CN105128699B - A kind of control method of portable pocket-type intelligent electric motor car - Google Patents
A kind of control method of portable pocket-type intelligent electric motor car Download PDFInfo
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- CN105128699B CN105128699B CN201510586637.8A CN201510586637A CN105128699B CN 105128699 B CN105128699 B CN 105128699B CN 201510586637 A CN201510586637 A CN 201510586637A CN 105128699 B CN105128699 B CN 105128699B
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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 kind of control method of portable pocket-type intelligent electric motor car, the method step includes the pressure value that controller acquires the pressure sensor of different location in real time；The size of more each pressure value of pressure sensor processing module simultaneously calculates current center of gravity, and motion-control module sends control signal to driving interface module according to the velocity amplitudes of current center of gravity calculation left and right wheels；According to the control signal from motion-control module, driving interface module driving left and right motor makes electric vehicle towards center of gravity directional steering and movement.This method carries out the control of electric vehicle by gravity center of human body, is not necessarily to operating lever, without pedal, operates nature.
Description
Technical field
The invention belongs to portable electric vehicle field, especially one kind can be used for riding instead of walk, carry multipurpose miniature pocket-type
Intelligent electric motor car system control method.
Background technology
In city, with the increase of population and increasing for motor vehicle, often result in that traffic is unsmooth, and congestion in road etc. is asked
Topic, affects the normal live and work order of people.In order to alleviate problem above, Portable electric bicycle comes into being, currently
Common portable electric vehicle has electric bicycle, Segway Human Transporter, Self-balance electric vehicle etc..Portable electric bicycle is in real life
In be widely used, not only conform to energy conservation and environmental protection trend, and facilitate short distance traffic, but Portable electric bicycle used at present
It has the following problems.
If number of patent application is 201410854491.6, the date of application is on December 31st, 2014, entitled " electrical salf-walking
The patent of invention of vehicle "；And number of patent application is 201180036225.7, the date of application is on May 12nd, 2011, entitled " electricity
The patent of invention of dynamic bicycle ", can regard as on the basis of standard bicycle, install motor driver additional.Both are electronic
Vehicle, volume is larger, not readily portable, while mode of operation is required to through hand handle, come control direction, inconvenience be brought to driving.
If number of patent application is 201310127406.1, the date of application is on April 11st, 2013, entitled " electronic self-balancing
The patent of invention and number of patent application of single-wheel sliding plate vehicle " are 201410677452.3, and the date of application is November 4 in 2014
Day, the patent of invention of entitled " a kind of self-balancing vehicle ", using single wheel or Double-wheel structure, driving procedure is needed to train and be learned
It practises, and there is unsafe characteristic.
If number of patent application is 201410193369.9, the date of application is on May 7th, 2014, a kind of entitled " foot-control type electricity
The patent of invention of dynamic scooter "；And number of patent application is 201310413881.5, the date of application is September in 2013 12, name
For the patent of invention of " Portable intelligent scooter ", two schemes control electric vehicle by devising pedal by pedal
Walking and steering, it is inconvenient, and the design of pedal increases the complexity of structure, is easily damaged.
Invention content
In order to overcome the problems, such as in background technology that volume is larger, need to train and learn, dangerous, pedal operation is inconvenient,
Special a kind of control method of novel portable pocket-type intelligent electric motor car of proposition of the invention.
In order to solve the above technical problems, present invention employs following technical schemes：
A kind of control method of portable pocket-type intelligent electric motor car, steps are as follows for the control method：
a）Controller acquires the pressure value of the pressure sensor of different location in real time；
b）The size of more each pressure value of pressure sensor processing module simultaneously calculates current center of gravity, motion-control module according to
The velocity amplitude of current center of gravity calculation left and right wheels, and control signal and left and right wheel speed value are sent to driving interface module；
c）According to control signal and left and right wheel speed value from motion-control module, driving interface module drives left and right motor
Make electric vehicle towards center of gravity directional steering and movement.
Further, step a）In, the pressure value of the pressure sensor includes：Left front sensor pressure values, before right
Sensor pressure values, left back sensor pressure values, it is right after sensor pressure values。
Further, step b）In,
First, it calculates,, center of gravity passes through left and right pressure
Than, front and back pressure ratioTo indicate；Illustrate the distribution of center of gravity in the lateral direction, when center of gravity is in center,For
1, whenWhen left-leaning,More than 1, whenWhen Right deviation,Less than 1；The distribution of center of gravity in the longitudinal direction is illustrated, when weight
The heart at center,It is 1, whenWhen leaning forward,More than 1；WhenWhen hypsokinesis,Less than 1；
Secondly, judge left and right pressure ratio, front and back pressure ratioWhether in preset pressure ratio section、, whereinFor maximum duty or so pressure ratio,For minimum operating mode or so pressure ratio,To be pressed before and after maximum duty
Power ratio,For pressure ratio before and after minimum operating mode, if pressure ratio not in working condition pressure than section, intelligent electric motor car stop motion,
If pressure ratio, than section, carries out the calculating of left and right wheel speed in working condition pressure；
Again, fast component before calculating separately, turning differential、；Forward speedWith front and back pressure ratioWith most
Pressure ratio before and after small operating modeThe proportional relationship of difference, i.e.,, whereinIt is for preset advance
Number；Revolver turning differential compensation be, right wheel turning differential compensation be, whereinTo turn
Curved coefficient,For the minimum left and right pressure ratio of preset left-hand rotation,For the maximum left and right pressure ratio of preset right-hand rotation；
Finally, left and right wheel speed is calculated；Intelligent electric motor car drive control method is that two-wheeled independently drives, wherein revolver speed
For forward speed, revolver turn differential compensationThe sum of, i.e.,, right wheel speedFor forward speed, it is right
Wheel turning differential compensationThe sum of, i.e.,。
Further, step c）In, driving interface module receives the control signal and left and right wheel speed value of motion-control module,
Using the vector control method of induction less brush-less motor, left and right motor speed is controlled.
Compared with the prior art, the invention has the advantages that：
1）This 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 this system carries out the control of electric vehicle by gravity center of human body, is not necessarily to operating lever, without stepping on
Plate operates nature.
Description of the drawings
Fig. 1 is the side structure schematic diagram of the present invention.
Fig. 2 is the bottom substance schematic diagram of the present invention.
Fig. 3 is the positive structure schematic of the present invention.
Fig. 4 is the control system hardware structure diagram of the present invention.
Fig. 5 is the Control System Software structure chart of the present invention.
Fig. 6 is the control method flow chart of the present invention.
Fig. 7 is the hardware design schematic diagram of the present invention.
A kind of embodiment of portable pocket-type intelligent electric motor car of the present invention is further described below in conjunction with attached drawing.
Portable pocket-type intelligent electric motor car front-wheel as shown in Figure 1, 2, 3 is power wheel 2, and motor 9 passes through 10 band of gear drive
Dynamic power wheel 2 is rotated, and trailing wheel is universal wheel 3, and trailing wheel does not have power, only serves supporting function.Portable pocket-type intelligence electricity
Four wheels of motor-car, are fixed on support plate 1.Diaphragm pressure sensor 6 is arranged in 1 upper surface of support plate.Portable pocket-type intelligence
Electric vehicle is powered using lithium battery 4.Control system 5 uses ARM for the control hardware of core.
As shown in figure 3, portable pocket-type intelligent electric motor car is when using process, both feet step down in support plate 1, control system
5 acquire the value of four diaphragm pressure sensors 6 in real time, compare the size of pressure sensor value, if the pressure sensing of left-front corner
Device value is maximum, then left front turning；If the pressure sensor value of right anterior angle is maximum, turn before right；If the pressure of left rear corner
Sensor values is maximum, then left back turning；If the pressure sensor value of right relief angle is maximum, right-about.Using process, control
The value that system 5 processed acquires ultrasonic sensor 7 in real time stops the movement of electric vehicle when having detected barrier.Camera 8
Record mobile video in real time.
As shown in figure 4, control system hardware is detected by left motor-drive circuit, right motor-drive circuit, pressure sensor
Circuit, ultrasonic interface circuit, utilizing camera interface circuit, battery capacity management circuit and controller composition.Wherein left/right motor drives
Dynamic motor, the main power amplification for realizing motor control signal, driving heavy-duty motor are rotated；Pressure sensor detection electricity
Road, by way of resistance measurement, the value of sampled pressure sensor；Ultrasonic interface circuit, main offer ultrasonic sensor
Signal acquisition；Utilizing camera interface circuit, the digital signal of acquisition camera, and video information is transferred to shifting by radio communication
Dynamic terminal or computer；Battery capacity manages circuit, acquires the voltage of battery capacity, is monitored to charging and discharging process, protects
Protect the normal use of battery；The logic function that controller completes electric vehicle using ARM control chips is realized.
As shown in figure 5, Control System Software mainly has pressure sensor processing, sonac processing, camera sensing
Device processing, wireless communication process, motion control and driving interface module.Wherein pressure sensor processing module, it is main to realize pressure
The acquisition and conversion of force snesor numerical value provide correct left front, right front, left back, the pressure value of right back；Ultrasound passes
The acquisition of sensor processing modules implement ultrasonic signal, is converted into corresponding distance value；Camera sensing device processing is main to be realized
The acquisition of camera video and record；On the one hand wireless communication process handles the control signal from mobile terminal and computer, real
The function of existing remote control, still further aspect receive video data, carry out the display of camera data；Motion-control module is realized
Electric vehicle drive control method, including center of gravity calculation, sensor anticollision, battery capacity compensation, load protection etc.；Driving interface
Module mainly realizes motor-driven data conversion, realizes the conversion from motor speed value to PWM drive signal.
As shown in fig. 6, a kind of control method of portable pocket-type intelligent electric motor car of the present invention, the method are main
Including center of gravity calculation method and intelligent electric motor car motion control method.
A kind of control method of portable pocket-type intelligent electric motor car, steps are as follows for the control method：
a）Controller acquires the pressure value of the pressure sensor of different location in real time；
b）The size of more each pressure value of pressure sensor processing module simultaneously calculates current center of gravity, motion-control module according to
The velocity amplitude of current center of gravity calculation left and right wheels, and control signal and left and right wheel speed value are sent to driving interface module；
c）According to control signal and left and right wheel speed value from motion-control module, driving interface module drives left and right motor
Make electric vehicle towards center of gravity directional steering and movement.
Step a）In, the pressure value of the pressure sensor includes：Left front sensor pressure values, right front sensor pressure
Value, left back sensor pressure values, it is right after sensor pressure values。
Step b）In,
First, it calculates,, center of gravity passes through left and right pressure
Than, front and back pressure ratioTo indicate；Illustrate the distribution of center of gravity in the lateral direction, when center of gravity is in center,For
1, whenWhen left-leaning,More than 1, whenWhen Right deviation,Less than 1；The distribution of center of gravity in the longitudinal direction is illustrated, when weight
The heart at center,It is 1, whenWhen leaning forward,More than 1；WhenWhen hypsokinesis,Less than 1；
Secondly, judge left and right pressure ratio, front and back pressure ratioWhether in preset pressure ratio section、, whereinFor maximum duty or so pressure ratio,For minimum operating mode or so pressure ratio,To be pressed before and after maximum duty
Power ratio,For pressure ratio before and after minimum operating mode, if pressure ratio not in working condition pressure than section, intelligent electric motor car stop motion,
If pressure ratio, than section, carries out the calculating of left and right wheel speed in working condition pressure；
Again, fast component before calculating separately, turning differential、；Forward speedWith front and back pressure ratioWith most
Pressure ratio before and after small operating modeThe proportional relationship of difference, i.e.,, whereinIt is for preset advance
Number；Revolver turning differential compensation be, right wheel turning differential compensation be, whereinTo turn
Curved coefficient,For the minimum left and right pressure ratio of preset left-hand rotation,For the maximum left and right pressure ratio of preset right-hand rotation；
Finally, left and right wheel speed is calculated；Intelligent electric motor car drive control method is that two-wheeled independently drives, wherein revolver speed
For forward speed, revolver turn differential compensationThe sum of, i.e.,, right wheel speedFor forward speed, it is right
Wheel turning differential compensationThe sum of, i.e.,。
Step c）In, the control signal of driving interface module reception motion-control module and left and right wheel speed value, use are noninductive
The vector control method of brushless motor controls left and right motor speed.
Fig. 7 is the hardware design schematic diagram of control system, is the specific implementation of the present invention.Controller uses
STM32F103C8T6 forms minimum control circuit as Master control chip, controller with crystal oscillating circuit；Power voltage step down part is main
Realize the conversion from battery to control voltage；Pressure sensor detection circuit, the main method using precision resistance partial pressure test；
Ultrasonic interface circuit directly receives the feedback signal of ultrasonic wave by controller IO；PWM drive parts are used for the drive of motor
It is dynamic, generate the rotation of pulse-width signal driving motor.WIFI part use ESP8266-12E modules, complete be wirelessly connected and
Communication.Other parts are the hardware circuits for system testing and debugging.
Description for the understanding of specific implementation mode is only to understand the present invention for help, rather than be used for limiting this hair
Bright.Those skilled in the art can carry out some modifications and changes using the thought of the present invention, as long as its technological means does not have
There are the thought and main points for being detached from the present invention, still within protection scope of the present invention.
Claims (2)
1. a kind of control method of portable pocket-type intelligent electric motor car, which is characterized in that steps are as follows for the control method：
A) controller acquires the pressure value of the pressure sensor of different location in real time；
B) size of more each pressure value of pressure sensor processing module and current center of gravity is calculated, motion-control module is according to current
The velocity amplitude of center of gravity calculation left and right wheels, and control signal and left and right wheel speed value are sent to driving interface module；
C) according to control signal and left and right wheel speed value from motion-control module, driving interface module driving left and right motor makes electricity
Motor-car is towards center of gravity directional steering and movement；
In step a), the pressure value of the pressure sensor includes：Left front sensor pressure values p1, right front sensor pressure value p2,
Left back sensor pressure values p3, it is right after sensor pressure values p4；
In step b),
First, γ is calculated1=(p1+p3)/(p2+p4), γ2=(p1+p2)/(p3+p4), center of gravity passes through left and right pressure ratio γ1, it is front and back
Pressure ratio γ2To indicate；γ1Illustrate the distribution of center of gravity in the lateral direction, when center of gravity is in center, γ1It is 1, works as center of gravity
When left-leaning, the pressure value of left front and left back sensor is more than the pressure value of sensor behind the right preceding and right side, γ1More than 1；When the center of gravity right side
When inclining, the pressure value of left front and left back sensor is less than the pressure value of sensor behind the right preceding and right side, γ1Less than 1；γ2Illustrate weight
The distribution of the heart in the longitudinal direction, when center of gravity is in center, γ2It is 1, when center of gravity leans forward, left front and right preceding sensor
Pressure value be more than it is left back and right after sensor pressure value, γ2More than 1；When center of gravity hypsokinesis, left front and right preceding sensing
Device pressure value be less than it is left back and right after sensor pressure value, γ2Less than 1；
Secondly, judge left and right pressure ratio γ1, front and back pressure ratio γ2Whether in preset pressure ratio section [ε2,ε1]、[ε4,
ε3], wherein ε1For maximum duty or so pressure ratio, ε2For minimum operating mode or so pressure ratio, ε3For pressure ratio before and after maximum duty, ε4
For pressure ratio before and after minimum operating mode, if pressure ratio not in working condition pressure than section, intelligent electric motor car stop motion, if pressure
Than than section, then carrying out the calculating of left and right wheel speed in working condition pressure；
Again, forward speed V is calculated separatelyF, revolver turning differential compensation △L, right wheel turning differential compensation △R；Forward speed VF
With front and back pressure ratio γ2With pressure ratio ε before and after minimum operating mode4The proportional relationship of difference, i.e. VF=kF(γ2-ε4), wherein kFFor
Preset advance constant；Revolver turning differential compensation △L=kτ(γ1-ε5), right wheel turning differential compensation △R=kτ(ε6-
γ1), wherein kτFor coefficient of turning, ε5For the minimum left and right pressure ratio of preset left-hand rotation, ε6For preset right-hand rotation maximum
Left and right pressure ratio；
Finally, left and right wheel speed is calculated；Intelligent electric motor car drive control method is that two-wheeled independently drives, wherein revolver speed VLTo advance
Speed VF, revolver turning differential compensation △LThe sum of, i.e. VL=VF+△L, right wheel speed VRFor forward speed VF, right wheel turning differential mend
Repay △RThe sum of, i.e. VR=VF+△R。
2. a kind of control method of portable pocket-type intelligent electric motor car according to claim 1, which is characterized in that step C)
In, driving interface module receives the control signal and left and right wheel speed value of motion-control module, using the vector of induction less brush-less motor
Control method controls 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 true CN105128699B (en) | 2018-09-21 |
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| TWI647136B (en) * | 2015-12-30 | 2019-01-11 | 凌通科技股份有限公司 | Direction control method for self-balancing electric vehicle and electric vehicle using the same |
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| JP4411867B2 (en) * | 2003-06-04 | 2010-02-10 | トヨタ自動車株式会社 | Vehicles that can be steered by moving the 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 |
| ITMI20100195A1 (en) * | 2010-02-10 | 2011-08-11 | Milano Politecnico | TRANSPORT VEHICLE |
| CN103600799B (en) * | 2013-10-17 | 2015-12-23 | 上海交通大学 | Based on steering control system and the balanced car with two wheels thereof of pressure sensor |
| CN104192247A (en) * | 2014-09-18 | 2014-12-10 | 东莞市智网电器科技有限公司 | Portable mobility machine |
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