CN201863984U - Control drive circuit of self-balancing parallel two-wheeled electric vehicle - Google Patents
Control drive circuit of self-balancing parallel two-wheeled electric vehicle Download PDFInfo
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- CN201863984U CN201863984U CN2010205670420U CN201020567042U CN201863984U CN 201863984 U CN201863984 U CN 201863984U CN 2010205670420 U CN2010205670420 U CN 2010205670420U CN 201020567042 U CN201020567042 U CN 201020567042U CN 201863984 U CN201863984 U CN 201863984U
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Abstract
The utility model relates to a control circuit of an electric vehicle, in particular to a control drive circuit of a self-balancing parallel two-wheeled electric vehicle. The control drive circuit comprises a main control board, wherein the main control board is connected with a steering handle circuit, a left wheel motor driver and a right wheel motor driver; a controller is arranged on the control board and connected with a group of vertical solid angular velocity sensors and a group of horizontal solid angular velocity sensors; and a sensor for acquiring a steering signal is arranged in the steering handle circuit. When the control drive circuit is used for the self-balancing parallel two-wheeled electric vehicle, the electric vehicle can keep self-balanced and keep the advance direction without manpower; when the body of a passenger inclines forwardly and initiatively, the electric vehicle runs forwardly; when the body of the passenger inclines backwardly, the electric vehicle brakes or backs; and during traveling, the passenger can pay no attention to how to keep the balance, and the hands can act freely. The vehicle adopts two wheels with brushless hub motors; the two wheels are controlled by an electronic circuit, are independently driven and are powered by batteries; and the solid angular velocity sensors are adopted to sense the posture of the vehicle.
Description
Technical field
The utility model relates to a kind of electric vehicle control circuit, especially the control Driver Circuit of the parallel electric motor car with two wheels of self-balancing.
Background technology
Existing Electrical Bicycle is continued to use the front and back wheel serial structure of traditional bicycle and man, keeps balance by occupant's human control, and the driver need acquire skill through certain training and just can ride.The control circuit of this Electrical Bicycle only is responsible for providing power to alleviate occupant's physical demands, can not driver assistance, and driver's arm strength burden and mental burden do not alleviate in travelling.And adopt coaxial parallel two-wheel dolly, and because can't keep balance, can only choose to try hard to recommend and draw, can't ride instead of walk.
The utility model content
The purpose of this utility model provides a kind of control Driver Circuit that can drive parallel electric motor car with two wheels.
To achieve these goals, the utility model adopts following structure:
It comprises that master board, master board are connected with steering tiller circuit, revolver motor actuator and right turbin generator actuator, master board is provided with controller, controller connects one group of vertical direction solid angular velocity sensor and one group of horizontal direction solid angular velocity sensor, includes the sensor that obtains turn sign in the steering tiller circuit.
Preferably, described one group of vertical direction solid angular velocity sensor comprises three vertical direction solid angular velocity sensoies; One group of horizontal direction solid angular velocity sensor comprises three horizontal direction solid angular velocity sensoies respectively.
Preferably, the sensor that obtains turn sign in the described steering tiller circuit is a Hall element.
Preferably, revolver motor actuator and right turbin generator actuator are the brushless motor actuator, described brushless motor actuator include micro controller system independently, power field effect pipe, power field effect tube drive circuit and with the communication interface of master board communication
Preferably, also be provided with in the described brushless motor actuator and micro controller system bonded assembly temperature detecting unit.
Preferably, described temperature sensor is located at by the power field effect tube drive circuit.
Preferably, described micro controller system also is connected with phase detection unit, current detecting unit and voltage detection unit.
Preferably, described communication interface is connected master board with voltage detection unit by dual redundant bus.
Owing to when having adopted such scheme, the utility model to be used for coaxial parallel electric motor car with two wheels, this car need not can be kept balance and keep working direction by manpower automatically by electron steering.The occupant stand on the pedal at axletree position when travelling, occupant's health that initiatively turns forward, and dolly is promptly to overtake; Retreat and to brake or to retreat.Occupant's grasp balance of need not diverting attention in travelling, both hands can freely move; Two wheels that respectively carry brushless hub electric motor about this car adopts by electronic circuit control two-wheeled individual drive, provide the energy with battery, adopt the solid angular velocity sensor to come the senses vehicle attitude.
Description of drawings
Fig. 1 is the utility model embodiment integrated circuit modular construction figure;
Fig. 2 is the utility model embodiment master board circuit module constructional drawing;
Fig. 3 is the utility model embodiment brushless motor drive circuit modular construction figure.
The utility model purpose, function and advantage will be in conjunction with the embodiments, are described further with reference to accompanying drawing.
The specific embodiment
As depicted in figs. 1 and 2, comprise master board 1, the master board 1 of present embodiment are connected with steering tiller circuit 2, revolver motor actuator 3 and right turbin generator actuator 4, master board 1 is provided with controller 11, controller 11 connects one group of vertical direction solid angular velocity sensor 12 and one group of horizontal direction solid angular velocity sensor 13, includes the sensor 21 that obtains turn sign in the steering tiller circuit 2.When body inclination, the angular velocity sensor of vertical direction can send an angular velocity signal, controller 11 receives this signal, a rectification of passing ratio integral operation generation control signal sends to the brushless motor actuator makes motor and wheel produce reciprocal correction torque, make vehicle body restore balance, this process is finished in 20 milliseconds.In the process of advancing, because road conditions change, travel direction can produce deviation, when the angular velocity sensor of horizontal direction detects the travel direction variation, the output angle deviation signal, computing machine calculates correcting signal control brushless motor actuator in view of the above, thereby makes the differential correction of left and right wheels travel direction
Described one group of vertical direction solid angular velocity sensor comprises three vertical direction solid angular velocity sensoies; One group of horizontal direction solid angular velocity sensor comprises three horizontal direction solid angular velocity sensoies respectively.Each sensor all has independently servo circuit but is mounted in different positions, and MCU gathers angular velocity information separately, and the average data that adopts each sensor under the normal circumstances is to eliminate the influence of components and parts discreteness and vibration.If one of them breaks down, system can enter defence program, and automatic deceleration stops, and points out the trouble point with convenient for maintaining simultaneously.
The sensor that obtains turn sign 21 in the described steering tiller circuit 2 is Hall element.Controller 11 detects it by the Hall element in the handle and rotates the acquisition turn sign, thus the differential change travel direction of control left and right wheels
Also be provided with in the described brushless motor actuator and micro controller system 51 bonded assembly temperature detecting units 55.It is neighbouring to monitor its operating temperature that temperature detecting unit 55 is installed in power field effect pipe.When temperature was higher, the power-handling capability of circuit can reduce, and motor driver is transferred to master control board with temperature, and master control board can automatically reduce car load speed, correspondingly also reduced the moment requirement.In that temperature is too high may cause circuit overloads the time, master control board can the execute protection program initiatively stop.
Described micro controller system also is connected with phase detection unit 56, current detecting unit 57 and voltage detection unit 58.Described communication interface 54 is connected master board 1 with voltage detection unit 58 by dual redundant bus.When cell pressure deficiency, overheated or system broke down, system can send prompt tone; This prompt tone is to be given an order by master board to carry out at motor driver, and the winding coil by wheel electrical machine sends.Reflect various trouble points with tone and tempo variation.
The above only is a preferred embodiment of the present utility model; be not so limit claim of the present utility model; every equivalent structure or equivalent flow process conversion that utilizes the utility model specification sheets and accompanying drawing content to be done; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present utility model.
Claims (8)
1. the control Driver Circuit of the parallel electric motor car with two wheels of a self-balancing, it is characterized in that: comprise that master board, master board are connected with steering tiller circuit, revolver motor actuator and right turbin generator actuator, master board is provided with controller, controller connects one group of vertical direction solid angular velocity sensor and one group of horizontal direction solid angular velocity sensor, includes the sensor that obtains turn sign in the steering tiller circuit.
2. the control Driver Circuit of the parallel electric motor car with two wheels of self-balancing as claimed in claim 1, it is characterized in that: described one group of vertical direction solid angular velocity sensor comprises three vertical direction solid angular velocity sensoies; One group of horizontal direction solid angular velocity sensor comprises three horizontal direction solid angular velocity sensoies respectively.
3. the control Driver Circuit of the parallel electric motor car with two wheels of self-balancing as claimed in claim 2 is characterized in that: the sensor that obtains turn sign in the described steering tiller circuit is a Hall element.
4. the control Driver Circuit of the parallel electric motor car with two wheels of self-balancing as claimed in claim 3, it is characterized in that: revolver motor actuator and right turbin generator actuator are the brushless motor actuator, described brushless motor actuator include micro controller system independently, power field effect pipe, power field effect tube drive circuit and with the communication interface of master board communication
5. the control Driver Circuit of the parallel electric motor car with two wheels of self-balancing as claimed in claim 4 is characterized in that: also be provided with in the described brushless motor actuator and micro controller system bonded assembly temperature detecting unit.
6. the control Driver Circuit of the parallel electric motor car with two wheels of self-balancing as claimed in claim 5, it is characterized in that: described temperature sensor is located at by the power field effect tube drive circuit.
7. the control Driver Circuit of the parallel electric motor car with two wheels of self-balancing as claimed in claim 6, it is characterized in that: described micro controller system also is connected with phase detection unit, current detecting unit and voltage detection unit.
8. the control Driver Circuit of the parallel electric motor car with two wheels of self-balancing as claimed in claim 7, it is characterized in that: described communication interface is connected master board with voltage detection unit by dual redundant bus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205670420U CN201863984U (en) | 2010-10-18 | 2010-10-18 | Control drive circuit of self-balancing parallel two-wheeled electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205670420U CN201863984U (en) | 2010-10-18 | 2010-10-18 | Control drive circuit of self-balancing parallel two-wheeled electric vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201863984U true CN201863984U (en) | 2011-06-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010205670420U Expired - Fee Related CN201863984U (en) | 2010-10-18 | 2010-10-18 | Control drive circuit of self-balancing parallel two-wheeled electric vehicle |
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| CN (1) | CN201863984U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104590457A (en) * | 2015-01-22 | 2015-05-06 | 宁波联拓思维电子科技有限公司 | Control system of electric monocycle |
| CN105148496A (en) * | 2015-09-08 | 2015-12-16 | 华中科技大学 | Posture control-based roller skating type mobility robot |
| CN105711726A (en) * | 2016-04-19 | 2016-06-29 | 朱永刚 | Balance vehicle and control method thereof |
| CN106080886A (en) * | 2014-09-15 | 2016-11-09 | 常州爱尔威智能科技有限公司 | A kind of external motor type self-balancing two-wheeled electrocar |
-
2010
- 2010-10-18 CN CN2010205670420U patent/CN201863984U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080886A (en) * | 2014-09-15 | 2016-11-09 | 常州爱尔威智能科技有限公司 | A kind of external motor type self-balancing two-wheeled electrocar |
| CN106080886B (en) * | 2014-09-15 | 2018-08-17 | 常州爱尔威智能科技有限公司 | A kind of external motor type self-balancing two-wheeled electrocar |
| CN104590457A (en) * | 2015-01-22 | 2015-05-06 | 宁波联拓思维电子科技有限公司 | Control system of electric monocycle |
| CN105148496A (en) * | 2015-09-08 | 2015-12-16 | 华中科技大学 | Posture control-based roller skating type mobility robot |
| CN105711726A (en) * | 2016-04-19 | 2016-06-29 | 朱永刚 | Balance vehicle and control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Shenzhen city wakagi Technology Co. Ltd. Assignor: Zou Fan Contract record no.: 2014440020098 Denomination of utility model: Control drive circuit of self-balancing parallel two-wheeled electric vehicle Granted publication date: 20110615 License type: Exclusive License Record date: 20140402 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110615 Termination date: 20141018 |
|
| EXPY | Termination of patent right or utility model |