CN106627963B - In-line arrangement rear wheels of electric vehicle turns to self-balancing control device and method - Google Patents
In-line arrangement rear wheels of electric vehicle turns to self-balancing control device and method Download PDFInfo
- Publication number
- CN106627963B CN106627963B CN201611014428.7A CN201611014428A CN106627963B CN 106627963 B CN106627963 B CN 106627963B CN 201611014428 A CN201611014428 A CN 201611014428A CN 106627963 B CN106627963 B CN 106627963B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- wheel
- axle steering
- controller
- body inclination
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000000523 sample Substances 0.000 claims abstract description 17
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000009790 rate-determining step (RDS) Methods 0.000 claims description 3
- 238000003786 synthesis reaction Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000005452 bending Methods 0.000 claims 1
- 230000005484 gravity Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- 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
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
-
- 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
- B62K21/00—Steering devices
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention relates to a kind of in-line arrangement electric motor car with two wheels rear-axle steering self-balancing control devices, including speed probe, vehicle-body inclination sensor, front wheel angle sensor, controller and rear-axle steering system, the speed probe is arranged at rear wheels of electric vehicle motor, vehicle-body inclination sensor and controller are fixed on electromobile frame, the hinged place of steering column Yu vehicle frame front tube is arranged in front wheel angle sensor, speed probe, vehicle-body inclination sensor and front wheel angle sensor are respectively connected to controller, the both ends of the rear-axle steering system are respectively fixedly connected with electromobile frame and rear wheels of electric vehicle.Ackermann steer angle, if vehicle must avoid dangerous situation, front-wheel, which changes corner, causes vehicle unbalance, and control rear-wheel carries out assisted diversion, maintains vehicle balance；In vehicle Ultra-Low Speed traveling or stagnation of movement waiting process, change whole center of gravity with rear-axle steering to keep balancing, the comfort that the safety and stagnation of movement for improving Ultra-Low Speed traveling wait.
Description
Technical field
The invention patent relates to in-line arrangement electric motor car with two wheels fields more particularly to a kind of in-line arrangement two-wheel electric back wheels of vehicle to turn
Self-balancing control method is turned to self-balancing control device and a kind of in-line arrangement rear wheels of electric vehicle.
Background technique
In-line arrangement electric motor car with two wheels is still the selection having a preference for when people's trip because of its economy and simplicity.Common two-wheeled
Electric vehicle is safer in linear running, but in turning, because its specific mechanical structure, determines the corner of its front-wheel
It must be maintained in fixed angle, cannot be changed according to speed by riding personnel, otherwise will be unable to keep vehicle flat
Weighing apparatus.At this moment it if barrier or emergency case occurs in operation front, is dodged using front-wheel oversteering or bring to a halt, it is past
Toward vehicle rollover is caused, injury to personnel is rided.
Common electric motor car with two wheels needs to ride personnel and transfers both feet in stagnation of movement, to guarantee vehicle and personnel's balance.
When running at a low speed, it is also necessary to pull both legs and carry out auxiliary balance, at this moment be easy and side vehicle scratches, safety is compared
It is low.
Summary of the invention
In consideration of it, the present invention, which provides a kind of in-line arrangement rear wheels of electric vehicle, turns to self-balancing control device and control method,
Ackermann steer angle, if vehicle must avoid dangerous situation, front-wheel, which changes corner, causes vehicle unbalance, and control rear-wheel carries out auxiliary and turns
To maintenance vehicle balance；In vehicle Ultra-Low Speed traveling or stagnation of movement waiting process, changes whole center of gravity with rear-axle steering and come
Balance is kept, is towed without putting down both feet, the comfort that the safety and stagnation of movement for improving Ultra-Low Speed traveling wait.
In order to achieve the above object, the present invention is achieved by the following technical solutions:
A kind of in-line arrangement rear wheels of electric vehicle steering self-balancing control device, including speed probe, vehicle-body inclination sensing
Device, front wheel angle sensor, controller and rear-axle steering system, the speed probe are arranged at rear wheels of electric vehicle motor, vehicle
Body inclination sensor and controller are fixed on electromobile frame, and front wheel angle sensor is arranged in steering column and vehicle
The hinged place of frame front tube, speed probe, vehicle-body inclination sensor and front wheel angle sensor are respectively connected to controller, institute
The both ends for stating rear-axle steering system are respectively fixedly connected with electromobile frame and rear wheels of electric vehicle.
The rear-axle steering system includes rear-axle steering arc plate, bogie, turns to driving motor, gear, shock-absorbing strut, rear-wheel
Bearing and multiple bogie position-limited wheels, the rear-axle steering arc front edge of board is fixedly connected with electromobile frame, rear end is arc-shaped
It bends backward, the bogie is rigid structure, and bogie front end is fixed with multiple bogie position-limited wheels, rear-axle steering arc plate
Upper and lower end face be meshed respectively with the race of bogie position-limited wheel, be in clamp position, the rear end of bogie, which has been respectively articulated with, to be kept away
Strut and rear-wheel bearing are shaken, the other end of shock-absorbing strut is hinged on the support body of rear-wheel bearing, the other end and electricity of rear-wheel bearing
Motor-car rear-wheel motor mandrel is hinged, and steering driving motor is fixed on the bogie, and the output end for turning to driving motor is set
There is gear, rear-axle steering arc plate concave surface is equipped with the rack gear being meshed with gear.
The steering driving motor is longitudinally disposed and has upper and lower two output ends, and two output ends are respectively equipped with gear,
Rear-axle steering arc plate concave surface is equipped with the rack gear being meshed respectively with two gears.
The quantity of the bogie position-limited wheel is 4, and the race of two of them bogie position-limited wheel is upper with steering arc plate
End face engagement, the race of other two bogie position-limited wheel is engaged with the lower end surface for turning to arc plate, on bogie, to fix four
The arm of a bogie position-limited wheel is horizontally directed to the arc core of rear-axle steering arc plate respectively.
The shock-absorbing strut and the quantity supported with rear-wheel are 2.
The shock-absorbing strut is equipped with spring.
The steering driving motor is connected to controller.
E-Gas interface is additionally provided in the controller, E-Gas interface is connected to rear wheels of electric vehicle electric machine speed regulation
Device.
The present invention also provides a kind of in-line arrangement rear wheels of electric vehicle to turn to self-balancing control method, which is characterized in that controller
The information for reading speed probe, vehicle-body inclination sensor, front wheel angle sensor in real time, obtains travel speed V, vehicle body inclines
The data of gradient B and front wheel angle A thoroughly do away with classical mechanics principle and are not difficult to show that three data meet following relationship: VA ∝ B,
Rate-determining steps are as follows:
Step 1: controller synthesis calculate travel speed V and front wheel angle A data, measurement vehicle-body inclination B whether
It is suitble in the normal range (NR) for maintaining vehicle balance: if so, without control；If it is not, then carrying out step 2；
Step 2: controller controls the steering driving motor of rear-axle steering system, changes rear-wheel corner:
If vehicle-body inclination B is less than normal range (NR), controller driving turns to driving motor rotation, and rear-wheel is to front-wheel steer
Direction movement；
If vehicle-body inclination B is greater than normal range (NR), controller driving turns to driving motor rotation, and rear-wheel is to front-wheel steer
Opposite direction movement；
Step 3: after rear-axle steering system adjusts rear-axle steering, vehicle-body inclination B and front wheel angle A, travel speed V
Tending to matching status, vehicle maintains balance, and controller turns to driving motor by control and is gradually reduced rear-axle steering angle, until after
Taking turns steering angle is zero.
The beneficial effects of the present invention are: electric vehicle is in daily driving process, in Ackermann steer angle, if vehicle must be kept away
Allow dangerous situation, front-wheel, which changes corner, causes vehicle unbalance, and control rear-wheel carries out assisted diversion, maintains vehicle balance；It is ultralow in vehicle
In speed traveling or stagnation of movement waiting process, changes whole center of gravity with rear-axle steering to keep balancing, is towed without putting down both feet,
To significantly improve safety of the in-line arrangement two wheeler when turning avoids dangerous situation, and stagnation of movement and Ultra-Low Speed can be improved when driving
Safety and comfort.
Detailed description of the invention:
Fig. 1 is general structure schematic diagram of the present invention；
Fig. 2 is the enlarged local section schematic diagram of rear-axle steering system of the present invention；
Fig. 3 is the enlarged partial top schematic diagram of rear-axle steering system of the present invention；
Specific embodiment:
It is described in detail according to attached drawing below about exemplary embodiment of the present invention.
Meaning representated by serial number in figure are as follows: 1- electromobile frame, 2- controller, 3- vehicle-body inclination sensor, the side 4-
Xiang Zhu, 5- front wheel angle sensor, 6- front-wheel, 7- speed probe, 8- shock-absorbing strut, the bearing of 9- rear-wheel, 10- rear-axle steering
System, 11- rear-axle steering arc plate, 12- bogie position-limited wheel, 13- bogie, 14- gear, 15- steering driving motor, 16- rack gear,
20- rear wheels of electric vehicle motor.
Illustrate exemplary embodiment of the present invention below in conjunction with concrete condition:
A kind of in-line arrangement rear wheels of electric vehicle as shown in Figure 1, Figure 2 and Figure 3 turns to self-balancing control device, including revolving speed passes
Sensor 7, vehicle-body inclination sensor 3, front wheel angle sensor 5, controller 2 and rear-axle steering system 10, the speed probe 7
It is arranged at rear wheels of electric vehicle motor 20, vehicle-body inclination sensor 3 and controller 2 are fixed on electromobile frame 1,
The hinged place of steering column 4 Yu vehicle frame front tube, speed probe 7, vehicle-body inclination sensor 3 is arranged in front wheel angle sensor 5
It is respectively connected to controller 2 with front wheel angle sensor 5, the both ends of the rear-axle steering system 10 are respectively fixedly connected with electric bicycle
Frame 1 and rear wheels of electric vehicle.
The rear-axle steering system 10 includes rear-axle steering arc plate 11, bogie 13, turns to driving motor 15, gear 14, keeps away
Strut 8, rear-wheel bearing 9 and multiple bogie position-limited wheels 12 are shaken, 11 front end of rear-axle steering arc plate and electromobile frame 1 are fixed
Connection, rear end are arc-shaped and bend backward, and the bogie 13 is rigid structure, and 13 front end of bogie is fixed with multiple steerings
The upper and lower end face of frame position-limited wheel 12, rear-axle steering arc plate 11 is meshed with the race of bogie position-limited wheel 12 respectively, in clamping shape
State, the rear end of bogie 13 have been respectively articulated with shock-absorbing strut 8 and rear-wheel bearing 9, and the other end of shock-absorbing strut 8 is hinged on rear-wheel branch
It holds on 9 support body, the mandrel of the other end and rear wheels of electric vehicle motor 20 of rear-wheel bearing 9 is hinged, fixed on the bogie 13
Equipped with turn to driving motor 15, turn to driving motor 15 output end be equipped with gear 14,11 concave surface of rear-axle steering arc plate be equipped with
The rack gear 16 that gear 14 is meshed.
The steering driving motor 15 is longitudinally disposed and has upper and lower two output ends, and two output ends are respectively equipped with gear
14,11 concave surface of rear-axle steering arc plate is equipped with the rack gear 16 being meshed respectively with two gears 14.
The quantity of the bogie position-limited wheel 12 is 4, the race and steering arc plate of two of them bogie position-limited wheel 12
11 upper surface engagement, the race of other two bogie position-limited wheel 12 are engaged with the lower end surface for turning to arc plate 11, bogie 13
The upper, arm to fix four bogie position-limited wheels 12 is horizontally directed to the arc core of rear-axle steering arc plate 11 respectively.
The shock-absorbing strut 8 and with rear-wheel bearing 9 quantity be 2.The shock-absorbing strut 8 is equipped with spring.It is described
It turns to driving motor 15 and is connected to controller 2.
E-Gas interface is additionally provided in the controller 2, E-Gas interface is connected to rear wheels of electric vehicle electric machine speed regulation
Device.
The embodiment of the present invention is also provided the present invention also provides a kind of in-line arrangement rear wheels of electric vehicle steering self-balancing control method,
It is characterized in that, controller reads the information of speed probe, vehicle-body inclination sensor, front wheel angle sensor in real time, obtain
To the data of travel speed V, vehicle-body inclination B and front wheel angle A, thoroughly does away with classical mechanics principle and be not difficult to show that three data meet
Following relationship: VA ∝ B, rate-determining steps are as follows:
Step 1: controller synthesis calculate travel speed V and front wheel angle A data, measurement vehicle-body inclination B whether
It is suitble in the normal range (NR) for maintaining vehicle balance: if so, without control；If it is not, then carrying out step 2；
Step 2: controller controls the steering driving motor of rear-axle steering system, changes rear-wheel corner:
If vehicle-body inclination B is less than the normal range (NR) of vehicle-body inclination, controller driving turns to driving motor rotation, after
It takes turns to front-wheel steer direction and acts；
If vehicle-body inclination B is greater than the normal range (NR) of vehicle-body inclination, controller driving turns to driving motor rotation, after
It takes turns to front-wheel steer opposite direction and acts；
Step 3: after rear-axle steering system adjusts rear-axle steering, vehicle-body inclination B and front wheel angle A, travel speed V
Tending to matching status, vehicle maintains balance, and controller turns to driving motor by control and is gradually reduced rear-axle steering angle, until after
Taking turns steering angle is zero.
In driving process, working principle of the present invention is as follows:
As shown in Figure 1, the present invention includes speed probe, vehicle-body inclination sensor, front wheel angle sensor, control
The devices such as device, rear-axle steering system, E-Gas interface.
Speed probe is installed on rear wheels of electric vehicle motor side, for perceiving motor speed, is counted by radius of wheel
It calculates, the travel speed of available vehicle.
Vehicle-body inclination sensor is installed on the crossbeam of electromobile frame, can perceive the tilt angle of vehicle body.
Front wheel angle sensor is installed on the hinge point of steering column and vehicle frame, can perceive the corner of front-wheel.
Controller measures whether body sway angle is being suitble to maintain vehicle after COMPREHENSIVE CALCULATING travel speed and front wheel angle
Balance normal range (NR) in: if gradient match, without control；If gradient has exceeded normal range (NR), right
Rear-axle steering system is controlled, and changes rear-wheel corner, it may be necessary to increase rear-wheel in a short time by E-Gas interface
Thrust is to realize control effect.
As shown in Figures 2 and 3, rear-axle steering system includes rear-axle steering arc plate, bogie, bogie position-limited wheel, turns to and drive
Dynamic motor and gear, shock-absorbing strut and rear-wheel bearing.
Red light and Ultra-Low Speed are waited when driving in vehicle, can also change vehicle and riding by changing rear-wheel corner
The position of centre of gravity of personnel transfers both feet without riding personnel again, while improving safety, also improves and ride to keep balancing
The comfort multiplied.
Controller control method is as follows:
Direction in the case where keeping the identical situation of Vehicle Speed, when independently keeping balancing by riding personnel, when turning
Corner and vehicle-body inclination can keep certain matching degree, thoroughly do away with classical mechanics principle it is found that its matching relationship and vehicle weight
And riding person weight is unrelated, belongs to regular collocation between different vehicle-body inclination B and front wheel angle A.If bend becomes
In gentle, then front wheel angle A is less than normal, and vehicle-body inclination B is also small；If instead bend is sharp turn, then front wheel angle A is bigger than normal, vehicle
Body gradient B is also bigger than normal.And front wheel angle will necessarily be in the same direction with vehicle-body inclination, otherwise cannot keep vehicle balance.Therefore, no
Seldom go out travel speed V, vehicle-body inclination B and tri- data of front wheel angle A meet following relationship: VA ∝ B, in known V and A
Under the premise of, further according to the physical model calculating that vehicle is excessively curved, it is not difficult to obtain theoretical body sway needed for maintaining vehicle balance
B ' is spent, theoretical vehicle-body inclination B ' adds or subtracts certain numerical value or percentage, is denoted as the normal range (NR) of vehicle-body inclination
Upper and lower bound, so that controller compares the normal range (NR) for obtaining vehicle-body inclination and vehicle-body inclination B, to rear rotation
To being to be controlled.
According to above-mentioned principle, control method of the invention can also extend are as follows:
Under any travel speed of controller real-time monitoring, the matching of front wheel angle and vehicle-body inclination, if belonged to normal
Collocation, then do not do additional move, when normally travel, will not interfere the normal control of riding personnel.If there is condition of road surface, ride
When multiplying personnel and deliberately changing front wheel angle size, front wheel angle and vehicle-body inclination are no longer matched, and controller detects front wheel angle
More than setting front wheel angle matching threshold when, control rear-axle steering system acted.When front wheel angle is less than matching value, rear-wheel
It is acted to body sway direction, when front wheel angle is greater than matching value, rear-wheel counteragent, vehicle-body inclination can be within the of short duration time
Zero passage, into the other side.
After the adjustment of rear-axle steering system, vehicle-body inclination can be with corner approximate match, and at this moment controller can be gradually reduced
Rear-axle steering angle returns to zero after vehicle corner and gradient restore matching.
Similarly, control method of the invention can also extend are as follows:
In the identical situation of vehicle front wheel angle, when speed increases, vehicle needs bigger vehicle-body inclination；Speed subtracts
When slow, same vehicle corner needs smaller vehicle-body inclination.
When vehicle lay-off, rear-wheel adjustment direction is also and identical when driving.When the inclination of vehicle left-hand, rear-wheel can be done counterclockwise
Direction rotates, and pushes the center of gravity of riding personnel and vehicle to right side, will possess the acceleration of opposite direction at this time, until entering anti-
To inclination, maintain gradient always near vertical direction after correspondingly adjusting rear wheel angle.
The present invention can be applied to common electric motor car with two wheels, significantly improve in-line arrangement electric motor car with two wheels in turning evacuation danger
Safety when feelings, and the safety when driving of static and Ultra-Low Speed and comfort can be improved.
The foregoing is merely the schematical specific embodiment of the present invention, the range being not intended to limit the invention is any
The equivalent changes and modifications that those skilled in the art is made under the premise of not departing from present inventive concept and principle should all belong to
In the scope of protection of the invention.
Claims (8)
1. a kind of in-line arrangement rear wheels of electric vehicle turns to self-balancing control device, which is characterized in that incline including speed probe, vehicle body
Tilt sensor, front wheel angle sensor, controller and rear-axle steering system, the speed probe setting is in rear wheels of electric vehicle electricity
At machine, vehicle-body inclination sensor and controller are fixed on electromobile frame, and front wheel angle sensor is arranged in side
The hinged place of Xiang Zhuyu vehicle frame front tube, speed probe, vehicle-body inclination sensor and front wheel angle sensor are respectively connected to
The both ends of controller, the rear-axle steering system are respectively fixedly connected with electromobile frame and rear wheels of electric vehicle；
The rear-axle steering system includes rear-axle steering arc plate, bogie, turns to driving motor, gear, shock-absorbing strut, rear-wheel bearing
With multiple bogie position-limited wheels, the rear-axle steering arc front edge of board is fixedly connected with electromobile frame, rear end is arc-shaped backward
Bending, the bogie are rigid structure, and bogie front end is fixed with multiple bogie position-limited wheels, rear-axle steering arc plate it is upper
Lower end surface is meshed with the race of bogie position-limited wheel respectively, is in clamp position, the rear end of bogie has been respectively articulated with shock-absorbing support
Bar and rear-wheel bearing, the other end of shock-absorbing strut are hinged on the support body of rear-wheel bearing, the other end and electric vehicle of rear-wheel bearing
Rear-wheel motor mandrel is hinged, and steering driving motor is fixed on the bogie, and the output end for turning to driving motor is equipped with tooth
Wheel, rear-axle steering arc plate concave surface are equipped with the rack gear being meshed with gear.
2. in-line arrangement rear wheels of electric vehicle according to claim 1 turns to self-balancing control device, which is characterized in that described turn
Longitudinally disposed to driving motor and have upper and lower two output ends, two output ends are respectively equipped with gear, and rear-axle steering arc plate is recessed
Face is equipped with the rack gear being meshed respectively with two gears.
3. in-line arrangement rear wheels of electric vehicle according to claim 1 turns to self-balancing control device, which is characterized in that described turn
It is 4 to the quantity of frame position-limited wheel, the race of two of them bogie position-limited wheel is engaged with the upper surface of steering arc plate, and in addition two
The race of a bogie position-limited wheel is engaged with the lower end surface for turning to arc plate, on bogie, to fix four bogie position-limited wheels
Arm be horizontally directed to the arc core of rear-axle steering arc plate respectively.
4. in-line arrangement rear wheels of electric vehicle according to claim 1 turns to self-balancing control device, which is characterized in that described to keep away
The quantity for shaking strut and rear-wheel bearing is 2.
5. in-line arrangement rear wheels of electric vehicle according to claim 1 turns to self-balancing control device, which is characterized in that described to keep away
It shakes strut and is equipped with spring.
6. in-line arrangement rear wheels of electric vehicle according to claim 1 turns to self-balancing control device, which is characterized in that described turn
Controller is connected to driving motor.
7. in-line arrangement rear wheels of electric vehicle according to claim 1 turns to self-balancing control device, which is characterized in that the control
E-Gas interface is additionally provided in device processed, E-Gas interface is connected to rear wheels of electric vehicle machine governor.
8. a kind of control method of in-line arrangement rear wheels of electric vehicle self-balancing control device according to claim 1, feature
It is, controller reads the information of speed probe, vehicle-body inclination sensor, front wheel angle sensor in real time, is travelled
The data of speed V, vehicle-body inclination B and front wheel angle A thoroughly do away with classical mechanics principle and are not difficult to show that three data meet such as ShiShimonoseki
System: VA ∝ B, rate-determining steps are as follows:
Step 1: controller synthesis calculates the data of travel speed V and front wheel angle A, measures whether vehicle-body inclination B is being suitble to
In the normal range (NR) for maintaining vehicle balance: if so, without control；If it is not, then carrying out step 2；
Step 2: controller controls the steering driving motor of rear-axle steering system, changes rear-wheel corner:
If vehicle-body inclination B be less than vehicle-body inclination normal range (NR), controller driving turn to driving motor rotation, rear-wheel to
The movement of front-wheel steer direction；
If vehicle-body inclination B be greater than vehicle-body inclination normal range (NR), controller driving turn to driving motor rotation, rear-wheel to
The movement of front-wheel steer opposite direction；
Step 3: after rear-axle steering system adjusts rear-axle steering, vehicle-body inclination B and front wheel angle A, travel speed V tend to
Matching status, vehicle maintain balance, and controller turns to driving motor by control and is gradually reduced rear-axle steering angle, until rear rotation
It is zero to angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611014428.7A CN106627963B (en) | 2016-11-18 | 2016-11-18 | In-line arrangement rear wheels of electric vehicle turns to self-balancing control device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611014428.7A CN106627963B (en) | 2016-11-18 | 2016-11-18 | In-line arrangement rear wheels of electric vehicle turns to self-balancing control device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106627963A CN106627963A (en) | 2017-05-10 |
| CN106627963B true CN106627963B (en) | 2019-07-23 |
Family
ID=58808819
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611014428.7A Expired - Fee Related CN106627963B (en) | 2016-11-18 | 2016-11-18 | In-line arrangement rear wheels of electric vehicle turns to self-balancing control device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106627963B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107150736A (en) * | 2017-05-25 | 2017-09-12 | 叶矛子 | A kind of bascule for being difficult to topple over |
| CN107380302A (en) * | 2017-08-09 | 2017-11-24 | 周起纳 | A kind of two-wheel vehicle used left and right self balancing device |
| CN109515600A (en) * | 2018-11-06 | 2019-03-26 | 北京久硕新材科技发展有限公司 | The two-wheel electric vehicle of the double adjustable adhesive force driven of timesharing |
| CN109515601A (en) * | 2018-11-12 | 2019-03-26 | 北京久硕新材科技发展有限公司 | The wide flat-tyre two-wheel electric vehicle of adjustable adhesive force |
| DE102019205111A1 (en) * | 2019-04-10 | 2020-10-15 | Robert Bosch Gmbh | Process for the automated equilibrium stabilization of a motorized two-wheeler and motorized two-wheeler |
| CN111572351A (en) * | 2020-05-08 | 2020-08-25 | 重庆北斗捷安新能源科技有限公司 | Auxiliary parking system of electric two-wheeled vehicle and auxiliary method thereof |
| CN111572473A (en) * | 2020-05-08 | 2020-08-25 | 重庆北斗捷安新能源科技有限公司 | Electric motorcycle circuit system without main cable |
| DE102021128574A1 (en) | 2021-11-03 | 2023-05-04 | Bayerische Motoren Werke Aktiengesellschaft | Vehicle, in particular motor vehicle |
| CN115489654B (en) * | 2022-09-27 | 2023-07-18 | 广西汽车集团有限公司 | Dynamic self-balancing auxiliary system of bicycle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1273506A1 (en) * | 2001-07-04 | 2003-01-08 | Yamaha Hatsudoki Kabushiki Kaisha | Two-wheeled vehicle |
| CN200942834Y (en) * | 2006-08-18 | 2007-09-05 | 郑恒源 | Front-rear wheel reversal lifting wheel electric vehicle |
| CN103079946A (en) * | 2010-06-25 | 2013-05-01 | 爱考斯研究株式会社 | Vehicle |
| CN205010396U (en) * | 2015-09-06 | 2016-02-03 | 盐城玉欣电动科技有限公司 | Control balanced motorcycle |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012030766A (en) * | 2010-07-29 | 2012-02-16 | Masao Yokoyama | Two-wheel vehicle which does not fall down |
| JP5913766B2 (en) * | 2012-04-01 | 2016-04-27 | タマデン工業株式会社 | Unmanned motorcycle with attitude control |
-
2016
- 2016-11-18 CN CN201611014428.7A patent/CN106627963B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1273506A1 (en) * | 2001-07-04 | 2003-01-08 | Yamaha Hatsudoki Kabushiki Kaisha | Two-wheeled vehicle |
| CN200942834Y (en) * | 2006-08-18 | 2007-09-05 | 郑恒源 | Front-rear wheel reversal lifting wheel electric vehicle |
| CN103079946A (en) * | 2010-06-25 | 2013-05-01 | 爱考斯研究株式会社 | Vehicle |
| CN205010396U (en) * | 2015-09-06 | 2016-02-03 | 盐城玉欣电动科技有限公司 | Control balanced motorcycle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106627963A (en) | 2017-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106627963B (en) | In-line arrangement rear wheels of electric vehicle turns to self-balancing control device and method | |
| EP2123547B1 (en) | Inverted pendulum mobile vehicle | |
| CN105539658B (en) | A kind of safe double-wheel self-balancing car | |
| JP5413377B2 (en) | vehicle | |
| CN101780827B (en) | Personal mobility vehicle | |
| JP2001506947A (en) | Single-rail motorcycle | |
| CN106420202A (en) | Dynamic balance electric wheelchair | |
| KR101042918B1 (en) | Self balancing electric vehicle having two-wheel | |
| CN109878616A (en) | The support steering mechanism of two front wheels motorcycle | |
| CN206049911U (en) | A kind of device of active control double-front wheel tricycle body sway | |
| JP2012011997A (en) | Vehicle | |
| CN106184538A (en) | A kind of device actively controlling double-front wheel tricycle body sway | |
| JP2011230727A (en) | Vehicle | |
| CN205769914U (en) | Anti-rollover deflection mechanism for tricycle | |
| CN105947050A (en) | Electric self-balancing double-wheel vehicle | |
| JP5458722B2 (en) | vehicle | |
| EP4316966A1 (en) | Vehicle | |
| CN108438115A (en) | Three-wheeled motor car | |
| CN107933795A (en) | A kind of gear shaft gear coordinates the scheduled bus for adjusting length of wagon | |
| CN208393558U (en) | Three-wheeled motor car | |
| EP4316963A1 (en) | Vehicle | |
| JP2011194953A (en) | Vehicle | |
| JP5440299B2 (en) | vehicle | |
| CN109878615A (en) | The front wheel supporting steering mechanism of two front wheels motorcycle | |
| CN206171646U (en) | Two -wheeled electrodynamic balance car |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190723 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |