CN110077510B - Self-balancing electric motorcycle with semi-automatic driving function - Google Patents
Self-balancing electric motorcycle with semi-automatic driving function Download PDFInfo
- Publication number
- CN110077510B CN110077510B CN201910212405.4A CN201910212405A CN110077510B CN 110077510 B CN110077510 B CN 110077510B CN 201910212405 A CN201910212405 A CN 201910212405A CN 110077510 B CN110077510 B CN 110077510B
- Authority
- CN
- China
- Prior art keywords
- wheel
- frame
- control system
- plate
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000000725 suspension Substances 0.000 claims description 26
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 12
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 claims description 12
- 229910052744 lithium Inorganic materials 0.000 claims description 12
- 239000006096 absorbing agent Substances 0.000 claims description 11
- 230000035939 shock Effects 0.000 claims description 11
- 230000004308 accommodation Effects 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 210000004907 gland Anatomy 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 238000005265 energy consumption Methods 0.000 abstract description 11
- 238000005096 rolling process Methods 0.000 abstract 1
- 230000006870 function Effects 0.000 description 9
- 239000003921 oil Substances 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000003915 air pollution Methods 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004438 eyesight Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 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
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a self-balancing electric motorcycle with a semi-automatic driving function, which uses an inertial sensor and a camera to fuse, measures the rolling angle of a vehicle body in real time by means of an angle sensor, and controls a steering motor, a wheel driving motor and front and rear wheel brakes to keep the balance of the vehicle by utilizing a dynamics model and an underactuated system. The balance car has the characteristics different from the balance car existing in the market at present, and the balance car does not need a flywheel with extremely high energy consumption to rotate at high speed so as to keep the balance of the car body, and only needs a balance controller with relatively simple and extremely low energy consumption to keep the stable and balanced running of the car body. Has strong practicability.
Description
Technical Field
The invention relates to the technical field of automatic driving of a monorail vehicle, in particular to automatic driving of a monorail vehicle, which realizes automatic balance of the monorail vehicle and simple road conditions through coupling of machine vision and inertial navigation.
Background
The development of the automobile age causes a series of contradictions of roads, population, parking areas and the like, and traffic jam and air pollution phenomena in various large cities in China are increasingly serious in recent years. Traffic surveys show that the average passenger carrying number of a single electric motorcycle is 1.12 people and the passenger carrying number of a single car is 1.24 people. The size of the automobile is several times that of the electric bicycle, however, the two passengers are almost different, so that the automobile is not a huge waste, and the excessive traffic congestion is directly caused. Scientific analysis finds that: there are hundreds of different compounds in the tail gas of the automobile, wherein the total lead amount is discharged only by 40 ten thousand tons each year, and the tail gas of the automobile becomes the most serious atmospheric pollution source, and the tail gas pollution of the automobile is known as an 'intangible killer'. And the electric motorcycle is driven by electric power only, so that pollution is avoided. However, electric motorcycles have technical demands on drivers, and are highly dangerous when traveling at high speeds.
At present, automobile pollution is more and more serious, and road traffic is more and more blocked. The huge economic loss of society caused by traffic jam has been developed into a problem which cannot be ignored. Aiming at the situations that the existing automobile has large occupied space and large energy consumption and the passenger capacity is inconsistent with the energy consumption of the volume, an electric novel motorcycle which has small occupied space, low energy consumption, convenient travel and safety is designed. Improves the utilization rate of resources and simultaneously relieves the serious pollution problem.
Meanwhile, the sharing bicycle industry is developed more and more nowadays, and is welcomed by all communities of society, but the social problem that urban capacity is influenced and public space is occupied is brought. Moreover, the running of the bicycle is easy to cause unbalanced problem, and traffic accidents are easy to occur.
Accordingly, there is a need in the art for further improvements and perfection.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a self-balancing electric motorcycle with a simple structure and a semi-automatic driving function.
The aim of the invention is achieved by the following technical scheme:
the self-balancing electric motorcycle with the semi-automatic driving function mainly comprises a front wheel system, a turning motor, a steering wheel device, a cushion, a rear wheel system, an automatic landing gear, a control system, a pedal, a frame and a camera. The front wheel system and the rear wheel system are respectively arranged at the front end and the rear end of the frame. The turning motor is arranged at the front end of the frame, connected with the front wheel system and electrically connected with the control system. The steering wheel device is arranged at the top of the front end of the frame and is electrically connected with the control system. The cushion is arranged at the top of the rear end of the frame. The automatic landing gear is arranged at the rear end of the frame, positioned in front of the rear wheel system and electrically connected with the control system; the foot pedal is arranged at the bottom of the frame and is electrically connected with the control system. The camera is arranged at the front end of the frame, positioned in front of the steering wheel device and electrically connected with the control system; the control system is arranged at the bottom of the frame.
Specifically, the frame includes a front elbow, a main body frame, and a rear elbow. The front elbow is arranged in front of the main body framework and fixedly connected with the main body framework. The rear elbow is arranged at the rear of the main body framework and fixedly connected with the column framework. The tail end of the front elbow is provided with a steering wheel device installation position. And a cushion mounting plate is arranged at the tail end of the back tail bent pipe. And a rear cross rod is arranged below the tail end of the rear bent pipe.
Specifically, the automatic landing gear keeps a retracted state when the vehicle normally runs, automatically descends when the vehicle is about to stop after the vehicle speed is reduced, prevents the vehicle body from tilting due to unbalance caused by slow speed, and simultaneously plays a role in supporting the vehicle body after stopping and power failure.
Specifically, the camera feeds back information of the running surrounding environment of the vehicle to a controller core board in the control system.
Further, the front wheel system mainly comprises a coupler, a frame front end sleeve, a front fork, front wheels, a front oil brake and a first encoder. One end of the coupler is connected with the motor, and the other end of the coupler is connected with the front fork. The front fork passes through the front end sleeve of the frame. The front oil brake is arranged on a support column at the right end of the front fork. The first encoder reading head is arranged on the support column at the right end of the front fork. The first encoder synchronous wheel is arranged on the front wheel axle and rotates synchronously with the wheels so as to realize real-time reading of the front wheel rotating speed. The front wheel is set as a driving wheel and contains a driving motor.
Further, the steering wheel device is arranged at the tail end of the front bent pipe of the frame and mainly comprises a steering wheel and a steering wheel base. The steering wheel base is fixed on a steering wheel device mounting position. The steering wheel is arranged on the steering wheel base and is electrically connected with the control system.
Further, the rear wheel system mainly comprises a shock absorber, a rear oil brake, a rear wheel, a second encoder and a rear tail frame. And one end of the shock absorber is connected with the rear cross rod, and the other end of the shock absorber is connected with the rear tail frame. The rear oil brake is arranged on the rear wheel. The rear wheel is arranged on the rear tail frame and is connected with the rear tail frame through a rear wheel shaft. The reading head of the second encoder is arranged at the connection position of the rear tail frame, the synchronous wheel and the rear wheel shaft and coaxially rotates with the rear wheel, so that the real-time reading of the rear wheel rotating speed is realized. The connection point of the shock absorber connected with the rear tailstock is positioned at the front end of the installation point of the encoder installed on the rear tailstock.
Further, the control system is arranged at the lower end of the main body framework in a welding mode; the control system mainly comprises: a first receiving chamber and a second receiving chamber. The first accommodating cavity comprises a battery box shell, and a front wheel motor driver, a front wheel steering motor driver, a controller core plate and a controller core plate acrylic bottom plate are arranged in the battery box shell. The second accommodation chamber includes a lithium battery and a battery fixing plate. The front wheel motor driver and the front wheel steering motor driver are placed at the left end of the first accommodating cavity, and the bottom of the front wheel motor driver and the front wheel steering motor driver are fixed at the bottom of the battery box shell through bolts. The front wheel motor driver is clamped on the first accommodating cavity by the gland plate and used for fixing the position. The acrylic bottom plate of the controller core plate is positioned at the right end of the first accommodating cavity, and an angle sensor is arranged on the acrylic bottom plate. The controller core board is fixedly arranged on the acrylic bottom plate of the controller core board and positioned in the first accommodating cavity, and is respectively electrically connected with the front wheel motor driver, the front wheel steering motor driver and the lithium battery. The second accommodation cavity is provided with a lithium battery, and the lithium battery is locked in the second accommodation cavity by a battery fixing plate.
Specifically, the running-board is installed at the main part framework front end of frame, the running-board mainly includes: rear suspension plate, pedal, front suspension plate. The rear suspension plate is welded at the front end part of the main body framework. The front suspension plate is welded at the lower part of the front elbow. The rear suspension plate and the front suspension plate are arranged on the same horizontal plane. The front end of the pedal is arranged on the front suspension plate, and the rear end of the pedal is arranged on the rear suspension plate and is electrically connected with the control system.
Most of the products at home and abroad are based on flywheels to realize the self-balancing of the vehicle; the automatic balance of the vehicle is maintained by maintaining a rotational speed of 5000-12000 revolutions per minute when two flywheels under the driver's seat are turned on. However, there are some problems, such as high flywheel energy consumption, and once serious collision occurs, huge kinetic energy is released, so that a certain potential safety hazard exists. Therefore, a different method is proposed, and the dynamics description and control of the two-wheel vehicle are performed by utilizing the self-researching unconstrained vehicle dynamic system equation. The multifunctional computer is used for replacing the brain of the driver, the optimal control scheme is calculated, the steering angle is controlled by the turning motor controlled by the computer to replace the hands of the driver, the balance of the vehicle body is maintained, and the self balance of the vehicle is effectively and safely realized.
The product of the invention has small volume (about one third of the volume of a common household sedan), high energy efficiency and strong safety (can be balanced autonomously), so the product is very suitable to be used as a substitute for sharing a bicycle or as a personal modern vehicle in the urban road with the existing traffic jam. Because the vehicle occupies the reduced road space, the traffic volume of the existing road can be increased by 2-3 times, and the congestion condition of the road can be obviously improved; in addition, the vehicle can also adopt new energy as power, can effectively reduce air pollution caused by fuel oil, and has high green and environment-friendly benefits. Under the background of the times of increasingly advocating environment-friendly travel and greatly promoting new energy vehicles in China, the invention can be widely applied to urban road traffic if being successfully industrialized, competes with the existing ordinary household sedan and is very likely to replace the existing ordinary four-wheel household sedan. In conclusion, the mature product of the invention has wide application range and popularization prospect.
The working process and principle of the invention are as follows: the self-balancing monorail balance car belongs to a small electric car, has small size, low price and small occupied area, and can solve the problem of automobile exhaust emission and the problem of high energy consumption caused by the fact that the existing main stream balance car uses a flywheel to rotate at a high speed to keep balance. The self-balancing is realized mainly through a calculation algorithm, and the high energy consumption and high cost of the flywheel are abandoned. The turning motor controlled by the balance controller realizes stable inclination control and large-angle turning, the control main board replaces a high-power gyroscope, and the energy consumption is lower. The 60V lithium battery for the electric vehicle in the market is adopted to form a battery pack, the single power is only 1000w, the capacity is 20AH, and the continuous working current is 20A. The disassembly is supported, the replacement is simple and convenient, and the predicted battery pack life is 60-70 km.
Compared with the prior art, the invention has the following advantages:
(1) The whole structure of the self-balancing electric motorcycle with the semi-automatic driving function provided by the invention is inherited to the traditional motorcycle type, but has more integrated design effect compared with the traditional motorcycle, and is suitable for the design of a system framework of a balancing motorcycle.
(2) The self-balancing electric motorcycle with the semi-automatic driving function provided by the invention adopts front wheel driving, can realize small turning radius, and is more suitable for the design scheme of unmanned motorcycles for road traffic.
(3) The self-balancing electric motorcycle with the semi-automatic driving function does not need a flywheel with extremely high energy consumption to rotate at a high speed to keep the balance of the vehicle body, and only needs a relatively simple balance controller with extremely low energy consumption to keep the stable and balanced running of the vehicle body.
Drawings
Fig. 1 is a schematic diagram of the whole structure of a self-balancing electric motorcycle with a semi-automatic driving function.
FIG. 2 is a flow chart of a process of the present invention for controlling a system in a semi-automatic mode.
Fig. 3 is a schematic diagram of a whole vehicle processing system relationship provided by the invention.
Fig. 4 is a flow chart of the control of the motor by the controller core board provided by the invention.
Fig. 5 is a schematic diagram of the front wheel system structure provided by the invention.
Fig. 6 is a schematic structural view of a steering wheel device provided by the present invention.
Fig. 7 is a schematic view of the structure of the rear wheel system provided by the invention.
Fig. 8 is a schematic view of a foot pedal structure according to the present invention.
Fig. 9 is a schematic structural diagram of a control system provided by the present invention.
Fig. 10 is a schematic view of a frame structure provided by the present invention.
The reference numerals in the above figures illustrate:
1-front wheel system, 2-turning motor, 3-steering wheel device, 4-cushion, 5-rear wheel system, 6-automatic landing gear, 7-control system, 8-foot pedal, 9-frame and 10-camera;
101-a coupler, 102-a front end sleeve of a frame, 103-a front fork, 1031-a supporting column, 104-a front wheel, 105-a front oil brake and 106-a first encoder;
301-steering wheel, 302-steering wheel base;
501-a damper, 502-a rear oil brake, 503-a rear wheel, 504-a second encoder and 505-a rear tailstock;
701-a gland plate, 702-a front wheel motor driver, 703-a front wheel steering motor driver, 704-a battery box shell, 705-a controller core plate, 706-a controller core plate acrylic bottom plate, 707-a battery fixing plate, 708-a lithium battery, 710-a first accommodating cavity and 720-a second accommodating cavity;
801-rear suspension plate, 802-pedals, 803-front suspension plate;
901-a front elbow, 9011-a steering wheel device mounting position, 902-a main body framework, 903-a rear elbow, 9032-a rear tail cross bar;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear and clear, the present invention will be further described below with reference to the accompanying drawings and examples.
Example 1:
as shown in fig. 1 to 10, the present embodiment discloses a self-balancing electric motorcycle with a semiautomatic driving function, which mainly includes a front wheel system 1, a turning motor 2, a steering wheel device 3, a seat cushion 4, a rear wheel system 5, an automatic landing gear 6, a control system, a foot pedal, a frame, and a camera. The front wheel system and the rear wheel system are respectively arranged at the front end and the rear end of the frame. The turning motor is arranged at the front end of the frame, connected with the front wheel system and electrically connected with the control system. The steering wheel device is arranged at the top of the front end of the frame and is electrically connected with the control system. The cushion is arranged at the top of the rear end of the frame. The automatic landing gear is arranged at the rear end of the frame, positioned in front of the rear wheel system and electrically connected with the control system; the foot pedal is arranged at the bottom of the frame and is electrically connected with the control system. The camera is arranged at the front end of the frame, positioned in front of the steering wheel device and electrically connected with the control system; the control system is arranged at the bottom of the frame. The self-balancing electric motorcycle provided by the invention has the following specific structure:
1. mechanical structure
The frame 9 includes a front elbow 901, a main body frame 902, and a rear tail elbow 903; the tail end of the front bent pipe 901 is provided with a steering wheel mounting position 9011; the tail end of the back tail elbow 903 is provided with a cushion mounting plate 9031; a rear cross bar 9032 is arranged below the tail end of the rear bent pipe 903;
the front wheel system 1 comprises a coupler 101, a frame front end sleeve 102, a front fork 103, a front wheel 104, a front oil brake 105 and a first encoder 106, wherein one end of the coupler 101 is connected with a motor 2, and the other end of the coupler is connected with the front fork 103; the front fork 103 passes through the front end sleeve 102 of the frame; the front oil brake 105 is installed on a support column 1031 at the right end of the front fork 103, a reading head of the first encoder 106 is installed on the support column 1031 at the right end of the front fork 103, and a synchronous wheel of the first encoder 106 is installed on a front wheel axle and rotates synchronously with the wheel, so that the first encoder 106 can read the rotation speed of the front wheel in real time; the front wheel 104 is a driving wheel and comprises a driving motor, the motor 2 is arranged on a motor bracket of a front elbow 901 of the frame 9, and the steering wheel 3 is arranged at the tail end of the front elbow 901 of the frame 9 and specifically comprises a steering wheel 301 and a steering wheel base 302;
the rear wheel system 5 includes a shock absorber 501, a rear oil brake 502, a rear wheel 503, a second encoder 504, and a rear tailstock 505. One end of the shock absorber 501 is connected with a rear cross rod, and the other end is connected with a rear tail frame 505; the reading head of the second encoder 504 is arranged on the rear tail frame 505, the synchronous wheel and the rear wheel shaft and coaxially rotates with the rear wheel, so that the second encoder 504 can read the rotation speed of the rear wheel in real time; specifically, the connection point of the shock absorber 501 to the back frame 505 is located at the front end of the mounting point of the second encoder 504 mounted on the back frame 505.
The automatic landing gear 6 keeps a retracted state when the vehicle normally runs, automatically descends when the vehicle is about to stop after the vehicle speed is reduced, prevents the vehicle body from toppling over due to unbalance caused by slow speed, and simultaneously plays a role in supporting the vehicle body after stopping and power failure;
the control system 7 is arranged at the lower end of the main body framework 902 in a welding mode; the device box 7 includes: a first receiving chamber 710, a second receiving chamber 720; the first accommodating cavity 710 comprises a battery box shell 704, a front wheel motor driver 702, a front wheel steering motor 2 driver 703 and a controller core plate acrylic bottom plate 706 are arranged in the battery box shell, the front wheel motor driver 702 and the front wheel steering motor 2 driver 703 are arranged at the left end of the first accommodating cavity 710, and the bottom of the front wheel steering motor 2 driver 703 is fixed at the bottom of the battery box shell 704 through bolts; the front wheel motor driver 702 is clamped on the first accommodating cavity 710 by the gland plate 701 for fixing the position; the controller core plate acrylic bottom plate 706 is located at the right end of the first accommodating cavity 710, an angle sensor is arranged on the controller core plate 706, and the controller core plate 705 is fixedly installed on the controller core plate acrylic bottom plate 706 and is located in the first accommodating cavity 710; the second accommodating cavity 720 is provided with a lithium battery 708, and the lithium battery 708 is locked in the second accommodating cavity 720 by a battery fixing plate 707;
a foot pedal 8 is mounted at the front end of the main body framework 902 of the frame 9, and the foot pedal 8 comprises: rear suspension plate 801, footrests 802 and front suspension plate 803; the rear suspension plate 801 is welded to the front end portion of the main body framework 902; the front suspension plate 803 is welded at the lower part of the front elbow 901; the rear suspension plate 801 and the front suspension plate 803 are on the same horizontal plane; the pedals 802 are mounted to the front suspension plate 803 at the front end and to the rear suspension plate 801 at the rear end.
2. Control part
2.1 vehicle control System
2.1.1 Manual control mode
The driver controls the turning angle of the front wheel steering motor by using the steering wheel 3 to realize manual steering, and controls acceleration and deceleration at the time of running of the vehicle by the foot rest 8.
2.1.2 semi-automatic control mode
In the case of manual driving by the driver, the speed encoders (106 and 504) on the vehicle body, the vision sensor 10, and the angle sensor on the core plate 705 remain in operation. The speed encoders (106 and 504) acquire real-time running speed of the vehicle body, the vision sensor 10 acquires images in front of real-time running, the speed sensor acquires the inclination angle of the vehicle body in real time, the information is sensed by the core plate 705 to be processed, and the corresponding rotation angle of the front wheel steering motor 2 and the rotation speed (i.e. running speed) of the motor 104 in the front wheel are output according to actual conditions, so that balance maintenance of the vehicle body is realized; when the vehicle speed is reduced and is about to stop, the automatic landing gear 6 automatically descends to play a role in supporting the vehicle body, and the automatic landing gear plays a role in protecting safety of drivers.
2.1.3 automatic control mode
The mode is suitable for sharing the motorcycle form, when the vehicle is stopped, after a driver leaves the vehicle, the controller training keeps working, the angle sensor in the controller core board 705, the camera 10 and the speed encoders 105 and 504 acquire information vehicles such as the front environment, the inclination angle, the running speed and the like when the vehicle body runs in real time, and the turning angle of the vehicle turning motor 2 and the front wheel motor wheels 104 are driven to automatically go to a place nearby suitable for stopping and flameout.
2.2 specific workflow of controller core Board processor
And importing the dynamics model into MATLAB, and calculating an optimal PID coefficient by using an LQR algorithm. The CPU can obtain the state of the vehicle body, so as to calculate the control quantity and realize the accurate torque output of the motor.
2.3 hardware Module
The core processor module used in the present invention is STM32F4.STM32F4 is a high performance microcontroller developed by ST (semiconductor schematic). It employs a 90 nm NVM process and ART (Adaptive Real-time memory accelerator-Time MemoryAccelerator) TM ). ART technology enables the program to be executed in zero waiting mode, and the program is promotedThe efficiency of sequence execution brings the performance of cortex-M4 into play extremely, so that the STM32F4 series can reach 210DMIPS@168MHz.
The inertial measurement unit used in the present invention is an MPU6050.MPU-6000 (6050) is a global first-instance integrated 6-axis motion processing component, and compared with a multi-component scheme, the problem of time axis difference between a combined gyroscope and an accelerator is avoided, and a large amount of packaging space is reduced. The fusion calculation data of the 6-axis or 9-axis rotation matrix, quaternion (quaternion) and Euler angle format (Euler Angle forma) are output in a digital mode.
The angle and angular velocity at which the wheel rotates is achieved by the encoder module function and input capture measurement of the wheel speed. The encoder used in the invention is an incremental encoder which is integrated in a motor and is 2500PPR (2500 pulses are sent out every revolution).
The driver configured by the motor is a Copley control Accelnet Panel, and the driver can communicate with an upper computer through RS-232, so that the mode allowed by the driver, the maximum output current and the like are configured.
Example 2:
in another embodiment of the present invention, the control system 7 is used as a whole vehicle control brain and is responsible for realizing a coordinated motion mechanism of the whole vehicle, specifically includes controlling the operation of the front wheel electric locomotive wheel 104 by the front wheel driver controller 702, realizing the forward and backward movement of the whole vehicle, and realizing the leftward and rightward rotation of the front wheel system 1 by controlling the operation of the turning motor 2, when the unbalanced vehicle body is monitored, the turning motor 2 is driven to work, and torque is generated when the unbalanced vehicle body is monitored, and is transmitted to the front fork 103 through the coupling 101 and finally transmitted to the front wheel 104, and the forward movement of the whole vehicle and the balance under the turning are realized through the coordinated operation of the motor 104 and the turning motor 2 in the front wheel.
In addition, the wheel rotation speeds recorded by the encoders (106, 504) are fed back to the control system 7, and the control system 7 adjusts the rotation speeds of the front wheel 104 and the turning motor 2 through encoder feedback signals so as to control the running condition of the whole vehicle; in general, the information such as the front environment, the inclination angle, the running speed and the like of the vehicle body when the vehicle runs is obtained in real time through the angle sensor in the controller core board 705 in the vehicle body control system 7, the camera 10 and the speed encoders 105 and 504, the inclination of the vehicle body is eliminated by adjusting the rotation angle of the turning motor 2 and the rotation speed of the front wheel motor wheel 104 through corresponding control algorithms, the balanced running of the vehicle is maintained, and the effect that the vehicle automatically goes to a proper position to stop after stopping can be also achieved.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (3)
1. The self-balancing electric motorcycle with the semi-automatic driving function is characterized by comprising a front wheel system, a turning motor, a steering wheel device, a cushion, a rear wheel system, an automatic landing gear, a control system, a pedal, a frame and a camera; the front wheel system and the rear wheel system are respectively arranged at the front end and the rear end of the frame; the turning motor is arranged at the front end of the frame, connected with the front wheel system and electrically connected with the control system; the steering wheel device is arranged at the top of the front end of the frame and is electrically connected with the control system; the cushion is arranged at the top of the rear end of the frame; the automatic landing gear is arranged at the rear end of the frame, positioned in front of the rear wheel system and electrically connected with the control system; the foot pedal is arranged at the bottom of the frame and is electrically connected with the control system; the camera is arranged at the front end of the frame, positioned in front of the steering wheel device and electrically connected with the control system; the control system is arranged at the bottom of the frame;
the frame comprises a front elbow, a main body framework and a rear elbow; the front bent pipe is arranged in front of the main body framework and fixedly connected with the main body framework; the back tail bent pipe is arranged at the rear part of the main body framework and fixedly connected with the column framework; the tail end of the front elbow is provided with a steering wheel device mounting position; a cushion mounting plate is arranged at the tail end of the back tail bent pipe; a rear cross bar is arranged below the tail end of the rear bent pipe;
the automatic landing gear keeps a stowage state when the vehicle normally runs, automatically descends when the vehicle is about to stop after the vehicle speed is reduced, prevents the vehicle body from toppling over due to unbalance caused by slow speed, and simultaneously plays a role in supporting the vehicle body after stopping and power failure;
the camera feeds back information of the running surrounding environment of the vehicle to a controller core board in the control system;
the front wheel system comprises a coupler, a front end sleeve of the frame, a front fork, a front wheel, a front oil brake and a first encoder; one end of the coupler is connected with the motor, and the other end of the coupler is connected with the front fork; the front fork passes through the front end sleeve of the frame; the front oil brake is arranged on a support column at the right end of the front fork; the first encoder reading head is arranged on the support column at the right end of the front fork; the first encoder synchronous wheel is arranged on the front wheel axle and rotates synchronously with the wheels so as to realize real-time reading of the front wheel rotating speed; the front wheel is set as a driving wheel and is internally provided with a driving motor;
the steering wheel device is arranged at the tail end of the front bent pipe of the frame and comprises a steering wheel and a steering wheel base; the steering wheel base is fixed on the mounting position of the steering wheel device; the steering wheel is arranged on the steering wheel base and is electrically connected with the control system;
the running-board is installed at the main part framework front end of frame, the running-board includes: rear suspension plate, pedal, front suspension plate; the rear suspension plate is welded at the front end part of the main body framework; the front suspension plate is welded at the lower part of the front elbow; the rear suspension plate and the front suspension plate are arranged on the same horizontal plane; the front end of the pedal is arranged on the front suspension plate, and the rear end of the pedal is arranged on the rear suspension plate and is electrically connected with the control system.
2. The self-balancing electric motorcycle with semi-automatic driving function according to claim 1, wherein the rear wheel train comprises a shock absorber, a rear oil brake, a rear wheel, a second encoder, and a rear tailstock; one end of the shock absorber is connected with the rear cross rod, and the other end of the shock absorber is connected with the rear tail frame; the rear oil brake is arranged on the rear wheel; the rear wheel is arranged on the rear tail frame and is connected with the rear tail frame through a rear wheel shaft; the reading head of the second encoder is arranged at the connection position of the rear tail frame, the synchronous wheel and the rear wheel shaft and coaxially rotates with the rear wheel, so that the real-time reading of the rear wheel rotating speed is realized; the connection point of the shock absorber connected with the rear tailstock is positioned at the front end of the installation point of the encoder installed on the rear tailstock.
3. The self-balancing electric motorcycle with a semiautomatic driving function as claimed in claim 1, wherein said control system is installed at the lower end of said main body frame by means of welding; the control system includes: a first accommodation chamber and a second accommodation chamber; the first accommodating cavity comprises a battery box shell, and a front wheel motor driver, a front wheel turning motor driver, a controller core plate and a controller core plate acrylic bottom plate are arranged in the battery box shell; the second accommodating cavity comprises a lithium battery and a battery fixing plate; the front wheel motor driver and the front wheel steering motor driver are arranged at the left end of the first accommodating cavity, and the bottom of the front wheel motor driver and the front wheel steering motor driver are fixed at the bottom of the battery box shell through bolts; the front wheel motor driver is clamped on the first accommodating cavity by the gland plate and used for fixing the position; the acrylic bottom plate of the controller core plate is positioned at the right end of the first accommodating cavity, and an angle sensor is arranged on the acrylic bottom plate; the controller core board is fixedly arranged on the acrylic bottom board of the controller core board and positioned in the first accommodating cavity, and is respectively and electrically connected with the front wheel motor driver, the front wheel steering motor driver and the lithium battery; the second accommodation cavity is provided with a lithium battery, and the lithium battery is locked in the second accommodation cavity by a battery fixing plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910212405.4A CN110077510B (en) | 2019-03-20 | 2019-03-20 | Self-balancing electric motorcycle with semi-automatic driving function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910212405.4A CN110077510B (en) | 2019-03-20 | 2019-03-20 | Self-balancing electric motorcycle with semi-automatic driving function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110077510A CN110077510A (en) | 2019-08-02 |
| CN110077510B true CN110077510B (en) | 2024-03-29 |
Family
ID=67413291
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910212405.4A Active CN110077510B (en) | 2019-03-20 | 2019-03-20 | Self-balancing electric motorcycle with semi-automatic driving function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110077510B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111009054B (en) * | 2019-11-25 | 2021-01-15 | 腾讯科技（深圳）有限公司 | Vehicle-mounted control device, data processing method and storage medium |
| CN111497975B (en) * | 2020-06-03 | 2024-06-11 | 李焕成 | Automatic stabilizing and supporting system of two-wheel vehicle and control method thereof |
| CN112109561B (en) * | 2020-09-10 | 2021-09-28 | 北京爱其科技有限公司 | Method and device for controlling the balance of a longitudinal two-wheeled vehicle |
| JP2022177644A (en) * | 2021-05-18 | 2022-12-01 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | Controller and control method |
| CN115258015A (en) * | 2022-08-20 | 2022-11-01 | 郭丽梅 | Electric scooter |
| CN115489654B (en) * | 2022-09-27 | 2023-07-18 | 广西汽车集团有限公司 | Dynamic self-balancing auxiliary system of bicycle |
| CN116278796A (en) * | 2023-03-13 | 2023-06-23 | 广州雷利诺车业有限公司 | Intelligent running control system and control method for off-highway sightseeing trolley |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101244738A (en) * | 2007-02-12 | 2008-08-20 | 孙玉林 | Totally-enclosed type energy-saving two-wheel motorcycle |
| CN105365914A (en) * | 2014-08-19 | 2016-03-02 | 北京凌云智能科技有限公司 | Electric two-wheel automobile |
| CN106627894A (en) * | 2016-12-15 | 2017-05-10 | 广州中国科学院先进技术研究所 | Two-wheeled longitudinal self-balancing robot and control system |
| CN107140063A (en) * | 2017-06-02 | 2017-09-08 | 黄元清 | Combined balance system stable sulky vehicle |
| CN107264697A (en) * | 2017-06-01 | 2017-10-20 | 浙江大学 | A kind of unmanned self-balancing traveling two-wheeled steering |
| CN107618614A (en) * | 2017-09-11 | 2018-01-23 | 广东工业大学 | A kind of control method of two wheel single-track vehicle and its balance |
| CN207141272U (en) * | 2017-08-15 | 2018-03-27 | 洪定生 | A kind of two-wheel balance electric car |
| CN210101876U (en) * | 2019-03-20 | 2020-02-21 | 广东工业大学 | Self-balancing electric motorcycle with semi-automatic driving function |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10120391B2 (en) * | 2010-05-06 | 2018-11-06 | Dong Li | Self-balancing enclosed motorcycle |
| CN210101920U (en) * | 2019-02-15 | 2020-02-21 | 广东工业大学 | Self-balancing electric motorcycle with automatic driving function |
-
2019
- 2019-03-20 CN CN201910212405.4A patent/CN110077510B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101244738A (en) * | 2007-02-12 | 2008-08-20 | 孙玉林 | Totally-enclosed type energy-saving two-wheel motorcycle |
| CN105365914A (en) * | 2014-08-19 | 2016-03-02 | 北京凌云智能科技有限公司 | Electric two-wheel automobile |
| CN106627894A (en) * | 2016-12-15 | 2017-05-10 | 广州中国科学院先进技术研究所 | Two-wheeled longitudinal self-balancing robot and control system |
| CN107264697A (en) * | 2017-06-01 | 2017-10-20 | 浙江大学 | A kind of unmanned self-balancing traveling two-wheeled steering |
| CN107140063A (en) * | 2017-06-02 | 2017-09-08 | 黄元清 | Combined balance system stable sulky vehicle |
| CN207141272U (en) * | 2017-08-15 | 2018-03-27 | 洪定生 | A kind of two-wheel balance electric car |
| CN107618614A (en) * | 2017-09-11 | 2018-01-23 | 广东工业大学 | A kind of control method of two wheel single-track vehicle and its balance |
| CN210101876U (en) * | 2019-03-20 | 2020-02-21 | 广东工业大学 | Self-balancing electric motorcycle with semi-automatic driving function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110077510A (en) | 2019-08-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110077510B (en) | Self-balancing electric motorcycle with semi-automatic driving function | |
| JP4887771B2 (en) | Traveling device | |
| CN105172889B (en) | A kind of vibration energy regeneration suspension system with four-wheel steering function | |
| CN104386184B (en) | Based on two-wheeled vehicles balance system before and after single-gimbal control momentum gyro | |
| CN104890529B (en) | Electric car | |
| CN107215386A (en) | The electric vehicle system that a kind of four motorized wheels and independent omnidirectional turn to | |
| CN210101920U (en) | Self-balancing electric motorcycle with automatic driving function | |
| CN206106969U (en) | Electric driving chassis platform of intelligence | |
| CN210101876U (en) | Self-balancing electric motorcycle with semi-automatic driving function | |
| CN204978142U (en) | Vibration energy who takes four wheel steering function retrieves suspension | |
| CN207482093U (en) | A kind of two-wheeled double tops instrument self-balancing motorcycle | |
| CN110758086A (en) | Electronic differential four-wheel drive electric vehicle | |
| CN104309429A (en) | Four-wheel environment-friendly electric vehicle | |
| CN204095429U (en) | A kind of four-wheel Environmental-friendelectric electric vehicle | |
| CN201350846Y (en) | Energy recycling device for electric vehicle | |
| CN102529685A (en) | Double-wheel asymmetrical antiparallel suspension van-type electric car | |
| CN103332300B (en) | A kind of turnover In-wheel motor driving unmanned lunar rover and control method thereof | |
| CN205087105U (en) | Manpower environmental protection passenger traffic car of solar energy power -assist | |
| CN209666822U (en) | Independent driving two-wheel car | |
| CN106882281A (en) | A kind of DTV crawler belts balance car | |
| CN201685899U (en) | Automatic safety control system of electric automobile | |
| CN105172984A (en) | Solar-assisted environment-friendly man-powered passenger car | |
| CN208248387U (en) | A kind of balance car | |
| CN206856419U (en) | A kind of aerocycle and system | |
| CN2759871Y (en) | Automatic crash-proof device of automobile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |