CN106240703B - Starting self-balancing control method for electric balance swing car - Google Patents
Starting self-balancing control method for electric balance swing car Download PDFInfo
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- CN106240703B CN106240703B CN201610798064.XA CN201610798064A CN106240703B CN 106240703 B CN106240703 B CN 106240703B CN 201610798064 A CN201610798064 A CN 201610798064A CN 106240703 B CN106240703 B CN 106240703B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K2204/00—Adaptations for driving cycles by electric motor
Abstract
The invention relates to a starting self-balancing control method and a starting self-balancing control system for an electrodynamic balance swing car. It has solved unable automatic balance class of technical problem of current electrodynamic balance car start. Including the balance car automobile body that is formed by two pedal seat pin joints, be equipped with in-wheel motor on the pedal seat respectively, be equipped with control circuit in the balance car automobile body, control circuit is connected with the power module that sets up in the balance car automobile body and link to each other with in-wheel motor respectively, thereby be equipped with between control circuit and the power module and enable control circuit and power module intercommunication and enable two in-wheel motor respectively rotate under the control circuit effect and rotate the inclination that makes two pedal seats all keep unanimous with the initial setting inclination thereby make the balance car automobile body carry out balanced state's start self-balancing button. Has the advantages that: the degree of automation is high, realizes the balance of two foot rest automatically after the start, and the method of playing is diversified, has both driving modes for the user to select.
Description
Technical Field
The invention belongs to the technical field of electric vehicle equipment, and particularly relates to a starting self-balancing control method of an electrodynamic balance swing vehicle.
Background
The electric balance car is also called a body-sensing car, a thinking car, a camera car and the like. The market mainly comprises a single wheel and two wheels. The operating principle is mainly established on the basic principle called dynamic stability, a gyroscope and an acceleration sensor in the vehicle body are used for detecting the change of the vehicle body posture, and a servo control system is used for accurately driving a motor to perform corresponding adjustment so as to keep the balance of the system. Wherein, electrodynamic balance swing car mainly has two foot rest that can twist reverse each other to constitute, realize the change of automobile body advancing direction through wrench movement foot rest, the degree of difficulty is big in this kind of electrodynamic balance swing car controls, the unable automatically regulated focus of each foot rest, need make its gesture of single foot rest adjustment realize balancing through removing the pressure sensor who steps on one of them foot rest with the foot after the start earlier, then remove to step on another foot rest and realize its balanced state, the user just can stand on the foot rest when two foot rests all are in balanced state, just so make current electrodynamic balance swing car control very inconvenient, and need artificially to remove the balanced state who realizes each foot rest.
In order to solve the problems of the prior art, people have long searched for and put forward various solutions. For example, chinese patent document discloses a self-balancing two-wheel balance car and a control method [ application No.: 201610118977.2], the self-balancing two-wheel balance vehicle comprising: the balance car comprises a left wheel, a right wheel, a cross beam and a moving platform, wherein the left wheel and the right wheel are respectively connected to two ends of the cross beam and rotate by taking the cross beam as an axis, the moving platform is arranged above the cross beam, and a balance driving motor is arranged on the cross beam and used for driving the moving platform to move back and forth so as to adjust the gravity center of the balance car and enable the balance car to be automatically balanced.
Although above-mentioned scheme has alleviated the unable automatic adjustment focus's of current electrodynamic balance swing car problem to a certain extent, because this scheme mainly adopts the mode that lateral shifting removes the platform and realizes the balance of step seat, still can't realize the automatic step seat that makes after electrodynamic balance swing car starts the machine like this and realize balancing.
Disclosure of Invention
The invention aims to solve the problems and provides a starting self-balancing control method of an electrodynamic balance swing car, which is convenient to operate and can realize automatic balancing after a pedal seat is started.
In order to achieve the purpose, the invention adopts the following technical scheme: the starting self-balancing control method of the electrodynamic balance swing car is characterized by comprising the following steps of:
A. comparing the current state with a preset value: starting a starting self-balancing button on the balance car body, communicating a power supply module with a control circuit, and respectively detecting the current inclination angles of two pedal seats of the current balance car body by the control circuit and comparing the current inclination angles with the preset inclination angle values of the two pedal seats;
B. adjusting the vehicle body posture of the balance vehicle: the control circuit respectively controls the rotation of a hub motor connected with the pedal seats according to the comparison result of the current inclination angle of each pedal seat and the preset inclination angle value of the pedal seat, and the hub motor drives each pedal seat of the balance car body to rotate so as to adjust the posture of the balance car body;
C. balance car automobile body keeps balanced state: the control circuit continuously detects the inclination angles of the two adjusted pedal seats and compares the inclination angles with the preset inclination angle value of the pedal seat, when the inclination angle of one pedal seat reaches the preset inclination angle value, the control circuit controls the hub motor connected with the pedal seat to stop, the balance state of the pedal seat is kept, the rest pedal seat continues to adjust the posture until the inclination angle of the rest pedal seat is consistent with the preset inclination angle of the pedal seat, and the balance state of the whole balance vehicle body is finished.
The electric balance swing car is started through the one-key starting self-balance button, the control circuit automatically detects the inclination angle of each pedal seat and respectively drives the hub motor to drive the hub motor to rotate until the two pedal seats are completely in a balance state.
In the above starting self-balancing control method for the electrodynamic balance swing car, in step a, the starting self-balancing button is pressed for a set time or a set number of times or not, so that the balance car body is in a preset inclination value state, and the control circuit records the inclination angles of the two current pedal seats respectively as the preset inclination values of the two pedal seats of the balance car body.
In the above starting self-balancing control method for the electrodynamic balance swing car, the method further includes the following steps:
D. the first driving state of the balance vehicle body is as follows: after the step C is finished, pressing the starting self-balancing button for a set time or not to enable the balance car body to be in a first driving state, enabling any one of the two pedal seats to be stressed to enable the pedal seat to incline, enabling the control circuit to respectively drive the hub motors connected with the two pedal seats to rotate, and enabling the balance car body to execute any one or more states of advancing, retreating and steering;
E. and the second driving state of the balance vehicle body is as follows: and when the two pedal seats are stressed and inclined, the control circuit drives the hub motors connected with the two pedal seats to rotate respectively, so that the balance vehicle body can execute any one or more states of forward movement, backward movement and steering.
The first driving state and the second driving state are used as two playing methods for users to freely select, when a beginner can select the second driving state, namely, the balance vehicle body can move only when two foot rests are stressed simultaneously, so that the safety of the beginner is guaranteed, a skilled person can select the first driving state, and when any one foot rest is stressed, the balance vehicle body can move in an executable mode, so that the driving pleasure is increased.
In the starting self-balancing control method for the electric balance swing car, the control circuit is connected with the movable control device in a wireless communication mode, and the balance car body is controlled to execute any one or more states including forward movement, backward movement and steering through a control key on the movable control device.
In foretell electrodynamic balance swing car start self-balancing control method, include the balance car automobile body that is formed by two pedal seat pin joints, the pedal seat on be equipped with in-wheel motor respectively, its characterized in that, the balance car automobile body in be equipped with control circuit, control circuit be connected with the power module that sets up in the balance car automobile body and link to each other with in-wheel motor respectively, control circuit and power module between be equipped with and enable control circuit and power module intercommunication and enable two in-wheel motor under the control circuit effect and rotate respectively thereby the inclination that makes two pedal seats all keeps unanimous with the start self-balancing button that presets the inclination and make the balance car automobile body carry out balanced state.
In the starting self-balancing control method of the electrodynamic balance swing car, the control circuit comprises balance sensor modules respectively arranged in the two pedal seats, the balance sensor modules are connected with motor execution modules, and the motor execution modules are respectively connected with the hub motor.
In the above starting-up self-balancing control method for the electrodynamic balance swing car, the balancing sensor module includes an accelerometer sensor and a gyroscope sensor, and the accelerometer sensor and the gyroscope sensor are both integrated on an auxiliary control board arranged in the pedal seat.
In the starting self-balancing control method of the electrodynamic balance swing car, the motor execution module is integrated on the main control board, the main control board is arranged in any one of the pedal seats, and the power supply module is arranged in the rest one of the pedal seats.
In the starting self-balancing control method for the electric balance swing car, the control circuit is connected with the movable control device in a wireless communication mode, and the movable control device is provided with a control key for controlling the balance car body to execute any one or more states including forward movement, backward movement and steering.
In the starting self-balancing control method for the electric balancing swing car, the control key is any one of a mechanical key and a touch key.
Compared with the prior art, the starting self-balancing control method of the electrodynamic balance swing car has the advantages that: simple structure is reasonable, degree of automation is high, the automatic balance that realizes two step bases after the start, the method of playing is diversified, it supplies the user to select to have both driving modes, can select the second state of driving when the beginner, only can realize the balance car automobile body and remove when two step bases atress simultaneously promptly, beginner's safety has been guaranteed like this, skilled person can select first driving state, the balance car automobile body can be executed to remove when arbitrary step base atress, driving enjoyment has been increased like this.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a block diagram of the present invention.
In the figure, a balance car body 1, a pedal seat 11, a secondary control board 111, a main control board 112, a hub motor 12, a control circuit 2, a balance sensor module 21, a motor execution module 22, a power supply module 3, a start-up self-balancing button 4, a movable control device 5 and a control key 6.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, the starting self-balancing control method for the electrodynamic balance swing car includes the following steps:
A. comparing the current state with a preset value: starting a starting self-balancing button 4 on a balance car body 1, communicating a power supply module 3 with a control circuit 2, and respectively detecting the current inclination angles of two pedal seats 11 of the balance car body 1 by the control circuit 2 and comparing the current inclination angles with the preset inclination angle values of the two pedal seats 11;
B. adjusting the vehicle body posture of the balance vehicle: the control circuit 2 respectively controls the hub motor 12 connected with the pedal seats 11 to rotate according to the comparison result of the current inclination angle of each pedal seat 11 and the preset inclination angle value of the pedal seat 11, and the hub motor 12 drives each pedal seat 11 of the balance car body 1 to rotate to adjust the posture of the balance car body 1;
C. balance car automobile body keeps balanced state: the control circuit 2 continuously detects the inclination angles of the two adjusted pedal seats 11 and compares the inclination angles with a preset inclination angle value of the pedal seat 11, when the inclination angle of one pedal seat 11 reaches the preset inclination angle value, the control circuit 2 controls the hub motor 12 connected with the pedal seat 11 to stop, the balance state of the pedal seat 11 is kept, the rest pedal seat 11 continues to adjust the posture, and the balance state of the whole balance vehicle body 1 is finished until the inclination angle of the rest pedal seat 11 is consistent with the preset inclination angle value of the pedal seat 11;
D. first driving state of the balance car body 1: after the step C is finished, the start-up self-balancing button 4 is pressed for a set time or not, so that the balance car body 1 is in a first driving state, when any one of the two pedal seats 11 is stressed to enable the pedal seat 11 to incline, the control circuit 2 respectively drives the hub motors 12 connected with the two pedal seats 11 to rotate, and the balance car body 1 is enabled to execute any one or more states of forward movement, backward movement and steering;
E. the second driving state of the balance car body 1: and the starting self-balancing button 4 is pressed again for a set time or not, so that the balance car body 1 is in a second driving state, and the control circuit 2 drives the hub motors 12 connected with the two pedal seats 11 to rotate respectively when the two pedal seats 11 are stressed and inclined, so that the balance car body 1 can perform any one or more states of forward movement, backward movement and steering.
The self-balancing button 4 of starting up through a key makes control circuit 2 automated inspection each pedal seat 11's inclination and drives in-wheel motor 12 respectively and drive its rotation until two pedal seats 1 are in balanced state completely when opening electrodynamic balance swing car, before traveling, the user can freely select two kinds of methods of playing, can select the second driving state when the beginner, only can realize balance car automobile body 1 and remove when two pedal seats 11 atress simultaneously promptly, beginner's safety has been guaranteed like this, the skilled person can select the first driving state, balance car automobile body 1 can carry out the removal when arbitrary pedal seat 11 atress, driving enjoyment has been increased like this.
In step a, the start-up self-balancing button 4 is pressed for a preset time or a preset number of times or not, so that the balance car body 1 is in a preset inclination value state, and the control circuit 2 records the current inclination angles of the two pedal seats 11 respectively as the preset inclination values of the two pedal seats 11 of the balance car body 1. The control circuit 2 is connected with a movable control device 5 through a wireless communication mode, and the balance car body 1 is controlled to execute any one or more states of advancing, backing and steering through a control key 6 on the movable control device 5.
This electrodynamic balance swing car start-up self-balancing control system, include the balance car automobile body 1 that is formed by two pedal seats 11 pin joints, be equipped with in-wheel motor 12 on the pedal seat 11 respectively, a serial communication port, be equipped with control circuit 2 in the balance car automobile body 1, control circuit 2 is connected with the power module 3 that sets up in balance car automobile body 1 and link to each other with in-wheel motor 12 respectively, thereby it enables control circuit 2 and power module 3 intercommunication and enables two in-wheel motor 12 to rotate respectively under control circuit 2 effect thereby to make the inclination of two pedal seats 11 all keep unanimous with the start-up self-balancing button 4 that predetermines the inclination and make balance car automobile body 1 carry out balanced state to be equipped with between control circuit 2 and the power module 3.
Wherein, control circuit 2 here includes the balanced sensor module 21 that sets up respectively in two foot rest 11, balanced sensor module 21 all is connected with motor execution module 22, and motor execution module 22 links to each other with in-wheel motor 12 respectively, balanced sensor module 21 here includes accelerometer sensor and gyroscope sensor, and accelerometer sensor and gyroscope sensor all integrate on setting up the vice control panel 111 in foot rest 11, motor execution module 22 here is integrated on main control panel 112, and main control panel 112 sets up in arbitrary one foot rest 11, power module 3 sets up in remaining one foot rest 11.
The control circuit 2 is connected with a movable control device 5 in a wireless communication mode, the movable control device 5 is provided with a control key 6 for controlling the balance car body 1 to execute any one or more states of forward movement, backward movement and steering, and preferably, the control key 6 is any one of a mechanical key and a touch key.
Although the terms balance car body 1, foot rest 11, secondary control board 111, main control board 112, hub motor 12, control circuit 2, balance sensor module 21, motor execution module 22, power supply module 3, power-on self-balancing button 4, movable control device 5, control keys 6, etc. are used more herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
Claims (6)
1. A starting self-balancing control method of an electrodynamic balance swing car is characterized by comprising a balance car body (1) formed by pivoting two pedal seats (11), wherein the pedal seats (11) are respectively provided with a hub motor (12), it is characterized in that a control circuit (2) is arranged in the balance car body (1), the control circuit (2) is connected with a power supply module (3) which is arranged in the balance car body (1) and is respectively connected with the hub motor (12), a starting self-balancing button (4) which can enable the control circuit (2) to be communicated with the power supply module (3) and enable the two hub motors (12) to respectively rotate under the action of the control circuit (2) so as to enable the inclination angles of the two pedal seats (11) to be consistent with the preset inclination angle and enable the balance car body (1) to be in a balanced state is arranged between the control circuit (2) and the power supply module (3); the control circuit (2) comprises balance sensor modules (21) which are respectively arranged in the two pedal seats (11), the balance sensor modules (21) are respectively connected with a motor execution module (22), and the motor execution modules (22) are respectively connected with the hub motor (12);
the method also comprises the following steps:
A. comparing the current state with a preset value: starting a starting self-balancing button (4) on a balance car body (1), communicating a power supply module (3) with a control circuit (2), and respectively detecting the current inclination angles of two pedal seats (11) of the balance car body (1) by the control circuit (2) and comparing the current inclination angles with the preset inclination angle values of the two pedal seats (11); in the step A, the starting self-balancing button (4) is pressed for reaching or not reaching the set time or the set times, so that the balance car body (1) is in a preset inclination angle value state, and the control circuit (2) respectively records the current inclination angles of the two pedal seats (11) as the preset inclination angle values of the two pedal seats (11) of the balance car body (1);
B. adjusting the vehicle body posture of the balance vehicle: the control circuit (2) respectively controls a hub motor (12) connected with the pedal seats (11) to rotate according to the comparison result of the current inclination angle of each pedal seat (11) and the preset inclination angle value of the pedal seat (11), and the hub motor (12) drives each pedal seat (11) of the balance car body (1) to rotate so as to adjust the posture of the balance car body (1);
C. balance car automobile body keeps balanced state: the control circuit (2) continuously detects the inclination angles of the two adjusted pedal seats (11) and compares the inclination angles with a preset inclination angle value of the pedal seats (11), when the inclination angle of one pedal seat (11) reaches the preset inclination angle value, the control circuit (2) controls the hub motor (12) connected with the pedal seat (11) to stop, the balance state of the pedal seat (11) is kept, the rest pedal seat (11) continues to adjust the posture until the inclination angle of the rest pedal seat (11) is consistent with the preset inclination angle value of the pedal seat (11), and the balance state of the whole balance car body (1) is finished;
D. the first driving state of the balance car body (1): after the step C is finished, the starting self-balancing button (4) is pressed for a set time or not, so that the balance car body (1) is in a first driving state, when any one of the two pedal seats (11) is stressed to enable the pedal seat (11) to incline, the control circuit (2) respectively drives the hub motor (12) connected with the two pedal seats (11) to rotate, and therefore the balance car body (1) can execute any one or more states of advancing, retreating and steering;
E. the second driving state of the balance vehicle body (1): and the starting self-balancing button (4) is pressed again for a set time or not, so that the balance car body (1) is in a second driving state, and the control circuit (2) respectively drives the hub motors (12) connected with the two pedal seats (11) to rotate when the two pedal seats (11) are stressed and inclined, so that the balance car body (1) can be in any one or more states of advancing, retreating and steering.
2. The starting self-balancing control method for the electrodynamic balance swing car according to claim 1, wherein the control circuit (2) is connected with the movable control device (5) in a wireless communication manner, and the balance car body (1) is controlled to execute any one or more states including forward, backward and steering through a control key (6) on the movable control device (5).
3. The method of claim 1, wherein the balance sensor module (21) comprises an accelerometer sensor and a gyroscope sensor, and the accelerometer sensor and the gyroscope sensor are both integrated on a secondary control board (111) disposed in the foot rest (11).
4. The starting self-balancing control method of the electrodynamic balance swing car according to claim 1, wherein the motor execution module (22) is integrated on a main control board (112), the main control board (112) is disposed in any one of the pedal seats (11), and the power supply module (3) is disposed in the remaining one of the pedal seats (11).
5. The starting self-balancing control method of the electrodynamic balance swing car according to claim 1, wherein the control circuit (2) is connected with a movable control device (5) in a wireless communication manner, and the movable control device (5) is provided with a control key (6) for controlling the balance car body (1) to execute any one or more states including forward movement, backward movement and steering.
6. The starting self-balancing control method for the electrodynamic balance swing car according to claim 5, wherein the control key (6) is any one of a mechanical key and a touch key.
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| CN109398560A (en) * | 2018-12-25 | 2019-03-01 | 重庆市涵越电器有限公司 | Multipurpose Self-Balancing vehicle |
| CN110554641B (en) * | 2019-08-01 | 2021-02-12 | 纳恩博（北京）科技有限公司 | Balance car, method for controlling balance car and storage medium |
| CN111309016B (en) * | 2020-02-26 | 2021-11-05 | 腾讯科技（深圳）有限公司 | Self-balancing robot control system, self-balancing robot control method, self-balancing robot and medium |
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| CN106240703A (en) | 2016-12-21 |
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