SELF BALANCING ELECTRIC UNI-MOTOR-CYCLE USING SENSOR FUSION

摘要

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 angle and angle velocity with a compensated deviation error value. When a rider tilts the body of the scooter, the sensors combines two measured signals. Then, the invention transmits the calculated input signal to the motor driving part through a controller, and the motor generates torque. The invention can move safely while keeping a balance by increasing the speed when the scooter is leaned toward and decreasing the speed when the scooter is leaned backwards.