CN115806016A - Electric bicycle balancing method and electric bicycle - Google Patents
Electric bicycle balancing method and electric bicycle Download PDFInfo
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- CN115806016A CN115806016A CN202211547163.2A CN202211547163A CN115806016A CN 115806016 A CN115806016 A CN 115806016A CN 202211547163 A CN202211547163 A CN 202211547163A CN 115806016 A CN115806016 A CN 115806016A
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- 238000004364 calculation method Methods 0.000 claims abstract description 4
- 230000001133 acceleration Effects 0.000 claims description 16
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- 238000005259 measurement Methods 0.000 claims description 7
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- 230000004927 fusion Effects 0.000 claims description 3
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Abstract
The invention provides an electric bicycle balancing method and an electric bicycle. The electric bicycle balancing method comprises the following steps: the balance control system consists of a power supply module, a signal conditioning module, a controller module, a driver module, an information acquisition module, a suspension module and a Kalman filter; the signal conditioning module comprises input impedance conversion, signal amplitude conversion and a second-order active low-pass filter; the controller module adopts a microcontroller with a chip of TMS320F2812, and the TMS320F2812 chip is a calculation core, so that the TMS320F2812 chip can acquire sensing signals in real time and calculate control quantity; the driver module adopts an H-bridge as a main circuit to drive the direct-current brush motor. The electric bicycle balancing method and the electric bicycle provided by the invention have the advantages that the structure is simple, the good balance dynamic performance can be kept, and the accurate posture information and comfortable driving feeling can be provided.
Description
Technical Field
The invention belongs to the technical field of electric bicycles, and particularly relates to an electric bicycle balancing method and an electric bicycle.
Background
Electric bicycle balancing unit mainly is applied to and keeps electric bicycle travel in-process and stability when berthhing temporarily, makes electric bicycle keep balance after receiving the impact, is difficult for empting, reduces cyclist's injured probability, and provides balanced support for realizing electric motor car autopilot in the future.
At present, researchers study two-wheeled self-balancing vehicle control systems like fire, control algorithms of the systems are more and more, the control systems are designed to be core parts of the two-wheeled self-balancing electric vehicle and are the hardest parts, and the current study on the control systems can be roughly divided into two types: one type is a "white box" type control, and the other type is a "black box" type control, which achieves good dynamic control performance by measuring detailed information of the system state. Therefore, the more detailed the measured state information is, the more accurate the information fed back to the control system, such as state feedback control, optimal control, etc.; for the 'black box' type control, only the vehicle body inclination angle and the heading angle are taken as final control targets, other state information of the system can be ignored, such as intelligent control, self-adaptive control and the like, and the two control modes have respective advantages and disadvantages.
Therefore, it is necessary to provide a new method for balancing an electric bicycle and an electric bicycle to solve the above technical problems.
Disclosure of Invention
The invention aims to provide an electric bicycle balancing method and an electric bicycle, which have simple structure, can keep good balance dynamic performance and can provide accurate posture information and comfortable driving feeling.
In order to solve the technical problem, the balancing method of the electric bicycle provided by the invention comprises the following steps: the balance control system consists of a power supply module, a signal conditioning module, a controller module, a driver module, an information acquisition module, a suspension module and a Kalman filter;
the signal conditioning module comprises input impedance conversion, signal amplitude conversion and a second-order active low-pass filter;
the controller module adopts a microcontroller with a chip of TMS320F2812, and the TMS320F2812 chip is a calculation core, so that the TMS320F2812 chip can acquire sensing signals in real time and calculate control quantity;
the driver module adopts an H bridge as a main circuit to drive the direct-current brush motor;
the information acquisition module adopts an inertial measurement unit, namely an attitude sensor, formed by combining an accelerometer, an inclinometer and a gyroscope, wherein the accelerometer is used for detecting the acceleration of the electric bicycle body, the inclinometer is used for detecting the inclination angle of the electric bicycle body, and the gyroscope is used for detecting the inclination angle speed of the electric bicycle body;
the suspension module consists of a suspension connecting rod and a shock absorber, can improve driving comfort and weaken impact force, is beneficial to prolonging the service life of parts, and can reduce the gravity center of a vehicle body and a driver by adopting a sinking suspension design scheme, thereby being easy to drive and operate.
As a further aspect of the present invention, the acceleration detected by the accelerometer includes gravity, linear acceleration and rotational acceleration, and the inclinometer has the following two installation modes:
(1) When the inclinometer is horizontally installed, the inclination angle value of the measured object can be obtained through trigonometric function operation;
(2) When mounted vertically to the pitch axis, it can be used as a 360 full azimuth inclinometer by arctan function arithmetic and without linearization errors in use.
As a further aspect of the present invention, the accelerometer employs an ADXL345 chip, and the ADXL345 chip has the following features:
(1) Has SPI and I 2 C, a bus digital output function;
(2) The device has the advantages of small size, light weight, high resolution, ultra-low power consumption, variable range and the like;
(3) Its induction accuracy can be up to 3.9mg/LSB, and its maximum can sense acceleration of + -16 g, and its inclination angle measurement error is less than 1 deg.
As a further scheme of the invention, the gyroscope adopts an ITG3205 chip, the I TG3205 chip is a digital output three-axis MEMS gyroscope which can integrate the digital output angular speed signal into a single circuit and pass through I with 400kHz 2 The C-bus serial interface communicates with the controller.
As a further scheme of the invention, the type of the inclinometer is WQ36-90V0, the linear range of the inclinometer is plus or minus 45 degrees, the resolution is less than or equal to plus or minus 0.01 degrees, and the service temperature is minus 25-70 ℃.
As a further aspect of the present invention, the shock absorber is composed of a damper and a coil spring, and the coil spring plays a supporting role between the vehicle body and the wheel driving frame, so when the self-balancing vehicle runs on a flat road surface, the wheel driving frame vibrates up and down along with the motor, and when the self-balancing vehicle runs on a complex road condition, the wheel driving frame will vibrate along with the wheel and the motor at the same time, and at this time, the sliding friction force generated in the damper between the coil spring guide posts and the expansion and contraction of the spring will rapidly attenuate the vibration energy, thereby playing a role of vibration attenuation.
As a further scheme of the invention, the two ends of the connecting rod of the suspension connecting rod are provided with special connecting pieces, one end of the connecting rod is fixed on the vehicle body, and the other end of the connecting rod is fixed on the wheel driving frame, so that the connecting rod and the connecting pieces form a special articulated four-bar mechanism which can freely and flexibly move in a plane.
As a further scheme of the invention, the Kalman filter has stronger interference suppression capability, and is used for carrying out fusion filtering on signals of an accelerometer, an inclinometer and a gyroscope, so that the signal quality of the attitude sensor is obviously improved, and interference noise is obviously weakened.
As a further aspect of the present invention, there is also provided an electric bicycle including the electric bicycle balancing method.
Compared with the related art, the electric bicycle balancing method and the electric bicycle provided by the invention have the following beneficial effects:
1. the device has simple structure, can keep good balance dynamic performance while saving a vehicle speed sensing link, effectively simplifies the system structure, and simultaneously provides accurate attitude information for a vehicle body control system by using a plurality of sensors in a combined manner and adding an effective filter;
2. according to the invention, by arranging the suspension module, a comfortable driving feeling is provided for a driver when the vehicle body runs in a complex road condition.
Drawings
To facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of the present invention;
fig. 2 is a schematic view of the present invention with an oblique angle of 1 °.
Detailed Description
Please refer to fig. 1 and fig. 2 in combination, wherein fig. 1 is a schematic diagram of the present invention; fig. 2 is a schematic view of the present invention with an oblique angle of 1 °. The electric bicycle balancing method comprises the following steps: the balance control system consists of a power supply module, a signal conditioning module, a controller module, a driver module, an information acquisition module, a suspension module and a Kalman filter;
the signal conditioning module comprises input impedance conversion, signal amplitude conversion and a second-order active low-pass filter;
the controller module adopts a microcontroller with a chip of TMS320F2812, and the TMS320F2812 chip is a calculation core, so that the TMS320F2812 chip can acquire sensing signals in real time and calculate control quantity;
the driver module adopts an H bridge as a main circuit to drive the direct-current brush motor;
the information acquisition module adopts an inertial measurement unit, namely an attitude sensor, formed by combining an accelerometer, an inclinometer and a gyroscope, wherein the accelerometer is used for detecting the acceleration of the electric bicycle body, the inclinometer is used for detecting the inclination angle of the electric bicycle body, and the gyroscope is used for detecting the inclination angle speed of the electric bicycle body;
the suspension module consists of a suspension connecting rod and a shock absorber, can improve driving comfort and weaken impact force, is beneficial to prolonging the service life of parts, and can reduce the gravity center of a vehicle body and a driver by adopting a sinking suspension design scheme, thereby being easy to drive and operate.
The accelerometer detects acceleration including gravity, linear acceleration and rotational acceleration, and the inclinometer has the following two installation modes:
(1) When the inclinometer is horizontally installed, the inclination angle value of the measured object can be obtained through trigonometric function operation;
(2) When mounted vertically to the pitch axis, it can be used as a 360 full azimuth inclinometer by arctan function arithmetic and without linearization errors in use.
The accelerometer adopts an ADXL345 chip, and the ADXL345 chip has the following characteristics:
(1) Has SPI and I 2 C, a bus digital output function;
(2) The device has the advantages of small size, light weight, high resolution, ultra-low power consumption, variable range and the like;
(3) Its induction accuracy can be up to 3.9mg/LSB, and its maximum can sense acceleration of + -16 g, and its inclination angle measurement error is less than 1 deg.
The gyroscope adopts an I TG3205 chip, the I TG3205 chip is a digital output three-axis MEMS gyroscope which can integrate the digital output angular speed signal to a single circuit and pass through 400kHz I 2 The C-bus serial interface communicates with the controller.
The type of the inclinometer is WQ36-90V0, the linear range of the inclinometer is plus or minus 45 degrees, the resolution is not more than plus or minus 0.01 degrees, and the use temperature is minus 25-70 ℃.
The shock absorber consists of a damper and a spiral spring, wherein the spiral spring plays a supporting role between a vehicle body and a wheel driving frame, so that when the self-balancing vehicle runs on a flat road surface, the wheel driving frame vibrates up and down along with a motor, and when the self-balancing vehicle runs on a complex road condition, the wheel driving frame can vibrate along with the wheel and the motor at the same time, and at the moment, sliding friction force generated in the damper between spiral spring guide columns can rapidly attenuate vibration energy along with the expansion and contraction of the spring, so that the shock absorption purpose is achieved.
The suspension connecting rod has special connecting parts at two ends, one end fixed to the vehicle body and the other end fixed to the wheel driving frame, and this makes the connecting rod and the connecting parts constitute one special hinged four-bar mechanism capable of moving freely and flexibly in plane.
The four-bar mechanism of the hinge formed by the suspension connecting bar and the connector connects the vehicle body and the wheel driver together delicately, so that the four-bar mechanism has the advantages of simple components, easy processing and manufacturing, low cost, wear resistance and the like, and meanwhile, in a small-range plane motion, the hinge structure can obtain a stable motion effect, and the stress of the wheel connecting frame is uniform.
The Kalman filter has strong interference suppression capability, and is used for performing fusion filtering on signals of the accelerometer, the inclinometer and the gyroscope, so that the signal quality of the attitude sensor is obviously improved, and interference noise is obviously weakened.
The invention also provides an electric bicycle which comprises the electric bicycle balancing method.
During the use, gather the acceleration, inclination and the angular velocity of automobile body through attitude sensor, then fuse the back of filtering through Kalman filter, by microcontroller real-time collection, later realize electric bicycle self-balancing running motion and turn motion control through control motor.
After the body of the self-balancing electric bicycle tilts for a certain angle, if the body of the self-balancing electric bicycle needs to be balanced again, the wheels connected with the body of the self-balancing electric bicycle move towards the tilting direction, and the self-balancing electric bicycle needs to move for a certain distance again when the body of the self-balancing electric bicycle has a certain tilting angle in the advancing process, so that the dynamic balance of the body of the self-balancing electric bicycle is formed repeatedly.
For example, when the vehicle body is inclined at an angle of 1 °, a certain torque is applied to the wheels to rotate the wheels in the inclined direction, and the velocity curve of the wheels and the vehicle body in the horizontal direction and the moving curve of the center of gravity of the vehicle body in the vertical direction are shown in fig. 2, and it can be seen from fig. 2 that when the vehicle has a proper moment, the moving displacement of the center of gravity of the vehicle body in the vertical direction is fixed in a small range, so that the center of gravity of the vehicle body is dynamically balanced, and the velocity of the center of gravity of the vehicle body and the velocity of the center of gravity of the wheels in the horizontal direction are substantially the same.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. An electric bicycle balancing method, comprising:
the balance control system consists of a power supply module, a signal conditioning module, a controller module, a driver module, an information acquisition module, a suspension module and a Kalman filter;
the signal conditioning module comprises input impedance conversion, signal amplitude conversion and a second-order active low-pass filter;
the controller module adopts a microcontroller with a chip TMS320F2812 chip, and the TMS320F2812 chip is a calculation core, so that the controller module can acquire sensing signals in real time and calculate control quantity;
the driver module adopts an H bridge as a main circuit to drive the direct-current brush motor;
the information acquisition module adopts an inertial measurement unit, namely an attitude sensor, formed by combining an accelerometer, an inclinometer and a gyroscope, wherein the accelerometer is used for detecting the acceleration of the electric bicycle body, the inclinometer is used for detecting the inclination angle of the electric bicycle body, and the gyroscope is used for detecting the inclination angle speed of the electric bicycle body;
the suspension module consists of a suspension connecting rod and a shock absorber, can improve driving comfort and weaken impact force, is beneficial to prolonging the service life of parts, and can reduce the gravity center of a vehicle body and a driver by adopting a sinking suspension design scheme, thereby being easy to drive and operate.
2. The electric bicycle balancing method according to claim 1, wherein: the accelerometer detects acceleration including gravity, linear acceleration and rotational acceleration, and the inclinometer has the following two installation modes:
(1) When the inclinometer is horizontally installed, the inclination angle value of the measured object can be obtained through trigonometric function operation;
(2) When mounted vertically to the pitch axis, the arctan function operation can be used as an inclinometer for 360 omni-directional measurements, and no linearization errors are generated in use.
3. The electric bicycle balancing method according to claim 1, wherein: the accelerometer adopts an ADXL345 chip, and the ADXL345 chip has the following characteristics:
(1) Has SPI and I 2 C, a bus digital output function;
(2) The device has the advantages of small size, light weight, high resolution, ultra-low power consumption, variable range and the like;
(3) Its induction accuracy can be up to 3.9mg/LSB, and its maximum can sense acceleration of + -16 g, and its inclination angle measurement error is less than 1 deg.
4. The electric bicycle balancing method according to claim 3, wherein: the gyroscope is used for acquiringAn ITG3205 chip is used, the ITG3205 chip is a three-axis MEMS gyroscope with digital output, and the angular speed signal with digital output can be integrated on a single circuit and passes through an I of 400kHz 2 The C-bus serial interface communicates with the controller.
5. The electric bicycle balancing method according to claim 1, wherein: the type of the inclinometer is WQ36-90V0, the linear range of the inclinometer is plus or minus 45 degrees, the resolution is not more than plus or minus 0.01 degrees, and the service temperature is minus 25-70 ℃.
6. The electric bicycle balancing method according to claim 1, wherein: the shock absorber comprises a damper and a spiral spring, wherein the spiral spring plays a supporting role between a vehicle body and a wheel driving frame, so that when the self-balancing vehicle runs on a flat road surface, the wheel driving frame vibrates up and down along with a motor, and when the self-balancing vehicle runs on a complex road condition, the wheel driving frame can vibrate along with a wheel and the motor at the same time, at the moment, the sliding friction force generated in the damper between spiral spring guide columns can rapidly attenuate the vibration energy along with the expansion and contraction of the spring, so that the shock absorption purpose is achieved, the spiral spring has a shock absorption function, and meanwhile, the body of a driver can be kept in an upright state as much as possible in the expansion and contraction process, so that the driver can feel comfortable.
7. The electric bicycle balancing method according to claim 1, wherein: the suspension connecting rod has special connecting parts at two ends, one end fixed to the vehicle body and the other end fixed to the wheel driving frame, and this makes the connecting rod and the connecting parts constitute one special hinged four-bar mechanism capable of moving freely and flexibly in plane.
8. The electric bicycle balancing method according to claim 1, wherein: the Kalman filter has strong interference suppression capability, and is used for performing fusion filtering on signals of an accelerometer, an inclinometer and a gyroscope, so that the signal quality of the attitude sensor is obviously improved, and interference noise is obviously weakened.
9. An electric bicycle, characterized in that: the electric bicycle comprises the method for balancing the electric bicycle according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211547163.2A CN115806016A (en) | 2022-12-05 | 2022-12-05 | Electric bicycle balancing method and electric bicycle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211547163.2A CN115806016A (en) | 2022-12-05 | 2022-12-05 | Electric bicycle balancing method and electric bicycle |
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| Publication Number | Publication Date |
|---|---|
| CN115806016A true CN115806016A (en) | 2023-03-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211547163.2A Pending CN115806016A (en) | 2022-12-05 | 2022-12-05 | Electric bicycle balancing method and electric bicycle |
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| CN (1) | CN115806016A (en) |
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- 2022-12-05 CN CN202211547163.2A patent/CN115806016A/en active Pending
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