CN109960267A - The parameter construct system and its control flow of vertical Che Wending and inclination auxiliary - Google Patents
The parameter construct system and its control flow of vertical Che Wending and inclination auxiliary Download PDFInfo
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- CN109960267A CN109960267A CN201711421118.1A CN201711421118A CN109960267A CN 109960267 A CN109960267 A CN 109960267A CN 201711421118 A CN201711421118 A CN 201711421118A CN 109960267 A CN109960267 A CN 109960267A
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- wending
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- 238000013016 damping Methods 0.000 claims abstract description 47
- 230000003019 stabilising effect Effects 0.000 claims abstract description 23
- 238000000034 method Methods 0.000 claims abstract description 15
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 230000009977 dual effect Effects 0.000 claims description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 230000037396 body weight Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The parameter construct system and its control flow of vertical Che Wending and inclination auxiliary of the invention, it includes can the dynamic sensing unit of detecting vehicle, the car running computer being connect with sensing unit, the control mould group being connect with car running computer, and with control mould group and the inclination auxiliary device, the vertical vehicle stabilising arrangement that are separately connected；Wherein, which includes actuator, and adjustable damping unit is connect with actuator；Wherein, which includes that inclination assisting workflows and vertical vehicle stablize process；By tilting assisting workflows, in body sway, sensing unit detects car running computer operation damping force demand after heeling condition, and control mould group control inclination auxiliary device adjusts vehicle body, makes vehicle body will not overbank；Vertical vehicle stablizes the controllable vertical Che Wending of process, makes that vehicle body is kept uprightly to be easier.
Description
Technical field
Parameter construct system and its control flow of the present invention about a kind of motor tricycle refer in particular to a kind of with inclination
Auxiliary and vertical vehicle stablize the parameter construct system and its control flow of effect.
Background technique
General two-wheeled motorcycle either keeps straight on or turns all when traveling is in wet-skid road surface or spreads the road surface of sandstone
It easily slips and causes danger, therefore, motor tricycle rises in recent years, and motor tricycle is more opposite than two-wheeled motorcycle can to reduce cunning
A possibility that or overturning, and motor tricycle has good riding stability, when vehicle tilts, motor tricycle can be with
Body sway center of gravity transfer simultaneously, made curved required centripetal force that can have splendid auxiliary.
However, motor tricycle is in body sway, if the car body weight of motor tricycle generates excessive center of gravity transfer
When, due to its center of gravity height, it is easy car body caused by shifting too fast, inclination excessively because of center of gravity and topples over too fast or ovdersteering, for driving
It for sailing, will cause that its control is unstable, therefore tilt auxiliary and to assist vehicle body to stablize be weight that motor tricycle must improve
Point.
Summary of the invention
It is a primary object of the present invention to: when stablizing process by inclination assisting workflows and vertical vehicle makes to drive inclination, pass through
Can produce optimal damping force after automatic operation, make vehicle body will not overbank, also can provide drive back it is just more light,
Speed slows down when will stop, and the control of vertical vehicle can also be provided, and enables to drive when stopping and easily keeps vehicle body upright.
In order to achieve the above object, the present invention provides parameter construct system and its control of a kind of vertical Che Wending and inclination auxiliary
Process, it includes be set on motor tricycle and can the dynamic sensing unit of detecting vehicle, the driving that connect with sensing unit is electric
Brain, the control mould group being connect with car running computer, and distinguish with the dual wheels connecting rod both ends of control mould group and motor tricycle
The inclination auxiliary device of connection, vertical vehicle stabilising arrangement；Wherein, which includes the actuating connecting with control mould group
Device, and adjustable damping unit is connect with actuator.
Wherein, which includes step A1 to A4, and be sequentially step A1: sensing unit detects vehicle and dynamically feels
It surveys signal and is sent to car running computer；Step A2: car running computer calculates damping force demand by the sensing signal and transmits
The damping force demand signal extremely control mould group；Step A3: control mould group converts damping force demand according to damper characteristics
For voltage pulse frequency needed for control actuator, and control for actuator is carried out according to this voltage pulse frequency；Step
A4: actuator and then the corresponding damping force of control damping unit generation.
Preferably, which includes variable valve, and the damper connecting with variable valve.
Preferably, which is electromagnet.
Preferably, which is displacement meter.
Preferably, which is the dipmeter that can detect body sway angle, which can be by inclining
The detecting voltage of oblique instrument output goes out heeling condition.
Preferably, vertical vehicle stabilising arrangement can also be connected by controlling mould group and the dual wheels connecting rod of motor tricycle.
Preferably, which also includes that vertical vehicle stablizes process, and it is step B1 to B2 that aforementioned vertical vehicle, which stablizes process, sequentially
For step B1: after motor tricycle speed is 0 or is lower than specific speed, it is stable that car running computer manipulates control mould group opposition vehicle
Device carries out locking actuation, so that motor tricycle is kept that vehicle body is upright and vehicle body can not arbitrarily be tilted by driving；Step B2: work as three-wheel
For motorcycle speed more than after specific speed, car running computer control control mould group releases the locking condition of vertical vehicle stabilising arrangement, drives
Vehicle body can arbitrarily be tilted by sailing.
Preferably, which can detect headstock steering angle and the body sway angle of motor tricycle, and by angle
Sensing signal is back to car running computer, and car running computer manipulates control mould group opposition vehicle stabilising arrangement and locked or released locking
Actuation.
The control flow and parameter construct system of vertical Che Wending and inclination auxiliary of the invention have the advantages that following: 1. is logical
Cross inclination assisting workflows, can produce optimal damping force after automatic operation, make vehicle body will not over-tilting, also can provide
It drives back just more light.
2. stablizing process when speed, which slows down, to stop by vertical vehicle, it is possible to provide the stable control of automatic vertical vehicle makes to drive
It can easily keep vehicle body upright when sailing parking.
Detailed description of the invention
Fig. 1: being the parameter construct system schematic diagram of present pre-ferred embodiments；
Fig. 2: being the control flow schematic diagram of present pre-ferred embodiments；
Fig. 3: being the sensing signal and body sway status diagram of present pre-ferred embodiments.
In figure:
The parameter construct system of 1 vertical Che Wending and inclination auxiliary；
11 sensing units；
12 car running computers；
13 control mould groups；
14 inclination auxiliary devices；
141 actuators；
142 damping units；
1421 variable valves；
1422 dampings；
15 vertical vehicle stabilising arrangements；
A tilts assisting workflows；
Step A1 ~ A4.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, so that those skilled in the art can be with
It better understands the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
Referring to FIG. 1, Fig. 1 is the vertical Che Wending of present pre-ferred embodiments and the parameter construct system signal of inclination auxiliary
Figure.
As shown in Figure 1, present pre-ferred embodiments found the parameter construct system 1 of Che Wending and inclination auxiliary, it includes set
In on motor tricycle and can the dynamic sensing unit 11 of detecting vehicle, the car running computer 12 being connect with sensing unit 11, with row
The control mould group 13 that vehicle computer 12 connects, and the inclination being connect with control mould group 13 with the dual wheels connecting rod of motor tricycle
Auxiliary device 14；Wherein, which includes the actuator 141 connecting with control mould group 13, and and actuator
The damping unit 142 of 141 connections.
Wherein, which is displacement meter, and being set by displacement meter is to represent within the scope of the certain distance of its movement
The angular range of motor tricycle body sway, and the tilt angle that displacement meter 11 detects motor tricycle vehicle body falls into the model
In enclosing, car running computer 12 is that can start to carry out the regulation to control mould group 13.
Wherein, which can also be the dipmeter of detecting body sway angle, and it is specific to set its by dipmeter
Hunting range represent the angular range of motor tricycle body sway, and when dipmeter detects the entrance of motor tricycle vehicle body
The hunting range, car running computer 12 are that can start to carry out the regulation to control mould group 13.
Wherein, which is electromagnet, exports certain pulses voltage by control mould group 13 and inhales to the electromagnetism
Iron, and then pass through the damping force size of electromagnet control damping unit 142.
Wherein, which includes variable valve 1421, and the damping 1422 connecting with variable valve 1421；
Aforementioned actuator 141 controls the switch amplitude of variable valve 1421, and the damping 1422 connecting with variable valve 1421 can be made to generate
Different degrees of damping force, so make motor tricycle can inclination angle in a certain range can there is optimal damping force to prevent
Motor tricycle overbank.
Wherein, which can also connect vertical vehicle stabilising arrangement 15 with the dual wheels connecting rod of motor tricycle, and
Aforementioned sensing unit 11 can detect headstock steering angle and the body sway angle of motor tricycle, and angle sensing signal is back to
Car running computer 12, car running computer 12 are to manipulate the control mould group 13 vehicle stabilising arrangement 15 that opposes to be locked or released the work of locking
It is dynamic, more stable vertical vehicle control can be can get when slowing down or stopping traffic lights to assist to drive.
It connects aforementioned, 1 actuation of parameter construct system is as follows: first passing through car running computer 12 and receive what sensing unit 11 transmitted
Signal, and the sensing signal can be the number that displacement meter shift length, dipmeter inclination angle or other sensing units detect
According to then car running computer 12 calculates the damping force demand for avoiding vehicle body over-tilting according to the data, then passes through control mould group
13 by damping force demand, with the characteristic of 1422 characteristics of known damping and electromagnet (such as: damping force-speed characteristics, electricity
Magnetic iron suction-range performance, electromagnet suction-electricity characteristic) it converts, and then obtain 141 electricity of controlled actuator
The voltage pulse frequency of power size, and the control mould group 13 controls actuator 141 by this voltage pulse frequency, causes
Dynamic device 141 then controls 1421 switch amplitude of variable valve, and then the damping force size that controllable damping 1422 is exported.
Referring to FIG. 2, Fig. 2 is that the vertical Che Wending of present pre-ferred embodiments and inclination assist stable control flow signal
Figure.
Present pre-ferred embodiments found Che Wending and inclination assists stable control flow, it includes inclination assisting workflows A,
And vertical vehicle stablizes process；Wherein, which is step A1 ~ A4, and be sequentially step A1: sensing unit detects
The dynamic sensing signal of vehicle is simultaneously sent to car running computer；Step A2: car running computer calculates damping force by the sensing signal
Demand simultaneously transmits the damping force demand signal to control mould group；Step A3: control mould group will be damped according to damper characteristics
Voltage pulse frequency needed for power demand is scaled control actuator, and carry out according to this voltage pulse frequency for actuator
Control；Step A4: actuator and then the corresponding damping force of control damping unit generation, making to drive can prevent vehicle body from excessively inclining
Tiltedly.
Referring to Fig. 3, Fig. 3 is that the sensing signal of the sensing unit of present pre-ferred embodiments and body sway state are illustrated
Figure, Fig. 3 sensing unit system illustrate by taking displacement meter as an example.
Wherein, step A1: sensing unit detects the dynamic sensing signal of vehicle and is sent to car running computer；And the sensing
What voltage output, dipmeter inclination angle or other sensing units that signal can generate for displacement meter shift length detected
Data, in the present embodiment, the sensing signal that displacement meter is detected illustrates by taking the voltage output that shift length generates as an example.Before connecting
It states, before starting step A1, is first displaced to greatest extent up and down according to vehicle inclination maximum setting displacement meter, as shown in figure 3, working as
Vehicle body can obtain output voltage when upright be X volts, before displacement meter output is is expressed as straight line in X volts of plus-minus particular ranges
Into, car running computer will not connecting move control mould group, if vehicle body starts, duration is rolled and displacement meter output voltage range is lied prostrate in A ~ A '
Between spy or between B ~ B ' volt, then the car running computer can start to carry out step A2.
Wherein, step A3: control mould group is scaled control actuator according to known damping characteristic and damping force demand
Required voltage pulse frequency, and actuator is controlled according to this voltage pulse frequency；Aforementioned known damping characteristic with
The characteristic (such as: damping force-speed characteristics, electromagnet suction-range performance, electromagnet suction-electricity characteristic) of electromagnet
Including damping force-speed characteristics, electromagnet suction-range performance, electromagnet suction-electricity characteristic ... etc..
Wherein, step A4: actuator and then the corresponding damping force of control damping unit generation, vehicle body mistake can be prevented by making to drive
Degree inclination；The actuator switchs amplitude, and then the damping force size that controllable damping is exported by control variable valve, makes three
Wheeled motorcycle can inclination angle in a certain range generate optimal damping force, vehicle body returns positive state.
On the other hand, wherein it is step B1 ~ B2 that the vertical vehicle, which stablizes process, is sequentially step B1: when motor tricycle speed
For 0 or be lower than specific speed when (the specific speed of the present embodiment by car running computer be set as be less than or equal to 5 kilometers/hour be
Example explanation), car running computer manipulates control mould group opposition vehicle stabilising arrangement and carries out locking actuation, and motor tricycle is made to keep vehicle body
It is upright and vehicle body can not arbitrarily be tilted by driving；Step B2: (the present embodiment will go after motor tricycle speed is more than specific speed
Vehicle computer illustrates for being set greater than 5 kilometers/hour), car running computer control control mould group makes the locking of vertical vehicle stabilising arrangement
Status releasing, driving can arbitrarily tilt vehicle body.
Supplement aforementioned, step B1: when vertical vehicle stabilising arrangement is locking condition, main function can automatically form vertical vehicle shape
State tilt vehicle body can not, more reinforce the stability of vertical vehicle, such as when stopping red light, driving is decelerated to stopping, without solid with foot
Determine vehicle body, or fixed with center pillar or lateral column, the vertical vehicle stabilising arrangement can start automatically according to speed stand vehicle stabilising arrangement into
The vertical Che Zuodong of row tilt vehicle body can not by vertical vehicle stabilising arrangement, drive more firm and more convenient when parking；Step
Rapid B2: when green light, vertical vehicle stabilising arrangement can be released as long as driving starting engine and speed per hour being increased to exceed 5 kilometers/hour
Locking condition, driving can start free inclination vehicle body, can be restored to the state of the traveling of motor tricycle.
It connecting aforementioned, wherein the sensing unit can also detect headstock steering angle and the body sway angle of motor tricycle, and
Angle sensing signal is back to car running computer, car running computer manipulates control mould group opposition vehicle stabilising arrangement and locked or solved
Except the actuation of locking, for example, car running computer can be set between ~ 10 degree of the degree of headstock steering angle -10 or body sway angle
Between -10 ~ 10 degree, that is, the vehicle stabilising arrangement that opposes carries out the control of locking actuation, and headstock steering angle above-mentioned inclines with vehicle body
Rake angle range by way of example only, can be when slowing down or stopping traffic lights in this way, driving, available more stable vertical vehicle control,
And the control to release locking actuation, as long as speed, which is greater than 5 kilometers/hour, to be released.
In other words, the vertical vehicle of the present embodiment is stablized process and be can refer to shown in following table:
| Car running computer state of a control | Speed (vehicle speed range is by way of example only) | Headstock steering angle (angular range is by way of example only) | Body sway angle (angular range is by way of example only) |
| It controls vertical vehicle stabilising arrangement and carries out locking actuation | 0 or be less than or equal to 5 kilometers/hour | - 10 ~ 10 degree of degree | - 10 ~ 10 degree of degree |
| It controls vertical vehicle stabilising arrangement and releases locking, vehicle body can be tilted arbitrarily | Greater than 5 kilometers/hour |
In summary, the control flow and parameter construct system that Che Wending and inclination auxiliary are found described in this case, are really existing similar
The technology of technical field cannot and, that is, this case really have the advantages that it is following:
1. by inclination assisting workflows, can produce optimal damping force after automatic operation, make vehicle body will not over-tilting,
Also can provide drive back it is just more light.
2. stablizing process when speed, which slows down, to stop by vertical vehicle, it is possible to provide the stable control of automatic vertical vehicle makes to drive
It can easily keep vehicle body upright when sailing parking.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
It encloses without being limited thereto.Those skilled in the art's made equivalent substitute or transformation on the basis of the present invention, in the present invention
Protection scope within.Protection scope of the present invention is subject to claims.
Claims (8)
1. the parameter construct system and its control flow of a kind of vertical Che Wending and inclination auxiliary are, characterized by comprising: be set to three
On wheeled motorcycle and can the dynamic sensing unit of detecting vehicle, the car running computer being connect with sensing unit, with car running computer connect
The control mould group connect, and the inclination auxiliary device being connect with the dual wheels connecting rod of control mould group and motor tricycle；Wherein,
The inclination auxiliary device includes the actuator connecting with control mould group, and the damping unit connecting with actuator；Wherein, the control
Process processed includes step A1 to A4, and be sequentially step A1: sensing unit detects the dynamic sensing signal of vehicle and is sent to row
Vehicle computer；Step A2: car running computer calculates damping force demand by the sensing signal and transmits damping force demand letter
Number to control mould group；Step A3: damping force demand is scaled needed for control actuator by control mould group according to damper characteristics
Voltage pulse frequency, and carry out control for actuator according to this voltage pulse frequency；Step A4: actuator and then control
Damping unit generates corresponding damping force.
2. vertical Che Wending and the parameter construct system and its control flow of inclination auxiliary as described in claim 1, which is characterized in that
The damping unit includes variable valve, and the damper connecting with variable valve.
3. vertical Che Wending and the parameter construct system and its control flow of inclination auxiliary as described in claim 1, which is characterized in that
The actuator is electromagnet.
4. vertical Che Wending and the parameter construct system and its control flow of inclination auxiliary as described in claim 1, which is characterized in that
The sensing unit is displacement meter.
5. vertical Che Wending and the parameter construct system and its control flow of inclination auxiliary as described in claim 1, which is characterized in that
The sensing unit is the dipmeter that can detect body sway angle, which can be detectd by the voltage that dipmeter exports
Measure heeling condition.
6. vertical Che Wending and the parameter construct system and its control flow of inclination auxiliary as described in claim 1, which is characterized in that
Control mould group and the dual wheels connecting rod of motor tricycle can also connect vertical vehicle stabilising arrangement.
7. vertical Che Wending and the parameter construct system and its control flow of inclination auxiliary as claimed in claim 6, which is characterized in that
The control flow also includes that vertical vehicle stablizes process, and it is step B1 to B2 that aforementioned vertical vehicle, which stablizes process, is sequentially step B1: working as three-wheel
After motorcycle speed is 0 or is lower than specific speed, car running computer manipulates control mould group opposition vehicle stabilising arrangement and carries out locking work
It is dynamic, so that motor tricycle is kept that vehicle body is upright and vehicle body can not arbitrarily be tilted by driving；Step B2: when motor tricycle speed is more than
After specific speed, car running computer control control mould group releases the locking condition of vertical vehicle stabilising arrangement, and driving can be tilted arbitrarily
Vehicle body.
8. vertical Che Wending and the parameter construct system and its control flow of inclination auxiliary as claimed in claim 7, which is characterized in that
The sensing unit can detect headstock steering angle and the body sway angle of motor tricycle, and angle sensing signal is back to row
Vehicle computer, car running computer are to manipulate control mould group opposition vehicle stabilising arrangement to be locked or released the actuation of locking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711421118.1A CN109960267A (en) | 2017-12-25 | 2017-12-25 | The parameter construct system and its control flow of vertical Che Wending and inclination auxiliary |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711421118.1A CN109960267A (en) | 2017-12-25 | 2017-12-25 | The parameter construct system and its control flow of vertical Che Wending and inclination auxiliary |
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| Publication Number | Publication Date |
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| CN109960267A true CN109960267A (en) | 2019-07-02 |
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| CN201711421118.1A Withdrawn CN109960267A (en) | 2017-12-25 | 2017-12-25 | The parameter construct system and its control flow of vertical Che Wending and inclination auxiliary |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113093775A (en) * | 2019-12-23 | 2021-07-09 | 巨驰自行车配件(常熟)有限公司 | Vehicle balance control method and system |
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|---|---|---|---|---|
| US5238258A (en) * | 1990-07-19 | 1993-08-24 | Ghislain Michaud | Motorcycle side car frame |
| US20120232758A1 (en) * | 2005-07-06 | 2012-09-13 | Bombardier Recreational Products Inc. | Leaning Vehicle with Tilting Front Wheels and Suspension Therefor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113093775B (en) * | 2019-12-23 | 2024-03-29 | 巨驰自行车配件(常熟)有限公司 | Vehicle balance control method and system |
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Application publication date: 20190702 |