CN106240703A - Electrodynamic balance swing car start self-balancing control method and system thereof - Google Patents
Electrodynamic balance swing car start self-balancing control method and system thereof Download PDFInfo
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- CN106240703A CN106240703A CN201610798064.XA CN201610798064A CN106240703A CN 106240703 A CN106240703 A CN 106240703A CN 201610798064 A CN201610798064 A CN 201610798064A CN 106240703 A CN106240703 A CN 106240703A
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- car body
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- 230000005520 electrodynamics Effects 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000005303 weighing Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 230000005484 gravity Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The present invention relates to a kind of electrodynamic balance swing car start self-balancing control method and system thereof.It solving the start of existing electrodynamic balance car cannot the technical problem such as autobalance.Including by the balance car car body of two pedal stand pivot joints, wheel hub motor it is respectively equipped with on pedal stand, it is provided with control circuit in balance car car body, control circuit connects the supply module being arranged in balance car car body and being connected with wheel hub motor respectively, is provided with and control circuit can be made to connect with supply module and two wheel hub motors can be made under control circuit effect to rotate respectively so that the inclination angle of two pedal stands is all consistent so that balance car car body is balanced the start self-balancing button of state with the holding of default inclination angle between control circuit with supply module.Advantage is: automaticity is high, is automatically obtained the balance of two pedal stands, playing method variation, has both driving models and select for user after start.
Description
Technical field
The invention belongs to electric vehicle devices technical field, especially relate to a kind of electrodynamic balance swing car start self-balancing control
Method processed and system thereof.
Background technology
Electrodynamic balance car, is again body-sensing car, thinking car, act as regent car etc..Single wheel and two-wheel two class is mainly had on market.Its fortune
Make principle to be mainly built upon one and be referred to as in the ultimate principle of " dynamic stability ", utilize gyroscope and the acceleration of vehicle body
Degree sensor, detects the change of vehicle body attitude, and utilizes servo-control system, accurately drives motor to adjust accordingly
Whole, to keep the balance of system.Wherein, electrodynamic balance swing car is mainly made up of two pedal stands that can mutually reverse,
Realized the change of car body direct of travel by twisting pedal stand, this kind of electrodynamic balance swing car manipulation difficulty is big, each pedal stand
Cannot automatically adjust center of gravity, need to first pass through after start and go to trample the pressure transducer above one of them pedal stand with foot and make
Single pedal stand adjusts its attitude and realizes balance, removes to trample another one pedal stand the most again and realizes its poised state, only when
When two pedal stands are in poised state, user just can be stood on pedal stand, thus makes existing electrodynamic balance turn round
Car manipulation is extremely inconvenient, and needs artificially to go to realize the poised state of each pedal stand.
In order to solve the problem that prior art exists, people have carried out long-term exploration, it is proposed that solution miscellaneous
Scheme.Such as, Chinese patent literature disclose a kind of self-balancing two-wheeled balance car and control method [application number:
201610118977.2], this self-balancing two-wheeled balance car includes: revolver, right wheel, crossbeam and mobile platform, described revolver and the right side
Wheel is connected to the two ends of crossbeam, and rotates with crossbeam for axle, and described mobile platform is arranged at above crossbeam, described horizontal stroke
It is provided with balance drive motor on beam, for driving mobile platform movable to adjust the center of gravity of balance car, makes balance car certainly
Dynamic balancing.
Although although such scheme alleviates existing electrodynamic balance swing car to a certain extent and cannot automatically adjust center of gravity
Problem, but mainly use the mode of transverse shifting mobile platform due to the program to realize the balance of pedal stand, this
Sample makes pedal stand realize balance after still cannot realizing the start of electrodynamic balance swing car automatically.
Summary of the invention
It is an object of the invention to for the problems referred to above, it is provided that a kind of easy to operate, automatically put down after pedal stand start can be realized
The electrodynamic balance swing car start self-balancing control method of weighing apparatus.
Another object of the present invention is for the problems referred to above, it is provided that a kind of simple and reasonable, automaticity is high
Electrodynamic balance swing car start Self-balance Control System.
For reaching above-mentioned purpose, present invention employs following technical proposal: the start self-balancing control of this electrodynamic balance swing car
Method processed, it is characterised in that this method comprises the steps:
A, current state and preset value contrast: open the start self-balancing button on balance car car body, by supply module with
Control circuit connects, control circuit detect respectively the current inclination angle of two pedal stands of current balance car car body and respectively with two
The default inclination value of pedal stand contrasts；
B, balance car vehicle body attitude adjust: control circuit is pre-with this pedal stand according to the inclination angle that each pedal stand is current respectively
If inclination value comparing result controls the wheel hub motor that is connected with pedal stand respectively and rotates, wheel hub motor drive balance car car body each
Pedal stand rotates and adjusts balance car vehicle body attitude；
C, balance car car body keep poised state: control circuit constantly detects the inclination angle of the pedal stand after two adjustment also
Preset inclination value with this pedal stand to contrast, when one of them pedal stand inclination angle reaches to preset inclination value, control circuit control
The wheel hub motor that system is connected with this pedal stand is shut down, and keeps the poised state of this pedal stand, remains a pedal stand and continues to adjust
Attitude, until residue one pedal stand inclination angle all preset with this pedal stand inclination angle consistent time, complete whole balance car car body
Poised state.
While opening electrodynamic balance swing car, control circuit is automatically detected by a key start self-balancing button
The inclination angle of each pedal stand respectively drive hub driven by motor its rotate up to two pedal stands and be completely in poised state.
In above-mentioned electrodynamic balance swing car start self-balancing control method, in step, pressing start self-balancing is pressed
Button reaches or not up to setting time or set point number so that balance car car body is in default inclination value state, and control circuit is divided
Ji Lu not work as the inclination angle default inclination value as two pedal stands of balance car car body of the first two pedal stand.
In above-mentioned electrodynamic balance swing car start self-balancing control method, this method is further comprising the steps of:
D, the first driving states of balance car car body: after completing step C, pressing start self-balancing button reaches or does not reaches
To the setting time so that balance car car body is in the first driving states, and in two pedal stands, any one stress makes this pedal stand
During inclination control circuit drive the wheel hub motor that is connected with two pedal stands to rotate respectively so that balance car car body perform advance,
Retreat, turn in any one or more state；
E, the second driving states of balance car car body: when pressing start self-balancing button reaches or not up to sets again
Between so that balance car car body is in the second driving states, and during two pedal stand equal stress run-off the straights, control circuit drives respectively
The wheel hub motor that is connected with two pedal stands rotate so that balance car car body perform advance, retreat, turn in any one
Or various states.
The most here the first driving states and the second driving states supply user unrestricted choice as two kinds of playing methods, when begining to learn
Person can select the second driving states, the most only could realize balance car car body when two pedal stands stress simultaneously and move, this
Sample ensure that the safety of abecedarian, and practician can select the first driving states, the balance car when any one pedal stand stress
Car body can perform movement, which increases Driving.
In above-mentioned electrodynamic balance swing car start self-balancing control method, described control circuit passes through wireless telecommunications
Mode connects removable control device, controls balance car car body by the control key on removable control device and performs to include
Advance, retreat, turn in any one or more state.
This electrodynamic balance swing car start Self-balance Control System, including by the balance car car of two pedal stand pivot joints
Body, described pedal stand is respectively equipped with wheel hub motor, it is characterised in that be provided with control circuit in described balance car car body,
Described control circuit connect have be arranged on balance car car body in and the supply module that is connected with wheel hub motor respectively, described control
It is provided with between circuit processed and supply module and control circuit can be made to connect with supply module and two can be made under control circuit effect
Wheel hub motor rotates respectively so that the inclination angle of two pedal stands all keeps consistent so that balance car car with default inclination angle
Body is balanced the start self-balancing button of state.
In above-mentioned electrodynamic balance swing car start Self-balance Control System, described control circuit includes being respectively provided with
Balance sensor module in two pedal stands, described balance sensor module is respectively connected with motor and performs module, and institute
The motor stated performs module and is connected with wheel hub motor respectively.
In above-mentioned electrodynamic balance swing car start Self-balance Control System, described balance sensor module includes adding
Speedometer transducer and gyro sensor, and described acceierometer sensor is all integrated in gyro sensor and is arranged on
On secondary control plate in pedal stand.
In above-mentioned electrodynamic balance swing car start Self-balance Control System, described motor performs module and is integrated in master
On control plate, and described master control borad is arranged in any one pedal stand, and described supply module is arranged on residue one and rides
In seat.
In above-mentioned electrodynamic balance swing car start Self-balance Control System, described control circuit passes through wireless telecommunications
Mode connects to have and removable controls device, and described removable control device is provided with before control balance car car body performs to include
Enter, retreat, turn in the control key of any one or more state.
In above-mentioned electrodynamic balance swing car start Self-balance Control System, described control key be mechanical key with
Any one in touch-key.
Compared with prior art, the advantage of this electrodynamic balance swing car start self-balancing control method and system thereof exists
In: simple and reasonable, automaticity is high, is automatically obtained the balance of two pedal stands, playing method variation, has two after start
Person's driving model selects for user, when abecedarian can select the second driving states, is i.e. only subject to when two pedal stands simultaneously
Could realize balance car car body during power to move, this ensure that the safety of abecedarian, practician can select the first driving states,
When any one pedal stand stress, balance car car body can perform movement, which increases Driving.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the structured flowchart of the present invention.
In figure, balance car car body 1, pedal stand 11, pair are controlled plate 111, master control borad 112, wheel hub motor 12, control circuit 2, are put down
Weighing apparatus sensor assembly 21, motor perform module 22, supply module 3, start self-balancing button 4, removable control device 5, control
Key 6.
Detailed description of the invention
The present invention will be further described in detail with detailed description of the invention below in conjunction with the accompanying drawings.
As shown in Figure 1-2, this electrodynamic balance swing car start self-balancing control method, comprise the steps:
A, current state contrast with preset value: open the start self-balancing button 4 on balance car car body 1, by supply module 3
Connect with control circuit 2, control circuit 2 detect respectively the current inclination angle of two pedal stands 11 of current balance car car body 1 and point
The not default inclination value with two pedal stands 11 contrasts；
B, balance car vehicle body attitude adjust: control circuit 2 is ridden with this according to the inclination angle that each pedal stand 11 is current respectively
Seat 11 is preset the wheel hub motor 12 that inclination value comparing result controls to be connected with pedal stand 11 respectively and is rotated, and wheel hub motor 12 drives puts down
Weighing apparatus each pedal stand 11 of car car body 1 rotates and adjusts balance car car body 1 attitude；
C, balance car car body keep poised state: control circuit 2 constantly detect the inclining of pedal stand 11 after two adjustment
Angle is also preset inclination value with this pedal stand 11 and is contrasted, when one of them pedal stand 11 inclination angle reaches to preset inclination value, and control
The wheel hub motor 12 that circuit 2 processed controls to be connected with this pedal stand 11 is shut down, and keeps the poised state of this pedal stand 11, remains one
Pedal stand 11 continue adjust attitude, until residue one pedal stand 11 inclination angle all preset with this pedal stand 11 inclination angle consistent time,
Complete the poised state of whole balance car car body 1；
D, the first driving states of balance car car body 1: after completing step C, pressing start self-balancing button 4 reaches or not
Reach the setting time so that balance car car body 1 is in the first driving states, and in two pedal stands 11, any one stress makes this foot
Stepping on control circuit 2 when seat 11 tilts drives the wheel hub motor 12 being connected with two pedal stands 11 to rotate so that balance car car respectively
Body 1 perform advance, retreat, turn in any one or more state；
E, the second driving states of balance car car body 1: when pressing start self-balancing button 4 reaches or not up to sets again
Between so that balance car car body 1 is in the second driving states, and during two pedal stand 11 equal stress run-off the straights, control circuit 2 is respectively
The wheel hub motor 12 that is connected with two pedal stands 11 is driven to rotate so that during balance car car body 1 performs advance, retreats, turns to
Any one or more state.
While opening electrodynamic balance swing car, control circuit 2 is automatically examined by a key start self-balancing button 4
Survey each pedal stand 11 inclination angle and respectively drive hub motor 12 drive it to rotate up to two pedal stands 1 to be completely in balance
State, before traveling, user, i.e. only can be worked as when abecedarian can select the second driving states with two kinds of playing methods of unrestricted choice
Could realize balance car car body 1 during two pedal stand 11 stress simultaneously to move, this ensure that the safety of abecedarian, practician can
To select the first driving states, when any one pedal stand 11 stress, balance car car body 1 can perform movement, which increases
Driving.
In step, pressing start self-balancing button 4 reaches or not up to setting time or set point number so that balance
Car car body 1 is in default inclination value state, and control circuit 2 records respectively when the inclination angle of the first two pedal stand 11 is as balance car car
The default inclination value of 1 two pedal stands 11 of body.Wherein, control circuit 2 here has removable by wireless communication mode connection
Control device 5, by the control key 6 on removable control device 5 control balance car car body 1 perform to include advancing, retreat, turn
Any one or more state in.
This electrodynamic balance swing car start Self-balance Control System, including the balance car by the pivot joint of two pedal stands 11
Car body 1, pedal stand 11 is respectively equipped with wheel hub motor 12, it is characterised in that be provided with control circuit 2 in balance car car body 1, controls
Circuit 2 connect have be arranged on balance car car body 1 in and the supply module 3 that is connected with wheel hub motor 12 respectively, control circuit 2 and confession
It is provided with between electricity module 3 and control circuit 2 can be made to connect with supply module 3 and two wheel hub electricity can be made under control circuit 2 acts on
Machine 12 rotates respectively so that the inclination angle of two pedal stands 11 all keeps consistent so that balance car car body 1 with default inclination angle
It is balanced the start self-balancing button 4 of state.
Wherein, control circuit 2 here includes the balance sensor module 21 being separately positioned in two pedal stands 11, flat
Weighing apparatus sensor assembly 21 is respectively connected with motor and performs module 22, and motor performs module 22 and is connected with wheel hub motor 12 respectively, this
In balance sensor module 21 include acceierometer sensor and gyro sensor, and acceierometer sensor and gyroscope
Sensor is all integrated on the secondary control plate 111 being arranged in pedal stand 11, and motor here performs module 22 and is integrated in master control borad
On 112, and master control borad 112 is arranged in any one pedal stand 11, and supply module 3 is arranged in one pedal stand 11 of residue.
Control circuit 2 is connected by wireless communication mode the removable device 5 that controls, and the removable device 5 that controls is provided with
Control balance car car body 1 perform to include advancing, retreat, turn in the control key 6 of any one or more state, it is preferable that
Here control key 6 is any one in mechanical key and touch-key.
Although the most more employing balance car car body 1, pedal stand 11, secondary control plate 111, master control borad 112, wheel hub motor
12, control circuit 2, balance sensor module 21, motor perform module 22, supply module 3, start self-balancing button 4, may move
Control the term such as device 5, control key 6, but be not precluded from using the probability of other term.These terms are used to be only used to
Describe and explain the essence of the present invention more easily；Being construed as any additional restriction is all and present invention spirit
Contrary.
Claims (10)
1. an electrodynamic balance swing car start self-balancing control method, it is characterised in that this method comprises the steps:
A, current state contrast with preset value: open start self-balancing button (4) on balance car car body (1), by supply module
(3) connecting with control circuit (2), two pedal stands (11) that control circuit (2) detects current balance car car body (1) respectively are current
Inclination angle and respectively default inclination value with two pedal stands (11) contrast；
B, balance car vehicle body attitude adjust: control circuit (2) is ridden with this according to the inclination angle that each pedal stand (11) is current respectively
Seat (11) presets wheel hub motor (12) rotation that inclination value comparing result controls to be connected respectively, wheel hub motor with pedal stand (11)
(12) drive balance car car body (1) each pedal stand (11) to rotate and adjust balance car car body (1) attitude；
C, balance car car body keep poised state: control circuit (2) constantly detect the inclining of pedal stand (11) after two adjustment
Angle inclination value default with this pedal stand (11) contrast, when one of them pedal stand (11) inclination angle reaches to preset inclination value
Time, the wheel hub motor (12) that control circuit (2) controls to be connected with this pedal stand (11) is shut down, and keeps the balance of this pedal stand (11)
State, remains pedal stand (11) and continues to adjust attitude, until the inclination angle of one pedal stand (11) of residue all with this pedal stand
(11), when default inclination angle is consistent, the poised state of whole balance car car body (1) is completed.
Electrodynamic balance swing car the most according to claim 1 start self-balancing control method, it is characterised in that in step A
In, pressing start self-balancing button (4) reaches or not up to setting time or set point number so that balance car car body (1) is in
Presetting inclination value state, control circuit (2) records respectively when the inclination angle of the first two pedal stand (11) is as balance car car body (1) two
The default inclination value of individual pedal stand (11).
Electrodynamic balance swing car the most according to claim 2 start self-balancing control method, it is characterised in that this method is also
Comprise the following steps:
D, the first driving states of balance car car body (1): after completing step C, pressing start self-balancing button (4) reaches or not
Reach the setting time so that balance car car body (1) is in the first driving states, and in two pedal stands (11), any one stress makes
This pedal stand (11) tilt time control circuit (2) drives respectively be connected with two pedal stands (11) wheel hub motor (12) rotation from
And make balance car car body (1) perform advance, retreat, turn in any one or more state；
E, the second driving states of balance car car body (1): when pressing start self-balancing button (4) reaches or not up to sets again
Between so that balance car car body (1) is in the second driving states, control circuit during two pedal stand (11) all stress run-off the straights
(2) respectively drive be connected with two pedal stands (11) wheel hub motor (12) rotation so that balance car car body (1) perform advance,
Retreat, turn in any one or more state.
4. according to the electrodynamic balance swing car start self-balancing control method described in claim 1 or 2 or 3, it is characterised in that institute
The control circuit (2) stated is connected by wireless communication mode has removable control device (5), by removable control device (5)
On control key (6) control balance car car body (1) perform to include advancing, retreat, turn in any one or more state.
5. an electrodynamic balance swing car start Self-balance Control System, including the balance by the pivot joint of two pedal stands (11)
Car car body (1), described pedal stand (11) is respectively equipped with wheel hub motor (12), it is characterised in that described balance car car body
(1) be provided with control circuit (2) in, described control circuit (2) connect be arranged on balance car car body (1) in and respectively with wheel hub
The supply module (3) that motor (12) is connected, is provided with between described control circuit (2) and supply module (3) and can make control circuit
(2) connect with supply module (3) and control circuit (2) act under two wheel hub motors (12) can be made to rotate respectively thus
The inclination angle making two pedal stands (11) all keeps consistent so that balance car car body (1) is balanced opening of state with default inclination angle
Machine self-balancing button (4).
Electrodynamic balance swing car the most according to claim 5 start Self-balance Control System, it is characterised in that described control
Circuit processed (2) includes the balance sensor module (21) being separately positioned in two pedal stands (11), described balance sensor
Module (21) is respectively connected with motor and performs module (22), and described motor perform module (22) respectively with wheel hub motor (12) phase
Even.
Electrodynamic balance swing car the most according to claim 6 start Self-balance Control System, it is characterised in that described is flat
Weighing apparatus sensor assembly (21) includes acceierometer sensor and gyro sensor, and described acceierometer sensor and gyro
Instrument sensor is all integrated on secondary control plate (111) being arranged in pedal stand (11).
Electrodynamic balance swing car the most according to claim 6 start Self-balance Control System, it is characterised in that described electricity
Machine performs module (22) and is integrated on master control borad (112), and described master control borad (112) is arranged on any one pedal stand (11)
In, described supply module (3) is arranged in one pedal stand (11) of residue.
Electrodynamic balance swing car the most according to claim 5 start Self-balance Control System, it is characterised in that described control
Circuit processed (2) is connected by wireless communication mode removable control device (5), and described removable control device (5) sets
Have control balance car car body (1) perform to include advancing, retreat, turn in the control key (6) of any one or more state.
Electrodynamic balance swing car the most according to claim 9 start Self-balance Control System, it is characterised in that described
Control key (6) is any one in mechanical key and touch-key.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610798064.XA CN106240703B (en) | 2016-08-31 | 2016-08-31 | Starting self-balancing control method for electric balance swing car |
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|---|---|---|---|
| CN201610798064.XA CN106240703B (en) | 2016-08-31 | 2016-08-31 | Starting self-balancing control method for electric balance swing car |
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| CN106240703A true CN106240703A (en) | 2016-12-21 |
| CN106240703B CN106240703B (en) | 2022-04-22 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741405A (en) * | 2016-12-29 | 2017-05-31 | 杭州骑客智能科技有限公司 | The starting-up method of balance car and the device of control balance car start |
| CN108451126A (en) * | 2018-04-13 | 2018-08-28 | 常州摩本智能科技有限公司 | Intelligent luggage carrier |
| CN109398560A (en) * | 2018-12-25 | 2019-03-01 | 重庆市涵越电器有限公司 | Multipurpose Self-Balancing vehicle |
| CN110554641A (en) * | 2019-08-01 | 2019-12-10 | 纳恩博（北京）科技有限公司 | Balance car, method for controlling balance car and storage medium |
| CN111309016A (en) * | 2020-02-26 | 2020-06-19 | 腾讯科技（深圳）有限公司 | Self-balancing robot control system, self-balancing robot control method, self-balancing robot and medium |
| CN112061296A (en) * | 2020-08-07 | 2020-12-11 | 浙江阿尔郎科技有限公司 | Balance car and control method thereof |
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