CN102275507A - Electric brake device of self-balanced two-wheeler - Google Patents
Electric brake device of self-balanced two-wheeler Download PDFInfo
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- CN102275507A CN102275507A CN2010102002821A CN201010200282A CN102275507A CN 102275507 A CN102275507 A CN 102275507A CN 2010102002821 A CN2010102002821 A CN 2010102002821A CN 201010200282 A CN201010200282 A CN 201010200282A CN 102275507 A CN102275507 A CN 102275507A
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- crystal triode
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Abstract
The invention discloses an electric brake device of a self-balanced two-wheeler. The electric brake device comprises a first generator, a second generator, a first load, a second load, a firs crystal triode, a second crystal triode, a switch and a digital power source, wherein the rotation shafts of the first generator and the second generator are respectively and fixedly connected with the motor shafts of two wheels; the collector electrode of the first crystal triode and the positive electrode of the first generator are connected, two ends of the first load are respectively connected with the negative electrode of the first generator and the emitting electrode of the first crystal triode, and the base electrode of the first crystal triode is connected with the switch and the digital power source in sequence through a resistor; and the second crystal triode, the second generator and the second load are connected in a manner same as the connection way of the first crystal triode, the first generator and the first load. According to the invention, the braking distance can be shortened, meanwhile, effective and stable braking is realized, and the self-balanced two-wheeler is safer in driving.
Description
Technical field
The present invention relates to a kind of balanced car with two wheels, particularly a kind of balanced car with two wheels Electric Braking Devices Using.
Background technology
Balanced car with two wheels is as a kind of Novel Intelligent vehicle, and the change of the center of gravity by operating personal realizes the acceleration and deceleration function of car body, has reached a kind of effect of people's car unification, has merged amusement and the dual-use function of riding instead of walk.
The battery-driven car with self-balancing system of parallel arrangement structure about a kind of two-wheeled of balanced car with two wheels.Fig. 1 is the scheme drawing of balanced car with two wheels, as shown in the figure, balanced car with two wheels comprises car body 10 and is installed in the wheel 11,12 of two translators of car body 10 both sides respectively, and 13, two wheels of joystick 11,12 that are installed on the car body 10 respectively carry a motor 21,22.Balanced car with two wheels is to utilize the inverted pendulum control principle, makes car body 10 remain balance.Be embedded at car body under the control of formula CPU, gather the data of balance sensor and speed, acceleration pick-up, by system mathematic model and the control algorithm of setting up, calculate output pwm signal, the torque of two motors of automatic guidance 21,22, making car body 10 maintain an equal level to weigh also can advance, retreat and turn automatically according to gravity center of human body's skew.
When needs car body 10 advances, the driver turns forward, level indicator sensor or angular transducer obtain inclination angle signal and send into CPU, CPU calculates required moment according to the signal of this signal and comprehensive left and right wheels 11,12 tachogens and acceleration pick-up, and 11,12 rotations of control wheel are advanced and remained the car body balance.The inclination angle is big more, quickens fast more.In the time of need braking or retreat, the driver recedes, and CPU can calculate required counter torque control car body 10 state of kinematic motions according to sensor signal equally.When needing to turn, the driver provides a signal by joystick 13, and CPU can control car body and turn to required angle according to the different moment sizes that calculate left and right wheels 11,12.
Balanced car with two wheels generally is not provided with special brake system; but rely on the change of driver's center of gravity to realize the acceleration and deceleration function; under steam; the driver is for the safety guard-safeguard consciousness of self, and center of gravity all is significantly to lean forward, when running into unforeseen circumstances and need emergency brake; because effect of inertia and response lag; the driver is difficult to adjust center of gravity at short notice significantly, causes braking distance very long, and braking distance is generally about 10 meters.And if adopt the brake system of other vehicles, as disc type or butterfly brake, complex structure not only, and in brake process, can influence balance control, even overturn.Balanced car with two wheels in the market comprises two wheel robots, all has the long problem of braking distance, thereby influences driver and passerby's personal safety, has seriously restricted the marketing of this car.
Summary of the invention
For addressing the above problem, the invention provides a kind of balanced car with two wheels Electric Braking Devices Using, realize effectively, brake reposefully.
Balanced car with two wheels Electric Braking Devices Using of the present invention, comprise first electrical generator, second electrical generator, first load, second load, first crystal triode, second crystal triode, switch and digital power, the rotating shaft of described first electrical generator and second electrical generator is captiveed joint with the motor shaft of two wheels respectively; The collecting electrode of described first crystal triode is connected with the positive pole of described first electrical generator, the two ends of described first load are connected with the negative pole of described first electrical generator and the emitter of described first crystal triode respectively, and the base stage of described first crystal triode is connected with described digital power with described switch by a resistance successively; The collecting electrode of described second crystal triode is connected with the positive pole of described second electrical generator, the two ends of described second load are connected with the negative pole of described second electrical generator and the emitter of described second crystal triode respectively, and the base stage of described second crystal triode is connected with described digital power with described switch by a resistance successively.
The rotating shaft of described first electrical generator and second electrical generator all is connected by coupler with the motor shaft of two wheels.
By balanced car with two wheels Electric Braking Devices Using of the present invention, can shorten braking distance, realized simultaneously effectively, braked reposefully, make that the driving of balanced car with two wheels is safer.
Description of drawings
Fig. 1 is the scheme drawing of balanced car with two wheels;
Fig. 2 is the circuit diagram of balanced car with two wheels Electric Braking Devices Using of the present invention;
Fig. 3 is the mounting means scheme drawing of two electrical generators of balanced car with two wheels Electric Braking Devices Using of the present invention.
The specific embodiment
Fig. 2 is the circuit diagram of balanced car with two wheels Electric Braking Devices Using of the present invention, as shown in the figure, balanced car with two wheels Electric Braking Devices Using of the present invention comprises the first electrical generator G1, the second electrical generator G2, the first load L1, the second load L2, the first crystal triode S1, the second crystal triode S2, K switch and digital power
The described first crystal triode S1 has base stage, collector and emitter.The collecting electrode of the described first crystal triode S1 is connected with the positive pole of the described first electrical generator G1, the two ends of the described first load L1 are connected with the negative pole of the described first electrical generator G1 and the emitter of the described first crystal triode S1 respectively, and the base stage of the described first crystal triode S1 is connected with described digital power with described K switch by a resistance R 1 successively.
The described second crystal triode S2 has base stage, collector and emitter.The collecting electrode of the described second crystal triode S2 is connected with the positive pole of the described second electrical generator G2, the two ends of the described second load L2 are connected with the negative pole of the described second electrical generator G2 and the emitter of the described second crystal triode S2 respectively, and the base stage of the described second crystal triode S2 is connected with described digital power with described K switch by a resistance R 2 successively.
The digital power of described digital power employing+5V.The rating horsepower of the described first electrical generator G1 and the second electrical generator G2 is 20～30W, and the resistance of the described first load L1 and the second load L2 is 15～25 Ω.
For making things convenient for driver's operation, K switch is installed in joystick 13, and other components and parts are installed in car body 10 inside.
Fig. 3 is the mounting means scheme drawing of two electrical generators of balanced car with two wheels Electric Braking Devices Using of the present invention.As shown in the figure, two electrical generators of the balanced car with two wheels Electric Braking Devices Using of the present invention i.e. first electrical generator G1, the second electrical generator G2 are installed in the car body 10, and the rotating shaft of the described first electrical generator G1 and the second electrical generator G2 is captiveed joint with the motor shaft of the wheel 11,12 of two translators 21,22 of car body 10 both sides respectively.Its connection mode can connect by coupler 41,42.
Balanced car with two wheels is when normal operation, K switch is in off-state, then the first crystal triode S1 and the second crystal triode S2 open circuit, the first electrical generator G1 and the second electrical generator G2 zero load, the moment that acts on the rotating shaft bonded assembly motor shaft with the first electrical generator G1 and the second electrical generator G2 is very little, can ignore;
When operation, need emergency brake, press K switch, the then first crystal triode S1 and the second crystal triode S2 conducting, the described first electrical generator G1, the first crystal triode S1 and the first load L1 constitute a loop, the described second electrical generator G2, the second crystal triode S2 and the second load L2 constitute another loop, because the output voltage of the first electrical generator G1 and the second electrical generator G2 is relevant with rotating speed, at the beginning because wheel 11,12 motor 21,22 high-speed operations, the output voltage of the first electrical generator G1 and the second electrical generator G2 is very high, under the big or small unmodified situation of the first load L1 and the second load L2, horsepower output is also very big, make win electrical generator G1 and the second electrical generator G2 be applied to wheel 11,12 motors 21, the moment of reaction on 22 the motor shaft is also very big, thereby plays the effect of quick brake.
Along with the reduction of motor 21,22 rotating speeds, the horsepower output of the first electrical generator G1 and the second electrical generator G2 also reduces gradually, and the moment of reaction that is applied on the motor shaft of wheel 11,12 motors 21,22 also reduces gradually.When the rotating speed of motor 21,22 was 0, the horsepower output of the first electrical generator G1 and the second electrical generator G2 was 0, was applied to the also Lock-out of the moment of reaction on the motor shaft of wheel 11,12 motors 21,22 respectively.
In the whole brake process, because the first electrical generator G1 is consistent with the moment that the second electrical generator G2 applies with the moment direction that the balance control of balanced car with two wheels needs, all connected motor 21,22 hand of rotation are opposite, thereby can not influence the balance control of balanced car with two wheels.When the rotating speed of motor 21,22 is 0, the horsepower output of the first electrical generator G1 and the second electrical generator G2 is 0, be applied to the also Lock-out of the moment of reaction on the motor shaft of wheel 11,12 motors 21,22 respectively, naturally, realized effective, pulsation-free brake controllable function excessively to normal balance control state.
The feasibility analysis of balanced car with two wheels Electric Braking Devices Using of the present invention is as follows: complete vehicle quality (the comprising operating personal) m=100kg that supposes balanced car with two wheels, the maximum initial speed of a motor vehicle v=20km/h=5.56m/s of brake, then: the mean kinetic energy in the whole brake process is about:
Average mean kinetic energy Eav=E/2=387J to each motor shaft.If selecting the rating horsepower P of each electrical generator is 30W, it is the power of 150～240W that moment can provide maximum 5～8 times, the then the fastest brake time is t=E/P=387/240=1.6s, and at this moment average braking distance L is about L=1/2v.t=1/2 * 5.56 * 1.6=4.44m.If the load of selecting and the power of electrical generator are big more, the brake time is short more, and braking distance is also more little.
Claims (3)
1. a balanced car with two wheels Electric Braking Devices Using is characterized in that, comprises first electrical generator, second electrical generator, first load, second load, first crystal triode, second crystal triode, switch and digital power,
The rotating shaft of described first electrical generator and second electrical generator is captiveed joint with the motor shaft of two wheels respectively;
The collecting electrode of described first crystal triode is connected with the positive pole of described first electrical generator, the two ends of described first load are connected with the negative pole of described first electrical generator and the emitter of described first crystal triode respectively, and the base stage of described first crystal triode is connected with described digital power with described switch by a resistance successively;
The collecting electrode of described second crystal triode is connected with the positive pole of described second electrical generator, the two ends of described second load are connected with the negative pole of described second electrical generator and the emitter of described second crystal triode respectively, and the base stage of described second crystal triode is connected with described digital power with described switch by a resistance successively.
2. balanced car with two wheels Electric Braking Devices Using as claimed in claim 1 is characterized in that, the rotating shaft of described first electrical generator and second electrical generator all is connected by coupler with the motor shaft of two wheels.
3. balanced car with two wheels Electric Braking Devices Using as claimed in claim 1 is characterized in that, the rating horsepower of described first electrical generator and second electrical generator is 20～30W, and the resistance of described first load and second load is 15～25 Ω.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102002821A CN102275507A (en) | 2010-06-12 | 2010-06-12 | Electric brake device of self-balanced two-wheeler |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102002821A CN102275507A (en) | 2010-06-12 | 2010-06-12 | Electric brake device of self-balanced two-wheeler |
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| Publication Number | Publication Date |
|---|---|
| CN102275507A true CN102275507A (en) | 2011-12-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010102002821A Pending CN102275507A (en) | 2010-06-12 | 2010-06-12 | Electric brake device of self-balanced two-wheeler |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040007398A1 (en) * | 1994-05-27 | 2004-01-15 | Burl Amsbury | Non-linear control of a balancing vehicle |
| CN1502513A (en) * | 2002-11-20 | 2004-06-09 | 中国科学技术大学 | Self-balance electric bicycle |
| JP2004364461A (en) * | 2003-06-06 | 2004-12-24 | Sony Corp | Device and method for regenerative braking controlling method, and transporting device for transport unit |
| JP2006001385A (en) * | 2004-06-16 | 2006-01-05 | Sony Corp | Parallel two-wheeled vehicle |
| CN1929238A (en) * | 2006-09-20 | 2007-03-14 | 张�林 | Control device for speed transmission self-charging of electric vehicle |
| CN101074039A (en) * | 2007-07-16 | 2007-11-21 | 张一鸣 | Automatic balanced electric bicycle |
| CN201165299Y (en) * | 2007-11-19 | 2008-12-17 | 宋宇宁 | Self-balance electric vehicle |
| JP2009078584A (en) * | 2007-09-25 | 2009-04-16 | Mitsubishi Electric Corp | Coaxial two-wheel travel vehicle |
| CN201228037Y (en) * | 2008-06-16 | 2009-04-29 | 周惠兴 | Two-wheel self balancing electric motor vehicle |
-
2010
- 2010-06-12 CN CN2010102002821A patent/CN102275507A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040007398A1 (en) * | 1994-05-27 | 2004-01-15 | Burl Amsbury | Non-linear control of a balancing vehicle |
| CN1502513A (en) * | 2002-11-20 | 2004-06-09 | 中国科学技术大学 | Self-balance electric bicycle |
| JP2004364461A (en) * | 2003-06-06 | 2004-12-24 | Sony Corp | Device and method for regenerative braking controlling method, and transporting device for transport unit |
| JP2006001385A (en) * | 2004-06-16 | 2006-01-05 | Sony Corp | Parallel two-wheeled vehicle |
| CN1929238A (en) * | 2006-09-20 | 2007-03-14 | 张�林 | Control device for speed transmission self-charging of electric vehicle |
| CN101074039A (en) * | 2007-07-16 | 2007-11-21 | 张一鸣 | Automatic balanced electric bicycle |
| JP2009078584A (en) * | 2007-09-25 | 2009-04-16 | Mitsubishi Electric Corp | Coaxial two-wheel travel vehicle |
| CN201165299Y (en) * | 2007-11-19 | 2008-12-17 | 宋宇宁 | Self-balance electric vehicle |
| CN201228037Y (en) * | 2008-06-16 | 2009-04-29 | 周惠兴 | Two-wheel self balancing electric motor vehicle |
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Application publication date: 20111214 |