CONTROL OF A TWO-WHEELED SELF-BALANCING VEHICLE

摘要

Embodiments of the invention describe methods, apparatuses, and systems for control of a two-wheeled self-balancing vehicle. Embodiments of the invention include a control system for a two-wheeled vehicle, the control system including an inertial measurement unit (IMU); one or more control moment gyroscopes (CMGs); one or more CMG controllers to control the one or more CMGs; an accelerometer to measure a y-axis acceleration for the vehicle, the y-axis being perpendicular to a direction of travel of the vehicle and parallel to a ground surface; and a processing element to calculate a roll angle for the vehicle based at least in part on the y-axis acceleration measured by the accelerometer, determine a force component based at least in part on the calculated roll angle, and generate a CMG command for a CMG gimbal rate based at least in part on the determined force component.