WO2014005475A1 - Smart balanced vehicle system - Google Patents

Smart balanced vehicle system

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Publication number
WO2014005475A1
WO2014005475A1 PCT/CN2013/076728 CN2013076728W WO2014005475A1 WO 2014005475 A1 WO2014005475 A1 WO 2014005475A1 CN 2013076728 W CN2013076728 W CN 2013076728W WO 2014005475 A1 WO2014005475 A1 WO 2014005475A1
Authority
WO
Grant status
Application
Patent type
Prior art keywords
control
system
vehicle
speed
motor
Prior art date
Application number
PCT/CN2013/076728
Other languages
French (fr)
Chinese (zh)
Inventor
朱陈焜
Original Assignee
上海跑酷机器人科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL
    • B60L15/00Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2036Electric differentials, e.g. for supporting steering of vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL
    • B60L2200/00Type of vehicles
    • B60L2200/12Bikes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL
    • B60L2200/00Type of vehicles
    • B60L2200/16Single-axle vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL
    • B60L2240/00Control parameters of input or output; Target parameters
    • B60L2240/10Vehicle control parameters
    • B60L2240/12Speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL
    • B60L2240/00Control parameters of input or output; Target parameters
    • B60L2240/40Drive Train control parameters
    • B60L2240/42Drive Train control parameters related to electric machines
    • B60L2240/421Speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL
    • B60L2250/00Driver interactions
    • B60L2250/24Driver interactions by lever actuation
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/64Electric machine technologies for applications in electromobilty
    • Y02T10/642Control strategies of electric machines for automotive applications
    • Y02T10/645Control strategies for dc machines
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/72Electric energy management in electromobility
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/72Electric energy management in electromobility
    • Y02T10/7258Optimisation of vehicle performance
    • Y02T10/7275Desired performance achievement

Abstract

A smart balanced vehicle system. The smart balanced vehicle system at least comprises: a bicycle body, two hand grips (101), two pressure sensors (102), and a control module (103) disposed at the bicycle body. The two hand grips (101) are installed at the two ends of a directional rod (3) contained in the bicycle body, respectively. The two pressure sensors (102) are configured to sense the pressure of the hand grips (101), respectively. The control module (103) controls the turning of the directional rod (3) based on pressure values sensed by the two pressure sensors (102). The control module (3) further comprises a speed detection unit (131), a first control subunit (132) controlling riding of the bicycle according to relevant information by adopting a response model that combines an inverted pendulum model and manual active intervention movements, and a second control subunit (133) configured to adjust the vehicle speed by increasing and then decreasing the speed of the bicycle within the preset range when the speed of the bicycle reaches a preset maximum value based on relevant parameters of the bicycle. The smart balanced vehicle system can control balanced riding of a bicycle based on pressure, speed, and the like, so as to guarantee stable and safe riding.

Description

Intelligent balance car system

FIELD

The present invention belongs to the field of vehicle control, an intelligent vehicle system relates particularly to a vehicle intelligent balancing system. Background technique

With the development of science and technology, electric vehicles with its simple, easy to use and flexible features, it has become a means of transport that most people travel choice. Two electric cars currently on the market, mainly in the following deficiencies:

1, the front and rear wheels mostly for distribution, the operation of the driver can only rely on themselves to maintain balance, because the vehicle itself can not maintain balance, once the process of moving the driver out of balance, it is extremely likely to cause danger, serious or even cause a traffic accident ;

2, the direction control lever and the vehicle body is provided separately from the leg, which manufacturers need to manufacture vehicles and foot lever, and the position of the vehicle needs to be designed legs;

3, power consumption, leading to low utilization of the battery, not environmentally friendly.

This traditional electric cars can not meet people's requirements for means of transport, capable of self-balancing through the body, easier to use, the emergence of environmentally friendly means of transport, become inevitable.

In view of this, now an urgent need for a balancing system for efficient control of running of the motorcycle, in order to maintain its balance.

The present invention solves the technical problem: to provide a balance of intelligent vehicle systems, in order to ensure a balanced and safe two-wheelers in the process of moving.

To solve the above problems, the present invention adopts the following technical solution:

Balancing an intelligent vehicle system, the vehicle intelligent balancing system comprising at least:

Wheelers body;

Two holding members, respectively, in the direction of the mounting bar ends contained motorcycle body;

Two pressure sensors respectively for sensing pressure of a holding member;

The control module provided in the motorcycle body, the two pressure sensors based on sensed pressure value to control the steering direction of the rod.

As a preferred embodiment of the present invention, the control module comprising: a speed detecting means, based on the Hall current state data obtained, using a predetermined method to determine the speed of the motorcycle speed.

As a preferred embodiment of the present invention, said speed detecting means comprises:

Error removing unit, for calibration between the respective data correlation to determine the state of the Hall current data corresponding to the obtained calibration data based on the Hall current state data obtained from all the Hall state;

Speed ​​determining means, based on the determined state of the Hall with the current data corresponding to the obtained calibration data, filtering the following algorithm to determine the velocity and acceleration of the motorcycle:

_ 1 X {n)

V k = r Y (k) (E [X (n)]),

Ε [Χ (η)] = ΣΧ (η), v k = ν ^ + ά ^ Τ + ξ ν 1ί - (v t _ +!)], ¾ = ¾-ι + 7 (¾ -? ¾- ι) 'which is the current state of the Hall obtained calibration data corresponding to the data, Upsilon (for the duration of the current collection Hall, Hall once every distance corresponding to the state transition traversed wheel, which the number of values, the gearbox and the wheel speed ratio obtained according to the relationship between the outer diameter of the motor state Hall one week, at 0.0001m to values ​​between 0.01m, ^ current best estimate of the time of the wheel speed, the wheel speed at the previous time the best estimate for the optimal estimation value of the current time in the wheel speed, the optimal estimate a time in the wheel speed, wheel speed, ^ measured motor current acceleration, the current time and the time on a time interval , ^ is a predetermined filter coefficient.

As a preferred embodiment of the present invention, the control module comprises: a first sub-control unit for controlling the driving of the motorcycle according to the relevant information, based on the response model using inverted pendulum model and human movement combined active intervention.

As a preferred embodiment of the present invention, the response model comprises:

,, I k (M + m k ) + Mm k r k 2, / ,,,

Figure imgf000004_0001
Figure imgf000005_0001

¾ + i = v k + a k + A k

Figure imgf000005_0002

m k + l = (1 - K) m k + κτΑ ,,

Wherein ^ is the person on around wheel rotating platform and platform moment around the centroid of motion; M is a wheel mass; is the sum of mass systems of the people on the platform and the platform estimated value at time k; Lambda is the system platform and the platform people on about its centroid rotational moment of inertia / estimated value at time k; is rotated from the axis and w centroid estimate; Λ +1, m k + l , respectively, k + 1 moments of /, m estimated value and replace the m k, k + 1 time computing participation of r; o k 'is the angular acceleration, ^ is a running speed of the motorcycle; G is the gravitational acceleration; ί¾ said motorcycle with respect to the horizontal inclination angle position; ¾ equilibrium state is maintained to the predetermined acceleration of the motorcycle; P. And I. Are predetermined ratio of a predetermined integral coefficient; estimated value of the acceleration of the motorcycle; is the velocity estimation value a time optimal for the two-wheeled vehicle speed control amount; η, κ, ρ are Λ , m k, ^ a predetermined order filtering coefficients; φ, τ, δ is not a predetermined feedback coefficient.

As a preferred embodiment of the present invention, the control module comprises: a second sub control unit for correlation parameter based on the motorcycle, when the motorcycle vehicle speed has reached a predetermined maximum value, the wheelers within a predetermined range to adjust the acceleration and then deceleration speed.

As a preferred embodiment of the present invention, the motorcycle body comprising: two laterally disposed wheels, the respective drive motor is connected to the wheel axle is fixed transversely, is connected to the axle about an axle rotatably manned pedal, wheels, axles and manned pedal connected integrally fixed to each other;

The direction of the rod comprises a cross member provided between the uprights and the cross member pedal manned motorcycle body;

The sensor is connected to the control module comprises a collection system, a left and a right motor drive system motor drive system, a current sensor input acquisition system and the vehicle body with the pressure sensor, voltage, acceleration sensors, a motor drive system is connected to the left and the left motor and right motor the motor drive system is connected to the right.

As a preferred embodiment of the present invention, the control module further comprises an output terminal connected to the input of the microcontroller to the master host microcontroller, CPLD module, a power supply circuit, a sensor acquisition system, two-way connection between the master and the microcontroller CPLD module, CPLD module output terminals are connected with the left and right motor drive system motor drive system.

As a preferred embodiment of the present invention, the host microcontroller 10 uses four data bus communication with the sensor acquisition system can be extracted, calculation, analysis, and control data transmitted by the sensor acquisition system, and be transmitted to the CPLD module, the host microcontroller while receiving real-time detection module CPLD motor hall state; said master microcontroller control by the driving force of the motor drive system, thereby controlling the maximum vehicle speed during exercise;

The CPLD module connected firstly to the left and right motor drive system, while the corresponding pins are connected to a host microcontroller can calculate the direction of the receiving motor control derived by the host microcontroller, and the phase of the PWM data, and the data 12 while the output passage 10, and further controls the motor driver module; the same time, the terminal is connected to the Hall signal acquisition module CPLD the left and right motors, the real-time acquisition of the Hall state of the motor, and transmits to the master MCU processes.

As a preferred embodiment of the present invention, the acquisition system comprises a sensor A / D acquisition module, capable of real-time acquisition of an external voltage, current, pressure, acceleration sensor signal, the acquired position and status signals transmitted again analysis and processing to the host microcontroller;

The left and right motor drive system and the motor drive system, the motor control circuit to control three-phase bridge, each system is provided six power MOS transistors, each MOS transistor of each of the control signals required way, the left and right motor drive totaling 12 channel system 10 a control signal 10 controls the signal passage 12 are connected to corresponding pins of CPLD module 12 channel multiplexer 10 a control signal by the CPLD module concurrency control.

As a preferred embodiment of the present invention, the pole comprising a fixed rod and the lifting rod, the lift rod having one end connected to the cross member, one end connected to the vehicle body fixing bar activity, the direction control lever is provided capable of elevating the lift rod means;

The lifting device capable of lifting rod is a "Ω" shape in the ring, lift rod inserted in the inner ring and the fixed rod provided with a fastening screw, the fastening screw and the fixation rod is connected to the "Ω" shape in the ring, rotation tight Central drive screw may be solid or relax hold thick shaft; the other end with a latching lever provided using a linker bent body connected to open the lock, the control lever can be at any angle lateral pouring;

The lifting rod of smaller diameter than the fixed rod; the lifting rod with a length greater than the length of the fixed rod is equal to a fixed rod end secured to the vehicle body height and ground.

The intelligent balancing system for controlling and adjusting the vehicle by its own speed and inclination angle of the vehicle body and thus to control the balance purposes. Detecting the speed of the vehicle balanced, common scenarios such as adding a linear encoder or a Hall added smart balance control device, by linear encoder or Hall calculation for calculating the velocity values ​​AD acquired, and further calculating the velocity values, this increases the hardware cost to some extent, increase the signal connection also bound to reduce the reliability of the vehicle, and must have extra space to install these devices, increasing the weight and size of portable devices, but also increases the normal operation power consumption. The method of the present invention is collected directly in calculating the motor speed of the inner Hall. Hall measurements are necessary motor rotation measurements, thus requiring only a single measurement of the Hall state, for controlling the rotation of the motor on the one hand, on the other hand for the acquisition speed.

The detection and calculation speed, CPLD module is connected to the pin by the pin end of the corresponding motor hall signal acquisition, real-time acquisition pin level, during the operation of the motor changes, there will be regular pin level, a combination of different data, control of the motor commutation, while, when the value of change in the Hall host microcontroller timer is started when the value changes the next time the Hall, this count value is read, and clear the timer count time at the start, then L, and according to the time obtained by the timer t, can be obtained from microscopic state speed value according to the formula according to the distance of the Hall two points = ^ / in the case in microscopic, it will affect the value of a great disturbance Therefore, it needs to be first-order filter,

V = V 1 * K + V l * (\ - K) VI is the last filtered value, V2 value calculated based views wherein, V is the velocity value of this filtering, K is the filter coefficient (K the range is (0, 1)). Corrected, to obtain more accurate than the conventional method of counting the Hall point speed value, encoding accuracy can be achieved the effect disc.

The vehicle body tilt angle detection and calculation, the general values ​​are calculated using a gyro, but the gyroscope influenced by temperature, easy to produce zero drift, thus the present invention is a temperature sensor to collect data for correcting tuo gyroscope zero, the collected values ​​of integrating the gyro can be obtained angle value of the vehicle body is inclined. The gyroscope accurate value in a short time only, the accelerometer value accurately over a long time, the present invention uses the value of the correction value to the horizontal acceleration of the gyroscope: First, the effect of gravity using the acceleration sensor to obtain an accurate stationary when the value of the vehicle body vertical direction at an angle of inclination, but in the process of moving the vehicle body, the acceleration sensor values ​​are collected together angular acceleration in a horizontal and vertical directions, in order to obtain the inclination angle in the vertical direction, it We need to calculate the acceleration in the horizontal direction; the horizontal direction because the vehicle body to produce a velocity in the horizontal direction, according to the formula a = velocity of the horizontal differentiating dt current is obtained

Horizontal acceleration value at the point, after the value of the gyro is corrected, and thus obtain relatively accurate angle value.

The intelligent balancing system to ensure the safety of the vehicle driver, intelligent speed processing speed, i.e. the motor and the vehicle body in accordance with the parameter, the maximum value of the velocity in the program, so as to meet the requirements of the speed, and the speed of leaving a safe space so that it never reaches the limit of the vehicle body. When the driver has reached the maximum driving speed defined by the vehicle body left margin of safety, a certain increase in the motor drive power within a safe space, acceleration of the vehicle body there is a process in motion, due to inertia and the driver changes lag the body, resulting in a backward pulling force. The sensor and the feedback speed, to produce the effect of slowing the vehicle body, the vehicle body speed to reach a new equilibrium. The actual test, the acceleration in the security space, time is short, the small size, the driver hardly feel this way, safer and more comfortable than conventional direct speed adjustment,

Manned vehicle pedal according intelligent balancing system is also provided a mass sensor, and the other end connected to the sensor input acquisition system mass sensor, power detection can be performed, intelligent control of the motor drivers with different body weight, to improve the comfort of the driver degree, improve the utilization of the battery. When the driver is standing on the vehicle body, while the body automatically detects the driver's weight balance, and based on the detected value, the adjustment of the PID regulator P (proportional phase) parameters controlling the output torque of the motor, when the driver when heavier, is increased by increasing the value of the motor output torque P, on the contrary, the value of P is reduced to reduce the torque of the motor, dynamic adjustment of parameters, increase the comfort of the driver and improve the utilization of the battery . Advantageous effects of the present invention: balanced intelligent vehicle system proposed by the present invention, the two-wheeled vehicle can travel, based on information from the pressure, speed, etc. to control the balance of the motorcycle, in order to ensure traffic safety.

As a result of the present invention, the control module can be multiple, concurrent control of drive control chip, in conjunction with a simple speed signal acquisition program, the control signals can multiplexed time difference control in the nanosecond to enhance the operation efficiency, shortened operation time, reduce costs , greatly improved the stability of the system.

The car balance intelligent system uses smart speed processing, during exercise the maximum speed limit, and leave some room for growth, security and comfort for the driver to provide certain guarantees. The intelligent balancing vehicle power system capable of detecting, intelligent control of the motor drivers of different weight, improved driver comfort and improve the utilization of the battery. In addition, the car balance intelligent system architecture is simple, easy to operate, during exercise can automatically maintain a balance, more suitable for large venues, the use of airports, golf courses, police patrols and other related personnel. BRIEF DESCRIPTION

Figure 1 a schematic diagram of an exemplary vehicle intelligent balancing system according to the present invention.

FIG 2 a schematic view of a preferred embodiment of the intelligent control module balancing vehicle system according to the present invention.

Figure 3 overall configuration diagram of a smart balance control device in two embodiments of the present invention.

Figure 4 intelligent balance control apparatus in an integrated circuit embodiment of the present invention, Figure II.

FIG 5 is a schematic pin sensor acquisition system according to a second self-balancing intelligent control device according to the present invention.

6 the inclination angle of the smart balancing vehicle according to a second embodiment of the system flowchart of an algorithm of the present invention.

Figure 7 a schematic view of the pin according to a second motor drive system and the right CPLD module connector embodiment of the invention.

FIG 8 is a schematic diagram of the Hall signal acquisition pin according to a second self-balancing intelligent control device according to the present invention.

9 configuration diagram of a vehicle of the foot lever in a direction according to the second embodiment of the present invention. FIG view of structure 10 in a direction according to a second embodiment of the present invention was poured transverse rod.

detailed description

The following detailed description of preferred embodiments of the present invention in conjunction with the accompanying drawings.

Example a

Please refer to FIG. 1, FIG. 2, the present invention discloses an intelligent vehicle system balancing; the vehicle intelligent balancing system comprising at least: a motorcycle body, two holding members 101, two pressure sensors 102, 103 and a control module.

Incidentally, to simplify the illustration, FIG. 1 shows only the direction of the two-wheeled vehicle main body 3 and the rod included supporting the pole direction of the rod 6, the control module 103 in FIG. 1, also not shown, the control forming module 103, see FIG.

The two-wheeled vehicle comprising any one of the only two front wheels, preferably, but not limited to: electric vehicles. As the skilled artisan will have to understand the structure of the motorcycle body, therefore it will not be described in detail. The two holding members 101 are attached to the motorcycle body in a direction included in left and right ends of the rod 3 as the hand of the driver of the motorcycle. Preferably, each holding member 101 is interposed between an end of the rod 3 in the direction of a motorcycle, a pressure of 3 to control the steering direction of the lever rod 3 by applying direction.

The two pressure sensors 102 are used to sense a pressure of the holding member 101, shown in Figure 1, a pressure sensor 102 connected to the left end of the holding member 101, another pressure sensor 102 connected to the right end of the holding member 101.

The control module 103 provided in the motorcycle body, a pressure value based on the two sensed by pressure sensor 102 to control the steering direction of the rod 3. For example, the control module 103 to determine an optimum angular orientation of the steering shaft 3 based on difference between the two pressure sensor 102 sensed pressure values, which in turn controls the driving direction of the shaft rotation driving means 3, so that the direction of the rod 3 rotating the optimal steering angle.

As a preferred embodiment, the control module 103 includes a speed detection unit 131, as shown in FIG.

The speed detection unit 131 based on the Hall current state data obtained, using a predetermined method to determine the speed of the motorcycle speed.

Wherein said Hall state data provided by the hall sensor disposed in the motorcycle motor. In general, the motor cycle of operation a total of 12 Hall states.

In particular, the speed detection unit 131 based on the Hall current state data obtained by using such method cycle, the cycle frequency of the frequency mixing method, or the like method to determine the predetermined speed of the motorcycle speed.

Incidentally, it should be understood that those skilled in the art method cycle, and the cycle frequency of the frequency mixing method, therefore will not be described in detail. Preferably, the velocity detecting means 131 comprises: error concealment means (not shown) and a speed determining unit (not shown).

The error cancellation state of the calibration data and the Hall current is obtained for the corresponding data units between the respective calibration data is determined based on correlation of the Hall current state data obtained from all the Hall state.

In particular, the error concealment unit determines the state of the Hall current data corresponding to the obtained calibration data based on the following formula:

12

Z (u) = X (k +) »Y (n -12 + k) where, χ ') = {x x , x 2, x i, x A, x 5, x 6, x 1, x%, x 9, x w, x, x n} calibration data for the motor cycle of operation the Hall state, its value can be normalized, values between 0 and 1, for the convenience of calculation, the x (0 extended to two That cycle

Figure imgf000010_0001
} Status data sequence Hall measurement is obtained during operation, w is the Hall current sequence number state, the Y ( «) collected status data for the present time the Hall," take an integer of 0 to 11, Σ (1 . as a "time series state data Upsilon Hall («) [chi] and calibration) correlation calculation function specific calculation method is: to give each a Upsilon ( «) values, the above equation will give a function of the Μ Ζ, wherein Μ take an integer of 0 to 11, [zeta] ([mu]) are [chi]) and Upsilon ( «) correlation function, which can obtain the maximum value [zeta] ([mu]), and we do not care ζ (Μ) specific value, but about which the maximum sequence number, find the corresponding serial number, you can locate the data corresponding to X in accordance with the sequence number, i.e., calibration data corresponding to this data is the most relevant state of the Hall Upsilon ( «) time, for example: u = a time (a constant integer of 0 to 11 takes a) Z (M) has its maximum value, then substituting into the above formula to give Χ + Ω;) 7-12 + associated with the corresponding Y (k takes any value from 1 to 12 corresponds to the data correlation), substituting the values taken here gets 12 (12 + 0) ¥ ( « ) associated with, wherein Χ (12 + Ω) of Specific values ​​of the given data, this speed calculation parameters.

The speed determination unit based on the determined state of the Hall with the current data corresponding to the obtained calibration data, filtering the following algorithm to determine the velocity and acceleration of the motorcycle:

Figure imgf000011_0001

E [X (n)] = ΣX (n)

v k = v k _ l + k _ l T + ξ [ν / ζ - (v k _, +

Figure imgf000011_0002
,

¾ = ¾-i +? 7 (¾-¾-i) 7 wherein said current state is the Hall data corresponding to the obtained calibration data, ^^ ( "^ is the average of all calibration data state Hall value, gamma] (data of the current state of the Hall obtained, the Hall once per state transition corresponding to the distance traveled by the wheel, its value can be a Hall motor according to one week number of states, and the wheel speed ratio gear box the outer diameter of relations, generally ranging between 0.0001m to 0.01m, the current best estimate of the time ^ wheel speed, a wheel speed estimated value optimal timing on W, optimal estimation value of the current time in the wheel speed, W one time on the optimum estimated value of the wheel acceleration, the wheel speed Vi, ^ measured motor current acceleration, T is the current time and the time on a time interval, ^ filter coefficient to a predetermined priority in 0 to values ​​between 1 /; values ​​between 0.1 to 1000 tends to 1, the faster the response speed, the greater the value of the corresponding filter data fluctuation caused by the data too great shock...

As another preferred embodiment, the control module 103 comprises: a first sub-control unit 132, as shown in FIG. The first sub-control unit 132 for driving the related information, based inverted pendulum model and human intervention response model active combination to control movement of the motorcycle.

Wherein the related information includes information such as a pressure sensor disposed in the body of the motorcycle, a gyro sensor, a speed sensor, an acceleration sensor device is provided.

Preferably, the response model is:

,, I k (M + m k ) + Mm k r k 2,,

I k (M + m k) + Mm kk I k (M + m k) + Mm k r k I k (M + m k) + Mm k r k v k + l = v k + a k + AA k

m k + l = (\ - K) m k + K ^ k,

Wherein ^ is the person on around wheel rotating platform and platform moment around the centroid of motion; M is a wheel mass; is the sum of mass systems of the people on the platform and the platform estimated value at time k; Lambda is the system platform and the platform people on about its centroid rotational moment of inertia / estimated value at time k; is rotated from the axis and w centroid estimate; Λ +1, m t + l , respectively, k + 1 moments of /, m estimated value of r and replace 4, m k, k + 1 participation time computing. Is the angular acceleration, Vi is the traveling speed of the motorcycle; G is the gravitational acceleration; the motorcycle is inclined angle relative to the horizontal position; equilibrium state is maintained for said predetermined acceleration motorcycle; P. And I. They are predetermined ratio of a predetermined integral coefficient, a predetermined proportional coefficient P. It may be between 0 and 100. The value of the intensity of the response system, priority, P. It may be a value between 0 and 1; acceleration estimated value of the motorcycle; for the velocity estimation value a time optimal for the two-wheeled vehicle speed control amount; η, κ, ρ, respectively, the faster a / t, m k, ^ a predetermined order filter coefficients, preferably, η, κ, ρ values may be between 0 and 1, the larger the value, m k, ^ response, but also may cause an error, select the appropriate parameters of the system is a prerequisite for stable operation; φ, τ, are predetermined feedback coefficient, preferably, may be a value between ± 1. Feedback factor limiting the impact of the current state of the next state variables.

Thereby, the first sub-control unit 132 based on the calculated torque to control the two-wheeled motor current, speed, etc., thereby adjusting a speed of the motorcycle, so that, when the driver heavier when the motor output torque is increased, conversely, the reduced motor torque, dynamic adjustment of parameters, increase the comfort of the driver and improve the utilization of the battery.

As having a preferred embodiment, the control module 103 comprises: a second sub-control unit 133, as shown in FIG. The second sub-control unit 133 based on the relevant parameters of the two-wheeled vehicle, two-wheeled vehicle when the vehicle speed has reached a predetermined maximum value, the first acceleration and then deceleration of the motorcycle is adjusted within a predetermined range speed.

Wherein said motorcycle related parameters include but are not limited to: the two-wheeled motor Hall state information, the two-wheeled platform with respect to the horizontal offset angle, vehicle speed and acceleration. The second sub-control unit 133 obtains the relevant parameters of the motorcycle by a Hall sensor arranged on the two-wheel vehicle, a gyroscope and speed detection unit and the like.

In particular, when the motorcycle reaches a predetermined maximum speed (less than the speed limit of the motorcycle), said second sub-control unit 133 based on the relevant parameters of the two-wheeled vehicle, in a predetermined range increasing the driving force of the two-wheeled motor so that the motor acceleration a motorcycle, the motorcycle has a further acceleration of the process in motion, the driver of the motorcycle due to inertia, the hysteresis two-wheeled vehicle body changes, thereby generating a rearward force, the driver's body with a tilt platform, subsequently, the second sub-control unit 133 then provides the respective sensors according to the sensed information and the speed detection means speed information, controlling said two-wheeled vehicle deceleration, so that the speed of the motorcycle to reach a new equilibrium. After the actual test, acceleration within a predetermined range, time is short, the small size, the driver hardly feel this way than conventional direct control speed adjustment, safer and more comfortable.

In summary speed can be performed, intelligent vehicle system according to the present invention, balancing the sensors based on the respective collected data, processed by the control module after the balancing process motorcycle smoother, comfort, speed reaches a predetermined maximum value to ensure driver safety. Second Embodiment

This embodiment differs from the first embodiment of the present embodiment is that, in this embodiment, between the left and right handle cross member, respectively with the left and right pressure sensor a pressure sensor. Left and right hand grips can drive the direction of the rod from side to side, and then help the driver maintain balance. Left and right pressure sensor a pressure sensor capable of detecting the left and right grip pressure value and transmits it to the host microcontroller, data analysis by the host microcontroller, the left and right balance of the vehicle steering control, to improve the stability of the direction control.

Smart balance equilibrium intelligent vehicle system of the present invention is a control apparatus (i.e., control module), as shown in FIG 3, FIG. 4, which is collected by the sensor system 8, host microcontroller 7, CPLD module 9, the left motor driving system 11, the right motor 10, the drive system composed of a power supply circuit, connected to the output terminal of a host microcontroller 7 sensor input acquisition system 8, 7 and CPLD host microcontroller bidirectional connection between modules 9, 9, respectively, and an output terminal CPLD module 11 motor drive system and the left motor drive system 10 is connected to the right of the vehicle body speed, direction, safe for adjustment, self-balancing vehicle body. Workflow is as follows:

Sensor acquisition system 8 voltage, current, pressure, acceleration sensors for real-time signal acquisition, the position and status signals are then transmitted to the master MCU collected for analysis. Pass over the host microcontroller 7 by the sensor 8 a position acquisition system and a status signal, are calculated, the obtained direction of motor control, and the phase of the PWM data, and be transmitted to the 9, CPLD module to control the direction of the motor 9 the CPLD module, phase and the PWM data is processed, and then outputs a corresponding timing signal 12 by the passage 10 simultaneously, update status information for the motor 12 and phase shift 13. Host microcontroller 7 CPLD module to simultaneously receive real-time motor 9 detected by the Hall state. ,

As shown, the DOUT pin sensor acquisition system 8, BUSY, DIN, DLK the master chip DOUT, BUSY, DIN, DLK 5 are connected to form a simple SPI bus communication, sensor acquisition system 1 to 8 8 pin sensor input pin 8, respectively, then the corresponding sensor. Initially, the host microcontroller 7 through the bus write operation mode sensor acquisition system 8, sampling accuracy, and other command words, when the end of the sensor pin BUSY acquisition system idle display 8, can be written to the corresponding channel address via the bus, this channel address is then read sensor data by the host microcontroller 7 pairs of data calculation analysis, the left motor 12 and right motor control direction 13, the phase and the PWM data.

7, is a right side schematic view of the motor drive system 10 with the pin of the CPLD module is connected, the motor control circuit to control three-phase bridge, the left and right motor drive system 11 and the motor drive system 10 each for an six power MOS transistor , each MOS transistor of each of the control signals required way, totaling about driving system 10 controls the path 12, are connected to the corresponding pin 9 CPLD module. Is to the right motor drive system 10 as an example: MOTORR_AO, MOTORR_Al a pair of upper and lower drive pin output control signal, the control MOS transistor is turned off and the upper and lower, and empathy MOTORR_BO MOTORL_B, MOTORL CO and also a MOTORL_CO driving the output pin of the upper and lower control signals, the control of turning on and off the respective upper and lower MOS transistor.

8 is a schematic diagram of the pin 13 of the Hall signal acquisition right end of the motor, the same Hall signal collection end 12 of the left motor and the right motor 13 pin Hall signal pin collection end, the motor 13 is to the right of the Hall signal pin schematic diagram of an example collection end: R_AIN, _BIN CIN pin is connected to R_HALL CPLD module 9 [A..C] iN pin, CPLD time acquisition module 9 level of the pin 13 and right motor. The motor is running, it regularly change in the electrical three flat pins, into different combinations of data, controls the motor commutation, while, when the value of change in the Hall host microcontroller timer is started next time Huo when the Boolean value changes, the count value is read, and clear the timer, the time counting starts, and L, and in accordance with the obtained time of the timer t, can be derived according to a formula based on the distance at the microscopic state of the Hall two points speed value V = Llt precise obtained value, and then subjected to first-order filter, to obtain accurate velocity encoding value, such as the effect of the disc.

5, based on the calculated velocity of the host microcontroller, the present invention derive their horizontal movement during acceleration, and then the data of the acceleration sensor, the inclination angle calculated in the vertical direction, thereby detecting the tilt angle of the gyro is corrected to give more accurate values ​​of the inclination angle.

Intelligent balancing system of the present invention is the vehicle speed intelligent processing speed, i.e. the motor and the vehicle body in accordance with the parameter, the maximum value of the velocity in the program, so that it satisfies the requirements of speed, so that the speed and security of a space left so that it never reaches the limit of the vehicle body. When the driver driving speed has reached a defined maximum safe space left by the vehicle body, in a safe space 10 is increased by a certain driving force on the left and right motor drive system 11 and the motor drive system, the vehicle body during traveling there is a process to accelerate, and the driver due to variations in the inertia lag of the vehicle body, a rearward pulling force is generated. The sensor and the feedback speed, to produce the effect of slowing the vehicle body, the vehicle body speed to reach a new equilibrium. The host microcontroller 7 calculated left motors 12, 13 control the direction, the phase of the motor and the PWM data is transferred to the right in the CPLD module 9, processed CPLD module 9, then transmitted via the pin 7 shown in Fig, 12 by the passage 10 while the output port corresponding timing signals, to update status information 12 and the motor 13 phase shift. 7 while the host microcontroller CPLD module 9 receives data in accordance with the state of the Hall detected motor shown in FIG. 8, after calculation analysis, the velocity of the moving process of the present invention, and following the procedure shown in FIG. 5, the present invention is calculated the tilt angle. Balance intelligent control vehicle speed value in accordance with the present invention and the vehicle body tilt angle value.

As shown, the direction control 9 (i.e., the direction of the rod 3) and the cross member 3 by the uprights 6, where 6 is divided into pole fixed rod 61 and the lift rod 63 in two parts, with an upper cross member 63 connecting the lift rod 3 fixing the lower end of rod 61 is connected to the vehicle body, the lower end of the lift rod 63 is disposed within the fixation rod 61. As a preferred embodiment of the invention, the fixation rod 61 is provided with a "Ω" shape in the ring, lifting rod 63 is inserted into the inner ring, the fastening screw 62 is provided with a fixed rod 61, the fastening screw 62 and the fixed rod "Ω "Central shape connected, the fastening screw 62 may be driven by rotating the ring hold fast or loosening the lock lever 6.

Incidentally, in this embodiment, the diameter should be smaller than the diameter of the lifting rod fixed rod and the lifting rod with a length greater than the length of the fixed rod is equal to a fixed rod end secured to the vehicle body height and ground.

The balance lever vehicle direction, the length of the lift rod 63 is not less than the fixed length of the rod 61 and the fixed rod 61 is perpendicular to the ground from the lower end of the length of the ground and, when the rotary tightening the screw 62, loosening the lock lever 61 in the ring, the lower end of the lift lever 63 from the fixed contact with the ground until the piercing rod 61, functions as a vehicle foot.

Preferably, the vehicle direction, the lever balance, the lower end of the fixed rod 61 is bent using a joint 64 is connected to the vehicle body, with a catch provided on a bent joint 64, opening the latch, the lever can be poured at any lateral angle, the control after pouring the shape of a rod 10, the rear cross poured, beam 3 carrying handle to become the vehicle for easy storage and on various occasions placed within the car trunk. And applications of the invention described herein is illustrative, and not to limit the scope of the present invention, like in the above embodiment. Modification herein disclosed embodiments and variations are possible in alternate embodiments to those of ordinary skill in the art that various equivalent components and are well known. Those skilled in the art should appreciate that, without departing from the spirit or essential characteristics of the present invention, the present invention may be in other forms, structures, arrangements, proportions, and with other components, materials, and components to achieve. Without departing from the scope and spirit of the present disclosure, other variations and modifications may be made to the embodiments herein disclosed.

Claims

WO 2014/005475 claims bifurcation book PCT / CN2013 / 076728, an intelligent vehicle system balance, characterized in that at least the intelligent balancing vehicle system comprising:
Wheelers body;
Two holding members, respectively, in the direction of the mounting bar ends contained motorcycle body;
Two pressure sensors respectively for sensing pressure of a holding member;
The control module provided in the motorcycle body, the two pressure sensors based on sensed pressure value to control the steering direction of the rod. The intelligent balancing system of the vehicle as claimed in claim 1, wherein:
Said control module comprising: a speed detecting means, based on the Hall current state data obtained, using a predetermined method to determine the speed of the motorcycle speed. The intelligent balancing system of the vehicle as claimed in claim 2, wherein:
Said speed detecting means comprises:
Error removing unit, for calibration between the respective data correlation to determine the state of the Hall current data corresponding to the obtained calibration data based on the Hall current state data obtained from all the Hall state;
Speed ​​determining means, based on the determined state of the Hall with the current data corresponding to the obtained calibration data, filtering the following algorithm to determine the velocity and acceleration of the motorcycle:
_ 1 X {n)
V k = r Y (k) (E [X (n)]),
Ε [Χ (η)] = ΣΧ (η), v k = ν ^ + ά ^ Τ + ξ ν 1ί - (v t _ +!)], ¾ = ¾-ι + 7 (¾ -? ¾- ι) 'which is the current state of the Hall obtained calibration data corresponding to the data, Upsilon (for the duration of the current collection Hall, Hall once every distance corresponding to the state transition traversed wheel, which the motor may be a value one week Hall number of states, the gearbox and the wheel speed ratio relationship between the outer diameter of obtained values ​​between 0.0001m to 0.01M,
The current best estimate of the time of ^ the wheel speed, the optimal moment estimated value of the wheel speeds, an optimal estimate of the current time in the wheel speed, wheel acceleration estimated value of the optimal moment in a W, ^ is the speed of the wheel, the measured motor current acceleration, the current time and the time on a time interval of predetermined filter coefficients. The intelligent balancing system of the vehicle as claimed in claim 1, wherein:
The control module comprises: a first sub-control unit, according to the relevant information inverted pendulum model based active human intervention response model and combination of controlled movement of travel of the motorcycle. The intelligent balancing vehicle system according to claim 4, wherein:
The response model comprises:
,, I k {M + m k ) + Mm k r k,.,
M k = ^ Shang ω + r k v k - gr k (M + m k) a h k
mk
-I k + m k r k m k gr k I k + m k r k a k = - - -v k + - - ≥Ji -a k + - - -M k (M + m k) + Mm k r k I k (m + m k) + Mm k r k I k (m + m k) + Mm k r k
Figure imgf000017_0001
m k + l = (1- K ) m k + κτΑ ,,
^ + i = (^ - p k + p ^ k, where ^ is a human on around wheel rotating platform and platform moment around the centroid of motion; M is a wheel mass; ih k is a system people on the platform and the platform the sum of the masses estimated value at time k; Lambda is the system for people on the platform and the platform rotational inertia / estimated value at time k around its centroid; is rotated from the axis and w centroid estimate; Λ +1 , m k + l, 4 +1 are the time k + 1 for /, m, r and estimates Alternatively, m k, k + 1 time computing participation; is the angular acceleration, the motorcycle is traveling ^ velocity; G is the gravitational acceleration; the motorcycle is inclined angle relative to the horizontal position; a t is the state of equilibrium of the two-wheeler to a predetermined acceleration; and P.
I. Are predetermined ratio of a predetermined integral coefficient; estimated value of the acceleration of the motorcycle; is the velocity estimation value a time optimal for the two-wheeled vehicle speed control amount; η, κ, ρ are / a predetermined order filter coefficients t, m k, r t a; φ, τ, are predetermined feedback coefficient.
The intelligent balancing system of the vehicle as claimed in claim 1, wherein:
The control module comprises: a second sub control unit for correlation parameter based on the motorcycle, when the motorcycle vehicle speed has reached a predetermined maximum value, the two-wheeled vehicle acceleration is within a predetermined first range and then decelerating the vehicle speed is adjusted. The intelligent balancing system of the vehicle as claimed in claim 1, wherein:
The motorcycle body comprising: two laterally disposed wheels, the respective drive motor is connected to the wheel axle is fixed laterally on the pedal axle is connected manned around the axle freely rotatable wheel , manned pedal axle and connected integrally fixed to each other;
The direction of the rod comprises a cross member provided between the uprights and the cross member pedal manned motorcycle body;
The sensor is connected to the control module comprises a collection system, a left and a right motor drive system motor drive system, a current sensor input acquisition system and the vehicle body with the pressure sensor, voltage, acceleration sensors, a motor drive system is connected to the left and the left motor and right motor the motor drive system is connected to the right. The intelligent balancing system of the vehicle as claimed in claim 7, wherein:
The control module further includes an output host microcontroller, CPLD module, a power supply circuit, a sensor acquisition system host microcontroller input terminal, a two-way connection between the master and the microcontroller CPLD module, CPLD module output terminals are left motor drive connected to the motor drive system and the right system. The intelligent balancing system of the vehicle as claimed in claim 8, wherein:
4 the master MCU 10 performs data bus communication with the sensor acquisition system can be extracted, calculation, analysis, and control data transmitted by the sensor acquisition system, and be transmitted to the CPLD module, said host microcontroller CPLD module to simultaneously receive real-time detection of the state of the Hall motor; said master microcontroller control by the driving force of the motor drive system, thereby controlling the maximum vehicle speed during exercise;
The CPLD module connected firstly to the left and right motor drive system, while the corresponding pins are connected to a host microcontroller can calculate the direction of the receiving motor control derived by the host microcontroller, and the phase of the PWM data, and the data 12 while the output passage 10, and further controls the motor driver module; the same time, the terminal is connected to the Hall signal acquisition module CPLD the left and right motors, the real-time acquisition of the Hall state of the motor, and transmits to the master MCU processes. The intelligent balancing system of the vehicle as claimed in claim 7, wherein:
The collection system includes a sensor A / D acquisition module, capable of real-time acquisition of an external voltage, current, pressure, acceleration sensor signal, and then the collected position and a status signal transmitted to the host microcontroller for analysis;
The left and right motor drive system and the motor drive system, the motor control circuit to control three-phase bridge, each system is provided six power MOS transistors, each MOS transistor of each of the control signals required way, the left and right motor drive totaling 12 channel system 10 a control signal 10 controls the signal passage 12 are connected to corresponding pins of CPLD module 12 channel multiplexer 10 a control signal by the CPLD module concurrency control. The intelligent balancing system of the vehicle as claimed in claim 7, wherein:
Said uprights comprises a fixed rod and a lifting rod, lifting rod is connected at one end to the cross member, one end of the fixing bar movably connected body, the direction control lever is provided with means capable of lifting rod up and down;
The lifting device capable of lifting rod is a "Ω" shape in the ring, lift rod inserted in the inner ring and the fixed rod provided with a fastening screw, the fastening screw and the fixation rod is connected to the "Ω" shape in the ring, rotation tight Central drive screw may be solid or relax hold thick shaft;
The other end with a latching lever provided using a bending joint is connected to a vehicle body, opening the latch, the control rod can be at any angle lateral pouring;
The lifting rod of smaller diameter than the fixed rod; the lifting rod with a length greater than the length of the fixed rod is equal to a fixed rod end secured to the vehicle body height and ground.
PCT/CN2013/076728 2012-07-04 2013-06-04 Smart balanced vehicle system WO2014005475A1 (en)

Priority Applications (4)

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CN 201220321805 CN202657171U (en) 2012-07-04 2012-07-04 Intelligent self-balancing electric vehicle and direction control rod thereof
CN 201210230742 CN102774453B (en) 2012-07-04 2012-07-04 Intelligent vehicle balancing system
CN201220321805.2 2012-07-04
CN201210230742.4 2012-07-04

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Publication number Priority date Publication date Assignee Title
US20070296170A1 (en) * 1999-06-04 2007-12-27 Segway, Inc. Enhanced Control of a Transporter
EP1216911A2 (en) * 2000-12-20 2002-06-26 Aphrodite Agencies Ltd. Steering control for self-propelled vehicles
US20050023067A1 (en) * 2003-08-01 2005-02-03 Ledford Timothy Gerald Grip actuated vehicle control system
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