CN109821226A - A kind of electric four-wheeled slide plate of rear wheel drive variety - Google Patents
A kind of electric four-wheeled slide plate of rear wheel drive variety Download PDFInfo
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- CN109821226A CN109821226A CN201910283328.1A CN201910283328A CN109821226A CN 109821226 A CN109821226 A CN 109821226A CN 201910283328 A CN201910283328 A CN 201910283328A CN 109821226 A CN109821226 A CN 109821226A
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Abstract
The invention discloses a kind of electric four-wheeled slide plates of rear wheel drive variety, including slide plate main body and four runners, are equipped with hub motor on two runners of slide plate back body.It is fixed in the plate face of slide plate main body that there are four double bridge formula pressure detectors, each double bridge formula pressure detector includes two bridge-type pressure detection circuits being made of foil gauge, and lateral separation is arranged side by side in the front and rear of plate face to four double bridge formula pressure detectors two-by-two.Controller connects two groups of double bridge formula pressure detectors and hub motor；Controller includes rate control module, according to the double bridge formula pressure detector difference of plate face front and rear control hub motor acceleration or deceleration operation.The present invention avoids that velocity jump occurs, two double bridge formula pressure detectors is respectively arranged before and after plate face, the accurate control for detecting each posture of user is intended to, it is ensured that steadily of centre of gravity before and after user to adapt to different user.
Description
Technical field
The present invention relates to a kind of electric four-wheeled slide plates of rear wheel drive variety.
Background technique
Common electric sliding can be divided into hand-held remote control control class and gravity's center control class by control mode in the market, by drive
Flowing mode can be divided into external belt motor class and hub motor class.For existing gravity's center control class electric return board,
It usually will appear the problem of stability difference when use, i.e. speed is easy to happen mutation user is caused to be difficult to control, and is easy to happen behaviour
Make surprisingly, main reason is that generally a double bridge formula pressure detector only is respectively set in front and back in sled surface, and
The posture of each user's manipulation is had nothing in common with each other.
Summary of the invention
Goal of the invention: it is directed to the above-mentioned prior art, proposes a kind of electric four-wheeled slide plate of rear wheel drive variety, lower the center of gravity control
In the electric four-wheeled slide plate use process of class the problem of velocity jump.
Technical solution: a kind of electric four-wheeled slide plate of rear wheel drive variety, including slide plate main body and four runners are located at the cunning
Hub motor is installed on two runners of plate back body；It is fixed in the plate face of the slide plate main body that there are four both arms electricity
Bridge-type pressure detector, double bridge formula pressure detector lateral separation described in two of them are arranged side by side in the front of plate face,
Other two double bridge formula pressure detector lateral separation is arranged side by side in the rear portion of plate face；It further include controller, institute
It states controller and connects two groups of double bridge formula pressure detectors and the hub motor；The controller includes speed control
Molding block, the difference that the rate control module is exported according to the double bridge formula pressure detector of the plate face front and rear
Control the hub motor acceleration or deceleration operation.
Further, the double bridge formula pressure detector includes top panel, lower panel, two strains with cantilever beam
Formula pressure sensor, circuit board；The strain pressure transducer includes pressure rectangular-ambulatory-plane framework, is located at the rectangular-ambulatory-plane framework
The cantilever beam of inside, the rectangular-ambulatory-plane framework and the cantilever beam are in same level, the cantilever beam and the rectangular-ambulatory-plane
Framework interconnecting piece posts electronics foil gauge；First groove disposed in parallel there are two being set on the lower panel, first groove
Inside it is additionally provided with the second groove；The strain pressure transducer is embedded in first groove, and the cantilever beam is located at described the
Above two grooves；The top panel medial surface is fixed there are two briquetting, and the top panel lid closes the pressure on the lower panel
Block is fitted in respectively on the cantilever beam of the strain pressure transducer；Circuit board setting is by the top panel and following
In the opposite cavity formed of plate, and it is located among described two strain pressure transducers with cantilever beam, the circuit board connects
Connect the electronics foil gauge.
Further, the cantilever beam is " mountain " character form structure, T-shaped including connecting with the rectangular-ambulatory-plane framework
Girder, and two root long bar shaped auxiliary girders of the connection T-shaped girder, the two root longs bar shaped auxiliary girder is about " T " word
Shape girder is arranged symmetrically, and the auxiliary girder free end is equipped with blind hole or through-hole, is set on the briquetting there are four protrusion, the protrusion is divided
It is not embedded in the blind hole or through-hole.
Further, the rectangular-ambulatory-plane framework fastens with glue in first groove, and the briquetting fastens with glue
On the cantilever beam surface.
Further, described in plate is equipped with below the strain pressure transducer centre positioned at described two with cantilever beam
The installation positive stop strip of circuit board, and the opening drawn for the circuit board wiring is equipped on the lower panel.
Further, the rectangular-ambulatory-plane framework and cantilever beam are duralumin material, and coat insulated paint in upper and lower surface.
Further, it sets four double bridges formula pressure detector and detects that user makes left front inclination, leans forward
Tiltedly, the acceleration mode that leans forward is defined as when right anterior oblique posture, four double bridges formula pressure detector detects user
Hypsokinesis deceleration regime, four double bridges formula pressure are defined as when making left back inclination, rear-inclined, right rear-inclined posture
Detector, which detects, is defined as upright at the uniform velocity state when user makes left bank, upright, right bank posture；The controller is also
Module is adjusted including center of gravity percentage inclination, the center of gravity percentage inclination adjustment module is passing through four double bridge formulas
When pressure detector detects new user's weight, parameter tuning step is executed, comprising:
Step 1: controlling the hub motor revolving speed is zero, and acquisition user's body makes left front inclination, top rake, the right side respectively
Top rake, left bank, upright, right bank, left back inclination, rear-inclined, right rear-inclined totally nine postures when four both arms
The output valve of bridge type pressure detector, and the center of gravity percentage inclination for the acceleration mode that leans forward described in calibration is 100%, calibration
The center of gravity percentage inclination of the upright at the uniform velocity state is 0%, the center of gravity percentage inclination for demarcating the hypsokinesis deceleration regime is-
100%；
Step 2: according to the output valve of the collected four double bridges formula pressure detector of step 1, calculating separately
Pressure difference pfb is tilted forward and back when nine postures and the pressure difference plr that tilts, calculation method are as follows:
Tilt forward and back pressure difference pfb=(x1+x4)-(x2+x3)
The pressure difference that tilts plr=(x1+x2)-(x4+x3)
Wherein, x1For the double bridge formula pressure detector output valve in the left front portion of the plate face, x2For the left back portion of the plate face
Double bridge formula pressure detector output valve, x3For the double bridge formula pressure detector output valve at the right rear portion of the plate face,
x4For the double bridge formula pressure detector output valve of the plate face right front portion；
Step 3: the 9*2 matrix data for tilting forward and back pressure difference and the pressure difference that tilts obtained according to step 2 utilizes
Least square method fit Plane z=a*pfb+b*plr+c, wherein a, b, c are plane fitting parameters；
Step 4: when the electric return board advances, four double bridges formula pressure detector being exported in real time
x1、 x2、x3、x4In the model that value input step 3 obtains, converting percentage for the model output value is center of gravity inclination hundred
Divide ratio.
Further, the rate control module uses PID controller, when center of gravity percentage inclination adjustment module is defeated
When center of gravity percentage inclination out is greater than given threshold A, control wheel hub motor speed increases, until the center of gravity percentage inclination
It is restored to threshold value A or less；When the center of gravity percentage inclination of center of gravity percentage inclination adjustment module output is less than given threshold B
When, control wheel hub motor speed reduces, until the center of gravity percentage inclination is restored to threshold value B or more.
Further, the output end of the double bridge formula pressure detector is equipped with filter module.
Further, when the center of gravity percentage inclination adjustment module executes parameter adjustment programme, each double bridge formula is taken
The average value of pressure detector outputting measurement value 5 times or more numerical value described tilt forward and back pressure difference pfb and tilts to calculate
Pressure difference plr.
Further, ping-pong operation is taken, among double bridge formula pressure detector circulating sampling each time successively only
Read the numerical value of a sensor.
The utility model has the advantages that the electric four-wheeled slide plate of a kind of rear wheel drive variety of the invention avoids occurring to adapt to different user
Velocity jump is respectively arranged two double bridge formula pressure detectors before and after plate face, the accurate control for detecting each posture of user
It is intended to, it is ensured that steadily of centre of gravity before and after user.
Detailed description of the invention
Fig. 1 is four double bridge formula pressure detector distribution schematic diagrams；
Fig. 2 is control system architecture schematic diagram；
Fig. 3 is matrix data expression schematic diagram in two-dimensional coordinate that parameter tuning step acquisition is carried out in embodiment；
Fig. 4 is to carry out feed speed control schematic illustration according to center of gravity percentage inclination；
Fig. 5 be differential steering Controlling model foundation with use schematic illustration；
Fig. 6 is the comparison of the power output and motive power output after climb and fall compensation as schemed；
Fig. 7 is double bridge formula pressure detector main view diagrammatic cross-section；
Fig. 8 is double bridge formula pressure detector entirety left view；
Fig. 9 is that double bridge formula pressure detector removes the view diagrammatic cross-section after top panel；
Figure 10 is that double bridge formula pressure detector removes the left view after top panel；
Figure 11 is that double bridge formula pressure detector removes the top view after top panel；
Figure 12 is plate diagrammatic cross-section below double bridge formula pressure detector；
Figure 13 is plate left view below double bridge formula pressure detector；
Figure 14 is the top view of plate below double bridge formula pressure detector.
Specific embodiment
Further explanation is done to the present invention with reference to the accompanying drawing.
A kind of electric four-wheeled slide plate of rear wheel drive variety, including slide plate main body and four runners, positioned at slide plate back body
Hub motor is installed on two runners, the Hall sensor of detection revolving speed is installed in hub motor.As shown in Figure 1, slide plate
It is fixed there are four double bridge formula pressure detector in the plate face of main body, between two of them double bridge formula pressure detector transverse direction
Every the front for being arranged side by side in plate face, after other two double bridge formula pressure detector lateral separation is arranged side by side in plate face
Portion is also equipped with gyro sensor in plate surface geometric center.Controller is installed, controller connects two groups pairs in slide plate main body
Arm bridge type pressure detector, gyro sensor, hub motor and Hall sensor, such as Fig. 2.Controller includes speed control
Molding block, rate control module control hub motor according to the double bridge formula pressure detector difference of plate face front and rear and add
Speed runs slowly.
As shown in Figure 7, Figure 8, double bridge formula pressure detector is by 2, two top panel 1, lower panel answering with cantilever beam
Variant pressure sensor 3, circuit board 4 form.Top panel 1 and lower panel 2 are aluminum alloy materials, and coat and insulate in relative inner
Paint.Strain pressure transducer 3 includes pressure rectangular-ambulatory-plane framework 31, the cantilever beam 32 positioned at 31 inside of rectangular-ambulatory-plane framework, Back Word
Shape framework 31 and cantilever beam 32 are in same level.Rectangular-ambulatory-plane framework 31 and cantilever beam 32 are duralumin material, and upper and lower
Surface coats insulated paint, and cantilever beam 32 and 31 interconnecting piece of rectangular-ambulatory-plane framework post electronics foil gauge 33.Wherein, cantilever beam 32 is to fall
" mountain " character form structure including the T-shaped girder 321 connecting with rectangular-ambulatory-plane framework 31, and connects T-shaped girder 321
Two root long bar shaped auxiliary girders 322.Two root long bar shaped auxiliary girders 322 are symmetrical arranged about T-shaped girder 321,322 free end of auxiliary girder
Equipped with blind hole or through-hole 323.
It as shown in Figure 12-Figure 14, is set on lower panel 2 there are two the first groove 21 disposed in parallel, in the first groove 21 also
Equipped with the second groove 22.As Figure 9-Figure 11, strain pressure transducer 3 is embedded in the first groove 21, and cantilever beam 32 is located at
Second groove, 22 top.31 size of rectangular-ambulatory-plane framework is consistent with the first groove 21, and blend compounds water is pasted onto the first groove 21.On
1 medial surface of panel is fixed there are two briquetting 11, sets that there are four protrusions 111 on briquetting 11.The lid of top panel 1 closes on plate 2 below, pressure
Block 11 is fitted in respectively on the cantilever beam 32 of strain pressure transducer 3, and protrusion 111 is respectively embedded into the blind of each 322 end of auxiliary girder
In hole or through-hole 323.In a pre-installation, in 11 surface coating glue of briquetting, for 32 surface of cantilever beam can be pasted onto.
The installation that plate 2 is equipped with circuit board 4 below two 3 centres of strain pressure transducer with cantilever beam limits
Position item 23, and plate 2 is equipped with the opening drawn for 4 wiring of circuit board below.Circuit board 4 is arranged by top panel 1
With lower panel 2 in the opposite cavity formed, and it is located among two strain pressure transducers 3 with cantilever beam, circuit board 4 connects
Connect electronics foil gauge 33.
When 1 stress of top panel, pressure is transmitted to 32 one end of cantilever beam completely, so that cantilever beam 32 and rectangular-ambulatory-plane framework
31 have local inclination, drive 33 deformation of electronics foil gauge to generate electric signal and realize that amount of pressure and amount of electrons are converted.The transformational relation
For non-linear relation, there is nuance with production process.The material of rectangular-ambulatory-plane framework 31 and cantilever beam 32 is duralumin, and feature is
Anti-metal fatigability is high, and in range ability, arm of force one end is bent vertical height and is less than 0.5mm.
The A/D of pressure data is converted, pressure stabilizing, the work such as filtering are completed in the circuit board, and by circuit board package double
In arm bridge type pressure detector, the winding displacement of You Sangen line composition is drawn, and double bridge formula pressure detector can be directly accessed
It is used in digital circuit, greatly increases the versatility of the module, reduce the design complexities of external circuit.
Existing beam type strain gauge pressure sensor is for having the drawback that stress point has stringent rule when detecting
It is fixed, it is necessary on a transverse plane of cantilever beam, when multiple sensors are used in conjunction with, once stress point is inconsistent, to lead
Endeavour arm lengths different from, each sensor needs individually debugging, extremely time-consuming and laborious.When stress, cantilever beam is had obviously
Bending, when the latter denier of cantilever beam deflection is touched by pressure face, then power can be conducted, and can not accurately be measured.
Double bridge formula pressure detector of the invention has carried out modularized design, and module outer surface is smooth, can be direct
It is fitted on arbitrary plane and uses, and do not need the work such as independent measurement zeroing.Internal circuit can directly be external to single-chip microcontroller
On can be obtained by by filtering, the accurate pressure measured value after analog-to-digital conversion, using significantly facilitating.It is specific:
The first groove 21 on lower panel 2 is convenient for playing position-limiting action to the strain pressure transducer 3 with cantilever beam
Pressure sensor 3 is installed.After pressure sensor 3 is fitted into the first groove 21, rectangular-ambulatory-plane framework 31 and groove are consolidated with glue
Even.Have the second groove 22 in first groove 21, size is just consistent with the cantilever beam of foil gauge 32, to cantilever beam 32 leave to
Under curved space, for avoiding the contact bottom surface in upper and lower bending of cantilever beam 32 from leading to prohibited data detection.
The completely the same raised briquetting 11 of two block sizes is corresponding at 32 stress point of cantilever beam with pressure sensor 3,
Briquetting 11 is connected for being pressed on cantilever beam 32 by glue and strain-ga(u)ge transducer.There are two effects for the briquetting 11 tool:
1, ensure that pressure is carried on the cantilever beam 32 of strain-ga(u)ge transducer completely.2, make have one between top panel 1 and lower panel 2
Determine height gap, inside can place circuit board, and foil gauge top can be with cabling.There are two protrusions 111 on briquetting 11, uses
In the corresponding blind hole or through-hole 323 being inserted on cantilever beam 32, protrusion 111 can play the work of alignment limit during installation
With facilitating installation.
When electric four-wheeled sled controller powers on, in order to avoid double bridge formula pressure detector is first under various circumstances
Initial value is different, measures the initial value of each double bridge formula pressure detector first, carries out 10 measurements, postpones 100ms, be averaged
It is worth the initial value as double bridge formula pressure detector.When detecting that it is double that the sum of four double bridge formula pressure detectors subtract
When the difference of the sum of the initial value of arm bridge type pressure detector is greater than given threshold, determine that user has stood on slide plate.
When using four-wheel electric slide plate, operating habit is not quite similar each user, is mainly reflected in for acceleration and deceleration
Posture amplitude control when processed.Although four groups of sensors are all identical for the unit and sensitivity level of pressure, it cannot be guaranteed that
User has identical pressure to react every group of sensor after stepping on, for example, when user steadily stands on slide plate, i.e.,
Make left-leaning these situations of Right deviation hypsokinesis that do not lean forward, due to the difference of sole and heel, so that double bridge formula pressure detector
A1 and double bridge formula pressure detector A4 or double bridge formula pressure detector A2 and double bridge formula pressure detector A3
The numerical value of these two pair sensor must be not exactly the same, and for the user of different use habits, such difference also has
Institute is different.In order to avoid user because different use habits cause slide plate the problem of acceleration and deceleration mutation occur, for the first time for new user
Parameter tuning step is carried out when use, and parameter adjusted is stored in the nonvolatile memory of controller, works as user
Do not have to repeat the parameter tuning step when next time uses.It is specific:
User's bipod is one in front and one in back horizontal to be stepped down in plate face, and front foot is horizontal to step on fore two double bridges formula pressure detector
On, on the horizontal two double bridge formula pressure detectors for stepping down in rear portion of the rear foot.Set four double bridge formula pressure detector inspections
It measures when user makes left front inclination, top rake, right anterior oblique posture and is defined as the acceleration mode that leans forward, set four both arms electricity
Bridge-type pressure detector, which detects, is defined as hypsokinesis deceleration shape when user makes left back inclination, rear-inclined, right rear-inclined posture
State, sets four double bridge formula pressure detectors and detects and be defined as when user makes left bank, upright, right bank posture
Upright at the uniform velocity state.Controller includes center of gravity percentage inclination adjustment module, and center of gravity percentage inclination adjusts module and executes parameter
Set-up procedure specifically includes:
Step 1: control wheel hub motor speed is zero, and acquisition user's body makes left front inclination respectively, top rake, the right side are leaned forward
Tiltedly, left bank, upright, right bank, left back inclination, rear-inclined, right rear-inclined totally nine postures when four double bridge formula pressures
The output valve of force detector, and the center of gravity percentage inclination for demarcating the acceleration mode that leans forward is 100%, the upright at the uniform velocity state of calibration
Center of gravity percentage inclination is 0%, and the center of gravity percentage inclination of calibration hypsokinesis deceleration regime is -100%.Above nine postures difference
It is kept for 1~2 second, the average value repeatedly exported also is taken to double bridge formula pressure detector in step.
Step 2: according to the output valve of the collected four double bridges formula pressure detector of step 1, calculating separately nine
Pressure difference pfb is tilted forward and back when posture and the pressure difference plr that tilts, calculation method are as follows:
Tilt forward and back pressure difference pfb=(x1+x4)-(x2+x3)
The pressure difference that tilts plr=(x1+x2)-(x4+x3)
Wherein, x1For the double bridge formula pressure detector output valve in the left front portion of plate face, x2For the both arms electricity in the left back portion of plate face
Bridge-type pressure detector output valve, x3For the double bridge formula pressure detector output valve at the right rear portion of plate face, x4For plate face right front portion
Double bridge formula pressure detector output valve.In the present embodiment, the nine groups of double bridge formula pressure detectors tested are defeated
Data out are as follows:
The 9*2 matrix data for tilting forward and back pressure difference and the pressure difference that tilts is shown in two-dimensional coordinate, such as
Shown in Fig. 3, it can be found that the case where being not a regular distribution.
Step 3: the inclined degree of any time user, the anteversion and retroversion obtained according to step 2 when in order to obtain slide plate operation
Diagonal compression difference and the 9*2 matrix data of pressure difference of tilting, using least square method fit Plane z=a*pfb+b*plr+c,
Wherein a, b, c are plane fitting parameters.
Step 4: when electric return board advances, x that four double bridge formula pressure detectors are exported in real time1、x2、x3、
x4In the model that value input step 3 obtains, the codomain that model exports z value is an i.e. inclined measurement of center of gravity between -1 to+1,
Converting percentage for model output value is center of gravity percentage inclination, indicates the center of gravity inclined degree of user.
As shown in figure 4, the rate control module of this electric return board uses PID controller, when center of gravity percentage inclination adjusts
When the center of gravity percentage inclination of module output is greater than given threshold A, control wheel hub motor speed increases, until center of gravity tilts percentage
Than being restored to threshold value A or less；When the center of gravity percentage inclination of center of gravity percentage inclination adjustment module output is less than given threshold B
When, control wheel hub motor speed reduces, until center of gravity percentage inclination is restored to threshold value B or more.Wherein threshold value A and threshold value B
Absolute value can be set to identical, generally take 5%~10%.When center of gravity percentage inclination is between threshold value A~threshold value B,
Think that user is desired with to drive at a constant speed.When control accelerates and slows down, acceleration or deceleration is carried out according to aim parameter, aim parameter is useful
Speed is voluntarily controlled, process can be using even acceleration and even deceleration control.
It in user's operation electric powered steering, needs to control by left-leaning or Right deviation, slide plate and ground are no longer flat at this time
Row has certain tilt angle, and two hub motors are divided into steering inside and turn to two motors in outside, not due to turning radius
Together, two hub motors should not revolving speed having the same, also should not just possess identical power output.If not to the feelings
Condition is adjusted, and outside wheel hub motor power is insufficient, causes slide plate to rotate integrally radius very big, and inside hub motor is by inside
Wheel is forced to make low-speed running with the increased effect of frictional ground force, and one side energy loses on thermal energy for no reason, on the other hand long
Phase in the past damaged hub motor itself very big.
In order to reduce the turning radius of slide plate, enhances the usage experience of user, slide plate energy dissipation is reduced, when enhancing is continued a journey
Between, reduce the loss of electric machine, reinforce the service life of electric return board.Controller further includes differential steering supplementary module, differential steering
Supplementary module determines that user turns to according to the roll angle value that gyro sensor exports and is intended to, i.e., is detecting cross by gyroscope
When roll angle is more than given threshold, i.e., judgement user needs to carry out course changing control.Roll angle value inputs differential steering Controlling model, poor
The control target of fast course changing control model is to turn to the hub motor revolving speed in outside greater than the hub motor revolving speed for turning to inside, is turned
Hub motor outward is positively correlated with the hub motor rotating speed difference for turning to inside with roll angle value.
As shown in figure 5, differential steering Controlling model is established using machine learning method, comprise the following specific steps that:
Step 1: obtain training data: manipulation electric return board does steering test, and control is output to two wheel hub electricity when steering
The revolving speed of machine is identical and uses opened loop control, and revolving speed s1 and the steering of the hub motor for turning to outside are acquired by Hall sensor
The roll angle θ of hub motor revolving speed s2 and the gyro sensor output of inside, setting speed difference target approaches value
diffspeedIt is 1~2 times of actual speed difference.
Step 2: carrying out parameter training, the linear approximation model using linear approximation model are as follows:
diffspeed=w0+w1*s1+w2*s2+w3* θ
In formula, w0, w1, w2, w3 are model parameter.
The training method of the model is as follows: not carrying out differential processing to the left and right hub motor of slide plate first, that is, works as user
It tilts and slide plate suspension is caused to rotate, still give left and right hub motor identical voltage output and closed loop control is not done to motor
It makes, the rubber material for using coefficient of friction big in training makes the opposite sliding on surface of tyre and ground in steering minimum,
Hub motor in the case of this on the inside of skateboard turns turns to the wheel in outside since the effect of the moment of resistance is unable to reach rated speed
Hub motor is unaffected, based on as above assume and experimental condition, because outside motor needs to increase revolving speed and inside motor should
Reduce revolving speed, the present embodiment setting samples twice of left and right wheel hub motor speed difference value at this time and approaches target value for model.
The partial data that acquisition is sampled in the present embodiment is as shown in the table:
Table 1
Model parameter current error e rr is estimated using mean square error:
Err=(real_diffspeed-diffspeed)^2
In formula, real_diffspeedFor actual speed difference, real_diffspeed=s1-s2；
Use gradient descent method as training method, carry out right value update, it may be assumed that
In formula, wiFor each weighting parameter current value, wi' it is each weighting parameter updated value, μ is learning rate；
By linear approximation model output value diffspeedIt is input to rate control module, when carrying out differential steering control, control
The hub motor current rotating speed that system turns to outside increases diffspeedValue, the current machine revolving speed of wheel hub electricity that control turns to inside reduce
diffspeedValue.To reduce turning radius, safety and convenience are promoted, and reduce hub motor and be unable to reach specified turn
The fast bring loss of electric machine, extends the whole service life of product.
In the routine use of electric return board, although most use environment be on level land, use process it
In inevitably meet with the non-level land road conditions such as climb and fall, deceleration strip, it is clear that for different pavement conditions, it should dynamic adjust
The power output of whole motor reaches the user experience for being suitable for road conditions.Specific control are as follows:
Controller further includes climb and fall secondary control module, and climb and fall secondary control module is exported according to gyro sensor
Pitching angle valueWhen judging that slide plate is in upward slope or descending, the PID of output power back off value adp and speed control use
Controller output is made to be input to hub motor, output power back off value adp calculation method with after are as follows:Wherein w
For user's weight.
The control principle of climb and fall secondary control module is that, by the acquisition for gyroscope sensor data, perception is slided
The tilt angle of plate may further judge it is currently for which kind of traffic information, in upward slope or descending and current road
How is condition inclination angle.Adjustment for power output, increases slide plate output when going up a slope to obtain bigger climbing power, when descending
It is corresponding to reduce so that slide plate operation more steady safety when descending.According to the object receiving force model analysis on inclined-plane it is found that inclination
AngleInclined-plane on object gravity is proportional to for the normal pressure on inclined-plane, proportionality coefficient isIncrease climb and fall benefit
The comparison of power output and motive power output after repaying is as shown in Figure 6.
In the present invention, double bridge formula pressure detector and gyro sensor output end are equipped with filter module, individually
The reading event of double bridge formula pressure detector is probably in 100ms or so, due to there is four double bridge formula pressure detectings
Device, causes to read each time and needs to spend 400ms, for slide plate control frequency probably in 2hz or so, operating lag is about
500ms.In order to improve reading speed, ping-pong operation is taken, only reads a double bridge formula pressure among circulation each time
The numerical value of force detector while using the timer function in control core, setting by response control in a quarter of script
It is updated as soon as every 10ms executes time speed, 100hz has been arrived in control frequency promotion in this way, and response speed greatly increases, user experience
It is more fine and smooth.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (8)
1. a kind of electric four-wheeled slide plate of rear wheel drive variety, it is characterised in that: including slide plate main body and four runners, be located at the cunning
Hub motor is installed on two runners of plate back body；It is fixed in the plate face of the slide plate main body that there are four both arms electricity
Bridge-type pressure detector, double bridge formula pressure detector lateral separation described in two of them are arranged side by side in the front of plate face,
Other two double bridge formula pressure detector lateral separation is arranged side by side in the rear portion of plate face；It further include controller, institute
It states controller and connects two groups of double bridge formula pressure detectors and the hub motor；The controller includes speed control
Molding block, the difference that the rate control module is exported according to the double bridge formula pressure detector of the plate face front and rear
Control the hub motor acceleration or deceleration operation.
2. the electric four-wheeled slide plate of rear wheel drive variety according to claim 1, it is characterised in that: the double bridge formula pressure
Detector includes top panel (1), lower panel (2), two strain pressure transducers (3) with cantilever beam, circuit boards (4)；Institute
Stating strain pressure transducer (3) includes pressure rectangular-ambulatory-plane framework (31), the cantilever being located on the inside of the rectangular-ambulatory-plane framework (31)
Beam (32), the rectangular-ambulatory-plane framework (31) and the cantilever beam (32) are in same level, the cantilever beam (32) with it is described
Rectangular-ambulatory-plane framework (31) interconnecting piece posts electronics foil gauge (33)；Disposed in parallel first there are two being set on the lower panel (2)
Groove (21), first groove (21) is interior to be additionally provided with the second groove (22)；Described in strain pressure transducer (3) insertion
In first groove (21), the cantilever beam (32) is located above second groove (22)；Top panel (1) medial surface is fixed
There are two briquetting (11), top panel (1) lid is closed on the lower panel (2), and the briquetting (11) is fitted in described respectively
On the cantilever beam (32) of strain pressure transducer (3)；The circuit board (4) is arranged by the top panel (1) and lower panel
(2) in the opposite cavity formed, and it is located among described two strain pressure transducers (3) with cantilever beam, the circuit
Plate (4) connects the electronics foil gauge (33).
3. the electric four-wheeled slide plate of rear wheel drive variety according to claim 2, it is characterised in that: the cantilever beam (32) is to fall
" mountain " character form structure, including the T-shaped girder (321) being connect with the rectangular-ambulatory-plane framework (31), and " T " word described in connection
Two root long bar shaped auxiliary girders (322) of shape girder (321), the two root longs bar shaped auxiliary girder (322) is about the T-shaped girder
(321) it is symmetrical arranged, auxiliary girder (322) free end is equipped with blind hole or through-hole (323), sets that there are four convex on the briquetting (11)
It rises (111), the protrusion (111) is respectively embedded into the blind hole or through-hole (323).
4. the electric four-wheeled slide plate of rear wheel drive variety according to claim 1, it is characterised in that: setting four both arms electricity
Bridge-type pressure detector detects to be defined as leaning forward accelerating shape when user makes left front inclination, top rake, right anterior oblique posture
State, four double bridges formula pressure detector detect equal when user makes left back inclination, rear-inclined, right rear-inclined posture
It is defined as hypsokinesis deceleration regime, four double bridges formula pressure detector detects that user makes left bank, upright, Right deviation
Upright at the uniform velocity state is defined as when oblique posture；The controller further includes center of gravity percentage inclination adjustment module, the center of gravity
Percentage inclination adjusts module when detecting new user's weight by four double bridges formula pressure detector, executes
Parameter tuning step, comprising:
Step 1: controlling the hub motor revolving speed is zero, and acquisition user's body makes left front inclination respectively, top rake, the right side are leaned forward
Tiltedly, left bank, upright, right bank, left back inclination, rear-inclined, right rear-inclined totally nine postures when four double bridges
The output valve of formula pressure detector, and the center of gravity percentage inclination for the acceleration mode that leans forward described in calibration is 100%, is demarcated described straight
The center of gravity percentage inclination of vertical at the uniform velocity state is 0%, and the center of gravity percentage inclination for demarcating the hypsokinesis deceleration regime is -100%；
Step 2: according to the output valve of the collected four double bridges formula pressure detector of step 1, calculating separately described
Pressure difference pfb is tilted forward and back when nine postures and the pressure difference plr that tilts, calculation method are as follows:
Tilt forward and back pressure difference pfb=(x1+x4)-(x2+x3)
The pressure difference that tilts plr=(x1+x2)-(x4+x3)
Wherein, x1For the double bridge formula pressure detector output valve in the left front portion of the plate face, x2For the double of the left back portion of the plate face
Arm bridge type pressure detector output valve, x3For the double bridge formula pressure detector output valve at the right rear portion of the plate face, x4For institute
State the double bridge formula pressure detector output valve of plate face right front portion；
Step 3: the 9*2 matrix data for tilting forward and back pressure difference and the pressure difference that tilts obtained according to step 2 utilizes minimum
Square law fit Plane z=a*pfb+b*plr+c, wherein a, b, c are plane fitting parameters；
Step 4: when the electric return board advances, x that four double bridges formula pressure detector is exported in real time1、x2、
x3、x4In the model that value input step 3 obtains, converting percentage for the model output value is center of gravity percentage inclination.
5. the electric four-wheeled slide plate of rear wheel drive variety according to claim 4, it is characterised in that: the rate control module is adopted
With PID controller, when the center of gravity percentage inclination of center of gravity percentage inclination adjustment module output is greater than given threshold A,
It controls wheel hub motor speed to increase, until the center of gravity percentage inclination is restored to threshold value A or less；When the center of gravity tilts percentage
When center of gravity percentage inclination than adjustment module output is less than given threshold B, control wheel hub motor speed reduces, until described heavy
Heart percentage inclination is restored to threshold value B or more.
6. -5 any electric four-wheeled slide plate of rear wheel drive variety according to claim 1, it is characterised in that: the double bridge
The output end of formula pressure detector is equipped with filter module.
7. the electric four-wheeled slide plate of rear wheel drive variety according to claim 6, it is characterised in that: the center of gravity percentage inclination
When adjusting module execution parameter adjustment programme, the flat of each double bridge formula pressure detector outputting measurement value 5 times or more numerical value is taken
Mean value described tilts forward and back pressure difference pfb and the pressure difference plr that tilts to calculate.
8. the electric four-wheeled slide plate of rear wheel drive variety according to claim 6, it is characterised in that: ping-pong operation is taken, every
The numerical value of a sensor is successively only read among double bridge formula pressure detector circulating sampling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910283328.1A CN109821226B (en) | 2019-04-10 | 2019-04-10 | Rear wheel drive type electric four-wheel skateboard |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910283328.1A CN109821226B (en) | 2019-04-10 | 2019-04-10 | Rear wheel drive type electric four-wheel skateboard |
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| CN109821226B CN109821226B (en) | 2020-04-24 |
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| CN205080390U (en) * | 2015-10-26 | 2016-03-09 | 淮安品向工业设计有限公司 | Electric scooter |
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| CN207203405U (en) * | 2017-08-31 | 2018-04-10 | 浙江风尚科技有限公司 | Electric return board with motion sensing control structure |
| CN207506959U (en) * | 2017-08-18 | 2018-06-19 | 卜涛 | A kind of electric four-wheeled scooter |
| CN108434709A (en) * | 2018-06-05 | 2018-08-24 | 北京小米移动软件有限公司 | Skateboard control method and slide plate |
| US20180280786A1 (en) * | 2017-03-31 | 2018-10-04 | DGL Group USA | Skateboard for Maintaining Cruising Speed |
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2019
- 2019-04-10 CN CN201910283328.1A patent/CN109821226B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205080390U (en) * | 2015-10-26 | 2016-03-09 | 淮安品向工业设计有限公司 | Electric scooter |
| CN106314201A (en) * | 2016-08-24 | 2017-01-11 | 深圳市踏路科技有限公司 | Platform lorry control method and device |
| US20180280786A1 (en) * | 2017-03-31 | 2018-10-04 | DGL Group USA | Skateboard for Maintaining Cruising Speed |
| CN207506959U (en) * | 2017-08-18 | 2018-06-19 | 卜涛 | A kind of electric four-wheeled scooter |
| CN207203405U (en) * | 2017-08-31 | 2018-04-10 | 浙江风尚科技有限公司 | Electric return board with motion sensing control structure |
| CN108434709A (en) * | 2018-06-05 | 2018-08-24 | 北京小米移动软件有限公司 | Skateboard control method and slide plate |
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| CN109821226B (en) | 2020-04-24 |
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