CN106379458A - Self-balance car and control system thereof - Google Patents

Self-balance car and control system thereof Download PDF

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Publication number
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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CN
China
Prior art keywords
panel
self
angle
motor
pitch
Prior art date
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Pending
Application number
CN201610940491.7A
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Chinese (zh)
Inventor
陈维彬
郭火来
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Razor USA LLC
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Razor USA LLC
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Publication date
Application filed by Razor USA LLC filed Critical Razor USA LLC
Priority to CN201610940491.7A priority Critical patent/CN106379458A/en
Publication of CN106379458A publication Critical patent/CN106379458A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L15/00Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20Methods, 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L2200/00Type of vehicles
    • B60L2200/24Personal mobility vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L2220/00Electrical machine types; Structures or applications thereof
    • B60L2220/40Electrical machine applications
    • B60L2220/42Electrical machine applications with use of more than one motor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L2220/00Electrical machine types; Structures or applications thereof
    • B60L2220/40Electrical machine applications
    • B60L2220/44Wheel Hub motors, i.e. integrated in the wheel hub
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2202/00Motorised scooters
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/72Electric energy management in electromobility
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/16Information or communication technologies improving the operation of electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

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

A kind of Self-Balancing vehicle and its control system
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.
CN201610940491.7A 2016-10-24 2016-10-24 Self-balance car and control system thereof Pending CN106379458A (en)

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Cited By (3)

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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
CN110626448A (en) * 2019-11-01 2019-12-31 浙江阿尔郎科技有限公司 Main control board, auxiliary control board, balance car control system and balance car for balance car
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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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
CN110626448A (en) * 2019-11-01 2019-12-31 浙江阿尔郎科技有限公司 Main control board, auxiliary control board, balance car control system and balance car for balance car
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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Application publication date: 20170208