CN105480114A - Self-balance double-wheel electric vehicle turning control method and stable running control method - Google Patents
Self-balance double-wheel electric vehicle turning control method and stable running control method Download PDFInfo
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- CN105480114A CN105480114A CN201410465616.6A CN201410465616A CN105480114A CN 105480114 A CN105480114 A CN 105480114A CN 201410465616 A CN201410465616 A CN 201410465616A CN 105480114 A CN105480114 A CN 105480114A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention relates to a self-balance double-wheel electric vehicle turning detection and control method, and belongs to the self-balance electric vehicle technical field; certain power control regulating variable is added in a self-balance double-wheel electric vehicle running process so as to control vehicle running stability in turning and back and forth directions, so the vehicle can operate under the stable state.
Description
Technical field
the present invention relates to a kind of self-balancing two-wheeled electrocar rotating direction control method and control method for stably operating, belong to technical field of transportation means.
Background technology
the economic development of society, the vehicle are increasing, face more and more crowded urban highway, contradiction between the sharp increase of road surface resource and automobile quantity is becoming increasingly acute, to the China having population more than 1,300,000,000, make urban highway unrealistic to the vehicle adapting to us, the vehicle of let us are only had to be only outlet to the road adapting to us, simultaneously global warming, ozone hole, sea level rise etc., and series of environmental problems annoyings us, and one of important arch-criminal causing this situation is motor vehicle exhaust emission.So we need a kind of energy-saving and environmental protection in single file in the vehicle of crowded crowd, can solve the contradiction that these are becoming increasingly acute again.
start the Self-balance electric vehicle spread in the market, also thinking car is called, utilize lithium cell as electrical source of power, environmental protection is energy-conservation again, perhaps will be the vehicle of our a new generation, its operation logic is mainly based on a kind of " dynamic stability ", the balance of car body on service direction is maintained by the self-equalizing ability of battery-driven car own, generally gyroscope and body sense balanced system are set in vehicle body, perception car body real time status is carried out by body sense balanced system, information is passed to information handling system, motor is passed to calculating suitable instruction after the information processing of perception through information handling system, control the state of equilibrium that motor realizes car body operation, so the acceleration and deceleration that driver directly controls car body by centre-of-gravity displacement realize running balance.The course changing control of self-balancing two-wheeled electrocar in the market, mainly by detecting the rotational angle of steering hardware, calculates the controlling quantity of left and right two turbin generators according to rotational angle, make both sides wheel produce velocity contrast, thus realizes turning to.There is following two problems: 1. when the people that rides turns to, when high speed and low speed, same steering operation has different impressions, and during low speed, sensation is turned sensitive not, and during high speed, sensation is turned too anxious, at this moment because centnifugal force is than large during low speed, the easy lack of equilibrium of driver; 2. in ride when single wheel meets obstacle, when bicyclist does not do steering operation, vehicle body can turn to, and impact is ridden sensation, there is safety hazard simultaneously.
Summary of the invention
the present invention be raising ride personnel turn time balance, disclose a kind of self-balancing two-wheeled electrocar rotating direction control method, when turning to, two wheels produce in the process of velocity contrast and add the speeds control of the running velocity on car body fore-and-aft direction as car body overall operation, controller detects the angle that self-balancing two-wheeled electrocar steering hardware rotates, obtain corresponding proportionality coefficient according to running velocity on the current fore-and-aft direction of car body simultaneously, the angle of being rotated by self-balancing two-wheeled electrocar steering hardware is multiplied by corresponding proportionality coefficient and calculates final motor regulation and control amount, control car turns to.
self-balancing two-wheeled electrocar rotating direction control method of the present invention, described self-balancing two-wheeled electrocar comprises motor combustion adjustment controller further, adjustment controller captures gyroscope in car body, accelerometer data and motor driving data, calculate current vehicle running body direction and speed, simultaneously according to being installed on direction information that the Hall element on self-balancing two-wheeled electrocar steering hardware captures after filtering, linearization process, obtain car body steering hardware rotational angle, according to velocity magnitude now, calculate corresponding proportionality coefficient, corresponding proportionality coefficient is multiplied by again by the angle that self-balancing two-wheeled electrocar steering hardware rotates, obtain electric machine control adjustment amount, controller sends driving control system for electric machine to according to the electric machine control adjustment amount U obtained, two motors are made to produce velocity contrast, realization turns to.
self-balancing two-wheeled electrocar rotating direction control method of the present invention, motor real-time rotate speed v is when different interval, and self-balancing two-wheeled electrocar rotating direction control method: k is proportionality coefficient, the K of steering hardware rotational angle
p
for speed proportional coefficient (the speed proportional coefficient according to the individual difference of each motor sets), V
l
for coefficient adjustment lower velocity limit, V
h
for coefficient adjustment speed limit, v be motor real-time rotate speed, V be range of motor speeds according to actual set, U be electric machine control adjustment amount, θ is direction lever rotational angle, when controller detects motor real-time rotate speed v≤coefficient adjustment lower velocity limit V
l
time, U=θ * k, k=K
p
* V/V
l
, now the proportionality coefficient k of steering hardware rotational angle fixes and reaches maxim, and the angle that controller only rotates using self-balancing two-wheeled electrocar changes as quantitative control motor adjustment amount, adjustment motor; Work as V
h
>v>V
l
time: U=θ * k, k=K
p
* V/v; Now the proportionality coefficient k of steering hardware rotational angle be variable according to the real-time velocity of rotation linear change of motor, the angle of rotating with self-balancing two-wheeled electrocar with Time Controller and k's is long-pending, does to control motor adjustment amount, adjustment motor; Work as v>V
h
time: U=θ * k, k=K
p
* V/V
h,
now the proportionality coefficient k of steering hardware rotational angle fixes and reaches minimum value, and the angle that controller only rotates using self-balancing two-wheeled electrocar changes as quantitative control motor adjustment amount, adjustment motor.
self-balancing two-wheeled electrocar rotating direction control method of the present invention, described electric machine control adjustment amount, makes two motors produce velocity contrast, and for the wheel electrical machine drive volume of non-turn side only given by controller, now electric machine control adjustment amount is motor drive volume; Or non-turn side wheel electrical machine drive volume given by controller, give turn side wheel electrical machine limit amount simultaneously, now electric machine control adjustment amount be motor drive volume with motor limit amount with; Or control it only to the wheel electrical machine limit amount of turn side, now electric machine control adjustment amount is motor limit amount.As v≤V
l
preferably only give the wheel electrical machine drive volume of non-turn side, or (described limit amount can be the reverse drive amount of motor to give turn side wheel limit amount.); Work as v>V
h
preferably only give turn side wheel limit amount.
the present invention be raising ride personnel keep straight on time balance, provide a kind of self-balancing two-wheeled electrocar control method for stably operating, when self-balancing two wheeled electric detects that car steering hardware does not rotate, single motor runs and is obstructed, controller detects that car body turns to, the size departing from predetermined value is turned to be obstructed motor adequate compensation amount according to car body, or motor adequate compensation amount of being obstructed gives another motor suitable limit amount, or only give another motor limit amount, thus make car body get back to steady operational status.
self-balancing two-wheeled electrocar control method for stably operating of the present invention, wherein the maximum operation drive volume of motor is Umax, be obstructed motor before being obstructed moment drive volume be U
former
, the drive volume U that the motor that is obstructed is obstructed
resistance
, when controller detects 0 < U
resistance
< Umax-U
former
, single motor is obstructed, and controller detects that car body turns to, and turns to the size departing from predetermined value according to car body, and motor adequate compensation amount of being only obstructed, makes car body get back to former steady operational status; Or motor adequate compensation amount of being obstructed gives another motor suitable limit amount, makes car body get back to steady operational status; Or, only give another motor limit amount, make car body get back to steady operational status.Preferred motor adequate compensation amount of being only obstructed, makes car body get back to former steady operational status.
self-balancing two-wheeled electrocar control method for stably operating of the present invention, single motor is obstructed, and controller detects that car body turns to, as 0 < U
resistance
< Umax-U
former
, turn to the size departing from predetermined value according to car body, motor adequate compensation amount of being only obstructed, compensation rate be U equal car body depart from predetermined value rotate angle W take advantage of in compensating factor K, make car body get back to former steady operational status.
self-balancing two-wheeled electrocar control method for stably operating of the present invention, the maximum operation drive volume of motor is Umax, and self-balancing two-wheeled electrocar steering hardware does not rotate, and single motor is obstructed, controller detects that car body turns to, be obstructed motor before being obstructed moment drive volume be U
former
, the drive volume U that the motor that is obstructed is obstructed
resistance
, as Umax > U
resistance
>=Umax-U
former
, single motor is obstructed, and controller detects that car body turns to, and turns to the size departing from predetermined value according to car body, and motor adequate compensation amount of being obstructed gives another motor suitable limit amount, makes car body get back to steady operational status; Or, only give another motor limit amount, make car body get back to steady operational status.
self-balancing two-wheeled electrocar control method for stably operating of the present invention, single motor is obstructed, and controller detects that car body turns to, 0 < U
resistance
< Umax-U
former
or Umax > U
resistance
>=Umax-U
former
the size departing from predetermined value is turned to according to car body, motor adequate compensation amount of being obstructed gives another motor suitable limit amount, compensation rate be U equal car body depart from predetermined value rotate angle W take advantage of in compensating factor K, limit amount be U equal car body depart from predetermined value rotate angle W take advantage of in limit coefficient K, make car body get back to steady operational status;
self-balancing two-wheeled electrocar control method for stably operating of the present invention, wherein the maximum operation drive volume of motor is Umax, and self-balancing two-wheeled electrocar steering hardware does not rotate, and single motor is obstructed, controller detects that car body turns to, be obstructed motor before being obstructed moment drive volume be U
former
, the drive volume U that the motor that is obstructed is obstructed
resistance
, work as U
resistance
only give another motor limit amount during>=Umax, make car body get back to steady operational status.
self-balancing two-wheeled electrocar control method for stably operating of the present invention, it is characterized in that single motor is obstructed, controller detects that car body turns to, and turns to the size departing from predetermined value, U according to car body
resistance
>=Umax or 0 < U
resistance
< Umax-U
former
or Umax > U
resistance
>=Umax-U
former
only give another motor limit amount, limit amount be U equal car body depart from predetermined value rotate angle W take advantage of in limit coefficient K, make car body get back to steady operational status.
self-balancing two-wheeled electrocar control method for stably operating of the present invention, described compensation or compensate with restriction or limit, also can be used for because motor characteristic differs comparatively greatly that the NOT operation caused turns to simultaneously.
self-balancing two-wheeled electrocar control method for stably operating of the present invention, may further include the releasing detector that is obstructed, when self-balancing two-wheeled electrocar detects by detector releasing of being obstructed, to controller signals, controller controls the compensation of motor or restriction or compensates all immediately to cancel with limiting, and returns to steady operational status before being obstructed.
self-balancing two-wheeled electrocar control method for stably operating of the present invention is improve the personnel's of riding balance of riding, and departs from mensuration and motor compensating, restriction controls, using 1-10 millisecond as a sense cycle.
self-balancing two-wheeled electrocar control method for stably operating of the present invention and self-balancing two-wheeled electrocar rotating direction control method, also can be used for the self-balancing two-wheeled electrocar being with cushion and handle.
Accompanying drawing explanation
accompanying drawing of the present invention is in order to the present invention is further described, but not the restriction to invention scope.
fig. 1 self-balancing two-wheeled electrocar of the present invention rotating direction control method and control method for stably operating diagram of circuit.
fig. 2 self-balancing two wheeled electric of the present invention schematic diagram.
inductor schematic diagram on Fig. 3 self-balancing two-wheeled electrocar of the present invention steering hardware.
, be self-balancing two-wheeled electrocar steering hardware, 2, be wheel, 3, be car body, 4, magnetic receiver, 5, magnet, 6, linear hall sensor.
gather the body gesture speed calculating self-balancing two-wheeled electrocar, the rotational angle of steering hardware, when steering hardware rotates, judges motor real-time rotate speed, according to v≤V; During VH>v>VL; The interval that v>VH tri-is different calculates steering hardware angle proportionality coefficient respectively, calculates electric machine control adjustment amount, sends to motor driving part to divide control adjustment amount; When steering hardware does not rotate, when car body rotates, calculate electric machine control adjustment amount and send to motor driving part to divide control adjustment amount; When steering hardware does not rotate, when car body also rotates, keep existing steady operational status.
Detailed description of the invention
embodiments of the invention are to explain explanation further to the present invention, but not limit invention scope of the present invention.
embodiment 1
the personnel of riding rotate self-balancing two-wheeled electrocar steering hardware, drive pair of magnet to rotate, fixedly mount a linear hall sensor at the pivot center place of magnet, detect the change in magnetic field by this device.The personnel of riding are with moving magnet to rotate when rotating self-balancing two-wheeled electrocar steering hardware, thus cause magnetic direction to change, cause the variable angle of magnetic field and Hall detection faces, this angle equals the magnet anglec of rotation and self-balancing two-wheeled electrocar steering hardware gyration, and the output signal of linear Hall and detection faces magnetic-field intensity are approximated to linear relationship, therefore among a small circle, Hall output signal and steering hardware rotational angle are approximated to linear relationship, by detecting Hall data and known personnel's steering hardware rotation amplitude of riding.Self-balancing two-wheeled electrocar vehicle body is provided with gyroscope in addition, and accelerometer detects body gesture.
in this control method, controller gathers gyroscope, and accelerometer data, and motor driver data, calculate current vehicle body attitude, speed; Gather Hall element data simultaneously, after filtering, linearization process, obtains steering hardware rotational angle, when detecting that steering hardware rotates, according to velocity magnitude now, calculate corresponding proportionality coefficient, then be multiplied by corresponding proportionality coefficient with steering hardware rotational angle, obtain electric machine control adjustment amount, example calculation is as follows
as v≤V
l
time: k=K
p
* V/V
l
;
work as V
h
>v>V
l
time: k=K
p
* V/v;
work as v>V
h
time: k=K
p
* V/V
h
U=θ*k
wherein k is direction lever proportionality coefficient, K
p
for speed proportional coefficient, V
l
for coefficient adjustment lower velocity limit, V
h
for coefficient adjustment speed limit, v be motor real-time rotate speed, V is range of motor speeds according to actual set, U is electric machine control adjustment amount, θ is direction lever rotational angle, send electric machine control adjustment amount U to motor drive control device, two motors produce velocity contrast, realize turning to.
embodiment 2
controller is at collection gyroscope, accelerometer data, after Hall element data, calculate current vehicle body attitude, as found, current car body is in steering state, but when Hall element data display driver does not carry out steering operation, can judge that car body is that NOT operation turns to, this Time Controller can turn to size according to car body, to both sides motor with suitable compensation, thus making car body get back to straight running condition, EXEMPLARY COMPENSATION amount is calculated as follows
U=W*K,
wherein U is motor compensating amount,
w car body rotational angle,
k is compensating factor.
controller calculates compensation rate, through amplitude limiting processing, sends motor to and drives, complete compensation, and simultaneously this compensation also can compensate because motor characteristic difference is comparatively large that NOT operation that is that cause turns to.
controller judges if when driver carries out steering operation according to linear Hall data, then do not carry out this and compensate.
Claims (14)
1. a self-balancing two-wheeled electrocar rotating direction control method, when it is characterized in that self-balancing two-wheeled electrocar turns to, two wheels produce in the process of velocity contrast and add the speeds control of the running velocity on car body fore-and-aft direction as car body overall operation, controller detects the angle that self-balancing two-wheeled electrocar steering hardware rotates, obtain corresponding proportionality coefficient according to running velocity on the current fore-and-aft direction of car body simultaneously, the angle of being rotated by self-balancing two-wheeled electrocar steering hardware is multiplied by corresponding proportionality coefficient and calculates the final controlling quantity of motor, controls car and turns to.
2. self-balancing two-wheeled electrocar rotating direction control method according to claim 1, it is characterized in that comprising motor combustion adjustment controller further, adjustment controller captures gyroscope in car body, accelerometer data and motor driving data, calculate current vehicle running body direction and speed, simultaneously according to being installed on direction information that the Hall element on self-balancing two-wheeled electrocar steering hardware captures after filtering, linearization process, obtain car body steering hardware rotational angle, according to velocity magnitude now, calculate corresponding proportionality coefficient, corresponding proportionality coefficient is multiplied by again by the angle that self-balancing two-wheeled electrocar steering hardware rotates, obtain electric machine control adjustment amount, controller sends motor drive controller to according to the electric machine control adjustment amount U obtained, two motors are made to produce velocity contrast, realization turns to.
3. self-balancing two-wheeled electrocar rotating direction control method according to claim 2, it is characterized in that motor real-time rotate speed v is when different interval, self-balancing two-wheeled electrocar rotating direction control method: k is proportionality coefficient, the K of steering hardware rotational angle
pfor speed proportional coefficient, V
lfor coefficient adjustment lower velocity limit, V
hfor coefficient adjustment speed limit, v be motor real-time rotate speed, V be range of motor speeds according to actual set, U be electric machine control adjustment amount, θ is direction lever rotational angle, when controller detects motor real-time rotate speed v≤coefficient adjustment lower velocity limit V
ltime, U=θ * k, k=K
p* V/V
l, now the proportionality coefficient k of steering hardware rotational angle fixes and reaches maxim, and the angle that controller only rotates using self-balancing two-wheeled electrocar changes as quantitative control motor adjustment amount, adjustment motor; Work as V
h>v>V
ltime: U=θ * k, k=K
p* V/v; Now the proportionality coefficient k of steering hardware rotational angle be variable according to the real-time velocity of rotation linear change of motor, the angle of rotating with self-balancing two-wheeled electrocar with Time Controller and k's is long-pending, does to control motor adjustment amount, adjustment motor; Work as v>V
htime: U=θ * k, k=K
p* V/V
h,now the proportionality coefficient k of steering hardware rotational angle fixes and reaches minimum value, and the angle that controller only rotates using self-balancing two-wheeled electrocar changes as quantitative control motor adjustment amount, adjustment motor.
4. self-balancing two-wheeled electrocar rotating direction control method according to claim 2, is characterized in that described electric machine control adjustment amount, makes two motors produce velocity contrast, for the wheel drive volume of non-turn side only given by controller; Or non-turn side wheel drive volume given by controller, give turn side wheel limit amount simultaneously; Or controller only limits to the wheel of turn side.
5. a self-balancing two-wheeled electrocar control method for stably operating, it is characterized in that self-balancing two-wheeled electrocar steering hardware does not rotate, single motor runs and is obstructed, controller detects that car body turns to, the size departing from predetermined value is turned to be obstructed motor adequate compensation amount according to car body, or motor adequate compensation amount of being obstructed gives another motor suitable limit amount, or only gives another motor limit amount, thus makes car body get back to steady operational status.
6. self-balancing two-wheeled electrocar control method for stably operating according to claim 5, it is characterized in that described controller detects that car body turns to as controller is at collection gyroscope, accelerometer data, after Hall element data, calculate current vehicle body attitude, show that current car body is in steering state, described self-balancing two-wheeled electrocar steering hardware does not rotate, for the Hall element data display driver on self-balancing two-wheeled electrocar steering hardware does not carry out steering operation.
7. the self-balancing two-wheeled electrocar control method for stably operating according to claim 5 or 6, is characterized in that the maximum operation drive volume of motor is Umax, be obstructed motor before being obstructed moment drive volume be U
former, the drive volume U that the motor that is obstructed is obstructed
resistance, as 0 < U
resistance< Umax-U
former: single motor is obstructed, and controller detects that car body turns to, and turns to the size departing from predetermined value according to car body, and motor adequate compensation amount of being only obstructed, makes car body get back to former steady operational status; Or motor adequate compensation amount of being obstructed gives another motor suitable limit amount, makes car body get back to steady operational status; Or, only give another motor limit amount, make car body get back to steady operational status.
8. according to the self-balancing two-wheeled electrocar control method for stably operating according to claim 6 or 7, it is characterized in that single motor is obstructed, controller detects that car body turns to, the size departing from predetermined value is turned to according to car body, only to be obstructed motor adequate compensation amount, compensation rate be U equal car body depart from predetermined value rotate angle W take advantage of in compensating factor K, make car body get back to former steady operational status.
9. the self-balancing two-wheeled electrocar control method for stably operating according to claim 5 or 6, it is characterized in that the maximum operation drive volume of motor is Umax, self-balancing two-wheeled electrocar steering hardware does not rotate, single motor is obstructed, controller detects that car body turns to, be obstructed motor before being obstructed moment drive volume be U
former, the drive volume U that the motor that is obstructed is obstructed
resistance, as Umax > U
resistance>=Umax-U
former: single motor is obstructed, and controller detects that car body turns to, and turns to the size departing from predetermined value according to car body, and motor adequate compensation amount of being obstructed gives another motor suitable limit amount, makes car body get back to steady operational status; Or, only give another motor limit amount, make car body get back to steady operational status.
10. the self-balancing two-wheeled electrocar control method for stably operating according to any one of claim 6,7,9, it is characterized in that single motor is obstructed, controller detects that car body turns to, the size departing from predetermined value is turned to according to car body, motor adequate compensation amount of being obstructed gives another motor suitable limit amount, compensation rate be U equal car body depart from predetermined value rotate angle W take advantage of in compensating factor K, limit amount be U equal car body depart from predetermined value rotate angle W take advantage of in limit coefficient K, make car body get back to steady operational status.
11. self-balancing two-wheeled electrocar control method for stably operating according to claim 5 or 6, it is characterized in that the maximum operation drive volume of motor is Umax, self-balancing two-wheeled electrocar steering hardware does not rotate, single motor is obstructed, controller detects that car body turns to, be obstructed motor before being obstructed moment drive volume be U
former, the drive volume U that the motor that is obstructed is obstructed
resistance, work as U
resistanceonly give another motor limit amount during>=Umax, make car body get back to steady operational status.
12. self-balancing two-wheeled electrocar control method for stably operating according to any one of claim 6,7,9,11, it is characterized in that single motor is obstructed, controller detects that car body turns to, the size departing from predetermined value is turned to according to car body, only give another motor limit amount, limit amount be U equal car body depart from predetermined value rotate angle W take advantage of in limit coefficient K, make car body get back to steady operational status.
13. self-balancing two-wheeled electrocar control method for stably operating according to any one of claim 5-12, it is characterized in that comprising the releasing detector that is obstructed further, when self-balancing two-wheeled electrocar detects by detector releasing of being obstructed, to controller signals, controller controls the compensation of motor or restriction or compensates all immediately to cancel with limiting, and returns to steady operational status before being obstructed.
14. 1 kinds of self-balancing two-wheeled electrocars with cushion and handle, is characterized in that comprising any one of claim 1-4 self-balancing two-wheeled electrocar rotating direction control method, and or any one of claim 5-13 self-balancing two-wheeled electrocar control method for stably operating.
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|---|---|---|---|
| CN201710352256.2A CN107187530B (en) | 2014-09-15 | 2014-09-15 | A kind of self-balancing two-wheeled electrocar control method for stably operating and a kind of self-balancing two-wheeled electrocar with cushion and handle |
| CN201410465616.6A CN105480114B (en) | 2014-09-15 | 2014-09-15 | Self-balancing two-wheeled electrocar rotating direction control method and self-balancing two-wheeled electrocar |
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| CN201710352256.2A Active CN107187530B (en) | 2014-09-15 | 2014-09-15 | A kind of self-balancing two-wheeled electrocar control method for stably operating and a kind of self-balancing two-wheeled electrocar with cushion and handle |
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| CN106828187A (en) * | 2017-01-17 | 2017-06-13 | 河南师范大学 | A kind of motor compensating control method for being applied to pilotless automobile |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105480114B (en) | 2017-09-08 |
| CN107187530A (en) | 2017-09-22 |
| CN107187530B (en) | 2019-11-12 |
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