CN107336775A - A kind of double single wheel Self-balance electric vehicles and its control method for coordinating - Google Patents

A kind of double single wheel Self-balance electric vehicles and its control method for coordinating Download PDF

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Publication number
CN107336775A
CN107336775A CN201710606721.0A CN201710606721A CN107336775A CN 107336775 A CN107336775 A CN 107336775A CN 201710606721 A CN201710606721 A CN 201710606721A CN 107336775 A CN107336775 A CN 107336775A
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China
Prior art keywords
pin
wheel
revolver
resistance
right wheel
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CN201710606721.0A
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Chinese (zh)
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CN107336775B (en
Inventor
周奇勋
马存超
陈莎
王坤
范炜东
李鹏博
徐贵超
陶海莉
刘娜
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Xi'an Boshidun Electric Equipment Manufacturing Co ltd
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Xian University of Science and Technology
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Priority to CN201710606721.0A priority Critical patent/CN107336775B/en
Publication of CN107336775A publication Critical patent/CN107336775A/en
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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
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • 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
    • B62M7/00—Motorcycles characterised by position of motor or engine
    • B62M7/12—Motorcycles characterised by position of motor or engine with the engine beside or within the driven wheel
    • 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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

The invention discloses a kind of double single wheel Self-balance electric vehicles and its control method for coordinating, double single wheel Self-balance electric vehicles include the left road wheel trampled for left foot and the right road wheel trampled for right crus of diaphragm, and left road wheel and right road wheel are separate；Left lateral suitcase with wheels includes left foot supporting plate, revolver wheel hub motor, revolver control board and revolver battery, and left foot supporting plate includes left level board, left side vertical plate, front left side vertical plate and left rear side vertical plate；Right lateral suitcase with wheels includes right crus of diaphragm supporting plate, right wheel wheel hub motor, right wheel control board and right wheel battery, and right crus of diaphragm supporting plate includes right level board, right vertical plate, forward right side vertical plate and right lateral side vertical plate；Its control method for coordinating includes step：First, starting control；2nd, the coordination control of left road wheel and right road wheel.Small volume of the present invention, it is in light weight, carry, convenient storage, endurance is strong, and maneuverability, radius of turn is small, function-stable, reliable, usage comfort height, practical.

Description

A kind of double single wheel Self-balance electric vehicles and its control method for coordinating
Technical field
The invention belongs to electric walk instead technical field of transportation means, and in particular to a kind of double single wheel Self-balance electric vehicles and its Control method for coordinating.
Background technology
In recent years, Global Greenhouse Effect getting worse, city haze weather influence human body health, reduce carbon emission Amount, control air pollution have become human consensus.People increasingly focus on life and the trip mode of health.With science and technology The popularization of progressive and low-carbon environment-friendly trip theory, using electric energy as vehicles such as the new-energy automobile of power, buses in life What is obtained in work is widely applied, because vehicle exhaust is to cause one of important pollution sources of urban air pollution.According to system Count 2015, contained haze particle accounts for the 22.2% of Beijing haze particle total amount in the motor-vehicle tail-gas of Beijing.With this Simultaneously as vehicle caused by traffic congestion stagnates the dirt that discharged exhaust emission also exacerbates urban air environment for a long time Dye degree.
In order to solve the problems, such as urban congestion, reduce air pollution, from lightness, miniaturization, low-carbon environment-friendly traffic work Tool also attracts the concern of people.Short distance traffic instrument in city mainly has electric bicycle, electric return board, Double-wheel self-balancing at present Electric car, single wheel Self-balance electric vehicle etc..
Double-wheel self-balancing electric car and single wheel Self-balance electric vehicle are controlled using principle of mobile equilibrium to be advanced and retreats High-tech intelligent artifact, with the inclination of body, it can indiscriminately ad. as one wishes control travel speed and direction of advance.Due to its volume It is compact, flexible, can be in road than being used in small spatial dimension of the narrow or personnel than comparatively dense, by many consumers' Favor, it is the running vehicle of current not only fashion but also environmental protection.Double-wheel self-balancing electric car and single wheel Self-balance electric vehicle make With trip and square patrol police, cell patrol Security Personnel to people etc. bring great convenience.
But Double-wheel self-balancing electric car of the prior art, trample platform, two pin using two one piece of wheel supports Trample and moved ahead on platform is trampled simultaneously, two wheels typically use a set of control system, and an active, another is driven, also Following defect and deficiency be present：(1) complicated, overall volume is larger, when bicyclist ride stretch Cheng Xiang change walking, or When bicyclist rides stretch journey discovery not enough power supply, it is necessary to carry, need to store after bicyclist arrives at, but It is to carry laborious, Ms and child remove motionless, and storage floor space is big；(2) two wheels are divided into driving wheel and driven pulley, adopt Actively moved in turn with the control of a set of control system, driven pulley, which follows, actively to move in turn, before being controlled car body by remote control lead-out wire Enter, retreat, control mode is not intelligent enough, and radius of turn during walking is larger, and motion mode switching is slower；(3) power consumption is high, Endurance is poor.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that provide a kind of double single wheels certainly Balance electric car, its is simple in construction, small volume, in light weight, carries, convenient storage, endurance is strong, green, motor-driven spirit Living, radius of turn is small, function-stable, reliable, usage comfort height, practical, easy to utilize.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of double single wheel Self-balance electric vehicles, it is special Sign is：Including the left road wheel trampled for left foot and the right road wheel trampled for right crus of diaphragm, the left road wheel and right road wheel Independently of each other；
The left lateral suitcase with wheels includes left foot supporting plate, revolver wheel hub motor and revolver control board, and is revolver wheel Hub motor and the revolver battery of revolver control board power supply, the left foot supporting plate include being used for the left level for placing left foot Plate, the left side vertical plate for being vertically connected on left level board left bottom, the front left side for being vertically connected on bottom on front side of left level board Vertical plate and the left rear side vertical plate for being vertically connected on left level board bottom rear, the axle of the revolver wheel hub motor erect with left side Straight panel is fixedly connected, and the revolver control board and revolver battery are fixedly connected with the bottom surface of left level board；The left side Revolver control circuit is provided with wheel control board, and the revolver control circuit includes revolver microcontroller and for by revolver The voltage conversion of battery output is voltage needed for each electricity consumption module and be each electricity consumption in revolver control circuit in revolver control circuit The revolver voltage conversion circuit of module for power supply, and the revolver wireless communication module to connect with revolver microcontroller；The revolver Revolver battery charger is connected on battery, the input of the revolver microcontroller is terminated with for inclining to three axles of left road wheel The revolver pressure that revolver gyroscope that rake angle is detected in real time, the pressure for being subject to left road wheel are detected in real time Detection circuit, for left road wheel is positioned revolver GPS module, for the progress of the winding current of revolver wheel hub motor The revolver motor current detection circuit detected in real time and the electricity of the revolver for being detected in real time to the output voltage of revolver battery Pond electric quantity detecting circuit, the revolver battery power detection circuit are connected with the output end of revolver battery, the revolver microcontroller The output of device is terminated with the left motor-drive circuit for driving revolver wheel hub motor, the left motor-drive circuit and revolver electricity The output end connection in pond, the revolver wheel hub motor are connected with left motor-drive circuit；It is provided with the revolver wheel hub motor For the revolver motor Rotating speed measring circuit detected in real time to the rotating speed of revolver wheel hub motor, the revolver motor rotating speed inspection Slowdown monitoring circuit is connected with the input of revolver microcontroller；
The right lateral suitcase with wheels includes right crus of diaphragm supporting plate, right wheel wheel hub motor and right wheel control board, and is right wheel wheel Hub motor and the right wheel battery of right wheel control board power supply, the right crus of diaphragm supporting plate include being used for the right level for placing right crus of diaphragm Plate, the right vertical plate for being vertically connected on right level board bottom right side, the forward right side for being vertically connected on bottom on front side of right level board Vertical plate and the right lateral side vertical plate for being vertically connected on right level board bottom rear, the axle of the right wheel wheel hub motor erect with right side Straight panel is fixedly connected, and the right wheel control board and right wheel battery are fixedly connected with the bottom surface of right level board；The right side Right wheel control circuit is provided with wheel control board, and the right wheel control circuit includes right wheel microcontroller and for by right wheel The voltage conversion of battery output is voltage needed for each electricity consumption module and be each electricity consumption in right wheel control circuit in right wheel control circuit The right wheel voltage conversion circuit of module for power supply, and the right wheel wireless communication module to connect with right wheel microcontroller；The right wheel Wireless communication module and revolver wireless communication module wireless connection are simultaneously communicated, and right wheel battery charging electricity is connected on the right wheel battery Road, the input of the right wheel microcontroller are terminated with the right wheel for being detected in real time to three axle angles of inclination of right road wheel Right wheel pressure detection circuit that gyroscope, the pressure for being subject to right road wheel are detected in real time, for right road wheel The right wheel GPS module that is positioned, the infrared survey for being detected in real time to the distance between left road wheel and right road wheel Away from circuit, for the right wheel motor current detecting circuit that is detected in real time to the winding current of right wheel wheel hub motor and for pair The right wheel battery power detection circuit that the output voltage of right wheel battery is detected in real time, the right wheel battery power detection circuit It is connected with the output end of right wheel battery, the output of the right wheel microcontroller is terminated with voice playing circuit and for driving right wheel The right motor-drive circuit of wheel hub motor, the right motor-drive circuit are connected with the output end of right wheel battery, the right wheel wheel Hub motor is connected with right motor-drive circuit；It is provided with the right wheel wheel hub motor for entering to the rotating speed of right wheel wheel hub motor The right wheel motor speed detection circuit that row detects in real time, the input of the right wheel motor speed detection circuit and right wheel microcontroller End connection.
A kind of above-mentioned double single wheel Self-balance electric vehicles, it is characterised in that：The revolver voltage conversion circuit and right wheel electricity The circuit structure of voltage conversion circuit is identical and the 24V including being connected with the output end of revolver battery or right wheel battery turns 15V Circuit, 24V turn 5V circuits and 24V turns 3.3V circuits, and turn the 5V that the output ends of 5V circuits is connected with 24V and turn 1.9V circuits； The revolver microcontroller is model TMS320F28335 DSP U5, and the right wheel microcontroller is Model TMS320F28335 DSP U21.
A kind of above-mentioned double single wheel Self-balance electric vehicles, it is characterised in that：The 24V, which turns 15V circuits, includes model MC33063 DC-DC converter chip U3, sustained diode 1 and inductance L2, the 1st of the DC-DC converter chip U3 draws Pin, the 7th pin and the 8th pin are connected by resistance R6 with DC-DC converter chip U3 the 6th pin, the DC-DC conversion Device chip U3 the 6th pin is that the 24V turns the 24V voltage input ends of 15V circuits, and is grounded by polar capacitor C8；It is described DC-DC converter chip U3 the 2nd pin is connected with the negative electrode of sustained diode 1 and inductance L2 one end, the pole of afterflow two Pipe D1 plus earth, the other end of the inductance L2 turns the output end VCC 15V of 15V circuits for the 24V, and passes through polarity Electric capacity C6 is grounded；The 3rd pin of the DC-DC converter chip U3 is grounded by polar capacitor C11, the DC-DC converter Chip U3 the 4th pin ground connection, the 5th pin of the DC-DC converter chip U3 is grounded by resistance R2, and passes through resistance R4 The output end VCC 15V for turning 15V circuits with the 24V are connected；The 24V, which turns 5V circuits, includes model MC33063 DC-DC Converter chip U4, sustained diode 2 and inductance L4, the 1st pin, the 7th pin and the 8th of the DC-DC converter chip U4 Pin is connected by resistance R14 with DC-DC converter chip U4 the 6th pin, and the 6th of the DC-DC converter chip U4 the Pin is that the 24V turns the 24V voltage input ends of 5V circuits, and is grounded by polar capacitor C18；The DC-DC converter core Piece U4 the 2nd pin is connected with the negative electrode of sustained diode 2 and inductance L4 one end, and the anode of the sustained diode 2 connects Ground, the other end of the inductance L4 turns the output end VCC 5V of 5V circuits for the 24V, and is grounded by polar capacitor C17；Institute The 3rd pin for stating DC-DC converter chip U4 is grounded by polar capacitor C19, and the 4th of the DC-DC converter chip U4 draws Pin is grounded, and the 5th pin of the DC-DC converter chip U4 is grounded by resistance R9, and is turned by the resistance R10 and 24V The output end VCC 5V connections of 5V circuits；The 24V, which turns 3.3V circuits, includes model MC33063 DC-DC converter chip U7, sustained diode 3 and inductance L5, the 1st pin, the 7th pin and the 8th pin of the DC-DC converter chip U7 pass through Resistance R26 is connected with DC-DC converter chip U7 the 6th pin, and the 6th pin of the DC-DC converter chip U7 is described 24V turns the 24V voltage input ends of 3.3V circuits, and is grounded by polar capacitor C23；The 2nd of the DC-DC converter chip U7 Pin is connected with the negative electrode of sustained diode 3 and inductance L5 one end, the plus earth of the sustained diode 3, the electricity The sense L5 other end turns the output end VCC 3.3V of 3.3V circuits for the 24V, and is grounded by polar capacitor C22；The DC- DC converter chips U7 the 3rd pin is grounded by polar capacitor C24, and the 4th pin of the DC-DC converter chip U7 connects Ground, the 5th pin of the DC-DC converter chip U7 are grounded by resistance R18, and turn 3.3V by resistance R21 and the 24V The output end VCC 3.3V connections of circuit；The 24V turns the 24V voltage input ends of 15V circuits, the 24V turns the 24V of 5V circuits Voltage input end and the 24V turn the 24V voltage input ends of 3.3V circuits by switching S2 and revolver battery or right wheel battery Output end connection；The 5V, which turns 1.9V circuits, includes voltage-stablizer TPS767D301, LED 1 and inductance L1, described The output end VCC 5V that voltage-stablizer TPS767D301 the 5th pin and the 6th pin turns 5V circuits with the 24V are connected, and are passed through Polar capacitor C2 in parallel and nonpolar electric capacity C1 ground connection；The 3rd pin of the voltage-stablizer TPS767D301, the 4th pin, the 9th Pin and the 10th pin are grounded, and the 11st pin and the 12nd pin of the voltage-stablizer TPS767D301 turn 5V with the 24V The output end VCC 5V connections of circuit, and be grounded by nonpolar electric capacity C7；The 23rd pin of the voltage-stablizer TPS767D301 Digital voltage output end the VDD 1.9V, the 5V for being connected with the 24th pin and turning 1.9V circuits for the 5V turn 1.9V circuits Digital voltage output end VDD 1.9V are grounded by the resistance R1 and resistance R5 of series connection, and pass through the polar capacitor C5 of parallel connection and non- Polar capacitor C3 is grounded；The digital voltage output end VDD 1.9V that the 5V turns 1.9V circuits are connected with inductance L1 one end, institute The other end for stating inductance L1 turns the analog voltage output end VDDA 1.9V of 1.9V circuits for the 5V, and passes through polar capacitor C4 Ground connection；The anode of the LED 1 is connected by resistance R3 with voltage-stablizer TPS767D301 the 5th pin, the hair Optical diode LED1 minus earth.
A kind of above-mentioned double single wheel Self-balance electric vehicles, it is characterised in that：The revolver wireless communication module and right wheel without Line communication module is HC-05 bluetooth modules, and power end pin and the 24V of the HC-05 bluetooth modules turn 5V circuits Output end VCC 5V connections, the earth terminal pin ground connection of the HC-05 bluetooth modules, the RXD pins of the HC-05 bluetooth modules It is connected with the DSP U5 or DSP U21 the 72nd pin, the HC-05 bluetooths mould The TXD pins of block are connected with the DSP U5 or DSP U21 the 73rd pin.
A kind of above-mentioned double single wheel Self-balance electric vehicles, it is characterised in that：The revolver gyroscope and revolver gyroscope are equal For MPU6050 gyro modules, the 1st pin of the MPU6050 gyro modules is grounded by resistance R57, the MPU6050 The output end VCC 3.3V that the 8th pin and the 24V of gyro module turn 3.3V circuits are connected, and pass through nonpolar electric capacity C38 is grounded；9th pin of the MPU6050 gyro modules is grounded by resistance R65, the MPU6050 gyro modules 10th pin is grounded by nonpolar electric capacity C39, and the 11st pin of the MPU6050 gyro modules is grounded by resistance R68, 12nd pin of the MPU6050 gyro modules and the DSP U5 or DSP U21 the 24th pin connection, the 13rd pin and the 24V of the MPU6050 gyro modules turn the output end of 3.3V circuits VCC 3.3V connections, and be grounded by nonpolar electric capacity C43；The 18th pin ground connection of the MPU6050 gyro modules is described 20th pin of MPU6050 gyro modules is grounded by nonpolar electric capacity C41；The 23rd of the MPU6050 gyro modules The output end VCC 3.3V that pin turns 3.3V circuits by resistance R59 and the 24V are connected, and pass through resistance R65 and the DSP Digital signal processor U5 or DSP U21 the 28th pin connection；The MPU6050 gyro modules The output end VCC 3.3V that 23rd pin turns 3.3V circuits by resistance R58 and the 24V are connected, and pass through resistance R63 and institute State DSP U5 or DSP U21 the 27th pin connection；
The revolver pressure detection circuit is identical with the circuit structure of right wheel pressure detection circuit and includes pressure sensing Device YZC-161B and operational amplifier U6A, the pressure sensor YZC-161B the 1st pin turn 5V circuits with the 24V Output end VCC 5V connections, the 2nd pin of the pressure sensor YZC-161B pass through resistance R17's and operational amplifier U6A In-phase input end is connected, and the in-phase input end of the operational amplifier U6A is grounded by nonpolar electric capacity C21, and the pressure passes Sensor YZC-161B the 3rd pin and the 4th pin are grounded, and the inverting input of the operational amplifier U6A passes through resistance R15 Ground connection, and is connected by resistance R13 with operational amplifier U6A output end, the output end of the operational amplifier U6A with it is described DSP U5 or DSP U21 the 40th pin connection；
The revolver GPS module and right wheel GPS module are GPS module NEO-7N, and the 1st of the GPS module NEO-7N the The output end VCC 5V that pin turns 5V circuits with the 24V are connected, the 2nd pin ground connection of the GPS module NEO-7N, described GPS module NEO-7N the 3rd pin draws with the 66th of the DSP U5 or DSP U21 Pin connects, the 4th pin and the DSP U5 or the DSP of the GPS module NEO-7N U21 the 67th pin connection, the 5th pin and the DSP U5 or the DSP numbers of the GPS module NEO-7N Word signal processor U21 the 62nd pin connection；
The revolver motor Rotating speed measring circuit is identical with the circuit structure of right wheel motor speed detection circuit and includes Hall sensor AH3144E, the Hall sensor AH3144E power end pin turn the output end of 5V circuits with the 24V VCC 5V connections, the earth terminal pin ground connection of the Hall sensor AH3144E, the signal of the Hall sensor AH3144E Output pin by the resistance R91 and resistance R90 of series connection with the DSP U5 or DSP data signals Manage device U21 the 41st pin connection, the resistance R90 and the DSP U5 or DSP The connection end of U21 the 41st pin is grounded by nonpolar electric capacity C60；
The infrared distance measurement circuit includes infrared transmitting circuit and infrared receiving circuit, and the infrared transmitting circuit includes three Pole pipe Q11, triode Q12, emitting LED D17 and switching diode D18, the sun of the emitting LED D17 The output end VCC 5V that pole turns 5V circuits with the 24V are connected, and are grounded by nonpolar electric capacity C67；The triode Q11's Base stage is connected by resistance R108 with emitting LED D17 anode, and the colelctor electrode of the triode Q11 is luminous with lighting Diode D17 negative electrode connection, the emitter stage of the triode Q11 are connected by resistance R109 and switching diode D18 anode Connect, the negative electrode of the switching diode D18 is connected with triode Q11 base stage, and the base stage of the triode Q12 passes through resistance The output end VCC 5V that R110 turns 5V circuits with the 24V are connected, and are connected by resistance R111 and triode Q12 emitter stage Connect, the colelctor electrode of the triode Q12 is connected with switching diode D18 anode；The infrared receiving circuit is put including computing Big device U20A, operational amplifier U20B, slide rheostat R114 and infrarede emitting diode D19, the operational amplifier U20B In-phase input end be connected with infrarede emitting diode D19 anode, and pass through resistance R116 in parallel and resistance R117 ground connection； The output end VCC 5V that the negative electrode of the infrarede emitting diode D19 turns 5V circuits with the 24V are connected, the operational amplifier U20B inverting input is connected with a slide rheostat R114 fixing end, and is grounded by resistance R118；The slip Output end of rheostat R114 another fixing end and sliding end with operational amplifier U20B is connected, and passes through resistance R115 Ground connection；The in-phase input end of the operational amplifier U20A is connected with operational amplifier U20B output end, the operation amplifier Device U20A reverse input end is connected by resistance R113 with operational amplifier U20A output end, the operational amplifier U20A Output end be connected with the 51st pin of the DSP U21, and be grounded by resistance R112.
A kind of above-mentioned double single wheel Self-balance electric vehicles, it is characterised in that：The revolver motor current detection circuit and the right side The circuit structure of turbin generator current detection circuit is identical and includes A phase windings current detection circuit, B phase windings current detecting electricity Road and C phase winding current detection circuits, the Hall current that the A phase windings current detection circuit includes model ACS712 sense Device U13 and operational amplifier U12A, the Hall current sensor U13 the 1st pin and the 2nd pin with revolver wheel hub motor Or the current input terminal A+ connections of the A phase windings of right wheel wheel hub motor, the 3rd pin and the 4th of the Hall current sensor U13 Current output terminal A- of the pin with revolver wheel hub motor or the A phase windings of right wheel wheel hub motor is connected, and the Hall current passes The output end VCC 5V that sensor U13 the 8th pin and the 24V turns 5V circuits are connected, and are grounded by nonpolar electric capacity C40； The 5th pin ground connection of the Hall current sensor U13, the 6th pin of the Hall current sensor U13 pass through nonpolar electricity Hold C46 ground connection；The 7th pin that the 2nd pin of the operational amplifier U12A passes through resistance R71 and Hall current sensor U13 Connection, the 3rd pin of the operational amplifier U12A turn the output end VCC 5V companies of 5V circuits by resistance R67 and the 24V Connect, and be grounded by resistance R69；The 8th pin of the operational amplifier U12A turns the output end VCC of 5V circuits with the 24V 5V connections, the 4th pin ground connection of the operational amplifier U12A, the 1st pin and the 2nd pin of the operational amplifier U12A it Between be connected to parallel connection resistance R74 and nonpolar electric capacity C47, the operational amplifier U12A the 1st pin for A phase windings electric current inspection The output end of slowdown monitoring circuit and connect with the DSP U5 or DSP U21 the 38th pin Connect；The B phase windings current detection circuit includes model ACS712 Hall current sensor U16 and operational amplifier U12B, the Hall current sensor U16 the 1st pin and the 2nd pin with revolver wheel hub motor or the B of right wheel wheel hub motor The current input terminal B+ connections of phase winding, the 3rd pin and the 4th pin of the Hall current sensor U16 with revolver wheel hub The current output terminal B- connections of the B phase windings of motor or right wheel wheel hub motor, the 8th pin of the Hall current sensor U16 The output end VCC 5V for turning 5V circuits with the 24V are connected, and are grounded by nonpolar electric capacity C49；The Hall current sensing Device U16 the 5th pin ground connection, the 6th pin of the Hall current sensor U16 are grounded by nonpolar electric capacity C53；The fortune The 2nd pin for calculating amplifier U12B is connected by resistance R80 with Hall current sensor U16 the 7th pin, the operation amplifier The output end VCC 5V that device U12B the 3rd pin turns 5V circuits by resistance R77 and the 24V are connected, and are connect by resistance R78 Ground；The output end VCC 5V that the 8th pin of the operational amplifier U12B turns 5V circuits with the 24V are connected, and the computing is put Big device U12B the 4th pin ground connection, resistance in parallel is connected between the 1st pin and the 2nd pin of the operational amplifier U12B R83 and nonpolar electric capacity C54, the operational amplifier U12B the 1st pin for B phase winding current detection circuits output end and It is connected with the DSP U5 or DSP U21 the 37th pin；The C phase windings electric current Detecting circuit includes model ACS712 Hall current sensor U19 and operational amplifier U18A, the Hall current sensing Device U19 the 1st pin and the 2nd pin with revolver wheel hub motor or the current input terminal C+ of the C phase windings of right wheel wheel hub motor Connection, the 3rd pin and the 4th pin of the Hall current sensor U19 with revolver wheel hub motor or the C of right wheel wheel hub motor The current output terminal C- connections of phase winding, the 8th pin of the Hall current sensor U19 turn the defeated of 5V circuits with the 24V Go out to hold VCC 5V connections, and be grounded by nonpolar electric capacity C56；The 5th pin ground connection of the Hall current sensor U19, institute The 6th pin for stating Hall current sensor U19 is grounded by nonpolar electric capacity C57；The 2nd pin of the operational amplifier U18A It is connected by resistance R88 with Hall current sensor U19 the 7th pin, the 3rd pin of the operational amplifier U18A passes through electricity The output end VCC 5V that resistance R86 turns 5V circuits with the 24V are connected, and are grounded by resistance R87；The operational amplifier U18A The 8th pin turn the output end VCC 5V of 5V circuits with the 24V and be connected, the 4th pin ground connection of the operational amplifier U18A, Resistance R89 in parallel and nonpolar electric capacity C58 is connected between the 1st pin and the 2nd pin of the operational amplifier U18A, it is described Operational amplifier U18A the 1st pin for C phase winding current detection circuits output end and with the DSP U5 or DSP U21 the 36th pin connection.
A kind of above-mentioned double single wheel Self-balance electric vehicles, it is characterised in that：The revolver battery power detection circuit and the right side The circuit structure for taking turns battery power detection circuit is identical and include comparator chip LM393, red light emitting diodes LED6, green Color LED 7 and green LED LED9, the anode of the red light emitting diodes LED6 pass through resistance R33 It is connected with the output end of revolver battery or right wheel battery, the minus earth of the red light emitting diodes LED6；The comparator Chip LM393 the 8th pin is connected by the resistance R37 and resistance R44 of series connection with the output end of revolver battery or right wheel battery, And it is grounded by polar capacitor C27；The 4th pin ground connection of the comparator chip LM393, the comparator chip LM393's 3rd pin is connected by resistance R38 with the output end of revolver battery or right wheel battery, and the resistance R50 and resistance for passing through series connection R54 is grounded, and is grounded by nonpolar electric capacity C31；The 2nd pin and the 6th pin of the comparator chip LM393 is grounded, And be connected by the resistance R49, resistance 40 and resistance R41 of series connection with comparator chip LM393 the 1st pin, and pass through resistance R55 is grounded；Resistance 40 and the both ends of resistance 49 after series connection are parallel with resistance R39, the 5th pin of the comparator chip LM393 It is connected with comparator chip LM393 the 3rd pin by resistance R50, and is grounded by resistance R54；The comparator chip Resistance R43, the 5th pin and the 7th pin of the comparator chip LM393 are connected between LM393 the 1st pin and the 3rd pin Between be connected to resistance R53；The anode of the green LED LED7 is connected with comparator chip LM393 the 1st pin, institute State green LED LED7 minus earth；The anode of the green LED LED9 and comparator chip LM393 The connection of the 7th pin, and be connected by resistance R48 with comparator chip LM393 the 8th pin, the green LED LED9 minus earth；
The revolver battery charger it is identical with the circuit structure of right wheel battery charger and include transformer T1, Rectifier D6, LED 5, LED 8, switching diode D4, switching diode D5, slide rheostat RP1, slide rheostat RP2, relay K, triode VT1, triode VT2 and triode VT3, the primary line of the transformer T1 One end of circle is connected by insuring FU1 with an output end of 220V alternating currents, the primary coil of the transformer T1 it is another End is connected with another output end of 220V alternating currents；An ac input end of the rectifier D6 is by insuring FU2 with becoming One end connection of depressor T1 secondary coil, another ac input end of the rectifier D6 and transformer T1 secondary coil The other end connection；The cathode voltage output end of the rectifier D6 switchs K1 by relay K normally-closed contact and become with sliding The sliding end and a fixing end for hindering device RP1 connect, and are connected by resistance R46 with the anode of LED 8, described The negative electrode of LED 8 is connected with rectifier D6 cathode voltage output end；The sliding end of the slide rheostat RP1 It is connected with a fixing end by resistance R32 with the anode of LED 5, and passes through resistance R34 and switching diode D4 anode connection, the negative electrode of the LED 5 are connected with switching diode D4 anode, the switching diode One end, switching diode D5 negative electrode and resistance R35 one end of D4 negative electrode and relay K coil, and revolver battery Or the positive pole connection of right wheel battery；The other end and switching diode of the colelctor electrode of the triode VT1 and relay K coil D5 anode connection, the other end of the resistance R35 are connected with a slide rheostat RP2 fixing end, the triode VT1 Base stage be connected with slide rheostat RP2 sliding end, and pass through the negative pole of polar capacitor C32 and revolver battery or right wheel battery Connection；Another fixing end of the slide rheostat RP2 is connected by the negative pole of resistance R51 and revolver battery or right wheel battery Connect, the colelctor electrode of the emitter stage of the triode VT1, triode VT2 colelctor electrode and triode VT3 with revolver battery or the right side The negative pole connection of battery is taken turns, the base stage of the triode VT2 passes through resistance R47 and slide rheostat RP1 another fixing end Connection, and be connected by the resistance R52 and nonpolar electric capacity C33 of parallel connection with rectifier D6 cathode voltage output end；Described three Pole pipe VT2 emitter stage is connected with triode VT3 base stage, the emitter stage of the triode VT3 and rectifier D6 negative electricity Press output end connection.
A kind of above-mentioned double single wheel Self-balance electric vehicles, it is characterised in that：The left motor-drive circuit and right motor drive The circuit structure of dynamic circuit is identical and includes motor A phases drive circuit, motor B phases drive circuit and motor C phase drive circuits, The motor A phases drive circuit includes model IR2104 driving chip U10, inductance L6, polar capacitor C37, N-channel MOS Pipe Q1, N-channel MOS pipe Q2, fast recovery diode D7, fast recovery diode D8 and fast recovery diode D9, the driving chip The output end VCC 15V that U10 the 1st pin and the 24V turns 15V circuits are connected, and by parallel connection nonpolar electric capacity C35 and Nonpolar electric capacity C36 ground connection；The 2nd pin of the driving chip U10 and the DSP U5 or DSP numerals Signal processor U21 the 5th pin connection, the 3rd pin and the DSP U5 of the driving chip U10 Or DSP U21 the 6th pin connection, the 4th pin ground connection of the driving chip U10, the fast recovery two The output end VCC 15V that pole pipe D7 anode turns 15V circuits with the 24V are connected, the negative electrode of the fast recovery diode D7 with Driving chip U14 the 8th pin connection, and be connected by nonpolar electric capacity C34 with driving chip U10 the 6th pin；The N Channel MOS tube Q1 grid is connected with fast recovery diode D8 anode, and is drawn by resistance R56 and the 7th of driving chip U10 Pin connects；The negative electrode of the fast recovery diode D8 is connected with driving chip U10 the 7th pin, the N-channel MOS pipe Q1's Resistance R60, the N-channel MOS pipe Q1 drain electrode and the output end of revolver battery or right wheel battery are connected between grid and source electrode Connection, and be connected with polar capacitor C37 positive pole；The grid of the N-channel MOS pipe Q2 connects with fast recovery diode D9 anode Connect, and be connected by resistance R62 with driving chip U10 the 5th pin；The negative electrode and driving chip of the fast recovery diode D9 U10 the 5th pin connection, the drain electrode of the N-channel MOS pipe Q2 are connected with driving chip U10 the 6th pin, the N-channel Resistance R64, the source electrode of the N-channel MOS pipe Q2 and polar capacitor C37 negative pole are connected between metal-oxide-semiconductor Q2 grid and source electrode Connection, the source electrode of the N-channel MOS pipe Q1 and N-channel MOS pipe Q2 one end to drain with inductance L6 are connected, the inductance The L6 other end is connected by resistance R61 with the current input terminal A+ of revolver wheel hub motor or the A phase windings of right wheel wheel hub motor； The motor B phases drive circuit includes model IR2104 driving chip U14, inductance L7, polar capacitor C48, N-channel MOS Pipe Q3, N-channel MOS pipe Q4, fast recovery diode D10, fast recovery diode D11 and fast recovery diode D12, the driving core The output end VCC 15V that piece U14 the 1st pin and the 24V turns 15V circuits are connected, and pass through the nonpolar electric capacity C44 of parallel connection It is grounded with nonpolar electric capacity C45；The 2nd pin of the driving chip U14 and the DSP U5 or DSP numbers Word signal processor U21 the 7th pin connection, the 3rd pin and the DSP of the driving chip U14 U5 or DSP U21 the 10th pin connection, the 4th pin ground connection of the driving chip U14 are described fast extensive The output end VCC 15V that multiple diode D10 anode turns 15V circuits with the 24V are connected, the fast recovery diode D10's Negative electrode is connected with driving chip U14 the 8th pin, and is connected by nonpolar electric capacity C42 with driving chip U14 the 6th pin； The grid of the N-channel MOS pipe Q3 is connected with fast recovery diode D11 anode, and passes through resistance R70 and driving chip U14 The 7th pin connection；The negative electrode of the fast recovery diode D11 is connected with driving chip U14 the 7th pin, the N-channel Resistance R72, the N-channel MOS pipe Q3 drain electrode and revolver battery or right wheel battery are connected between metal-oxide-semiconductor Q3 grid and source electrode Output end connection, and be connected with polar capacitor C48 positive pole；The grid and fast recovery diode of the N-channel MOS pipe Q4 D12 anode connection, and be connected by resistance R75 with driving chip U14 the 5th pin；The moon of the fast recovery diode D12 Pole is connected with driving chip U14 the 5th pin, and the drain electrode of the N-channel MOS pipe Q4 connects with driving chip U14 the 6th pin Connect, resistance R76, the N-channel MOS pipe Q4 source electrode and polarity electricity are connected between the grid and source electrode of the N-channel MOS pipe Q4 Hold C48 negative pole connection, the source electrode of the N-channel MOS pipe Q3 and N-channel MOS pipe Q4 one end to drain with inductance L7 connect Connect, the other end of the inductance L7 is defeated by resistance R73 and revolver wheel hub motor or the B phase windings of right wheel wheel hub motor electric current Enter to hold B+ to connect；The motor C phases drive circuit includes model IR2104 driving chip U17, inductance L8, polar capacitor C55, N-channel MOS pipe Q5, N-channel MOS pipe Q6, fast recovery diode D13, fast recovery diode D14 and fast recovery diode The output end VCC 15V that D15, the driving chip U17 the 1st pin and the 24V turn 15V circuits are connected, and pass through parallel connection Nonpolar electric capacity C51 and nonpolar electric capacity C52 ground connection；The 2nd pin of the driving chip U17 and the DSP data signals Processor U5 or DSP U21 the 11st pin connection, the 3rd pin of the driving chip U17 with it is described DSP U5 or DSP U21 the 12nd pin connection, the 4th of the driving chip U17 the Pin is grounded, and the output end VCC 15V that anode and the 24V of the fast recovery diode D13 turn 15V circuits are connected, described Fast recovery diode D13 negative electrode is connected with driving chip U17 the 8th pin, and passes through nonpolar electric capacity C50 and driving chip U17 the 6th pin connection；The grid of the N-channel MOS pipe Q5 is connected with fast recovery diode D14 anode, and passes through resistance R79 is connected with driving chip U17 the 7th pin；The negative electrode of the fast recovery diode D14 and driving chip U17 the 7th pin Connection, is connected to resistance R81, the drain electrode of the N-channel MOS pipe Q5 and revolver between the grid and source electrode of the N-channel MOS pipe Q5 The output end of battery or right wheel battery connects, and is connected with polar capacitor C55 positive pole；The grid of the N-channel MOS pipe Q6 with Fast recovery diode D15 anode connection, and be connected by resistance R84 with driving chip U17 the 5th pin；The fast recovery Diode D15 negative electrode is connected with driving chip U17 the 5th pin, drain electrode and the driving chip U17 of the N-channel MOS pipe Q6 The 6th pin connection, resistance R85 is connected between the grid and source electrode of the N-channel MOS pipe Q6, the N-channel MOS pipe Q6's Source electrode is connected with polar capacitor C55 negative pole, the drain electrode of the source electrode and N-channel MOS pipe Q6 of the N-channel MOS pipe Q5 with electricity Feel L8 one end connection, the C phases that the other end of the inductance L8 passes through resistance R82 and revolver wheel hub motor or right wheel wheel hub motor The current input terminal C+ connections of winding；
The voice playing circuit includes SYN6288 voice modules and buzzer LS, and the of the SYN6288 voice modules The output end VCC 5V that 1 pin turns 5V circuits with the 24V are connected, the 2nd pin ground connection of the SYN6288 voice modules, institute The 3rd pin for stating SYN6288 voice modules is connected with the 63rd pin of the DSP U21, described 4th pin of SYN6288 voice modules is connected with the 64th pin of the DSP U21, the SYN6288 5th pin of voice module is connected with the 65th pin of the DSP U21, the SYN6288 voice modules The 6th pin be connected with buzzer LS positive pole, the negative pole of the 7th pin of the SYN6288 voice modules and buzzer LS connects Connect.
The invention also discloses a kind of method and step is simple, realization is convenient, can be completed by detecting the attitude information of people Acceleration and deceleration and the pressure that can be controlled longitudinal separation of the two-wheeled in safety with left and right in and be subject to by detecting two-wheel Car body is controlled to complete the control method for coordinating of double single wheel Self-balance electric vehicles of turning, it is characterised in that this method includes following Step：
Step 1: double single wheel Self-balance electric vehicle starting controls, detailed process are：
Step 101, trample in left road wheel when the left foot of people, and after right crus of diaphragm is trampled on right road wheel, the inspection of revolver pressure Slowdown monitoring circuit detects the left foot of people to the pressure of left road wheel and exports and give revolver microcontroller, the inspection of right wheel pressure detection circuit The right crus of diaphragm of people has been measured to the pressure of right road wheel and has exported and gives right wheel microcontroller；
Step 102, when the revolver microcontroller receive revolver pressure detection circuit output pressure signal after, it is described Revolver microcontroller starts to gather the Z axis angle, θ for the left road wheel that revolver gyroscope detectsL, and start to gather revolver motor The rotating speed n for the revolver wheel hub motor that Rotating speed measring electric circuit inspection arrivesL；When the right wheel microcontroller receives right wheel pressure detecting After the pressure signal of circuit output, the right wheel microcontroller starts to gather the Z axis for the right road wheel that right wheel gyroscope detects Angle, θR, and start to gather the rotating speed n for the right wheel wheel hub motor that right wheel motor speed detection electric circuit inspection arrivesR；
Step 103, revolver microcontroller are according to formula ωL=2 π nLThe angular velocity omega of revolver wheel hub motor is calculatedL, Meanwhile right wheel microcontroller is according to formula ωR=2 π nRThe angular velocity omega of revolver wheel hub motor is calculatedR；
Step 104, revolver microcontroller are according to formula vL'=k3∫(k1θL+k2ωL) it is calculated to revolver wheel hub electricity The control speed v of machineL', and compare vL' with presetting and being stored in double single wheel Self-balance electric vehicles in revolver microcontroller The max speed vmax, work as vL′≤vmaxWhen, revolver microcontroller output control signal is simultaneously driven left by left motor-drive circuit Take turns the actual speed v of wheel hub motorLFor vL′；Work as vL′>vmaxWhen, revolver microcontroller output control signal control revolver wheel hub electricity The actual speed v of machineLFor vmax；Meanwhile right wheel microcontroller is according to formula vR'=k3∫(k1θR+k2ωR) it is calculated to the right side Take turns the control speed v of wheel hub motorR', and compare vR' put down certainly with presetting and being stored in double single wheels in right wheel microcontroller The max speed v of weighing apparatus electric carmax, work as vR′≤vmaxWhen, right wheel microcontroller output control signal control right wheel wheel hub motor Actual speed vRFor vR′；Work as vR′>vmaxWhen, right wheel microcontroller output control signal is simultaneously driven right by right motor-drive circuit Take turns the actual speed v of wheel hub motorRFor vmax；Wherein, k1、k2And k3It is proportionality coefficient, k1Value be natural number more than g, G is acceleration of gravity, k2And k3Value be natural number more than 0；
Step 2: the coordination control of the left road wheel and right road wheel of double single wheel Self-balance electric vehicles, detailed process are：
Step 201, the relative position for judging left road wheel and right road wheel：Revolver microcontroller is by revolver wheel hub motor Actual speed vLRight wheel microcontroller, right wheel microcontroller are transferred to by revolver wireless communication module and right wheel wireless communication module Device compares vLWith vRSize, work as vL>vRWhen, it is judged as left road wheel preceding, right road wheel is rear；Work as vL=vRWhen, it is judged as Left road wheel is parallel with right road wheel；Work as vL<vRWhen, it is judged as right road wheel preceding, left road wheel is rear；
Step 202, judge that double single wheel Self-balance electric vehicles are straight trip or turning, and be divided to straight trip and turning two kinds of situations pair The left road wheel and right road wheel of double single wheel Self-balance electric vehicles carry out coordination control：The revolver pressure detection circuit detects people Left foot to the pressure F of left road wheelLAnd export and give revolver microcontroller, revolver microcontroller again walks the left foot of people to left lateral The pressure F of wheelLRight wheel microcontroller, the inspection of right wheel pressure are transferred to by revolver wireless communication module and right wheel wireless communication module Pressure F of the right crus of diaphragm of slowdown monitoring circuit detection people to right road wheelRAnd export and give right wheel microcontroller；Right wheel microcontroller compares | FR- FL| walk the threshold pressure difference being subject to when wheel is turned with presetting and being stored in the left road wheel in right wheel microcontroller and right lateral FZIn, when | FR-FL|≤FZWhen, it is straight trip to judge double single wheel Self-balance electric vehicles；When | FR-FL| ＞ FZWhen, judge double single wheels certainly Balance electric car is to turn；
When double single wheel Self-balance electric vehicles are straight trips, first, the right wheel microcontroller collection infrared distance measurement circuit inspection The distance between the left road wheel and right road wheel that measure L, and gather the central point for the right road wheel that right wheel GPS module navigates to A position coordinates (XA,YA)；Meanwhile the revolver microcontroller gathers the center for the left road wheel that revolver GPS module navigates to Point B position coordinates (XB,YB) and right wheel microcontroller is transferred to by revolver wireless communication module and right wheel wireless communication module Device；Then, the right wheel microcontroller is first according to formulaCalculate between left road wheel and right road wheel Relative angle γ, calculate the longitudinal separation between left road wheel and right road wheel further according to formula y=Lsin γ, and according to Formula x=Lcos γ calculate the left and right distance between left road wheel and right road wheel；Then, the right wheel microcontroller compares Y and preset and be stored in safe distance before and after the maximum between the left road wheel in right wheel microcontroller and right road wheel ymax, and compare x and preset and be stored in the maximum left and right between the left road wheel in right wheel microcontroller and right road wheel Safe distance xmax；
As y≤ymaxWhen, the longitudinal separation between left road wheel and right road wheel is not above left road wheel and right road wheel Between maximum before and after safe distance, now, the revolver microcontroller does not change the control to revolver wheel hub motor rotating speed, institute State right wheel microcontroller and do not change control to right wheel wheel hub motor rotating speed；
Work as y>ymaxWhen, the longitudinal separation between left road wheel and right road wheel exceeded left road wheel and right road wheel it Between maximum before and after safe distance, now, when left road wheel is preceding, right road wheel is when rear, the right wheel microprocessor control Right wheel wheel hub motor accelerates；When right road wheel is preceding, for left road wheel when rear, the right wheel microcontroller accelerates left road wheel Signal revolver microcontroller, the revolver microcontroller are transferred to by revolver wireless communication module and right wheel wireless communication module Device control revolver wheel hub motor accelerates；
As x≤xmaxWhen, the left and right distance between left road wheel and right road wheel is not above left road wheel and right road wheel Between maximum left and right safe distance, now, the revolver microcontroller does not change the control to revolver wheel hub motor rotating speed, institute State right wheel microcontroller and do not change control to right wheel wheel hub motor rotating speed；
Work as x>xmaxWhen, the left and right distance between left road wheel and right road wheel exceeded left road wheel and right road wheel it Between maximum left and right safe distance, now, the right wheel microprocessor control voice playing circuit plays voice message signal, carries Let others have a look at and reduce the distance between left foot and right crus of diaphragm；
When double single wheel Self-balance electric vehicles are to turn, first, the right wheel microprocessor control voice playing circuit is broadcast Voice message signal is put, prompts road conditions to turn and prompting human body hypsokinesis；Then, the right wheel microcontroller compares the left side of people Pressure F of the pin to left road wheelLPressure F with the right crus of diaphragm of people to right road wheelR, work as FL>FRWhen, it is judged as double single wheel self-balancings Electric car is turned left, now, the right wheel microcontroller by the signal that left road wheel slows down by revolver wireless communication module and Right wheel wireless communication module is transferred to revolver microcontroller, and the revolver microprocessor control revolver wheel hub motor, which slows down, carries out a left side Turn；Work as FL<FRWhen, it is judged as that double single wheel Self-balance electric vehicles are turned right, now, the right wheel microprocessor control right wheel wheel hub Decelerating through motor is turned right.
Above-mentioned method, it is characterised in that：V described in step 104maxValue be 15km/h, F described in step 202Z Value be 150N, the ymaxValue be 30cm, the xmaxValue be 50cm.
The present invention has advantages below compared with prior art：
1st, the left road wheel in the present invention and right road wheel are separate, maneuverability, left road wheel and right road wheel It is simple in construction, therefore small volume, in light weight, floor space is small, or when bicyclist rides stretch journey discovery not enough power supply, or Bicyclist needs storage after arriving at when, carry without lifting an eyebrow, convenient storage.
2nd, present invention employs the design of low-power consumption, power consumption is low, is powered using charged lithium cells, and endurance is strong, and Battery power detection circuit and battery charger are devised, people can be reminded to charge in time, extended when battery electric quantity is low The service life of battery, so as to extend the service life of double single wheel Self-balance electric vehicles；Moreover, using charged lithium cells work( Can, green, can charge use repeatedly, non-pollutant discharge during use, and capacity usage ratio is high.
3rd, the left road wheel in the present invention and right road wheel are separate, therefore the radius of turn of car body greatly reduces, living Dynamic scope is more extensive, and motion mode more freely, suitable for traditional application places such as market, office building, more goes for Narrow space, it is also suitable for being applied to many fields such as acrobatics and extreme sport.
4th, left road wheel of the invention is controlled using revolver control circuit, and right road wheel is controlled using right wheel control circuit, Two-wheeled is independently arranged and independent control, and revolver control circuit is led to right wheel control circuit by the way of radio communication Letter, during control, acceleration and deceleration are completed by the attitude information for detecting people, and can control two-wheeled be in the longitudinal separation of safety with it is left In right distance, and complete to turn by detecting the Stress control car body that two-wheel is subject to, function-stable, reliable, people uses province The heart is laborsaving, and comfort level is high.
5th, the present invention both solves traffic jam issue, also adds trip as a kind of green walking-replacing tool Enjoyment, of the invention is practical, easy to utilize.
In summary, small volume of the invention, it is in light weight, carry, convenient storage, endurance is strong, green, motor-driven Flexibly, radius of turn is small, function-stable, reliable, usage comfort height, practical, easy to utilize.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
Fig. 1 is the structural representation of the left road wheel of the present invention.
Fig. 2 is the structural representation of the right road wheel of the present invention.
Fig. 3 is that revolver control circuit of the present invention connects block diagram with the circuit of right wheel control circuit.
Fig. 4 is the circuit theory diagrams of revolver microcontroller of the present invention.
Fig. 5 is the circuit theory diagrams of right wheel microcontroller of the present invention.
Fig. 6 is 24V of the present invention turns 15V circuits, 24V turns 5V circuits and 24V turns the circuit theory diagrams of 3.3V circuits.
Fig. 7 is the circuit theory diagrams that 5V of the present invention turns 1.9V circuits.
Fig. 8 is the circuit theory diagrams of revolver wireless communication module of the present invention and right wheel wireless communication module.
Fig. 9 is the circuit theory diagrams of revolver gyroscope of the present invention and right wheel gyroscope.
Figure 10 is the circuit theory diagrams of revolver pressure detection circuit of the present invention and right wheel pressure detection circuit.
Figure 11 is the circuit theory diagrams of revolver GPS module of the present invention and right wheel GPS module.
Figure 12 is the circuit theory diagrams that revolver motor Rotating speed measring circuit of the present invention and right wheel motor speed detect circuit.
Figure 13 is the circuit theory diagrams of infrared transmitting circuit in infrared distance measurement circuit of the present invention.
The circuit theory diagrams of infrared receiving circuit in the infrared distance measurement circuit of the present invention of Figure 14 positions.
Figure 15 is that A phase windings electric current is examined in revolver motor current detection circuit of the present invention and right wheel motor current detecting circuit The circuit theory diagrams of slowdown monitoring circuit.
Figure 16 is that B phase windings electric current is examined in revolver motor current detection circuit of the present invention and right wheel motor current detecting circuit The circuit theory diagrams of slowdown monitoring circuit.
Figure 17 is that C phase windings electric current is examined in revolver motor current detection circuit of the present invention and right wheel motor current detecting circuit The circuit theory diagrams of slowdown monitoring circuit.
Figure 18 is the circuit theory diagrams of revolver battery power detection circuit of the present invention and right wheel battery power detection circuit.
Figure 19 is the circuit theory diagrams of revolver battery charger of the present invention and right wheel battery charger.
Figure 20 is the circuit theory of motor A phase drive circuits in left motor-drive circuit of the invention and right motor-drive circuit Figure.
Figure 21 is the circuit theory of motor B phase drive circuits in left motor-drive circuit of the invention and right motor-drive circuit Figure.
Figure 22 is the circuit theory of motor C phase drive circuits in left motor-drive circuit of the invention and right motor-drive circuit Figure.
Figure 23 is the circuit theory diagrams of voice playing circuit of the present invention.
Figure 24 is the method flow block diagram of the control method for coordinating of the double single wheel Self-balance electric vehicles of the present invention.
Description of reference numerals:
1-left road wheel；1-11-left level board；1-12-left side vertical plate；
1-13-front left side vertical plate；1-14-left rear side vertical plate；1-2-revolver wheel hub motor；
1-3-revolver control board；1-31-revolver microcontroller；1-32-revolver voltage conversion circuit；
1-33-revolver wireless communication module；1-34-revolver gyroscope；
1-35-revolver motor current detection circuit；1-36-revolver battery power detection circuit；
1-37-left motor-drive circuit；1-38-revolver battery charger；
1-39-revolver pressure detection circuit；1-310-revolver motor Rotating speed measring circuit；
1-311-revolver GPS module；1-4-revolver battery；2-right road wheel；
2-11-right level board；2-12-right vertical plate；2-13-forward right side vertical plate；
2-14-right lateral side vertical plate；2-2-right wheel wheel hub motor；2-3-right wheel control board；
2-31-right wheel control board；2-32-right wheel voltage conversion circuit；
2-33-right wheel wireless communication module；2-34-right wheel gyroscope；
2-35-right wheel motor current detecting circuit；2-36-right wheel battery power detection circuit；
2-37-right motor-drive circuit；2-38-right wheel battery charger；
2-39-infrared distance measurement circuit；2-310-voice playing circuit；
2-311-right wheel pressure detection circuit；2-312-right wheel motor speed detection circuit；
2-313-right wheel GPS module；2-4-right wheel battery.
Embodiment
Double single wheel Self-balance electric vehicles of the present invention, including the left road wheel 1 trampled for left foot and the right side trampled for right crus of diaphragm Road wheel 2, the left road wheel 1 and right road wheel 2 are separate；
As shown in figure 1, the left road wheel 1 includes left foot supporting plate, revolver wheel hub motor 1-2 and revolver control board 1-3, and the revolver battery 1-4 to be powered for revolver wheel hub motor 1-2 and revolver control board 1-3, the left foot supporting plate Including for placing the left level board 1-11 of left foot, being vertically connected on the left side vertical plate 1- of left level board 1-11 left bottoms 12nd, after being vertically connected on the front left side vertical plate 1-13 of bottom on front side of left level board 1-11 and being vertically connected on left level board 1-11 The left rear side vertical plate 1-14 of side bottom, the axle of the revolver wheel hub motor 1-2 is fixedly connected with left side vertical plate 1-12, described Revolver control board 1-3 and revolver battery 1-4 are fixedly connected with left level board 1-11 bottom surface；The revolver control electricity Revolver control circuit is provided with the plate 1-3 of road, with reference to Fig. 3, the revolver control circuit includes revolver microcontroller 1-31 and use In the voltage conversion for exporting revolver battery 1-4 be in revolver control circuit voltage needed for each electricity consumption module and be revolver control electricity The revolver voltage conversion circuit 1-32 of each electricity consumption module for power supply in road, and the revolver to connect with revolver microcontroller 1-31 are wireless Communication module 1-33；Revolver battery charger 1-38 is connected on the revolver battery 1-4, the revolver microcontroller 1-31's Input be terminated with for three axle angles of inclination of left road wheel 1 are detected in real time revolver gyroscope 1-34, for a left side Revolver pressure detection circuit 1-39 that the pressure that road wheel 1 is subject to is detected in real time, for what is positioned to left road wheel 1 Revolver GPS module 1-311, the revolver motor electric current inspection for being detected in real time to revolver wheel hub motor 1-2 winding current The slowdown monitoring circuit 1-35 and revolver battery power detection circuit 1- for being detected in real time to revolver battery 1-4 output voltage 36, the revolver battery power detection circuit 1-36 is connected with revolver battery 1-4 output end, the revolver microcontroller 1-31 Output be terminated with left motor-drive circuit 1-37, the left motor-drive circuit 1- for driving revolver wheel hub motor 1-2 37 are connected with revolver battery 1-4 output end, and the revolver wheel hub motor 1-2 is connected with left motor-drive circuit 1-37；It is described The revolver motor rotating speed for being detected in real time to revolver wheel hub motor 1-2 rotating speed is provided with revolver wheel hub motor 1-2 Circuit 1-310 is detected, the revolver motor Rotating speed measring circuit 1-310 is connected with revolver microcontroller 1-31 input；
As shown in Fig. 2 the right road wheel 2 includes right crus of diaphragm supporting plate, right wheel wheel hub motor 2-2 and right wheel control board 2-3, and the right wheel battery 2-4 to be powered for right wheel wheel hub motor 2-2 and right wheel control board 2-3, the right crus of diaphragm supporting plate Including for placing the right level board 2-11 of right crus of diaphragm, being vertically connected on the right vertical plate 2- of right level board 2-11 bottom right sides 12nd, after being vertically connected on the forward right side vertical plate 2-13 of bottom on front side of right level board 2-11 and being vertically connected on right level board 2-11 The right lateral side vertical plate 2-14 of side bottom, the axle of the right wheel wheel hub motor 2-2 is fixedly connected with right vertical plate 2-12, described Right wheel control board 2-3 and right wheel battery 2-4 are fixedly connected with right level board 2-11 bottom surface；The right wheel control electricity Right wheel control circuit is provided with the plate 2-3 of road, with reference to Fig. 3, the right wheel control circuit includes right wheel microcontroller 2-31 and use In the voltage conversion for exporting right wheel battery 2-4 be in right wheel control circuit voltage needed for each electricity consumption module and be right wheel control electricity The right wheel voltage conversion circuit 2-32 of each electricity consumption module for power supply in road, and the right wheel to connect with right wheel microcontroller 2-31 are wireless Communication module 2-33；The right wheel wireless communication module 2-33 and revolver wireless communication module 1-33 wireless connections simultaneously communicate, institute State and right wheel battery charger 2-38 is connected on right wheel battery 2-4, the input of the right wheel microcontroller 2-31 is terminated with being used for Right wheel gyroscope 2-34 that three axle angles of inclination of right road wheel 2 are detected in real time, the pressure for being subject to right road wheel 2 Right wheel pressure detection circuit 2-311, the right wheel GPS module 2- for being positioned to right road wheel 2 that power is detected in real time 313rd, for the distance between left road wheel 1 and right road wheel 2 are detected in real time infrared distance measurement circuit 2-39, for pair Right wheel motor current detecting circuit 2-35 that right wheel wheel hub motor 2-2 winding current is detected in real time and for right wheel electricity The right wheel battery power detection circuit 2-36 that pond 2-4 output voltage is detected in real time, the right wheel battery electric quantity detection electricity Road 2-36 is connected with right wheel battery 2-4 output end, and the output of the right wheel microcontroller 2-31 is terminated with voice playing circuit 2-310 and the right motor-drive circuit 2-37 for driving right wheel wheel hub motor 2-2, the right motor-drive circuit 2-37 and the right side Battery 2-4 output end connection is taken turns, the right wheel wheel hub motor 2-2 is connected with right motor-drive circuit 2-37；The right wheel wheel The right wheel motor speed for being detected in real time to right wheel wheel hub motor 2-2 rotating speed is provided with hub motor 2-2 and detects electricity Road 2-312, the right wheel motor speed detection circuit 2-312 are connected with right wheel microcontroller 2-31 input.
When it is implemented, the quantity of the revolver battery 1-4 is two pieces, and two pieces of revolver battery 1-4 series connection, two blocks of revolver electricity Pond 1-4 is located at revolver control board 1-3 both sides respectively, in such manner, it is possible to ensure that left road wheel 1 is flat in mechanical structure Weighing apparatus；The quantity of the right wheel battery 2-4 is two pieces, and two pieces of right wheel battery 2-4 series connection, two pieces of right wheel battery 2-4 are respectively positioned at the right side Control board 2-3 both sides are taken turns, in such manner, it is possible to ensure balance of the right road wheel 2 in mechanical structure.The revolver battery 1- 4 and right wheel battery 2-4 is charged lithium cells.
In the present embodiment, the circuit structure phase of revolver voltage conversion circuit 1-32 and right wheel the voltage conversion circuit 2-32 24V that is same and including being connected with revolver battery 1-4 or right wheel battery 2-4 output end turns 15V circuits, 24V turns 5V circuits Turn 3.3V circuits with 24V, and turn the 5V that the output ends of 5V circuits is connected with 24V and turn 1.9V circuits；As shown in figure 4, the left side The DSP U5 that microcontroller 1-31 is model TMS320F28335 is taken turns, as shown in figure 5, the right wheel is micro- Controller 2-31 is model TMS320F28335 DSP U21.
In the present embodiment, as shown in fig. 6, the 24V, which turns 15V circuits, includes model MC33063 DC-DC converter core Piece U3, sustained diode 1 and inductance L2, the DC-DC converter chip U3 the 1st pin, the 7th pin and the 8th pin are logical The 6th pin that resistance R6 is crossed with DC-DC converter chip U3 is connected, and the 6th pin of the DC-DC converter chip U3 is described 24V turns the 24V voltage input ends of 15V circuits, and is grounded by polar capacitor C8；Draw the 2nd of the DC-DC converter chip U3 Pin is connected with the negative electrode of sustained diode 1 and inductance L2 one end, the plus earth of the sustained diode 1, the inductance The L2 other end is that the 24V turns the output end VCC 15V of 15V circuits, and is grounded by polar capacitor C6；The DC-DC becomes Parallel operation chip U3 the 3rd pin is grounded by polar capacitor C11, the 4th pin ground connection of the DC-DC converter chip U3, institute The 5th pin for stating DC-DC converter chip U3 is grounded by resistance R2, and turns the defeated of 15V circuits by resistance R4 and the 24V Go out to hold VCC 15V connections；The 24V, which turns 5V circuits, includes model MC33063 DC-DC converter chip U4, the pole of afterflow two Pipe D2 and inductance L4, the DC-DC converter chip U4 the 1st pin, the 7th pin and the 8th pin by resistance R14 with DC-DC converter chip U4 the 6th pin connection, the 6th pin of the DC-DC converter chip U4 turn 5V electricity for the 24V The 24V voltage input ends on road, and be grounded by polar capacitor C18；The 2nd pin of the DC-DC converter chip U4 and afterflow Diode D2 negative electrode connects with inductance L4 one end, the plus earth of the sustained diode 2, and the inductance L4's is another The output end VCC 5V for turning 5V circuits for the 24V are held, and are grounded by polar capacitor C17；The DC-DC converter chip U4 The 3rd pin be grounded by polar capacitor C19, the 4th pin of DC-DC converter chip U4 ground connection, the DC-DC conversion Device chip U4 the 5th pin is grounded by resistance R9, and turns the output end VCC 5V of 5V circuits by resistance R10 and the 24V Connection；The 24V, which turns 3.3V circuits, includes model MC33063 DC-DC converter chip U7, sustained diode 3 and inductance L5, the 1st pin, the 7th pin and the 8th pin of the DC-DC converter chip U7 pass through resistance R26 and DC-DC converter Chip U7 the 6th pin connection, the 6th pin of the DC-DC converter chip U7 turn the 24V electricity of 3.3V circuits for the 24V Input is pressed, and is grounded by polar capacitor C23；The 2nd pin of the DC-DC converter chip U7 and sustained diode 3 Negative electrode connects with inductance L5 one end, the plus earth of the sustained diode 3, and the other end of the inductance L5 is the 24V Turn the output end VCC 3.3V of 3.3V circuits, and be grounded by polar capacitor C22；Draw the 3rd of the DC-DC converter chip U7 Pin is grounded by polar capacitor C24, the 4th pin ground connection of the DC-DC converter chip U7, the DC-DC converter chip U7 the 5th pin is grounded by resistance R18, and turns the output end VCC 3.3V companies of 3.3V circuits by resistance R21 and the 24V Connect；The 24V turns the 24V voltage input ends of 15V circuits, the 24V turns the 24V voltage input ends of 5V circuits and the 24V turns The 24V voltage input ends of 3.3V circuits are connected by switching S2 with revolver battery 1-4 or right wheel battery 2-4 output end；Such as Shown in Fig. 7, the 5V, which turns 1.9V circuits, includes voltage-stablizer TPS767D301, LED 1 and inductance L1, the voltage stabilizing The output end VCC 5V that device TPS767D301 the 5th pin and the 6th pin turns 5V circuits with the 24V are connected, and pass through parallel connection Polar capacitor C2 and nonpolar electric capacity C1 ground connection；The 3rd pin, the 4th pin, the 9th pin of the voltage-stablizer TPS767D301 It is grounded with the 10th pin, the 11st pin and the 12nd pin of the voltage-stablizer TPS767D301 turn 5V circuits with the 24V Output end VCC 5V connections, and pass through nonpolar electric capacity C7 ground connection；The 23rd pin of the voltage-stablizer TPS767D301 and 24 pins, which connect and turn digital voltage output end the VDD 1.9V, the 5V of 1.9V circuits for the 5V, turns the numeral of 1.9V circuits Voltage output end VDD 1.9V are grounded by the resistance R1 and resistance R5 of series connection, and pass through the polar capacitor C5 of parallel connection and nonpolar Electric capacity C3 is grounded；The digital voltage output end VDD 1.9V that the 5V turns 1.9V circuits are connected with inductance L1 one end, the electricity The sense L1 other end turns the analog voltage output end VDDA 1.9V of 1.9V circuits for the 5V, and is grounded by polar capacitor C4； The anode of the LED 1 is connected by resistance R3 with voltage-stablizer TPS767D301 the 5th pin, and described luminous two Pole pipe LED1 minus earth.
The 24V turns 15V circuits, 24V turns 5V circuits and 24V turns in 3.3V circuits, employs model MC33063's DC-DC converter chip, input voltage range 2.5V~40V of the DC-DC converter chip, output voltage adjustable extent are 1.25V~40V, decompression transformation can be realized；Wherein, the 24V turns 15V circuits, 24V turns 5V circuits and 24V turns 3.3V circuits Output voltage it is different, be by resistance R2 and resistance R4 ratio, resistance R9 and resistance R10 ratio, resistance R18 and resistance The different realizations of R21 ratio.
The 24V turns in 15V circuits, when DC-DC converter chip U3 internal switches pipe turns on, inductance L2 storage energy Measure, now polar capacitor C6 provides energy to load；When DC-DC converter chip U3 internal switches pipe turns off, due to inductance L2 electric currents can not be mutated, and sustained diode 1 turns on, and inductance L2 powers to load and polar capacitor C6, as long as therefore DC-DC changes The time constant of parallel operation chip U3 working frequency relative load is sufficiently high, and continuous 15V DC voltages can be obtained in load.
The 24V turns in 5V circuits, when DC-DC converter chip U4 internal switches pipe turns on, inductance L4 storage energies, Now polar capacitor C17 provides energy to load；When DC-DC converter chip U4 internal switches pipe turns off, due to inductance L4 Electric current can not be mutated, and sustained diode 2 turns on, and inductance L4 powers to load and polar capacitor C17, as long as therefore DC-DC conversion The time constant of device chip U4 working frequency relative load is sufficiently high, and continuous 5V DC voltages can be obtained in load.
The 24V turns in 3.3V circuits, when DC-DC converter chip U7 internal switches pipe turns on, inductance L5 storage energy Measure, now polar capacitor C22 provides energy to load；When DC-DC converter chip U7 internal switches pipe turns off, due to inductance L5 electric currents can not be mutated, and sustained diode 3 turns on, and inductance L5 powers to load and polar capacitor C22, as long as therefore DC-DC changes The time constant of parallel operation chip U7 working frequency relative load is sufficiently high, and continuous 3.3V direct currents can be obtained in load Pressure.
In the present embodiment, as shown in figure 8, the revolver wireless communication module 1-33 and right wheel wireless communication module 2-33 are equal For HC-05 bluetooth modules, power end pin and the 24V of the HC-05 bluetooth modules turn the output end VCC 5V of 5V circuits Connection, the earth terminal pin ground connection of the HC-05 bluetooth modules, the RXD pins of the HC-05 bluetooth modules and the DSP numbers Word signal processor U5 or DSP U21 the 72nd pin connection, the TXD pins of the HC-05 bluetooth modules It is connected with the DSP U5 or DSP U21 the 73rd pin.Revolver microcontroller 1- 31 and right wheel microcontroller 2-31 can carry out nothing by revolver wireless communication module 1-33 and right wheel wireless communication module 2-33 Line communicates.
In the present embodiment, as shown in figure 9, the revolver gyroscope 1-34 and revolver gyroscope 1-34 are MPU6050 tops Spiral shell instrument module, the 1st pin of the MPU6050 gyro modules are grounded by resistance R57, the MPU6050 gyro modules The 8th pin turn the output end VCC 3.3V of 3.3V circuits with the 24V and be connected, and pass through nonpolar electric capacity C38 ground connection；It is described 9th pin of MPU6050 gyro modules is grounded by resistance R65, and the 10th pin of the MPU6050 gyro modules passes through Nonpolar electric capacity C39 ground connection, the 11st pin of the MPU6050 gyro modules are grounded by resistance R68, the MPU6050 12nd pin of gyro module and the DSP U5 or DSP U21 the 24th pin Connection, the output end VCC 3.3V that the 13rd pin and the 24V of the MPU6050 gyro modules turn 3.3V circuits are connected, And it is grounded by nonpolar electric capacity C43；The 18th pin ground connection of the MPU6050 gyro modules, the MPU6050 gyroscopes 20th pin of module is grounded by nonpolar electric capacity C41；23rd pin of the MPU6050 gyro modules passes through resistance The output end VCC 3.3V that R59 turns 3.3V circuits with the 24V are connected, and pass through resistance R65 and the DSP Digital Signal Processing Device U5 or DSP U21 the 28th pin connection；23rd pin of the MPU6050 gyro modules passes through The output end VCC 3.3V that resistance R58 turns 3.3V circuits with the 24V are connected, and pass through resistance R63 and the DSP data signals Processor U5 or DSP U21 the 27th pin connection；MPU6050 gyro modules incorporate 3 axle gyros Number is calculated in instrument, 3 axle accelerators, numerical digit motion process (DMP) hardware acceleration engine containing sensor, the fusion that can reduce complexity Synchronized according to, sensor, the load of posture sensing etc..
In the present embodiment, as shown in Figure 10, revolver pressure detection circuit 1-39 and right wheel the pressure detection circuit 2-311 Circuit structure it is identical and include pressure sensor YZC-161B and operational amplifier U6A, the pressure sensor YZC- The output end VCC 5V that 161B the 1st pin and the 24V turns 5V circuits are connected, and the 2nd of the pressure sensor YZC-161B the Pin is connected by resistance R17 with operational amplifier U6A in-phase input end, the in-phase input end of the operational amplifier U6A It is grounded by nonpolar electric capacity C21, the 3rd pin and the 4th pin of the pressure sensor YZC-161B are grounded, the computing Amplifier U6A inverting input is grounded by resistance R15, and is connected by resistance R13 and operational amplifier U6A output end Connect, the output end of the operational amplifier U6A is with the DSP U5's or DSP U21 40th pin connects；When it is implemented, revolver pressure detection circuit 1-39 and right wheel pressure detection circuit 2-311 can respectively be set All the way, or respectively two-way is set；When each set all the way, the pressure sensor YZC-161B in revolver pressure detection circuit 1-39 is set Put the center position in left level board 1-11, the pressure sensor YZC-161B in right wheel pressure detection circuit 2-311 is set In right level board 2-11 center position；When each setting two-way, two pressures in two-way revolver pressure detection circuit 1-39 Force snesor YZC-161B is distributed on left level board 1-11, and two pressure in two-way right wheel pressure detection circuit 2-311 pass Sensor YZC-161B is distributed on right level board 2-11.When each setting two-way, the pressure that left road wheel 1 is subject to takes two-way revolver The average value of pressure detection circuit 1-39 detected values, the pressure that right road wheel 2 is subject to take two-way right wheel pressure detection circuit 2-311 The average value of detected value.One 100K of pressure sensor YZC-161B output series connection resistance 17, is filtered through nonpolar electric capacity C21 Ripple, the noise in the direct current signal of pressure sensor YZC-161B outputs can be rejected.
In the present embodiment, as shown in figure 11, the revolver GPS module 1-311 and right wheel GPS module 2-313 are GPS moulds The output end VCC 5V that block NEO-7N, the GPS module NEO-7N the 1st pin and the 24V turn 5V circuits are connected, described GPS module NEO-7N the 2nd pin ground connection, the 3rd pin and the DSP of the GPS module NEO-7N U5 or DSP U21 the 66th pin connection, the 4th pin and the DSP numbers of the GPS module NEO-7N Word signal processor U5 or DSP U21 the 67th pin connection, the 5th pin of the GPS module NEO-7N It is connected with the DSP U5 or DSP U21 the 62nd pin；
In the present embodiment, as shown in figure 12, revolver motor Rotating speed measring circuit 1-310 and right wheel the motor speed detection Circuit 2-312 circuit structure is identical and includes Hall sensor AH3144E, the power supply of the Hall sensor AH3144E The output end VCC 5V that end pin turns 5V circuits with the 24V are connected, and the earth terminal pin of the Hall sensor AH3144E connects Ground, the resistance R91 and resistance R90 and the DSP numbers of the signal output part pin of the Hall sensor AH3144E by series connection Word signal processor U5 or DSP U21 the 41st pin connection, the resistance R90 and DSP numerals are believed The connection end of number processor U5 or DSP U21 the 41st pin is grounded by nonpolar electric capacity C60；
In the present embodiment, the infrared distance measurement circuit 2-39 includes infrared transmitting circuit and infrared receiving circuit, such as Figure 13 Shown, the infrared transmitting circuit includes triode Q11, triode Q12, emitting LED D17 and switching diode The output end VCC 5V that D18, the emitting LED D17 anode and the 24V turn 5V circuits are connected, and pass through non-pole Property electric capacity C67 ground connection；The base stage of the triode Q11 is connected by resistance R108 with emitting LED D17 anode, institute The colelctor electrode for stating triode Q11 is connected with emitting LED D17 negative electrode, and the emitter stage of the triode Q11 passes through electricity Resistance R109 is connected with switching diode D18 anode, and the negative electrode of the switching diode D18 is connected with triode Q11 base stage, The output end VCC 5V that the base stage of the triode Q12 turns 5V circuits by resistance R110 and the 24V are connected, and pass through resistance R111 is connected with triode Q12 emitter stage, and the colelctor electrode of the triode Q12 is connected with switching diode D18 anode；Such as Shown in Figure 14, the infrared receiving circuit includes operational amplifier U20A, operational amplifier U20B, slide rheostat R114 and red UV light-emitting diode D19, the in-phase input end of the operational amplifier U20B are connected with infrarede emitting diode D19 anode, And it is grounded by the resistance R116 and resistance R117 of parallel connection；The negative electrode of the infrarede emitting diode D19 turns 5V electricity with the 24V The output end VCC 5V connections on road, the inverting input of the operational amplifier U20B and a slide rheostat R114 fixation End connection, and be grounded by resistance R118；Another fixing end and sliding end of the slide rheostat R114 is put with computing Big device U20B output end connection, and be grounded by resistance R115；The in-phase input end of the operational amplifier U20A and computing Amplifier U20B output end connection, the reverse input end of the operational amplifier U20A pass through resistance R113 and operational amplifier U20A output end connection, the output end of the operational amplifier U20A are drawn with the 51st of the DSP U21 Pin connects, and is grounded by resistance R112.
In the present embodiment, the electricity of revolver motor current detection circuit 1-35 and right wheel the motor current detecting circuit 2-35 Line structure is identical and includes A phase windings current detection circuit, B phase windings current detection circuit and C phase windings current detecting electricity Road, as shown in figure 15, the A phase windings current detection circuit include model ACS712 Hall current sensor U13 and fortune Calculate amplifier U12A, the Hall current sensor U13 the 1st pin and the 2nd pin with revolver wheel hub motor 1-2 or right wheel The current input terminal A+ connections of the A phase windings of wheel hub motor, the 3rd pin and the 4th pin of the Hall current sensor U13 are equal It is connected with revolver wheel hub motor 1-2 or the A phase windings of right wheel wheel hub motor current output terminal A-, the Hall current sensor The output end VCC 5V that U13 the 8th pin and the 24V turns 5V circuits are connected, and are grounded by nonpolar electric capacity C40；It is described Hall current sensor U13 the 5th pin ground connection, the 6th pin of the Hall current sensor U13 pass through nonpolar electric capacity C46 is grounded；The 2nd pin of the operational amplifier U12A is connected by resistance R71 and Hall current sensor U13 the 7th pin Connecing, the output end VCC 5V that the 3rd pin of the operational amplifier U12A turns 5V circuits by resistance R67 and the 24V are connected, And it is grounded by resistance R69；The 8th pin of the operational amplifier U12A turns the output end VCC 5V of 5V circuits with the 24V Connection, the 4th pin ground connection of the operational amplifier U12A, between the 1st pin and the 2nd pin of the operational amplifier U12A It is A phase winding current detectings to be connected to the resistance R74 of parallel connection and nonpolar electric capacity C47, the operational amplifier U12A the 1st pin The output end of circuit and it is connected with the DSP U5 or DSP U21 the 38th pin； As shown in figure 16, the B phase windings current detection circuit includes model ACS712 Hall current sensor U16 and computing is put Big device U12B, the Hall current sensor U16 the 1st pin and the 2nd pin with revolver wheel hub motor 1-2 or right wheel wheel hub The current input terminal B+ connections of the B phase windings of motor, the 3rd pin and the 4th pin of the Hall current sensor U16 with a left side Take turns the current output terminal B- connections of the B phase windings of wheel hub motor 1-2 or right wheel wheel hub motor, the Hall current sensor U16 The 8th pin turn the output end VCC 5V of 5V circuits with the 24V and be connected, and pass through nonpolar electric capacity C49 ground connection；The Hall Current sensor U16 the 5th pin ground connection, the 6th pin of the Hall current sensor U16 are connect by nonpolar electric capacity C53 Ground；The 2nd pin of the operational amplifier U12B is connected by resistance R80 with Hall current sensor U16 the 7th pin, institute The 3rd pin for stating operational amplifier U12B is turned the output end VCC 5V of 5V circuits by resistance R77 and the 24V and is connected, and logical Cross resistance R78 ground connection；The output end VCC 5V that the 8th pin of the operational amplifier U12B turns 5V circuits with the 24V are connected, The 4th pin ground connection of the operational amplifier U12B, is connected between the 1st pin and the 2nd pin of the operational amplifier U12B Resistance R83 in parallel and nonpolar electric capacity C54, the operational amplifier U12B the 1st pin are B phase winding current detection circuits Output end and be connected with the DSP U5 or DSP U21 the 37th pin；Such as figure Shown in 17, the C phase windings current detection circuit includes model ACS712 Hall current sensor U19 and operational amplifier U18A, the Hall current sensor U19 the 1st pin and the 2nd pin with revolver wheel hub motor 1-2 or right wheel wheel hub motor C phase windings current input terminal C+ connections, the 3rd pin and the 4th pin of the Hall current sensor U19 with revolver wheel The current output terminal C- connections of the C phase windings of hub motor 1-2 or right wheel wheel hub motor, the 8th of the Hall current sensor U19 the The output end VCC 5V that pin turns 5V circuits with the 24V are connected, and are grounded by nonpolar electric capacity C56；The Hall current Sensor U19 the 5th pin ground connection, the 6th pin of the Hall current sensor U19 are grounded by nonpolar electric capacity C57；Institute The 2nd pin for stating operational amplifier U18A is connected by resistance R88 with Hall current sensor U19 the 7th pin, the computing The output end VCC 5V that amplifier U18A the 3rd pin turns 5V circuits by resistance R86 and the 24V are connected, and pass through resistance R87 is grounded；The output end VCC 5V that the 8th pin of the operational amplifier U18A turns 5V circuits with the 24V are connected, the fortune Amplifier U18A the 4th pin ground connection is calculated, is connected between the 1st pin and the 2nd pin of the operational amplifier U18A in parallel Resistance R89 and nonpolar electric capacity C58, the operational amplifier U18A the 1st pin are the output of C phase winding current detection circuits Hold and be connected with the DSP U5 or DSP U21 the 36th pin.
In use, revolver wheel hub motor 1-2 winding current is carried out by revolver motor current detection circuit 1-35 real When and give the signal output detected to revolver microcontroller 1-31, it is left when revolver wheel hub motor 1-2 winding current is excessive Take turns microcontroller 1-31 by the excessive signal of revolver wheel hub motor 1-2 winding current by revolver wireless communication module 1-33 and Right wheel wireless communication module 2-33 is transferred to right wheel microcontroller 2-31, right wheel microcontroller 2-31 control voice playing circuits 2- 310 play voice message signal, and prompter stops traveling, prevents winding current is excessive from burning out revolver wheel hub motor 1-2, serve Protective effect to revolver wheel hub motor 1-2；By right wheel motor current detecting circuit 2-35 to right wheel wheel hub motor 2-2 around Group electric current carries out in real time and gives the signal output detected to right wheel microcontroller 2-31, when right wheel wheel hub motor 2-2 winding When electric current is excessive, right wheel microcontroller 2-31 control voice playing circuits 2-310 plays voice message signal, and prompter stops row Sail, prevent winding current is excessive from burning out right wheel wheel hub motor 2-2, serve the protective effect to right wheel wheel hub motor 2-2.
In the present embodiment, as shown in figure 18, revolver battery power detection circuit 1-36 and right wheel the battery electric quantity detection Circuit 2-36 circuit structure is identical and includes comparator chip LM393, red light emitting diodes LED6, the pole of green emitting two Pipe LED7 and green LED LED9, the anode of the red light emitting diodes LED6 pass through resistance R33 and revolver battery 1-4 or right wheel battery 2-4 output end connect, the minus earth of the red light emitting diodes LED6；The comparator chip LM393 the 8th pin is connected by the resistance R37 and resistance R44 of series connection with revolver battery 1-4 or right wheel battery output end, And it is grounded by polar capacitor C27；The 4th pin ground connection of the comparator chip LM393, the comparator chip LM393's 3rd pin is connected by resistance R38 with revolver battery 1-4 or right wheel battery output end, and the resistance R50 and electricity for passing through series connection R54 ground connection is hindered, and is grounded by nonpolar electric capacity C31；The 2nd pin and the 6th pin of the comparator chip LM393 connects Ground, and be connected by the resistance R49, resistance 40 and resistance R41 of series connection with comparator chip LM393 the 1st pin, and pass through electricity Hinder R55 ground connection；Resistance 40 and the both ends of resistance 49 after series connection are parallel with resistance R39, and the 5th of the comparator chip LM393 draws Pin is connected by resistance R50 with comparator chip LM393 the 3rd pin, and is grounded by resistance R54；The comparator chip Resistance R43, the 5th pin and the 7th pin of the comparator chip LM393 are connected between LM393 the 1st pin and the 3rd pin Between be connected to resistance R53；The anode of the green LED LED7 is connected with comparator chip LM393 the 1st pin, institute State green LED LED7 minus earth；The anode of the green LED LED9 and comparator chip LM393 The connection of the 7th pin, and be connected by resistance R48 with comparator chip LM393 the 8th pin, the green LED LED9 minus earth；
In revolver battery power detection circuit 1-36 and right wheel the battery power detection circuit 2-36, comparator chip LM393 is the integrated circuit being made up of two independent, high-precision voltage comparators, resistance 40, resistance R49 and resistance R55 Partial pressure, benchmark is provided for comparator chip LM393；Resistance R38, resistance R50 and resistance R54 partial pressures, to revolver battery 1-4 Or comparator is sent in right wheel battery 2-4 output voltage sampling；Resistance 43 and resistance R53 form certain comparison hysteresis electricity Pressure；Resistance R39 is used to finely tune benchmark.When revolver battery 1-4 or right wheel battery 2-4 output voltage are more than or equal to 24V, Red light emitting diodes LED6, green LED LED7 and green LED LED9 are all lighted, revolver battery 1-4 Or right wheel battery 2-4 is in full power state；When revolver battery 1-4 or right wheel battery 2-4 output voltage are more than or equal to 20V and small When 24V, red light emitting diodes LED6 and green LED LED7 are lighted, and green LED LED9 extinguishes, left Wheel battery 1-4 or right wheel battery 2-4 is in middle state；When revolver battery 1-4 or right wheel battery 2-4 output voltage are less than 20V When, green LED LED7 and green LED LED9 extinguish, and only red light emitting diodes LED6 is lighted, revolver Battery 1-4 or right wheel battery 2-4 are in light current state, and now user sees this state, begin to as revolver battery 1-4 or Right wheel battery 2-4 charges.
In the present embodiment, as shown in figure 19, revolver battery charger 1-38 and right wheel the battery charger 2-38 Circuit structure it is identical and include transformer T1, rectifier D6, LED 5, LED 8, switch two Pole pipe D4, switching diode D5, slide rheostat RP1, slide rheostat RP2, relay K, triode VT1, triode VT2 and Triode VT3, one end of the primary coil of the transformer T1 are connected by insuring FU1 and 220V alternating currents an output end Connect, the other end of the primary coil of the transformer T1 is connected with another output end of 220V alternating currents；The rectifier D6 An ac input end be connected by insuring FU2 with one end of transformer T1 secondary coil, the rectifier D6's is another Individual ac input end is connected with the other end of transformer T1 secondary coil；The cathode voltage output end of the rectifier D6 passes through Relay K normally-closed contact switch K1 is connected with slide rheostat RP1 sliding end and a fixing end, and passes through resistance R46 It is connected with the anode of LED 8, the negative electrode of the LED 8 and rectifier D6 cathode voltage output end Connection；The sliding end of the slide rheostat RP1 and a fixing end pass through resistance R32 and the anode of LED 5 Connection, and be connected by resistance R34 with switching diode D4 anode, negative electrode and two poles of switch of the LED 5 One end, the switching diode D5 negative electrode of pipe D4 anode connection, the negative electrode of the switching diode D4 and relay K coil Connected with resistance R35 one end, and revolver battery 1-4 or right wheel battery 2-4 positive pole；The colelctor electrode of the triode VT1 It is connected with the other end of relay K coil and switching diode D5 anode, the other end of the resistance R35 is with sliding variable resistance Device RP2 fixing end connection, the base stage of the triode VT1 is connected with slide rheostat RP2 sliding end, and passes through pole Property electric capacity C32 is connected with revolver battery 1-4 or right wheel battery 2-4 negative pole；Another fixing end of the slide rheostat RP2 It is connected by resistance R51 with revolver battery 1-4 or right wheel battery 2-4 negative pole, emitter stage, the triode of the triode VT1 The negative pole of VT2 colelctor electrode and triode VT3 colelctor electrode with revolver battery 1-4 or right wheel battery 2-4 is connected, three pole Pipe VT2 base stage is connected by resistance R47 with slide rheostat RP1 another fixing end, and by parallel connection resistance R52 and Nonpolar electric capacity C33 is connected with rectifier D6 cathode voltage output end；The emitter stage of the triode VT2 and triode VT3 Base stage connection, the emitter stage of the triode VT3 is connected with rectifier D6 cathode voltage output end.
In revolver battery charger 1-38 and right wheel the battery charger 2-38,220V alternating currents are through transformer T1 Rectified device D6 rectifications export direct current again after decompression, by the cathode voltage output end of the rectifier D6 by relay K's Normally-closed contact switch K1, resistance R34, triode VT2, pass through revolver battery 1-4 or right wheel battery 2-4, triode VT3 to rectification Device D6 cathode voltage output end, revolver battery 1-4 or right wheel battery 2-4 are charged；Adjust the big of slide rheostat RP1 It is small, that is, triode VT2, triode VT3 base potential are adjusted, so as to adjust charging current；Due to revolver battery 1-4 or Right wheel battery 2-4 output voltage can react charge condition, by taking 24V charged lithium cells as an example, when output voltage rises to 30V When, triode VT1 saturation conductions, relay K coil obtains electric, and normally-closed contact switch K1 disconnects, and cuts off charge circuit, stop be Revolver battery 1-4 or right wheel battery 2-4 chargings.Slide rheostat RP2 size is adjusted, revolver battery 1-4 or the right side can be set Take turns the upper limit that battery 2-4 is full of automatic stop；LED 8 is power supply instruction, and LED 5 indicates for charging, fills Electric current is bigger, and LED 5 is brighter, otherwise darker.
In the present embodiment, the left motor-drive circuit 1-37 it is identical with right motor-drive circuit 2-37 circuit structure and Include motor A phases drive circuit, motor B phases drive circuit and motor C phase drive circuits, as shown in figure 20, the motor A phases Drive circuit includes model IR2104 driving chip U10, inductance L6, polar capacitor C37, N-channel MOS pipe Q1, N-channel Metal-oxide-semiconductor Q2, fast recovery diode D7, fast recovery diode D8 and fast recovery diode D9, the 1st of the driving chip U10 draws The output end VCC 15V that pin turns 15V circuits with the 24V are connected, and the nonpolar electric capacity C35 by parallel connection and nonpolar electric capacity C36 is grounded；The 2nd pin of the driving chip U10 and the DSP U5 or DSP U21 the 5th pin connection, the 3rd pin and the DSP U5 or DSP numerals of the driving chip U10 are believed Number processor U21 the 6th pin connection, the 4th pin ground connection of the driving chip U10, the sun of the fast recovery diode D7 The output end VCC 15V that pole turns 15V circuits with the 24V are connected, negative electrode and the driving chip U14 of the fast recovery diode D7 The connection of the 8th pin, and be connected by nonpolar electric capacity C34 with driving chip U10 the 6th pin；The N-channel MOS pipe Q1 Grid be connected with fast recovery diode D8 anode, and be connected by resistance R56 with driving chip U10 the 7th pin；It is described Fast recovery diode D8 negative electrode is connected with driving chip U10 the 7th pin, the grid of the N-channel MOS pipe Q1 and source electrode it Between be connected to resistance R60, the drain electrode of the N-channel MOS pipe Q1 is connected with revolver battery 1-4 or right wheel battery output end, and with Polar capacitor C37 positive pole connection；The grid of the N-channel MOS pipe Q2 is connected with fast recovery diode D9 anode, and is passed through Resistance R62 is connected with driving chip U10 the 5th pin；The negative electrode of the fast recovery diode D9 and the 5th of driving chip U10 the Pin is connected, and the drain electrode of the N-channel MOS pipe Q2 is connected with driving chip U10 the 6th pin, the N-channel MOS pipe Q2's Resistance R64 is connected between grid and source electrode, the source electrode of the N-channel MOS pipe Q2 is connected with polar capacitor C37 negative pole, the N The one end of the drain electrode of channel MOS tube Q1 source electrode and N-channel MOS pipe Q2 with inductance L6 is connected, the other end of the inductance L6 It is connected by resistance R61 with revolver wheel hub motor 1-2 or the A phase windings of right wheel wheel hub motor current input terminal A+；Such as Figure 21 Shown, the motor B phases drive circuit includes model IR2104 driving chip U14, inductance L7, polar capacitor C48, N ditch Road metal-oxide-semiconductor Q3, N-channel MOS pipe Q4, fast recovery diode D10, fast recovery diode D11 and fast recovery diode D12, it is described The output end VCC 15V that driving chip U14 the 1st pin and the 24V turns 15V circuits are connected, and pass through the nonpolar of parallel connection Electric capacity C44 and nonpolar electric capacity C45 ground connection；The 2nd pin of the driving chip U14 and the DSP U5 Or DSP U21 the 7th pin connection, the 3rd pin and the DSP data signals of the driving chip U14 Processor U5 or DSP U21 the 10th pin connection, the 4th pin ground connection of the driving chip U14, institute State fast recovery diode D10 anode and the 24V turns the output end VCC 15V of 15V circuits and is connected, the fast recovery diode D10 negative electrode is connected with driving chip U14 the 8th pin, and passes through nonpolar electric capacity C42 and driving chip U14 the 6th pin Connection；The grid of the N-channel MOS pipe Q3 is connected with fast recovery diode D11 anode, and passes through resistance R70 and driving core Piece U14 the 7th pin connection；The negative electrode of the fast recovery diode D11 is connected with driving chip U14 the 7th pin, the N Be connected between channel MOS tube Q3 grid and source electrode resistance R72, N-channel MOS pipe Q3 drain electrode and revolver battery 1-4 or The output end connection of right wheel battery, and be connected with polar capacitor C48 positive pole；The grid of the N-channel MOS pipe Q4 recovers with fast Diode D12 anode connection, and be connected by resistance R75 with driving chip U14 the 5th pin；The fast recovery diode D12 negative electrode is connected with driving chip U14 the 5th pin, the drain electrode of the N-channel MOS pipe Q4 and the 6th of driving chip U14 the Pin connects, and is connected to resistance R76 between the grid and source electrode of the N-channel MOS pipe Q4, the source electrode of the N-channel MOS pipe Q4 with Polar capacitor C48 negative pole connection, the drain electrode of the source electrode and N-channel MOS pipe Q4 of the N-channel MOS pipe Q3 is with inductance L7's One end connects, the other end of the inductance L7 by the B phases of resistance R73 and revolver wheel hub motor 1-2 or right wheel wheel hub motor around The current input terminal B+ connections of group；As shown in figure 22, the motor C phases drive circuit includes model IR2104 driving chip U17, inductance L8, polar capacitor C55, N-channel MOS pipe Q5, N-channel MOS pipe Q6, fast recovery diode D13, fast recovery diode D14 and fast recovery diode D15, the driving chip U17 the 1st pin turn the output end VCC of 15V circuits with the 24V 15V connections, and be grounded by the nonpolar electric capacity C51 and nonpolar electric capacity C52 of parallel connection；The 2nd pin of the driving chip U17 It is connected with the DSP U5 or DSP U21 the 11st pin, the driving chip U17 The 3rd pin be connected with the DSP U5 or DSP U21 the 12nd pin, the drive Dynamic chip U17 the 4th pin ground connection, anode and the 24V of the fast recovery diode D13 turn the output end VCC of 15V circuits 15V connections, the negative electrode of the fast recovery diode D13 is connected with driving chip U17 the 8th pin, and passes through nonpolar electric capacity C50 is connected with driving chip U17 the 6th pin；The grid of the N-channel MOS pipe Q5 connects with fast recovery diode D14 anode Connect, and be connected by resistance R79 with driving chip U17 the 7th pin；The negative electrode of the fast recovery diode D14 and driving core Piece U17 the 7th pin connection, is connected to resistance R81, the N-channel MOS pipe between the grid and source electrode of the N-channel MOS pipe Q5 Q5 drain electrode is connected with revolver battery 1-4 or right wheel battery output end, and is connected with polar capacitor C55 positive pole；The N ditches Road metal-oxide-semiconductor Q6 grid is connected with fast recovery diode D15 anode, and is drawn by resistance R84 and the 5th of driving chip U17 Pin connects；The negative electrode of the fast recovery diode D15 is connected with driving chip U17 the 5th pin, the N-channel MOS pipe Q6's Drain electrode is connected with driving chip U17 the 6th pin, and resistance R85, institute are connected between the grid and source electrode of the N-channel MOS pipe Q6 The source electrode for stating N-channel MOS pipe Q6 is connected with polar capacitor C55 negative pole, the source electrode and N-channel MOS of the N-channel MOS pipe Q5 The one end of pipe Q6 drain electrode with inductance L8 is connected, and the other end of the inductance L8 passes through resistance R82 and revolver wheel hub motor 1-2 Or the current input terminal C+ connections of the C phase windings of right wheel wheel hub motor；
Revolver battery 1-4 is powered by left motor-drive circuit 1-37 to revolver wheel hub motor 1-2, and right wheel battery 2-4 leads to Right motor-drive circuit 2-37 is crossed to power to right wheel wheel hub motor 2-2.The motor A phases drive circuit, motor B phase drive circuits In motor C phase drive circuits, because the turning-on voltage of N-channel MOS pipe is 12V~15V, but DSP U5 or DSP U21 voltage high level is 3.3V, is unsatisfactory for driving and requires, so using model IR2104 driving chip, after carrying out boosting processing to signal, drive the on or off of N-channel MOS pipe.
In the motor A phase drive circuits, N-channel MOS pipe Q1 driving power is obtained by bootstrap capacitor C34, In order to prevent the electric discharge of bootstrap capacitor C34 both ends from causing loss of charge, bootstrap diode uses fast recovery diode D7；DSP numbers Word signal processor U5 or DSP U21 outputs 3.3V pwm signal, draws by the 2nd of driving chip U10 the Pin and driving chip U10 the 3rd pin pass to driving chip U10, and signal is after power amplification, by driving chip U10's The control of the conducting and shut-off to N-channel MOS pipe Q1 is realized in the output of 7th pin, is exported by driving chip U10 the 5th pin real The now control of the conducting and shut-off to N-channel MOS pipe Q2.Specifically, when DSP U5 or DSP numeral are believed The PWM ripples for the 2nd pin that number processor U21 is output to driving chip U10 are high level, and be output to driving chip U10 the 3rd is drawn When the PWM ripples of pin are high level, driving chip U10 the 7th pin exports high level, and driving chip U10 the 5th pin output is low Level, now N-channel MOS pipe Q1 conductings, N-channel MOS pipe Q2 shut-offs；When DSP U5 or DSP data signal The PWM ripples that processor U21 is output to driving chip U10 the 2nd pin are low level, are output to driving chip U10 the 3rd pin PWM ripples when being high level, driving chip U10 the 7th pin output low level, the driving chip U10 high electricity of the 5th pin output Flat, now N-channel MOS pipe Q1 is turned off, N-channel MOS pipe Q2 conductings.Resistance R56 plays metering function, for reducing voltage oscillation Influence to N-channel MOS pipe Q1 stability；Resistance R56 is in parallel with fast recovery diode D8 can to form loop, and this loop can Faster to consume N-channel MOS pipe Q1 internal gate capacitance charges, accelerate the charge/discharge rates of grid capacitance, so as to Shorten the time of N-channel MOS pipe Q1 switches, and reduce the loss of N-channel MOS pipe Q1 switches；Resistance R60 is used for protection circuit Stabilization, protection also is formd to N-channel MOS pipe Q1；Resistance R62 is in parallel with fast recovery diode D9 can to form loop, this Loop faster can consume N-channel MOS pipe Q2 internal gate capacitance charges, add the charge/discharge rates of grid capacitance It hurry up, so as to shorten the time of N-channel MOS pipe Q2 switches, and reduce the loss of N-channel MOS pipe Q2 switches；Resistance R64 is used for The stabilization of protection circuit, protection also is formd to N-channel MOS pipe Q2.
In the motor B phase drive circuits, N-channel MOS pipe Q3 driving power is obtained by bootstrap capacitor C42, In order to prevent the electric discharge of bootstrap capacitor C42 both ends from causing loss of charge, bootstrap diode uses fast recovery diode D10；DSP numbers Word signal processor U5 or DSP U21 outputs 3.3V pwm signal, draws by the 2nd of driving chip U14 the Pin and driving chip U10 the 3rd pin pass to driving chip U14, and signal is after power amplification, by driving chip U14's The control of the conducting and shut-off to N-channel MOS pipe Q3 is realized in the output of 7th pin, is exported by driving chip U14 the 5th pin real The now control of the conducting and shut-off to N-channel MOS pipe Q4.Specifically, when DSP U5 or DSP numeral are believed The PWM ripples for the 2nd pin that number processor U21 is output to driving chip U14 are high level, and be output to driving chip U14 the 3rd is drawn When the PWM ripples of pin are high level, driving chip U14 the 7th pin exports high level, and driving chip U14 the 5th pin output is low Level, now N-channel MOS pipe Q3 conductings, N-channel MOS pipe Q4 shut-offs；When DSP U5 or DSP data signal The PWM ripples that processor U21 is output to driving chip U14 the 2nd pin are low level, are output to driving chip U14 the 3rd pin PWM ripples when being high level, driving chip U14 the 7th pin output low level, the driving chip U14 high electricity of the 5th pin output Flat, now N-channel MOS pipe Q3 is turned off, N-channel MOS pipe Q4 conductings.Resistance R70 plays metering function, for reducing voltage oscillation Influence to N-channel MOS pipe Q3 stability；Resistance R70 is in parallel with fast recovery diode D11 can to form loop, this loop N-channel MOS pipe Q3 internal gate capacitance charges can be consumed faster, accelerate the charge/discharge rates of grid capacitance, from And shorten the time of N-channel MOS pipe Q3 switches, and reduce the loss of N-channel MOS pipe Q3 switches；Resistance R72 is used to protect electricity The stabilization on road, protection also is formd to N-channel MOS pipe Q3；Resistance R75 is in parallel with fast recovery diode D12 can to form loop, This loop faster can consume N-channel MOS pipe Q4 internal gate capacitance charges, add the charge/discharge rates of grid capacitance It hurry up, so as to shorten the time of N-channel MOS pipe Q4 switches, and reduce the loss of N-channel MOS pipe Q4 switches；Resistance R76 is used for The stabilization of protection circuit, protection also is formd to N-channel MOS pipe Q4.
In the motor C phase drive circuits, N-channel MOS pipe Q5 driving power is obtained by bootstrap capacitor C50, In order to prevent the electric discharge of bootstrap capacitor C50 both ends from causing loss of charge, bootstrap diode uses fast recovery diode D13；DSP numbers Word signal processor U5 or DSP U21 outputs 3.3V pwm signal, draws by the 2nd of driving chip U17 the Pin and driving chip U10 the 3rd pin pass to driving chip U17, and signal is after power amplification, by driving chip U17's The control of the conducting and shut-off to N-channel MOS pipe Q5 is realized in the output of 7th pin, is exported by driving chip U17 the 5th pin real The now control of the conducting and shut-off to N-channel MOS pipe Q6.Specifically, when DSP U5 or DSP numeral are believed The PWM ripples for the 2nd pin that number processor U21 is output to driving chip U17 are high level, and be output to driving chip U17 the 3rd is drawn When the PWM ripples of pin are high level, driving chip U17 the 7th pin exports high level, and driving chip U17 the 5th pin output is low Level, now N-channel MOS pipe Q5 conductings, N-channel MOS pipe Q6 shut-offs；When DSP U5 or DSP data signal The PWM ripples that processor U21 is output to driving chip U17 the 2nd pin are low level, are output to driving chip U17 the 3rd pin PWM ripples when being high level, driving chip U17 the 7th pin output low level, the driving chip U17 high electricity of the 5th pin output Flat, now N-channel MOS pipe Q5 is turned off, N-channel MOS pipe Q6 conductings.Resistance R79 plays metering function, for reducing voltage oscillation Influence to N-channel MOS pipe Q5 stability；Resistance R79 is in parallel with fast recovery diode D14 can to form loop, this loop N-channel MOS pipe Q5 internal gate capacitance charges can be consumed faster, accelerate the charge/discharge rates of grid capacitance, from And shorten the time of N-channel MOS pipe Q5 switches, and reduce the loss of N-channel MOS pipe Q5 switches；Resistance R81 is used to protect electricity The stabilization on road, protection also is formd to N-channel MOS pipe Q5；Resistance R84 is in parallel with fast recovery diode D15 can to form loop, This loop faster can consume N-channel MOS pipe Q6 internal gate capacitance charges, add the charge/discharge rates of grid capacitance It hurry up, so as to shorten the time of N-channel MOS pipe Q6 switches, and reduce the loss of N-channel MOS pipe Q6 switches；Resistance R85 is used for The stabilization of protection circuit, protection also is formd to N-channel MOS pipe Q6.
In the left motor-drive circuit 1-37 and right motor-drive circuit 2-37, from N-channel MOS pipe, N-channel MOS Close during the grid low level of pipe, open during high level；The general P-channel metal-oxide-semiconductor conducting of the metal-oxide-semiconductor of same current and voltage quota Resistance is bigger than N-channel MOS pipe, and switching speed is also slower than N-channel MOS pipe, so from N-channel MOS pipe.
In the present invention, the left motor-drive circuit 1-37 and right motor-drive circuit 2-37 use two or two conduction modes, I.e. synchronization only has two N-channel MOS pipe ON operations, and remaining four N-channel MOS pipe then keeps cut-off state.Four N ditches The turn-on sequence of road metal-oxide-semiconductor is successively：Q1, Q4 are turned on, Q1, Q6 conducting, Q3, Q6 conducting, Q3, Q2 conducting, Q5, Q2 conducting, Q5, Q4 is turned on, and is circulated successively according to this order；Change a metal-oxide-semiconductor state every 60 ° of electrical angles, and two neighboring state is only cut The switch of a metal-oxide-semiconductor is changed, each metal-oxide-semiconductor ON time is 120 ° of electrical angles.
In the present embodiment, as shown in figure 23, the voice playing circuit 2-310 includes SYN6288 voice modules and buzzing Device LS, the output end VCC 5V that the 1st pin and the 24V of the SYN6288 voice modules turn 5V circuits are connected, described 2nd pin of SYN6288 voice modules is grounded, at the 3rd pin of the SYN6288 voice modules and the DSP data signals Manage device U21 the 63rd pin connection, the 4th pin and the DSP U21 of the SYN6288 voice modules The connection of the 64th pin, the 5th pin of the SYN6288 voice modules draws with the 65th of the DSP U21 Pin is connected, and the 6th pin of the SYN6288 voice modules is connected with buzzer LS positive pole, the SYN6288 voice modules 7th pin is connected with buzzer LS negative pole.
As shown in figure 24, the control method for coordinating of double single wheel Self-balance electric vehicles of the invention, comprises the following steps：
Step 1: double single wheel Self-balance electric vehicle starting controls, detailed process are：
Step 101, trample in left road wheel 1 when the left foot of people, and after right crus of diaphragm is trampled on right road wheel 2, revolver pressure Detection circuit 1-39 detects the left foot of people to the pressure of left road wheel 1 and exports and give revolver microcontroller 1-31, right wheel pressure Power detection circuit 2-311 detects the right crus of diaphragm of people to the pressure of right road wheel 2 and exports and give right wheel microcontroller 2-31；
Step 102, when the revolver microcontroller 1-31 receive revolver pressure detection circuit 1-39 output pressure letter After number, the revolver microcontroller 1-31 starts to gather the Z axis angle, θ for the left road wheel 1 that revolver gyroscope 1-34 is detectedL, And start to gather the rotating speed n for the revolver wheel hub motor 1-2 that revolver motor Rotating speed measring circuit 1-310 is detectedL；When the right wheel After microcontroller 2-31 receives the pressure signal of right wheel pressure detection circuit 2-311 outputs, the right wheel microcontroller 2-31 Start the Z axis angle, θ for the right road wheel 2 that collection right wheel gyroscope 2-34 is detectedR, and start to gather the detection of right wheel motor speed The rotating speed n for the right wheel wheel hub motor 2-2 that circuit 1-312 is detectedR；
Step 103, revolver microcontroller 1-31 are according to formula ωL=2 π nLRevolver wheel hub motor 1-2 angle speed is calculated Spend ωL, meanwhile, right wheel microcontroller 2-31 is according to formula ωR=2 π nRRevolver wheel hub motor 1-2 angular speed is calculated ωR；
Step 104, revolver microcontroller 1-31 are according to formula vL'=k3∫(k1θL+k2ωL) it is calculated to revolver wheel Hub motor 1-2 control speed vL', and compare vL' with double single wheels for presetting and being stored in revolver microcontroller 1-31 oneself The max speed v of balance electric carmax, work as vL′≤vmaxWhen, revolver microcontroller 1-31 output control signals simultaneously pass through left motor Drive circuit 1-37 driving revolver wheel hub motors 1-2 actual speed vLFor vL′；Work as vL′>vmaxWhen, revolver microcontroller 1-31 Output control signal control revolver wheel hub motor 1-2 actual speed vLFor vmax；Meanwhile right wheel microcontroller 2-31 is according to public affairs Formula vR'=k3∫(k1θR+k2ωR) its control speed v to right wheel wheel hub motor 2-2 is calculatedR', and compare vR' with setting in advance The max speed v for the double single wheel Self-balance electric vehicles determined and be stored in right wheel microcontroller 2-31max, work as vR′≤vmaxWhen, it is right Take turns microcontroller 2-31 output control signals control right wheel wheel hub motor 2-2 actual speed vRFor vR′；Work as vR′>vmaxWhen, it is right Take turns microcontroller 2-31 output control signals and drive right wheel wheel hub motor 2-2 reality to turn by right motor-drive circuit 2-37 Fast vRFor vmax；Wherein, k1、k2And k3It is proportionality coefficient, k1Value be natural number more than g, g is acceleration of gravity, k2With k3Value be natural number more than 0；
Step 2: the coordination control of the left road wheel 1 and right road wheel 2 of double single wheel Self-balance electric vehicles, detailed process are：
Step 201, the relative position for judging left road wheel 1 and right road wheel 2：Revolver microcontroller 1-31 is by revolver wheel hub Motor 1-2 actual speed vLIt is micro- that right wheel is transferred to by revolver wireless communication module 1-33 and right wheel wireless communication module 2-33 Controller 2-31, right wheel microcontroller 2-31 compare vLWith vRSize, work as vL>vRWhen, it is judged as left road wheel 1 in preceding, right lateral Wheel 2 is walked rear；Work as vL=vRWhen, it is judged as that left road wheel 1 is parallel with right road wheel 2；Work as vL<vRWhen, it is judged as right road wheel 2 Preceding, left road wheel 1 is rear；
Step 202, judge that double single wheel Self-balance electric vehicles are straight trip or turning, and be divided to straight trip and turning two kinds of situations pair The left road wheel 1 and right road wheel 2 of double single wheel Self-balance electric vehicles carry out coordination control：The revolver pressure detection circuit 1-39 Detect pressure F of the left foot to left road wheel 1 of peopleLAnd export and give revolver microcontroller 1-31, revolver microcontroller 1-31 again will Pressure F of the left foot of people to left road wheel 1LTransmitted by revolver wireless communication module 1-33 and right wheel wireless communication module 2-33 Right wheel microcontroller 2-31, right wheel pressure detection circuit 2-311 is given to detect pressure F of the right crus of diaphragm to right road wheel 2 of peopleRAnd export Give right wheel microcontroller 2-31；Right wheel microcontroller 2-31 compares | FR-FL| with presetting and being stored in right wheel microcontroller 2- The threshold pressure difference F that left road wheel 1 in 31 is subject to when being turned with right road wheel 2ZIn, when | FR-FL|≤FZWhen, judge double only Wheel Self-balance electric vehicle is straight trip；When | FR-FL| ＞ FZWhen, it is to turn to judge double single wheel Self-balance electric vehicles；
When double single wheel Self-balance electric vehicles are straight trips, first, the right wheel microcontroller 2-31 collections infrared distance measurement electricity The distance between left road wheel 1 and right road wheel 2 that road 2-39 is detected L, and gather what right wheel GPS module 2-313 was navigated to The central point A of right road wheel 2 position coordinates XA,YA；Meanwhile the revolver microcontroller 1-31 collection revolver GPS modules 1- The central point B of the 311 left road wheels 1 navigated to position coordinates XB,YBAnd by revolver wireless communication module 1-33 and right wheel without Line communication module 2-33 is transferred to right wheel microcontroller 2-31；Then, the right wheel microcontroller 2-31 is first according to formulaThe relative angle γ between left road wheel 1 and right road wheel 2 is calculated, further according to formula y=Lsin γ calculates the longitudinal separation between left road wheel 1 and right road wheel 2, and according to formula x=Lcos γ calculate left road wheel 1 with Left and right distance between right road wheel 2；Then, the right wheel microcontroller 2-31 compares y and presets and be stored in right wheel Safe distance y before and after the maximum between left road wheel 1 and right road wheel 2 in microcontroller 2-31max, and compare x with setting in advance Determine and be stored in the maximum left and right safe distance x between the left road wheel 1 and right road wheel 2 in right wheel microcontroller 2-31max；
As y≤ymaxWhen, the longitudinal separation between left road wheel 1 and right road wheel 2 is not above left road wheel 1 and right lateral Walk wheel 2 between maximum before and after safe distance, now, the revolver microcontroller 1-31 does not change to revolver wheel hub motor 1-2 The control of rotating speed, the right wheel microcontroller 2-31 do not change the control to right wheel wheel hub motor 2-2 rotating speeds；
Work as y>ymaxWhen, the longitudinal separation between left road wheel 1 and right road wheel 2 has exceeded left road wheel 1 and right road wheel Safe distance before and after maximum between 2, now, when left road wheel 1 is preceding, right road wheel 2 is when rear, the right wheel microcontroller 2-31 control right wheel wheel hub motors 2-2 accelerates；When right road wheel 2 is preceding, left road wheel 1 is when rear, the right wheel microcontroller The signal that left road wheel 1 accelerates is transferred to by 2-31 by revolver wireless communication module 1-33 and right wheel wireless communication module 2-33 Revolver microcontroller 1-31, the revolver microcontroller 1-31 control revolver wheel hub motors 1-2 acceleration；
As x≤xmaxWhen, the left and right distance between left road wheel 1 and right road wheel 2 is not above left road wheel 1 and right lateral The maximum left and right safe distance between wheel 2 is walked, now, the revolver microcontroller 1-31 does not change to revolver wheel hub motor 1-2 The control of rotating speed, the right wheel microcontroller 2-31 do not change the control to right wheel wheel hub motor 2-2 rotating speeds；
Work as x>xmaxWhen, the left and right distance between left road wheel 1 and right road wheel 2 has exceeded left road wheel 1 and right road wheel Maximum left and right safe distance between 2, now, the right wheel microcontroller 2-31 control voice playing circuits 2-310 play language Sound cue, prompter reduce the distance between left foot and right crus of diaphragm；
When double single wheel Self-balance electric vehicles are to turn, first, the right wheel microcontroller 2-31 control voices play electricity Road 2-310 plays voice message signal, prompts road conditions to turn and prompting human body hypsokinesis；Then, the right wheel microcontroller 2-31 compares pressure F of the left foot to left road wheel 1 of peopleLPressure F with the right crus of diaphragm of people to right road wheel 2R, work as FL>FRWhen, sentence Break and turned left for double single wheel Self-balance electric vehicles, now, the right wheel microcontroller 2-31 leads to the signal that left road wheel 1 slows down Cross revolver wireless communication module 1-33 and right wheel wireless communication module 2-33 is transferred to revolver microcontroller 1-31, the revolver is micro- Controller 1-31 control revolver wheel hub motors 1-2 slows down；Work as FL<FRWhen, be judged as double single wheel Self-balance electric vehicles to Turn right, now, the right wheel microcontroller 2-31 control right wheel wheel hub motors 2-2, which slows down, to be turned right.
In the present embodiment, v described in step 104maxValue be 15km/h, F described in step 202ZValue be 150N, the ymaxValue be 30cm, the xmaxValue be 50cm.Wherein, ymaxValue consider people's left foot and right crus of diaphragm Between comfortable longitudinal separation, xmaxValue consider comfortable left and right distance, F between people's left foot and right crus of diaphragmZValue consider The average weight of people.
Control method for coordinating more than is controlled to this pair of single wheel Self-balance electric vehicle, can allow people's comfort and convenient Realize the driving to this pair of single wheel Self-balance electric vehicle in ground.
It is described above, only it is presently preferred embodiments of the present invention, not the present invention is imposed any restrictions, it is every according to the present invention Any simple modification, change and the equivalent structure change that technical spirit is made to above example, still fall within skill of the present invention In the protection domain of art scheme.

Claims (10)

  1. A kind of 1. double single wheel Self-balance electric vehicles, it is characterised in that：Stepped on including the left road wheel (1) trampled for left foot and for right crus of diaphragm The right road wheel (2) stepped on, the left road wheel (1) and right road wheel (2) are separate；
    The left road wheel (1) includes left foot supporting plate, revolver wheel hub motor (1-2) and revolver control board (1-3), and The revolver battery (1-4) powered for revolver wheel hub motor (1-2) and revolver control board (1-3), the left foot supporting plate bag Include for placing the left level board (1-11) of left foot, being vertically connected on the left side vertical plate of left level board (1-11) left bottom (1-12), it is vertically connected on the front left side vertical plate (1-13) of bottom on front side of left level board (1-11) and is vertically connected on left level The left rear side vertical plate (1-14) of plate (1-11) bottom rear, axle and the left side vertical plate (1- of the revolver wheel hub motor (1-2) 12) it is fixedly connected, the revolver control board (1-3) and revolver battery (1-4) are fixedly connected with left level board (1-11) Bottom surface on；Revolver control circuit is provided with the revolver control board (1-3), the revolver control circuit includes revolver Microcontroller (1-31) and the voltage conversion for revolver battery (1-4) to be exported are each electricity consumption module institute in revolver control circuit Need voltage and for the revolver voltage conversion circuit (1-32) of each electricity consumption module for power supply in revolver control circuit, and with revolver micro-control The revolver wireless communication module (1-33) that device (1-31) processed connects；Revolver battery charging electricity is connected on the revolver battery (1-4) Road (1-38), the input of the revolver microcontroller (1-31) are terminated with being used to enter three axle angles of inclination of left road wheel (1) The revolver pressure that the capable revolver gyroscope (1-34) detected in real time, the pressure for being subject to left road wheel (1) are detected in real time Power detection circuit (1-39), for left road wheel (1) is positioned revolver GPS module (1-311), for revolver wheel hub Revolver motor current detection circuit (1-35) that the winding current of motor (1-2) is detected in real time and for revolver battery The revolver battery power detection circuit (1-36) that the output voltage of (1-4) is detected in real time, the revolver battery electric quantity detection Circuit (1-36) is connected with the output end of revolver battery (1-4), and the output of the revolver microcontroller (1-31) is terminated with being used for Drive the left motor-drive circuit (1-37) of revolver wheel hub motor (1-2), the left motor-drive circuit (1-37) and revolver electricity The output end connection in pond (1-4), the revolver wheel hub motor (1-2) are connected with left motor-drive circuit (1-37)；The revolver The revolver motor rotating speed for being detected in real time to the rotating speed of revolver wheel hub motor (1-2) is provided with wheel hub motor (1-2) Circuit (1-310) is detected, the revolver motor Rotating speed measring circuit (1-310) and the input of revolver microcontroller (1-31) connect Connect；
    The right road wheel (2) includes right crus of diaphragm supporting plate, right wheel wheel hub motor (2-2) and right wheel control board (2-3), and The right wheel battery (2-4) powered for right wheel wheel hub motor (2-2) and right wheel control board (2-3), the right crus of diaphragm supporting plate bag Include for placing the right level board (2-11) of right crus of diaphragm, being vertically connected on the right vertical plate of right level board (2-11) bottom right side (2-12), it is vertically connected on the forward right side vertical plate (2-13) of bottom on front side of right level board (2-11) and is vertically connected on right level The right lateral side vertical plate (2-14) of plate (2-11) bottom rear, axle and the right vertical plate (2- of the right wheel wheel hub motor (2-2) 12) it is fixedly connected, the right wheel control board (2-3) and right wheel battery (2-4) are fixedly connected with right level board (2-11) Bottom surface on；Right wheel control circuit is provided with the right wheel control board (2-3), the right wheel control circuit includes right wheel Microcontroller (2-31) and the voltage conversion for right wheel battery (2-4) to be exported are each electricity consumption module institute in right wheel control circuit Need voltage and for the right wheel voltage conversion circuit (2-32) of each electricity consumption module for power supply in right wheel control circuit, and with right wheel micro-control The right wheel wireless communication module (2-33) that device (2-31) processed connects；The right wheel wireless communication module (2-33) and revolver channel radio Letter module (1-33) wireless connection is simultaneously communicated, and right wheel battery charger (2-38) is connected on the right wheel battery (2-4), described The input of right wheel microcontroller (2-31) is terminated with being used for the right side for detecting three axle angles of inclination of right road wheel (2) in real time Right wheel pressure detection circuit (the 2- that wheel gyroscope (2-34), the pressure for being subject to right road wheel (2) are detected in real time 311), for right road wheel (2) is positioned right wheel GPS module (2-313), for being walked to left road wheel (1) with right lateral Infrared distance measurement circuit (2-39) that wheel the distance between (2) is detected in real time, for the winding to right wheel wheel hub motor (2-2) Right wheel motor current detecting circuit (2-35) that electric current is detected in real time and for entering to the output voltage of right wheel battery (2-4) The right wheel battery power detection circuit (2-36) that row detects in real time, the right wheel battery power detection circuit (2-36) and right wheel electricity The output end connection in pond (2-4), the output of the right wheel microcontroller (2-31) are terminated with voice playing circuit (2-310) and used In the right motor-drive circuit (2-37) of driving right wheel wheel hub motor (2-2), the right motor-drive circuit (2-37) and right wheel The output end connection of battery (2-4), the right wheel wheel hub motor (2-2) are connected with right motor-drive circuit (2-37)；The right side The right wheel motor for detecting the rotating speed of right wheel wheel hub motor (2-2) in real time is provided with wheel wheel hub motor (2-2) to turn Speed detection circuit (2-312), the right wheel motor speed detection circuit (2-312) and the input of right wheel microcontroller (2-31) Connection.
  2. 2. according to a kind of double single wheel Self-balance electric vehicles described in claim 1, it is characterised in that：The revolver voltage conversion electricity The circuit structure of road (1-32) and right wheel voltage conversion circuit (2-32) it is identical and include with revolver battery (1-4) or right wheel The 24V of the output end connection of battery (2-4) turns 15V circuits, 24V turns 5V circuits and 24V turns 3.3V circuits, and turns 5V with 24V The 5V of the output end connection of circuit turns 1.9V circuits；The revolver microcontroller (1-31) is model TMS320F28335's DSP U5, the right wheel microcontroller (2-31) are at model TMS320F28335 DSP data signals Manage device U21.
  3. 3. according to a kind of double single wheel Self-balance electric vehicles described in claim 2, it is characterised in that：The 24V turns 15V circuit bags Include model MC33063 DC-DC converter chip U3, sustained diode 1 and inductance L2, the DC-DC converter chip U3 The 1st pin, the 7th pin and the 8th pin be connected by resistance R6 with DC-DC converter chip U3 the 6th pin, it is described DC-DC converter chip U3 the 6th pin is that the 24V turns the 24V voltage input ends of 15V circuits, and passes through polar capacitor C8 Ground connection；The 2nd pin of the DC-DC converter chip U3 is connected with the negative electrode of sustained diode 1 and inductance L2 one end, institute The plus earth of sustained diode 1 is stated, the other end of the inductance L2 turns the output end VCC 15V of 15V circuits for the 24V, And it is grounded by polar capacitor C6；The 3rd pin of the DC-DC converter chip U3 is grounded by polar capacitor C11, described DC-DC converter chip U3 the 4th pin ground connection, the 5th pin of the DC-DC converter chip U3 are grounded by resistance R2, And the output end VCC 15V for turning 15V circuits by resistance R4 and the 24V are connected；The 24V, which turns 5V circuits, includes model MC33063 DC-DC converter chip U4, sustained diode 2 and inductance L4, the 1st of the DC-DC converter chip U4 draws Pin, the 7th pin and the 8th pin are connected by resistance R14 with DC-DC converter chip U4 the 6th pin, and the DC-DC becomes Parallel operation chip U4 the 6th pin is that the 24V turns the 24V voltage input ends of 5V circuits, and is grounded by polar capacitor C18；Institute The 2nd pin for stating DC-DC converter chip U4 is connected with the negative electrode of sustained diode 2 and inductance L4 one end, the afterflow two Pole pipe D2 plus earth, the other end of the inductance L4 turns the output end VCC 5V of 5V circuits for the 24V, and passes through polarity Electric capacity C17 is grounded；The 3rd pin of the DC-DC converter chip U4 is grounded by polar capacitor C19, the DC-DC converter Chip U4 the 4th pin ground connection, the 5th pin of the DC-DC converter chip U4 is grounded by resistance R9, and passes through resistance The output end VCC 5V that R10 turns 5V circuits with the 24V are connected；The 24V, which turns 3.3V circuits, includes model MC33063's DC-DC converter chip U7, sustained diode 3 and inductance L5, the 1st pin, the 7th pin of the DC-DC converter chip U7 It is connected with the 8th pin by resistance R26 with DC-DC converter chip U7 the 6th pin, the DC-DC converter chip U7 The 6th pin turn the 24V voltage input ends of 3.3V circuits for the 24V, and be grounded by polar capacitor C23；The DC-DC becomes Parallel operation chip U7 the 2nd pin is connected with the negative electrode of sustained diode 3 and inductance L5 one end, the sustained diode 3 Plus earth, the other end of the inductance L5 turns the output end VCC 3.3V of 3.3V circuits for the 24V, and passes through polar capacitor C22 is grounded；The 3rd pin of the DC-DC converter chip U7 is grounded by polar capacitor C24, the DC-DC converter chip U7 the 4th pin ground connection, the 5th pin of the DC-DC converter chip U7 is grounded by resistance R18, and by resistance R21 with The 24V turns the output end VCC 3.3V connections of 3.3V circuits；The 24V turns the 24V voltage input ends of 15V circuits, the 24V Turn the 24V voltage input ends of 5V circuits and the 24V turns the 24V voltage input ends of 3.3V circuits by switching S2 and revolver electricity The output end of pond (1-4) or right wheel battery (2-4) connects；The 5V, which turns 1.9V circuits, to be included voltage-stablizer TPS767D301, lights Diode (LED) 1 and inductance L1, the voltage-stablizer TPS767D301 the 5th pin and the 6th pin turn 5V circuits with the 24V Output end VCC 5V connections, and be grounded by the polar capacitor C2 and nonpolar electric capacity C1 of parallel connection；The voltage-stablizer TPS767D301 the 3rd pin, the 4th pin, the 9th pin and the 10th pin is grounded, and the of the voltage-stablizer TPS767D301 The output end VCC 5V that 11 pins and the 12nd pin turn 5V circuits with the 24V are connected, and are grounded by nonpolar electric capacity C7； The 23rd pin of the voltage-stablizer TPS767D301 and the 24th pin connection and for the 5V turn 1.9V circuits digital voltage it is defeated Go out to hold VDD 1.9V, the 5V to turn the digital voltage output end VDD 1.9V of 1.9V circuits and pass through the resistance R1 and resistance R5 of series connection Ground connection, and be grounded by the polar capacitor C5 and nonpolar electric capacity C3 of parallel connection；The 5V turns the digital voltage output of 1.9V circuits End VDD 1.9V are connected with inductance L1 one end, the other end of the inductance L1 be the 5V turn 1.9V circuits analog voltage it is defeated Go out to hold VDDA 1.9V, and be grounded by polar capacitor C4；The anode of the LED 1 passes through resistance R3 and voltage-stablizer TPS767D301 the 5th pin connection, the minus earth of the LED 1.
  4. 4. according to a kind of double single wheel Self-balance electric vehicles described in claim 2, it is characterised in that：The revolver radio communication mold Block (1-33) and right wheel wireless communication module (2-33) are HC-05 bluetooth modules, and the power end of the HC-05 bluetooth modules draws The output end VCC 5V that pin turns 5V circuits with the 24V are connected, the earth terminal pin ground connection of the HC-05 bluetooth modules, described The RXD pins of HC-05 bluetooth modules draw with the 72nd of the DSP U5 or DSP U21 Pin connects, the TXD pins of the HC-05 bluetooth modules and the DSP U5 or DSP U21 the 73rd pin connection.
  5. 5. according to a kind of double single wheel Self-balance electric vehicles described in claim 2, it is characterised in that：Revolver gyroscope (the 1- 34) and revolver gyroscope (1-34) is MPU6050 gyro modules, and the 1st pin of the MPU6050 gyro modules passes through Resistance R57 is grounded, and the 8th pin and the 24V of the MPU6050 gyro modules turn the output end VCC 3.3V of 3.3V circuits Connection, and be grounded by nonpolar electric capacity C38；9th pin of the MPU6050 gyro modules is grounded by resistance R65, institute The 10th pin for stating MPU6050 gyro modules is grounded by nonpolar electric capacity C39, and the of the MPU6050 gyro modules 11 pins are grounded by resistance R68, the 12nd pin and the DSP of the MPU6050 gyro modules U5 or DSP U21 the 24th pin connection, the 13rd pin of the MPU6050 gyro modules with it is described 24V turns the output end VCC 3.3V connections of 3.3V circuits, and is grounded by nonpolar electric capacity C43；The MPU6050 gyroscopes mould The 18th pin ground connection of block, the 20th pin of the MPU6050 gyro modules are grounded by nonpolar electric capacity C41；It is described The output end VCC 3.3V that 23rd pin of MPU6050 gyro modules turns 3.3V circuits by resistance R59 and the 24V connect Connect, and connected by the resistance R65 and DSP U5 or DSP U21 the 28th pin Connect；23rd pin of the MPU6050 gyro modules turns the output end VCC of 3.3V circuits by resistance R58 and the 24V 3.3V connections, and drawn by resistance R63 and the 27th of the DSP U5 or DSP U21 Pin connects；
    The revolver pressure detection circuit (1-39) is identical with the circuit structure of right wheel pressure detection circuit (2-311) and includes Pressure sensor YZC-161B and operational amplifier U6A, the pressure sensor YZC-161B the 1st pin turn with the 24V The output end VCC 5V connections of 5V circuits, the 2nd pin of the pressure sensor YZC-161B pass through resistance R17 and operation amplifier Device U6A in-phase input end connection, the in-phase input end of the operational amplifier U6A is grounded by nonpolar electric capacity C21, described Pressure sensor YZC-161B the 3rd pin and the 4th pin are grounded, and the inverting input of the operational amplifier U6A passes through Resistance R15 is grounded, and is connected by resistance R13 with operational amplifier U6A output end, the output of the operational amplifier U6A End is connected with the DSP U5 or DSP U21 the 40th pin；
    The revolver GPS module (1-311) and right wheel GPS module (2-313) are GPS module NEO-7N, the GPS module The output end VCC 5V that NEO-7N the 1st pin and the 24V turns 5V circuits are connected, the 2nd pin of the GPS module NEO-7N Ground connection, the 3rd pin and the DSP U5 or the DSP of the GPS module NEO-7N U21 the 66th pin connection, the 4th pin and the DSP U5 or the DSP numbers of the GPS module NEO-7N Word signal processor U21 the 67th pin connection, the 5th pin and the DSP Digital Signal Processing of the GPS module NEO-7N Device U5 or DSP U21 the 62nd pin connection；
    The revolver motor Rotating speed measring circuit (1-310) and the circuit structure phase of right wheel motor speed detection circuit (2-312) Same and including Hall sensor AH3144E, the Hall sensor AH3144E power end pin turns 5V electricity with the 24V The output end VCC 5V connections on road, the earth terminal pin ground connection of the Hall sensor AH3144E, the Hall sensor AH3144E signal output part pin by the resistance R91 and resistance R90 of series connection and the DSP U5 or DSP U21 the 41st pin connection, the resistance R90 and DSP U5 or DSP The connection end of digital signal processor U21 the 41st pin is grounded by nonpolar electric capacity C60；
    The infrared distance measurement circuit (2-39) includes infrared transmitting circuit and infrared receiving circuit, and the infrared transmitting circuit includes Triode Q11, triode Q12, emitting LED D17 and switching diode D18, the emitting LED D17's The output end VCC 5V that anode turns 5V circuits with the 24V are connected, and are grounded by nonpolar electric capacity C67；The triode Q11 Base stage be connected by resistance R108 with emitting LED D17 anode, the colelctor electrode of the triode Q11 and luminous hair Optical diode D17 negative electrode connection, the emitter stage of the triode Q11 pass through resistance R109 and switching diode D18 anode Connection, the negative electrode of the switching diode D18 are connected with triode Q11 base stage, and the base stage of the triode Q12 passes through resistance The output end VCC 5V that R110 turns 5V circuits with the 24V are connected, and are connected by resistance R111 and triode Q12 emitter stage Connect, the colelctor electrode of the triode Q12 is connected with switching diode D18 anode；The infrared receiving circuit is put including computing Big device U20A, operational amplifier U20B, slide rheostat R114 and infrarede emitting diode D19, the operational amplifier U20B In-phase input end be connected with infrarede emitting diode D19 anode, and pass through resistance R116 in parallel and resistance R117 ground connection； The output end VCC 5V that the negative electrode of the infrarede emitting diode D19 turns 5V circuits with the 24V are connected, the operational amplifier U20B inverting input is connected with a slide rheostat R114 fixing end, and is grounded by resistance R118；The slip Output end of rheostat R114 another fixing end and sliding end with operational amplifier U20B is connected, and passes through resistance R115 Ground connection；The in-phase input end of the operational amplifier U20A is connected with operational amplifier U20B output end, the operation amplifier Device U20A reverse input end is connected by resistance R113 with operational amplifier U20A output end, the operational amplifier U20A Output end be connected with the 51st pin of the DSP U21, and be grounded by resistance R112.
  6. 6. according to a kind of double single wheel Self-balance electric vehicles described in claim 2, it is characterised in that：The revolver motor electric current inspection Slowdown monitoring circuit (1-35) is identical with the circuit structure of right wheel motor current detecting circuit (2-35) and includes A phase winding current detectings Circuit, B phase windings current detection circuit and C phase winding current detection circuits, the A phase windings current detection circuit include model Hall current sensor U13 and operational amplifier U12A for ACS712, the 1st pin of the Hall current sensor U13 and Current input terminal A+ of 2nd pin with revolver wheel hub motor (1-2) or the A phase windings of right wheel wheel hub motor is connected, it is described suddenly Your current sensor U13 the 3rd pin and the 4th pin with revolver wheel hub motor (1-2) or the A phase windings of right wheel wheel hub motor Current output terminal A- connections, the 8th pin of the Hall current sensor U13 turns the output end VCC of 5V circuits with the 24V 5V connections, and be grounded by nonpolar electric capacity C40；The 5th pin ground connection of the Hall current sensor U13, the Hall electricity Flow sensor U13 the 6th pin is grounded by nonpolar electric capacity C46；The 2nd pin of the operational amplifier U12A passes through resistance R71 is connected with Hall current sensor U13 the 7th pin, the 3rd pin of the operational amplifier U12A by resistance R67 with The 24V turns the output end VCC 5V connections of 5V circuits, and is grounded by resistance R69；Draw the 8th of the operational amplifier U12A The output end VCC 5V that pin turns 5V circuits with the 24V are connected, the 4th pin ground connection of the operational amplifier U12A, the fortune Resistance R74 in parallel and nonpolar electric capacity C47 is connected between calculation amplifier U12A the 1st pin and the 2nd pin, the computing is put Big device U12A the 1st pin for A phase winding current detection circuits output end and with the DSP U5 or DSP U21 the 38th pin connection；The B phase windings current detection circuit includes model ACS712's Hall current sensor U16 and operational amplifier U12B, the Hall current sensor U16 the 1st pin and the 2nd pin with The current input terminal B+ connections of the B phase windings of revolver wheel hub motor (1-2) or right wheel wheel hub motor, the Hall current sensor U16 the 3rd pin and the 4th pin with revolver wheel hub motor (1-2) or the current output terminal of the B phase windings of right wheel wheel hub motor B- connections, the output end VCC5V that the 8th pin of the Hall current sensor U16 turns 5V circuits with the 24V are connected, and logical Cross nonpolar electric capacity C49 ground connection；The 5th pin ground connection of the Hall current sensor U16, the Hall current sensor U16 The 6th pin be grounded by nonpolar electric capacity C53；The 2nd pin of the operational amplifier U12B passes through resistance R80 and Hall electricity Flow sensor U16 the 7th pin connection, the 3rd pin of the operational amplifier U12B turn 5V by resistance R77 and the 24V The output end VCC 5V connections of circuit, and be grounded by resistance R78；The 8th pin of the operational amplifier U12B and the 24V Turn the output end VCC 5V connections of 5V circuits, the 4th pin ground connection of the operational amplifier U12B, the operational amplifier U12B The 1st pin and the 2nd pin between be connected to resistance R83 in parallel and nonpolar electric capacity C54, the of the operational amplifier U12B 1 pin for B phase winding current detection circuits output end and with the DSP U5 or DSP data signals Manage device U21 the 37th pin connection；The C phase windings current detection circuit includes model ACS712 Hall current sensor U19 and operational amplifier U18A, the Hall current sensor U19 the 1st pin and the 2nd pin with revolver wheel hub motor The current input terminal C+ connections of the C phase windings of (1-2) or right wheel wheel hub motor, the 3rd pin of the Hall current sensor U19 It is connected with current output terminal C- of the 4th pin with revolver wheel hub motor (1-2) or the C phase windings of right wheel wheel hub motor, it is described The output end VCC 5V that Hall current sensor U19 the 8th pin and the 24V turns 5V circuits are connected, and pass through nonpolar electricity Hold C56 ground connection；The 5th pin ground connection of the Hall current sensor U19, the 6th pin of the Hall current sensor U19 lead to Cross nonpolar electric capacity C57 ground connection；The 2nd pin of the operational amplifier U18A passes through resistance R88 and Hall current sensor U19 The connection of the 7th pin, the 3rd pin of the operational amplifier U18A turns the output end of 5V circuits by resistance R86 and the 24V VCC 5V connections, and be grounded by resistance R87；The 8th pin of the operational amplifier U18A turns the defeated of 5V circuits with the 24V Go out to hold VCC 5V connections, the 4th pin ground connection of the operational amplifier U18A, the 1st pin of the operational amplifier U18A with It is C phases that the resistance R89 of parallel connection and nonpolar electric capacity C58, the operational amplifier U18A the 1st pin are connected between 2nd pin The output end of winding current detection circuit and with the of the DSP U5 or DSP U21 36 pins connect.
  7. 7. according to a kind of double single wheel Self-balance electric vehicles described in claim 2, it is characterised in that：The revolver battery electric quantity inspection Slowdown monitoring circuit (1-36) is identical with the circuit structure of right wheel battery power detection circuit (2-36) and includes comparator chip LM393, red light emitting diodes LED6, green LED LED7 and green LED LED9, the emitting red light The anode of diode (LED) 6 is connected by resistance R33 with the output end of revolver battery (1-4) or right wheel battery (2-4), described red The minus earth of color LED 6；The resistance R37 and electricity that the 8th pin of the comparator chip LM393 passes through series connection Resistance R44 is connected with the output end of revolver battery (1-4) or right wheel battery, and is grounded by polar capacitor C27；The comparator core Piece LM393 the 4th pin ground connection, the 3rd pin of the comparator chip LM393 by resistance R38 and revolver battery (1-4) or The output end connection of right wheel battery, and be grounded by the resistance R50 and resistance R54 of series connection, and connect by nonpolar electric capacity C31 Ground；The 2nd pin and the 6th pin of the comparator chip LM393 is grounded, and the resistance R49, resistance 40 and electricity for passing through series connection Resistance R41 is connected with comparator chip LM393 the 1st pin, and is grounded by resistance R55；Resistance 40 and resistance 49 after series connection The 5th pin that both ends are parallel with resistance R39, the comparator chip LM393 passes through resistance R50's and comparator chip LM393 3rd pin connects, and is grounded by resistance R54；Electricity is connected between the 1st pin and the 3rd pin of the comparator chip LM393 R43 is hindered, resistance R53 is connected between the 5th pin and the 7th pin of the comparator chip LM393；The green LED LED7 anode is connected with comparator chip LM393 the 1st pin, the minus earth of the green LED LED7；Institute The anode for stating green LED LED9 is connected with comparator chip LM393 the 7th pin, and by resistance R48 compared with Device chip LM393 the 8th pin connection, the minus earth of the green LED LED9；
    The revolver battery charger (1-38) is identical with the circuit structure of right wheel battery charger (2-38) and includes Transformer T1, rectifier D6, LED 5, LED 8, switching diode D4, switching diode D5, cunning Dynamic rheostat RP1, slide rheostat RP2, relay K, triode VT1, triode VT2 and triode VT3, the transformer T1 One end of primary coil be connected by insuring FU1 with an output end of 220V alternating currents, the primary line of the transformer T1 The other end of circle is connected with another output end of 220V alternating currents；An ac input end of the rectifier D6 passes through insurance FU2 is connected with one end of transformer T1 secondary coil, and another ac input end of the rectifier D6 is with transformer T1's The other end connection of secondary coil；The cathode voltage output end of the rectifier D6 switchs K1 by relay K normally-closed contact It is connected with slide rheostat RP1 sliding end and a fixing end, and is connected by the anode of resistance R46 and LED 8 Connect, the negative electrode of the LED 8 is connected with rectifier D6 cathode voltage output end；The slide rheostat RP1's Sliding end and a fixing end are connected by resistance R32 with the anode of LED 5, and pass through resistance R34 and switch Diode D4 anode connection, the negative electrode of the LED 5 are connected with switching diode D4 anode, the switch One end, switching diode D5 negative electrode and resistance R35 one end of diode D4 negative electrode and relay K coil, and it is left Take turns the positive pole connection of battery (1-4) or right wheel battery (2-4)；The colelctor electrode of the triode VT1 is another with relay K coil One end connects with switching diode D5 anode, and the other end of the resistance R35 connects with a slide rheostat RP2 fixing end Connect, the base stage of the triode VT1 is connected with slide rheostat RP2 sliding end, and passes through polar capacitor C32 and revolver battery The negative pole of (1-4) or right wheel battery (2-4) connects；Another fixing end of the slide rheostat RP2 passes through resistance R51 and a left side Take turns the negative pole connection of battery (1-4) or right wheel battery (2-4), emitter stage, the triode VT2 colelctor electrode of the triode VT1 It is connected with negative pole of the triode VT3 colelctor electrode with revolver battery (1-4) or right wheel battery (2-4), the triode VT2's Base stage is connected by resistance R47 with slide rheostat RP1 another fixing end, and passes through the resistance R52 and nonpolar of parallel connection Electric capacity C33 is connected with rectifier D6 cathode voltage output end；The emitter stage of the triode VT2 and triode VT3 base stage Connection, the emitter stage of the triode VT3 are connected with rectifier D6 cathode voltage output end.
  8. 8. according to a kind of double single wheel Self-balance electric vehicles described in claim 2, it is characterised in that：The left motor-drive circuit (1-37) is identical with the circuit structure of right motor-drive circuit (2-37) and includes motor A phases drive circuit, motor B phases drive Circuit and motor C phase drive circuits, the motor A phases drive circuit include model IR2104 driving chip U10, inductance L6, polar capacitor C37, N-channel MOS pipe Q1, N-channel MOS pipe Q2, fast recovery diode D7, fast recovery diode D8 and fast extensive The output end VCC 15V that multiple diode D9, the driving chip U10 the 1st pin and the 24V turn 15V circuits are connected, and logical Cross nonpolar electric capacity C35 and nonpolar electric capacity the C36 ground connection of parallel connection；The 2nd pin of the driving chip U10 and the DSP numbers Word signal processor U5 or DSP U21 the 5th pin connection, the 3rd pin of the driving chip U10 with The 6th pin connection of the DSP U5 or DSP U21, the driving chip U10's 4th pin is grounded, and the output end VCC 15V that anode and the 24V of the fast recovery diode D7 turn 15V circuits are connected, institute State fast recovery diode D7 negative electrode to be connected with driving chip U14 the 8th pin, and pass through nonpolar electric capacity C34 and driving core Piece U10 the 6th pin connection；The grid of the N-channel MOS pipe Q1 is connected with fast recovery diode D8 anode, and passes through electricity Resistance R56 is connected with driving chip U10 the 7th pin；The negative electrode of the fast recovery diode D8 draws with the 7th of driving chip U10 Pin is connected, and resistance R60, the N-channel MOS pipe Q1 drain electrode and a left side are connected between the grid and source electrode of the N-channel MOS pipe Q1 The output end connection of battery (1-4) or right wheel battery is taken turns, and is connected with polar capacitor C37 positive pole；The N-channel MOS pipe Q2 Grid be connected with fast recovery diode D9 anode, and be connected by resistance R62 with driving chip U10 the 5th pin；It is described Fast recovery diode D9 negative electrode is connected with driving chip U10 the 5th pin, drain electrode and the driving core of the N-channel MOS pipe Q2 Piece U10 the 6th pin connection, is connected to resistance R64, the N-channel MOS pipe between the grid and source electrode of the N-channel MOS pipe Q2 Q2 source electrode is connected with polar capacitor C37 negative pole, and the drain electrode of the source electrode and N-channel MOS pipe Q2 of the N-channel MOS pipe Q1 is equal It is connected with inductance L6 one end, the other end of the inductance L6 passes through resistance R61 and revolver wheel hub motor (1-2) or right wheel wheel hub The current input terminal A+ connections of the A phase windings of motor；The motor B phases drive circuit includes model IR2104 driving chip U14, inductance L7, polar capacitor C48, N-channel MOS pipe Q3, N-channel MOS pipe Q4, fast recovery diode D10, fast recovery diode D11 and fast recovery diode D12, the driving chip U14 the 1st pin turn the output end VCC of 15V circuits with the 24V 15V connections, and be grounded by the nonpolar electric capacity C44 and nonpolar electric capacity C45 of parallel connection；The 2nd pin of the driving chip U14 It is connected with the DSP U5 or DSP U21 the 7th pin, the driving chip U14 The 3rd pin be connected with the DSP U5 or DSP U21 the 10th pin, the drive Dynamic chip U14 the 4th pin ground connection, anode and the 24V of the fast recovery diode D10 turn the output end VCC of 15V circuits 15V connections, the negative electrode of the fast recovery diode D10 is connected with driving chip U14 the 8th pin, and passes through nonpolar electric capacity C42 is connected with driving chip U14 the 6th pin；The grid of the N-channel MOS pipe Q3 connects with fast recovery diode D11 anode Connect, and be connected by resistance R70 with driving chip U14 the 7th pin；The negative electrode of the fast recovery diode D11 and driving core Piece U14 the 7th pin connection, is connected to resistance R72, the N-channel MOS pipe between the grid and source electrode of the N-channel MOS pipe Q3 Q3 drain electrode is connected with the output end of revolver battery (1-4) or right wheel battery, and is connected with polar capacitor C48 positive pole；The N Channel MOS tube Q4 grid is connected with fast recovery diode D12 anode, and passes through the 5th of resistance R75 and driving chip U14 the Pin connects；The negative electrode of the fast recovery diode D12 is connected with driving chip U14 the 5th pin, the N-channel MOS pipe Q4 Drain electrode be connected with driving chip U14 the 6th pin, be connected to resistance R76 between the grid and source electrode of the N-channel MOS pipe Q4, The source electrode of the N-channel MOS pipe Q4 is connected with polar capacitor C48 negative pole, the source electrode and N-channel of the N-channel MOS pipe Q3 The one end of metal-oxide-semiconductor Q4 drain electrode with inductance L7 is connected, and the other end of the inductance L7 passes through resistance R73 and revolver wheel hub motor The current input terminal B+ connections of the B phase windings of (1-2) or right wheel wheel hub motor；The motor C phases drive circuit includes model IR2104 driving chip U17, inductance L8, polar capacitor C55, N-channel MOS pipe Q5, N-channel MOS pipe Q6, fast recovery diode D13, fast recovery diode D14 and fast recovery diode D15, the driving chip U17 the 1st pin turn 15V electricity with the 24V The output end VCC 15V connections on road, and be grounded by the nonpolar electric capacity C51 and nonpolar electric capacity C52 of parallel connection；The driving core Piece U17 the 2nd pin is connected with the DSP U5 or DSP U21 the 11st pin, The 3rd pin of the driving chip U17 and the 12nd of the DSP U5 or DSP U21 the Pin connects, and the 4th pin ground connection of the driving chip U17, anode and the 24V of the fast recovery diode D13 turn 15V The output end VCC 15V connections of circuit, the negative electrode of the fast recovery diode D13 are connected with driving chip U17 the 8th pin, And it is connected by nonpolar electric capacity C50 with driving chip U17 the 6th pin；The grid of the N-channel MOS pipe Q5 recovers with fast Diode D14 anode connection, and be connected by resistance R79 with driving chip U17 the 7th pin；The fast recovery diode D14 negative electrode is connected with driving chip U17 the 7th pin, and resistance is connected between the grid and source electrode of the N-channel MOS pipe Q5 R81, the drain electrode of the N-channel MOS pipe Q5 is connected with the output end of revolver battery (1-4) or right wheel battery, and and polar capacitor C55 positive pole connection；The grid of the N-channel MOS pipe Q6 is connected with fast recovery diode D15 anode, and passes through resistance R84 It is connected with driving chip U17 the 5th pin；The negative electrode of the fast recovery diode D15 connects with driving chip U17 the 5th pin Connect, the drain electrode of the N-channel MOS pipe Q6 is connected with driving chip U17 the 6th pin, the grid of the N-channel MOS pipe Q6 with Resistance R85 is connected between source electrode, the source electrode of the N-channel MOS pipe Q6 is connected with polar capacitor C55 negative pole, the N-channel The one end of the drain electrode of metal-oxide-semiconductor Q5 source electrode and N-channel MOS pipe Q6 with inductance L8 is connected, and the other end of the inductance L8 passes through Resistance R82 is connected with the current input terminal C+ of revolver wheel hub motor (1-2) or the C phase windings of right wheel wheel hub motor；
    The voice playing circuit (2-310) includes SYN6288 voice modules and buzzer LS, the SYN6288 voice modules The 1st pin turn the output end VCC5V of 5V circuits with the 24V and be connected, the 2nd pin ground connection of the SYN6288 voice modules, 3rd pin of the SYN6288 voice modules is connected with the 63rd pin of the DSP U21, described 4th pin of SYN6288 voice modules is connected with the 64th pin of the DSP U21, the SYN6288 5th pin of voice module is connected with the 65th pin of the DSP U21, the SYN6288 voice modules The 6th pin be connected with buzzer LS positive pole, the negative pole of the 7th pin of the SYN6288 voice modules and buzzer LS connects Connect.
  9. A kind of 9. method for coordinate control to double single wheel Self-balance electric vehicles as claimed in claim 1, it is characterised in that should Method comprises the following steps：
    Step 1: double single wheel Self-balance electric vehicle starting controls, detailed process are：
    Step 101, trample in left road wheel (1) when the left foot of people, and after right crus of diaphragm is trampled on right road wheel (2), revolver pressure Detection circuit (1-39) detects the left foot of people to the pressure of left road wheel (1) and exports and give revolver microcontroller (1-31), Right wheel pressure detection circuit (2-311) detects the right crus of diaphragm of people to the pressure of right road wheel (2) and exports and give right wheel microcontroller Device (2-31)；
    Step 102, when the revolver microcontroller (1-31) receive revolver pressure detection circuit (1-39) output pressure letter After number, the revolver microcontroller (1-31) starts to gather the Z axis angle for the left road wheel (1) that revolver gyroscope (1-34) detects Spend θL, and start to gather the rotating speed n for the revolver wheel hub motor (1-2) that revolver motor Rotating speed measring circuit (1-310) detectsL；When After the right wheel microcontroller (2-31) receives the pressure signal of right wheel pressure detection circuit (2-311) output, the right wheel Microcontroller (2-31) starts to gather the Z axis angle, θ for the right road wheel (2) that right wheel gyroscope (2-34) detectsR, and start to adopt The rotating speed n for the right wheel wheel hub motor (2-2) that collection right wheel motor speed detection circuit (1-312) detectsR；
    Step 103, revolver microcontroller (1-31) are according to formula ωL=2 π nLThe angle speed of revolver wheel hub motor (1-2) is calculated Spend ωL, meanwhile, right wheel microcontroller (2-31) is according to formula ωR=2 π nRThe angle speed of revolver wheel hub motor (1-2) is calculated Spend ωR；
    Step 104, revolver microcontroller (1-31) are according to formula vL'=k3∫(k1θL+k2ωL) it is calculated to revolver wheel hub The control speed v of motor (1-2)L', and compare vL' with double single wheels for presetting and being stored in revolver microcontroller (1-31) The max speed v of Self-balance electric vehiclemax, work as vL′≤vmaxWhen, revolver microcontroller (1-31) output control signal simultaneously passes through a left side The actual speed v of motor-drive circuit (1-37) driving revolver wheel hub motor (1-2)LFor vL′；Work as vL′>vmaxWhen, revolver micro-control The actual speed v of device (1-31) output control signal control revolver wheel hub motor (1-2) processedLFor vmax；Meanwhile right wheel microcontroller Device (2-31) is according to formula vR'=k3∫(k1θR+k2ωR) its control speed v to right wheel wheel hub motor (2-2) is calculatedR', And compare vR' with the max speed of double single wheel Self-balance electric vehicles that presets and be stored in right wheel microcontroller (2-31) vmax, work as vR′≤vmaxWhen, the reality of right wheel microcontroller (2-31) output control signal control right wheel wheel hub motor (2-2) turns Fast vRFor vR′；Work as vR′>vmaxWhen, right wheel microcontroller (2-31) output control signal simultaneously passes through right motor-drive circuit (2-37) Drive the actual speed v of right wheel wheel hub motor (2-2)RFor vmax；Wherein, k1、k2And k3It is proportionality coefficient, k1Value be big In g natural number, g is acceleration of gravity, k2And k3Value be natural number more than 0；
    Step 2: the coordination control of the left road wheel (1) and right road wheel (2) of double single wheel Self-balance electric vehicles, detailed process are：
    Step 201, the relative position for judging left road wheel (1) and right road wheel (2)：Revolver microcontroller (1-31) is by revolver wheel The actual speed v of hub motor (1-2)LTransmitted by revolver wireless communication module (1-33) and right wheel wireless communication module (2-33) Right wheel microcontroller (2-31) is given, right wheel microcontroller (2-31) compares vLWith vRSize, work as vL>vRWhen, it is judged as that left lateral is walked (1) is taken turns preceding, right road wheel (2) is rear；Work as vL=vRWhen, it is judged as that left road wheel (1) is parallel with right road wheel (2)；Work as vL< vRWhen, it is judged as right road wheel (2) preceding, left road wheel (1) is rear；
    Step 202, judge that double single wheel Self-balance electric vehicles are straight trip or turning, and be divided to straight trip and two kinds of situations of turning to double only The left road wheel (1) and right road wheel (2) for taking turns Self-balance electric vehicle carry out coordination control：Revolver pressure detection circuit (the 1- 39) pressure F of the left foot to left road wheel (1) of people is detectedLAnd export and give revolver microcontroller (1-31), revolver microcontroller (1-31) pressure F by the left foot of people to left road wheel (1) againLPass through revolver wireless communication module (1-33) and right wheel channel radio Letter module (2-33) is transferred to right wheel microcontroller (2-31), and the right crus of diaphragm of right wheel pressure detection circuit (2-311) detection people is to the right side The pressure F of road wheel (2)RAnd export and give right wheel microcontroller (2-31)；Right wheel microcontroller (2-31) compares | FR-FL| with it is pre- The pressure that the left road wheel (1) for first setting and being stored in right wheel microcontroller (2-31) is subject to when being turned with right road wheel (2) Poor threshold value FZIn, when | FR-FL|≤FZWhen, it is straight trip to judge double single wheel Self-balance electric vehicles；When | FR-FL| ＞ FZWhen, judge double Single wheel Self-balance electric vehicle is to turn；
    When double single wheel Self-balance electric vehicles are straight trips, first, the right wheel microcontroller (2-31) gathers infrared distance measurement circuit The distance between left road wheel (1) and right road wheel (2) that (2-39) is detected L, and it is fixed to gather right wheel GPS module (2-313) The central point A for the right road wheel (2) that position is arrived position coordinates (XA,YA)；Meanwhile revolver microcontroller (1-31) the collection left side The central point B for the left road wheel (1) that wheel GPS module (1-311) navigates to position coordinates (XB,YB) and pass through revolver channel radio Letter module (1-33) and right wheel wireless communication module (2-33) are transferred to right wheel microcontroller (2-31)；Then, the right wheel is micro- Controller (2-31) is first according to formulaCalculate relative between left road wheel (1) and right road wheel (2) Angle γ, further according to the longitudinal separation between the formula y=Lsin γ left road wheels (1) of calculating and right road wheel (2), and according to Formula x=Lcos γ calculate the left and right distance between left road wheel (1) and right road wheel (2)；Then, the right wheel microcontroller Device (2-31) compares y and presets and be stored in the left road wheel (1) in right wheel microcontroller (2-31) and right road wheel (2) Between maximum before and after safe distance ymax, and compare x and the left lateral for presetting and being stored in right wheel microcontroller (2-31) Walk the maximum left and right safe distance x between wheel (1) and right road wheel (2)max；
    As y≤ymaxWhen, the longitudinal separation between left road wheel (1) and right road wheel (2) is not above left road wheel (1) and the right side Safe distance before and after maximum between road wheel (2), now, the revolver microcontroller (1-31) do not change to revolver wheel hub electricity The control of machine (1-2) rotating speed, the right wheel microcontroller (2-31) do not change the control to right wheel wheel hub motor (2-2) rotating speed；
    Work as y>ymaxWhen, the longitudinal separation between left road wheel (1) and right road wheel (2) has exceeded left road wheel (1) and walked with right lateral Safe distance before and after the maximum between (2) is taken turns, now, when left road wheel (1) is preceding, right road wheel (2) is when rear, the right wheel Microcontroller (2-31) control right wheel wheel hub motor (2-2) accelerates；When right road wheel (2) is preceding, left road wheel (1) when rear, The signal that left road wheel (1) accelerates is passed through revolver wireless communication module (1-33) and right wheel by the right wheel microcontroller (2-31) Wireless communication module (2-33) is transferred to revolver microcontroller (1-31), and the revolver microcontroller (1-31) controls revolver wheel hub Motor (1-2) accelerates；
    As x≤xmaxWhen, the left and right distance between left road wheel (1) and right road wheel (2) is not above left road wheel (1) and the right side Maximum left and right safe distance between road wheel (2), now, the revolver microcontroller (1-31) do not change to revolver wheel hub electricity The control of machine (1-2) rotating speed, the right wheel microcontroller (2-31) do not change the control to right wheel wheel hub motor (2-2) rotating speed；
    Work as x>xmaxWhen, the left and right distance between left road wheel (1) and right road wheel (2) has exceeded left road wheel (1) and walked with right lateral Take turns the maximum left and right safe distance between (2), now, right wheel microcontroller (2-31) control voice playing circuit (2- 310) voice message signal is played, prompter reduces the distance between left foot and right crus of diaphragm；
    When double single wheel Self-balance electric vehicles are to turn, first, right wheel microcontroller (2-31) the control voice playing circuit (2-310) plays voice message signal, prompts road conditions to turn and prompting human body hypsokinesis；Then, the right wheel microcontroller (2-31) compares pressure F of the left foot to left road wheel (1) of peopleLPressure F with the right crus of diaphragm of people to right road wheel (2)R, work as FL>FR When, it is judged as that double single wheel Self-balance electric vehicles are turned left, now, the right wheel microcontroller (2-31) subtracts left road wheel (1) The signal of speed is transferred to revolver microcontroller by revolver wireless communication module (1-33) and right wheel wireless communication module (2-33) (1-31), revolver microcontroller (1-31) the control revolver wheel hub motor (1-2), which is slowed down, to be turned left；Work as FL<FRWhen, judge Turned right for double single wheel Self-balance electric vehicles, now, right wheel microcontroller (2-31) the control right wheel wheel hub motor (2-2) subtracts Speed is turned right.
  10. 10. in accordance with the method for claim 9, it is characterised in that：V described in step 104maxValue be 15km/h, step F described in 202ZValue be 150N, the ymaxValue be 30cm, the xmaxValue be 50cm.
CN201710606721.0A 2017-07-24 2017-07-24 A kind of control method for coordinating of double single wheel Self-balance electric vehicles Active CN107336775B (en)

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CN107947108A (en) * 2017-12-27 2018-04-20 四川赛科安全技术有限公司 Over-current detection applied to fire alarm control system protects circuit and implementation method
CN108263531A (en) * 2018-02-08 2018-07-10 蔡优飞 Split type electrical swing car
CN109398559A (en) * 2018-05-21 2019-03-01 周伟 Self-balancing vehicle
WO2019153419A1 (en) * 2018-02-08 2019-08-15 蔡优飞 Split electric swing car

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CN105539663A (en) * 2016-02-02 2016-05-04 桂林电子科技大学 Wearable double-single-wheel self-balancing device
JP2016174679A (en) * 2015-03-19 2016-10-06 トヨタ自動車株式会社 Inverted two-wheel vehicle
CN106394773A (en) * 2016-09-21 2017-02-15 谭春升 Scooter

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CN1872614A (en) * 2006-06-30 2006-12-06 宁波Gqy视讯股份有限公司 Standing and seating two-way type balanced car with two wheels
US20130238231A1 (en) * 2012-02-12 2013-09-12 Shane Chen Two-Wheel, Self-Balancing Vehicle With Independently Movable Foot Placement Sections
JP2016174679A (en) * 2015-03-19 2016-10-06 トヨタ自動車株式会社 Inverted two-wheel vehicle
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CN109398559A (en) * 2018-05-21 2019-03-01 周伟 Self-balancing vehicle

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