CN100506632C - Automatic balanced electric bicycle - Google Patents

Automatic balanced electric bicycle Download PDF

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Publication number
CN100506632C
CN100506632C CN 200710130309 CN200710130309A CN100506632C CN 100506632 C CN100506632 C CN 100506632C CN 200710130309 CN200710130309 CN 200710130309 CN 200710130309 A CN200710130309 A CN 200710130309A CN 100506632 C CN100506632 C CN 100506632C
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battery
compartment
circuit
left
switch
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CN 200710130309
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Chinese (zh)
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CN101074039A (en
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(请求不公开姓名)
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张一鸣
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62HCYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
    • B62H5/00Appliances preventing or indicating unauthorised use or theft of cycles; Locks integral with cycles
    • B62H5/001Preventing theft of parts or accessories used on cycles, e.g. lamp, dynamo
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K15/00Collapsible or foldable cycles

Abstract

本发明涉及一种两轮分布在骑行者左右的自动平衡电动车,包括车厢、立杆、电动机及其驱动电路、角度及角速度传感器、转向控制机构、脚踏传感器,其特征是:组成车厢(7)的电池室1(46)和电气室(47)均有上下两部分,上部分分别设有电气盖(43)和电池盖(45),下部分共用车厢底盖(16),中间由隔板(44)分开;电动机驱动电路(18、18′)包含泄放回路;把手总成(40)的端部设有左右转向控制机构(3、3′);与车厢底盖(16)的平行位置设有角度传感器(22),垂直位置设有角速度传感器(21),用于检测车厢底盖(16)的倾斜角度及角速度;本发明具有经济、安全、使用和维修方便、便于运输和携带等优点。 The present invention relates to a two distributed around the rider's automatic balancing electric vehicles, including cars, pole, and the motor driving circuit, and the angular velocity sensor, steering control mechanism, pedal sensor, wherein: Composition carriage ( 7) a battery compartment (46) and an electrical compartment (47) has two parts, the cover portions are provided with electrical (43) and the battery cover (45), the lower portion of the bottom cover common carriage (16), the intermediate a separator (44) separately; a motor drive circuit (18, 18 ') comprises a bleed circuit; handle assembly (40) is provided with right and left ends of the steering control means (3,3'); and the bottom cover carriage (16) parallel position with an angle sensor (22), the vertical position with the angular velocity sensor (21) for detecting a vehicle compartment bottom cover (16) and the angular velocity of the inclination angle of; the present invention has the economic convenience, safety, use and maintenance, easy to transport and carry.

Description

左右两轮自动平衡电动车 About two self-balancing electric vehicle

技术领域 FIELD

本发明涉及一种电动车,尤其是只有两个轮子左右分布、具有自动平衡功能的电动车。 The present invention relates to an electric vehicle, in particular only about two wheels distribution with automatic functions of the electric vehicle. 背景技术 Background technique

1988年,日本专利说明书JP63-305082公开了一种只有左右两轮、能自动保持动态平衡的小车。 In 1988, Japanese patent specification JP63-305082 A discloses only about two, the car can automatically maintain homeostasis. 该申请只是一种能演示一级倒立摆的实验方案,离使用者的骑行在技术上尚有一段遥远的距离。 This application is only a test program can demonstrate an inverted pendulum, riding away from the user's technically still a distant distance.

在日本专利申请的基础上,美国专利说明书US5,701,965披露了骑行者的站立骑行功能,但存在的主要缺点是: On the basis of the Japanese Patent Application, U.S. Patent Specification No. US5,701,965 discloses a standing rider riding features, but the main drawback is that:

(1) 技术方案繁瑣、复杂,可靠性差,制造成本高。 (1) aspect cumbersome, complex, poor reliability, high manufacturing costs.

(2) 电池的使用和更换存在以下缺陷:需要从车的底部拆卸电池,更换非常不便;二是没有防盗措施,不安全。 The presence of (2) and replacement of the battery using the following disadvantages: the need to remove the battery from the vehicle bottom, replacement is very inconvenient; two security measures is not unsafe.

(3) 电池室与电气室没有隔离,机械结构的用户界面不友好:电池是需要经常维护、更换使用的部件,电池室需要对用户友好开放,需要使用便利;电气驱动装置里面因安装有较精密部件,不需轻易对用户开放,而宜采用封闭结构。 (3) the battery compartment and the chamber are not isolated electrically, the mechanical structure of the unfriendly user interfaces: the battery needs regular maintenance, replacement of parts used, the battery compartment requires a user-friendly open, requires the use of facilities; electrical drive means mounted inside because more precision parts, the user need not open easily, while the closed structure should be adopted.

(4) 存放、运输不方便:用轿车携带时,需要专用机械,美国专利说明书US20040050611 4皮露了这种专用辅助机械装置。 (4) storage, transportation convenient: The portable car requires special machinery, U.S. patent specification No. US20040050611 4 exposed skin such special auxiliary mechanical means.

(5) 其采用的每边三个轮子的轮系结构过于复杂。 (5) the wheel train wheel structure of each of three sides of its use is too complicated.

其中上述(l)中技术复杂、繁瑣、制造成本过高的主要技术原因有四点: (l)冗余过度:为维持所述车的动态平衡,左右电动机的正反转需要切换迅速, 但这样会导致瞬态过电压和瞬态过电流的产生,击穿电动机驱动电路中的功率放大开关管。 Wherein the above (l) technical complex, cumbersome, there are four major technical reasons for the high manufacturing cost: (l) over redundant: to maintain the dynamic balance of the vehicle, the left and right reversing the motor to be switched rapidly, this will lead to transient overvoltage and transient generation of the overcurrent, the motor drive circuit breakdown of the power amplifier switch. 上述美国专利为了提高所述车的安全与可靠,把电气驱动电路、 中央处理电路、传感器以及电动机的绕组等几乎全部多备份了一套。 In order to improve the above-mentioned U.S. Pat security and reliability of the vehicle, the electrical drive circuit, a central processing circuit, a sensor, and the like almost all motor windings of a plurality of backup.

(2) 不必要的重复:上述美国专利说明书披露的技术方案中,在车体上安装了角度传感器和角速度传感器的同时,两只电动机上都安装了转速或位置传感器。 (2) unnecessary duplication: U.S. patent specification discloses the aforementioned technical solution, on the vehicle body angle sensor and angular velocity sensor mounted at the same time, the two motors have a speed or position sensor is mounted. 事实上,车体倾斜的角度和角速度与电机的转速存在直接的因果关联关系。 In fact, there is a direct causal relationship vehicle body inclination angle and angular velocity of the motor speed. 在采用角度传感器和角速度传感器全闭环的情况下,如果两台电动机的性能参数一致性较好,完全没有必要在电动机处加入位置或速度传感器,重复半闭环反馈,即可以去掉电动机的位置或速度传感器。 In the case where the angle sensor and angular velocity sensor of the closed loop, if the performance parameters of good consistency of two electric motors, there is no need to join the motor position or speed sensors, the semi-closed loop feedback is repeated, i.e., the motor speed can be removed or the position sensor.

(3) 转向控制不必釆用闭环,转弯机构太复杂:美国专利US6,581,714和US6, 789, 640专门设计了转向控制的机构。 (3) need not preclude the use of a closed loop steering control, the turning mechanism is too complex: U.S. Patent US6,581,714 and US6, 789, 640 specially designed steering control mechanism.

(4 )检测骑行者上车的传感装置太复杂:美国专利说明书US6,796,396的图6a、图6b披露了这种传感装置。 (4) detecting the vehicle rider sensing device too complicated: FIG. 6a US6,796,396 U.S. Patent specification, and FIG. 6b discloses such a sensing device. 发明内容 SUMMARY

本发明的目的是提供一种控制和驱动电路拓朴结构筒单、可靠性高、电池易于更换、转向容易、便于运输和上下坡推行、安全便捷、制造成本低的左右两轮自动平衡电动车。 Object of the present invention is to provide a control and drive circuit topology single tube, high reliability, easy to replace the battery, steering easy to transport and easy to implement on a downhill, safe and convenient, low cost about two automatic balancing electric vehicle .

为实现上述发明目的,本发明所采用的技术方案如下: To achieve the above object, the technical solution employed in the present invention is as follows:

一种左右两轮自动平衡电动车,两轮分布在骑行者的左右两侧,包括车厢、 立杆、车轮、电动机及其驱动电路、角度及角速度传感器、蓄电池、面板处理电路、把手总成、转向控制机构、脚踏传感器,其特征在于: One kind of about two automatic balancing electric vehicles, distributed in two left and right sides of the rider, including cars, pole wheel, and the motor driving circuit, and the angular velocity sensor, a battery, a processing circuit panel, handle assembly, steering control means, pedal sensor, wherein:

车厢由电池室和电气室分隔组成,电池室存》文有蓄电池组,电气室安装有左右电动机及其电动机驱动电路以及中央处理电路;把手总成的端部设有左右转向控制机构;电动机驱动电路包含泄放回路,泄放回路设有泄放开关和耗能 A battery compartment and an electrical compartment chamber partition composition, the battery storage compartment "text has a battery pack, the electric motor chamber and is mounted around the motor driving circuit and a central processing circuit; end of the handle assembly about the steering control means is provided; a motor drive circuit comprises a bleeder circuit, and a bleed circuit provided with energy bleed switch

6或储能元件。 6 or the storage element.

本发明进一步的技术措施采用以下方案: A further technical measure of the invention using the following protocol:

上述车中,车厢的上表面设有脚踏传感器,脚踏传感器是金属防水开关。 On the vehicle, the upper surface of the carriage is provided with a foot sensor, the sensor is a metal waterproof foot switch. 上述车中,所述的电池室和电气室均由上下两部分组成,下部分共用车厢底盖,中间由隔板分开,电气室的上部分设有电气盖,电气盖与隔板之间采用固定联接;电池室的上部分设有电池盖,电池盖与底盖之间采用活动联接。 On the vehicle, the battery chamber and the electrical compartment by upper and lower parts, the lower part of the bottom cover common compartment, separated by a partition, the chamber is provided with an electrical part of the electrical cover, the cover and the separator between the use of electrical fixing the coupling; upper portion of the battery compartment cover is provided with the battery, the battery using the movable coupling between the cover and the bottom cover.

上述车中,所述的车厢的底盖上部还设有一电池室,经电气室与前述的电池室对称布置,该电池室中放置有蓄电池组。 On the vehicle, the bottom cover an upper portion of the passenger compartment is further provided with a battery compartment, the battery chamber and the electrical compartment arranged symmetrically placed in the battery compartment the battery pack.

上述车中,所述的立杆为空腔结构,底部设有折叠机构,电源通过穿过立杆腔内的供电电缆从电池室传输到把手总成。 On the vehicle, the uprights of the cavity structure, the bottom is provided with a folding mechanism, the power transmission from the battery compartment to the handle assembly through the stem cavity through supply cable.

上述车中,所述的电气盖的背面安装有电池锁具,电池锁具的锁头被梯形盒罩住。 On the vehicle, the rear surface of said cover electric battery is mounted locks, lock the battery lock box covering is trapezoidal.

上述车中,所述的蓄电池组的正极或负极通过一只电流传感器接入电动机驱动电路。 On the vehicle, the battery pack of the positive electrode or the negative access by a motor driving circuit current sensor.

上述车中,与所述的车厢底盖的平行位置设有角度传感器,与车厢底盖的垂直位置设有角速度传感器。 On the vehicle, the position of the carriage parallel to said bottom cover is provided with an angle sensor, and the vertical position of the bottom cover is provided with the angular velocity sensor compartment.

上述车中,所述的左右转向控制机构中分别设有复位弹簧,两根复位弹簧的扭向相反。 On the vehicle, the left and right steering control mechanism are respectively provided with return springs, two opposite torsional return spring.

上述车中,所述的两个蓄电池组的负极并联,作为地线,每组正极分别通过继电器和开关管串联后接入直流母线的正极。 On the vehicle, the negative electrode of the two parallel battery pack, as a ground, respectively, through each of the positive electrode after the relay switch connected in series and the positive electrode of the DC bus access.

上述车中,利用一只开关直接控制面板处理电路、中央处理电路的电源和电动机驱动电路的控制电源,并通过继电器控制电动机驱动电路的动力电源。 On the vehicle, the use of a control panel switch directly processing circuit, a central processing power and the motor drive control circuit power supply circuit, the power supply through the relay controlling the motor drive circuit.

上述车中,骑行者在车体上时,车体运行在自动平衡模式;车体上没有载荷时,车体运行在辅助动力模式,两种模式的选择由一开关确定;车体运行在自动平衡模式时,即使选择开关的开关状态被改变,车体的运动模式也不改变; 在辅助动力模式状态运行时,驱动车体运动的辅助力矩M与角度传感器的输出角度0密切相关:角度e越大,辅助力矩M越大;辅助力矩M只有在角度6大于或小于一定角度值6 。 On the vehicle, the rider on the vehicle body when the vehicle body runs in the automatic balancing mode; when there is no load on the vehicle, the vehicle runs in the auxiliary power mode, the two modes is determined by selecting a switch; the vehicle runs automatically equilibrium mode, selecting the switching state of the switch is changed, the vehicle body motion pattern does not change; in the auxiliary power mode state operation, the assist driving torque M and the output angle of the angle sensor is closely related to body movement 0: angle e the larger, the larger the assist torque M; M assist torque only in an angle 6 greater or less than a predetermined angle value 6. 后,辅助力矩M才会发生,即: After the auxiliary torque M will occur, namely:

本发明所述的左右两轮自动平衡电动车依据倒立摆的原理,在骑行者身体重心前倾时,左右两只车轮向前转动;骑行者身体重心后倾时,左右两只车轮向后转动;转动的速度与身体倾斜的角度和角速度密切关联。 About two automatic balancing electric vehicle according to the present invention, the principle of an inverted pendulum, when the rider's body center of gravity forward, right and left two front wheels turn; After dumping body weight rider, right and left two rear wheel rotation ; rotational speed closely associated with the body tilt angle and angular velocity. 骑行者身体重心不变化时,左右两只车轮静止不动。 When the rider does not change body weight, around two wheels motionless.

综上所述,与现有技术相比,本发明的左右两轮自动平衡电动车具有以下优点: In summary, compared with the prior art, about two automatic balancing electric vehicle according to the present invention has the following advantages:

(1) 该车具有进退自如和转弯半径极小的优点; (1) the vehicle having a minimum turning radius of the advance and retreat and advantages;

(2) 在基本不损失性能的情况下,传感器数量少,控制回路简单可靠,不需备份全部电路,制造成本大大降低; (2) In the case where substantially no loss of performance, a small number of sensors, the control circuit is simple and reliable, without all the backup circuit, the manufacturing cost is greatly reduced;

(3 )抑制或消除了电动机频繁正反转切换时瞬态过电压和瞬态过电流对电路的冲击,从而提高了电气部分的可靠性; (3) inhibiting or eliminating frequent reversing motor transient overvoltages and overcurrent transient impact on the circuit when the switching, thereby improving the reliability of the electrical part;

(4) 机械结构划分明确,不易对使用者开放的电气室得到封闭紧固; (4) it is clearly defined mechanical structure, easy to open for the user to obtain a closed electrical compartment fastened;

(5) 电池更换便捷且具平衡整车质量的效果,而且受到电池锁的保护,使用安全; (5) and having a battery replacement convenient vehicle mass balancing effect, but also by the battery lock protection, safe;

(6) 转向控制筒单、灵活、自如,制造成本低; (6) a single steering cylinder, flexible, comfortable, low manufacturing cost;

(7 )辅助动力模式解决了上下坡或上下楼梯时靠人工推拉力量不够的问(8) 立杆可折叠的特征使所述车便于运输、携带和存放; By manual push-pull power is not enough to ask (8) (7) auxiliary power mode to solve the downhill or down stairs on pole foldable features make the car easy to transport, carry and store;

(9) 高度可调节的立杆使不同身高的使用者可以适宜地扶住把手,提高了使用的安全性。 (9) a height adjustable pole height so that different users can hold the handle suitably, improving the safety of use.

通过上述技术措施,本发明最终要实现符合中国国情、让国人买得起和骑得好的左右两轮自动平衡电动车。 Through the above technical measures, the present invention is to achieve the ultimate in line with China's national conditions, so that people can afford to ride well and about two self-balancing electric vehicle. 附图说明 BRIEF DESCRIPTION

图la是本发明的整体结构示意图。 FIG la is a schematic overall structure of the present invention.

图lb是图la中的A部放大图。 FIG la lb is a diagram of an enlarged portion A of FIG.

图2a是本发明车厢的机械结构示意图。 2a is a schematic view of the mechanical structure of the carriage of the present invention.

图2b是本发明车厢的电池盖的结构示意图。 FIG 2b is a schematic diagram of the present invention, a battery compartment cover.

图2c是本发明车厢的电气盖的结构示意图。 Figure 2c is a schematic structural diagram of the electrical compartment cap of the present invention.

图2d是本发明车厢的隔板的结构示意图。 Figure 2d is a schematic view of the separator of the present invention the compartment.

图2e是本发明车厢的底盖的结构示意图。 Figure 2e is a schematic view of the bottom cover of the compartment of the present invention.

图3是本发明的电池锁和梯形盒的结构示意图。 3 is a schematic structure of the battery lock of the invention and a trapezoidal box.

图4是本发明的电气室的布置图。 FIG 4 is a diagram showing the electrical arrangement of the present invention the chamber.

图5a是本发明的泄放回路的电路示意图。 Figure 5a is a circuit schematic diagram of the bleed circuit of the present invention.

图5b是图5a中涉及到有刷直流电动机的功率放大电路简图。 Figure 5a 5b is directed to a brush DC motor power amplifier circuit schematic.

图5c是图5a中涉及到无刷直流电动机的功率放大电路筒图。 Figure 5c relates to a power amplifying circuit of a brushless DC motor of FIG. 5a cartridge.

图6是本发明的电路连接示意图。 FIG 6 is a circuit connection diagram of the present invention.

图7是本发明的供电示意图。 FIG 7 is a schematic view of the power supply of the present invention.

图8a是本发明的转向控制机构的结构图一。 8a is a configuration diagram of a steering control mechanism of an invention.

图8b是本发明的转向控制机构的结构图二。 8b is a configuration diagram of a steering control mechanism of the present invention is two.

图9是本发明的工作流程框图。 FIG 9 is an operation flow diagram of the present invention.

9具体实施方式 9 DETAILED DESCRIPTION

下面结合附图及实施例对本发明作进一步详细描述(但不仅限于此实施 Example embodiments of the present invention is described in further detail in conjunction with the accompanying drawings and the following (but not limited to this embodiment

例): example):

机械结构部分: Mechanical moiety:

首先参看图la和图lb。 Referring first to FIGS. La and lb. FIG. 本发明所述车由车厢7、两只左右车轮5、 5'及挡泥板6、 6'、立杆9、车把总成40、梯形盒8等组成。 The present invention consists of left and right vehicle cabin 7, two wheels 5, 5 'and the fender 6, 6', 9 pole, a handle assembly 40, a trapezoidal box 8 and other components. 车体行进方向沿X或-X 轴,两左右车轮5和5'的中心线要求尽可能安装在Y轴线上,分布在车厢7的左右两边。 Vehicle traveling along the X direction or the -X-axis, the center line of the left and right wheels 5 and 5 'mounted on the requirements as Y-axis, distributed at both sides of the carriage 7. 左右车轮5和5'与左右电动机17和17'(参见图4)之间的联结可采用花键、键槽或齿轮等多种联结形式,车轮外边沿用螺母、垫片、止动垫圈的组合4、 4'紧固。 Various coupling forms left and right wheels 5 and 5 'and left and right motors 17 and 17' can be coupled between a splines (see FIG. 4), keyway, or other gear wheel in use outside nuts, washers, stop washer combination 4 , 4 'fastened. 两扇左右挡泥板6和6'固定在车厢7的侧面。 Two right and left fender 6 and 6 'is fixed to the side cabin 7. 车厢7的中心处升起一根立杆9。 Compartment 7 at the center of a pole raised 9. 车厢7的上表面安装有脚踏传感器2,该脚踏传感器2可采用金属防水开关,用于检测骑行者是否上车。 The upper surface of carriage 7 mounted pedal sensor 2, the sensor 2 can be a metal waterproof foot switch, for detecting whether the vehicle rider. 必要时,车厢7的表面可以铺上脚垫。 If necessary, the surface can be covered with mats compartment 7. 车把总成40的机械部分可以借用现有电动自行车的车把总成,包含大灯、左右转向灯、喇口八、闪烁器、控制这些配件的开关、显示剩余电量的显示器件10以及把立管41等,也可以根据需要重新设计车把总成40或加以改进。 Mechanical parts of the handlebar assembly 40 can borrow conventional electric bicycle handlebar assembly comprising a headlight, the left and right turn signal, La mouth eight scintillator, the control switches of these parts, the remaining amount display 10 and the display device riser 41 and the like, may also be redesigned to be improved or the handlebar assembly 40 as desired.

车把总成40的组成及结构: (1 )本发明采用两个转向控制机构3和3'用于左右或右左转向控制,后面有详纟田叙述; A handle assembly 40 of the composition and structure: (1) The present invention employs two steering control mechanism 3 and 3 'for the right or left around the steering control, followed by a detailed description field Si;

(2 )为了用户界面更友好,本发明采用由液晶或七段数码管阵列等显示器件10, 用于显示电池的剩余电量、车体的运行模式、倾角等参数。 (2) In order to more user-friendly, the present invention uses a liquid crystal or seven-segment LED display device such as array 10, for displaying the residual amount of the battery, the operating mode of the vehicle body inclination and other parameters. 显示器件10安装在面板处理电路103上,面板处理电路103 (参看图6)放置在车头的面板罩60 内部; The display device 10 is mounted on a panel processing circuit 103, panel processing circuit 103 (see FIG. 6) placed inside the front cover panel 60;

(3)由于车把总成4G插入本发明所述的立杆9中,与放置在电动自行车前叉上时有所不同,两者的倾斜角度有变化,必要时,可以把车把总成40的把立管 (3) Since the handlebar assembly 4G inserted in the uprights 9 of the present invention, different from when the electric bicycle is placed on the fork, the tilt angle of the two changes, if necessary, the handlebar assembly the riser 40

41弯曲一个角度,或者在焊接把立管41时与把横管42的倾斜角度与自行车不一样,以合适的大灯照明方向为准; A bend angle of 41, or at the time of welding the riser 41 and the inclination angle of the horizontal pipe 42 of the bicycle is not the same, a suitable Headlight whichever direction;

(4) 车把总成40的电源来自车厢7中的蓄电池(组),其供电和数据传输通信电缆从空腔的立杆9中间穿过,不暴露在外面,起美观和防止因电缆的绝缘受损、雨水导致短路之作用; (4) the handlebar assembly 40 of the battery power from the vehicle cabin 7 (group), the power supply and data transmission from the communication cable 9 through the intermediate cavity of the uprights, is not exposed to the outside, since the appearance and prevent cable damaged insulation, rainwater lead role of short circuit;

(5) 电动自行牟原来用于接通电源的锁孔12可以借用,但也可以把此处改造成为TM卡读头,用于读取TM卡密码; (5) The original Mu own electric power source for turning the lock hole 12 can be borrowed, it may be transformed into the here TM card read head, for reading the card code TM;

(6) 在车头的面板罩60内设有整套电路的控制电源开关14 (其开启与闭合由车钥匙启闭)和运动模式控制开关13,后面详细叙述; (6) in front of the plate cover 60 equipped with a control circuit power switch package 14 (which open and close by the opening and closing car keys) and a motion mode control switch 13, described in detail later;

(7) 在立杆9的上端安装把立管41的高度调节机构11,底部安装有折叠机构15,可以采用现有的结构型式,折叠机构15参看图lb的A部放大图。 (7) mounted at the upper end of the pole 9 of the riser 41 of the height adjusting mechanism 11, the bottom folding mechanism 15 may be employed conventional mounting structure type, the folding mechanism 15 with reference to FIG. Lb enlarged portion A of FIG.

参看图2a〜2e,车厢7由一块底盖16、 一块电气盖43、两块隔板44和一前一后两块同样的电池盖45和45'组成。 Referring to FIG. 2a~2e, carriage 7 consists of a bottom cover 16, an electrical cover 43, two partition plates 44 and the same one after the two battery cover 45 and 45 'composition. 电气盖43和前后电池盖45、 45'把底盖16分成三块区域:前电池室46、电气室47、后电池室48,中间用两块隔板44隔开,隔板44与底盖16之间的联结可以采用焊接固定,也可以采用螺钉螺母活动联结。 Electrical cover 43 and the front and rear of the battery cover 45, 45 'to the bottom cover 16 is divided into three regions: before the battery compartment 46, an electrical chamber 47, the battery compartment 48, separated by two intermediate separator 44, the separator 44 and bottom cover 16 may be employed between the coupling fixed by welding, screw coupling nut activity may also be employed. 电气盖43放置在两块隔板44中间,与隔板44的联结方式可以通过隔板44边缘的通孔49与电气盖43边缘的通孔50采用螺钉螺母联结固定, 也可以把隔板44边缘上的通孔49改为攻丝孔,电气盖43与隔板44采用螺钉联结。 Electrical cover 43 is placed in the middle of two partition plates 44, and the separator 44 may be coupled by way of the through hole 44 using the edge of the separator 50 and the through hole 49 the edge of the cover 43 electrically coupled to a screw nut is fixed, the spacer 44 may be through hole 49 to the edge of tapped holes, electrical cover 43 and the separator 44 with screw coupling. 电池盖45、 45'与底盖16的前后边缘处开孔55和54,采用合页63联结, 这样前后电池盖45、 45'可以分别沿X轴前后方向朝外翻开,便于电池的取出与放入。 The battery cover 45, 45 'at the edge of the bottom cover 16 of the front and rear openings 55 and 54, using the hinge coupling 63, so that the front and rear of the battery cover 45, 45' may be opened outward respectively along the longitudinal X-axis direction, to facilitate extraction of the battery and placed. 隔板开孔51,以便供电电缆把电源从电池室46和48传输到电气室47。 Separator opening 51, so that the power supply cable from the power transmission chamber 46 and the battery 48 to the electric chamber 47. 底盖开孔52用于放置电动机l7、 17',通孔53用于放置中央处理电路20 (参看图4)。 The bottom cover apertures 52 for placing the motor l7, 17 ', the through-hole 53 for positioning the central processing circuit 20 (see FIG. 4). 电气盖开孔58用于安放脚踏传感器2 (参看图la)。 Electrical cover 58 for housing the foot opening sensor 2 (see FIG. La).

本发明所述车由蓄电池(或蓄电池组)供电,没有交流电网供电的浪涌和波形畸变。 The vehicle of the present invention consists of a battery (or battery pack) powered, no AC power supply and surge waveform distortion. 为有效屏蔽外界干扰,除面板处理电路103、转向控制机构3、 3'(参看图6)之外,电路整体封闭在金属车厢内。 To effectively shield the external interference, in addition to panel processing circuit 103, the steering control unit 3, 3 '(see FIG. 6), the whole circuit is enclosed in a metal compartment.

车厢分成三部分并不是必须的,但这样放置可以使车厢前后质量基本对称。 Cabin divided into three parts not essential, but may be positioned such that the longitudinal carriage mass substantially symmetrical.

参看图3所示的电池锁65和梯形盒8的结构图。 Referring to FIG. 65 and FIG battery lock trapezoidal box structure 38 of FIG. 立杆9与牟厢7的固定由梯形盒8来完成。 Mu pole compartment 7 and 9 is fixed to a trapezoidal box 8 is completed. 空心立杆9穿过梯形盒8的上下两边,立杆9下底端与梯形盒8的下底边平齐,立杆9与梯形盒8的接触面四周悍接。 The hollow trapezoid pole 9 through the top and bottom cassette 8, 9 the bottom end of the lower pole of the trapezoidal base 8 is flush with the lower cassette, the cassette trapezoidal pole four weeks 8 9 a contact surface connection defended. 梯形盒8通过电气盖43上的通孔56 (参看图2c),用螺母螺钉64固定在电气盖43上,梯形盒的两腰67和68以固定螺钉73和73'为枢纽,可以在一定角度内转动,以便于螺钉螺母64的安装。 Trapezoidal box 8 via an electrical lid through hole 56 on 43 (see FIG. 2c), 64 fixed to the electrical cap nut screws 43, two isosceles trapezoid cartridge 67 and 68 to secure the screws 73 and 73 'to the hub and to be certain the angular rotation, so that the screw nut 64 is installed. 电气盖43与空心立杆9对接处开孔62 (参看图2c ),电源线203、 204、 210(参看图6、图7 )和数据传输通信电缆105穿过孔62,到达把手总成40。 Electrical cover 43 with the hollow pole opening 62 (see FIG. 2c) at the butt 9, the power lines 203, 204, 210 (see FIG. 6, FIG. 7) and the data transmission communication cable 105 through the hole 62, the handle assembly 40 reaches the .

为了在使用者离开所述车时,蓄电池不致被偷走,本发明在车厢上安装有电池锁。 To the user leaves the car, the battery will not be stolen, the present invention is mounted in the car battery lock. 图3示出了一种安装电池锁的方式。 Figure 3 shows one way of mounting the battery lock. 电池锁65是两端可以同时伸缩的机械抽屉锁,从市场上可购得。 65 is a battery lock both ends simultaneously retractable drawer mechanical, commercially available from. 从电气盖43下端,锁65穿过电气盖43和梯形盒8下底边,位于梯形盒8内。 Electrical cover 43 from the lower end of the locking lid 65 through the electrical box 43 and a trapezoidal lower base 8, the cassette 8 is located in the trapezoid. 通过电气盖43的开孔61和梯形盒8的开孔, 穿过电气盖43,锁65的底座用螺钉66倒扣固定在梯形盒8上。 And trapezoidal apertures 61 by opening the cartridge cover 43 8 electrically through electrical cover 43, the lock base 65 by screws 66 fixed to the trapezoid upside down cassette 8. 翻开梯形盒8 活动的长腰边67,钥匙69可以插入锁65内并旋转。 Long open trapezoidal waist edge 67 of the cassette 8 activity, the key 69 can be inserted into the lock 65 and rotated. 当锁65打开时,两根锁杆71的端部同时收缩至电气盖43内,前后电池盖45和45'可以自由打开。 When the lock 65 is opened, two end portions of the lock lever 71 while the lid 43 to the electric contraction, front cover 45 and the battery 45 'can be freely opened. 在锁上时,两根锁杆71的端部同时从电气盖43的通孔57 (参看图2c)延伸至前后电池盖的通孔72内(参看图2b)。 When locked, the end portions of the two lock lever 71 while the through hole 72 extends to cover the front and rear of the battery (see FIG. 2b) electrically from the cover 57 of the through-hole 43 (see FIG. 2c). 钥匙69可以自由拔出和插入。 69 keys can be freely inserted and removed. 另一种方式也可以采用电磁锁,安装方式类似。 Another way electromagnetic locks may be employed, a similar installation.

参见图4所示的电气室的布置图:两台左右电动机17和17'通过定位孔52 安装在底盖16上(参看图2e),电动机17的轴伸端74与车轮5的轮毂采用花键或其他方式联结紧固,两台电动机17和17'的轴伸在一条直线(Y轴)上, 该直线与车体前进或后退方向(X轴)垂直。 FIG electric chamber arrangement shown in FIG. 4 refer to: about two motors 17 and 17 'through the positioning hole 52 is mounted on the bottom cover 16 (see FIG. 2e), the shaft 17 of the motor 74 and the extended end of the wheel hub 5 using flower bond or otherwise securing the coupling shaft 17 and two motors 17 'extending in a straight line (Y-axis), the straight line and the forward or backward direction of the vehicle body (X-axis) perpendicular. 两台电动机的驱动电路18和18' 各自驱动两台电动机17和17'。 Two electric motors drive circuit 18 and 18 'are each driving two motors 17 and 17'. 驱动电路18、 18'分别放置在两块散热器19、 19'上,散热器19和19'分别通过孔75固定在隔板44上(参看图2d)。 Drive circuit 18, 18 'are placed in the two radiators 19, 19', the heat sink 19 and 19 'respectively through the apertures 75 fixed to the partition 44 (see FIG. 2d). 中央处理电路20通过孔53 (参看图2e)固定在车厢底盖16的中央,上面有角度传感器22、角速度传感器21、微处理器以及外围接口和通信电路等。 A central processing circuit 20 is fixed to the bottom cover 16 of the compartment through the aperture 53 (see FIG. 2e) center, above the angle sensor 22, the angular velocity sensor 21, the microprocessor and peripheral interface and the communication circuit. 由于需要检测XY平面的倾斜角度以及绕Y轴旋转的角速度,因此,角速度传感器21与底盖16垂直,角度传感器22与底盖16平行。 Since the need to detect the inclination angle of the XY plane and an angular velocity about the Y axis, and therefore, the angular velocity sensor 21 is perpendicular to the bottom cover 16, the angle sensor 22 is parallel with the bottom cover 16.

驱动电路与泄放回路部分: Bleed circuit portion driving circuit:

无论采用何种类型的电动机作为驱动电动机,本发明所述车要求电动机正反转的切换速度快,否则难以维持骑行者的动态平衡。 Regardless of the type of motor employed as a drive motor, the present invention requires the vehicle speed motor reversing switch, it would be difficult to maintain the dynamic balance of the rider. 但是,由于电动机是感性元件,其绕组能短时储能,电动机的正反转切换瞬间会产生较大的瞬态电流和瞬态电压。 However, since the motor is the inductive element, which winding can be short-term storage, the motor reversing switch instantaneously produce a large transient current and transient voltage. 正反转切换的速度越快,其瞬态电流和瞬态电压越大。 The faster, the greater the speed of the transient current and transient voltage reversing switch. 瞬态电流和瞬态电压严重时,可以击穿开关管;通常情况下,也会引起蓄电池直流供电电压的剧烈波动。 When the transient current and transient voltage serious breakdown can switch; Typically, volatility can cause a DC battery supply voltage.

本发明采取的技术措施是:在直流母线之间增加泄放回路。 Technical measures taken by the present invention are: to increase bleeder circuit between the DC bus. 在电动机因为正反转切换产生的电压和电流变高之前,接通泄放回路,使其多余电能通过泄放电阻以发热的方式、或向储能元件充电的方式,消除或抑制电动机运转方向切换时产生的瞬态过电压和瞬态过电流,增强驱动电路的可靠性。 Because the motor reversing switch voltages and currents generated becomes high before, bleed circuit is turned on, so that excess power bleeder resistors fever manner, or to charge an energy storage element in a manner to eliminate or inhibit the operation direction of the motor transients when switching transient overvoltage and overcurrent, enhance the reliability of the drive circuit.

下面以使用最广泛的有刷直流电动机和无刷直流电动机为例分别对泄放回 The most widely used below to brush DC motor and a brushless DC motor, respectively drain back Case

13路加以说明。 Road 13 will be described.

图5a是本发明泄放回路的电路示意图;图5b是图5a中涉及到有刷直流电动机时的功率放大电路筒图;图5c是图5a中涉及到无刷直流电动机时的功率放大电路简图。 Figure 5a is a circuit diagram of the present invention a bleed circuit; FIG. 5b is directed to FIG. 5a when the power amplifier circuit brushed DC motor of FIG cylinder; degenerate when power amplification circuit in Figure 5a relates to a brushless DC motor of FIG. 5c Fig.

参见图5a:在没有开机和没有通过TM卡认证时,继电器81断开、功率开关管84、 85断开,电源与电动机功率放大电路80完全断开。 Referring to Figure 5a: no power and no card authentication by TM, the relay 81 turned off, the power switch 84, 85 is turned off, the motor power supply and the power amplifying circuit 80 is completely disconnected. 开机并通过TM卡认证后,继电器81合上,继电器82断开,但开关管84仍然处于断开状态。 And passing the power TM card authentication, the closing relay 81, relay 82 turned off, but the switch 84 remains in the OFF state. 在自动平衡状态时,只有在脚踏传感器2 (参见图1)被触发的情况下,开关管84 才接通合上。 In automatic equilibrium state, only when pedaling sensor 2 (see FIG. 1) is triggered, before the switch 84 is turned on together. 中央处理电路20 (参看图4)根据车厢7的倾斜角度、角速度以及转向信号计算出电动机的驱动功率,驱动电动机17和17'朝相反方向运转的 A central processing circuit 20 (see FIG. 4) according to the inclination angle of the vehicle cabin 7, the steering angular velocity, and calculates a signal power of the motor drive, the drive motor 17 and 17 'running in the opposite direction

功率管被开通。 The power transistor is turned on.

参见图5b,有刷直流电动机的功率放大电路80 (1),开关管"、96或开关管94、 95开通。以电动机17为例,在以一种方向运转时,如果开关管93和96开通,现在要过渡到相反的运转方向,在开关管94和95开通之前,泄放回路开关管85将开通一段时间,使得电路中的瞬态电流和瞬态电压通过泄放元件86泄放。泄放元件86可以是一只耗能电阻,此时多余的瞬态电能以发热的形式泄放;泄放元件86也可以是整流电路和储能器件形成的组合电路,此时多余的 Referring to Figure 5b, brushed DC motor of the power amplifying circuit 80 (1), the switch ", the switch 96 or 94, 95 open. In the motor 17, for example, during operation in one direction, if the switch 93 and 96 opening, now the transition to the opposite running direction, before the opening of switch 94 and 95, the bleeder circuit switch 85 will be opened for some time, so that the transient current and transient voltage circuit 86 through the bleed vent member. discharge element 86 may be an energy consumption resistance, then the excess power bleeder transient form of heat; discharge element 86 may be a combination of a rectifier circuit and a circuit of the energy storage device is formed, then the excess

瞬态电能以储能的形式泄放。 Transient storage of electrical energy in the form of relief.

参见图5c,无刷直流电动机的功率放大电路80 ( 2 ), 87〜92均为开关管。 Referring to FIG. 5C, the brushless DC motor 80 of the power amplifier (2), 87~92 are switch. 以三相星型六状态的一相导通为例,电动机17或17'在以一种方向旋转时,例如开关管87和91开通,下一步应该是开关管87和92开通,现在电动机17或17'要向相反方向旋转,不是开关管87和92开通,而是开关管89和91开通。 In a phase conduction state of the six-phase star through an example, the motor 17 or 17 'when rotated in one direction, for example, the switch 87 and the opening 91, the next step should be 92 and the opening of switch 87, the motor 17 now or 17 'would like to rotate in opposite directions, instead of opening the switch 92 and the tube 87, but the switch 89 and the opening 91. 在开关管89和91开通之前,泄放回路开关管85将开通一段时间,使得电路中 Before the switch 89 and the opening 91, the bleeder circuit switch 85 will be opened for some time, so that the circuit

14的瞬态电能通过泄放元件86泄放。 14 power transient bleed through the bleed element 86. 几点i兑明: I against the bright points:

(1) 上述换向和泄放的过程都存在延时,具体延时时间需要根据电动机和驱动开关管以及蓄电池组的性能等参数确定; (1) above and bleed during commutation delay exist, the specific delay time is determined according to the motor and the drive switch tube and the performance parameters of the battery pack;

(2) 图5a仅示出了一台电动机驱动电路中的一条泄放回路,两台电动机就有两条泄放回路,但实际使用中可以去掉一条泄放回路或增添多条泄放回路,泄放回路作用的性质是一样的,只会影响泄放和换向的快慢。 (2) Figure 5a shows only a motor drive circuit in a bleeder circuit, the two motors have two bleed circuit, but the actual use can be removed or added to a plurality of loop bleed bleed circuit, discharge circuit acting nature is the same, only affect the discharge and commutation speed. 前提条件是两台电动机驱动电路的正负母线分别对应相连; With the proviso that two DC Bus motor drive circuit respectively connected;

(3) 图5c中开关管换向的开关状态只是以三相星型六状态为例说明,根据无刷直流电动机的运行原理还可以有其他变化,泄放回路的开关过程类似。 (3) FIG. 5c switch changeover switch state to state only in a six-phase star as an example, there can be other variations according to the principle of operation of the brushless DC motor, a switching circuit similar to the bleed process.

各电路模块之间的连接关系: A connection relationship between each circuit block:

本发明各电路模块之间的连接关系参看图6。 A connection relationship between each circuit module of the present invention with reference to FIG. 中央处理电路20由微处理器、 稳压片和晶振等组成,微处理器可以选用TI公司提供的TMS320C2812,但不是唯一选择。 The central processing circuit 20 by the microprocessor, and the crystal sheet regulators, etc., the microprocessor can use TMS320C2812 TI provided by, but not the only choice. 角度、角速度、电压(未示出)、电流、脚踏等传感器件组成传感电路102。 Angle, angular speed, voltage (not shown), a current, a sensor such as a foot member 102 composed of a sensing circuit. 角度传感器(22)和角速度传感器(21)可以分别选用ADI公司提供的ADXL21G和ADXRS300。 An angle sensor (22) and an angular velocity sensor (21) can be selected ADXL21G ADXRS300 ADI and offers, respectively. 电压传感器可以通过分压电路实施。 A voltage sensor may be implemented by the voltage dividing circuit. 电流传感器可选用科海公司提供的KT30AP型号,脚踏传感器2可利用金属防水开关。 The current sensor may be selected KT30AP model, pedaling sensor 2 may be provided by Kehai a metal waterproof switch.

面板处理电路103由微处理器(如8051单片机)及外围电路组成。 Panel processing circuit 103 by the microprocessor (e.g., 8051) and peripheral circuit. 外围电路包含运动模式控制开关13、 TM卡读头12和显示器件10以及稳压和晶振等。 A peripheral circuit comprising motion mode control switch 13, TM 12 and the card reading head 10 and the regulators and other crystal display device.

左右电动机驱动电路18和18'与中央处理电路20通过电缆相联。 Left and right motor drive circuit 18 and 18 'and the central processing circuit 20 through the associated cable. 中央处理电路20与面板处理电路103通过通信电缆105相联。 The central processing circuit 20 and the associated panel processing circuit 103 through a communication cable 105. 左右转向控制机构3和可以在面板处理电路103上经过模数转换后通过通信电缆105传输至中央处理电路20,也可以直接用电缆传输至中央处理电路20里去模数转换。 Left and right steering control means 3 and can be on the panel processing circuit 103 after the analog to digital converter 105 through a communication cable transmission to the central processing circuit 20, cable may be directly transmitted to the central processing circuit 20 to go analog to digital conversion. 车体的供电系统 Vehicle power supply system

本发明整套电路的供电系统可采用一组或多组蓄电池组供电,图7中以两 Complete power supply system of the present invention may employ a circuit or a group of battery-powered group, two in FIG. 7

组蓄电池组201和202为例示出。 Group of battery 201 and 202 shown as an example. 拿出一组蓄电池组201供应整套电路的控制电源部分,即有三根电源电缆203、 204和地线210,其中电源的正负两根电缆203和21Q从一间电池室46或48取出电后,穿过电气盖43上的孔62和立杆9 到达把手总成40后(参看图2e、 2c和图la),分出一根电缆211经弱电电源开关14,再传输至面板处理电路103的稳压电路降至合适的电压,提供给显示器件10以及转向控制机构3和3'等。 After out a group of battery portion 201 controls the power supply circuit is complete, i.e. there are three power cables 203, 204 and ground 210, wherein the positive and negative two power cables 203 and 21Q taken from an electrical battery chamber 46 or 48 after passing through the hole 43 in the cover 62 and the electric pole 9 reaches the handle assembly 40 (see FIG. 2e, 2c and La), a drop cable 211 via the power switch 14 is weak, then the transmission processing circuit 103 to the panel the voltage regulator circuit suitable dropped, is supplied to the display device 10 and a steering control mechanism 3 and 3 'and the like. 第三根电源线204经过把手总成40、立杆9 和电气盖43到达电气室47,供应中央处理电路20、角度传感器22和角速度传感器21的电源以及左右电动机驱动电路18和18'的控制电源。 The third power supply lines 204 through the handle assembly 40, the electric pole 9 and the lid 43 reaches the electric chamber 47, 20, power sensor 22 and the angle of the angular velocity sensor 21 supplies a central processing circuit and the motor drive circuit 18 and about 18 'Control power supply. 这样,除大灯、 喇叭等212直接由电缆203分出的另一根电缆205供电外,面板罩60上的控制电源开关14控制所有电路模块的控制电源供应,由于动力电源供应受继电器81 控制(参看图5),而继电器81的开通与关断也受控制电压控制,因此控制电源开关14直接和间接控制了全套电路的电源。 Thus, in addition to another power supply cable 205 by the cable 203 is separated directly headlight, speakers 212, a power switch on the control panel of the cover 60 controls the power supply 14 controls all the circuit module, since the power supply by the power relay 81 controls (See FIG. 5), the relay 81 is also closed and opened by the control voltage, controls the power switch 14 thus directly and indirectly control the full power circuit.

另外,采用多组直流蓄电池组并联供电时,多组蓄电池组的并联需要协调。 Further, the use of multiple sets of DC power supply battery when connected in parallel, a plurality of sets in parallel need to coordinate the battery pack. 在没有向电动机供电时,多组蓄电池组不能直接并if关,以免因为压差和内阻不匹配而形成环流;当电动机起动需要电源时,多组蓄电池组能够并联在一起向电动机供电,以免每台电动机因为供电的压差不同造成电动机转速的差异。 In the absence of power to the motor, a plurality of sets if the battery pack and is not directly off, and pressure resistance as to avoid mismatch from circulating; power required when starting the motor, the battery pack can be a plurality of sets are connected in parallel to power the electric motor, in order to avoid each motor because of the different supply pressure difference caused by the motor speed. 脚踏传感器2 (参看图la)被触发的时刻就是电动机起动的时候。 Foot sensor 2 (see FIG La) is triggered in time when starting the motor. 这时,多组蓄电池组的供电开关管208、 209 (相当于图5a中的开关管84)导通,继电器206、 207 (相当于图5a中单组蓄电池组供电时的继电器81)已经导通的情况下,两组电源的正极并在一起,向电动机17和17'供电,这样就不至于因为供电的压差不同造成电动机17和17'转速的差异。 In this case, the battery pack power supply switch a plurality of sets of tubes 208, 209 (FIG. 5a corresponding to switch 84) is turned on, the relay 206, 207 (FIG. 5a corresponding to the relay 81 when the single group of battery power) has turned through the case, the positive power of two, and together, to the motor 17 and 17 'supply, so they would not because of the pressure caused by different supply motor 17 and 17' of the speed difference.

16在大多数电动机控制中,电流反馈环节是多环控制中最内核的环节。 In most motor controller 16, the current control feedback loop is a polycyclic core of the most part. 对于两台电动机,至少需要两只电流传感器。 For the two motors, at least two current sensors. 本发明所涉及到的两台电动机性能参数指标基本一样,在实际运行中,即使在转向时,两台电动机的驱动电流相差不大。 The present invention relates to the two motor performance parameter index essentially the same, in the actual operation, even when the steering, the motor drive current is little difference between the two. 所以,作为本发明的进一步改进,可以仅放置一只电流传感器98在直流 Therefore, as a further development of the invention, it may be placed only in a DC current sensor 98

母线的正极或负极,把此电流量反馈到中央处理单元20中,把两套电动机以及 Positive or negative bus bar, to this current is fed back to the central processing unit 20, and the two motors

驱动电路中的总电流作为反馈和限流环节,这样可以减少一只电流传感器。 Total current drive circuit as a feedback and current limiting links, thus reducing a current sensor.

转向控制: Steering control:

如图8a和8b所示,本发明采用两个左右转向控制机构3和3 '安装在左右把横管42上(参看图la)。 Figures 8a and 8b, the present invention employs the left and right steering control mechanism 3 and 3 'are mounted about the horizontal pipe (see FIG La) 42. 由于复位弹簧301、 301'和限位片^2、 302'的作用, 把手只能单方向旋转到一定角度,松手后能自动恢复到起始位置。 Since return spring 301, 301 '^ 2 and the stopper plate 302' effect, a handle in one direction of rotation only to a certain point, let go automatically restored to the starting position. 在旋转过程中,把手上的霍尔片303、 303'能够感应永久磁体^t场强度3(M、 3(M'的变化, During the rotation, the Hall on the handle 303, 303 'can sense the permanent magnet field intensity ^ t 3 (M, 3 (M' changes,

导致其电压发生变化,从而控制所述车的转向。 It causes its voltage to change, thus controlling the steering of the vehicle.

上述两只同样的左右转向控制机构3和3'相对地放置在左右手上,如果两者的复位弹簧301、 301'的旋向相同,必然是一只手朝前旋转,另外一只手朝后旋转,这种两边不一致的旋转方式造成初学者难以适应。 The same above-described two right and left steering control mechanism 3 and 3 'disposed at opposite right and left hand, if both the return spring 301, 301' rotating to the same hand must be a forward rotation, while the hand towards rotation, this inconsistency on both sides of the rotation means to cause the beginners difficult to adapt. 作为改进措施,本发明把其中一只转向控制机构3里的复位弹簧301的旋转方向改变成与另一只转向控制机构3'里复位弹簧30r相反的扭向,使原来两只同样旋转方向的转向控制机构变为相反旋转方向的转向控制机构,这样组成的一付转向控制机构3和3'相对地安装在左右把手横管42上时,它们的旋转方向相同,要么一致朝前, 要么一致朝后,操作一致、便捷。 As improvements, the present invention is one wherein the steering control means 3 in the rotation direction of the return spring 301 into the other only the steering control unit 3 'in the opposite torsional return spring 30r, so that the original rotation direction of the same two a steering control mechanism is reversed rotational direction of the steering control means, composed of a pair of steering control means so that 3, 3 'at the opposite left and right handle mounted on the cross tube 42, they have the same direction of rotation, forward or consistent, uniform or after North Korea, the same operation and convenient.

整个电路的工作流程请参看图9所示内容。 Workflow content of the entire circuit shown See Figure 9. (l)首先,欲骑行时,由车钥匙启动,开通控制电源开关14,启动整套电路系统的电源;(2) 显示器件IO提示核对TM卡的电子钥匙码,若密码错误,程序原地踏步; (L) Firstly, when the desire riding, car keys by the start, the opening of the power control switch 14 to start the power supply circuit entire system; (2) IO device display prompts TM card check electronic key code, if the password is wrong, the program situ mark time;

(3) TM卡读入正确码后,面板处理电路103扫描运动模式控制开关13,如果运动模式以查询方式输入,或者运动模式控制开关13以中断的方式接入时,在没有接收到中断的情况下,面板处理电路103将缺省运动模式一一自动平衡模式的指令通过通信电缆传输给中央处理电路20,否则,就传输辅助动力模式指 After (3) TM correct code card reader, the scanning motion mode of the panel 103 controls the switch processing circuit 13, to check if the motion pattern input mode, or a motion mode control switch 13 to interrupt the access way, the interruption is not received case, the panel processing circuit 103 will automatically default motion mode eleven balanced mode instruction transmitted via a communication cable to the central processing circuit 20, otherwise, the auxiliary power mode refers to a transmission

令; make;

(4) 中央处理电路20如果接收到辅助动力模式指令,就根据前述公式(1) Mfe/ (""。或5鳴)计算电动机输出功率,并传输给电动机驱动模块,然后 (4) If the central processing circuit 20 receives the assist power mode instruction, computes the motor output according to Equation (1) Mfe / ( "". Ming or 5), and transmitted to the motor drive module, and

把角度、剩余电池电量等参数通过通信电缆传输给面板处理电路103; The angle, remaining battery power and other parameters of the communication processing circuit 103 to the panel by cable transmission;

中央处理电路20如果接收到平衡运动模式指令,就等待脚踏传感器2被触发;在脚踏传感器2被触发后,实时检测角度值、角速度值、转向信号等运动参数,并据此计算电动机的输出功率,传输给左右电动机驱动电路18和W去执行,然后将角度、剩余电量等参数传输给面板处理电路103; If the central processing circuit 20 receives the balance exercise mode command, waits for the pedal sensor 2 is triggered; after pedaling sensor 2 is activated, the real-time detection of the angle value, the angular velocity value, a steering motion parameter signals, and calculate the motor output power transmitted to the motor drive circuit 18 and the left and right W to perform, then the angle, remaining amount and other parameters transmitted to the panel processing circuit 103;

(5) 面板处理电路103在接收到剩余电池电量、角度等参数后,连同运动模式(辅助动力模式或平衡运动模式)的标志一起在显示器件IO上显示。 (5) Panel processing circuit 103, after receiving the remaining battery power, angle and other parameters, together with the motion pattern (movement auxiliary power mode or balance mode) together with a flag displayed on the display device IO.

(6) 重复(3)、 (4)、 (5)过程。 (6) repeating (3), (4), (5) process.

Claims (10)

1. 一种左右两轮自动平衡电动车,两轮分布在骑行者的左右两侧,包括车厢、立杆、车轮、电动机及其驱动电路、角度传感器及角速度传感器、蓄电池、面板处理电路、把手总成、转向控制机构、用于检测骑行者是否上车的脚踏传感器,其特征在于:a. 车厢(7)由电池室1(46)和电气室(47)分隔组成,电池室1(46)存放有蓄电池组1(201),电气室(47)安装有左右电动机(17、17′)及其电动机驱动电路(18、18′)以及中央处理电路(20);b. 车厢中心处升起一根立杆(9),把手总成(40)插入立杆(9)中,把手总成(40)的端部设有左右转向控制机构(3、3′);c. 电动机驱动电路(18)包含泄放回路,泄放回路设有泄放开关(85)和耗能或储能元件(86);d. 所述的电池室1(46)和电气室(47)均由上下两部分组成,下部分共用车厢底盖(16),电池室1(46)与电气室(47)中间由隔板(44)分开,电气室(47)的上部 An automatic balancing around two electric vehicles, distributed in two left and right sides of the rider, including cars, pole wheel, and the motor driving circuit, an angular velocity sensor and the angle sensor, a battery, a processing circuit panel, the handle assembly, steering control means, for detecting whether the cyclist on the pedals of the vehicle sensor, characterized in that:. a carriage (7) a battery compartment (46) and an electrical compartment (47) separated composition, a battery compartment ( 46) storing a battery pack (201), an electrical chamber (47) is mounted around the motor (17, 17 ') and a motor drive circuit (18, 18') and a central processing circuit (20);. b at the center of the cabin raising a pole (9), the handle assembly (40) into the pole (9), a handle assembly (40) is provided with right and left ends of the steering control means (3,3 '); c motor drive circuit. (18) comprises a bleed circuit provided with a bleed bleed switch circuit (85) and the energy storage element, or (86);. d 1 of the battery compartment (46) and the electric chamber (47) by vertical two parts, the lower part of a common passenger compartment of the bottom cover (16), a battery compartment (46) and the electric chamber (47) intermediate (44) separated by a partition plate, upper electrical compartment (47) 分设有电气盖(43),电气盖(43)与隔板(44)之间采用固定联接;电池室1(46)的上部分设有电池盖(45),电池盖(45)与底盖(16)之间采用活动联接;e. 角度传感器与车厢底盖平行,角速度传感器与车厢底盖垂直,以检测车厢底盖XY平面的倾斜角度以及车厢底盖XY平面绕Y轴旋转的角速度。 Sub cover is provided with electrical (43), between an electrical cap (43) with the separator (44) by a fixed connection; 1 battery compartment (46) is provided with a battery cover portion (45), the battery cover (45) and bottom cover using movable coupling between (16);. e angle sensor and the carriage parallel to the bottom cover, the bottom cover with the compartment perpendicular to the angular velocity sensor to detect the inclination angle of the vehicle compartment and the passenger compartment of the bottom cover bottom cover XY plane XY plane about the Y-axis angular velocity.
2. 如权利要求1所述的左右两轮自动平衡电动车,其特征在于:所述的脚踏传感器(2)是金属防水开关。 2. The automatic balancing left and right wheels of the electric vehicle as claimed in claim 1, wherein: said foot sensor (2) is a metal waterproof switch.
3. 如权利要求1或2所述的左右两轮自动平衡电动车,其特征在于:所述的车厢(7 )的底盖(16 )上部还设有电池室2 ( 48 );电池室2(48)和电池室1 ( 46 ) 相对于电气室U7)对称布置;电池室2 (48)中放置有蓄电池组2 ( 202 )。 3. The left and right two automatic balancing electric vehicle of claim 1 or claim 2, wherein: the bottom cover of the passenger compartment (7) (16) of the upper chamber 2 is also provided with a battery (48); a battery compartment 2 (48) and a battery compartment (46) are arranged symmetrically with respect to the electric chamber U7); battery chamber 2 (48) is placed in the battery pack 2 (202).
4. 如权利要求3所述的左右两轮自动平衡电动车,其特征在于:所述的立杆(9 )为空腔结构,底部设有折叠机构(15 ),电源通过穿过立杆(9)腔内的供电电缆(203、 210)从电池室1 (46)传输到把手总成(40)。 4. The left and right two automatic balancing electric vehicle according to claim 3, characterized in that: the uprights (9) of the cavity structure, is provided with a folding mechanism (15) at the bottom, by passing through the power pole ( 9) power supply cable chamber (203, 210) a transmission from the battery compartment (46) to the handle assembly (40).
5. 如权利要求4所述的左右两轮自动平衡电动车,其特征在于:所述的电气盖(43)的背面安装有电池锁具(65),电池锁具(65)的锁头(651)被梯形盒(8)罩住。 5. The left and right two automatic balancing electric vehicle according to claim 4, wherein: the back cover electrically (43) of the lock is attached to the battery (65), a battery lock (65) of the lock (651) keystone box (8) covering.
6. 如权利要求5所述的左右两轮自动平衡电动车,其特征在于:所述的蓄电池组2 ( 202 )的正极或负极通过一只电流传感器(98)接入电动机驱动电^各(18 )。 6. The left and right two automatic balancing of the electric vehicle as claimed in claim 5, wherein: the positive electrode 2 (202) of the battery pack or the negative access by an electric motor drive current sensor (98) in each ^ ( 18).
7. 如权利要求6所述的左右两轮自动平衡电动车,其特征在于:所述的左右转向控制机构(3、 3')中分别设有复位弹簧l (301)和复位弹簧2 ( 301'),复位弹簧1 ( 301 )与复位弹簧2 ( 301')的扭向相反。 7. The automatic balancing left and right wheels of the electric vehicle as claimed in claim 6, wherein: said left and right steering control means (3, 3 ') are respectively provided with L return spring (301) 2 and a return spring (301 '), a return spring (301) 2 return spring (301' torsional) opposite.
8. 如权利要求7所述的左右两轮自动平衡电动车,其特征在于:所述的蓄电池组l (201)和蓄电池组2 ( 202 )的负极并联,作为地线, 每组蓄电池组的正极通过继电器1 ( 206 )和开关管1 ( 208 )或通过继电器2 ( 207 )和开关管2 (209)串联后接入直流母线的正极。 8. The automatic balancing left and right wheels of the electric vehicle as claimed in claim 7, wherein: the battery pack l (201) and the battery pack 2 (202) in parallel with a negative electrode, a ground line, each battery pack after the positive electrode 1 through the relay (206) and a switch (208) or in series via relay 2 (207) and switch 2 (209) access to a positive DC link.
9. 如权利要求8所述的左右两轮自动平衡电动车,其特征在于:一只开关(14)直接控制面板处理电路(103)、中央处理电路(20)的电源和电动机驱动电路U8、 18')的控制电源,并通过继电器1 ( 206 ) 和继电器2 ( 207 )控制电动机驱动电路(18、 18')的动力电源。 9. The left two automatic balancing electric vehicle according to claim 8, wherein: a switch (14) directly controls the processing circuit panel (103), a central processing circuit (20) and a motor drive power circuit U8, 18 ') of the control power supply, and (18, 18 via a relay (206) and relay 2 (207) controls the motor driving circuit ") of the power supply.
10.如权利要求9所述的左右两轮自动平衡电动车,其特征在于:骑行者在车体上时,车体运行在自动平衡模式;车体上没有载荷时,车体运行在辅助动力模式,两种模式的选择由一选择开关(13)确定; 车体运行在自动平衡模式时,即使选择开关(13 )的开关状态被改变, 车体的运动模式也不改变;运行在辅助动力模式时,驱动车体运动的辅助力矩与角度传感器(22)的输出角度密切相关:角度越大,辅助力矩M越大;辅助力矩只有在角度大于或小于一定角度值后,辅助力矩才会发生。 The left and right wheels 10. The automatic balancing electric vehicle according to claim 9, wherein: when the rider on the vehicle body, the vehicle runs in the automatic balancing mode; when there is no load on the vehicle, an auxiliary power to run the vehicle body selection mode, two modes (13) is determined by a selection switch; automatic balancing vehicle running mode, even if the selector switch (13) switching state is changed, the vehicle body motion pattern does not change; auxiliary power in operation mode, the auxiliary torque and angle sensor (22) of the drive output body movement angle is closely related: the greater the angle, the greater the assist torque M; assisting moment only after an angle greater or less than a predetermined angle value, the assist torque will occur .
CN 200710130309 2007-07-16 2007-07-16 Automatic balanced electric bicycle CN100506632C (en)

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CN 200710130309 CN100506632C (en) 2007-07-16 2007-07-16 Automatic balanced electric bicycle

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