CN103019236A - Two-wheel car self-support running method - Google Patents

Two-wheel car self-support running method Download PDF

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CN103019236A
CN103019236A CN2011102872947A CN201110287294A CN103019236A CN 103019236 A CN103019236 A CN 103019236A CN 2011102872947 A CN2011102872947 A CN 2011102872947A CN 201110287294 A CN201110287294 A CN 201110287294A CN 103019236 A CN103019236 A CN 103019236A
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control system
wheeled vehicle
speed
wheeler
wheeled
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CN103019236B (en
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郭盖华
涂超
周伟
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Zhejiang Aerlang Technology Co Ltd
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DONGGUAN ROBSTEP ROBOT Co Ltd
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Abstract

本发明公开了一种两轮车自立行走的方法，其包括两轮车及遥控器，两轮车包括摆杆、带PID控制器的驱动电机、轮子及控制系统，遥控器发送信号给两轮车控制系统，所述控制系统接收信号并控制两轮车做相应运动，它包括两轮车自动起立的方法，两轮车原地站立的方法，两轮车变速行走的方法，两轮车转向控制的方法，两轮车制动的方法及两轮车自动停车的方法。本发明一种两轮车自立行走的方法通过遥控器控制两轮车自动起立、原地站立、变速行走、转向控制、制动及自动停车，实现了遥控器与两轮车的互动，从而增强两轮车的娱乐性。

The invention discloses a method for self-supporting walking of a two-wheeled vehicle, which includes a two-wheeled vehicle and a remote controller. The two-wheeled vehicle includes a pendulum, a driving motor with a PID controller, wheels and a control system. Vehicle control system, the control system receives signals and controls the two-wheeled vehicle to make corresponding movements, which includes the method for the two-wheeled vehicle to automatically stand up, the method for the two-wheeled vehicle to stand in place, the method for the two-wheeled vehicle to change speed, and the method for the two-wheeled vehicle to turn The control method, the braking method of the two-wheeled vehicle and the automatic parking method of the two-wheeled vehicle. A method for self-supporting walking of a two-wheeled vehicle in the present invention controls the two-wheeled vehicle to automatically stand up, stand on the spot, walk at variable speeds, steering control, brake and automatically stop through the remote control, thereby realizing the interaction between the remote control and the two-wheeled vehicle, thereby enhancing the Two-wheeler entertainment.

Description

The method that a kind of two wheeler is supported oneself and walked
Technical field
The present invention relates to the automatic control technology field, especially relate to the method that a kind of two wheeler is supported oneself and walked.
Background technology
For occasions such as shopping mall, square, recreation ground and large-scale meeting-place, automobile is impassable, and walking is tiresome again, needs a kind of can the behaviour to ride instead of walk, flexible operation, control easily two wheeler.
Existing two wheeler use-pattern is to control to finish the various running statuses of two wheeler by the driver, in order to reach the convenient and practical property of two wheeler, this two wheeler can use a teleswitch from its function of far distance controlled, and therefore the various technology of improving remote-controller function also are provided.
Summary of the invention
The present invention be directed to the method that defective that the above-mentioned background technology exists provides a kind of two wheeler to support oneself walking, thereby walking strengthens the recreational of two wheeler so that telepilot control two wheeler is supported oneself.
For achieving the above object, the method that a kind of two wheeler of the present invention is supported oneself and walked, comprise two wheeler and telepilot, two wheeler comprises fork, the drive motor with the PID controller, wheel and control system, telepilot sends a signal to the two wheeler control system, described control system receives signal and controls two wheeler and do corresponding sports, it comprises the method that two wheeler stands up automatically, the method of standing in the two wheeler original place, the method of two wheeler speed change walking, two wheeler turns to the method for control, method and the self-stopping method of two wheeler of two wheeler braking.
Further, the method that described two wheeler stands up automatically may further comprise the steps:
(1) described two wheeler control system is set with the restriction speed of automatically standing up, and described telepilot sends and automatically stands up signal to control system, and described control system is according to the signal output travelling speed of automatically standing up;
(2) two wheeler control system comparison travelling speed and restriction speed and the travelling speed controlled quentity controlled variable passed to drive motor with the PID controller, described drive motor with the PID controller rotates with travelling speed by the actuator drives wheel;
(3) wheel continues for some time with travelling speed, described control system output inverted running speed is also passed to drive motor with the PID controller with controlled quentity controlled variable, described drive motor with the PID controller rotates with inverted running speed by the actuator drives wheel, and the two wheeler car body stands up automatically;
(4) be provided with gyro sensor and acceleration transducer on the described control system, merge angle value and survey the two wheeler car body state that automatically stands up in order to output, the fusion angle value of sensor is provided with interval range during described two wheeler self-equilibrating operation, when the fusion angle value when two wheeler car body angle enters the operation of two wheeler self-equilibrating was interval, two wheeler was kept the state that automatically stands up; When the fusion angle value when two wheeler car body angle does not enter the operation of two wheeler self-equilibrating was interval, the output of two wheeler control system was regulated the speed.
Further, the method for standing in described two wheeler original place may further comprise the steps:
(1) telepilot sends the original place and stands signal to control system, described control system is zero according to the original place signal output speed of standing, the two wheeler control system is that zero controlled quentity controlled variable is passed to the drive motor with the PID controller with speed, and it is zero that described drive motor with the PID controller keeps the speed of two wheeler operation by the actuator drives wheel;
(2) described control system gathers the two wheeler running status and calculates corresponding angle analog quantity, so that the fusion angle value sum of angle analog quantity and sensor output is zero.
Further, the method for described two wheeler speed change walking may further comprise the steps:
(1) telepilot sends the speed change walk signal to control system, described control system is according to speed change walk signal output First Speed, the two wheeler control system is passed to drive motor with the PID controller with the controlled quentity controlled variable of First Speed, and it is First Speed that described drive motor with the PID controller keeps the two wheeler travelling speed by the actuator drives wheel;
(2) described control system gathers the two wheeler running status and calculates corresponding angle analog quantity, so that the fusion angle value sum of angle analog quantity and sensor output is zero.
Further, described two wheeler turns to the method for control, may further comprise the steps:
(1) telepilot is provided with and turns to operating key, user to press the described operating key that turns to, and telepilot sends steering controling signal to control system;
(2) described control system is according to steering controling signal output turning velocity variable quantity, and the revolver of two wheeler is right takes turns current output speed and add respectively and deduct described turning velocity variable quantity, realizes that two wheeler turns to;
(3) user unclamps the described operating key that turns to, and telepilot sends steering controling signal to control system, and described control system makes zero according to steering controling signal output turning velocity variable quantity.
Further, the method for described two wheeler braking may further comprise the steps:
(1) described control system gathers the two wheeler running status and calculates corresponding angle analog quantity, and described angle analog quantity is provided with interval range during described two wheeler self-equilibrating operation, and described angle analog quantity has negative sense threshold values and forward threshold values;
(2) when the two wheeler car body is subject to clashing into, the angle analog quantity of described control system detecting and negative sense threshold values and forward threshold values compare, described control system control two wheeler wheel braking.
Further, the self-stopping method of described two wheeler may further comprise the steps:
(1) telepilot sends the automatic stopping signal to control system, described control system is according to automatic stopping signal output second speed, the two wheeler control system is passed to drive motor with the PID controller with the controlled quentity controlled variable of second speed, and described drive motor with the PID controller moves backward by the actuator drives wheel;
(2) described control system gathers the current output speed value of two wheeler;
(3) current output speed is nonnegative value, and described drive motor with the PID controller moves backward by the actuator drives wheel; When the current output speed of two wheeler is negative value, two wheeler level run state stops, and the two wheeler car body is because the inertia layback is stopped, and the two-wheeled vehicle trunk bending backwards is stopped.
In sum, a kind of two wheeler of the present invention support oneself walking method by telepilot control two wheeler automatically stand up, stand in the original place, speed change is walked, turn to control, braking and automatic stopping, realize the interaction of telepilot and two wheeler, thereby strengthened the recreational of two wheeler.
Description of drawings
Fig. 1 is the structural representation of two wheeler of the present invention.
Fig. 2 is the method synoptic diagram that two wheeler of the present invention stands up automatically.
Fig. 3 is the method synoptic diagram of standing in two wheeler of the present invention original place.
Fig. 4 is the method synoptic diagram of two wheeler speed change walking of the present invention.
Fig. 5 is the self-stopping method synoptic diagram of two wheeler of the present invention.
Embodiment
For further understanding feature of the present invention, technological means and the specific purposes that reach, function, below in conjunction with accompanying drawing and embodiment the present invention is described in further detail.
Such as Fig. 1 to shown in Figure 5, the specific embodiment of the invention by the following technical solutions: two wheeler comprises fork 10, the drive motor 20 with the PID controller, wheel 30, control system 40.Telepilot sends a signal to two wheeler control system 40, and described control system 40 receives signal and controls two wheeler and do corresponding sports.Described control system 40 gathers the current output speed speed of two wheelers and current output speed speed controlled quentity controlled variable is passed to drive motor 20 with the PID controller, described drive motor 20 with the PID controller feeds back the controlled quentity controlled variable of receiving and controls drive motor, thereby drive motor is by the motion of actuator drives wheel 30 control two wheelers.
Be provided with gyro sensor and acceleration transducer on the described control system 40, the wheel acceleration of the gyroscope magnitude of angular velocity of the output of gyro sensor and the output of acceleration transducer is converted into digital quantity after reading by two wheeler control system 40 inner A/D converters (ADC), and the data obtained is processed the fusion angle value that calculates sensor output through the kalman wave filter.
A kind of two wheeler support oneself walking method by the following technical solutions: it comprises the method that two wheeler stands up automatically, the method of standing in the two wheeler original place, the method of two wheeler speed change walking, two wheeler turns to the method for control, method and the self-stopping method of two wheeler of two wheeler braking.
The method that described two wheeler stands up automatically may further comprise the steps:
(1) described two wheeler control system 40 is set with the restriction speed limitspeed that automatically stands up, and described telepilot sends and automatically stands up signal to control system 40, and described control system 40 is according to the signal output travelling speed v that automatically stands up;
(2) when v 〉=limitspeed, two wheeler control system 40 collects misdata, and two wheeler does not carry out any action;
When v＜limitspeed, two wheeler control system 40 is passed to drive motor 20 with the PID controller with travelling speed v controlled quentity controlled variable, and described drive motor 20 with the PID controller rotates with travelling speed v by actuator drives wheel 30;
(3) wheel 30 continues for some time with travelling speed v, described control system 40 output inverted running speed-v also pass to drive motor 20 with the PID controller with controlled quentity controlled variable, described drive motor 20 with the PID controller rotates with inverted running speed-v by actuator drives wheel 30, and the two wheeler car body can stand up automatically according to principle of inertia;
(4) described gyro sensor and acceleration transducer are surveyed the two wheeler car body state that automatically stands up, the fusion angle value of sensor output is provided with interval range during described two wheeler self-equilibrating operation, when the fusion angle value when two wheeler car body angle enters the operation of two wheeler self-equilibrating was interval, two wheeler was kept the state that automatically stands up; When the fusion angle value when two wheeler car body angle does not enter the operation of two wheeler self-equilibrating was interval, the two wheeler control system was exported the v+ Δ v that regulates the speed.
The method of standing in described two wheeler original place may further comprise the steps:
(1) telepilot sends the original place and stands signal to control system 40, described control system 40 is zero according to the original place signal output speed of standing, two wheeler control system 40 is that zero controlled quentity controlled variable is passed to the drive motor 20 with the PID controller with speed, and it is zero that described drive motor 20 with the PID controller keeps the speed of two wheelers operation by actuator drives wheel 30;
(2) described control system 40 gathers the two wheeler running status and calculates corresponding angle analog quantity, so that the fusion angle value sum of angle analog quantity and sensor output is zero, guarantees the two wheeler level run.
The method of described two wheeler speed change walking may further comprise the steps:
(1) telepilot sends the speed change walk signal to control system 40, and described control system 40 is v according to speed change walk signal output First Speed 1, two wheeler control system 40 is with First Speed v 1Controlled quentity controlled variable pass to drive motor 20 with the PID controller, it is v that described drive motor 20 with the PID controller keeps two wheelers operation First Speed by actuator drives wheel 30 1
(2) described control system 40 gathers the two wheeler running status and calculates corresponding angle analog quantity, so that the fusion angle value sum of angle analog quantity and sensor output is zero, guarantees the two wheeler level run.
Described two wheeler turns to the method for control, may further comprise the steps:
(1) telepilot is provided with and turns to operating key, user to press the described operating key that turns to, and telepilot sends steering controling signal to control system 40;
(2) described control system 40 is according to steering controling signal output turning velocity variable quantity, and the revolver of two wheeler is right takes turns current output speed speed and add respectively and deduct described turning velocity variable quantity, realizes that two wheeler turns to;
(3) user unclamps the described operating key that turns to, and telepilot sends steering controling signal to control system 40, and described control system 40 makes zero the two wheeler level run according to steering controling signal output turning velocity variable quantity.
The method of described two wheeler braking may further comprise the steps:
(1) described control system 40 gathers the two wheeler running status and calculates corresponding angle analog quantity, and described angle analog quantity is provided with interval range during described two wheeler self-equilibrating operation, and described angle analog quantity has negative sense threshold values and forward threshold values;
(2) when the two wheeler car body is subject to forward bump, the angle analog quantity of described control system 40 detectings is less than the negative sense threshold values, the 30 forward brakings of described control system 40 control two wheeler wheels;
When the two wheeler car body was subject to backward bump, the angle analog quantity of described control system 40 detectings was greater than the forward threshold values, the 30 backward brakings of described control system 40 control two wheeler wheels.
The self-stopping method of described two wheeler may further comprise the steps:
(1) telepilot sends the automatic stopping signal to control system 40, and described control system 40 is v according to automatic stopping signal output second speed 2, two wheeler control system 40 is with second speed v 2Controlled quentity controlled variable pass to drive motor 20 with the PID controller, described drive motor 20 with the PID controller moves backward by actuator drives wheel 30;
Speed definition when (2) described two wheeler control system 40 is advanced two wheeler on the occasion of, the speed definition when two wheeler retreats is negative value, described control system 40 gathers the current output speed speed of two wheelers;
(3) when the current output speed speed of two wheeler be nonnegative value, described drive motor 20 with the PID controller moves backward by actuator drives wheel 30;
When the current output speed speed of two wheeler is negative value, two wheeler level run state stops, and the two wheeler car body is according to the principle of inertia parking of can swinging back.
In sum, a kind of two wheeler of the present invention support oneself walking method by telepilot control two wheeler automatically stand up, stand in the original place, speed change is walked, turn to control, braking and automatic stopping, realize the interaction of telepilot and two wheeler, thereby strengthened the recreational of two wheeler.
The above embodiment has only expressed one embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as limitation of the scope of the invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with claims.

Claims (7)

1.一种两轮车自立行走的方法，其特征在于：包括两轮车及遥控器，两轮车包括摆杆（10）、带PID控制器的驱动电机（20）、轮子（30）及控制系统（40），遥控器发送信号给两轮车控制系统（40），所述控制系统（40）接收信号并控制两轮车做相应运动，它包括两轮车自动起立的方法，两轮车原地站立的方法，两轮车变速行走的方法，两轮车转向控制的方法，两轮车制动的方法及两轮车自动停车的方法。 1. A method for self-supporting walking of a two-wheeled vehicle, characterized in that: comprising a two-wheeled vehicle and a remote controller, the two-wheeled vehicle comprises a swing bar (10), a drive motor (20) with a PID controller, wheels (30) and The control system (40), the remote controller sends a signal to the two-wheel vehicle control system (40), and the control system (40) receives the signal and controls the two-wheel vehicle to make corresponding movements, which includes a method for automatically standing up the two-wheel vehicle, the two-wheel vehicle A method for standing a vehicle in place, a method for moving a two-wheeled vehicle at variable speeds, a method for controlling the steering of the two-wheeled vehicle, a method for braking the two-wheeled vehicle and a method for automatically parking the two-wheeled vehicle. 2.根据权利要求1所述的一种两轮车自立行走的方法，其特征在于，所述两轮 2. The method for self-supporting walking of a two-wheeled vehicle according to claim 1, wherein said two-wheeled 车自动起立的方法，包括以下步骤： The method that car stands up automatically, comprises the following steps: （1）所述两轮车控制系统（40）设定有自动起立限定速度，所述遥控器发送自动起立信号给控制系统（40），所述控制系统（40）根据自动起立信号输出运行速度； (1) The two-wheeled vehicle control system (40) is set with an automatic stand-up limit speed, the remote controller sends an automatic stand-up signal to the control system (40), and the control system (40) outputs the running speed according to the automatic stand-up signal ; （2）两轮车控制系统（40）比较运行速度和限定速度并将运行速度控制量传给带PID控制器的驱动电机（20），所述带PID控制器的驱动电机（20）通过传动装置驱动轮子（30）以运行速度旋转； (2) The two-wheeled vehicle control system (40) compares the running speed with the limited speed and transmits the control amount of running speed to the drive motor (20) with PID controller, and the drive motor (20) with PID controller passes means to drive the wheels (30) to rotate at the running speed; （3）轮子（30）以运行速度持续一段时间，所述控制系统（40）输出反向运行速度并将控制量传给带PID控制器的驱动电机（20），所述带PID控制器的驱动电机（20）通过传动装置驱动轮子30以反向运行速度旋转，两轮车车体自动起立； (3) The wheel (30) continues at the running speed for a period of time, the control system (40) outputs the reverse running speed and transmits the control amount to the drive motor (20) with a PID controller, and the drive motor (20) with a PID controller The driving motor (20) drives the wheel 30 to rotate at a reverse running speed through the transmission device, and the two-wheeled vehicle body automatically stands up; （4）所述控制系统（40）上设置有陀螺仪传感器及加速度传感器，用以输出融合角度值并探测两轮车车体自动起立状态，所述两轮车自平衡运行时传感器的融合角度值设置有区间范围，在两轮车车体角度进入两轮车自平衡运行时的融合角度值区间时，两轮车维持自动起立状态；在两轮车车体角度未进入两轮车自平衡运行时的融合角度值区间时，两轮车控制系统输出调整速度。 (4) The control system (40) is provided with a gyroscope sensor and an acceleration sensor, which are used to output the fusion angle value and detect the automatic stand-up state of the two-wheel vehicle body, and the fusion angle of the sensor during the self-balancing operation of the two-wheel vehicle The value is set with an interval range. When the angle of the two-wheeled vehicle body enters the fusion angle value interval during the self-balancing operation of the two-wheeled vehicle, the two-wheeled vehicle maintains the automatic standing state; When the fusion angle value range is in operation, the control system of the two-wheeled vehicle outputs the adjusted speed. 3.根据权利要求1所述的一种两轮车自立行走的方法，其特征在于，所述两轮 3. The method for self-supporting walking of a two-wheeled vehicle according to claim 1, wherein said two-wheeled 车原地站立的方法，包括以下步骤： The method for the car to stand in situ includes the following steps: （1）遥控器发送原地站立信号给控制系统，所述控制系统根据原地站立信号输出速度为零，两轮车控制系统将速度为零的控制量传给带PID控制器的驱动电机（20），所述带PID控制器的驱动电机（20）通过传动装置驱动轮子（30）保持两轮车运行的速度为零； (1) The remote controller sends a stand-in-place signal to the control system, and the control system outputs a speed of zero according to the stand-in-place signal, and the two-wheeler control system transmits the control amount of the speed to zero to the drive motor with a PID controller ( 20), the driving motor (20) with a PID controller drives the wheels (30) through a transmission device to keep the running speed of the two-wheeled vehicle at zero; （2）所述控制系统采集两轮车运行状态并计算相应的角度模拟量，以使角度模拟量与传感器输出的融合角度值之和为零。 (2) The control system collects the running state of the two-wheeler and calculates the corresponding angle analog value, so that the sum of the angle analog value and the fused angle value output by the sensor is zero. 4.根据权利要求1所述的一种两轮车自立行走的方法，其特征在于，所述两轮 4. The method for self-supporting walking of a two-wheeled vehicle according to claim 1, wherein said two-wheeled 车变速行走的方法，包括以下步骤： The method for walking at variable speeds comprises the following steps: （1）遥控器发送变速行走信号给控制系统，所述控制系统根据变速行走信号输出第一速度，两轮车控制系统将第一速度的控制量传给带PID控制器的驱动电机（20），所述带PID控制器的驱动电机（20）通过传动装置驱动轮子（30）保持两轮车运行速度为第一速度； (1) The remote controller sends a variable-speed walking signal to the control system, and the control system outputs the first speed according to the variable-speed walking signal, and the two-wheeled vehicle control system transmits the control amount of the first speed to the drive motor with a PID controller (20) , the driving motor (20) with a PID controller drives the wheels (30) through a transmission device to maintain the running speed of the two-wheeled vehicle at the first speed; （2）所述控制系统（40）采集两轮车运行状态并计算相应的角度模拟量，以使角度模拟量与传感器输出的融合角度值之和为零。 (2) The control system (40) collects the running state of the two-wheeler and calculates the corresponding angle analog value, so that the sum of the angle analog value and the fused angle value output by the sensor is zero. 5.根据权利要求1所述的一种两轮车自立行走的方法，其特征在于，所述两轮 5. The method for self-supporting walking of a two-wheeled vehicle according to claim 1, wherein said two-wheeled 车转向控制的方法，包括以下步骤： A method for steering a car, comprising the steps of: （1）遥控器设置有转向控制键，使用者按下所述转向控制键，遥控器发送转向控制信号给控制系统（40）； (1) The remote control is provided with a steering control key, the user presses the steering control key, and the remote control sends a steering control signal to the control system (40); （2）所述控制系统（40）根据转向控制信号输出转向速度变化量，两轮车的左轮右轮当前输出速度分别加上和减去所述转向速度变化量，实现两轮车转向； (2) The control system (40) outputs the change in steering speed according to the steering control signal, and the current output speed of the left and right wheels of the two-wheeled vehicle is respectively added to and subtracted from the change in the steering speed to realize the steering of the two-wheeled vehicle; （3）使用者松开所述转向控制键，遥控器发送转向控制信号给控制系统（40），所述控制系统（40）根据转向控制信号输出转向速度变化量归零。 (3) The user releases the steering control key, and the remote controller sends a steering control signal to the control system (40), and the control system (40) outputs the steering speed variation according to the steering control signal to return to zero. 6.根据权利要求1所述的一种两轮车自立行走的方法，其特征在于，所述两轮 6. The method for self-supporting walking of a two-wheeled vehicle according to claim 1, wherein said two-wheeled 车制动的方法，包括以下步骤： A method for braking a car, comprising the steps of: （1）所述控制系统（40）采集两轮车运行状态并计算相应的角度模拟量，所述两轮车自平衡运行时所述角度模拟量设置有区间范围，所述角度模拟量具有负向阀值及正向阀值； (1) The control system (40) collects the running state of the two-wheeled vehicle and calculates the corresponding angle analog value. When the two-wheeled vehicle is in self-balancing operation, the angle analog value is set with an interval range, and the angle analog value has a negative Toward threshold and positive threshold; （2）在两轮车车体受到撞击时，所述控制系统（40）侦测的角度模拟量与负向阀值及正向阀值进行比较，所述控制系统（40）控制两轮车轮子（30）制动。 (2) When the two-wheeled vehicle body is hit, the angle analog detected by the control system (40) is compared with the negative threshold and the positive threshold, and the control system (40) controls the two-wheeled wheel Child (30) brakes. 7.根据权利要求1所述的一种两轮车自立行走的方法，其特征在于，所述两轮 7. The method for self-supporting walking of a two-wheeled vehicle according to claim 1, wherein said two-wheeled 车自动停车的方法，包括以下步骤： The method for automatic parking of a car comprises the following steps: （1）遥控器发送自动停车信号给控制系统，所述控制系统根据自动停车信号输出第二速度，两轮车控制系统（40）将第二速度的控制量传给带PID控制器的驱动电机（20），所述带PID控制器的驱动电机（20）通过传动装置驱动轮子（30）向后运动； (1) The remote controller sends an automatic parking signal to the control system, and the control system outputs the second speed according to the automatic parking signal, and the two-wheeled vehicle control system (40) transmits the control amount of the second speed to the driving motor with a PID controller (20), the drive motor (20) with a PID controller drives the wheel (30) to move backward through a transmission device; （2）所述控制系统（40）采集两轮车的当前输出速度取值； (2) The control system (40) collects the value of the current output speed of the two-wheeled vehicle; （3）当前输出速度为非负值，所述带PID控制器的驱动电机（20）通过传动装置驱动轮子（30）向后运动；当两轮车的当前输出速度为负值，两轮车水平运行状态停止，两轮车车体后仰停车。 (3) The current output speed is a non-negative value, and the driving motor (20) with a PID controller drives the wheels (30) to move backward through the transmission device; when the current output speed of the two-wheeled vehicle is a negative value, the two-wheeled vehicle The horizontal running state stops, and the two-wheel vehicle body is tilted backward to stop.
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