CN106379458A - Self-balance car and control system thereof - Google Patents
Self-balance car and control system thereof Download PDFInfo
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- CN106379458A CN106379458A CN201610940491.7A CN201610940491A CN106379458A CN 106379458 A CN106379458 A CN 106379458A CN 201610940491 A CN201610940491 A CN 201610940491A CN 106379458 A CN106379458 A CN 106379458A
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- 238000001514 detection method Methods 0.000 claims abstract description 16
- 238000004891 communication Methods 0.000 claims abstract description 9
- 230000001133 acceleration Effects 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims 2
- 230000000875 corresponding Effects 0.000 abstract description 20
- 230000005484 gravity Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000006011 modification reaction Methods 0.000 description 3
- 206010071172 Device battery issue Diseases 0.000 description 2
- 229910004682 ON-OFF Inorganic materials 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000284 resting Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/24—Personal mobility vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
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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
- B62K2202/00—Motorised scooters
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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
-
- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention provides a self-balance car and a control system thereof. The control system only comprises a left control board and a right control board, wherein the left control board is used for converting detection data output by a left angle sensor into a left pitch angle, generating a left motor driving signal according to the left pitch angle and outputting the left motor driving signal to a left motor; and the right control board is used for converting detection data output by a right angle sensor into a right pitch angle, generating a right motor driving signal according to the right pitch angle and outputting the right motor driving signal to a right motor. The whole control system only comprises two control boards and is simple in structure and small in volume; drivers of the corresponding motors are respectively integrated into the corresponding control boards, and the communication between a main board and two posture auxiliary boards in the prior art is omitted, so that the control accuracy and instantaneity are improved.
Description
Technical field
The present invention relates to Self-Balancing vehicle technical field, particularly to a kind of Self-Balancing vehicle and its control system.
Background technology
Self-Balancing vehicle is to measure human body angle of inclination by angular transducer thereon, and the system that is then controlled by is according to this
Motor is carried out at human body angle of inclination, realizes its self-balancing and controls.
Existing control system referring to Fig. 1, including mainboard 101, left attitude subplate 102 and right attitude subplate 103；Wherein,
Two attitude subplates are respectively used to receive the human body inclination that corresponding pedal switch state and the detection of respective angles sensor obtain
Angle, and this human body angle of inclination is converted to the angle of pitch, the angle of pitch and corresponding pedal switch state are sent by serial ports
To mainboard 101；Then two-way motor drive signal is exported respectively to each self-corresponding motor by mainboard 101, complete two motors
Driving, realize swing car self-balancing control.
But, due to there is the communication of data transfer between mainboard 101 and two attitude subplates in this control mode of Fig. 1
Journey, so that the precision controlling and real-time have affected probability, reduces the reliability of control；And above-mentioned control system
System includes a mainboard and two subplates, causes bulky problem.
Content of the invention
The present invention provides a kind of Self-Balancing vehicle and its control system, and to solve, control reliability in prior art is low and volume
Big problem.
For achieving the above object, the technical scheme that the application provides is as follows：
A kind of control system of Self-Balancing vehicle, including：Left panel and right panel；Wherein：
Described left panel is connected with Left Angle sensor and left motor respectively, for exporting described Left Angle sensor
Detection data be converted to the left angle of pitch, left motor drive signal is generated according to the described left angle of pitch, exports to described left motor；
Described right panel is connected with right angular transducer and right motor respectively, for exporting described right angular transducer
Detection data be converted to the right angle of pitch, right motor drive signal is generated according to the described right angle of pitch, exports to described right motor.
Preferably, described left panel is also communicated with described right panel and is connected, described left panel and described right control
Plate is additionally operable to output or receiving status information, fault message, warning message, battery voltage data, current angular data and works as
Front speed data.
Preferably, described left panel is also connected with left tail lamp, and described left panel is additionally operable to control described left tail lamp
Light on and off；
Described right panel is also connected with right tail lamp, and described right panel is additionally operable to control the light on and off of described right tail lamp.
Preferably, on described left panel, described right corner degree sensor integration is in institute for described Left Angle sensor integration
State on right panel.
A kind of Self-Balancing vehicle, including：Left Angle sensor, left motor, right angular transducer, right motor and control system,
Described control system includes：Left panel and right panel；Wherein：
Described left panel is connected with described Left Angle sensor and described left motor respectively, for passing described Left Angle
The detection data of sensor output is converted to the left angle of pitch, generates left motor drive signal according to the described left angle of pitch, exports to institute
State left motor；
Described right panel is connected with described right angular transducer and described right motor respectively, for passing described right corner degree
The detection data of sensor output is converted to the right angle of pitch, generates right motor drive signal according to the described right angle of pitch, exports to institute
State right motor.
Preferably, described left panel is also communicated with described right panel and is connected, described left panel and described right control
Plate is additionally operable to output or receiving status information, fault message, warning message, battery voltage data, current angular data and works as
Front speed data.
Preferably, described left panel is also connected with left tail lamp, and described left panel is additionally operable to control described left tail lamp
Light on and off；
Described right panel is also connected with right tail lamp, and described right panel is additionally operable to control the light on and off of described right tail lamp.
Preferably, described Left Angle sensor and described right angular transducer are 3-axis acceleration and three axis angular rates pass
Sensor.
Preferably, on described left panel, described right corner degree sensor integration is in institute for described Left Angle sensor integration
State on right panel.
Preferably, described left panel or described right panel also with battery capacity indication lamp plate and power supply instruction lamp plate phase
Even.
Self-Balancing vehicle and its control system that the present invention provides, control system therein only includes left panel and right control
Plate；The detection data that Left Angle sensor exports is converted to by the left angle of pitch by left panel, is given birth to according to the described left angle of pitch
Become left motor drive signal, export to left motor；By right panel, the detection data that right angular transducer exports is converted to
The right angle of pitch, generates right motor drive signal according to the described right angle of pitch, exports to right motor；Whole control system only includes two
Individual panel, structure is simple, small volume；And the driving of corresponding motor is integrated in corresponding panel respectively, eliminate existing
There is the communication between mainboard and two attitude subplates in technology, improve precision and the real-time of control.
Brief description
In order to be illustrated more clearly that the technical scheme in the embodiment of the present invention or prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, below description in accompanying drawing be only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, acceptable
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the Self-Balancing vehicle of prior art offer and its structural representation of control system；
Fig. 2 is the structural representation of Self-Balancing vehicle provided in an embodiment of the present invention.
Specific embodiment
Understandable for enabling the above objects, features and advantages of the present invention to become apparent from, below in conjunction with the accompanying drawings to the present invention
Specific embodiment be described in detail.
The present invention provides a kind of control system of Self-Balancing vehicle, and to solve, control accuracy in prior art is low, poor real
And bulky problem.
Specifically, the control system of described Self-Balancing vehicle, as shown in Fig. 2 with the Left Angle sensor 301 of Self-Balancing vehicle,
Right angular transducer 302, left motor 401 and right motor 402 are connected, and the control system of described Self-Balancing vehicle includes：Left panel
201 and right panel 202；Wherein：
Left panel 201 is connected with the Left Angle sensor 301 of Self-Balancing vehicle and left motor 401 respectively；
Right panel 202 is connected with the right angular transducer 302 of Self-Balancing vehicle and right motor 402 respectively.
Specifically operation principle is：
The detection data that left panel 201 is used for exporting Left Angle sensor 301 is converted to the left angle of pitch and left roll
Angle, generates left motor drive signal according to the described left angle of pitch, exports to left motor 401；
The detection data that right panel 202 is used for exporting right angular transducer 302 is converted to the right angle of pitch and right roll
Angle, generates right motor drive signal according to the described right angle of pitch, exports to right motor 402.
In specific practical application：
If the center of gravity of human body is located at the surface of electrical axis line, the control system of this Self-Balancing vehicle does not need to appoint
What controls so that this Self-Balancing vehicle keeps balance resting state.
If the center of gravity of human body is forward, body can turn forward, and two feet press forward pedal simultaneously, then two panels divide
Not according to the respective angle of pitch corresponding motor drive signal of generation, drive the two wheel rolls forward in left and right, should be certainly with holding
Balance car balances.
If the center of gravity of human body is rearward, body can tilt backwards, and two feet press pedal simultaneously backward, then two panels divide
Corresponding motor drive signal is not generated according to the respective angle of pitch, driving moment rolls backward, to keep this Self-Balancing vehicle to put down
Weighing apparatus.
If the two of human body feet respectively forwardly press corresponding pedal backward, two panels are bowed according to respective respectively
The elevation angle generates corresponding motor drive signal, drives respective wheel rolling, to keep this Self-Balancing vehicle to balance, realizes original place simultaneously
Turn.
If the center of gravity of human body is forward, body can turn forward, and two feet press pedal forward simultaneously, but the right angle of pitch is big
In the left angle of pitch, due to two angle of pitch differences, the motor speed making the right is faster than the left side by two motor drive signal, with
Keep swing car balance, realize advancing simultaneously and.
If the center of gravity of human body is forward, body can turn forward, and two feet press pedal forward simultaneously, but the left angle of pitch is big
In the right angle of pitch, due to two angle of pitch differences, the motor speed making the left side is faster than the right by two motor drive signal, with
Keep swing car balance, realize advancing simultaneously and turn right.
If the center of gravity of human body is rearward, body can tilt backwards, and two feet press pedal simultaneously backward, but the right angle of pitch is big
In the left angle of pitch, due to two angle of pitch differences, the motor speed making the right is faster than the left side by two motor drive signal, with
Keep swing car balance, realize retreating simultaneously.
If the center of gravity of human body is rearward, body can tilt backwards, and two feet press pedal simultaneously backward, but the left angle of pitch is big
In the right angle of pitch, due to two angle of pitch differences, the motor speed making the left side is faster than the right by two motor drive signal, with
Keep swing car balance, realize retreating simultaneously and turn right.
The control system of the Self-Balancing vehicle that the present embodiment provides, control system therein only includes left panel 201 and the right side
Panel 202, whole Control system architecture is simple, small volume, and the design of car load will be more flexible, and material cost is lower, raw
Produce installation more convenient；And the driving of corresponding motor is integrated in corresponding panel respectively, eliminate main in prior art
Communication between plate and two attitude subplates, improves precision and the real-time of control.
Another embodiment of the present invention additionally provides a kind of control system of specific Self-Balancing vehicle, as shown in Fig. 2 including：
Left panel 201, right panel 202 and communication connect the circuit of left panel 201 and right panel 202；Wherein：
Left panel 201 is connected with the Left Angle sensor 301 of Self-Balancing vehicle and left motor 401 respectively；
Right panel 202 is connected with the right angular transducer 302 of described Self-Balancing vehicle and right motor 402 respectively；
Left panel 201 is connected with the communication of right panel 202.
Left panel 201 and right panel 202 are additionally operable to output or receiving status information, fault message, cell voltage
Data, current angular data and current speed data.
Specifically, described status information can include：On-off state, priority (main frame or slave) information, whether enter
The inquiry message of row calibration, the calibration whether successfully opening imformation of feedback information, new hand's pattern or general mode, electric discharge electricity
One or more of stream information, charged state and direction of motor rotation information.
Described fault message can include：Quiescent current Reflector information, short trouble flag information, angular transducer
Reflector information, Hall element Reflector information, battery failures flag information, the excessive flag information in angle of inclination, mistake
Warm warning mark information, excess temperature shut down one or more of flag information and stall flag information.
In specific practical application, the Content of communciation between left panel 201 and right panel 202 does not do specifically herein
Limit, can be depending on its concrete application environment, all in the protection domain of the application.
Preferably, left panel 201 is also connected with left tail lamp, and left panel 201 is additionally operable to control the bright of described left tail lamp
Go out；
Right panel 202 is also connected with right tail lamp, and right panel 202 is additionally operable to control the light on and off of described right tail lamp.
The control system of the described Self-Balancing vehicle that the present embodiment provides, left panel 201 therein and right panel 202 are also
Including the original function of two attitude subplates in prior art, no longer repeat one by one herein.
Preferably, Left Angle sensor 301 is integrated on left panel 201, and right angular transducer 302 is integrated in right control
On plate 202.
When angular transducer is integrated on corresponding panel, all angles sensor is arranged on corresponding panel
On, directly it is connected with other components and parts on corresponding panel, reduce panel external cabling, it is to avoid the mistake in data transmission procedure
True or noise jamming.
Another embodiment of the present invention additionally provides a kind of Self-Balancing vehicle, referring to Fig. 2, including：Left Angle sensor 301, the right side
Angular transducer 302, left motor 401, right motor 402 and control system, described control system includes：Left panel 201 and the right side
Panel 202；Wherein：
Left panel 201 is connected with Left Angle sensor 301 and left motor 401 respectively；
Right panel 202 is connected with Left Angle sensor 301 and right motor 402 respectively.
Specifically operation principle is：
The detection data that left panel 201 is used for exporting Left Angle sensor 301 is converted to the left angle of pitch and left roll
Angle, generates left motor drive signal according to the described left angle of pitch, exports to left motor 401；
The detection data that right panel 202 is used for exporting right angular transducer 302 is converted to the right angle of pitch and right roll
Angle, generates right motor drive signal according to the described right angle of pitch, exports to right motor 402.
The Self-Balancing vehicle that the present embodiment provides, control system therein only includes left panel 201 and right panel 202,
Whole Control system architecture is simple, small volume, and the design of car load will be more flexible, and material cost is lower, produces and installs more
Convenient；And the driving of corresponding motor is integrated in corresponding panel respectively, eliminate mainboard and two appearances in prior art
Communication between state subplate, improves precision and the real-time of control.
In specific practical application, described Self-Balancing vehicle can be electric swing car or other types, herein
It is not specifically limited, all in the protection domain of the application.
Another embodiment of the present invention additionally provides another Self-Balancing vehicle, referring to Fig. 2, including：Left Angle sensor
301st, right angular transducer 302, left motor 401, right motor 402 and control system, described control system includes：Left panel
201st, the circuit of right panel 202 and the left panel of communication connection 201 and right panel 202；Wherein：
Left panel 201 is connected with Left Angle sensor 301 and left motor 401 respectively；
Right panel 202 is connected with right angular transducer 302 and right motor 402 respectively.
Left panel 201 and right panel 202 are additionally operable to output or receiving status information, fault message, cell voltage
Data, current angular data and current speed data.
Specifically, described status information can include：On-off state, priority (main frame or slave) information, whether enter
The inquiry message of row calibration, the calibration whether successfully opening imformation of feedback information, new hand's pattern or general mode, electric discharge electricity
One or more of stream information, charged state and direction of motor rotation information.
Described fault message can include：Quiescent current Reflector information, short trouble flag information, angular transducer
Reflector information, Hall element Reflector information, battery failures flag information, the excessive flag information in angle of inclination, mistake
Warm warning mark information, excess temperature shut down one or more of flag information and stall flag information.
In specific practical application, the Content of communciation between left panel 201 and right panel 202 does not do specifically herein
Limit, can be depending on its concrete application environment, all in the protection domain of the application.
Preferably, left panel 201 is also connected with left tail lamp, and left panel 201 is additionally operable to control the bright of described left tail lamp
Go out；
Right panel 202 is also connected with right tail lamp, and right panel 202 is additionally operable to control the light on and off of described right tail lamp.
Preferably, Left Angle sensor 301 and right angular transducer 302 are 3-axis acceleration and three axis angular rates sensing
Device.
6 shaft detection data of 3-axis acceleration and three axis angular rate sensors are turned by left panel 201 with right panel 202
It is changed to the angle of pitch and roll angle, then carries out follow-up process and realize the driving for two motors.
Preferably, Left Angle sensor 301 is integrated on left panel 201, and right angular transducer 302 is integrated in right control
On plate 202.
When angular transducer is integrated on corresponding panel, all angles sensor is arranged on corresponding panel
On, directly it is connected with other components and parts on corresponding panel, reduce panel external cabling, it is to avoid the mistake in data transmission procedure
True or noise jamming.
Preferably, described left panel or described right panel also with battery capacity indication lamp plate and power supply instruction lamp plate phase
Even.
In specific practical application, described battery capacity indication lamp plate can be provided with five LED, for showing concrete electricity
Amount, the number of its LED and concrete color are not specifically limited herein, can be depending on its applied environment, all the application's
In protection domain.
Described power supply instruction lamp plate can be provided with a LED, or carries out opening prompting with the backlight of on and off switch,
Also it is not specifically limited, all in the protection domain of the application herein.
Remaining operation principle is same as the previously described embodiments, no longer repeats one by one herein.
In the present invention, each embodiment is described by the way of going forward one by one, and what each embodiment stressed is real with other
Apply the difference of example, between each embodiment identical similar portion mutually referring to.For device disclosed in embodiment
Speech, because it corresponds to the method disclosed in Example, so description is fairly simple, referring to method part illustration in place of correlation
?.
The above, be only presently preferred embodiments of the present invention, and not the present invention is made with any pro forma restriction.Though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention.Any it is familiar with those skilled in the art
Member, without departing under technical solution of the present invention ambit, can be utilized the methods and techniques content of the disclosure above to the present invention
Technical scheme makes many possible variations and modification, or the Equivalent embodiments being revised as equivalent variations.Therefore, every without departing from
The content of technical solution of the present invention, according to the present invention technical spirit to any simple modification made for any of the above embodiments, equivalent
Change and modification, all still fall within the range of technical solution of the present invention protection.
Claims (10)
1. a kind of control system of Self-Balancing vehicle is it is characterised in that include：Left panel and right panel；Wherein：
Described left panel is connected with Left Angle sensor and left motor respectively, for the inspection exporting described Left Angle sensor
Survey data and be converted to the left angle of pitch, left motor drive signal is generated according to the described left angle of pitch, exports to described left motor；
Described right panel is connected with right angular transducer and right motor respectively, for the inspection exporting described right angular transducer
Survey data and be converted to the right angle of pitch, right motor drive signal is generated according to the described right angle of pitch, exports to described right motor.
2. Self-Balancing vehicle according to claim 1 control system it is characterised in that described left panel also with the described right side
Panel communication connects, described left panel and described right panel be additionally operable to output or receiving status information, fault message,
Battery voltage data, current angular data and current speed data.
3. Self-Balancing vehicle according to claim 1 control system it is characterised in that described left panel also with left tail lamp
It is connected, described left panel is additionally operable to control the light on and off of described left tail lamp；
Described right panel is also connected with right tail lamp, and described right panel is additionally operable to control the light on and off of described right tail lamp.
4. the control system according to the arbitrary described Self-Balancing vehicle of claims 1 to 3 is it is characterised in that described Left Angle senses
Device is integrated on described left panel, and described right corner degree sensor integration is on described right panel.
5. a kind of Self-Balancing vehicle is it is characterised in that include：Left Angle sensor, left motor, right angular transducer, right motor and
Control system, described control system includes：Left panel and right panel；Wherein：
Described left panel is connected with described Left Angle sensor and described left motor respectively, for by described Left Angle sensor
The detection data of output is converted to the left angle of pitch, generates left motor drive signal according to the described left angle of pitch, exports to a described left side
Motor；
Described right panel is connected with described right angular transducer and described right motor respectively, for by described right angular transducer
The detection data of output is converted to the right angle of pitch, generates right motor drive signal according to the described right angle of pitch, exports to the described right side
Motor.
6. Self-Balancing vehicle according to claim 5 is it is characterised in that described left panel is also communicated with described right panel
Connect, described left panel and described right panel are additionally operable to output or receiving status information, fault message, cell voltage number
According to, current angular data and current speed data.
7. Self-Balancing vehicle according to claim 5 is it is characterised in that described left panel is also connected with left tail lamp, described
Left panel is additionally operable to control the light on and off of described left tail lamp；
Described right panel is also connected with right tail lamp, and described right panel is additionally operable to control the light on and off of described right tail lamp.
8. Self-Balancing vehicle according to claim 5 is it is characterised in that described Left Angle sensor and described right angle sensor
Device is 3-axis acceleration and three axis angular rate sensors.
9. according to the arbitrary described Self-Balancing vehicle of claim 5 to 8 it is characterised in that described Left Angle sensor integration is in institute
State on left panel, described right corner degree sensor integration is on described right panel.
10. according to the arbitrary described Self-Balancing vehicle of claim 5 to 8 it is characterised in that described left panel or described right control
Making sheet is also connected with battery capacity indication lamp plate and power supply instruction lamp plate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610940491.7A CN106379458A (en) | 2016-10-24 | 2016-10-24 | Self-balance car and control system thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610940491.7A CN106379458A (en) | 2016-10-24 | 2016-10-24 | Self-balance car and control system thereof |
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| CN106379458A true CN106379458A (en) | 2017-02-08 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107015561A (en) * | 2017-03-06 | 2017-08-04 | 广东高标电子科技有限公司 | A kind of electric two-wheel balance car system and electric two-wheel balance car control method |
| WO2021082955A1 (en) * | 2019-11-01 | 2021-05-06 | 浙江阿尔郎科技有限公司 | Self-balancing vehicle control system and self-balancing vehicle |
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