CN110077510A - A kind of Self-balancing electronic motorcycle with semi-automatic driving function - Google Patents
A kind of Self-balancing electronic motorcycle with semi-automatic driving function Download PDFInfo
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- CN110077510A CN110077510A CN201910212405.4A CN201910212405A CN110077510A CN 110077510 A CN110077510 A CN 110077510A CN 201910212405 A CN201910212405 A CN 201910212405A CN 110077510 A CN110077510 A CN 110077510A
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- 238000000465 moulding Methods 0.000 claims description 17
- 229910052744 lithium Inorganic materials 0.000 claims description 12
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 11
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 4
- 230000007423 decrease Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 238000005265 energy consumption Methods 0.000 abstract description 8
- 238000005259 measurement Methods 0.000 abstract description 2
- 230000000007 visual effect Effects 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 239000003921 oil Substances 0.000 description 8
- 238000000034 method Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000003137 locomotive effect Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000003915 air pollution Methods 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 206010038743 Restlessness Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000002567 autonomic effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a kind of Self-balancing electronic motorcycles with semi-automatic driving function, it is merged using inertial sensor and camera, vehicle balance is kept by angular transducer real-time measurement vehicle body roll angle, and using kinetic model and underactuated system steering motor, wheel drive motors and front and back wheel brake.Motorcycle is made of front wheel system, turning motors, steering wheel, cushion, rear wheel system, automatic elevator, control system, foot pedal, vehicle frame and visual sensing camera, balance car of the invention has the characteristics that different from there is balance car on the market at present, it does not need the flywheel high speed rotation for consuming energy high to keep the balance of vehicle body, it is only necessary to which extremely low balance controller of relatively easy energy consumption keeps the steady balance of vehicle body to travel.With very strong practicability.
Description
Technical field
The present invention relates to single-track vehicle automatic Pilot technical fields, more particularly to one kind to pass through machine vision, inertial navigation
Coupling, realize single-track vehicle autobalance and simple road conditions automatic Pilot.
Background technique
The development of auto age causes a series of contradictions such as road, population, parking space, and each big city of China is in recent years
Traffic jam is got worse with air pollution phenomenon.There is traffic study to show, the single battery-operated motor cycle seating capacity that is averaged is
The carrying number of 1.12 people and single car is 1.24 people.Automobile has the volume for being several times as much as electric bicycle, however in carrying
The two lacks very nearly the same in number, this can't but be a kind of huge waste really, also directly results in excessively gathering around for traffic
It is stifled.Scientific analysis discovery: there is hundreds of different compound in vehicle exhaust, wherein only the discharge of annual total lead is just up to 400,000
Ton, at the source of atmospheric pollution of most serious, tail gas pollution of motor-driven vehicle is called " invisible killer ".And electricity is used only in battery-operated motor cycle
Power drive will not generate pollution.But battery-operated motor cycle has technical requirement to driver, danger when running at high speed
It is dangerous larger.
Present auto-pollution is increasingly severe, and road traffic increasingly blocks.Society is because of huge warp caused by traffic congestion
The problem of Ji loss has developed into one and can not be ignored.Big for current automobile land occupation volume, energy consumption is big, passenger capacity and its body
Product energy consumption the case where not being consistent, it is small to design a space occupied, low power consuming, facilitates the electronic novel motor of trip and safety
Vehicle.Improve the utilization rate of resource, while the problem that pollution remission is serious.
Meanwhile nowadays shared bicycle industry is more and more flourishing, the deep welcome by various circles of society, but also bring and disorderly stop unrest
Film playback rings the appearance of the city, occupies the social concern of public space.And the operation of bicycle is easy to appear unbalanced problem, it is easy to lead
Cause traffic accident.
Therefore, the prior art requires further improvement and perfect.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of structures simply and with semi-automatic driving
The Self-balancing electronic motorcycle of function.
The purpose of the invention is achieved by the following technical solution:
A kind of Self-balancing electronic motorcycle with semi-automatic driving function, before which mainly includes
Wheel system, turning motors, steering wheel arrangement, cushion, rear wheel system, automatic elevator, control system, foot pedal, vehicle frame and
Camera.The front wheel system and rear wheel system are separately mounted to the front and back end of vehicle frame.The turning motors are mounted on vehicle frame
Front end is connect with front wheel system, and is electrically connected to the control system.The steering wheel arrangement is arranged in vehicle frame front top, with control
System electrical connection processed.The cushion is arranged at the top of vehicle frame rear end.The automatic elevator is mounted on vehicle frame rear end, is located at rear-wheel
Before system, and it is electrically connected to the control system；The foot pedal is mounted on bottom of frame, is electrically connected to the control system.It is described to take the photograph
As head is mounted on vehicle frame front end, it is located in front of steering wheel arrangement, and be electrically connected to the control system；The set-up of control system is in vehicle
Frame bottom position.
Specifically, the vehicle frame includes preceding bend pipe, main framework and rear molding bend pipe.The preceding bend pipe is arranged in main body
The front of framework, is fixedly connected with main framework.The rear of main framework is arranged in the back elbow, with the fixed company of cylinder framework
It connects.The antecurvature pipe end is equipped with steering wheel arrangement installation position.Rear molding bend pipe end is equipped with cushion mounting plate.The rear molding
Rear molding cross bar is additionally provided with below bend pipe end.
Specifically, the automatic elevator keeps collapsed state in normal vehicle operation, it will after car speed reduction
Decline automatically when stopping, playing prevents vehicle body from toppling over because leading to imbalance at a slow speed, while also functioning to after parking power-off to vehicle
The supporting role of body.
Specifically, the camera feeds back to controller in control system by the information that vehicle is run ambient enviroment
Core board.
Further, the front wheel system mainly include shaft coupling, vehicle frame front end sleeve, front fork, front vehicle wheel, it is preceding oil stop,
And first encoder.Described shaft coupling one end connects motor, and the other end connects front fork.The front fork passes through vehicle frame front end sleeve
Cylinder.Oil is stopped and is mounted on the support column of the front fork right end before described.The first encoder count head is mounted on front fork right end
On support column.First decoders-Synchronous wheel is mounted on front wheel axle, is rotated synchronously with wheel, reads preceding rotation in real time to realize
Speed.The front vehicle wheel is set as an adhesion wheel, includes driving motor.
Further, the steering wheel arrangement is mounted on the antecurvature pipe end of vehicle frame, mainly includes steering wheel and steering wheel
Pedestal.The steering wheel base is fixed on steering wheel arrangement installation position.The steering wheel is mounted on steering wheel base, with control
System electrical connection processed.
Further, the rear wheel system mainly includes damper, rear oily brake, rear-wheel, second encoder and rear molding
Frame.Described damper one end connects rear molding cross bar, tailstock after other end connection.Oil is stopped and is mounted on rear-wheel after described.After described
Wheel is mounted on rear tailstock, is connect by hind axle with rear tailstock.The reading head of the second encoder is mounted on rear tailstock, same
Step wheel is rotated coaxially with rear-wheel on the link position of hind axle, is realized with this and read rear wheel rotation speed in real time.The damper connects
The tie point for connecing rear tailstock is located at the installation point front end that encoder is mounted on rear tailstock.
Further, the control system is mounted on the main framework lower end by welding form；The control system
Specifically include that the first accommodating chamber and the second accommodating chamber.First accommodating chamber includes cell box shell, is internally provided with front-wheel electricity
Machine driver, Nose Wheel Steering motor driver, controller core core and controller core core acrylic bottom plate.Described second
Accommodating chamber includes lithium battery and battery retaining boards.The front-wheel motor driver and Nose Wheel Steering motor driver are placed on first
Accommodating chamber left end, and bottom is bolted to cell box shell bottom.The front-wheel motor driver is clamped in by cover clamp
In first accommodating chamber, for fixing position.The controller core core acrylic bottom plate is located at the first accommodating chamber right end, sets thereon
Angled sensor.The controller core core is fixedly mounted on controller core core acrylic bottom plate and is located at first and accommodates
It is intracavitary, it is connect respectively with front-wheel motor driver, Nose Wheel Steering motor driver, lithium battery.Second accommodating chamber is placed
There is lithium battery, the lithium battery is lock onto the second accommodating chamber by battery retaining boards.
Specifically, the foot pedal is mounted on the main framework front end of the vehicle frame, the foot pedal specifically includes that rear overhang
Plate, foot-operated and preceding hanging deck.Hanging deck is welded on main framework front end portion after described.The preceding hanging deck is welded on described antecurvature
Pipe lower part.Hanging deck, preceding hanging deck are mounted in same level after described.The foot-operated front end is mounted on the preceding hanging deck, rear end
It is mounted on rear hanging deck, and is electrically connected to the control system.
Such product both domestic and external is mostly to be based on flywheel to realize vehicle self-balancing；Pass through two below operating seat
Flywheel keeps 5000-12000 turns per minute of revolving speed when opening, to keep the autobalance of vehicle.But how much all exist corresponding
Some problems, for example flywheel energy consumption is high, and hard impacts once occur, and huge kinetic energy releases, and has certain peace
Full hidden danger.Therefore it proposes a kind of different method, carries out two wheels using voluntarily studying without the dynamic system equation of constraint vehicle
The kinetic description of vehicle and control.And the brain of driver is replaced with multi-action computer, optimal control program is calculated, then
The both hands that driver is replaced with the turning motors control steering angle controlled by computer keep car body balance, effectively and safe
The self-balancing of ground realization vehicle.
Since product of the invention has (being the one third or so for having normal domestic use car volume) small in size, efficiency
High, high safety (can autonomic balance), therefore it is well suited as the substitute of shared bicycle or as personal Modern Traffic work
Tool uses in the urban road of existing traffic congestion.Since the vehicle occupies the diminution of path space, existing road can be made
The road volume of traffic increases 2-3 times, will be obviously improved the congestion of road；Furthermore new energy also can be used as power in the vehicle, can
Air pollution caused by fuel oil is effectively reduced, there is very high environmentally protective benefit.Country increasingly advocate environmental protection trip and
Under the historical background for wideling popularize the new energy vehicles, the present invention will can be widely used in city road as can success industrialization
In the traffic of road, it is at war with existing normal domestic use car and very likely replaces existing common four-wheel family-sized car.To sum up
Described, matured product of the invention has the very extensive scope of application and promotion prospect.
Working process and principle of the invention are: self-balancing single track balance car belongs to small-sized electric vehicle, and head is small, price
Cheaply, occupied area is small, can solve the problems, such as that motor vehicle exhaust emission and current mainstream balance car keep flat using flywheel high speed rotation
Weigh the problem for causing energy consumption high.It is main that self-balancing is realized by computational algorithm, abandon the high cost of high energy consumption of flywheel.Balance control
The turning motors of device control processed, which are realized, stablizes inclination control and wide-angle turning, and control mainboard replaces high-power gyroscope, energy consumption
It is lower.Using electronic automobile-used 60V lithium battery group on the market, at battery pack, single power is only 1000w, and capacity 20AH is held
Continuous operating current 20A.Support disassembly, replacement easy, it is contemplated that battery pack mileages of continuation is 60-70 kilometers.
Compared with prior art, it also have the advantage that
(1) the Self-balancing electronic motorcycle provided by the present invention with semi-automatic driving function complete vehicle structure inherit in
Conventional motorcycle vehicle, but there is more integrated design effect compared with conventional motorcycle, it is suitable for balancing motorcycle system structure
Set up meter.
(2) the Self-balancing electronic motorcycle provided by the present invention with semi-automatic driving function uses front-wheel drive, can
It realizes that turning radius is small, more can be suitably used for the unmanned motorcycle design scheme of road traffic.
(3) the Self-balancing electronic motorcycle provided by the present invention with semi-automatic driving function does not need to consume energy high
Flywheel high speed rotation keeps the balance of vehicle body, it is only necessary to which a relatively easy energy consumption extremely low balance controller keeps vehicle body
Steady balance traveling.
Detailed description of the invention
Fig. 1 is the complete vehicle structure signal of the Self-balancing electronic motorcycle provided by the present invention with semi-automatic driving function
Figure.
Fig. 2 is the process flow diagram of control system in semi-automatic mode of the invention.
Fig. 3 is vehicle processing system relation schematic diagram provided by the present invention.
Fig. 4 is the flow chart of controller core core control motor provided by the present invention.
Fig. 5 is front wheel system structural schematic diagram provided by the present invention.
Fig. 6 is the structural schematic diagram of steering wheel arrangement provided by the present invention.
Fig. 7 is rear wheel system structural schematic diagram provided by the present invention.
Fig. 8 is pedal plate structure schematic diagram provided by the present invention.
Fig. 9 is control system architecture schematic diagram provided by the present invention.
Figure 10 is body frame structure for automotive schematic diagram provided by the present invention.
Label declaration in above-mentioned attached drawing:
1- front wheel system, 2- turning motors, 3- steering wheel arrangement, 4- cushion, 5- rear wheel system, 6- automatic elevator, 7-
Control system, 8- foot pedal, 9- vehicle frame, 10- camera；
101- shaft coupling, 102- vehicle frame front end sleeve, 103- front fork, 1031- support column, 104- front vehicle wheel, oil before 105-
It stops, the first encoder of 106-；
301- steering wheel, 302- steering wheel base；
501- damper, oil is stopped after 502-, 503- rear-wheel, 504- second encoder, tailstock after 505-；
701- cover clamp, 702- front-wheel motor driver, 703- Nose Wheel Steering motor driver, 704- cell box shell,
705- controller core core, 706- controller core core acrylic bottom plate, 707- battery retaining boards, 708- lithium battery, 710-
One accommodating chamber, the second accommodating chamber of 720-；
Hanging deck after 801-, 802- is foot-operated, hanging deck before 803-；
Bend pipe before 901-, 9011- steering wheel arrangement installation position, 902- main framework, 903- rear molding bend pipe, 9032- rear molding
Cross bar；
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer and more explicit, right as follows in conjunction with drawings and embodiments
The present invention is described further.
Embodiment 1:
As shown in Figures 1 to 10, present embodiment discloses a kind of Self-balancing electronic motors with semi-automatic driving function
Vehicle, the Self-balancing electronic motorcycle mainly include front wheel system 1, turning motors 2, steering wheel arrangement 3, cushion 4, rear wheel system 5,
Automatic elevator 6, control system, foot pedal, vehicle frame and camera.The front wheel system and rear wheel system are separately mounted to
The front and back end of vehicle frame.The turning motors are mounted on the front end of vehicle frame, connect with front wheel system, and are electrically connected to the control system.
The steering wheel arrangement is arranged in vehicle frame front top, is electrically connected to the control system.The cushion is arranged at the top of vehicle frame rear end.
The automatic elevator is mounted on vehicle frame rear end, is located at before rear wheel system, and be electrically connected to the control system；The foot pedal peace
Mounted in bottom of frame, it is electrically connected to the control system.The camera is mounted on vehicle frame front end, is located in front of steering wheel arrangement, and
It is electrically connected to the control system；The set-up of control system is in bottom of frame position.Self-balancing electronic motor provided by the present invention
Vehicle specific structure is as follows:
1. mechanical structure
Vehicle frame 9 includes preceding bend pipe 901, main framework 902, rear molding bend pipe 903；901 end of preceding bend pipe is equipped with direction
Disk installation position 9011；903 end of rear molding bend pipe is equipped with cushion mounting plate 9031；After being equipped with below 903 end of rear molding bend pipe
Tail cross bar 9032；
Front wheel system 1 includes shaft coupling 101, vehicle frame front end sleeve 102, front fork 103, front vehicle wheel 104, and preceding oil stops 105, the
One encoder 106, specifically, described 101 one end of shaft coupling connect motor 2, and the other end connects front fork 103；The front fork 103 is worn
Cross vehicle frame front end sleeve 102；Oil brake 105 is mounted on the 103 right end support column 1031 of front fork, the first encoder 106 before described
Reading head is mounted on 103 right end support column 1031 of front fork, and 106 synchronizing wheel of the first encoder is mounted on front wheel axle, with vehicle
Wheel rotates synchronously, in this way, the first encoder 106 can read front wheel rotation speed in real time；The front vehicle wheel 104 be for an adhesion wheel,
Driving motor is included, motor 2 is mounted on 901 electric machine support of preceding bend pipe of vehicle frame 9, and steering wheel 3 is mounted on the preceding bend pipe of vehicle frame 9
901 ends specifically include steering wheel 301 and steering wheel base 302；
Rear wheel system 5 includes damper 501, rear oil brake 502, rear-wheel 503, second encoder 504 and rear tailstock 505.Institute
State 501 one end of damper connection rear molding cross bar, tailstock 505 after other end connection；504 reading head of second encoder is mounted on
It afterwards on tailstock 505, synchronizing wheel and hind axle, is rotated coaxially with rear-wheel, such second encoder 504 rotates after can reading in real time
Speed；Specifically, the tie point of tailstock 505 is located at second encoder 504 and is mounted on rear tailstock 505 after the damper 501 connects
Installation point front end.
The automatic elevator 6 keeps collapsed state in normal vehicle operation, will stop after car speed reduction
Shi Zidong decline, playing prevents vehicle body from toppling over because leading to imbalance at a slow speed, while also functioning to the branch after parking powers off to vehicle body
Support effect；
The control system 7 is mounted on 902 lower end of main framework by welding form；The component cases 7 include:
One accommodating chamber 710, the second accommodating chamber 720；First accommodating chamber 710 includes cell box shell 704, is inside placed with preceding turbin generator
Driver 702,2 driver 703 of Nose Wheel Steering motor, controller core core acrylic bottom plate 706, the front-wheel motor driver
702,2 driver 703 of Nose Wheel Steering motor is placed on 710 left end of the first accommodating chamber, and bottom is bolted to outside battery case
704 bottom of shell；The front-wheel motor driver 702 is clamped in the first accommodating chamber 710 by cover clamp 701, for fixing position；
The controller core core acrylic bottom plate 706 is located at 710 right end of the first accommodating chamber, upper angled sensor, controller core
Plate 705 is fixedly mounted on controller core core acrylic bottom plate 706 and is located in the first accommodating chamber 710；Described second accommodates
Chamber 720 is placed with lithium battery 708, and the lithium battery 708 is lock onto the second accommodating chamber 720 by battery retaining boards 707；
Foot pedal 8 is mounted on 902 front end of main framework of the vehicle frame 9, and the foot pedal 8 includes: rear hanging deck 801, foot
Step on 802 and preceding hanging deck 803；Hanging deck 801 is welded on 902 front end portion of main framework after described；The preceding hanging deck 803 is welded on institute
901 lower part of bend pipe before stating；Hanging deck 801, preceding hanging deck 803 are in same level after described；Foot-operated 802 front ends are mounted on institute
Hanging deck 803 before stating, rear end is mounted on rear hanging deck 801.
2. control section
2.1 whole-control system
2.1.1 MANUAL CONTROL mode
The rotational angle that driver controls Nose Wheel Steering motor by using steering wheel 3 realizes manual steering, passes through foot
Pedal 8 controls the acceleration and deceleration when driving of vehicle.
2.1.2 semiautomatic control mode
In the case where driver's manual drive, speed encoder (106 and 504) on vehicle body, visual sensor 10, core
Angular transducer on core 705 keeps working condition.Speed encoder (106 and 504) obtains vehicle body real time execution speed, depending on
Feel that sensor 10 obtains the image in front of real time execution, velocity sensor obtains the tilt angle of vehicle body in real time, and these are believed
Breath senses core board 705 to be handled, and is gone the rotational angle for exporting corresponding Nose Wheel Steering motor 2 with before according to reality
The velocity of rotation (i.e. the speed of service) of in-wheel motor 104 realizes that the balance of vehicle body is kept；When speed reduction will stop,
Automatic elevator 6 lands automatically, plays the role of the supporting role to vehicle body, these all play safeguard protection to person for driving a car.
2.1.3 automatic control mode
The mode is suitable for shared motorcycle form, and when vehicle stops, after driver leaves vehicle, controller training is protected
Working condition, the angular transducer in controller core core 705 are held, camera 10 and speed encoder 105,504 obtain in real time
Vehicle body when driving front environment, tilt angle, the information such as speed of service vehicle and drive vehicle turning motor 2 rotational angle and
Front-wheel electric locomotive wheel 104 goes to the place nearby properly stopped to carry out switch-off automatically.
The specific workflow of 2.2 controller core sheet processors
Kinetic model is imported into MATLAB, using LQR algorithm, calculates optimal PID coefficient.CPU can obtain vehicle
The state of body realizes the precise moments output of motor to calculate control amount.
2.3 hardware module
The core processor module that the present invention uses is STM32F4.STM32F4 is by the one of ST (STMicw Electronics) exploitation
Kind high-performance microcontroller.Which employs 90 nanometers of NVM technique and ART (adaptive real-time memory accelerator, Adaptive
Real-Time MemoryAcceleratorTM).ART technology executes calling program zero-waiting, improves the efficiency of program execution,
The performance of Cortext-M4 has been performed to it is ultimate attainment so that STM32F4 series can reach 210DMIPS@168MHz.
The Inertial Measurement Unit that the present invention uses is MPU6050.MPU-6000 (6050) is the first 6 axis of the conformability fortune in the whole world
Dynamic processing component eliminates the problem of the difference of combination gyroscope and accelerator time shaft compared to multicomponent scheme, reduces big
The encapsulated space of amount.With the spin matrix of 6 axis of numeral output or 9 axis, quaternary number (quaternion), Eulerian angles format (Euler
Angle forma) fusion calculate data.
The angle and angular speed that wheel turns over measure the realization of wheel speed by coder module function and input capture.
This encoder that the present invention uses is incremental encoder, is integrated in inside motor, and (each rotation issues 2500 to 2500PPR
Pulse).
The Accelnet Panel that the driver of this motor configuration is Copley controls, this driver pass through RS-
232 can be communicated with host computer, thus the mode of configuration driven device permission and maximum output current etc..
Embodiment 2:
Another case study on implementation of the invention is that control system 7 is used as full-vehicle control brain, is responsible for the coordinated movement of various economic factors machine of vehicle
The realization of reason specifically includes the work for controlling front-wheel electric locomotive wheel 104 by front wheel drive controller 702, realizes vehicle
Forward-reverse, worked by control turning motors 2, realize that front wheel system 1 turns right to the left, when vehicle is run, work as prison
When measuring vehicle body imbalance, when driving turning motors 2 work, torque is generated, transmits torque to front fork 103 with shaft coupling 101 is crossed
It is ultimately transferred to front vehicle wheel 104, by the co-ordination with turning motors 2 of front truck in-wheel motor 104, before realizing vehicle
Into, turning under balance.
In addition, the vehicle wheel rotational speed of encoder (106,504) record feeds back to control system 7, passes through volume in control system 7
Code device feedback signal adjusts the revolving speed of front vehicle wheel 104 and turning motors 2 and then controls the traveling situation of vehicle；Generally speaking it is exactly
By the angular transducer on vehicle body in control system 7 in controller core core 705, camera 10 and speed encoder 105,
504 obtain vehicle body front environment, tilt angle, the information such as speed of service when driving in real time, and pass through corresponding control algolithm tune
The velocity of rotation of the rotational angle and front-wheel electric locomotive wheel 104 that save turning motors 2 eliminates the inclination of vehicle body, keeps the flat of vehicle
Weighing apparatus operation can also play the role of parking rear vehicle and suitable position is gone to stop automatically.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (6)
1. a kind of Self-balancing electronic motorcycle with semi-automatic driving function, which is characterized in that including front wheel system, turning electricity
Machine, steering wheel arrangement, cushion, rear wheel system, automatic elevator, control system, foot pedal, vehicle frame and camera；Before described
Wheel system and rear wheel system are separately mounted to the front and back end of vehicle frame；The turning motors are mounted on the front end of vehicle frame, with preceding train
System connection, and be electrically connected to the control system；The steering wheel arrangement is arranged in vehicle frame front top, is electrically connected to the control system；
The cushion is arranged at the top of vehicle frame rear end；The automatic elevator is mounted on vehicle frame rear end, is located at before rear wheel system, and with
Control system electrical connection；The foot pedal is mounted on bottom of frame, is electrically connected to the control system；The camera is mounted on vehicle frame
Front end is located in front of steering wheel arrangement, and is electrically connected to the control system；The set-up of control system is in bottom of frame position；
The vehicle frame includes preceding bend pipe, main framework and rear molding bend pipe；The front of main framework is arranged in the preceding bend pipe,
It is fixedly connected with main framework；The rear of main framework is arranged in the back elbow, is fixedly connected with cylinder framework；It is described antecurvature
Pipe end is equipped with steering wheel arrangement installation position；Rear molding bend pipe end is equipped with cushion mounting plate；Under rear molding bend pipe end
Side is additionally provided with rear molding cross bar；
The automatic elevator keeps collapsed state in normal vehicle operation, automatic when will stop after car speed reduction
Decline, playing prevents vehicle body from toppling over because leading to imbalance at a slow speed, while also functioning to the supporting role after parking power-off to vehicle body；
The camera feeds back to controller core core in control system by the information that vehicle is run ambient enviroment.
2. the Self-balancing electronic motorcycle according to claim 1 with semi-automatic driving function, which is characterized in that described
Front wheel system includes shaft coupling, vehicle frame front end sleeve, front fork, front vehicle wheel, preceding oil stops and the first encoder；The shaft coupling
One end connects motor, and the other end connects front fork；The front fork passes through vehicle frame front end sleeve；Oil is stopped and is mounted on the front fork before described
On the support column of right end；The first encoder count head is mounted on front fork right end support column；First decoders-Synchronous wheel peace
It on front wheel axle, is rotated synchronously with wheel, reads front wheel rotation speed in real time to realize；The front vehicle wheel is set as an active vehicle
Wheel, includes driving motor.
3. the Self-balancing electronic motorcycle according to claim 1 with semi-automatic driving function, which is characterized in that described
Steering wheel arrangement is mounted on the antecurvature pipe end of vehicle frame, including steering wheel and steering wheel base；The steering wheel base is fixed on
On steering wheel arrangement installation position；The steering wheel is mounted on steering wheel base, is electrically connected to the control system.
4. the Self-balancing electronic motorcycle according to claim 1 with semi-automatic driving function, which is characterized in that described
Rear wheel system includes damper, rear oily brake, rear-wheel, second encoder and rear tailstock；Damper one end connection rear molding is horizontal
Bar, tailstock after other end connection；Oil is stopped and is mounted on rear-wheel after described；The rear-wheel is mounted on rear tailstock, passes through hind axle
It is connect with rear tailstock；The reading head of the second encoder is mounted on the link position of rear tailstock, synchronizing wheel and hind axle, with
Rear-wheel rotates coaxially, and is realized with this and reads rear wheel rotation speed in real time；The tie point of tailstock is located at encoder after the damper connection
It is mounted on the installation point front end of rear tailstock.
5. the Self-balancing electronic motorcycle according to claim 1 with semi-automatic driving function, which is characterized in that described
Control system is mounted on the main framework lower end by welding form；The control system includes: the first accommodating chamber and second
Accommodating chamber；First accommodating chamber includes cell box shell, is internally provided with front-wheel motor driver, Nose Wheel Steering motor driven
Device, controller core core and controller core core acrylic bottom plate；Second accommodating chamber includes that lithium battery and battery are fixed
Plate；The front-wheel motor driver and Nose Wheel Steering motor driver are placed on the first accommodating chamber left end, and bottom is solid with bolt
Due to cell box shell bottom；The front-wheel motor driver is clamped in the first accommodating chamber by cover clamp, for fixing position；
The controller core core acrylic bottom plate is located at the first accommodating chamber right end, which is provided with angular transducer；The controller core
Core be fixedly mounted on controller core core acrylic bottom plate and be located at the first accommodating chamber in, respectively with front-wheel motor driven
Device, Nose Wheel Steering motor driver, lithium battery connection；Second accommodating chamber is placed with lithium battery, and the lithium battery is by electricity
Pond fixed plate is lock onto the second accommodating chamber.
6. the Self-balancing electronic motorcycle according to claim 1 with semi-automatic driving function, which is characterized in that described
Foot pedal is mounted on the main framework front end of the vehicle frame, and the foot pedal includes: rear hanging deck, foot-operated and preceding hanging deck；It is described
Hanging deck is welded on main framework front end portion afterwards；The preceding hanging deck is welded on the preceding bend pipe lower part；Hanging deck, preceding hanging deck after described
It is mounted in same level；The foot-operated front end is mounted on the preceding hanging deck, and rear end is mounted on rear hanging deck, and is with control
System electrical connection.
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| CN201910212405.4A CN110077510B (en) | 2019-03-20 | 2019-03-20 | Self-balancing electric motorcycle with semi-automatic driving function |
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