CN104765942A - Speed fusion method of two-wheeled balance car - Google Patents
Speed fusion method of two-wheeled balance car Download PDFInfo
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- CN104765942A CN104765942A CN201410000461.9A CN201410000461A CN104765942A CN 104765942 A CN104765942 A CN 104765942A CN 201410000461 A CN201410000461 A CN 201410000461A CN 104765942 A CN104765942 A CN 104765942A
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Abstract
The invention discloses a speed fusion method of a two-wheeled balance car. The speed fusion method comprises the following steps: S1, recording the current speed V(real) of the balance car; S2, acquiring the current set speed V(real_set) of the balance car; S3, calculating the final speed set value V(set) of the balance car; in the formula of V(set)=k*Vi+(1-k)*V(real_set), Vi is a preset theoretical velocity integral accumulated value, k is a proportionality coefficient (0&1t), and k is no more than one. According to the speed fusion method, the speed of the two-wheeled balance car can be relatively steadily outputted, so that fluctuation is reduced, the control smoothness of the motor speed is ensured and the comfort of a driver is improved.
Description
Technical field
the present invention relates to a kind of speed integration method, specifically a kind of speed fusion method of two-wheeled balance car.
Background technology
two-wheeled balance car has obtained using more and more widely, and it is easy to operate, especially on the road surface that some are comparatively good, can bring certain enjoyment to driver, user-friendly again.The speed of two-wheeled balance car exports the state needing maintenance one comparatively stable, and should driver be allowed as much as possible to feel comfortably cool when conversion rate.And current a lot of two-wheeled balance cars, when the servomotor adopting speed pickup resolution lower, traditional speed control commands easily introduces more noise to servo-drive system, cause motor speed to control smoothness not enough, in balance car closed-loop control system, particularly easily bring the discomfort in body sense to driver.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of speed fusion method of two-wheeled balance car, speed is exported more stable, and the change of speed is more steady, and the smoothness of control is high.
In order to solve the problems of the technologies described above, the present invention takes following technical scheme:
A speed fusion method for two-wheeled balance car, comprises the following steps:
S1, the present speed Vreal of record car;
S2, obtains the current setting speed Vreal_set of car;
S3, calculate the final speed setting value Vset of car, Vset=k * Vi+(1-k) * Vreal_set, Vi is default theoretical velocity integration accumulated value, and k is scale-up factor, and 0<k≤1.
The current setting speed Vreal_set=Vreal+Acc of car in described step S1, Vreal is the present speed of car, and Acc is predetermined acceleration.
In described step S2, the present speed Vreal=(Vl+Vr)/2, Vl of car is the present speed of the left motor that car revolver is corresponding, and Vr is the right present speed of taking turns corresponding right motor of car.
The present invention makes the output speed of car more stable, can be more level and smooth during velocity variations excessive, effectively improve the comfort of driver.
Embodiment
for the ease of the understanding of those skilled in the art, below in conjunction with specific embodiment, the invention will be further described.
Present invention is disclosed a kind of speed fusion method of two-wheeled balance car, comprise the following steps:
S1, the present speed Vreal of record car, the travel speed that namely car is current.This speed Vreal=(Vl+Vr)/2, Vl is the present speed of the left motor that car revolver is corresponding, and Vr is the right present speed of taking turns corresponding right motor of car.Two-wheeled balance car has revolver and rightly to take turns, and each wheel is exported by independent Electric Machine Control speed usually, and when conveniently turning to, two wheels export different speed.
S2, obtain the current setting speed Vreal_set of car, namely current to car working control setting speed, this Vreal_set=Vreal+Acc, Vreal are the present speed of car, and Acc is the predetermined acceleration that control gear sends.
S3, calculate the final speed setting value Vset of car, Vset=k * Vi+(1-k) * Vreal_set, Vi is default theoretical velocity integration accumulated value, and k is scale-up factor, and 0<k≤1.By regulating K value that the final speed setting value of car just can be allowed to be partial to theoretical velocity integration accumulated value Vi, be still partial to car setting speed Vreal_set, thus the output making the speed of car keep comparatively stable, reach the object that speed merges.
Claims (3)
1. a speed fusion method for two-wheeled balance car, comprises the following steps:
S1, the present speed Vreal of record car;
S2, obtains the current setting speed Vreal_set of car;
S3, calculate the final speed setting value Vset of car, Vset=k * Vi+(1-k) * Vreal_set, Vi is default theoretical velocity integration accumulated value, and k is scale-up factor, and 0<k≤1.
2. the speed fusion method of two-wheeled balance car according to claim 1, is characterized in that, the current setting speed Vreal_set=Vreal+Acc of car in described step S1, Vreal is the present speed of car, and Acc is predetermined acceleration.
3. the speed fusion method of two-wheeled balance car according to claim 1, it is characterized in that, the present speed Vreal=(Vl+Vr)/2 of car in described step S2, Vl is the present speed of the left motor that car revolver is corresponding, and Vr is the right present speed of taking turns corresponding right motor of car.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410000461.9A CN104765942A (en) | 2014-01-02 | 2014-01-02 | Speed fusion method of two-wheeled balance car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410000461.9A CN104765942A (en) | 2014-01-02 | 2014-01-02 | Speed fusion method of two-wheeled balance car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104765942A true CN104765942A (en) | 2015-07-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410000461.9A Pending CN104765942A (en) | 2014-01-02 | 2014-01-02 | Speed fusion method of two-wheeled balance car |
Country Status (1)
| Country | Link |
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| CN (1) | CN104765942A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105059446A (en) * | 2015-08-14 | 2015-11-18 | 深圳市宝乐机器人技术有限公司 | Control method for two-wheeled balance bike |
| CN106314199A (en) * | 2016-09-05 | 2017-01-11 | 北京小米移动软件有限公司 | Method for speed controlling of balance car and device thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040153228A1 (en) * | 2003-01-31 | 2004-08-05 | Nissan Motor Co., Ltd. | Vehicle dynamics control apparatus |
| CN101691127A (en) * | 2009-08-20 | 2010-04-07 | 天津锦泰勤业精密电子有限公司 | System for controlling motion balance of dual-wheel auto balancing electric vehicle |
| CN202201103U (en) * | 2011-08-11 | 2012-04-25 | 九江嘉远科技有限公司 | Electric two-wheel balance vehicle |
| CN202657171U (en) * | 2012-07-04 | 2013-01-09 | 上海跑酷机器人科技有限公司 | Intelligent self-balancing electric vehicle and direction control rod thereof |
-
2014
- 2014-01-02 CN CN201410000461.9A patent/CN104765942A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040153228A1 (en) * | 2003-01-31 | 2004-08-05 | Nissan Motor Co., Ltd. | Vehicle dynamics control apparatus |
| CN101691127A (en) * | 2009-08-20 | 2010-04-07 | 天津锦泰勤业精密电子有限公司 | System for controlling motion balance of dual-wheel auto balancing electric vehicle |
| CN202201103U (en) * | 2011-08-11 | 2012-04-25 | 九江嘉远科技有限公司 | Electric two-wheel balance vehicle |
| CN202657171U (en) * | 2012-07-04 | 2013-01-09 | 上海跑酷机器人科技有限公司 | Intelligent self-balancing electric vehicle and direction control rod thereof |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105059446A (en) * | 2015-08-14 | 2015-11-18 | 深圳市宝乐机器人技术有限公司 | Control method for two-wheeled balance bike |
| CN105059446B (en) * | 2015-08-14 | 2018-04-06 | 广东宝乐机器人股份有限公司 | The control method of two-wheeled balance car |
| CN106314199A (en) * | 2016-09-05 | 2017-01-11 | 北京小米移动软件有限公司 | Method for speed controlling of balance car and device thereof |
| CN106314199B (en) * | 2016-09-05 | 2020-02-07 | 北京小米移动软件有限公司 | Balance car speed control method and device |
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| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150708 |