| 摘要 |
<p>A single-axle vehicle with one or two wheels arranged on the axle is characterized by high manoeuvrability. To stabilize the vehicle, a sensor produces a signal corresponding to the actual position, which controls in a closed control loop the direction and magnitude of the additional forces exerted on the vehicle in such a way that the resultant of all the forces acting on the centre of gravity of the vehicle always passes through the point of contact of the wheel or through the line joining the points of contact of the two wheels with the plane of motion. The additional forces can be applied by relative motion between the centre of gravity of the vehicle and the wheel axle. Stabilization of the tipping angle can also be effected by varying the propulsive forces acting on the wheels.</p> |
