fills up waterborne
The problem of Self-Balancing vehicle lacks.
The present invention provides a kind of Self-Balancing vehicle waterborne, including steering yoke, pedal, control box, battery, steering engine, driving electricity
Machine and propeller；Wherein：
One end of the steering yoke is connected by bearing with pedal, and steering yoke rotates small and self-zeroing with frictional force
Characteristic；Hall sensor is housed in bearing and pedal junction, Hall sensor output is connected with control box, for detecting direction
The pivot angle of bar and output swing angle information are to control box；The steering yoke other end is Handheld Division, and direction is adjusted for swinging；
The pedal is the skeleton of balance car, is made of light and firm material, includes control for carrying personnel and installation
Component including box processed, steering yoke, steering engine, driving motor, battery, pedal is equipped with gravity sensor, for detecting thing on pedal
The weight of body；Gravity sensor connects the control module inside control box, for transmitting weight data；
The battery is installed on bottom or the sidepiece of pedal, and for providing electric energy to this balance car, which is rechargeable type
And it is equipped with charging interface；
The steering engine includes left rudder machine and right standard rudder machine, is symmetrical with steering yoke, is fixed on the pedal bottom surface；Left and right steering engine
Shaft can realize the rotation of certain angle respectively, and left and right driving motor is separately fixed in the shaft of left and right steering engine, can be with steering engine
The rotation of the rotation of shaft, so as to change drive motor shaft to direction and the angle of pedal surface normal vector；So as to change motor
Thrust direction；
The driving motor includes left driving motor and right driving motor, and the propeller includes left-hand airscrew and right-hand screw
Paddle, is separately fixed in the shaft of left and right driving motor；Left and right driving motor and left-and-right spiral paddle respectively constitute left and right two sets
Push system, is symmetrical with steering yoke and is fixed on the pedal bottom surface；Drive the axial direction of motor and the angle of pedal surface normal vector
Change respectively with the output angle of its corresponding steering engine, the pedal surface normal vector for balance car horizontal when on the water surface, hang down
Directly in pedal surface upwardly direction；
The control box includes control module, sensor assembly and motor drive module；The control box is installed on pedal
Lower section, be fixed on the surface of pedal；The sensor assembly includes three dimension acceleration sensor and three-dimensional gyro sensor；
The three dimension acceleration sensor is used to detect balance vehicle speed, and three-dimensional gyro sensor is used for the posture for detecting balance car,
Including inclination angle, acceleration and yaw angle；The data that the sensor assembly is collected are transferred to control module, control module
Three-dimensional gyroscope sensor data and acceleration transducer data are received, filtering algorithm is first passed through and obtains attitude information, then lead to
Cross control algolithm and calculate current controlled quentity controlled variable, including the rotating speed steering of motor and the corner of steering engine, controlled quentity controlled variable is transferred to electricity
In machine drive module；The motor drive module is located in control box, for controlling driving motor according to the controlled quentity controlled variable of acquisition
The corner of rotating speed and steering engine, so as to keep movement and the balance of whole balance car；
During work, after balance car starts, the initial corner of steering engine is 0 degree, drives the axial direction and balance car pedal table of motor
The normal vector in face is parallel, that is, the inceptive direction of thrust for driving motor vertically upward, to offset the gravity of balance car itself, reaches
Balance；The data of the gyroscope collected and the data transfer of accelerometer into control module, are controlled mould by sensor assembly
Block calculates the current posture and speed of balance car, thus obtains rotating speed and steering engine of the current controlled quentity controlled variable including driving motor
Corner, then controlled quentity controlled variable is transferred on motor drive module, motor drive module is according to the controlled quentity controlled variable received, control driving electricity
Machine and steering engine, realize that the gravity of thrust and balance car entirety that driving motor drives propeller to produce balances each other；
When Chinese herbaceous peony is inclined, then control steering engine rotate forward certain angle (it is assumed that balance car to Right deviation to lean forward, incline to the left as hypsokinesis,
Then when steering engine clockwise turns to rotating forward, reversion is rotated to be counterclockwise), that is, drive the axial direction and pedal surface normal direction of motor
Amount angle become positive-angle (it is assumed that balance car to Right deviation to lean forward, incline to the left as hypsokinesis, then when the axial direction of motor is in pedal
The right of surface normal is then positive-angle, otherwise is negative angle), while drive motor speed to accelerate, such car body will be anti-
Lean forward correction to realization is swung backward；If working as car hypsokinesis, control steering engine reversion certain angle, the i.e. axial direction of driving motor
Become negative angle with pedal surface normal vector angle, while drive motor speed to accelerate, such car body will reversely be swung forward
Realize that hypsokinesis is corrected, by constantly adjusting, last car body preserves erectility；
When people onboard, the gravity sensor on pedal can detect the weight of human body, and weight information is transferred to controller
In module, controller module can calculate the incrementss of driving motor speed, and be transferred on motor drive module；When body to
When leaning forward, steering engine rotates forward certain angle, that is, drives the axial direction of motor and pedal surface normal vector angle to become positive angle
Degree, while drive motor speed to accelerate, car will travel forward；When onboard body retreats people, steering engine reversion one
Determine angle, that is, drive the axial direction of motor and pedal surface normal vector angle to become negative angle, while drive motor speed to add
It hurry up, car will move backward；
When left and right swaying direction bar, the pivot angle information detected is sent to inside control box by Hall sensor
Control module in, control module calculates controlled quentity controlled variable by control algolithm and is transferred on steering engine, steering engine change driving motor
With the angle of pedal surface normal vector, so as to change the direction of airscrew thrust, turn to left and right it is achieved thereby that car is overall；Such as
When steering yoke swaying direction bar to the left, left side steering engine reversion certain angle, the right steering engine rotates forward certain angle, drives at the same time
Dynamic motor speed is accelerated, and can so realize left-hand rotation；Such as when steering yoke swaying direction bar to the right, left side steering engine rotates forward
Certain angle, the right steering engine reversion certain angle, while drive motor speed to accelerate, it can so realize right-hand rotation；By not
Disconnected adjustment steering engine output angle, changes drive motor shaft and plumb line angle, so as to realize Self-Balancing vehicle waterborne it is upright,
Advance, retreat, turning function.
Further, all components all have water-proof function.
Further, the control box can control the balance car to fluctuate near the water surface.
Further, the sensor assembly further includes temperature sensor, its output is connected with control module, for detecting
Temperature simultaneously send temperature data to control module, to compensate the temperature drift of three dimension acceleration sensor and three-dimensional gyro sensor.
Further, the filtering algorithm includes Kalman filtering algorithm, complementary filter algorithm and low-pass filtering algorithm.
Further, the control algolithm includes double closed-loop PID algorithm, predictive control algorithm and LQR control algolithms.
The present invention can provide a kind of Self-Balancing vehicle waterborne, which can be balanced on the water surface state, and can be by
The posture of human body controls the advance of car body, retrogressing and turning etc., and driving motor is controlled by increasing this link of steering engine
Thrust direction, realizes the vector controlled of thrust, and then land two-dimentional balance car is improved a control dimension, realizes
The control of three-dimensional balancing state, meets that people experience the hope of Self-Balancing vehicle on the water surface, is also used as on a kind of water surface
The vehicles.
Brief description of the drawings
Fig. 1 is Self-Balancing vehicle structure front view schematic diagram waterborne provided in an embodiment of the present invention；
Fig. 2 is Self-Balancing vehicle structural side view schematic diagram waterborne provided in an embodiment of the present invention；
Fig. 3 is Self-Balancing vehicle motor connecting structure schematic diagram waterborne provided in an embodiment of the present invention；
The control box internal structure schematic diagram that Fig. 4 provides for the validity of the verification embodiment of the present invention；
Fig. 5 is side view when Self-Balancing vehicle waterborne of the embodiment of the present invention is upright；
Fig. 6 for Self-Balancing vehicle heeling condition waterborne of the embodiment of the present invention when side view；
Fig. 7 for verification Self-Balancing vehicle equilibrium state waterborne of the embodiment of the present invention when side view；
Wherein, Fig. 1 is the overall structure of Self-Balancing vehicle waterborne, 201 is steering yoke, 202 is Hall sensor, 203 is control
Box processed, 204 be lithium battery, 205 be pedal, 206 be steering engine, 207 be driving motor, 208 be propeller, 209 be sensor die
Device module, 211 are motor driver module in order to control for block, 210.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
On the water in Self-Balancing vehicle driving process, control box can detect the posture of Self-Balancing vehicle pedal waterborne, at the same time
Realize that pedal keeps horizontality by two-loop system algorithm.Therefore when people station can stand not when on pedal
, the inclination angle difference of human body will cause the different motion state of balance car.Human body toward when leaning forward, go ahead by balance car；
Human body toward when layback, walk back by balance car；When people's shaking direction bar, balance car also can be rotated and then.And these
Realization be all control module by gathering the data of sensor assembly and the angle-data of steering yoke, while control the corner of steering engine
Realized with the rotating speed of driving motor.
Elaborate below to the embodiment of the present invention, the present embodiment is carried out lower premised on technical solution of the present invention
Implement, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following implementation
Example.
Fig. 1, Fig. 2 are faced for the present embodiment and schematic side view；Fig. 3 is Self-Balancing vehicle motor waterborne provided in this embodiment
Attachment structure schematic diagram；The control box internal structure schematic diagram that Fig. 4 provides for the validity of the verification embodiment of the present invention, control
Controller module, sensor assembly and motor driver module are included inside box, sensor assembly is used for gathering balance car
Posture and velocity information, controller module are used for calculating controlled quentity controlled variable according to the data of sensor assembly and are output to motor driving
Device module, motor driver module are used for receiving the controlled quentity controlled variable of control module output, and correspondingly turn of control driving motor
The corner of speed and steering engine.
In embodiments of the present invention, Self-Balancing vehicle waterborne realizes the flat of itself by the control to steering engine and driving motor
Weigh and there are balance during weight.Control algolithm in the present embodiment is double closed-loop PID algorithm, sensor bag
Acceleration transducer and gyro sensor are included, controller device is STM32 microcontrollers, and specific work process is as follows：
During work, after balance car starts, the initial corner of steering engine is 0 degree, as shown in figure 5, the axial direction of driving motor is with putting down
The normal vector for the car pedal surface that weighs is parallel, to offset the gravity of balance car itself, reaches balance, wherein driving motor drive is spiral
The big I actual test that paddle produces thrust comes out, and makes it equal with balance car self gravitation；Sensor assembly will collect
Into control module, the STM32 microcontrollers inside control module calculate for the data of gyroscope and the data transfer of accelerometer
Balance car current posture and speed, and current controlled quentity controlled variable is obtained including driving motor by two-loop system algorithm
The corner of rotating speed and steering engine, then controlled quentity controlled variable is transferred on motor drive module, motor drive module is according to the control received
Amount, control driving motor and steering engine, realize that the thrust that driving motor drives propeller to produce is equal with the gravity of balance car entirety
Weighing apparatus, i.e., as shown in figure 5, the gravity G of itself straight up, is just offset in the direction of thrust F, balance car can keep balancing；
When car hypsokinesis, then steering engine reversion certain angle is controlled as shown in Figure 6 (it is assumed that balance car is to lean forward to Right deviation, to the left
Incline for hypsokinesis, then when steering engine clockwise turns to rotating forward, rotate to be reversion counterclockwise), that is, the axial direction of motor is driven with stepping on
Plate surface normal vector angle become negative angle (it is assumed that balance car to Right deviation to lean forward, incline to the left as hypsokinesis, then when the axial direction of motor
Direction is then positive-angle on the right of pedal surface normal vector, otherwise is negative angle), while drive motor speed to accelerate, so
Car body, which will reversely be swung forward, realizes that hypsokinesis is corrected, as shown in Figure 7；If when Chinese herbaceous peony is inclined, control steering engine rotates forward certain angle,
Drive the axial direction of motor and pedal surface normal vector angle to become positive-angle, while drive motor speed to accelerate, so
Car body will reversely swing realization forward and lean forward correction, and by constantly adjusting, last car body preserves erectility；
When people onboard, the gravity sensor on pedal can detect the weight of human body, and weight information is transferred to controller
In module, controller module can calculate the incrementss of driving motor speed, and be transferred on motor drive module；When body to
When leaning forward, steering engine rotates forward certain angle, that is, drives the axial direction of motor and pedal surface normal vector angle to become positive angle
Degree, while drive motor speed to accelerate, car will travel forward；When onboard body retreats people, steering engine reversion one
Determine angle, that is, drive the axial direction of motor and pedal surface normal vector angle to become negative angle, while drive motor speed to add
It hurry up, car will move backward；
When left and right swaying direction bar, the pivot angle information detected is sent to inside control box by Hall sensor
Control module in, control module calculates controlled quentity controlled variable by two-loop system algorithm and is transferred on steering engine, steering engine change
Drive the angle of motor and pedal surface normal vector, so as to change the direction of airscrew thrust, it is achieved thereby that car it is overall to the left,
Turn right；Such as when steering yoke swaying direction bar to the left, left side steering engine reversion certain angle, the right steering engine rotates forward certain angle
(rotating of steering engine is defined as above), while drive motor speed to accelerate, it can so realize left-hand rotation；Such as when steering yoke to
When right swaying direction bar, left side steering engine rotates forward certain angle, and the right steering engine reversion certain angle (determine by the rotating of steering engine
Justice is same as above), while drive motor speed to accelerate, it can so realize right-hand rotation；
Different from land Self-Balancing vehicle, Self-Balancing vehicle waterborne proposed by the present invention, control dimension is three-dimensional, not only needs to control
The plane motion of balance car processed, it is also desirable to control balance car to be maintained at the water surface.The advance of car is not only controlled with after by human body
Move back, but also the dimension of control is lifted by increasing this controlling unit of steering engine, the corner of steering engine changes airscrew thrust
Direction, realizes that balance car is maintained at the equilibrium state on the water surface.By constantly adjusting steering engine output angle, change drive motor shaft with
Plumb line angle, so as to realize the upright of Self-Balancing vehicle waterborne, advance, retreat, turning function.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., should all include
Within protection scope of the present invention.
Claims (7)
1. a kind of Self-Balancing vehicle waterborne, it is characterised in that including steering yoke (201), pedal (205), control box (203), battery
(204), steering engine (206), driving motor (207) and propeller (208)；Wherein：
One end of the steering yoke (201) is connected by bearing with pedal, and steering yoke (201), which rotates, has self-zeroing spy
Property；Hall sensor (202) is housed in bearing and pedal junction, Hall sensor (202) is connected with control box, for detecting
The pivot angle of steering yoke and output swing angle information are to control box (203)；Steering yoke (201) other end is Handheld Division, is put for left and right
It is dynamic to adjust direction；
The pedal (205) is the skeleton of balance car, includes control box, steering yoke, steering engine, driving for carrying personnel and installation
Component including motor, battery, pedal (205) is equipped with gravity sensor, for detecting the weight of object on pedal；Gravity sensitive
Control module inside device connection control box, for transmitting weight data；
The battery (204) is installed on bottom or the sidepiece of pedal, and for providing electric energy to this balance car, which is rechargeable type
And it is equipped with charging interface；
The steering engine (206) includes left rudder machine and right standard rudder machine, is symmetrical with steering yoke (201), is fixed on the pedal bottom surface；It is described
Driving motor (207) includes left driving motor and right driving motor, and the shaft of left and right steering engine can realize the rotation of certain angle respectively
Turn, left and right driving motor is separately fixed in the shaft of left and right steering engine, can be rotated with the rotation of steering engine shaft, so as to change drive
The angle of dynamic motor axial direction and pedal surface normal vector；So as to change airscrew thrust direction；
The propeller (208) includes left-hand airscrew and right-hand screw paddle, is separately fixed in the shaft of left and right driving motor；It is left
Right driving motor and left-and-right spiral paddle respectively constitute left and right two sets of push system, are symmetrical with steering yoke (201) and are fixed on described step on
Plate bottom surface；The axial direction of driving motor changes with the output angle of its corresponding steering engine respectively with the angle of pedal surface normal vector,
The direction of the pedal surface normal vector for balance car horizontal when on the water surface, it is upward perpendicular to pedal surface；
The control box (203) includes control module (210), sensor assembly (209) and motor drive module (211)；It is described
Control box (203) is installed on the lower section of pedal, is fixed on the surface of pedal；The sensor assembly is sensed including three-dimensional acceleration
Device and three-dimensional gyro sensor；The three dimension acceleration sensor is used to detect balance vehicle speed, three-dimensional gyro sensor
For detecting the posture of balance car, including inclination angle, acceleration and yaw angle；The data that the sensor assembly is collected pass
Defeated to arrive control module (210), control module (210) receives three-dimensional gyroscope sensor data and three dimension acceleration sensor number
According to, first pass through filtering algorithm and obtain attitude information, then current controlled quentity controlled variable is calculated by control algolithm, including driving motor
Rotating speed turns to and the corner of steering engine, and controlled quentity controlled variable is transferred on motor drive module；The motor drive module is located at control box
It is interior, for controlling the rotating speed of driving motor (207) and the corner of steering engine (206) according to the controlled quentity controlled variable of acquisition, so as to keep whole
The movement of balance car and balance.
A kind of 2. Self-Balancing vehicle waterborne according to claim 1, it is characterised in that：
During work, after balance car starts, the initial corner of steering engine is 0 degree, drives the axial direction and balance car pedal surface of motor
Normal vector is parallel, that is, the inceptive direction of thrust for driving motor vertically upward, to offset the gravity of balance car itself, reaches flat
Weighing apparatus；Sensor assembly is by the data of three-dimensional gyro sensor collected and the data transfer of three dimension acceleration sensor to control
In molding block, control module calculates the current posture and speed of balance car, and obtains current controlled quentity controlled variable by control algolithm
It is transferred to including driving the rotating speed of motor and the corner of steering engine, then by controlled quentity controlled variable on motor drive module, motor drive module root
According to the controlled quentity controlled variable received, control driving motor and steering engine, realize the thrust for driving motor drive propeller to produce and balance car
Overall gravity balances each other；
It is assumed that balance car to Right deviation to lean forward, incline to the left as hypsokinesis, then when steering engine clockwise turns to rotating forward, rotate to be counterclockwise
Reversion, when the axial direction of driving motor on the right of pedal surface normal vector be then positive-angle, on the contrary is negative angle, works as Chinese herbaceous peony
Incline, then control steering engine to rotate forward certain angle, that is, drive the axial direction of motor and pedal surface normal vector angle to become positive-angle,
Motor speed is driven to accelerate at the same time, such car body will reversely swing realization backward and lean forward correction；If work as car hypsokinesis, control flaps
Machine inverts certain angle, that is, drives the axial direction of motor and pedal surface normal vector angle to become negative angle, while drive electricity
Machine speed is accelerated, and such car body, which will reversely be swung forward, realizes that hypsokinesis is corrected, and by constantly adjusting, last car body keeps straight
Vertical state；
When people onboard, the gravity sensor on pedal can detect the weight of human body, and weight information is transferred in control module,
Control module can calculate the incrementss of driving motor speed, and be transferred on motor drive module；When body forward is inclined
Wait, steering engine rotates forward certain angle, that is, drives the axial direction of motor and pedal surface normal vector angle to become positive-angle, drive at the same time
Dynamic motor speed is accelerated, and car will travel forward；When onboard body retreats people, steering engine reversion certain angle, i.e.,
The axial direction and pedal surface normal vector angle for driving motor become negative angle, while drive motor speed to accelerate, and car will
Move backward；
When left and right swaying direction bar, the pivot angle information detected is sent to the control inside control box by Hall sensor
In molding block, control module calculates controlled quentity controlled variable by control algolithm and is transferred on steering engine, steering engine change drive motor shaft to
Direction and the angle of pedal surface normal vector, so as to change the direction of airscrew thrust, it is achieved thereby that car is overall to left and right
Turn；Such as when steering yoke is swung to the left, left side steering engine reversion certain angle, the right steering engine rotates forward certain angle, drives at the same time
Dynamic motor speed is accelerated, and can so realize left-hand rotation；Such as when steering yoke is swung to the right, left side steering engine rotates forward certain angle
Degree, the right steering engine reversion certain angle, while drive motor speed to accelerate, it can so realize right-hand rotation；By constantly adjusting
Steering engine output angle, changes drive motor shaft and plumb line angle, so as to realize Self-Balancing vehicle waterborne it is upright, advance, after
Move back, turning function.
3. Self-Balancing vehicle waterborne as claimed in claim 1 or 2, it is characterised in that all components all have water-proof function.
4. Self-Balancing vehicle waterborne as claimed in claim 1 or 2, it is characterised in that the control box can control the balance
Car fluctuates near the water surface.
5. Self-Balancing vehicle waterborne as claimed in claim 1 or 2, it is characterised in that the sensor assembly further includes temperature biography
Sensor, it is connected with control module (210), and control module (210) is sent to for detection temperature and by temperature data, with compensation
The temperature drift of three dimension acceleration sensor and three-dimensional gyro sensor.
6. Self-Balancing vehicle waterborne as claimed in claim 1 or 2, it is characterised in that the filtering algorithm includes Kalman filtering
Algorithm, complementary filter algorithm and low-pass filtering algorithm.
7. Self-Balancing vehicle waterborne as claimed in claim 1 or 2, it is characterised in that the control algolithm is calculated including double closed-loop PID
Method, predictive control algorithm and LQR control algolithms.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710037740.6A CN106882341B (en) | 2017-01-18 | 2017-01-18 | A kind of Self-Balancing vehicle device waterborne |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710037740.6A CN106882341B (en) | 2017-01-18 | 2017-01-18 | A kind of Self-Balancing vehicle device waterborne |
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| CN106882341A CN106882341A (en) | 2017-06-23 |
| CN106882341B true CN106882341B (en) | 2018-05-11 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4015359A1 (en) * | 2020-12-17 | 2022-06-22 | CPD Ltd. | Water vehicle |
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| CN107284615B (en) * | 2017-07-13 | 2023-04-07 | 安徽理工大学 | Control method of water surface mobile bearing device |
| CN108557026A (en) * | 2018-05-18 | 2018-09-21 | 揭阳鸿兴投资集团有限公司 | Board-like driving equipment waterborne |
| CN108654102B (en) * | 2018-05-28 | 2019-11-01 | 湖南大学 | A kind of equipment waterborne of playing of four limbs Collaborative Control |
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| CN106882341A (en) | 2017-06-23 |
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