CN106882341A - A kind of Self-Balancing vehicle device waterborne - Google Patents
A kind of Self-Balancing vehicle device waterborne Download PDFInfo
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- CN106882341A CN106882341A CN201710037740.6A CN201710037740A CN106882341A CN 106882341 A CN106882341 A CN 106882341A CN 201710037740 A CN201710037740 A CN 201710037740A CN 106882341 A CN106882341 A CN 106882341A
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- motor
- steering wheel
- angle
- pedal
- control
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Classifications
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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
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- 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
Abstract
The invention discloses a kind of Self-Balancing vehicle waterborne, including steering yoke, pedal, control box, battery, steering wheel, motor and propeller；Steering yoke is placed on pedal, for control direction；Pedal is the skeleton of whole balance car, and the fixed whole structure of car, carrying object have simultaneously detected whether weight above；Control box is used to detect the attitude of balance car waterborne, and controls steering wheel and motor；Battery provides electric energy to whole balance car waterborne；Steering wheel is fixed on the pedal；Motor is fixed in the rotating shaft of the steering wheel, and the axial direction of motor and the angle of pedal surface normal vector with the output angle of its corresponding steering wheel with changing respectively；Propeller is fixed in the rotating shaft of motor, rotating forward can provide thrust, the direction of thrust is consistent with the axial direction of motor, and the continuous adjustment of steering wheel output angle and the adjustment of motor rotating speed can realize the upright of Self-Balancing vehicle waterborne, advance, retrogressing, 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
With the improvement of people ' s living standards, people to the pursuit of the vehicles also from simple performance to novel and wound
Meaning.This fast development of Self-Balancing vehicle in several years 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 according to the posture of your body, retreat.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 to be transferred to the Self-Balancing vehicle of land on the water surface
.And there is presently no the Self-Balancing vehicle occurred on flow surface, land Self-Balancing vehicle can not be applied directly on the water surface, because
It is that balance car is a control for two dimension on the face of land, and on the water surface is a control for three-dimensional, more a dimension, control
Can become relative complex.
The content of the invention
For the defect of prior art, it is an object of the invention to provide a kind of Self-Balancing vehicle waterborne, it is intended to fill up waterborne
The problem that Self-Balancing vehicle lacks.
The invention provides a kind of Self-Balancing vehicle waterborne, including steering yoke, pedal, control box, battery, steering wheel, driving electricity
Machine and propeller；Wherein：
One end of the steering yoke is connected by bearing with pedal, and steering yoke is rotated has frictional force small and self-zeroing
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, for the regulation direction that swings；
The pedal is the skeleton of balance car, is made of light and firm material, and control is included for carrying personnel and installing
Box processed, steering yoke, steering wheel, motor, battery are provided with gravity sensor in interior part, pedal, 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 arranged on bottom or the sidepiece of pedal, and for providing electric energy to this balance car, the battery is rechargeable type
And it is provided with charging inlet；
The steering wheel includes left rudder machine and right standard rudder machine, is symmetrical in steering yoke, is fixed on the pedal bottom surface；Left and right steering wheel
Rotating shaft can respectively realize the rotation of certain angle, and left and right driving motor is separately fixed in the rotating shaft of left and right steering wheel, can be with steering wheel
The rotation of the rotation of rotating shaft, so as to change the angle of motor axial direction and pedal surface normal vector；So as to change motor
Thrust direction；
The motor includes left driving motor and right driving motor, and the propeller includes left-hand airscrew and right-hand screw
Oar, is separately fixed in the rotating shaft of left and right driving motor；Left and right driving motor and left-and-right spiral oar respectively constitute left and right two sets
Push system, is symmetrical in steering yoke and is fixed on the pedal bottom surface；The axial direction of motor and the angle of pedal surface normal vector
Change with the output angle of its corresponding steering wheel respectively, the pedal surface normal vector be balance car horizontal on the water surface when, hang down
Directly in pedal surface upwardly direction；
The control box includes control module, sensor assembly and motor drive module；The control box is arranged 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 that three-dimensional gyro sensor to be used to detect the attitude of 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 is obtained attitude information, then lead to
Cross control algolithm and calculate current controlled quentity controlled variable, including motor rotating speed turn to and steering wheel corner, controlled quentity controlled variable is transferred to electricity
In machine drive module；The motor drive module is located in control box, for according to the controlled quentity controlled variable control motor for obtaining
The corner of rotating speed and steering wheel, so as to keep motion and the balance of whole balance car；
During work, after balance car starts, the initial corner of steering wheel is 0 degree, axial direction and the balance car pedal table of motor
The normal vector in face is parallel, i.e., the inceptive direction of the thrust of motor vertically upward, to offset the gravity of balance car itself, reaches
Balance；The data of the gyroscope that sensor assembly will be collected and the data transfer of accelerometer control mould in control module
Block calculates the current attitude and speed of balance car, thus obtains rotating speed and steering wheel of the current controlled quentity controlled variable including motor
Corner, then controlled quentity controlled variable is transferred on motor drive module, motor drive module drives electricity according to the controlled quentity controlled variable for receiving, control
Machine and steering wheel, realize that the gravity that motor drives the thrust that propeller is produced overall with balance car balances each other；
When Chinese herbaceous peony is inclined, then control steering wheel rotate forward certain angle (it is assumed that balance car to Right deviation to lean forward, it is hypsokinesis to incline to the left,
Then when steering wheel clockwise turns to rotating forward, rotate counterclockwise is reversion), i.e. the axial direction of motor and pedal surface normal direction
Amount angle becomes positive-angle, and (it is assumed that balance car is to lean forward to Right deviation, it is hypsokinesis to incline to the left, then when the axial direction of motor is in pedal
The right of surface normal is then positive-angle, otherwise is negative angle), while motor speed is accelerated, such car body will be anti-
Leaned forward correction to realization is swung backward；If working as car hypsokinesis, control steering wheel inverts the axial direction of certain angle, i.e. motor
Become negative angle with pedal surface normal vector angle, while motor speed is accelerated, such car body reversely will swing forward
Realize that hypsokinesis is corrected, by constantly adjusting, last car body preserves erectility；
When people onboard, the weight of the detectable human body of gravity sensor on pedal, weight information is transferred to controller
In module, controller module can calculate the incrementss of motor rotating speed, and be transferred on motor drive module；When body to
When leaning forward, steering wheel rotates forward the axial direction of certain angle, i.e. motor and pedal surface normal vector angle becomes positive angle
Degree, while motor speed is accelerated, car will travel forward；When people onboard, when body retreats, steering wheel reversion one
The axial direction and pedal surface normal vector angle for determining angle, i.e. motor become negative angle, while motor speed adds
Hurry up, car will be moved backward；
When left and right swaying direction bar, the pivot angle information that Hall sensor will be detected is sent to control box the inside
Control module in, control module calculates controlled quentity controlled variable and is transferred on steering wheel by control algolithm, steering wheel change motor
With the angle of pedal surface normal vector, so as to change the direction of airscrew thrust, it is achieved thereby that car integrally turns to left and right；Such as
When steering yoke swaying direction bar to the left, left side steering wheel reversion certain angle, the right steering wheel rotates forward certain angle, while driving
Dynamic motor speed is accelerated, and so just can realize；Such as when steering yoke swaying direction bar to the right, left side steering wheel is rotated forward
Certain angle, the right steering wheel reversion certain angle, while motor speed is accelerated, just can so be realized turning right；By not
Disconnected adjustment steering wheel output angle, changes motor axle with plumb line angle such that it is able to realize Self-Balancing vehicle waterborne it is upright,
Advance, retrogressing, turning function.
Further, all parts all have water-proof function.
Further, the control box can control the balance car to be fluctuated in the vicinity of the water surface.
Further, the sensor assembly also includes temperature sensor, and its output is connected with control module, for detecting
Temperature data is simultaneously delivered to control module by temperature, 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 LPF 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, and the balance car can keep poised state in the water surface, it is possible to by
The attitude of human body come control car body advance, retreat and turn etc., control motor by increasing this link of steering wheel
Thrust direction, realizes the vector controlled of thrust, and then the balance car of land two dimension is improved into a control dimension, realizes
The control of three-dimensional balancing state, meets the hope that people experience 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 is provided for the validity of the checking embodiment of the present invention；
Side view when Fig. 5 is upright embodiment of the present invention Self-Balancing vehicle waterborne；
Side view when Fig. 6 is embodiment of the present invention Self-Balancing vehicle heeling condition waterborne；
Side view when Fig. 7 is for checking embodiment of the present invention Self-Balancing vehicle poised state waterborne；
Wherein, Fig. 1 be the overall structure of Self-Balancing vehicle waterborne, 201 be steering yoke, 202 be Hall sensor, 203 for control
Box processed, 204 be lithium battery, 205 be pedal, 206 be steering wheel, 207 be motor, 208 be propeller, 209 be sensor die
Block, 210 be controller module, 211 be motor driver module.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
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 attitude of Self-Balancing vehicle pedal waterborne, while
Realize that pedal keeps horizontality by two-loop system algorithm.Therefore can be stood not when people station is on pedal
, the inclination angle difference of human body will cause the different motion state of balance car.Human body toward lean forward when, balance car is goed ahead；
When human body is toward layback, balance car is walked back；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 steering wheel corner
Realized with the rotating speed of motor.
Embodiments of the invention are elaborated below, the present embodiment is carried out under premised on technical solution of the present invention
Implement, give detailed implementation method and specific operating process, but protection scope of the present invention is not limited to following implementations
Example.
Fig. 1, Fig. 2 are faced and schematic side view for the present embodiment；The Self-Balancing vehicle motor waterborne that Fig. 3 is provided for the present embodiment
Attachment structure schematic diagram；Fig. 4 is controlled to verify the control box internal structure schematic diagram that the validity of the embodiment of the present invention is provided
Box the inside includes controller module, sensor assembly and motor driver module, and sensor assembly is used for gathering balance car
Attitude and velocity information, controller module are used for calculating controlled quentity controlled variable and exporting to motor according to the data of sensor assembly driving
Device module, motor driver module is used for receiving the controlled quentity controlled variable of control module output, and correspondingly controls turning for motor
The corner of speed and steering wheel.
In embodiments of the present invention, Self-Balancing vehicle waterborne realizes the flat of itself by the control to steering wheel and motor
Weigh and exist 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 single-chip microcomputers, and specific work process is as follows：
During work, after balance car starts, the initial corner of steering wheel is 0 degree, as shown in figure 5, the axial direction of motor with put down
The normal vector of the car pedal surface that weighs is parallel, to offset the gravity of balance car itself, reaches balance, and wherein motor drives spiral
Oar produces the big I actual test of thrust out, makes it equal with balance car self gravitation；Sensor assembly will be collected
, in control module, the STM32 single-chip microcomputers inside control module are calculated for the data of gyroscope and the data transfer of accelerometer
Balance car current attitude and speed, and current controlled quentity controlled variable is obtained including motor by two-loop system algorithm
The corner of rotating speed and steering wheel, then controlled quentity controlled variable is transferred on motor drive module, motor drive module is according to the control for receiving
Amount, controls motor and steering wheel, realizes that motor drives the thrust that propeller is produced equal with the gravity that balance car is overall
Weighing apparatus, i.e., as shown in figure 5, the gravity G of itself is offset in the direction of thrust F straight up, just, balance car can keep balance；
When car hypsokinesis, then control steering wheel invert certain angle as shown in Figure 6 (it is assumed that balance car to Right deviation to lean forward, to the left
It is hypsokinesis to incline, then when steering wheel clockwise turns to rotating forward, rotate counterclockwise is reversion), i.e., the axial direction of motor with step on
Plate surface normal vector angle becomes negative angle, and (it is assumed that balance car is to lean forward to Right deviation, it is hypsokinesis to incline to the left, 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 motor speed is accelerated, so
Car body reversely will swing forward realizes that hypsokinesis is corrected, as shown in Figure 7；If when Chinese herbaceous peony is inclined, control steering wheel rotates forward certain angle,
I.e. the axial direction of motor becomes positive-angle with pedal surface normal vector angle, while motor speed is accelerated, so
Car body reversely will forward swing realization and lean forward correction, and by constantly adjusting, last car body preserves erectility；
When people onboard, the weight of the detectable human body of gravity sensor on pedal, weight information is transferred to controller
In module, controller module can calculate the incrementss of motor rotating speed, and be transferred on motor drive module；When body to
When leaning forward, steering wheel rotates forward the axial direction of certain angle, i.e. motor and pedal surface normal vector angle becomes positive angle
Degree, while motor speed is accelerated, car will travel forward；When people onboard, when body retreats, steering wheel reversion one
The axial direction and pedal surface normal vector angle for determining angle, i.e. motor become negative angle, while motor speed adds
Hurry up, car will be moved backward；
When left and right swaying direction bar, the pivot angle information that Hall sensor will be detected is sent to control box the inside
Control module in, control module calculates controlled quentity controlled variable and is transferred on steering wheel by two-loop system algorithm, steering wheel change
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 wheel reversion certain angle, the right steering wheel rotates forward certain angle
(rotating of steering wheel is defined as above), while motor speed is accelerated, so just can realize；Such as when steering yoke to
When right swaying direction bar, left side steering wheel rotates forward certain angle, and the right steering wheel reversion certain angle (determine by the rotating of steering wheel
Justice is ibid), while motor speed is accelerated, just can so realize turning right；
Different from land Self-Balancing vehicle, Self-Balancing vehicle waterborne proposed by the present invention, control dimension is three-dimensional, not only needs control
The plane motion of balance car processed, it is also desirable to control balance car to be maintained at the water surface.Not only controlled by human body car advance and after
Move back, but also the dimension of control is lifted by increasing this controlling unit of steering wheel, the corner of steering wheel changes airscrew thrust
Direction, realizes that balance car is maintained at the poised state on the water surface.By constantly adjustment steering wheel output angle, change motor axle with
Plumb line angle such that it is able to realize the upright of Self-Balancing vehicle waterborne, advance, retrogressing, turning function.
As it will be easily appreciated by one skilled in the art that the foregoing is only presently preferred embodiments of the present invention, it is not used to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles in the present invention etc., all should 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 wheel (206), motor (207) and propeller (208)；Wherein：
One end of the steering yoke (201) is connected by bearing with pedal, and steering yoke (201) is rotated has frictional force small and automatic
The characteristic of back to zero；Hall sensor (202), Hall sensor (202) output and control box are housed in bearing and pedal junction
It is connected, for detecting the pivot angle and output swing angle information of steering yoke to control box (203)；Steering yoke (201) other end is hand-held
Portion, for the regulation direction that swings；
The pedal (205) is the skeleton of balance car, is made of light and firm material, and control is included for carrying personnel and installing
, in interior part, pedal (205) is provided with gravity sensor, for detecting pedal for box processed, steering yoke, steering wheel, motor, battery
The weight of upper object；Gravity sensor connects the control module inside control box, for transmitting weight data；
Installed in the bottom of pedal or sidepiece, for providing electric energy to this balance car, the battery is rechargeable type to the battery (204)
And it is provided with charging inlet；
The steering wheel (206) includes left rudder machine and right standard rudder machine, is symmetrical in steering yoke (201), is fixed on the pedal bottom surface；Left and right
The rotating shaft of steering wheel can respectively realize the rotation of certain angle, and left and right driving motor is separately fixed in the rotating shaft of left and right steering wheel, can
Rotated with the rotation of steering wheel rotating shaft, so as to change the angle of motor axial direction and pedal surface normal vector；So as to change
Become airscrew thrust direction；
The motor (207) includes left driving motor and right driving motor, the propeller (208) including left-hand airscrew and
Right-hand screw oar, is separately fixed in the rotating shaft of left and right driving motor；Left and right driving motor and left-and-right spiral oar respectively constitute it is left,
Right two sets of push system, are symmetrical in steering yoke (201) and are fixed on the pedal bottom surface；The axial direction of motor and pedal surface method
The angle of vector changes with the output angle of its corresponding steering wheel respectively, and the pedal surface normal vector is balance car horizontal in water
When on face, perpendicular to pedal surface upwardly direction；
The control box (203) includes control module (210), sensor assembly (209) and motor drive module (211)；It is described
Control box (203) is fixed on the surface of pedal installed in the lower section 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
Attitude for detecting balance car, including inclination angle, acceleration and yaw angle；The data that the sensor assembly is collected are passed
It is defeated that control module (210) receives three-dimensional gyroscope sensor data and acceleration transducer data to control module (210),
First pass through filtering algorithm and obtain attitude information, then current controlled quentity controlled variable is calculated by control algolithm, including the rotating speed of motor turns
To the corner with steering wheel, controlled quentity controlled variable is transferred on motor drive module；The motor drive module is located in control box, is used for
According to the rotating speed and the corner of steering wheel (207) of controlled quentity controlled variable control motor (206) for obtaining, so as to keep whole balance car
Motion and balance.
2. a kind of Self-Balancing vehicle waterborne according to claim 1, it is characterised in that：
During work, after balance car starts, the initial corner of steering wheel is 0 degree, axial direction and the balance car pedal surface of motor
Normal vector is parallel, i.e., the inceptive direction of the thrust of motor vertically upward, to offset the gravity of balance car itself, reaches flat
Weighing apparatus；The data of the gyroscope that sensor assembly will be collected and the data transfer of accelerometer in control module, control module
Balance car current attitude and speed are calculated, and rotating speed of the current controlled quentity controlled variable including motor is obtained by control algolithm
With the corner of steering wheel, then controlled quentity controlled variable is transferred on motor drive module, motor drive module is according to the controlled quentity controlled variable for receiving, control
Motor processed and steering wheel, realize that the gravity that motor drives the thrust that propeller is produced overall with balance car balances each other；
When Chinese herbaceous peony is inclined, then control steering wheel rotate forward certain angle (it is assumed that balance car to Right deviation to lean forward, it is hypsokinesis to incline to the left, then when
Steering wheel clockwise turns to rotating forward, and rotate counterclockwise is reversion), i.e., the axial direction of motor is pressed from both sides with pedal surface normal vector
Angle becomes positive-angle, and (it is assumed that balance car is to lean forward to Right deviation, it is hypsokinesis to incline to the left, then when the axial direction of motor is in pedal surface
The right of normal vector is then positive-angle, otherwise is negative angle), while motor speed is accelerated, such car body will be reversely past
Realization is swung afterwards to lean forward correction；If working as car hypsokinesis, control steering wheel inverts the axial direction of certain angle, i.e. motor and steps on
Plate surface normal vector angle becomes negative angle, while motor speed is accelerated, such car body reversely will forward swing realization
Hypsokinesis is corrected, and by constantly adjusting, last car body preserves erectility；
When people onboard, the weight of the detectable human body of gravity sensor on pedal, weight information is transferred to controller module
In, controller module can calculate the incrementss of motor rotating speed, and be transferred on motor drive module；When body forward is inclined
When, steering wheel rotates forward the axial direction of certain angle, i.e. motor and pedal surface normal vector angle becomes positive-angle, together
When motor speed accelerate, car will travel forward；When people onboard, when body retreats, steering wheel inverts certain angle
Degree, the i.e. axial direction of motor become negative angle with pedal surface normal vector angle, while motor speed is accelerated, car
Will move backward；
When left and right swaying direction bar, the pivot angle information that Hall sensor will be detected is sent to the control inside control box
In molding block, control module calculates controlled quentity controlled variable and is transferred on steering wheel by control algolithm, and steering wheel changes motor and steps on
The angle of plate surface normal vector, so that change the direction of airscrew thrust, it is achieved thereby that car integrally turns to left and right；Such as side of working as
To bar to the left swaying direction bar when, the left side steering wheel reversion certain angle, the right steering wheel rotate forward certain angle, while drive electricity
Machine speed is accelerated, and so just can realize；Such as when steering yoke swaying direction bar to the right, left side steering wheel rotates forward certain
Angle, the right steering wheel reversion certain angle, while motor speed is accelerated, just can so be realized turning right；By constantly tune
Whole steering wheel output angle, changes motor axle with plumb line angle such that it is able to realize the upright, preceding of Self-Balancing vehicle waterborne
Enter, retreat, turning function.
3. Self-Balancing vehicle waterborne as claimed in claim 1 or 2, it is characterised in that all parts 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 in the vicinity of the water surface.
5. Self-Balancing vehicle waterborne as claimed in claim 1 or 2, it is characterised in that the sensor assembly is also passed including temperature
Sensor, its output is connected with control module (210), and control module (210) is delivered to for detection temperature and by temperature data, to mend
Repay 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 LPF algorithm.
7. Self-Balancing vehicle waterborne as claimed in claim 1 or 2, it is characterised in that the control algolithm includes that double closed-loop PID is calculated
Method, predictive control algorithm and LQR control algolithms.
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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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| CN201710037740.6A CN106882341B (en) | 2017-01-18 | 2017-01-18 | A kind of Self-Balancing vehicle device waterborne |
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| CN106882341B CN106882341B (en) | 2018-05-11 |
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| 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 |
| CN108654102A (en) * | 2018-05-28 | 2018-10-16 | 湖南大学 | A kind of equipment waterborne of playing of four limbs Collaborative Control |
| CN109339749A (en) * | 2018-11-28 | 2019-02-15 | 美钻深海能源科技研发（上海）有限公司 | Underwater equipment automatic balancing arrangement |
| CN110125124A (en) * | 2019-05-14 | 2019-08-16 | 阳光电源股份有限公司 | Photovoltaic sweeping machine lateral attitude detection method, controller and photovoltaic sweeping machine |
| CN110453904A (en) * | 2019-07-18 | 2019-11-15 | 筑橙科技(深圳)有限公司 | A kind of building hanging basket applies the stabilising arrangement and external wall intelligence finishing system of assembling platform |
| CN110641289A (en) * | 2018-06-27 | 2020-01-03 | 罗伯特·博世有限公司 | Method and device for laterally stabilizing a motor vehicle against a single track in the stationary state |
| CN111137408A (en) * | 2019-12-24 | 2020-05-12 | 深圳市峰创科技有限公司 | Water walking device |
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| CN109339749A (en) * | 2018-11-28 | 2019-02-15 | 美钻深海能源科技研发（上海）有限公司 | Underwater equipment automatic balancing arrangement |
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| CN111137430A (en) * | 2019-12-24 | 2020-05-12 | 深圳市峰创科技有限公司 | Water travelling device |
| CN111204414A (en) * | 2019-12-24 | 2020-05-29 | 深圳市峰创科技有限公司 | Water walking device |
| CN111204414B (en) * | 2019-12-24 | 2021-06-04 | 深圳市峰创科技有限公司 | Water walking device |
| CN111137408B (en) * | 2019-12-24 | 2021-07-16 | 深圳市峰创科技有限公司 | Water walking device |
| CN111846183A (en) * | 2020-07-24 | 2020-10-30 | 曾韵陶 | Self-balancing traffic entertainment tool on water |
| CN111846183B (en) * | 2020-07-24 | 2021-06-08 | 曾韵陶 | Self-balancing traffic entertainment tool on water |
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