CN112124477A - Structure for improving non-falling property of motorcycle and solving method thereof - Google Patents
Structure for improving non-falling property of motorcycle and solving method thereof Download PDFInfo
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- CN112124477A CN112124477A CN202011117789.0A CN202011117789A CN112124477A CN 112124477 A CN112124477 A CN 112124477A CN 202011117789 A CN202011117789 A CN 202011117789A CN 112124477 A CN112124477 A CN 112124477A
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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
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
- B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
- B62D37/06—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses using gyroscopes
Abstract
The invention discloses a structure for improving the non-falling property of a motorcycle and a solution method thereof, comprising a frame, wherein the bottom of the frame is fixedly provided with a whole motorcycle gyroscope, one end of the frame is rotatably connected with a rear wheel, one end of the top of the frame, which is close to the rear wheel, is fixedly provided with a cushion, the top of the frame, which is positioned below the cushion, is fixedly provided with a whole motorcycle controller, one side of the top of the frame, which is positioned at the cushion, is fixedly provided with a head, the bottom of the head is rotatably connected with a front wheel, and the top of the head is fixedly provided with a handlebar. And the death rate of the traffic accidents caused by vehicle falling is reduced.
Description
Technical Field
The invention belongs to the field of two-wheel vehicles, and particularly relates to a structure for improving the non-falling property of a motorcycle and a solution method thereof.
Background
In the existing life, the existing two-wheeled motorcycle (including two-wheeled electric vehicle) can be driven only by the active balance of a driver, if the balance sense of the driver is poor, the potential safety hazard that the driver can not ride or ride and fall the vehicle can occur, meanwhile, the balance of the two-wheeled motorcycle is inferior to that of three-wheeled vehicles or four-wheeled vehicles and multi-wheeled vehicles above, and the two-wheeled motorcycle is always in a weak state in numerous traffic accidents.
At present, although some concepts that two wheels do not back are not applied to practical mass production, in the known scheme for improving the non-falling performance of the two-wheel vehicle, although the active balance performance of the two-wheel vehicle can be improved to a certain degree, the control entertainment such as steering and bending of the two-wheel vehicle is lost.
The invention content is as follows:
the present invention is directed to provide a structure for improving the tumbler of a motorcycle and a method for solving the above problems, and the problems mentioned in the background art are solved.
In order to solve the above problems, the present invention provides a technical solution:
the utility model provides a promote structure that motorcycle is not fallen, includes the frame, the bottom fixed mounting of frame has whole car gyroscope, the one end of frame is rotated and is connected with the rear wheel, the one end fixed mounting that the top of frame is close to the rear wheel has the cushion, the top of frame and the below fixed mounting that is located the cushion have automobile body inclination angle sensor, the top of frame and the one side fixed mounting that is located the cushion have whole car controller, the one end fixed mounting that the rear wheel was kept away from to the frame has the locomotive, the bottom of locomotive is rotated and is connected with the front wheel, the top fixed mounting of locomotive has the handlebar hand, the top of locomotive just is located the below fixed mounting of handlebar hand has the steering wheel moment step motor, the one end fixed mounting of handlebar hand bottom has the perpendicular automobile body plane force sensor of steering wheel.
Preferably, the mass equivalent of the whole vehicle gyroscope at the highest rotating speed is greater than the dry mass of the whole vehicle, and the mass center position of the whole vehicle gyroscope body is located in the central symmetrical plane of the whole vehicle and is located below a plumb line of the whole vehicle service mass center position where the whole vehicle gyroscope is not installed.
Preferably, the steering rudder moment stepping motor is positioned at a steering axis of a front suspension of the whole vehicle.
Preferably, a steering rudder rotating angle sensor is fixedly mounted on one side, far away from the steering rudder moment stepping motor, of the top of the vehicle head.
Preferably, the rear wheel and the front wheel together form a front-rear wheel ground contact patch connection.
Preferably, the outer sides of the two ends of the handlebar are fixedly connected with anti-skid rubber pads.
Preferably, a vehicle body speed sensor is fixedly mounted on the top of the vehicle frame and below the vehicle control unit.
Preferably, the rear wheel and the front wheel are the same in size, and fenders are arranged at the tops of the rear wheel and the front wheel.
Preferably, the vehicle body inclination angle sensor, the vehicle body speed sensor, the steering rudder torque stepping motor, the steering rudder turning angle sensor and the steering rudder vertical vehicle body plane torque sensor are electrically connected with the whole vehicle controller.
A solution for improving the tumbler performance of a motorcycle comprises the following steps:
s1, straight-going state interference algorithm: when a driver of the two-wheeled motorcycle does not have the intention of steering and bending in straight running, the finished motorcycle body inclination angle sensor, the steering rudder corner sensor and the steering rudder vertical body plane moment sensor are all set within a straight running state parameter range, at the moment, the finished motorcycle centroid plumb is projected within a range of a front and rear wheel grounding sideline connecting area, the rotation equivalent mass of a finished motorcycle gyroscope and the finished motorcycle are kept at the same level or below, and the whole process is calculated and judged by the finished motorcycle controller;
s2, steering rudder steering vehicle body holding plumb algorithm: when a driver of the two-wheeled motorcycle intends to steer at a low speed, the steering rudder has a turning angle, the steering torque of the steering rudder exceeds a set straight-going parameter, and the vehicle body inclination angle sensor still keeps a plumb, so as to achieve the operation intention of the driver and reduce the arm operation torque, at the moment, the steering rudder torque stepping motor stops working, the rotating speed of the whole vehicle gyroscope is adjusted in time according to the real-time steering angle of the steering rudder, thereby changing the position of the mass center when the whole vehicle steers, always keeping the equivalent mass center plumb projection point of the whole vehicle system to fall in the range of the connecting area of the grounding sidelines of the front and rear wheels, and the whole process is calculated and judged to be;
s3, performing simultaneous bending and tilting algorithm on the steering rudder and the vehicle body: when a driver of the two-wheeled motorcycle intends to ride and steer at a high speed, the whole motorcycle is controlled to be in an inclined state, the aim of balancing and smoothly realizing bending and steering is achieved by means of torque generated by the centrifugal force of the whole motorcycle and deflection torque generated by the mass center of the whole motorcycle, in the state, the steering angle of a steering rudder is small, the angle is large, and potential safety hazards are generated at the high speed, the whole motorcycle is in the same plane, firstly, a torque sensor perpendicular to the plane of the motorcycle body senses the operation and steering intention of the driver, meanwhile, a speed sensor of the whole motorcycle body sends a speed signal of the whole motorcycle, the steering rudder is judged to be not rotated or slightly rotated by combining with the rotation angle parameter of a steering rudder rotation angle sensor, the whole motorcycle is balanced and realizes the steering by the bending and centrifugal force of the whole motorcycle, at the moment, a stepping motor of the steering torque keeps the set parameter operation, the, the centrifugal force of the whole vehicle is calculated by combining the instant speed of the whole vehicle, the rotating speed of a gyroscope of the whole vehicle is gradually reduced according to set parameters along with the increase of the value of a torque sensor vertical to the vehicle body plane of a steering rudder in the whole process, so that a driver keeps the interest of bending riding and reduces the arm operating force, when the value of the torque sensor vertical to the vehicle body plane of the steering rudder is kept stable and gradually reduced, the rotating speed of the gyroscope of the whole vehicle is gradually increased from the stable state according to a set relation curve, so that the mass center and the posture of the whole vehicle are timely adjusted after the bending operation is smoothly turned, the whole process is a complex calculation process in which the values of a vehicle body inclination angle sensor, a vehicle body speed sensor, a steering rudder turning angle sensor and a steering rudder vertical vehicle body plane torque sensor are instantly fed back to the whole vehicle controller for comprehensive judgment, and the whole vehicle controller controls an actuating component to, the rotating speed of a gyroscope of the whole motorcycle with the center of mass of the whole motorcycle is adjusted, and finally, the double control of the smoothness and the non-falling performance of the whole two-wheeled motorcycle during bending and high-speed riding is realized;
s4, self-learning algorithm of the whole control system: the whole system can implant mature test data into the whole vehicle controller in the early period, and can continuously self-learn to adapt to some operation habits of a driver in the riding process of the user, so that misoperation caused by personalized operation of the driver is identified, people and vehicles are integrated finally, and the operation entertainment and the driving safety of the two-wheeled motorcycle are greatly improved.
The invention has the beneficial effects that: according to the invention, the mass center of the whole motorcycle is regulated and controlled in real time, so that the balance and the tumbler of the two-wheeled motorcycle can be improved, the control entertainment of the two-wheeled motorcycle is not reduced, a good foundation is laid for unmanned driving of the two-wheeled motorcycle and the electric vehicle, the driving safety performance of the two-wheeled motorcycle can be improved, and the death rate of traffic accidents caused by falling can be reduced.
Description of the drawings:
for ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a front view of the present invention;
fig. 3 is a top view of the present invention.
In the figure: 1. a frame; 2. a vehicle gyroscope; 3. a rear wheel; 4. a cushion; 5. a vehicle body inclination angle sensor; 6. a vehicle control unit; 7. a vehicle body speed sensor; 8. a headstock; 9. a front wheel; 10. a handlebar; 11. a steering rudder moment stepper motor; 12. a steering rudder turning angle sensor; 13. a steering rudder vertical vehicle body plane moment sensor; 14. front and rear wheel ground wire attachment areas.
The specific implementation mode is as follows:
as shown in fig. 1 to 3, the following technical solutions are adopted in the present embodiment:
example (b):
a structure for improving the non-falling property of a motorcycle comprises a frame 1, wherein a whole motorcycle gyroscope 2 is fixedly arranged at the bottom of the frame 1, one end of the frame 1 is rotatably connected with a rear wheel 3, and a cushion 4 is fixedly arranged at one end, close to the rear wheel 3, of the top of the frame 1, so that better driving is facilitated; a vehicle body inclination angle sensor 5 is fixedly arranged at the top of the vehicle frame 1 and below the cushion 4, and the vehicle body inclination angle sensor 5 is convenient for better detecting the inclination angle of the whole vehicle; one side fixed mounting that the top of frame 1 and be located cushion 4 has vehicle control unit 6, the one end fixed mounting that rear wheel 3 was kept away from to frame 1 has locomotive 8, the bottom of locomotive 8 is rotated and is connected with front wheel 9, the top fixed mounting of locomotive 8 has handlebar hand 10, the top of locomotive 8 and the below fixed mounting that is located handlebar hand 10 have steering wheel moment step motor 11, the one end fixed mounting of handlebar hand 10 bottom has the perpendicular automobile body plane moment sensor 13 of steering wheel, be convenient for better sensing the perpendicular automobile body plane moment of steering wheel through steering wheel perpendicular automobile body plane moment sensor 13.
The mass equivalent of the finished automobile gyroscope 2 at the highest rotating speed is larger than the dry mass of the finished automobile, the mass center position of the finished automobile gyroscope 2 body is positioned in the central symmetrical plane of the finished automobile and is positioned below the plumb line of the finished automobile mass center position where the finished automobile gyroscope 2 is not installed, the weight and the rotating speed of the finished automobile gyroscope 2 are set according to the finished automobile mass center position where the finished automobile gyroscope 2 is not installed, the mass equivalent of the finished automobile gyroscope 2 at the highest rotating speed is larger than the dry mass of the finished automobile, the mass center position of the finished automobile gyroscope 2 body is positioned in the central symmetrical plane of the finished automobile and is positioned below the plumb line of the finished automobile mass center position where the finished automobile gyroscope 2 is not installed, and the finished automobile gyroscope 2 is convenient and better to use.
The steering rudder moment stepping motor 11 is located at a steering axis of a front suspension of the whole vehicle, and is convenient to better cooperate with the whole vehicle for use.
Wherein, one side fixed mounting that the top of locomotive 8 is kept away from steering rudder moment step motor 11 has a steering rudder corner sensor 12, is convenient for better detecting the steering rudder corner through steering rudder corner sensor 12.
The rear wheel 3 and the front wheel 9 jointly form a front wheel and rear wheel grounding borderline connecting area 14, and a projection point of the integral equivalent mass center position of the whole vehicle when the whole vehicle runs in a straight line can be better ensured to fall into the front wheel and rear wheel grounding borderline connecting area 14 through the front wheel and rear wheel grounding borderline connecting area 14, so that the distance of the deflection of the projection point of the integral equivalent mass center position of the whole vehicle to the inner side of the steering is ensured to be close to the quotient of the centrifugal force and the integral equivalent mass center of the whole vehicle to the vertical height of the ground when the whole vehicle inclines and.
Wherein, the outer sides of the two ends of the handlebar 10 are fixedly connected with anti-skid rubber pads, which is convenient for better increasing anti-skid property.
A vehicle body speed sensor 7 is fixedly mounted at the top of the vehicle frame 1 and below the vehicle controller 6, and the vehicle body speed sensor 7 is used for detecting the speed of the whole vehicle better; .
Wherein, the size of a dimension of rear wheel 3 and front wheel 9 is the same, and rear wheel 3 all is provided with the fender with the top of front wheel 9, and the earth of taking up rear wheel 3 and front wheel 9 that is convenient for better through the fender blocks.
Wherein, automobile body inclination angle sensor 5, automobile body speed sensor 7, turn to rudder moment step motor 11, turn to rudder corner sensor 12, turn to the perpendicular automobile body plane moment sensor 13 of rudder and all with vehicle control unit 6 electric connection, be convenient for better regulate and control the whole car barycenter in real time through vehicle control unit 6.
A solution for improving the tumbler performance of a motorcycle comprises the following steps:
s1, straight-going state interference algorithm: when a driver of the two-wheeled motorcycle does not steer in a straight-going mode and is under the bending operation intention, the finished motorcycle body inclination angle sensor 5, the steering rudder corner sensor 12 and the steering rudder vertical motorcycle body plane moment sensor 13 are all set within a straight-going state parameter range, at the moment, the finished motorcycle centroid plumb is projected within a range of a front-rear wheel grounding borderline connecting area 14, the rotating equivalent mass of the finished motorcycle gyroscope 2 and the finished motorcycle are kept at the same level or below, and the whole process is calculated and judged by the finished motorcycle controller 6;
s2, steering rudder steering vehicle body holding plumb algorithm: when a driver of the two-wheeled motorcycle intends to steer at a low speed, the steering rudder has a turning angle, the steering torque of the steering rudder exceeds a set straight-going parameter, and the body inclination angle sensor 5 still keeps a plumb, so as to achieve the operation intention of the driver and reduce the arm operation torque, at the moment, the steering torque stepping motor 11 stops working, the rotating speed of the gyroscope 2 of the whole motorcycle is adjusted in time according to the real-time steering angle of the steering rudder, thereby changing the position of the mass center of the whole motorcycle when the whole motorcycle steers, always keeping the equivalent mass center plumb projection point of the whole motorcycle system to fall within the range of the grounding sideline connecting area 14 of the front and rear wheels after steering, and the whole process is calculated and judged;
s3, performing simultaneous bending and tilting algorithm on the steering rudder and the vehicle body: when a driver of the two-wheeled motorcycle intends to ride and steer at a high speed, the whole motorcycle is controlled to be in an inclined state, the aim of balancing and smoothly realizing bending and steering is achieved by means of torque generated by the centrifugal force of the whole motorcycle and deflection torque generated by the mass center of the whole motorcycle, in the state, the steering angle of a steering rudder is small, the angle is large, and potential safety hazards are generated at the high speed, the whole motorcycle is positioned in the same plane, firstly, a steering rudder vertical motorcycle body plane torque sensor 13 senses the operation and steering intention of the driver, meanwhile, a whole motorcycle body speed sensor 7 sends a whole motorcycle speed signal, and the steering rudder rotation angle sensor 12 is combined with rotation angle parameters to jointly judge that the steering rudder does not rotate or slightly rotates, the whole motorcycle is balanced by the bending centrifugal force of the whole motorcycle, at the moment, a steering torque stepping motor 11 keeps set rudder parameters to operate, and prompts the, meanwhile, the vehicle body inclination angle sensor 5 gives the inclination angle of the whole vehicle body, the instant vehicle speed of the whole vehicle is combined, the centrifugal force of the whole vehicle is calculated, in the whole process, the rotating speed of the whole vehicle gyroscope 2 is gradually reduced according to set parameters along with the increase of the value of the steering rudder vertical vehicle body plane moment sensor 13, so that a driver keeps the interest of bending riding, the arm operating force is reduced, when the value of the steering rudder vertical vehicle body plane moment sensor 13 is kept stable and gradually reduced, the rotating speed of the whole vehicle gyroscope 2 is gradually increased according to a set relation curve from the stability, so that the mass center and the posture of the whole vehicle are timely adjusted after the bending operation steering is smoothly realized, and the whole process is a complex calculation process that the numerical values of the vehicle body inclination angle sensor 5, the vehicle body speed sensor 7, the steering rudder corner sensor 12 and the steering rudder vertical vehicle body plane moment sensor 13 are instantly fed back, the whole motorcycle controller 6 controls the steering control torque stepping motor 11 of the execution component for steering power assistance or resistance, adjusts the rotating speed of the whole motorcycle gyroscope 2 of the whole center of mass of the whole motorcycle, and finally realizes double control of the smoothness and the non-falling performance of the whole two-wheeled motorcycle during bending and high-speed riding;
s4, self-learning algorithm of the whole control system: the whole system can implant mature test data into the whole vehicle controller 6 in the early period, and can continuously self-learn to adapt to some operation habits of a driver in the riding process of the user, so that misoperation caused by personalized operation of the driver is identified, human-vehicle integration is finally realized, and the operation entertainment and the driving safety of the two-wheeled motorcycle are greatly improved.
The using state of the invention is as follows: when in use, firstly, the mass center whole vehicle gyroscope 2 is configured: according to the whole car of not installing whole car gyroscope 2 and reorganization quality and barycenter position, set up the weight of whole car gyroscope 2, rotational speed for the mass equivalent of whole car gyroscope 2 when the maximum rotational speed is greater than whole car dry mass, and make the barycenter position of whole car gyroscope 2 body be in whole car central symmetry plane and be located the plumb line below position of the whole car reorganization quality barycenter position of not installing whole car gyroscope 2, then the configuration turns to rudder moment step motor 11: although the mass center of the whole motorcycle added with the whole motorcycle gyroscope 2 can be properly adjusted, the steering angle of the two-wheeled motorcycle is larger, the mass ratio of a front suspension system is larger, if the control angle of a front suspension device cannot be controlled, the mass center of the whole motorcycle still can be greatly changed due to the angular deflection of the front suspension, a steering rudder moment stepping motor 11 is added at the steering axis of the front suspension, the rotating angle of the front suspension is adjusted timely according to the working condition of the whole motorcycle and the position of the mass center, so that the torque generated by the mass center of the front suspension is reduced, the purpose of balancing the whole motorcycle is achieved, and meanwhile, the control algorithm for real-time regulation and control of the mass center of the whole motorcycle is the rotating speed regulation.
In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second", "third", "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, whereby the features defined as "first", "second", "third", "fourth" may explicitly or implicitly include at least one such feature.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "secured," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a promote structure of motorcycle non-falling nature, a serial communication port, including frame (1), the bottom fixed mounting of frame (1) has whole car gyroscope (2), the one end of frame (1) is rotated and is connected with rear wheel (3), the one end fixed mounting that the top of frame (1) is close to rear wheel (3) has cushion (4), the top of frame (1) and the below fixed mounting that is located cushion (4) have automobile body inclination angle sensor (5), the top of frame (1) and the one side fixed mounting that is located cushion (4) have whole car controller (6), the one end fixed mounting that rear wheel (3) were kept away from in frame (1) has locomotive (8), the bottom of locomotive (8) is rotated and is connected with front wheel (9), the top fixed mounting of locomotive (8) has handlebar hand (10), the top of locomotive (8) and the below fixed mounting that is located handlebar (10) have steering torque step motor (11) ) And one end of the bottom of the handlebar (10) is fixedly provided with a torque sensor (13) with a steering rudder perpendicular to the plane of the vehicle body.
2. The structure for improving the tumbler of the motorcycles as claimed in claim 1, wherein the mass equivalent of the entire motorcycle gyroscope (2) at the highest rotation speed is greater than the mass of the entire motorcycle, and the mass center position of the entire motorcycle gyroscope (2) body is located in the central symmetry plane of the entire motorcycle and below the plumb line of the mass center position of the entire motorcycle equipped mass without installing the entire motorcycle gyroscope (2).
3. A structure to improve the non-falling property of motorcycle according to claim 1, characterized in that the steering rudder moment stepping motor (11) is located at the steering axle center of the front suspension of the whole motorcycle.
4. The structure for improving the non-falling property of the motorcycle as claimed in claim 1, wherein a steering rudder angle sensor (12) is fixedly mounted on one side of the top of the motorcycle head (8) far away from the steering rudder moment stepping motor (11).
5. A structure to improve the immobility of motorcycles as claimed in claim 1, wherein said rear wheel (3) and said front wheel (9) together form a front and rear wheel ground contact edge connection region (14).
6. A structure for improving the non-falling property of a motorcycle as claimed in claim 1, wherein the outer sides of both ends of the handlebar (10) are fixedly connected with anti-skid rubber pads.
7. A structure for improving the non-falling property of a motorcycle according to claim 4, characterized in that a vehicle body speed sensor (7) is fixedly arranged at the top of the frame (1) and below the whole vehicle controller (6).
8. A structure for improving the non-toppling property of a motorcycle according to claim 1, wherein the rear wheel (3) and the front wheel (9) have the same size, and the top parts of the rear wheel (3) and the front wheel (9) are provided with mud guards.
9. The structure for improving the non-falling property of the motorcycle according to claim 7, wherein the vehicle body inclination angle sensor (5), the vehicle body speed sensor (7), the steering rudder moment stepping motor (11), the steering rudder turning angle sensor (12) and the steering rudder vertical vehicle body plane moment sensor (13) are electrically connected with the whole vehicle controller (6).
10. A solution for improving the tumbler of a motorcycle is characterized by comprising the following steps:
s1, straight-going state interference algorithm: when a driver of the two-wheeled motorcycle does not steer in a straight-going mode and is under the bending operation intention, the finished motorcycle body inclination angle sensor (5), the steering rudder corner sensor (12) and the steering rudder vertical motorcycle body plane moment sensor (13) are all set within a straight-going state parameter range, at the moment, the finished motorcycle center-of-mass plumb is projected within a range of a front-rear wheel grounding side line connecting area (14), the rotating equivalent mass of the finished motorcycle gyroscope (2) and the finished motorcycle are kept at the same level or below the level, and the whole process is calculated and judged by the finished motorcycle controller (6);
s2, steering rudder steering vehicle body holding plumb algorithm: when a driver of the two-wheeled motorcycle intends to steer at a low speed, the steering rudder has a turning angle, the steering torque of the steering rudder exceeds a set straight-going parameter, the vehicle body inclination angle sensor (5) still keeps a plumb, the arm operation torque is reduced for achieving the operation intention of the driver, the steering torque stepping motor (11) stops working at the moment, the rotating speed of the whole vehicle gyroscope (2) is adjusted in time according to the real-time steering angle of the steering rudder, so that the position of the mass center of the whole vehicle during steering is changed, the equivalent mass center plumb projection point of the whole vehicle system is always kept to fall into the range of a front and rear wheel grounding sideline connecting area (14) during steering, and the whole process is calculated and judged by the whole vehicle controller (6);
s3, performing simultaneous bending and tilting algorithm on the steering rudder and the vehicle body: when a driver of the two-wheeled motorcycle intends to ride and steer at a high speed, the whole motorcycle is controlled to be in an inclined state, the aim of balancing and smoothly realizing bending and steering is achieved by means of torque generated by the centrifugal force of the whole motorcycle and deflection torque generated by the mass center of the whole motorcycle, in this state, the steering angle of a steering rudder is small, the angle is large, and potential safety hazards are generated at a high speed, the whole motorcycle is positioned in the same plane, firstly, a steering rudder vertical plane torque sensor (13) senses the operation and steering intention of the driver, meanwhile, a whole motorcycle body speed sensor (7) sends a whole motorcycle speed signal, the steering rudder rotation angle sensor (12) is combined to judge that the steering rudder does not rotate or rotates at a small angle, the whole motorcycle is steered by means of balancing of the bending centrifugal force of the whole motorcycle, at the moment, a steering rudder torque stepping motor (11) keeps the set parameters to operate, and the steering, meanwhile, the vehicle body inclination angle sensor (5) gives the inclination angle of the whole vehicle body, the centrifugal force of the whole vehicle is calculated by combining the instant vehicle speed of the whole vehicle, in the whole process, the rotating speed of the whole vehicle gyroscope (2) is gradually reduced according to set parameters along with the increase of the value of the steering rudder vertical vehicle body plane moment sensor (13), so that a driver keeps the interest of bending riding, the arm operating force is reduced, when the value of the steering rudder vertical vehicle body plane moment sensor (13) is kept stable and gradually reduced, the rotating speed of the whole vehicle gyroscope (2) is gradually increased from the stability according to a set relation curve, so that the mass center and the posture of the whole vehicle are timely adjusted after the bending operation is smoothly realized, and in the whole process, the values of the vehicle body inclination angle sensor (5), the vehicle body speed sensor (7), the steering rudder corner sensor (12) and the steering rudder vertical vehicle body plane moment sensor (13) are instantly fed back to the complex calculation process of the comprehensive judgment of, therefore, the whole motorcycle controller (6) controls the steering control moment stepping motor (11) of the execution component for steering power assistance or resistance, adjusts the rotating speed of the whole motorcycle gyroscope (2) of the whole motorcycle center of mass, and finally realizes the double control of the smoothness and the non-falling performance of the whole two-wheeled motorcycle during bending and high-speed riding;
s4, self-learning algorithm of the whole control system: the whole system can implant mature test data into the whole vehicle controller (6) in the early period, and can continuously self-learn to adapt to some operation habits of a driver in the riding process of the user, so that misoperation caused by personalized operation of the driver is identified, human-vehicle integration is finally realized, and the control entertainment and the driving safety of the two-wheel motorcycle are greatly improved.
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| CN202011117789.0A CN112124477A (en) | 2020-10-19 | 2020-10-19 | Structure for improving non-falling property of motorcycle and solving method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210269104A1 (en) * | 2018-11-20 | 2021-09-02 | Harley-Davidson Motor Company Group, LLC | Gyroscopic rider assist device |
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2020
- 2020-10-19 CN CN202011117789.0A patent/CN112124477A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210269104A1 (en) * | 2018-11-20 | 2021-09-02 | Harley-Davidson Motor Company Group, LLC | Gyroscopic rider assist device |
| US11577793B2 (en) * | 2018-11-20 | 2023-02-14 | Harley-Davidson Motor Company Group, LLC | Gyroscopic rider assist device |
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