CN205737855U - A kind of pressure perception electrodynamic balance car of band torque adjusting mechanism - Google Patents
A kind of pressure perception electrodynamic balance car of band torque adjusting mechanism Download PDFInfo
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- CN205737855U CN205737855U CN201620271493.7U CN201620271493U CN205737855U CN 205737855 U CN205737855 U CN 205737855U CN 201620271493 U CN201620271493 U CN 201620271493U CN 205737855 U CN205737855 U CN 205737855U
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Abstract
The utility model discloses the pressure perception electrodynamic balance car of a kind of band torque adjusting mechanism, including balance car body, wheel, motor, motor drive module, wherein: balance car body includes pressure sensor block, for measuring the force value of balance car body both sides to realize course changing control；Angle sensor module, for measuring the angle of inclination of balance car；Motor speed feedback module, for measuring the rotating speed of motor；Controller, realizes balance car even running for utilizing the angle of inclination of balance car and the rotating speed of motor to do speed torque compensation.The pressure perception electrodynamic balance car of this utility model a kind of band torque adjusting mechanism increases the speed torque compensation of balance car, can make balance car held stationary when high-speed cruising, it is to avoid make user be injured because of high-speed cruising.Utility model can be widely applied to balance car field as the pressure perception electrodynamic balance car of a kind of band torque adjusting mechanism.
Description
Technical field
This utility model relates to electrodynamic balance car field, the pressure perception electrodynamic balance car of a kind of band torque adjusting mechanism.
Background technology
Electrodynamic balance car, is again body-sensing car, thinking car, act as regent car etc..Single wheel and two-wheel two class is mainly had on market.Its operation principles is mainly built upon one and is referred to as in the ultimate principle of " dynamic stability ", people's gravity center shift onboard produces moment and is applied to car, this moment makes balance car produce small angle inclination, utilize gyroscope and the acceleration transducer of vehicle body, detect the change of car body angle, and utilize servo-control system, accurately drive motor to be adjusted correspondingly, to offset the moment that balance car is applied by people, and then keep the balance of system.Balance car be modern for the instrument ridden instead of walk, be a kind of novel environmental protection vehicles.
The output torque regulation of balance car usually utilizes the angle of inclination of car body and the speed of inclination to be adjusted, this regulative mode has a disadvantage that, because motor can produce counter electromotive force rotating when, this counter electromotive force can weaken the moment that motor exported originally, the biggest this weakening effect of speed is the most obvious, so easily making people tumble when balance car is run at high speed, user is caused unnecessary injury.
Utility model content
In order to solve above-mentioned technical problem, the purpose of this utility model is to provide the pressure perception electrodynamic balance car of a kind of band torque adjusting mechanism, can make balance car even running, it is to avoid make user be injured because of high-speed cruising.
This utility model be the technical scheme is that the pressure perception electrodynamic balance car of a kind of band torque adjusting mechanism, including balance car body, wheel, motor, motor drive module, wherein:
Described balance car body includes pressure sensor block, for measuring the force value of balance car body both sides to realize course changing control；
Angle sensor module, for measuring the angle of inclination of balance car；
Motor speed feedback module, for measuring the rotating speed of motor；
Controller, realizes balance car even running for utilizing the angle of inclination of balance car and the rotating speed of motor to do speed torque compensation；
The outfan of described pressure sensor block is connected with the input of controller；The outfan of described angle sensor module and motor speed feedback module is connected with the input of controller respectively；The outfan of described controller is connected with the input of motor drive module；The outfan of described motor drive module is connected with the input of motor.
Further, described motor speed feedback module includes Hall element, magnetism encoder.
Further, described angle sensor module includes three axis accelerometer and three-axis gyroscope.
Further, described pressure sensor block includes pressure transducer and/or LOAD CELLS.
Further, described balance car body also includes bluetooth communication, and for carrying out radio communication with the network terminal or handheld device, described bluetooth communication is connected with controller, and described bluetooth communication is positioned at balance car body.
Further, described balance car body also includes power module, and described power module provides power supply for the pressure perception electrodynamic balance car of band torque adjusting mechanism, and described power module is positioned at balance car body.
The beneficial effects of the utility model are: the pressure perception electrodynamic balance car of this utility model a kind of band torque adjusting mechanism controls the rotating speed of motor by motor speed feedback module and angle sensor module, increase the speed torque compensation of balance car, balance car held stationary when high-speed cruising can be made, it is to avoid make user be injured because of high-speed cruising.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings detailed description of the invention of the present utility model is described further:
Fig. 1 is the structured flowchart of the pressure perception electrodynamic balance car of this utility model a kind of band torque adjusting mechanism；
Fig. 2 is the use schematic diagram of the pressure perception electrodynamic balance car of this utility model a kind of band torque adjusting mechanism；
Fig. 3 is the regulation schematic diagram of the pressure perception electrodynamic balance car of this utility model a kind of band torque adjusting mechanism.
Detailed description of the invention
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can be mutually combined.
A kind of pressure perception electrodynamic balance car of band torque adjusting mechanism, with reference to Fig. 1, including balance car body, wheel, motor, motor drive module, wherein:
Described balance car body includes pressure sensor block, for measuring the force value of balance car body both sides to realize course changing control；
Angle sensor module, for measuring the angle of inclination of balance car；
Motor speed feedback module, for measuring the rotating speed of motor；
Controller, realizes balance car even running for utilizing the angle of inclination of balance car and the rotating speed of motor to do speed torque compensation；
The outfan of described pressure sensor block is connected with the input of controller；The outfan of described angle sensor module and motor speed feedback module is connected with the input of controller respectively；The outfan of described controller is connected with the input of motor drive module；The outfan of described motor drive module is connected with the input of motor.
In the present embodiment, with reference to Fig. 2, described balance car body includes balancing vehicle body 1, left-hand tread plate 3 and right-hand tread plate 4, and described wheel includes left wheel 2 and right wheel 5.Described controller uses the microcontroller of STM32F1 series to realize.
As further preferred embodiment, described motor speed feedback module includes Hall element, magnetism encoder.
As further preferred embodiment, described angle sensor module includes three axis accelerometer and three-axis gyroscope.
As further preferred embodiment, described balance car body also includes power module, and described power module provides power supply for the pressure perception electrodynamic balance car of band torque adjusting mechanism, and described power module is positioned at balance car body.
When balance car is advanced, when user wants to accelerate to advance, owing to having coil and magnetic links inside motor, according to electromagnetic induction principle, motor can produce counter electromotive force rotating when, i.e. produce a voltage contrary with battery polar, this voltage can be offset a part of motor drive module and is supplied to the voltage of motor, so motor actually obtain voltage can than user anticipation voltage little, namely actual current can be less than envision, ultimately result in motor output torque ratio user anticipation little, at this time user cannot keep dynamic equilibrium, user will plant somersault on balance car.According to the law of electromagnetic induction, when balance car is run at high speed, the speed of coil cutting magnetic induction line is the biggest, and the counter voltage of generation is the biggest, so balance car this moment unbalance low speed is walked when is unconspicuous, speed is the biggest more obvious.
With reference to Fig. 3, in the present embodiment, angle sensor module measures the angle of inclination of balance car, motor speed feedback module is measured the speed of motor operation and is done velocity compensation, controller goes out to control parameter PWM according to angle and speed the two parameter tuning, and control parameter PWM is sent to motor drive module, and motor drive module drives electric machine rotation according to controlling parameter PWM, and then ensureing that balance car can travel by held stationary running at high speed when, it is to avoid user tumbles.Gather way feedback, improves the stability of speed regulation.
Described control parameter PWM is to be obtained by the angle of inclination detected and speed, in this practicality example, utilize angle sensor module can be balanced the angle of inclination A and the angular velocity B of molecular balance car inclination speed of car, utilize motor speed feedback module can obtain the rotating speed C of motor, then control parameter PWM=A*k1+B*k2+C*k3 (k1, k2, k3 are constant), as long as accurately regulating the value of k1, k2, k3, just can offset the impact of counter voltage, make balance car can travel at any speed held stationary.
As further preferred embodiment, described pressure sensor block includes pressure transducer and/or LOAD CELLS.
In the present embodiment, when balance car brings into operation, by the force value at LOAD CELLS feedback equalization car body two ends, controller controls balance car according to two ends institute pressure measurement force value and realizes turning；Controller realizes moving forward and backward according to the Angle ambiguity balance car that angle sensor module is measured.
As further preferred embodiment, described balance car body also includes bluetooth communication, and for carrying out radio communication with the network terminal or handheld device, described bluetooth communication is connected with controller, and described bluetooth communication is positioned at balance car body.
Increasing bluetooth communication, in the present embodiment, user can be contacted with balance car foundation by the bluetooth communication of the Bluetooth function of mobile phone and balance car, and then can carry out the action of information interactive controlling balance car with controller.
It is above preferable enforcement of the present utility model is illustrated, but the invention is not limited to described embodiment, those of ordinary skill in the art it may also be made that all equivalent variations or replacement on the premise of this utility model spirit, and deformation or the replacement of these equivalents are all contained in the application claim limited range.
Claims (6)
1. the pressure perception electrodynamic balance car of a band torque adjusting mechanism, it is characterised in that include balancing car body, wheel, motor, motor drive module, wherein:
Described balance car body includes pressure sensor block, for measuring the force value of balance car body both sides to realize course changing control；
Angle sensor module, for measuring the angle of inclination of balance car；
Motor speed feedback module, for measuring the rotating speed of motor；
Controller, realizes balance car even running for utilizing the angle of inclination of balance car and the rotating speed of motor to do speed torque compensation；
The outfan of described pressure sensor block is connected with the input of controller；The outfan of described angle sensor module and motor speed feedback module is connected with the input of controller respectively；The outfan of described controller is connected with the input of motor drive module；The outfan of described motor drive module is connected with the input of motor.
The pressure perception electrodynamic balance car of a kind of band torque adjusting the most according to claim 1 mechanism, it is characterised in that described motor speed feedback module includes Hall element, magnetism encoder.
The pressure perception electrodynamic balance car of a kind of band torque adjusting the most according to claim 1 mechanism, it is characterised in that described angle sensor module includes three axis accelerometer and three-axis gyroscope.
The pressure perception electrodynamic balance car of a kind of band torque adjusting the most according to claim 1 mechanism, it is characterised in that described pressure sensor block includes pressure transducer and/or LOAD CELLS.
5. according to the pressure perception electrodynamic balance car of a kind of band torque adjusting mechanism described in any one of Claims 1-4, it is characterized in that, described balance car body also includes bluetooth communication, for carrying out radio communication with the network terminal or handheld device, described bluetooth communication is connected with controller, and described bluetooth communication is positioned at balance car body.
The pressure perception electrodynamic balance car of a kind of band torque adjusting the most according to claim 5 mechanism, it is characterized in that, described balance car body also includes power module, described power module provides power supply for the pressure perception electrodynamic balance car of band torque adjusting mechanism, and described power module is positioned at balance car body.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620271493.7U CN205737855U (en) | 2016-04-01 | 2016-04-01 | A kind of pressure perception electrodynamic balance car of band torque adjusting mechanism |
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| CN201620271493.7U CN205737855U (en) | 2016-04-01 | 2016-04-01 | A kind of pressure perception electrodynamic balance car of band torque adjusting mechanism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109911087A (en) * | 2019-03-07 | 2019-06-21 | 南京航空航天大学 | A kind of two-wheeled anti-explosion electric balance car and its balance control method |
| CN109986567A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | A kind of power-assisted compensation integrated apparatus |
| CN115320764A (en) * | 2021-11-19 | 2022-11-11 | 钭俊龙 | Two-wheeled electric balance car controlled by mobile terminal and control method |
| CN115320765A (en) * | 2021-12-03 | 2022-11-11 | 钭俊龙 | Two-wheel electric balance car capable of being controlled by single foot and two feet and operation method |
-
2016
- 2016-04-01 CN CN201620271493.7U patent/CN205737855U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986567A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | A kind of power-assisted compensation integrated apparatus |
| CN109911087A (en) * | 2019-03-07 | 2019-06-21 | 南京航空航天大学 | A kind of two-wheeled anti-explosion electric balance car and its balance control method |
| CN109911087B (en) * | 2019-03-07 | 2020-06-23 | 南京航空航天大学 | Two-wheeled explosion-proof electric balance vehicle and balance control method thereof |
| CN115320764A (en) * | 2021-11-19 | 2022-11-11 | 钭俊龙 | Two-wheeled electric balance car controlled by mobile terminal and control method |
| CN115320765A (en) * | 2021-12-03 | 2022-11-11 | 钭俊龙 | Two-wheel electric balance car capable of being controlled by single foot and two feet and operation method |
| CN115320765B (en) * | 2021-12-03 | 2024-05-03 | 钭俊龙 | Two-wheel electric balance car capable of being controlled by single foot and double feet and operation method |
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