CN103170122A - Electric self-balancing double-wheel scooter - Google Patents
Electric self-balancing double-wheel scooter Download PDFInfo
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- CN103170122A CN103170122A CN2013101273887A CN201310127388A CN103170122A CN 103170122 A CN103170122 A CN 103170122A CN 2013101273887 A CN2013101273887 A CN 2013101273887A CN 201310127388 A CN201310127388 A CN 201310127388A CN 103170122 A CN103170122 A CN 103170122A
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Abstract
The invention discloses an electric self-balancing double-wheel scooter. Posture balance control is performed to the scooter by the dynamic balance principle, a scooter balance control module outputs a scooter balance control signal, a speed control module outputs a scooter speed control signal, and the scooter balance control signal and the scooter speed control signal are output to a motor driving circuit through a PWM (Pulse-Width Modulation) interface circuit after signal superposition by a signal superposition module, so that the scooter runs in a self-balancing manner and a driver can safely run; and a steering control module is arranged to control the steering operation of the scooter, an infrared receiving module in the steering control module is used for receiving a steering control signal sent by a wireless remote controller, and the steering control signal received by the infrared receiving module is sent to a motor differentiating control unit which outputs a left motor differentiating control pressure signal and a right motor differentiating control pressure signal according to the steering control signal correspondingly, so that a left motor and a right motor can rotate in mutually-opposite directions and the steering of the scooter is realized.
Description
Technical field
The present invention relates to two-wheel scooter field, particularly a kind of electronic self-balancing two-wheel scooter.
Background technology
Scooter is the novel product form of the another skateboarding after conventional skateboard, is a kind of simple laborsaving sports apparatus, is one of sports products of liking of teenagers, also can be used as the vehicles and uses.Along with the development of electric motor car, also developed DYN dynamic scooter, convenient when using as the vehicles, laborsaving.Existing scooter generally has two or more wheels, himself is balance with the scooter of two above wheels, just can keep balance thereby need not skill when the driver drives scooter, can not fall down.But the number of wheel has caused the increase of vehicle body gravity, and scooter is as small sized product, and the increase of its gravity inconvenient user move; Secondly, himself be unbalanced with the scooter of two wheels, during driving, need skill to keep health and car body balance, can not realize that the vehicle body self-balancing travels.
In addition, turning to of scooter also need to realize by skill, and existing scooter can not be realized auto-steering.
Summary of the invention
Main purpose of the present invention is to provide a kind of electronic self-balancing two-wheel scooter, realizes self-balancing driving functions, acceleration function and the auto-steering function of electric two-wheel scooter, Segway Human Transporter is travelled safer.
The present invention proposes a kind of electronic self-balancing two-wheel scooter, comprise the slide plate vehicle frame, be installed on the left and right wheel of both sides, the described slide plate vehicle frame back side, be used for driving the left and right motor of left and right vehicle wheel rotation, be used for controlling control circuit board and the power module of described left and right motor power output; Be provided be used to the left motor-drive circuit that drives left motor with for the right motor-drive circuit that drives right motor at described control circuit board, be provided with slide plate balance control module, rate control module on described control circuit board, turn to control module and automatically lock the solution lock module;
described slide plate balance control module is used for keeping the slide plate balance, comprise the acceleration transducer for detection of the angle of inclination of described slide plate vehicle frame, detect for the angular-rate sensor of the angular speed of measuring described slide plate vehicle frame inclination and acceleration signal and the described angular-rate sensor that is used for described acceleration transducer is detected the ALU that angular velocity signal carries out logical operation and exports corresponding balance control signal according to logical operation, described acceleration transducer, described angular-rate sensor is connected with described ALU, the output of described ALU and described left motor-drive circuit, described right motor-drive circuit connects,
described rate control module is used for controlling the rotating speed of described wheel, comprise be used to the left-hand rotation speed sensor of measuring left motor speed, be used for measuring the right-hand rotation speed sensor of right motor speed and be used for receiving the fast sensor of described left-hand rotation and a left side that described right-hand rotation speed sensor detects, right motor speed signal also carries out the PID rate control module of PID s operation control, the fast sensor of described left-hand rotation, the fast sensor of described right-hand rotation is connected with described PID rate control module, the output of described PID rate control module and described left motor-drive circuit, described right motor-drive circuit connects,
The output of described ALU be connected the output of PID rate control module and connect a signal laminating module, the output of described signal laminating module is connected with the input of described left motor-drive circuit, the input of described right motor-drive circuit respectively.
The described travel direction that turns to control module to be used to control described scooter, comprise be used to the motor Differential Control unit of exporting left and right motor Differential Control voltage signal, described motor Differential Control unit is connected with the input of described left motor-drive circuit, the input of described right motor-drive circuit respectively;
The described solution lock module that automatically locks is used for automatic detection, and whether someone uses, and enter lock-out state or driving condition according to the described scooter of testing result control, comprise for detection of whether someone steps on the pressure sensor on scooter and is used for receiving the detection signal of described pressure sensor and the release switch unit of locking that carries out corresponding control according to the detection signal that receives, described pressure sensor is connected with the described release switch unit of locking, and described left motor-drive circuit, described right motor-drive circuit connect the described release switch unit of locking respectively; When described pressure sensor detected someone and steps on described slide plate vehicle frame, the described release switch unit of locking was controlled described left motor-drive circuit and described right motor-drive circuit startup work, makes described scooter enter driving condition; When described pressure sensor detected nobody and steps on described slide plate vehicle frame, the described release switch unit of locking controls described left motor-drive circuit and described right motor-drive circuit quits work, and makes described scooter enter locking state.
preferably, described ALU, described PID rate control module, described signal laminating module, described motor Differential Control unit and the described release switch unit of locking all are integrated in a microprocessor, described microprocessor is provided with analog-to-digital conversion interface and PWM output interface, described acceleration transducer, described angular-rate sensor be connected pressure sensor and all be connected with described analog-to-digital conversion interface, described acceleration transducer be connected angular-rate sensor and be connected with described ALU by described analog-to-digital conversion interface, described pressure sensor is connected with the described release switch unit of locking by described analog-to-digital conversion interface, described left motor-drive circuit be connected right motor-drive circuit and all be connected with described PWM output interface, described signal laminating module, described motor Differential Control unit be connected lock the release switch unit all by described PWM output interface and described left motor-drive circuit be connected right motor-drive circuit and be connected.
Described acceleration transducer is used for the acceleration voltage signal that detects is exported to described ALU through described analog-to-digital conversion interface;
Described angular-rate sensor is used for the angular speed voltage signal that detects is exported to described ALU through described analog-to-digital conversion interface;
Described analog-to-digital conversion interface is used for converting described acceleration voltage signal and described angular speed voltage signal to corresponding acceleration value and angular speed numerical value.
Described logical operation module is used for that the acceleration value of input is carried out coefficients conversion and forms inclination angle numerical value, and the angular speed numerical value of described inclination angle numerical value and input is carried out the Kalman filtering computing, calculate the accurate inclination angle numerical value of described slide plate vehicle frame, and described accurate inclination angle numerical value is carried out logical operation, calculate the slide plate balance control signal of the speed of keeping the required operation of described slide plate vehicle frame balance, and output;
Left motor speed signal, right motor speed signal and given rate signal that described PID rate control module is used for feeding back carry out the PID computing, and according to the slide plate speed control signal of PID operation result output for the control motor speed;
Described signal laminating module is used for described slide plate balance control signal and described slide plate speed control signal are carried out the signal stack, and the control signal after superposeing exports to described left motor-drive circuit and described right motor-drive circuit by described PWM output interface, makes described scooter self-balancing operation.
Preferably, described acceleration transducer is obliquity sensor, the fast sensor of described left-hand rotation and described right-hand rotation speed sensor are photoelectric encoder, described photoelectric encoder is coupling on the output shaft of corresponding described left motor and described right motor, and the output of described photoelectric encoder is connected with described PID rate control module by the counter port of described microprocessor.
Preferably, described PWM output interface is provided with four, wherein two PWM output interfaces are connected with described left motor, the one PWM output interface that is connected with described left motor is used for the pwm control signal that described left motor forward is controlled in output, and another PWM output interface that is connected with described left motor is used for the pwm control signal that described left motor reversal is controlled in output; Another two PWM output interfaces are connected with described right motor, the one PWM output interface that is connected with described right motor is used for the pwm control signal that described right motor forward is controlled in output, and another PWM output interface that is connected with described right motor is used for the pwm control signal that described right motor reversal is controlled in output.
Preferably, also be provided with purpose overspeed protective module in described microprocessor, the input of described purpose overspeed protective module is connected with the output of described photoelectric encoder by the counter port of described microprocessor CPU, is used for receiving the speed of described left motor and described right motor; The output of described purpose overspeed protective module is connected with described PID rate control module; be provided with maximum protection speed in described purpose overspeed protective module; when the left and right motor speed that receives being detected and surpass described maximum protection speed; described purpose overspeed protective module is controlled the pwm control signal that described PID rate control module output is used for deceleration, and the output voltage of described motor-drive circuit is reduced.
Preferably, be provided with buzzer on described control circuit board, described purpose overspeed protective module is connected with described buzzer, and when the motor speed that receives being detected and surpass described maximum protection speed, described purpose overspeed protective module drives described buzzer sounding.
Preferably, comprise that also one is used for adjusting the Digiplex of travel direction, described Digiplex comprises rocker regulation resistance and infrared sending module, the described control module that turns to also comprises an infrared receiving module, described infrared receiving module is arranged on described control circuit board, and described infrared receiving module is connected with described motor Differential Control unit.
Preferably, described slide plate vehicle frame is long strip type slide plate vehicle frame, and described left and right wheel is arranged on the central balancing point of described slide plate vehicle frame.
the beneficial effect of the electronic self-balancing two-wheel of the present invention scooter is: the present invention carries out posture balancing by principle of mobile equilibrium to scooter and controls, adopt angular-rate sensor to the slide plate vehicle frame angular velocity detection that tilts, adopting acceleration transducer to carry out the angle of inclination to the slide plate vehicle frame detects, and with the angular speed voltage signal that detects and acceleration voltage signal through analog-to-digital conversion interface conversion angulation speed numerical value and acceleration value, adopt again logical operation module that the acceleration value of input is carried out coefficients conversion and form inclination angle numerical value, and the angular speed numerical value of inclination angle numerical value and input is carried out the Kalman filtering computing, make two detection numerical value fusion calculations go out the accurate inclination angle numerical value of scooter under inactive state and high-speed motion state, and accurate inclination angle numerical value is carried out logical operation, calculate the slide plate balance control signal of the speed of keeping the required operation of slide plate vehicle frame balance, and output, simultaneously, adopting left and right speed probe to carry out speed to left and right motor detects, and the speed feedback signal of the left and right motor that will detect is to the PID rate control module, the left motor speed signal, right motor speed signal and the given rate signal that adopt the PID rate control module to feed back carry out the PID computing, and according to the slide plate speed control signal of PID operation result output for the control motor speed, adopt the signal laminating module that slide plate balance control signal and slide plate speed control signal are carried out the signal stack, and the control signal after superposeing is exported to left motor-drive circuit and right motor-drive circuit by the PWM output interface, left and right motor-drive circuit drives left and right electric machine rotation according to the control signal of stack, the slide plate balance control signal makes scooter remain balance, the slide plate speed control signal moves scooter in the velocity interval of setting, thereby make scooter remain that balance travels, the driver is travelled safer.
And, the present invention is provided with and turns to control module, employing turns to the infrared receiving module in control module to receive the steering controling signal that Digiplex sends, infrared receiving module sends to motor Differential Control unit with the steering controling signal that receives, motor Differential Control unit is according to the corresponding left and right motor Differential Control voltage signal of steering controling signal output, left and right motor is rotated mutually in the opposite direction, thereby realize turning to of scooter.
Description of drawings
Fig. 1 is the stereogram of an embodiment of the electronic self-balancing two-wheel of the present invention scooter;
Fig. 2 is the another stereogram of an embodiment of the electronic self-balancing two-wheel of the present invention scooter;
Fig. 3 is the rearview of an embodiment of the electronic self-balancing two-wheel of the present invention scooter;
Fig. 4 is the right view of an embodiment of the electronic self-balancing two-wheel of the present invention scooter;
Fig. 5 is the front view of an embodiment of the electronic self-balancing two-wheel of the present invention scooter;
Fig. 6 is the circuit block diagram of an embodiment of the electronic self-balancing two-wheel of the present invention scooter.
The realization of the object of the invention, functional characteristics and advantage are described further with reference to accompanying drawing in connection with embodiment.
The specific embodiment
Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
referring to figs. 1 through Fig. 6, one embodiment of a kind of electronic self-balancing two-wheel scooter of the present invention is proposed, this electronic self-balancing two-wheel scooter comprises slide plate vehicle frame 10, be installed on the left wheel 101 of slide plate vehicle frame 10 both sides, the back side, right wheel 102, be used for driving left wheel 101, the left motor 201 that right wheel 102 rotates, right motor 202, be used for controlling left motor 201, control circuit board 30 and the power module 20 of right motor 202 power outputs, slide plate vehicle frame 10 is long strip type slide plate vehicle frame 10, left wheel 101, right wheel 102 is arranged on the central balancing point of slide plate vehicle frame 10, power module 20 is control circuit board 30 and motor power supply.This motor is reducing motor, and reducing motor drives vehicle wheel rotation by reduction gear box.Be provided be used to the left motor-drive circuit 203 that drives left motor 201 rotations on control circuit board 30 and be used for driving the right motor-drive circuit 204 that right motor 202 rotates, left motor-drive circuit 203 is connected with left motor 201, and right motor-drive circuit 204 is connected with right motor 202.
The present invention carries out posture balancing by principle of mobile equilibrium to scooter and controls, namely when slide plate vehicle frame 10 tilts, accelerate to the direction running of slide plate vehicle frame 10 inclinations by wheel, offset the slope trend of slide plate vehicle frame 10, thereby keep slide plate vehicle frame 10 balances, angle of inclination in the time of can tilting by measurement slide plate vehicle frame 10 calculates the required acceleration of wheel, thereby results from the opposite restoring force of vehicle frame incline direction by the accelerated motion of wheel, makes slide plate vehicle frame 10 keep balances.For realizing the self-balancing operation of scooter, slide plate balance control module 40, rate control module 50 and signal laminating module 80 are set on control circuit board 30, and the output that the output of slide plate balance control module 40 is connected with rate control module is connected with signal laminating module 80.this slide plate balance control module 40 is used for keeping the slide plate balance, comprise the acceleration transducer 401 for detection of the angle of inclination of slide plate vehicle frame 10, detect for the angular-rate sensor 402 of the angular speed of measuring 10 inclinations of slide plate vehicle frame and acceleration signal and the angular-rate sensor 402 that is used for acceleration transducer 401 is detected the ALU 404 that angular velocity signal carries out logical operation and exports corresponding balance control signal according to logical operation, acceleration transducer 401, angular-rate sensor 402 all is connected with ALU 404 by analog-to-digital conversion interface 403, the output of ALU 404 is by signal laminating module 80 and left motor-drive circuit 203, right motor-drive circuit 204 connects.
Adopt 402 pairs of slide plate vehicle frames 10 of angular-rate sensor angular velocity detection that tilts, adopt 401 pairs of slide plate vehicle frames of acceleration transducer 10 to carry out acceleration detection.Acceleration transducer 401 is obliquity sensor, and acceleration transducer 401 is exported to ALU 404 with the acceleration voltage signal that detects through analog-to-digital conversion interface 403; Angular-rate sensor 402 is exported to ALU 404 with the angular speed voltage signal that detects through analog-to-digital conversion interface 403; Analog-to-digital conversion interface 403 is used for degree of will speed up voltage signal and the angular speed voltage signal converts corresponding acceleration value and angular speed numerical value to.Logical operation module is used for that the acceleration value of input is carried out coefficients conversion and forms inclination angle numerical value, and the angular speed numerical value of inclination angle numerical value and input is carried out the Kalman filtering computing, calculate the accurate inclination angle numerical value of slide plate vehicle frame 10, and accurate inclination angle numerical value is carried out logical operation, calculate the slide plate balance control signal of the speed of keeping the 10 required operations of balance of slide plate vehicle frame, and export to signal laminating module 80.slide plate balance control module 40 runnings are: acceleration voltage signal and angular speed voltage signal that acceleration transducer 401 and angular-rate sensor 402 detect convert angular speed numerical value and acceleration value to through analog-to-digital conversion interface 403, logical operation module is carried out coefficients conversion with the acceleration value of input and is formed inclination angle numerical value, and the angular speed numerical value of inclination angle numerical value and input is carried out the Kalman filtering computing, make two detection numerical value fusion calculations go out the accurate inclination angle numerical value of scooter under inactive state and high-speed motion state, and accurate inclination angle numerical value is carried out logical operation, calculate the slide plate balance control signal of the speed of keeping the 10 required operations of balance of slide plate vehicle frame, and export to signal laminating module 80.
this rate control module 50 is used for controlling the rotating speed of wheel, comprise be used to the left-hand rotation speed sensor 501 of measuring left motor 201 rotating speeds, be used for measuring the right-hand rotation speed sensor 502 of right motor 202 rotating speeds and be used for receiving fast sensor 501 and a left side that the fast sensor 502 of turning right detects, right motor speed signal also carries out the PID rate control module 504 of PID s operation control, fast sensor 501 turns left, the fast sensor 502 of turning right is connected with PID rate control module 504, the output of PID rate control module 504 is by signal laminating module 80 and left motor-drive circuit 203, right motor-drive circuit 204 connects.Left and right speed probe 502 is used for measuring the rotating speed of left motor 201, right motor 202, and the left and right motor speed signal that will measure gained feeds back to PID rate control module 504; Left motor speed signal, right motor speed signal and given rate signal that PID rate control module 504 is used for feeding back carry out the PID computing, and according to the slide plate speed control signal of PID operation result output for the control motor speed.Rate control module 50 runnings are: the left motor 201 that left and right speed probe 502 will detect, the speed feedback signal of right motor 202 are to PID rate control module 504, the left motor speed signal that PID rate control module 504 will feed back, right motor speed signal and given rate signal carry out the PID computing, and according to the slide plate speed control signal of PID operation result output for the control motor speed.
The output that the output of ALU 404 is connected with the PID rate control module is connected with signal laminating module 80, and the output of signal laminating module 80 is connected with the input of left motor-drive circuit 203, the input of right motor-drive circuit 204 respectively by PWM output interface 90.signal laminating module 80 is used for slide plate balance control signal and slide plate speed control signal are carried out the signal stack, and the control signal after superposeing is exported to left motor-drive circuit 203 and right motor-drive circuit 204 by PWM output interface 90, left motor 201, right motor-drive circuit 204 drives left motor 201 according to the control signal of stack, right motor 202 rotates, the slide plate balance control signal makes scooter remain balance, the slide plate speed control signal moves scooter in the velocity interval of setting, thereby make scooter remain that balance travels, the driver is travelled safer.
control for convenience the travel direction of scooter, the present invention is provided with the Digiplex that turns to control module 60 and to be used for adjusting travel direction, this turns to control module 60 to comprise be used to exporting left motor 201, motor Differential Control unit 602 and the infrared receiving module 601 of right motor 202 Differential Control voltage signals, infrared receiving module 601 is arranged on control circuit board 30, infrared receiving module 601 is connected with motor Differential Control unit 602 by analog-to-digital conversion interface 403, motor Differential Control unit 602 respectively with the input of left motor-drive circuit 203, the input of right motor-drive circuit 204 connects, Digiplex comprises rocker regulation resistance and infrared sending module, rocker regulation resistance is exported steering controling signal by voltage change, vacillate now to the left, now to the right to export different voltage by rocker regulation resistance, when rocker regulation resistance is in mid point, voltage is 1.5V, when rocker regulation resistance swung, the output voltage of rocker regulation resistance changed between 0-3V, as when rocker regulation resistance swings left, the output voltage of rocker regulation resistance is 0-1.5V, the steering controling signal that output is turned left, when rocker regulation resistance swung to the right, the output voltage of rocker regulation resistance was 1.5-3V, exported right-handed steering controling signal.infrared sending module is used for sending this steering controling signal to infrared receiving module 601, infrared receiving module 601 is used for receiving the steering controling signal that infrared sending module sends and exports to analog-to-digital conversion interface 403, this analog-to-digital conversion interface 403 converts steering controling signal to and turns to numerical signal, and export to motor Differential Control unit 602, motor Differential Control unit 602 is according to turning to the corresponding left motor 201 of numerical signal output, right motor 202 Differential Control voltage signals, make left motor 201, right motor 202 rotates mutually in the opposite direction, thereby realize turning to of scooter.The driver can use Digiplex to control the left and right turning of electronic self-balancing two-wheel scooter, and original place 360 degree tunes, facilitates the driver to use.
for the use that makes scooter safer, the present invention is provided with also whether someone uses for automatic detection, and control according to testing result the solution lock module 70 that automatically locks that scooter enters lock-out state or driving condition, this automatically locks and separates lock module 70 and comprise for detection of whether, someone steps on the pressure sensor 701 on scooter, and for the detection signal of reception pressure sensor 701 and the release switch unit 702 of locking that carries out corresponding control according to the detection signal that receives, pressure sensor 701 is connected with the release switch unit 702 of locking, lock release switch unit 702 respectively with left motor-drive circuit 203, right motor-drive circuit 204 connects, when pressure sensor 701 detected someone and steps on slide plate vehicle frame 10, the release switch unit 702 of locking was controlled left motor-drive circuit 203 and the 204 startup work of right motor-drive circuit, makes scooter enter driving condition, when pressure sensor 701 detects nobody and steps on slide plate vehicle frame 10, the release switch unit 702 of locking controls left motor-drive circuit 203 and right motor-drive circuit 204 quits work, make scooter enter locking state, thereby guarantee that scooter can nobody not travel.
ALU 404, PID rate control module 504, signal laminating module 80, motor Differential Control unit 602 and the release switch unit 702 of locking all are integrated in a microprocessor, analog-to-digital conversion interface 403 and PWM output interface 90 are arranged on this microprocessor, acceleration transducer 401, angular-rate sensor 402 is connected with pressure sensor and all is connected with analog-to-digital conversion interface 403, acceleration transducer 401 is connected with angular-rate sensor and is connected with ALU 404 by analog-to-digital conversion interface 403, pressure sensor 701 is connected with the release switch unit 702 of locking by analog-to-digital conversion interface 403, left motor-drive circuit 203 be connected motor-drive circuit 204 and all be connected with PWM output interface 90, signal laminating module 80, motor Differential Control unit 602 be connected release switch unit 702 all by PWM output interface 90 and left motor-drive circuit 203 be connected motor-drive circuit 204 and be connected.
Above-mentioned PWM output interface 90 is provided with four, wherein two PWM output interfaces 90 are connected with left motor 201, the one PWM output interface that is connected with left motor 201 90 is used for the pwm control signal that left motor 201 forwards are controlled in output, another PWM output interface that is connected with left motor 201 90 is used for the pwm control signal that left motor 201 counter-rotatings are controlled in output, is used for controlling the forward and backward of left motor 201; Another two PWM output interfaces 90 are connected with right motor 202, the one PWM output interface that is connected with right motor 202 90 is used for the pwm control signal that right motor 202 forwards are controlled in output, another PWM output interface that is connected with right motor 202 90 is used for the pwm control signal that right motor 202 counter-rotatings are controlled in output, is used for controlling the forward and backward of right motor 202.
The fast sensor 501 that turns left is photoelectric encoder with the fast sensor 502 of turning right, photoelectric encoder is coupling on the output shaft of corresponding left motor 201 and right motor 202, and the output of photoelectric encoder is connected with PID rate control module 504 by the counter port 503 of microprocessor.Photoelectric encoder is directly exported digital pulse signal to the counter port 503 of microprocessor, and microprocessor is accumulated the number of digital pulse signal of input within the set time by counter port 503, thereby calculates the rotating speed of motor.When the motor forward, photoelectric encoder output forward pulse signal, during motor reversal, photoelectric encoder output inversion pulse signal; The forward pulse signal is identical with the waveform of inversion pulse signal, and 90 ° of phase phasic differences, namely when the motor forward, second pulse falls behind 90 °; When motor reversal, 90 ° of second pulse advances, thereby the rotation direction of judgement motor.
Also be provided with purpose overspeed protective module in microprocessor, the input of purpose overspeed protective module is connected with the output of photoelectric encoder by the counter port 503 of microprocessor CPU, is used for receiving the speed of left motor 201 and right motor 202; The output of purpose overspeed protective module is connected with PID rate control module 504, is provided with buzzer on control circuit board 30, and purpose overspeed protective module is connected with buzzer.Be provided with maximum protection speed in purpose overspeed protective module, when the left motor 201 that receives, right motor 202 speed being detected over maximum protection speed, purpose overspeed protective module can drive the buzzer sounding, reminds the driver to take care; Simultaneously, 504 outputs of purpose overspeed protective module Control PID rate control module are used for the pwm control signal of deceleration, and the output voltage of motor-drive circuit is reduced, thereby reduce the travel speed of wheel.
The above is only the preferred embodiments of the present invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or equivalent flow process conversion that utilizes specification of the present invention and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in scope of patent protection of the present invention.
Claims (8)
1. electronic self-balancing two-wheel scooter, comprise the slide plate vehicle frame, be installed on the left and right wheel of both sides, the described slide plate vehicle frame back side, be used for driving the left and right motor of described left and right vehicle wheel rotation, be used for controlling control circuit board and the power module of described left and right motor power output; Be provided be used to the left motor-drive circuit that drives left motor with for the right motor-drive circuit that drives right motor at described control circuit board, it is characterized in that, be provided with slide plate balance control module, rate control module on described control circuit board, turn to control module and automatically lock the solution lock module;
described slide plate balance control module is used for keeping the slide plate balance, comprise the acceleration transducer for detection of the angle of inclination of described slide plate vehicle frame, detect for the angular-rate sensor of the angular speed of measuring described slide plate vehicle frame inclination and acceleration signal and the described angular-rate sensor that is used for described acceleration transducer is detected the ALU that angular velocity signal carries out logical operation and exports corresponding balance control signal according to logical operation, described acceleration transducer, described angular-rate sensor is connected with described ALU, the output of described ALU and described left motor-drive circuit, described right motor-drive circuit connects,
described rate control module is used for controlling the rotating speed of described wheel, comprise be used to the left-hand rotation speed sensor of measuring left motor speed, be used for measuring the right-hand rotation speed sensor of right motor speed and be used for receiving the fast sensor of described left-hand rotation and a left side that described right-hand rotation speed sensor detects, right motor speed signal also carries out the PID rate control module of PID s operation control, the fast sensor of described left-hand rotation, the fast sensor of described right-hand rotation is connected with described PID rate control module, the output of described PID rate control module and described left motor-drive circuit, described right motor-drive circuit connects,
The output of described ALU be connected the output of PID rate control module and connect a signal laminating module, the output of described signal laminating module is connected with the input of described left motor-drive circuit, the input of described right motor-drive circuit respectively.
The described travel direction that turns to control module to be used to control described scooter, comprise be used to the motor Differential Control unit of exporting left and right motor Differential Control voltage signal, described motor Differential Control unit is connected with the input of described left motor-drive circuit, the input of described right motor-drive circuit respectively;
The described solution lock module that automatically locks is used for automatic detection, and whether someone uses, and enter lock-out state or driving condition according to the described scooter of testing result control, comprise for detection of whether someone steps on the pressure sensor on scooter and is used for receiving the detection signal of described pressure sensor and the release switch unit of locking that carries out corresponding control according to the detection signal that receives, described pressure sensor is connected with the described release switch unit of locking, and described left motor-drive circuit, described right motor-drive circuit connect the described release switch unit of locking respectively; When described pressure sensor detected someone and steps on described slide plate vehicle frame, the described release switch unit of locking was controlled described left motor-drive circuit and described right motor-drive circuit startup work, makes described scooter enter driving condition; When described pressure sensor detected nobody and steps on described slide plate vehicle frame, the described release switch unit of locking controls described left motor-drive circuit and described right motor-drive circuit quits work, and makes described scooter enter locking state.
2. electronic self-balancing two-wheel scooter according to claim 1, it is characterized in that, described ALU, described PID rate control module, described signal laminating module, described motor Differential Control unit and the described release switch unit of locking all are integrated in a microprocessor, described microprocessor is provided with analog-to-digital conversion interface and PWM output interface, described acceleration transducer, described angular-rate sensor be connected pressure sensor and all be connected with described analog-to-digital conversion interface, described acceleration transducer be connected angular-rate sensor and be connected with described ALU by described analog-to-digital conversion interface, described pressure sensor is connected with the described release switch unit of locking by described analog-to-digital conversion interface, described left motor-drive circuit be connected right motor-drive circuit and all be connected with described PWM output interface, described signal laminating module, described motor Differential Control unit be connected lock the release switch unit all by described PWM output interface and described left motor-drive circuit be connected right motor-drive circuit and be connected.
Described acceleration transducer is used for the acceleration voltage signal that detects is exported to described ALU through described analog-to-digital conversion interface;
Described angular-rate sensor is used for the angular speed voltage signal that detects is exported to described ALU through described analog-to-digital conversion interface;
Described analog-to-digital conversion interface is used for converting described acceleration voltage signal and described angular speed voltage signal to corresponding acceleration value and angular speed numerical value.
Described logical operation module is used for that the acceleration value of input is carried out coefficients conversion and forms inclination angle numerical value, and the angular speed numerical value of described inclination angle numerical value and input is carried out the Kalman filtering computing, calculate the accurate inclination angle numerical value of described slide plate vehicle frame, and described accurate inclination angle numerical value is carried out logical operation, calculate the slide plate balance control signal of the speed of keeping the required operation of described slide plate vehicle frame balance, and output;
Left motor speed signal, right motor speed signal and given rate signal that described PID rate control module is used for feeding back carry out the PID computing, and according to the slide plate speed control signal of PID operation result output for the control motor speed;
Described signal laminating module is used for described slide plate balance control signal and described slide plate speed control signal are carried out the signal stack, and the control signal after superposeing exports to described left motor-drive circuit and described right motor-drive circuit by described PWM output interface, makes described scooter self-balancing operation.
3. electronic self-balancing two-wheel scooter according to claim 2, it is characterized in that, described acceleration transducer is obliquity sensor, the fast sensor of described left-hand rotation and described right-hand rotation speed sensor are photoelectric encoder, described photoelectric encoder is coupling on the output shaft of corresponding described left motor and described right motor, and the output of described photoelectric encoder is connected with described PID rate control module by the counter port of described microprocessor.
4. electronic self-balancing two-wheel scooter according to claim 3, it is characterized in that, described PWM output interface is provided with four, wherein two PWM output interfaces are connected with described left motor, the one PWM output interface that is connected with described left motor is used for the pwm control signal that described left motor forward is controlled in output, and another PWM output interface that is connected with described left motor is used for the pwm control signal that described left motor reversal is controlled in output; Another two PWM output interfaces are connected with described right motor, the one PWM output interface that is connected with described right motor is used for the pwm control signal that described right motor forward is controlled in output, and another PWM output interface that is connected with described right motor is used for the pwm control signal that described right motor reversal is controlled in output.
5. according to claim 3 or 4 described electronic self-balancing two-wheel scooters, it is characterized in that, also be provided with purpose overspeed protective module in described microprocessor, the input of described purpose overspeed protective module is connected with the output of described photoelectric encoder by the counter port of described microprocessor CPU, is used for receiving the speed of described left motor and described right motor; The output of described purpose overspeed protective module is connected with described PID rate control module; be provided with maximum protection speed in described purpose overspeed protective module; when the motor speed that receives being detected and surpass described maximum protection speed; described purpose overspeed protective module is controlled the pwm control signal that described PID rate control module output is used for deceleration, and the output voltage of described motor-drive circuit is reduced.
6. electronic self-balancing two-wheel scooter according to claim 5; it is characterized in that; be provided with buzzer on described control circuit board; described purpose overspeed protective module is connected with described buzzer; when the left and right motor speed that receives being detected and surpass described maximum protection speed, described purpose overspeed protective module drives described buzzer sounding.
7. electronic self-balancing two-wheel scooter according to claim 1, it is characterized in that, comprise that also one is used for adjusting the Digiplex of travel direction, described Digiplex comprises rocker regulation resistance and infrared sending module, the described control module that turns to also comprises an infrared receiving module, described infrared receiving module is arranged on described control circuit board, and described infrared receiving module is connected with described motor Differential Control unit.
8. electronic self-balancing two-wheel scooter according to claim 1, is characterized in that, described slide plate vehicle frame is long strip type slide plate vehicle frame, and described left and right wheel is arranged on the central balancing point of described slide plate vehicle frame.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2013101273887A CN103170122A (en) | 2013-04-11 | 2013-04-11 | Electric self-balancing double-wheel scooter |
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| CN2013101273887A CN103170122A (en) | 2013-04-11 | 2013-04-11 | Electric self-balancing double-wheel scooter |
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| CN103170122A true CN103170122A (en) | 2013-06-26 |
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| CN2013101273887A Pending CN103170122A (en) | 2013-04-11 | 2013-04-11 | Electric self-balancing double-wheel scooter |
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| CN109018138A (en) * | 2018-09-22 | 2018-12-18 | 浙江大学台州研究院 | It is a kind of can mutually phase inversion balancing skateboard convertible car |
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Application publication date: 20130626 |