CN105128699A - Control method of portable pocket type smart electric vehicle - Google Patents
Control method of portable pocket type smart electric vehicle Download PDFInfo
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- CN105128699A CN105128699A CN201510586637.8A CN201510586637A CN105128699A CN 105128699 A CN105128699 A CN 105128699A CN 201510586637 A CN201510586637 A CN 201510586637A CN 105128699 A CN105128699 A CN 105128699A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention particularly discloses a control method of a portable pocket type smart electric vehicle. The method comprises the steps that a controller collects pressure values of pressure sensors on different positions in real time; a pressure sensor processing module compares the sizes of all the pressure values and calculates the current center of gravity, and a movement control module calculates speed values of left wheels and right wheels according to the current center of gravity and sends a control signal to a driving interface module; the driving interface module drives a left motor and a right motor to make the electric vehicle turn and move towards the direction of the center of gravity according to the control signal sent from the movement control module. According to the control method of the portable pocket type smart electric vehicle, control over the electric vehicle is achieved through the center of gravity of a human body, an operating rod is not needed, a pedal is not needed, and operation is natural.
Description
Technical field
The invention belongs to portable electric car field, particularly one to can be used for riding instead of walk, carrying multipurpose miniature pocket-type intelligent electric motor car system control method.
Background technology
In city, along with the increase of population and increasing of self-propelled vehicle, often cause traffic not smooth, the problems such as congestion in road, have impact on the normal live and work order of people.In order to alleviate above problem, Portable electric bicycle arises at the historic moment, and current conventional portable electric car has Electrical Bicycle, Segway Human Transporter, Self-balance electric vehicle etc.Portable electric bicycle is widely used in real life, not only meets energy-conserving and environment-protective trend, and facilitates short distance traffic, but the Portable electric bicycle used at present exists following problem.
If number of patent application is 201410854491.6, the date of application is on December 31st, 2014, the patent of invention of " Electrical Bicycle " by name; And number of patent application is 201180036225.7, the date of application is on May 12nd, 2011, and the patent of invention of " Electrical Bicycle " by name, all can regard as on the basis of standard bicycle, install motor driver additional.These two kinds of battery-driven cars, volume is comparatively large, is not easy to carry, simultaneously operating mode all need by hand come controlling party to, bring inconvenience to driving.
If number of patent application is 201310127406.1, date of application is on April 11st, 2013, the patent of invention of " electronic self-balancing single-wheel sliding plate car " by name, and number of patent application is 201410677452.3, date of application is on November 4th, 2014, the patent of invention of " a kind of self-balancing vehicle " by name, adopts single wheel or Double-wheel structure, driving procedure needs training and study, and has unsafe characteristic.
If number of patent application is 201410193369.9, the date of application is on May 7th, 2014, the patent of invention of " a kind of foot-controlled electric scooter " by name; And number of patent application is 201310413881.5, date of application is on September 12nd, 2013, the patent of invention of " Portable intelligent scooter " by name, two schemes are by all devising pedal, control the walking of battery-driven car by pedal and turn to, operation inconvenience, and the design of pedal adds the complexity of structure, easily damages.
Summary of the invention
In order to overcome volume in background technology comparatively large, need training and study, the problem that dangerous, pedal operation is inconvenient, the present invention spy proposes a kind of control method of novel portable pocket-type intelligent electric motor car.
For solving the problems of the technologies described above, present invention employs following technical scheme:
A control method for portable pocket-type intelligent electric motor car, described control method step is as follows:
A) force value of the pressure sensor of controller Real-time Collection diverse location;
B) the more each force value of pressure sensor processing module size and calculate current center of gravity, motion-control module according to the velocity amplitude of current center of gravity calculation left and right wheels, and transmit control signal and left and right wheel speed value to driving interface module;
C) according to from the control signal of motion-control module and left and right wheel speed value, driving interface module drives left and right motor to make battery-driven car towards center of gravity directional steering and movement.
Further, in step a), the force value of described pressure sensor comprises: left front sensor pressure values
, right front sensor pressure values
, left back sensor pressure values
, right back sensor pressure values
.
Further, in step b),
First, calculate
,
, center of gravity is by left and right pressure ratio
, front and back pressure ratio
represent;
illustrate center of gravity distribution in the lateral direction, when center of gravity is in center,
be 1, when
time left-leaning,
be greater than 1, when
during Right deviation,
be less than 1;
illustrate center of gravity distribution in the longitudinal direction, when center of gravity is in center,
be 1, when
when leaning forward,
be greater than 1; When
during hypsokinesis,
be less than 1;
Secondly, left and right pressure ratio is judged
, front and back pressure ratio
whether interval in the pressure ratio preset
,
, wherein
for maximum duty left and right pressure ratio,
for minimum operating mode left and right pressure ratio,
for pressure ratio before and after maximum duty,
for pressure ratio before and after minimum operating mode, if pressure ratio is not interval at working condition pressure ratio, intelligent electric motor car stop motion, if pressure ratio is interval at working condition pressure ratio, then carries out the calculating of left and right wheel speed;
Again, fast component before calculating respectively
, turning differential
,
; Speed of advance
with front and back pressure ratio
with pressure ratio before and after minimum operating mode
the proportional relation of difference, namely
, wherein
for the advance coefficient preset; Revolver turning differential compensation is
, right turning differential compensation of taking turns is
, wherein
for turning coefficient,
for the left-hand rotation preset minimum left and right pressure ratio,
for the right-hand rotation preset maximum left and right pressure ratio;
Finally, left and right wheel speed is calculated; Intelligent electric motor car drived control method is two-wheeled individual drive, wherein revolver speed
for speed of advance
, revolver turning differential compensation
sum, namely
, right wheel speed
for speed of advance
, rightly take turns turning differential compensation
sum, namely
.
further,in step c), driving interface module receives control signal and the left and right wheel speed value of motion-control module, adopts the vector control method of induction less brush-less motor, controls left and right motor speed.
The present invention's beneficial effect is compared with prior art:
1) native system does not need special training and study, as long as station can be moved on the supporting plate naturally, completes the function of riding instead of walk.
2) method involved by native system carries out the control of battery-driven car by gravity center of human body, without the need to control lever, also without the need to pedal, and operation nature.
Accompanying drawing explanation
Fig. 1 is construction profile schematic diagram of the present invention.
Fig. 2 is bottom construction schematic diagram of the present invention.
Fig. 3 is Facad structure schematic diagram of the present invention.
Fig. 4 is control system hardware structure diagram of the present invention.
Fig. 5 is Control System Software constructional drawing of the present invention.
Fig. 6 is control method diagram of circuit of the present invention.
Fig. 7 is hardware design schematic diagram of the present invention.
The embodiment of a kind of portable pocket-type intelligent electric motor car of the present invention is further described below in conjunction with accompanying drawing.
Portable pocket-type intelligent electric motor car front-wheel is power wheel 2 as shown in Figure 1, 2, 3, and motor 9 drives power wheel 2 to rotate by gear transmission 10, and trailing wheel is cardan wheel 3, and trailing wheel does not have power, only plays supporting function.Four wheels of portable pocket-type intelligent electric motor car, are fixed on stay bearing plate 1.Diaphragm pressure sensor 6 is arranged in stay bearing plate 1 upper surface.Portable pocket-type intelligent electric motor car adopts lithium cell 4 to power.Control system 5 adopts ARM to be the control hardware of core.
As shown in Figure 3, portable pocket-type intelligent electric motor car is when use procedure, and both feet step down on stay bearing plate 1, the value of control system 5 Real-time Collection four diaphragm pressure sensors 6, the size of comparative pressure sensor values, if the pressure sensor value of left-front corner is maximum, then left front turning; If the pressure sensor value at right front angle is maximum, then right front turning; If the pressure sensor value of left rear corner is maximum, then left back turning; If the pressure sensor value at right back angle is maximum, then right-about.In use procedure, the value of control system 5 Real-time Collection ultrasonic transduter 7, when obstacle having been detected, has stopped the movement of battery-driven car.Camera 8 real time recording mobile video.
As shown in Figure 4, control system hardware is made up of left motor-drive circuit, right motor-drive circuit, pressure sensor detection circuit, ultrasonic interface circuit, utilizing camera interface circuit, battery electric quantity management circuit and controller.Wherein left/right motor drive motor, mainly realizes the power gain of motor control signal, drives heavy-duty motor to rotate; Pressure sensor detection circuit, by the mode of measurement of resistance, the value of sampled pressure sensor; Ultrasonic interface circuit, mainly provides the acquisition of signal of ultrasonic transduter; Utilizing camera interface circuit, the digital signal of acquisition camera, and by video information by wireless communication transmissions to mobile terminal or computer; Battery electric quantity management circuit, gathers the voltage of battery electric quantity, monitors charging and discharging process, the normal use of protection battery; The logic function that controller adopts ARM control chip to complete battery-driven car realizes.
As shown in Figure 5, Control System Software mainly contains pressure sensor process, sonac process, the process of camera sensing device, wireless communication process, motion control and driving interface module.Wherein pressure sensor processing module, mainly realizes collection and the conversion of pressure sensor numerical value, provides correct left front, right front, left back, the force value of right abaft; The collection of sonac processing modules implement ultrasonic signal, is converted into corresponding distance value; The process of camera sensing device mainly realizes collection and the record of camera video; Wireless communication process processes the control signal from mobile terminal and computer on the one hand, realizes the function of Remote, receives video data on the one hand in addition, carries out the display of camera data; Motion-control module realizes battery-driven car drived control method, comprises center of gravity calculation, sensor anticollision, battery electric quantity compensation, load protection etc.; Driving interface module mainly realizes motor-driven data transfer, realizes the conversion from motor speed value to PWM drive singal.
As shown in Figure 6, the control method of a kind of portable pocket-type intelligent electric motor car that the present invention relates to, described method mainly comprises center of gravity calculation method and intelligent electric motor car motion control method.
A control method for portable pocket-type intelligent electric motor car, described control method step is as follows:
A) force value of the pressure sensor of controller Real-time Collection diverse location;
B) the more each force value of pressure sensor processing module size and calculate current center of gravity, motion-control module according to the velocity amplitude of current center of gravity calculation left and right wheels, and transmit control signal and left and right wheel speed value to driving interface module;
C) according to from the control signal of motion-control module and left and right wheel speed value, driving interface module drives left and right motor to make battery-driven car towards center of gravity directional steering and movement.
In step a), the force value of described pressure sensor comprises: left front sensor pressure values
, right front sensor pressure values
, left back sensor pressure values
, right back sensor pressure values
.
In step b),
First, calculate
,
, center of gravity is by left and right pressure ratio
, front and back pressure ratio
represent;
illustrate center of gravity distribution in the lateral direction, when center of gravity is in center,
be 1, when
time left-leaning,
be greater than 1, when
during Right deviation,
be less than 1;
illustrate center of gravity distribution in the longitudinal direction, when center of gravity is in center,
be 1, when
when leaning forward,
be greater than 1; When
during hypsokinesis,
be less than 1;
Secondly, left and right pressure ratio is judged
, front and back pressure ratio
whether interval in the pressure ratio preset
,
, wherein
for maximum duty left and right pressure ratio,
for minimum operating mode left and right pressure ratio,
for pressure ratio before and after maximum duty,
for pressure ratio before and after minimum operating mode, if pressure ratio is not interval at working condition pressure ratio, intelligent electric motor car stop motion, if pressure ratio is interval at working condition pressure ratio, then carries out the calculating of left and right wheel speed;
Again, fast component before calculating respectively
, turning differential
,
; Speed of advance
with front and back pressure ratio
with pressure ratio before and after minimum operating mode
the proportional relation of difference, namely
, wherein
for the advance coefficient preset; Revolver turning differential compensation is
, right turning differential compensation of taking turns is
, wherein
for turning coefficient,
for the left-hand rotation preset minimum left and right pressure ratio,
for the right-hand rotation preset maximum left and right pressure ratio;
Finally, left and right wheel speed is calculated; Intelligent electric motor car drived control method is two-wheeled individual drive, wherein revolver speed
for speed of advance
, revolver turning differential compensation
sum, namely
, right wheel speed
for speed of advance
, rightly take turns turning differential compensation
sum, namely
.
In step c), driving interface module receives control signal and the left and right wheel speed value of motion-control module, adopts the vector control method of induction less brush-less motor, controls left and right motor speed.
Fig. 7 is the hardware design schematic diagram of control system, is a specific implementation of the present invention.Controller have employed STM32F103C8T6 as Master control chip, and controller and crystal oscillating circuit form minimum control circuit; Power voltage step down part mainly realizes the conversion from battery to control voltage; Pressure sensor detection circuit, the main method adopting the test of precision resistance dividing potential drop; Super sonic interface circuit, directly receives hypracoustic feedback signal by controller IO; PWM drive part is used for the driving of motor, generates the rotation of pulse-width signal drive motor.WIFI part adopts ESP8266-12E module, completes wireless connections and communicates.Other parts are the hardware circuits for system test and debugging.
Description for the understanding of detailed description of the invention be only for help understand the present invention, instead of be used for restriction of the present invention.Those skilled in the art all can utilize thought of the present invention to carry out some and change and change, as long as its technological means does not depart from thought of the present invention and main points, still within protection scope of the present invention.
Claims (4)
1. a control method for portable pocket-type intelligent electric motor car, is characterized in that, described control method step is as follows:
A) force value of the pressure sensor of controller Real-time Collection diverse location;
B) the more each force value of pressure sensor processing module size and calculate current center of gravity, motion-control module according to the velocity amplitude of current center of gravity calculation left and right wheels, and transmit control signal and left and right wheel speed value to driving interface module;
C) according to from the control signal of motion-control module and left and right wheel speed value, driving interface module drives left and right motor to make battery-driven car towards center of gravity directional steering and movement.
2. the control method of a kind of portable pocket-type intelligent electric motor car according to claim 1, it is characterized in that, in step a), the force value of described pressure sensor comprises: left front sensor pressure values
, right front sensor pressure values
, left back sensor pressure values
, right back sensor pressure values
.
3. the control method of a kind of portable pocket-type intelligent electric motor car according to claim 2, is characterized in that, in step b),
First, calculate
,
, center of gravity is by left and right pressure ratio
, front and back pressure ratio
represent;
illustrate center of gravity distribution in the lateral direction, when center of gravity is in center,
be 1, when
time left-leaning,
be greater than 1, when
during Right deviation,
be less than 1;
illustrate center of gravity distribution in the longitudinal direction, when center of gravity is in center,
be 1, when
when leaning forward,
be greater than 1; When
during hypsokinesis,
be less than 1;
Secondly, left and right pressure ratio is judged
, front and back pressure ratio
whether interval in the pressure ratio preset
,
, wherein
for maximum duty left and right pressure ratio,
for minimum operating mode left and right pressure ratio,
for pressure ratio before and after maximum duty,
for pressure ratio before and after minimum operating mode, if pressure ratio is not interval at working condition pressure ratio, intelligent electric motor car stop motion, if pressure ratio is interval at working condition pressure ratio, then carries out the calculating of left and right wheel speed;
Again, fast component before calculating respectively
, turning differential
,
; Speed of advance
with front and back pressure ratio
with pressure ratio before and after minimum operating mode
the proportional relation of difference, namely
, wherein
for the advance coefficient preset; Revolver turning differential compensation is
, right turning differential compensation of taking turns is
, wherein
for turning coefficient,
for the left-hand rotation preset minimum left and right pressure ratio,
for the right-hand rotation preset maximum left and right pressure ratio;
Finally, left and right wheel speed is calculated; Intelligent electric motor car drived control method is two-wheeled individual drive, wherein revolver speed
for speed of advance
, revolver turning differential compensation
sum, namely
, right wheel speed
for speed of advance
, rightly take turns turning differential compensation
sum, namely
.
4. the control method of a kind of portable pocket-type intelligent electric motor car according to claim 1, it is characterized in that, step c), driving interface module receives control signal and the left and right wheel speed value of motion-control module, adopt the vector control method of induction less brush-less motor, control left and right motor speed.
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|---|---|---|---|
| CN201510586637.8A CN105128699B (en) | 2015-09-16 | 2015-09-16 | A kind of control method of portable pocket-type intelligent electric motor car |
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|---|---|---|---|
| CN201510586637.8A CN105128699B (en) | 2015-09-16 | 2015-09-16 | A kind of control method of portable pocket-type intelligent electric motor car |
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| CN105128699B CN105128699B (en) | 2018-09-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097896A (en) * | 2015-12-30 | 2017-08-29 | 凌通科技股份有限公司 | The direction-controlling method of Self-Balancing vehicle and use its Self-Balancing vehicle |
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| US20060260862A1 (en) * | 2003-06-04 | 2006-11-23 | Sony Corporation | Vehicle steerable by movement of center of gravity |
| JP4734666B2 (en) * | 2005-03-16 | 2011-07-27 | 独立行政法人産業技術総合研究所 | 3-wheeled passenger car |
| WO2011098935A2 (en) * | 2010-02-10 | 2011-08-18 | Politecnico Di Milano | Transport vehicle |
| CN103600799A (en) * | 2013-10-17 | 2014-02-26 | 上海交通大学 | Steering control system based on pressure sensor and self-balancing bicycle thereof |
| CN104192247A (en) * | 2014-09-18 | 2014-12-10 | 东莞市智网电器科技有限公司 | Portable mobility machine |
-
2015
- 2015-09-16 CN CN201510586637.8A patent/CN105128699B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060260862A1 (en) * | 2003-06-04 | 2006-11-23 | Sony Corporation | Vehicle steerable by movement of center of gravity |
| JP4734666B2 (en) * | 2005-03-16 | 2011-07-27 | 独立行政法人産業技術総合研究所 | 3-wheeled passenger car |
| WO2011098935A2 (en) * | 2010-02-10 | 2011-08-18 | Politecnico Di Milano | Transport vehicle |
| CN103600799A (en) * | 2013-10-17 | 2014-02-26 | 上海交通大学 | Steering control system based on pressure sensor and self-balancing bicycle thereof |
| CN104192247A (en) * | 2014-09-18 | 2014-12-10 | 东莞市智网电器科技有限公司 | Portable mobility machine |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097896A (en) * | 2015-12-30 | 2017-08-29 | 凌通科技股份有限公司 | The direction-controlling method of Self-Balancing vehicle and use its Self-Balancing vehicle |
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| CN105128699B (en) | 2018-09-21 |
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Granted publication date: 20180921 Termination date: 20190916 |