公开(公告)号：WO2010023668A1

公开(公告)日：2010-03-04

申请号：PCT/IL2009/000830

申请日：2009-08-27

Applicant: TECHNION RESEARCH & DEVELOPMENT FOUNDATION LTD. ,  NENNER, Uri ,  LINKER, Raphael ,  GUTMAN, Per-Olof

Inventor： NENNER, Uri ,  LINKER, Raphael ,  GUTMAN, Per-Olof

IPC: B62K21/08 ,  B62K21/00

CPC classification number: B62K21/00 ,  B62J27/00 ,  B62K2207/02

Abstract: A system for stabilizing a single-track vehicle including a front assembly and a rear assembly, said system comprising a robust controller including an inner loop which closes on a roll angular rate of said rear assembly and reduces parametric uncertainty associated with said vehicle, and an outer loop which closes on a roll angle of said rear assembly, and wherein the robust controller outputs a steering torque signal for controlling a steering angle in said front assembly; a roll angle sensor for measuring the roll angle in the rear assembly; a roll rate gyro for measuring the roll angular rate in the rear assembly; and a motor for applying the steering angle to said front assembly responsive to the steering torque signal.

Abstract translation: 一种用于稳定包括前组件和后组件的单轨车辆的系统，所述系统包括鲁棒控制器，所述鲁棒控制器包括内循环，所述内循环以所述后组件的滚动角速度关闭并降低与所述车辆相关联的参数不确定性， 外环，其在所述后组件的滚动角度上闭合，并且其中所述鲁棒控制器输出用于控制所述前组件中的转向角的转向扭矩信号; 用于测量后组件中的侧倾角的侧倾角传感器; 用于测量后组件中的侧倾角速率的卷速率陀螺仪; 以及用于响应于所述转向转矩信号将所述转向角施加到所述前部组件的电动机。

公开(公告)号：WO2010023668A9

公开(公告)日：2010-12-16

申请号：PCT/IL2009000830

申请日：2009-08-27

Applicant: TECHNION RES & DEV FOUNDATION ,  NENNER URI ,  LINKER RAPHAEL ,  GUTMAN PER-OLOF

Inventor： NENNER URI ,  LINKER RAPHAEL ,  GUTMAN PER-OLOF

IPC: B62K21/08 ,  B62K21/00

CPC classification number: B62K21/00 ,  B62J27/00 ,  B62K2207/02

Abstract: A system for stabilizing a single-track vehicle including a front assembly and a rear assembly, said system comprising a robust controller including an inner loop which closes on a roll angular rate of said rear assembly and reduces parametric uncertainty associated with said vehicle, and an outer loop which closes on a roll angle of said rear assembly, and wherein the robust controller outputs a steering torque signal for controlling a steering angle in said front assembly; a roll angle sensor for measuring the roll angle in the rear assembly; a roll rate gyro for measuring the roll angular rate in the rear assembly; and a motor for applying the steering angle to said front assembly responsive to the steering torque signal.

Abstract translation: 一种用于稳定包括前部组件和后部组件的单轨车辆的系统，所述系统包括鲁棒控制器，所述鲁棒控制器包括以所述后部组件的滚动角速率闭合并减少与所述车辆相关的参数不确定性的内环，以及 外环，其以所述后组件的侧倾角闭合，并且其中所述鲁棒控制器输出用于控制所述前组件中的转向角的转向扭矩信号; 用于测量后部组件中的侧倾角的侧倾角传感器; 用于测量后部组件中的滚动角速率的滚动速率陀螺仪; 以及用于响应于转向扭矩信号将转向角施加到所述前组件的马达。