摘要
作为被控制对象的自行车双轮机器人是以自行车为基础,再配以转动车把的电机和驱动后轮的装置构成的。根据经验,当自行车行走不稳向两边倾倒时,人会向左或右转动车把,并且人的重心也会向右(或左)移动。向倾倒的方向转动车把的作用是将使车倾倒的重力的分力转用于车体做曲线运动的向心力,从而避免车体的倾倒。而骑车人调节自身的重心的作用,可以辅助起到将车体从倾倒的方向纠正回平衡点处的作用。
The object to be controlled is based by the bike robot and composed by the engine to round the controller of the bike. By the experience, when the bike turn to either side, people will turn the controller to either side and the balance point will turn to either side. The side force will let the bike keep balance to avoid the bike fall. And the controller will keep himself to keep balance too.
出处
《机电产品开发与创新》
2010年第2期1-2,8,共3页
Development & Innovation of Machinery & Electrical Products
