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发明公开
CN105799828A 一种人机交互运动车的运动控制方法以及运动控制系统 有权 转让

一种人机交互运动车的运动控制方法以及运动控制系统
摘要：
本发明涉及一种人机交互运动车的运动控制方法，其包括以下步骤：(1)获取左右踏板的倾斜角；(2)对所述左右踏板的倾斜角进行处理，得到给定量；(3)获取左右踏板的偏航角速度，并对所述左右踏板的偏航角速度进行处理，得到反馈量；(4)通过控制器控制所述电机而使所述反馈量趋于与所述给定量一致以实现对人机交互运动车的偏航校正。本发明还涉及一种人机交互运动车的运动控制系统。
摘要（英）：

The invention relates to a motion control method for a man-machine interaction balance car. The method comprises the first step of acquiring a slant angle of a left pedal and a slant angle of a right pedal; the second step of processing the slant angle of the left pedal and the slant angle of the right pedal to obtain given quantity, the third step of acquiring the yaw rate of the left pedal and the yaw rate of the right pedal and processing the yaw rate of the left pedal and the yaw rate of the right pedal to obtain feedback quantity, and the fourth step of controlling a motor through a controller to enable the feedback quantity to tend to be consistent with the given quantity so that yaw correction on the man-machine interaction balance car can be achieved. The invention further relates to a motion control system for the man-machine interaction balance car.

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