07-05-2015 дата публикации
Номер: KR1020150048589A
Автор:
KANG, MIN SIK,
SONG, YOUNG KEUN,
YOO, HYUNG SUK,
LEE, HYE SOO,
HYUN, MIN WOO,
HONG, JIN SUK
Принадлежит:
The present invention relates to a self-balancing electric unicycle scooter using sensor fusion. The present invention is combined with an overhead frame supported by a rotary axis of an internal motor type wheel with an integrated tire and motor. An acceleration sensor and a gyro sensor measuring the acceleration speed of the scooter and angular velocity, respectively, are installed on the overhead frame which is closely located to a rotary axis of a wheel. A battery, a motor driving unit, and a controlling part are installed on the overhead frame. The controlling part estimates a tilt angle of the scooter from the second axis direction acceleration speed and calculates a precise tilt angle of a scooter to the direction of gravity by combining the estimated tilt angle to the compensated value of deviation error included in the estimated angular velocity. The invention generates a motor driving controlling signal by executing PD-control or PID-control, inputting a calculated precise tilt ...
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