WO2016026356A1 - 一种电动两轮汽车 - Google Patents

一种电动两轮汽车 Download PDF

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Publication number
WO2016026356A1
WO2016026356A1 PCT/CN2015/083523 CN2015083523W WO2016026356A1 WO 2016026356 A1 WO2016026356 A1 WO 2016026356A1 CN 2015083523 W CN2015083523 W CN 2015083523W WO 2016026356 A1 WO2016026356 A1 WO 2016026356A1
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WIPO (PCT)
Prior art keywords
angular velocity
flywheel
electric
speed motor
low speed
Prior art date
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PCT/CN2015/083523
Other languages
English (en)
French (fr)
Inventor
祝凌云
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北京凌云智能科技有限公司
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Application filed by 北京凌云智能科技有限公司 filed Critical 北京凌云智能科技有限公司
Priority to JP2017504190A priority Critical patent/JP2017534500A/ja
Priority to US15/502,996 priority patent/US20170363429A1/en
Priority to EP15833563.8A priority patent/EP3184406A4/en
Publication of WO2016026356A1 publication Critical patent/WO2016026356A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J43/00—Arrangements of batteries
    • B62J43/30—Arrangements of batteries for providing power to equipment other than for propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
    • B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
    • B62D37/06—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses using gyroscopes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/02—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with two road wheels in tandem on the longitudinal centre line of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
    • B62H1/00—Supports or stands forming part of or attached to cycles
    • B62H1/10—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride
    • B62H1/12—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride using additional wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/02—Frames
    • B62K11/04—Frames characterised by the engine being between front and rear wheels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J43/00—Arrangements of batteries
    • B62J43/10—Arrangements of batteries for propulsion
    • B62J43/16—Arrangements of batteries for propulsion on motorcycles or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/20—Cycle computers as cycle accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2204/00—Adaptations for driving cycles by electric motor
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to the field of electric vehicles, and more particularly to an electric two-wheeled vehicle with a gyro device.
  • Solutions for protecting the user (driver) of a two-wheeled vehicle from inclement weather and high winds are generally limited to: partially shielding the device that protects the driver from external influences, such as a windshield, to allow The user uses his or her one or both legs to help stabilize the vehicle during stationary or low speed driving, that is, the driver's feet can directly touch the ground.
  • some solutions in the prior art such as using a closed cab for a two-wheeled vehicle, but since the solution does not use extra wheels to stabilize the vehicle, the vehicle may not be stable upright in some states. Possible.
  • the gyro device enables the electric two-wheeled vehicle to maintain the balance of the vehicle body while it is stationary but not turned off, such as waiting for a traffic light, during low-speed driving of the car, and during a cornering of the car.
  • an electric two-wheeled vehicle includes: a frame; an outer casing coupled to the frame; a front wheel and a rear wheel coupled to the frame; a gyro coupled to the frame, the gyro device including a flywheel; and a control system that controls the flywheel during the start but not running of the electric two-wheeled vehicle, during normal driving, or during a turn The angular velocity is used to maintain the balance of the body of the electric two-wheeled vehicle.
  • the gyro device in the electric two-wheeled vehicle is one and includes only one flywheel.
  • the gyro device in the electric two-wheeled vehicle is two, and each of the gyro devices includes one flywheel, and the two gyro devices are opposite to the frame
  • the longitudinal axes are arranged in a symmetrical manner.
  • the control system includes a microprocessor, an electronic gyroscope, an angle sensor, and a low speed motor controller, the electronic gyroscope reading station when the vehicle is tilted in a lateral direction due to an external force An angle of inclination of the vehicle body, the angle sensor reading a precession angular velocity of the flywheel, the microprocessor being based on the tilt angle And the precession angular velocity determines a magnitude and a direction of a precession angular velocity of the flywheel required to maintain a balance of the vehicle body, and is output to the low speed motor controller to maintain the vehicle body by controlling precession of the flywheel balance.
  • the control system includes a microprocessor, an electronic gyroscope, and a low speed motor controller, the electronic gyroscope reading the car in a lateral direction when cornering when the car turns An angle of inclination, an angular velocity, and a centripetal acceleration of the vehicle, the angle sensor reading a precession angular velocity of the flywheel, the microprocessor being based on the tilt angle, an angular velocity, a centripetal acceleration, and the precessional angular velocity Determining the magnitude and direction of the required precessional angular velocity of the flywheel and outputting to the low speed motor controller to maintain the balance of the vehicle body by controlling the precession of the flywheel.
  • the control system includes: a microprocessor, an electronic gyroscope, an angle sensor, and a low speed motor controller, the electronic gyroscope reading when the vehicle is tilted in a lateral direction due to an external force An angle of inclination of the vehicle body, the angle sensor reading a precession angular velocity of the two flywheels, the microprocessor determining the required to maintain a balance of the body of the automobile based on the tilt angle and the precession angular velocity The magnitude and direction of the precessional angular velocity of the two flywheels is output to the low speed motor controller to maintain the balance of the body by controlling the precession of the two flywheels.
  • the control system includes a microprocessor, an electronic gyroscope, an angle sensor, and a low speed motor controller, the electronic gyroscope reading the car when the car turns The angle of inclination in the lateral direction, the angular velocity, and the centripetal acceleration of the vehicle, the angle sensor reads the precession angular velocity of the flywheel, the microprocessor based on the tilt angle, angular velocity, and centripetal Acceleration and the precession angular velocity determine a magnitude and a square of the precession angular velocity of the two flywheels required to be output to the low speed motor controller to maintain the precession of the two flywheels to maintain The balance of the body.
  • the microprocessor when the car turns, the microprocessor further determines an angle value of the inclination of the body of the car that should be generated in a lateral direction, the angle value enabling the car to rely on itself
  • the component of the gravity generated by the tilt in the lateral direction cancels the centrifugal force generated by the turning of the automobile or the external force in the lateral direction, so that the body of the automobile is maintained in an equilibrium state.
  • control system includes two sets of low speed motor control Device.
  • the starting of the electric two-wheeled vehicle but not during driving is such as when waiting for a green light at an intersection, other emergency braking.
  • the electric two-wheeled vehicle of the present invention since one or two gyro devices are provided, it is possible to wait for the green light when the car has started but not traveling, for example, when the car encounters an external force during normal running; And when the car turns, relying on the action of one or two gyro devices to achieve the balance of the car body in the lateral direction, that is, the left and right direction of the car, thereby solving the poor stability of the electric two-wheeled vehicle existing in the prior art.
  • Technical problem since one or two gyro devices are provided, it is possible to wait for the green light when the car has started but not traveling, for example, when the car encounters an external force during normal running; And when the car turns, relying on the action of one or two gyro devices to achieve the balance of the car body in the lateral direction, that is, the left and right direction of the car, thereby solving the poor stability of the electric two-wheeled vehicle existing in the prior art.
  • FIG. 1 is a schematic view showing an embodiment of an electric two-wheeled vehicle of the present invention with a gyro device
  • Figure 2 is a schematic view showing a control system of an electric two-wheeled vehicle with a gyro apparatus of the present invention
  • Figure 3 is a schematic view showing a gyro apparatus of an electric two-wheeled vehicle with a gyro apparatus of the present invention, showing a flywheel;
  • Figure 4 is a schematic view showing an embodiment of the electric two-wheeled vehicle of the present invention with two gyro devices;
  • Figure 5 is a schematic view showing a control system of an electric two-wheeled vehicle with two gyro devices of the present invention
  • Figure 6 is a schematic illustration of two gyroscopic devices of an electric two-wheeled vehicle with two gyroscopic devices, showing two flywheels in accordance with the present invention
  • Figure 7 is an exploded perspective view showing a gyro device in accordance with the present invention.
  • the balance of the vehicle in the lateral direction is basically achieved by the mechanical gyro.
  • mechanical gyro due to the complicated control of mechanical gyros, there are also high requirements for components such as microprocessors, motors, sensors, etc., and more safety issues are involved, so many existing electric two-wheeled vehicles are basically stable. Problems such as poor sex, slow start of the gyro, and limited cornering ability have not been able to achieve commercial scale.
  • FIG. 1 is a schematic view showing the structure of an electric two-wheeled vehicle with a gyro apparatus according to the present invention.
  • “electric two-wheeled vehicles” will be collectively referred to as “automobiles”. It includes: a frame 1, a casing 3, a front wheel 2, a rear wheel 6, a gyro device 5, a steering wheel 4, a seat 7, an auxiliary wheel 8, a battery pack 9, and a control system 10.
  • the outer casing 3 is connected to the frame 1, and the front wheel 2 and the rear wheel 6 are also connected to the frame 1.
  • the gyro device 5 can be fixed to the frame 1 at a detachable manner by a connecting member such as a bolt at a bottom.
  • the gyro device 5 can also be attached to the frame 1 at a bottom by a fastening means such as welding.
  • the position of the gyro device 5 on the frame 1 is preferably a position centered in the longitudinal direction of the frame 1, but is not limited thereto.
  • the control system 10 can also be secured to the frame 1 by a connector such as a bolt in a detachable manner.
  • the control system 10 can also be coupled to the frame 1 by means of a fastening such as welding.
  • the control system 10 includes: a power supply, an attitude controller, a high speed motor controller and a high speed motor, a low speed motor controller, and a low speed motor.
  • the attitude controller includes: an electronic gyroscope, a microprocessor, and an angle sensor.
  • FIG. 3 is a schematic view showing a gyro device 5 of an electric two-wheeled vehicle with a gyro device of the present invention. Among them, the flywheel 13 is connected to the low speed motor 11.
  • the two auxiliary wheels 8 are extended to contact the ground and are in the working position, thereby assisting the front wheel 2 and the rear wheel 6 so that the electric two-wheeled vehicle is balanced on the ground.
  • the gyro device 5 When the car is started, the gyro device 5 is started by a high speed motor and starts to operate. The flywheel 13 in the gyro device 5 enters an axially rotating state by means of a high speed motor. Once the car is running, the two auxiliary wheels 8 have been retracted and are in the inoperative position. At this time, the car only relies on the front and rear wheels. land.
  • the electronic gyroscope detects the angle at which the vehicle body is tilted in the lateral direction and the angular velocity values of the car and transmits them to the microprocessor.
  • the angle sensor also reads the precession angular velocity of the flywheel 13 and transmits it to the microprocessor. Based on these values, the microprocessor calculates the magnitude and direction of the torque required to maintain the lateral balance of the vehicle body and converts it to the magnitude and direction of the precessional angular velocity of the desired flywheel 13, which is then required by the microprocessor.
  • the magnitude and direction of the precessional angular velocity are commanded to the low speed motor controller, and the low speed motor controller drives the low speed motor 11 to control the precession angular velocity and direction of the flywheel 13 to produce a torque in a direction and magnitude required to maintain the body balance. , thus maintaining the balance of the body.
  • the car When the car is started but not driving, such as when waiting for a green light at the intersection, or other emergency braking, that is, the car does not turn off the power, but stops driving. At this time, the auxiliary wheel 8 is still in the inoperative position.
  • the body of the automobile In the case where only the front wheel 2 and the rear wheel 6 are supported, the body of the automobile also has a lateral direction inclination.
  • the electronic gyroscope in the control system detects the angle of the lateral direction of the vehicle body and the angular velocity of the vehicle, and then the electronic gyroscope transmits the angle of the vehicle body in the lateral direction and the angular velocity of the vehicle to the microprocessor. .
  • the angle sensor reads the precession angular velocity of the flywheel 13 and transmits it to the microprocessor. Based on these values, the microprocessor calculates the magnitude and direction of the torque required to maintain the balance of the vehicle. Then, the microprocessor calculates the magnitude and direction of the required angular velocity of the flywheel 13 according to the moment of inertia of the flywheel 13, the rotational speed of the flywheel 13, and the torque required to maintain the balance, and then according to the required precession angular velocity and In the direction, the low speed motor controller is commanded to drive the low speed motor 11 to control the magnitude and direction of the precession angular velocity of the flywheel 13 to generate a torque in a direction and magnitude required to maintain the balance of the vehicle body, thereby maintaining the balance of the vehicle body.
  • the electronic gyroscope in the control system detects the angle at which the vehicle body is tilted in the lateral direction and the angular velocity of the car, and the centripetal acceleration of the car. And pass them to the microprocessor.
  • the angle sensor reads the precession angular velocity of the flywheel 13 and transmits it to the microprocessor. Based on these values, the microprocessor calculates the angle value of the tilt that the body should produce in the lateral direction.
  • the angle value enables the vehicle to compensate for the centrifugal force generated by the turning of the car or the lateral direction by the component of the gravity generated by the tilt of the car in the lateral direction. External force to maintain the balance of the body.
  • the microprocessor then converts the value to the magnitude and direction of the precessional angular velocity of the desired flywheel 13, and issues a command to the low speed motor controller to drive the low speed motor 11 to control the magnitude and direction of the precessional angular velocity of the flywheel 13,
  • the gyro device 5 is caused to generate a torque in a direction and magnitude required to maintain the balance of the vehicle, thereby maintaining the balance of the vehicle body.
  • the electronic gyroscope detects the angle at which the vehicle body is tilted in the lateral direction and the angular velocity of the vehicle and transmits it to the microprocessor, and the angle sensor reads the flywheel.
  • the precession angular velocity is transmitted to the microprocessor, and the microprocessor calculates the torque direction and magnitude of the gyro device 5 to be output in order to restore the vehicle body to the upright state based on the angle of the tilt of the vehicle body and the angular velocity and the precession angular velocity of the flywheel.
  • the microprocessor issues commands to the low speed motor controller based on the result to cause the low speed motor to drive the flywheel 13, thereby causing the gyro 5 to generate torque in the direction and magnitude required to maintain the balance of the vehicle, thereby maintaining the balance of the body.
  • the magnitude of the torque generated by the gyro device is proportional to the moment of inertia of the flywheel 13, the rotational speed of the flywheel 13, and the precessional angular velocity of the flywheel.
  • the moment of inertia of the flywheel can be calculated by the following formula:
  • the flywheel moment M generally represents an amount of rotational inertia of the mechanical system.
  • G equal to the equivalent weight of the load in the motor drag system (ie, the weight of the load is equivalent to one particle weight at one end of the inertia radius).
  • D is the inertia diameter
  • the torque that the gyro can produce is calculated by the following formula:
  • T equal to the torque generated by the gyro device
  • the required flywheel torsion speed can be calculated
  • the flywheel has a design weight of 50 kg, a moment of inertia of 0.36 kg ⁇ m, and a flywheel speed of 12,000 rpm (1256 radians/second).
  • the motor can provide a flywheel torsion speed of 300 rpm (31.4 radians / sec).
  • the gyro device can provide a torque of approximately 14,000 NM.
  • FIG. 4 is a schematic view showing an electric two-wheeled vehicle with two gyro devices of the present invention.
  • the two gyro devices 5A and 5B are arranged in a symmetrical manner with respect to the longitudinal axis X of the automobile, but are not limited thereto.
  • the structure of the automobile is similar to the structure described above with a gyro device, and will not be redundant here.
  • Fig. 5 shows gyroscopic devices 5A and 5B of an electric two-wheeled vehicle with two gyroscopic devices, which respectively include flywheels 13A and 13B.
  • the flywheels 13A and 13B are connected to the motors 11A and 11B, respectively.
  • FIG. 6 shows a schematic diagram of a control system for an electric two-wheeled vehicle with two gyroscopic devices.
  • the control system includes a power supply, an attitude controller, two sets of high speed motors I, II and high speed motor controllers I, II, two sets of low speed motors I, II and low speed motor controllers I, II and the like.
  • the attitude controller includes: an electronic gyroscope, a microprocessor, and an angle sensor I and an angle sensor II.
  • the two auxiliary wheels 8 are extended to contact the ground and are in the working position, thereby assisting the front wheel 2 and the rear wheel 6, so that the car balance stands on the ground.
  • the control system 10 After the car is started, the control system 10 first starts working.
  • the microprocessor outputs signals to the high speed motor controller I and the high speed motor controller II to activate the high speed motor I and the high speed motor II, respectively.
  • the flywheels 13A and 13B of the two gyro devices 5A and 5B are activated by the high speed motor I and the high speed motor II, and enter the axial rotation state.
  • the high speed motor controller I and the high speed motor control The II feedback signal is sent to the microprocessor.
  • the microprocessor outputs control signals to the low speed motor controller I and the low speed motor controller II to drive the low speed motor I and the low speed motor II.
  • the low speed motor I and the low speed motor II work, at this time the two auxiliary wheels 8 are retracted, in the non-working position, in the gyro devices 5A and 5B
  • the flywheels 13A and 13B rely on the low speed motors I and II to generate precession.
  • the electronic gyroscope in the control system detects the angle and angular velocity of the car tilted in the lateral direction and transmits it to the microprocessor.
  • the angle sensors I and II read the precession angular velocities of the flywheels 13A and 13B, respectively, and transmit them to the microprocessor. Based on the aforementioned data, the microprocessor calculates the magnitude and direction of the precessional angular velocity of the flywheel 13 required to maintain the balance of the vehicle.
  • the microprocessor then outputs control signals to the low speed motor controller I and the low speed motor controller II, and the low speed motor controller I and the low speed motor controller II control the low speed motor I and the low speed motor II to control the precession angular velocity of the flywheels 13A and 13B.
  • the size and orientation of the gyro 5A and 5B produces the required magnitude and direction of torque to maintain the balance of the body.
  • the electronic gyroscope detects the angle at which the vehicle body is tilted in the lateral direction and the angular velocity value and transmits it to the microprocessor.
  • the angle sensors I and II read the precession angular velocities of the flywheels 13A and 13B, respectively, and transmit them to the microprocessor.
  • the microprocessor then calculates the torque required to maintain the balance of the vehicle based on these values.
  • the microprocessor calculates the magnitude and direction of the precessional angular velocity of the required flywheels 13A and 13B based on the moment of inertia and the precessional angular velocity of the flywheels 13A and 13B and the torque required to maintain the balance of the vehicle, and then according to the required precession angular velocity.
  • the size and direction of the low speed motor controller I and the low speed motor controller II to drive the low speed motor I and the low speed motor II, thereby controlling the magnitude and direction of the precessional angular velocity of the flywheels 13A and 13B, so that the gyro device 5A and 5B produces torque of corresponding size and direction to maintain the balance of the body.
  • the electronic gyroscope detects the angle of inclination of the vehicle body in the lateral direction and the angular velocity of the car, as well as the centripetal acceleration of the car.
  • the angle sensors I and II respectively read the precession angular velocity of the flywheel 13 and transmit it to the microprocessor. Based on the aforementioned data, the microprocessor calculates the torque required for the car to turn.
  • the microprocessor calculates an angle value of the inclination of the vehicle body that should be generated in the lateral direction, and the angle value enables the vehicle to compensate for the centrifugal force generated by the turning of the car or the lateral direction by the component of the gravity generated by the inclination of the vehicle in the lateral direction. External force to maintain the balance of the body.
  • the microprocessor outputs signals to the low speed motor controller I and the low speed motor controller II, and the low speed motor controller I and the low speed motor controller II control the operation of the low speed motor I and the low speed motor II to drive the flywheels 13A and 13B in respective directions and sizes.
  • Precession so that the gyro devices 5A and 5B are generated so that the body is The torque that is tilted in the lateral direction to keep the car in a roll state while cornering.
  • the microprocessor adjusts the magnitude and direction of the precession angular velocity of the flywheel 13 according to the vehicle speed when the car turns, the angle at which the vehicle body is tilted in the lateral direction, and the angular velocity, so that the vehicle body is in a stable tilt state.
  • the control system detects that the car returns from the turning state to the straight state, the magnitude and direction of the precession angular velocity of the flywheel 13 are adjusted accordingly, so that the vehicle body returns to the straight balance state.
  • the electric two-wheeled vehicle of the present invention can also use three or more gyro devices, and the working principle is similar to that described above.
  • a single gyro device and a dual gyro device are undoubtedly the most efficient in terms of manufacturing cost to energy consumption.
  • the gyro device 5 includes a flywheel 13.
  • the shafts at both ends of the flywheel are connected to the bearing 12, and the flywheel connecting the bearings at both ends is first loaded into the flywheel front cover 20, and then the flywheel rear cover 14 is attached to the bearing connected to the other shaft of the flywheel.
  • the flywheel front cover 20 and the flywheel rear cover 14 are tightened using bolts.
  • the flywheel connection flange 16 is bolted to the flywheel shaft from the side of the flywheel front cover.
  • the motor connection flange 17 and the high speed motor 18 are bolted together.
  • the high speed motor connecting flange 17 to which the high speed motor is connected is bolted together with the flywheel connecting flange 16.
  • the motor cover 19 is bolted to the motor, and then the motor cover 19 is rotated at a suitable angle so that the hole of the motor cover 19 is aligned with the bolt hole of the flywheel front cover 20, and the motor cover 19 and the flywheel front cover 20 are bolted. connected.
  • the flywheel cover flange 25 is bolted over the mounted flywheel cover, and the flywheel cover lower flange 15 is attached below the mounted flywheel cover. Bearings are mounted on the flywheel cover flange 25 and the flywheel cover lower flange 15, respectively.
  • the bracket right cover 22 and the bracket left cover 24 are bolted to the bracket lower cover 23.
  • the assembled flywheel box lower bearing is aligned with the bearing stepped hole of the bracket lower cover 23 in place.
  • the motor 11 is coupled to the flywheel cover upper flange 25, and then the motor is attached to the bracket upper cover 25 by bolts.
  • the gyro device has been assembled.
  • lateral direction refers to the left and right direction of the body of the automobile, that is, the width direction of the automobile
  • longitudinal direction refers to the front and rear direction of the body of the automobile, that is, the length of the automobile. Degree direction.

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Abstract

一种电动两轮汽车，包括车架（1）和与车架（1）联接的外壳（3）、一个前轮（2）、一个后轮（6）以及陀螺装置（5）。陀螺装置（5）包括飞轮（13）和控制系统（10）。所述控制系统（10）在电动两轮汽车的启动但未行驶期间、正常行驶期间或者转弯期间，通过控制飞轮（13）的进动角速度来维持电动两轮汽车的车身的平衡。该电动两轮汽车解决了现有技术中存在的电动两轮车辆稳定性欠佳的技术问题。

Description

一种电动两轮汽车 技术领域
本发明涉及电动汽车领域，更具体地涉及一种带有陀螺装置的电动两轮汽车。
背景技术
以下对本发明的相关背景技术进行说明，但这些说明并不一定构成本发明的现有技术。
在环境污染日益严重，能源供应不断紧缩、短缺和交通日益拥堵的今天，绿色低碳、轻型化、小型化的汽车逐渐成为行业发展的新趋势，也受到越来越多的出行者的青睐。
1914年出现了两轮汽车，其具有一前一后两个车轮，依靠机械陀螺实现左右平衡，从而具有了普通四轮汽车的稳定性，即，静止时不会倾倒。而且相对于传统的四轮汽车而言，两轮汽车不仅改变了人们的驾驶习惯，而且重量更轻、外形更小、也更节能。但由于机械陀螺的控制比较复杂，对微处理器、电机、传感器等组件也有较高的要求，加之涉及到更多的安全性问题，因此在过去一百年里，电动两轮汽车没有取得实质的突破性进展；现在已经研发出的许多电动两轮汽车，基本上都存在稳定性欠佳、陀螺启动缓慢、过弯能力有限等问题，因而始终未能实现商业上的规模化。
实际上有许多种两轮车辆，例如一般的摩托车和小型摩托车，它们与传统的四轮轿车相比能提供更高的效率，然而，该效率主要是由于两轮车辆和四轮轿车之间的物理差异，例如减轻的重量、较少的摩擦面以及减少的阻力等造成的。此外，由于受到天气状况，例如风的影响、碰撞事故发生时的安全问题、以及在车辆使用期间必需保持车辆的稳定性等因素，因而许多用户不愿意或不能够用摩托车代替汽车作为交通工具。
用于使两轮车辆的使用者(驾驶者)免受恶劣天气和大风影响的解决方案通常限于：对能够保护驾驶者免受外界影响的设备，例如挡风玻璃等部分地进行遮挡，以允许使用者在静止或低速驾驶期间使用自己的单腿或双腿来帮助稳定车辆，也就是，驾驶者的双脚可以直接接触地面。此外，现有技术中还有一些解决方案，如对两轮车辆使用封闭的驾驶室，但由于该解决方案没有用额外的的车轮来稳定车辆，所以车辆会在某些状态下存在不能稳定直立的可能。
对于利用陀螺稳定车辆的研究，可以追溯到约一百年前。但是由于陀螺系统的复杂性，安全性等问题，对于两轮汽车在高速转弯时的稳定性问题的解决，迄今为止也没有具备商业化规模的产品出现。
发明内容
本发明的目的在于提供一种电动两轮汽车，其包括陀螺装置。该陀螺装置能够使电动两轮汽车在静止但没有关闭电源，例如等待红绿灯期间、汽车低速行驶期间以及汽车转弯期间，均能够保持车身的平衡。
根据本发明的一个方面，本发明提供了一种电动两轮汽车，包括：车架；与所述车架联接的外壳；与所述车架联接的一个前轮及一个后轮；与所述车架联接的陀螺装置，所述陀螺装置包括飞轮；以及控制系统，所述控制系统在所述电动两轮汽车的启动但未行驶期间、正常行驶期间或转弯期间，通过控制所述飞轮的进动角速度来维持所述电动两轮汽车的车身的平衡。
根据本发明的又一个方面，所述电动两轮汽车中的所述陀螺装置为一个且仅包括一个飞轮。
根据本发明的又一个方面，所述电动两轮汽车中的所述陀螺装置为两个，且每一个所述陀螺装置均包括一个飞轮，并且所述两个陀螺装置以相对于所述车架的纵向轴线对称的方式布置。
根据本发明的又一个方面，所述控制系统包括微处理器、电子陀螺仪、角度传感器以及低速电机控制器，当所述汽车因外力出现横向方向的倾斜时，所述电子陀螺仪读取所述车身的倾斜角度，所述角度传感器读取所述飞轮的进动角速度，所述微处理器基于所述倾斜角度 以及所述进动角速度确定维持车身平衡所需的所述飞轮的进动角速度的大小及方向，并输出给所述低速电机控制器，以通过控制所述飞轮的进动来维持所述车身的平衡。
根据本发明的又一个方面，所述控制系统包括微处理器、电子陀螺仪及低速电机控制器，当所述汽车转弯时，所述电子陀螺仪读取所述汽车在转弯时在横向方向上的倾斜角度、角速度以及所述汽车的向心加速度，所述角度传感器读取所述飞轮的进动角速度，所述微处理器基于所述倾斜角度、角速度、向心加速度以及所述进动角速度确定所需的所述飞轮的进动角速度的大小及方向，并输出给所述低速电机控制器，以通过控制所述飞轮的进动来维持所述车身的平衡。
根据本发明的又一个方面，所述控制系统包括：微处理器、电子陀螺仪、角度传感器及低速电机控制器，当所述汽车因外力出现横向方向的倾斜时，所述电子陀螺仪读取所述车身的倾斜角度，所述角度传感器读取两个飞轮的进动角速度，所述微处理器基于所述倾斜角度及所述进动角速度确定维持所述汽车的车身平衡所需的所述两个飞轮的进动角速度的大小及方向，并输出给所述低速电机控制器，以通过控制所述两个飞轮的进动来维持所述车身的平衡。
根据本发明的又一个方面，其特征在于，所述控制系统包括微处理器、电子陀螺仪、角度传感器及低速电机控制器，当所述汽车转弯时，所述电子陀螺仪读取所述汽车在转弯时在横向方向上的倾斜角度、角速度以及所述汽车的向心加速度，所述角度传感器读取所述飞轮的进动角速度，所述微处理器基于所述倾斜角度、角速度及向心加速度以及所述进动角速度确定所需的所述两个飞轮的进动角速度的大小及方，向并输出给所述低速电机控制器，以通过控制所述两个飞轮的进动来维持所述车身的平衡。
根据本发明的又一个方面，当所述汽车转弯时，所述微处理器还确定所述汽车的车身应当在横向方向上产生的倾斜的角度值，所述角度值能够使所述汽车依靠自身倾斜产生的重力在横向方向上的分量抵消所述汽车转弯产生的离心力或横向方向上的外力，使所述汽车的车身维持平衡状态。
根据本发明的又一个方面，所述控制系统包括两组低速电机控制 器。
根据本发明的又一个方面，所述电动两轮汽车的启动但未行驶期间为诸如在路口等待绿灯时、其他紧急情况制动时。
根据本发明的电动两轮汽车，由于提供了一个或两个陀螺装置，所以均能够在汽车已启动但未行驶期间，例如在路口等待绿灯时；汽车在正常行驶中遇到外力的作用时；以及汽车转弯时，依靠一个或两个陀螺装置的作用来实现汽车的车身在横向方向上，即汽车的左右方向上的平衡，从而解决了现有技术中存在的电动两轮车辆稳定性欠佳的技术问题。
附图说明
通过以下参照附图提供的具体实施方式部分，本发明的特征和优点将变得更加容易理解，在附图中：
图1是示出本发明的电动两轮汽车带有一个陀螺装置的实施方式的示意图；
图2是示出本发明的带有一个陀螺装置的电动两轮汽车的控制系统的示意图；
图3是示出本发明的带有一个陀螺装置的电动两轮汽车的一个陀螺装置的示意图，其示出了飞轮；
图4是示出本发明的电动两轮汽车带有两个陀螺装置的实施方式的示意图；
图5是示出本发明的带有两个陀螺装置的电动两轮汽车的控制系统的示意图；
图6是根据本发明的带有两个陀螺装置的电动两轮汽车的两个陀螺装置的示意图，其示出了两个飞轮；
图7是示出根据本发明的一个陀螺装置的分解示意图。
具体实施方式
下面参照附图对本发明的示例性实施方式进行详细描述。对示例性实施方式的描述仅仅是出于示范目的，而绝不是对本发明及其应 用或用法的限制。
如前所述，在现有的电动两轮汽车中，基本上是依靠机械陀螺实现车辆在横向方向，即左右方向上的平衡。但由于机械陀螺的控制比较复杂，对微处理器、电机、传感器等组件也有较高的要求，加之涉及到更多的安全性问题，因此现有的许多电动两轮汽车，基本上都存在稳定性欠佳、陀螺启动缓慢、过弯能力有限等问题，因而始终未能实现商业上的规模化。
图1为根据本发明提供的带有一个陀螺装置的电动两轮汽车的结构示意图，后面为简便起见，将“电动两轮汽车”统称为“汽车”。其包括：车架1、外壳3、前轮2、后轮6、陀螺装置5、方向盘4、座椅7、辅助轮8、电池组9、控制系统10。所述外壳3连接到车架1上，前轮2与后轮6也都连接至车架1。陀螺装置5在底部可以通过可拆卸的方式通过诸如螺栓之类的连接件固定到车架1上，当然，陀螺装置5也可以在底部以例如焊接之类的固接方式连接到车架1上。陀螺装置5在车架1上的位置优选地为沿着车架1的纵向方向居中的位置，但不限于此。类似地，控制系统10也可以通过可拆卸的方式通过诸如螺栓之类的连接件固定到车架1上。当然，控制系统10也可以通过例如焊接之类的固接方式连接到车架1上。
图2为图1中的带有一个陀螺装置的电动两轮汽车的控制系统10的简略示意图。所述控制系统10包括：电源、姿态控制器、高速电机控制器及高速电机、低速电机控制器及低速电机等。其中，姿态控制器包括：电子陀螺仪、微处理器以及角度传感器。
图3是示出本发明的带有一个陀螺装置的电动两轮汽车的一个陀螺装置5的示意图。其中，飞轮13与低速电机11相连接。
下面对带有一个陀螺装置的电动两轮汽车的操作进行详细描述。
汽车在没有被启动前，两个辅助轮8伸下来接触地面，处于工作位置，从而辅助前轮2与后轮6，以使电动两轮汽车平衡静立在地面上。
当汽车被启动后，陀螺装置5依靠高速电机启动，开始运转。陀螺装置5中的飞轮13依靠高速电机进入轴向转动状态。汽车一旦行驶，两个辅助轮8已收起，处于不工作位置，此时汽车仅依靠前轮和后轮 着地。在汽车的正常行驶期间，当汽车受到外力出现在横向方向，即，汽车的左右方向上的倾斜时。电子陀螺仪检测到车身横向方向倾斜的角度以及汽车的角速度值，并且将它们传送给微处理器。角度传感器也读取所述飞轮13的进动角速度并传送给微处理器。微处理器根据这些值计算出维持车身横向平衡所需要的扭矩的大小及方向，并将其转换为所需的飞轮13的进动角速度的大小及方向，随后微处理器根据所述所需的进动角速度的大小及方向，向低速电机控制器发出指令，低速电机控制器驱动低速电机11，以控制飞轮13的进动角速度及方向，使其产生令车身保持平衡所需方向及大小的扭矩，从而维持了车身的平衡。
当汽车在启动后但未行驶期间，如遇到在路口等待绿灯的情形时，或其他紧急情况制动时，即，汽车没有关闭电源，但停止了行驶。此时辅助轮8依然处于不工作位置。在只有前轮2与后轮6支承的情况下，汽车的车身也会产生横向方向的倾斜。当车身倾斜时，控制系统中的电子陀螺仪检测到车身产生的横向方向倾斜的角度及汽车的角速度，然后电子陀螺仪将车身在横向方向上倾斜的角度以及汽车的角速度值传送给微处理器。角度传感器读取飞轮13的进动角速度并传送给微处理器。微处理器根据这些值计算出维持车身平衡所需的扭矩的大小及方向。随后微处理器根据飞轮13的转动惯量、飞轮13的转速及维持平衡所需的扭矩，计算出所需的飞轮13的进动角速度的大小及方向，随后根据所需的进动角速度的大小及方向，向低速电机控制器发出指令，驱动低速电机11，以控制飞轮13的进动角速度的大小及方向，使其产生令车身保持平衡所需方向及大小的扭矩，从而维持了车身的平衡。
当汽车在行驶中转弯时，汽车受到外力作用，车身在横向方向上倾斜，而此时控制系统中的电子陀螺仪检测到车身在横向方向上倾斜的角度和汽车的角速度、汽车的向心加速度，并且将它们传送给微处理器。角度传感器读取飞轮13的进动角速度并传送给微处理器。微处理器根据这些值计算出车身应当在横向方向上产生的倾斜的角度值，该角度值能够使汽车依靠自身倾斜产生的重力在横向方向上的分量抵消汽车转弯产生的离心力或横向方向上的外力，使车身维持平衡状态。 微处理器随后将该值转换为所需的飞轮13的进动角速度的大小及方向，并且向低速电机控制器发出指令，以驱动低速电机11来控制飞轮13的进动角速度的大小及方向，使陀螺装置5产生令汽车保持平衡所需方向及大小的扭矩，从而维持了车身的平衡。
当汽车受到外力，例如，重力、风力、碰撞等在横向方向上倾斜时，电子陀螺仪检测到车身在横向方向上倾斜的角度及汽车的角速度并传送给微处理器，角度传感器读取飞轮的进动角速度并传送给微处理器，微处理器根据所述车身的倾斜的角度及角速度以及飞轮的进动角速度计算出为使车身恢复直立状态，陀螺装置5所需输出的扭矩方向及大小。类似地，微处理器基于该结果向低速电机控制器发出指令，以使低速电机驱动飞轮13，进而使陀螺装置5产生维持汽车平衡所需方向及大小的扭矩，从而维持了车身的平衡。
陀螺装置产生扭矩的大小与飞轮13的转动惯量、飞轮13的转速以及飞轮的进动角速度成正比。
具体地，飞轮的转动惯量可以由以下公式计算：
飞轮矩M一般表示机械系统转动惯性的一个量。
M＝GD^2
G：等于电机拖动系统中负载的等效重量(即将负载所有重量等效为惯性半径一端的一个质点重量)。
D：为惯性直径。
系统的转动惯量与飞轮矩的等量关系为：J＝(GD^2)/4g
陀螺装置所能产生的扭矩由以下公式计算：
T＝J*ω1*ω2
T：等于陀螺装置所产生的扭矩
J：飞轮的转动惯量
ω1：飞轮的自转速度
ω2：飞轮的扭转速度
根据汽车的重心高度和重量，可以计算出所需的飞轮扭转速度
ω2＝T/(J*ω1)
在本发明的一个实施方式中，飞轮的设计重量为50kg，转动惯量为0.36kg·m，飞轮转速为12000转(1256弧度/秒)。电机可以提供的飞轮扭转速度为300转(31.4弧度/秒)。陀螺装置可以提供约14000NM的扭矩。
图4是示出本发明的带有两个陀螺装置的电动两轮汽车的示意图。如图4中所示，在使用双陀螺装置的情况下，优选地，两个陀螺装置5A和5B以相对于汽车的纵向轴线X对称的方式布置，但不限于此。除此之外，汽车的结构与前述带有一个陀螺装置的结构相类似，此处不再冗述。
图5示出了带有两个陀螺装置的电动两轮汽车的陀螺装置5A和5B，他们分别包括飞轮13A和13B。飞轮13A和13B分别与电机11A和11B相连接。
图6示出了带有两个陀螺装置的电动两轮汽车的控制系统的示意图。由图中可见，该控制系统包括电源、姿态控制器、两组高速电机I、II及高速电机控制器I、II、两组低速电机I、II及低速电机控制器I、II等。其中，姿态控制器包括：电子陀螺仪、微处理器以及角度传感器I和角度传感器II。
下面详细描述带有两个陀螺装置的电动两轮汽车的操作。为简便起见，后面统称为“汽车”。
在汽车没有被启动前，两个辅助轮8伸下来接触地面，处于工作位置，从而辅助前轮2与后轮6，使汽车平衡静立在地面上。
汽车在启动后，控制系统10首先开始工作。微处理器输出信号给高速电机控制器I和高速电机控制器II，以分别启动高速电机I和高速电机II。两个陀螺装置5A和5B中的飞轮13A和13B依靠高速电机I和高速电机II启动，进入轴向转动状态，当高速电机I和II达到设定转速后，高速电机控制器I和高速电机控制器II反馈信号给微处理器。微处理器输出控制信号给低速电机控制器I和低速电机控制器II，以驱动低速电机I和低速电机II工作。低速电机I和低速电机II工作，此时两个辅助轮8收回，处于非工作位置，陀螺装置5A和5B中 的飞轮13A及13B依靠低速电机I和II产生进动。
当汽车在受到重力、来自于驾驶员的操控力或者其他外力作用而出现横向方向的倾斜时，控制系统中的电子陀螺仪检测汽车在横向方向上倾斜的角度和角速度并传送给微处理器。角度传感器I和II分别读取飞轮13A和13B的进动角速度并传送给微处理器。微处理器基于前述的数据计算出维持车身平衡所需要的飞轮13的进动角速度大小和方向。微处理器再输出控制信号给低速电机控制器I和低速电机控制器II，低速电机控制器I和低速电机控制器II控制低速电机I和低速电机II，以控制飞轮13A和13B的进动角速度的大小和方向，从而使陀螺装置5A和5B产生所需大小及方向的扭矩，以维持车身的平衡。
当汽车在路口等待绿灯时，即，汽车没有关闭电源，但停止行驶。汽车会出现横向方向的倾斜。电子陀螺仪检测车身在横向方向上倾斜的角度以及角速度值并传送给微处理器。角度传感器I和II分别读取飞轮13A和13B的进动角速度并传送给微处理器。微处理器又根据这些值计算出维持车身平衡所需的扭矩。微处理器根据飞轮13A和13B的转动惯量和进动角速度以及维持车身平衡所需要的扭矩，计算出所需的飞轮13A和13B的进动角速度的大小和方向，随后根据所需的进动角速度的大小及方向，向低速电机控制器I和低速电机控制器II发出指令，以驱动低速电机I和低速电机II，从而控制飞轮13A和13B的进动角速度的大小及方向，使陀螺装置5A及5B产生相应大小及方向的扭矩，以维持车身的平衡。
当汽车在行驶中转弯斜时，电子陀螺仪检测到车身在横向方向上的倾斜的角度和汽车的角速度，以及汽车的向心加速度。角度传感器I和II分别读取飞轮13的进动角速度并传送给微处理器。微处理器根据前述数据，计算汽车转弯所需的扭矩。具体地，微处理器计算出车身应当在横向方向上产生的倾斜的角度值，该角度值能够使汽车依靠自身倾斜产生的重力在横向方向上的分量抵消汽车转弯产生的离心力或横向方向上的外力，使车身维持平衡状态。微处理器输出信号给低速电机控制器I和低速电机控制器II，低速电机控制器I和低速电机控制器II控制低速电机I和低速电机II运转，以驱动飞轮13A和13B进行相应方向及大小的进动，从而使陀螺装置5A及5B产生令车身在 横向方向上倾斜的扭矩，以使汽车在转弯时保持侧倾状态。微处理器根据汽车转弯时的车速、车身在横向方向上倾斜的角度和角速度来调整飞轮13的进动角速度的大小及方向，使车身处于稳定的倾斜状态。当控制系统检测到汽车从转弯状态恢复到直行状态时，再相应地调整飞轮13的进动角速度的大小及方向，使车身恢复到直行的平衡状态。
需要说明的是，本发明的电动两轮汽车也可以使用三个或三个以上的陀螺装置，其作用原理与前述介绍的相类似。但是，单个陀螺装置以及双陀螺装置毫无疑问地从制造成本到能耗方面都是最具效率的。
下面对带有飞轮的陀螺装置结构的组装进行详细说明。
如图7所示，陀螺装置5包括飞轮13。飞轮两端的轴和轴承12连接，将两端连接好轴承的飞轮首先装入飞轮前盖20，然后将飞轮后盖14安装到飞轮另一面轴连接的轴承上。使用螺栓将飞轮前盖20和飞轮后盖14拧紧。将飞轮连接法兰16从飞轮前盖一侧与飞轮轴用螺栓连接在一起。将电机连接法兰17与高速电机18用螺栓连接在一起。将连接着高速电机的高速电机连接法兰17与飞轮连接法兰16用螺栓连接在一起。将电机盖19与电机用螺栓连接在一起，然后旋转电机盖19在一个合适的角度，使电机盖19的孔对准飞轮前盖20的螺栓孔，使用螺栓将电机盖19和飞轮前盖20连接在一起。
将飞轮盖上法兰25用螺栓连接在安装好的飞轮盖上方，飞轮盖下法兰15连接在安装好的飞轮盖下方。在飞轮盖上法兰25和飞轮盖下法兰15上分别装上轴承。
将支架右盖板22和支架左盖板24通过螺栓连接在支架下盖板23上。将组装好的飞轮箱下部轴承对准支架下盖板23的轴承台阶孔安装到位。安装支架上盖板21至飞轮箱上部轴承位置，然后用螺栓将支架上盖板21连接到支架右盖板22和支架左盖板24上。将电机11与飞轮盖上法兰25连接在一起，然后用螺栓将电机连接在支架上盖板25上。至此陀螺装置组装完成。
关于术语，此处“横向方向”是指汽车的车身的左右方向，即汽车的宽度方向，“纵向方向”是指汽车的车身的前后方向，即汽车的长 度方向。
虽然参照示例性实施方式对本发明进行了描述，但是应当理解，本发明并不局限于文中详细描述和示出的具体实施方式，在不偏离权利要求书所限定的范围的情况下，本领域技术人员可以对所述示例性实施方式做出各种改变，所有的这种改变均落入本发明的保护范围。

Claims (10)

  1. 一种电动两轮汽车，包括：
    车架；
    与所述车架联接的外壳；
    与所述车架联接的一个前轮及一个后轮；
    与所述车架联接的陀螺装置，所述陀螺装置包括飞轮；以及
    控制系统，所述控制系统在所述电动两轮汽车的启动但未行驶期间、正常行驶期间或转弯期间，通过控制所述飞轮的进动角速度来维持所述电动两轮汽车的车身的平衡。
  2. 如权利要求1所述的电动两轮汽车，其特征在于，所述陀螺装置为一个且仅包括一个飞轮。
  3. 如权利要求1所述的电动两轮汽车，其特征在于，所述陀螺装置为两个，且每一个所述陀螺装置均包括一个飞轮，并且所述两个陀螺装置以相对于所述车架的纵向轴线对称的方式布置。
  4. 如权利要求2所述的电动两轮汽车，其特征在于，所述控制系统包括微处理器、电子陀螺仪、角度传感器以及低速电机控制器，当所述汽车因外力出现横向方向的倾斜时，所述电子陀螺仪读取所述车身的倾斜角度，所述角度传感器读取所述飞轮的进动角速度，所述微处理器基于所述倾斜角度以及所述进动角速度确定维持车身平衡所需的所述飞轮的进动角速度的大小及方向，并输出给所述低速电机控制器，以通过控制所述飞轮的进动来维持所述车身的平衡。
  5. 如权利要求2所述的电动两轮汽车，其特征在于，所述控制系统包括微处理器、电子陀螺仪、角度传感器以及低速电机控制器，当所述汽车转弯时，所述电子陀螺仪读取所述汽车在转弯时在横向方向上的 倾斜角度、角速度以及所述汽车的向心加速度，所述角度传感器读取所述飞轮的进动角速度，所述微处理器基于所述倾斜角度、角速度、向心加速度以及所述进动角速度确定所需的所述飞轮的进动角速度的大小及方向并输出给所述低速电机控制器，以通过控制所述飞轮的进动来维持所述车身的平衡。
  6. 如权利要求3所述的电动两轮汽车，其特征在于，所述控制系统包括：微处理器、电子陀螺仪、角度传感器及低速电机控制器，当所述汽车因外力出现横向方向的倾斜时，所述电子陀螺仪读取所述车身的倾斜角度，所述角度传感器读取所述两个飞轮的进动角速度，所述微处理器基于所述倾斜角度及所述进动角速度确定维持所述汽车的车身平衡所需的所述两个飞轮的进动角速度的大小及方向，并输出给所述低速电机控制器，以通过控制所述两个飞轮的进动来维持所述车身的平衡。
  7. 如权利要求3所述的电动两轮汽车，其特征在于，所述控制系统包括微处理器、电子陀螺仪、角度传感器及低速电机控制器，当所述汽车转弯时，所述电子陀螺仪读取所述汽车在转弯时在横向方向上的倾斜角度、角速度以及所述汽车的向心加速度，所述角度传感器读取所述飞轮的进动角速度，所述微处理器基于所述倾斜角度、角速度及向心加速度以及所述进动角速度确定所需的所述两个飞轮的进动角速度的大小及方向，并输出给所述低速电机控制器，以通过控制所述两个飞轮的进动来维持所述车身的平衡。
  8. 如权利要求5或7所述的电动两轮汽车，其特征在于，当所述汽车转弯时，所述微处理器还确定所述汽车的车身应当在横向方向上产生的倾斜的角度值，所述角度值能够使所述汽车依靠自身倾斜产生的重力在横向方向上的分量抵消所述汽车转弯产生的离心力或横向方向上的外力，使所述汽车的车身维持平衡状态。
  9. 如权利要求6或7所述的电动两轮汽车，其特征在于，所述控制 系统包括两组低速电机控制器。
  10. 如权利要求1所述的电动两轮汽车，其特征在于，所述电动两轮汽车的启动但未行驶期间为诸如在路口等待绿灯时、其他紧急情况制动时。
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EP3184406A1 (en) 2017-06-28
CN105365914A (zh) 2016-03-02
JP2017534500A (ja) 2017-11-24
US20170363429A1 (en) 2017-12-21
EP3184406A4 (en) 2018-05-30

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