CN106314645A - Vehicle balancing device and method for adjusting vehicle balance - Google Patents
Vehicle balancing device and method for adjusting vehicle balance Download PDFInfo
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- CN106314645A CN106314645A CN201510349713.3A CN201510349713A CN106314645A CN 106314645 A CN106314645 A CN 106314645A CN 201510349713 A CN201510349713 A CN 201510349713A CN 106314645 A CN106314645 A CN 106314645A
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- vehicle
- balance
- balance device
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- controller
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Abstract
The invention provides a vehicle balancing device and a method for adjusting vehicle balance. Under the condition that two-wheel vehicles or vehicles are oblique, the balance of a complete vehicle can be adjusted. The vehicle balancing device comprises a sensor, a controller, control motors and rotor motors, wherein the sensor is connected with a vehicle frame and is used for detecting the oblique angle of the vehicle; the controller is connected with the sensor and is used for receiving a signal from the sensor; the control motors are connected with the controller, and act under the control of the controller; and the rotor motors are connected with the control motors, and are linked with the action of the control motors so as to swing up and down, so that vehicle balance is realized.
Description
Technical field
The present invention relates to a kind of vehicle balance device and the method adjusting vehicle balance, may be used for
On the various vehicles such as bicycle, electric motor car, motorcycle, automobile, more specifically, the present invention relates to
And one makes various vehicle automatically keep balance under not by any External Force Acting, even and if
Meet with certain shock still to keep the vehicle balance device of balance and adjust vehicle balance
Method.
Background technology
It is known that in the present two-wheeled vehicles, as a example by motorcycle, motorcycle itself is
Balance cannot be kept, under static state need to utilize the support contacted with ground to prevent motor
Car is toppled over, and under kinestate, if motorcycle run-off the straight, it is necessary to driver would adjust
The modes such as health make motorcycle restore balance.
Such structure and adjustment mode result in following problem: (1) support needs at motorcycle
Putting down time static, pack up when motion, packing up repeatedly is put down action and support can be caused to be prone to wear out,
Make support damage or change relative to the angle of motorcycle, so can cause the support can not
Realizing original support function, motorcycle cannot keep balance to topple over；(2) driver certainly
In the case of oneself adjustment health tackles motorcycle inclination, in the case of motorcycle inclination is excessive,
Driver easily cannot tackle and cause motorcycle side flip, even if motorcycle tilts little, and driver
It is also required to constantly adjust accordingly with this inclination, certain prestige be also result in for the safety driven
The side of body.
For car steering, when producing inclination because of mistake is the most curved or ground is uneven, also can shadow
Ring the driving experience to driver, need also exist for quickly cope with inclination and adjusting automobile balance
Device.
Summary of the invention
The present invention proposes in view of the above problems, it is therefore intended that provide a kind of vehicle balance device and
The method adjusting vehicle balance, it is possible to adjust vehicle in the case of two wheeler or tilting of automobile
Balance.
Technical scheme 1 is vehicle balance device, is used for keeping vehicle balance, described vehicle to include car
Frame and wheel, described vehicle balance device includes: sensor, and sensor is connected with described vehicle frame,
For detecting the angle of inclination of vehicle；Controller, is connected with described sensor, receives from described
The signal of sensor；Control motor, be connected with described controller, under the control of described controller
Action；Rotor electric machine, is connected with described control motor, link with the action of described control motor and
Swing up and down, thus realize the balance of vehicle.
In the vehicle balance device of technical scheme 2, described control motor is motor or servo electricity
Machine.
In the vehicle balance device of technical scheme 3, the outfan of described control motor passes through decelerator
And fix with described rotor electric machine and be connected.
In the vehicle balance device of technical scheme 4, the outfan of described control motor is directly with described
Rotor electric machine is fixing to be connected
In the vehicle balance device of technical scheme 5, described vehicle balance device is arranged on frame width
Center on direction.
In the vehicle balance device of technical scheme 6, described vehicle balance device is connected with vehicle power
To obtain electric power.
Technical scheme 7 is the method adjusting vehicle balance, is used for keeping vehicle balance, described vehicle
Including vehicle frame and wheel, described method includes: utilize the angle of inclination of sensor detected vehicle,
Sending a signal to controller in the case of inclination of vehicle being detected, controller received signal later
Action to controlling motor is controlled, and controls motor action so that with turning of control motor linkage
Sub-motor action and swing up and down, thus realize the balance of vehicle.
Technique effect
In accordance with the invention it is possible in the case of two wheeler or tilting of automobile, from trend side on the contrary
To implementing trimming moment, thus adjust the balance of vehicle.
Accompanying drawing explanation
Fig. 1 is the structural representation of the two wheeler of the vehicle balance device being provided with the present invention.
Fig. 2 is vehicle front view when being in poised state.
Fig. 3 is vehicle left view when being in poised state.
Fig. 4 is vehicle front view of vehicle balance device action when being in heeling condition.
Fig. 5 is vehicle left view of vehicle balance device action when being in heeling condition.
Detailed description of the invention
Fig. 1 is the structural representation of the two wheeler of the vehicle balance device being provided with the present invention.Described
Vehicle at least includes vehicle frame 1 and wheel 2, and vehicle balance device 3 is arranged on vehicle frame 1.Vehicle
The most also include the general device maintaining vehicle operation, such as electromotor, car light etc., save at this
Sketch form is stated.
Here, the longitudinal direction from front vehicle wheel to rear wheel is referred to as length direction, will view from above
The direction on the left of car body to right side gone is referred to as width, by the Vertical Square from vehicle seat to ground
To referred to as short transverse, seat is top, and ground is lower section comparatively speaking.Vehicle balance fills
Put 3 to be arranged on along its length on vehicle frame 1, be preferably mounted to the center on frame width direction
Position, vehicle balance device 3 utilizes the joint of framework 4 and vehicle frame 1 to be arranged on vehicle frame 1.
Certainly, as long as being capable of the joint of vehicle balance device 3 and vehicle frame 1, in addition to framework 4,
Other embodiment can also be used.Framework 4 can also be a part for vehicle frame 1.
Vehicle balance device 3 includes: sensor 5, and sensor 5 is connected with vehicle frame, is used for detecting
The angle of inclination of vehicle；Controller 6, is connected with sensor 5 and control motor 7 described later, uses
In the action controlling motor 7；Control motor 7, be connected with rotor electric machine 8 described later,
Action under the control of controller 6 so that rotor electric machine 8 action in linkage；Rotor electric machine 8, with
Control the action linkage of motor 7 and swing up and down, thus realize the balance of vehicle.Wherein, control
It is connected by not shown wire between device 6 with sensor 5 and control motor 7, or can also
Connected by wireless modes such as infrared ray.
Sensor 5 can be common angular transducer, is used for measuring vehicle relative to level ground
Angle of inclination.After sensor 5 detection, send signal to controller 6.In order to realize more
It is accurately controlled, in addition to the sensor of detection inclination of vehicle angle, it is also possible to further with
Other sensors, such as detection vehicle present speed or the sensor of vehicle current acceleration, come
With detection inclination of vehicle angle sensor with the use of, after considering the parameter of these sensors,
Judge to make control motor action under what circumstances.These sensors can be separately provided, it is possible to
To be integrated into a sensor such as three-in-one sensor.Can join according to the needs of actual production
The kind putting sensor and the parameter detected.
Controller 6 can perform the feedback control such as PID control, is receiving from sensor 5
After detection signal, the action to controlling motor 7 is controlled so that controls motor 7 and rotates.
Control motor 7 preferably servomotor, it is also possible to be motor.Control motor 7 in control
Rotating under the control of device 6 processed, this rotation is output to rotor electric machine 8, so that rotor electric machine
8 swing up and down.
The outfan of control motor 7 is fixing with rotor electric machine 8 by decelerator to be connected, decelerator
Can be rack-and-pinion decelerator or worm type of reduction gearing etc..Certainly, motor 7 is controlled
Outfan can also directly fixing with rotor electric machine 8 be connected.Motor when being directly connected to is for directly driving electricity
Machine, its output torque is big, therefore eliminates such as decelerator, gear-box, and belt pulley etc. connects machine
Structure, had both decreased the error produced due to frame for movement friction in terms of size, had also reduced use
Time noise etc..So, the output controlling motor 7 is delivered to rotor electric machine 8, rotor electric machine
8 link with the action controlling motor 7 and swing up and down.Rotor electric machine and control motor are in this enforcement
Mode is respectively set to two, but its quantity is not limited to this, it is also possible to according to the actual needs
And it is set to one or more.
Above-mentioned each parts of vehicle balance device 3 are connected with not shown vehicle power and obtain electric power,
Thus perform respective action.Certainly, vehicle balance device can also be connected with external power supply and
Obtain electric power.
Fig. 2 is vehicle front view when being in poised state.Now, rotor electric machine and short transverse
It is vertically and along its length level.
Fig. 3 is vehicle left view when being in poised state.Each parts of vehicle balance device 3 are still
So keep duty so that being broken in poised state can when i.e. vehicle is in nonequilibrium condition
It is adjusted immediately.
Fig. 4 is vehicle front view of vehicle balance device action when being in heeling condition.Fig. 5 is car
The left view of vehicle balance device action when being in heeling condition.As shown in Figure 4, Figure 5, exist
When vehicle is tilted to the left, rotor electric machine 8 moves downward, thus utilizes gyroscopic couple to make vehicle extensive
Multiple equilibria.
Below, the action for vehicle balance device 3 illustrates.
In brief, after vehicle launch is powered, vehicle balance device is started working, and is subject at vehicle
To when clashing into or vehicle body angle changes, vehicle balance device can be implemented to put down the most round about
Weighing apparatus moment, prevents the lateral overturning of vehicle to a certain extent.
Specifically, when vehicle balance state, each parts of vehicle balance device 3 and vehicle mounted electric
Source is connected, and bascule starts working, and reaches to make the vehicle will not sideways flat in the short time
Weighing apparatus moment and automatically keep standing erect.Bascule keeps duty so that in poised state
It is broken when i.e. vehicle is in nonequilibrium condition and can be adjusted immediately.Work is started at bascule
During making and keeping work, rotor electric machine 8 remains high speed rotating state.
When inclination of vehicle, by Fig. 4, as a example by 5, vehicle is tilted to the left, and sensor 5 detects car
Angle of inclination after, transmit a signal to controller 6, after controller 6 receives signal, root
Instructing control motor 7 according to angle of inclination and carry out action, after controlling motor 7 action, it rotates logical
Crossing decelerator or connector and pass to rotor electric machine 8, rotor electric machine moves downward, according to top
The power that the principle of spiral shell moment and producing moves right so that vehicle, this power drives vehicle frame to move right,
Thus realize the balance of vehicle.
Rotor around axis of symmetry high speed rotating is shown when rotary shaft changes orientation in space
Resistance moment, commonly referred to gyroscopic couple.Present invention utilizes the gyroscopic inertia principle that gyro rotates,
File arranges that two rotor electric machines produce rotary inertias and carry out balancing vehicle, can make bicycle, electric motor car,
The vehicles such as motorcycle are not toppled over by automatically keeping under any External Force Acting balancing when static.
And when sensor detects that current state just provides, when needing and revise, the data detected, it is sent to control
Device processed, is judged whether to need to control motor action by controller, then controls as controlled motor action
Driven by motor rotor electric machine upwardly or downwardly swings, and tilts to provide phase by controlling rotor electric machine
Reciprocal trimming moment, even still can keep balance to do in the case of meeting with certain shock
To standing erect.
When vehicle is tilted to the right, rotor electric machine swings upward and produces so that vehicle is to left movement
Power, this power drives vehicle frame to left movement, thus realizes the balance of vehicle.
The vehicle balance device of the present invention can be applied equally to automobile.In the case of automobile,
It is arranged on automobile chassis center by longitudinally fixed for the vehicle balance device of the present invention, opens at vehicle
After dynamic power supply, vehicle balance device is started working, and reaches maximum trimming moment after the several seconds, is turning
Time vehicle balance device can automatic detection vehicle side tilt angle, and apply corresponding trimming moment and make vehicle
4 take turns earth-grasping force balance thus steady the most curved.And when automobile side angle is clashed into, vehicle balance fills
Put and can implement maximum trimming moment the most round about, prevent automobile side angle from turning over to a certain extent
Fall.
(other embodiments)
The vehicle balance device of the present invention can be applied equally to three-wheeled vehicle, because three-wheel, front
Three-wheel all rolls mode by simulation motorcycle and came curved, and the present invention equally solves three-wheel
Equilibrium problem in car.Quality for the single rotor motor of motorcycle is about 10 kilograms,
But the adjustment of quality can also be carried out according to actual needs.
The parameters such as the rotating speed of rotor electric machine can carry out correspondence according to the motorcycle parameter of reality application
Adjustment.
Although producing gyroscopic couple with rotor electric machine in the present invention, but it is not limited to this, it is possible to adopt
The equipment of gyroscopic couple can be produced by high speed rotating with other.
The connected mode controlling motor and rotor electric machine is not limited to described by embodiment of the present invention
Decelerator or be directly connected to, links with rotor electric machine as long as being capable of controlling motor, then can
Enough use various different connected mode.
Claims (7)
1. a vehicle balance device, is used for keeping vehicle balance, described vehicle to include vehicle frame and car
Wheel,
It is characterized in that,
Described vehicle balance device includes:
Sensor, sensor is connected with described vehicle frame, for detecting the angle of inclination of vehicle；
Controller, is connected with described sensor, receives the signal from described sensor；
Control motor, be connected with described controller, action under the control of described controller；
Rotor electric machine, is connected with described control motor, link with the action of described control motor and on
Lower swing, thus realize the balance of vehicle.
2. vehicle balance device as claimed in claim 1, it is characterised in that described control motor
It is motor or servomotor.
3. vehicle balance device as claimed in claim 1, it is characterised in that described control motor
Outfan fixing with described rotor electric machine by decelerator be connected.
4. vehicle balance device as claimed in claim 1, it is characterised in that described control motor
Outfan directly fix with described rotor electric machine and be connected.
5. vehicle balance device as claimed in claim 1, it is characterised in that described vehicle balance
Device is arranged on the center on frame width direction.
6. vehicle balance device as claimed in claim 1, it is characterised in that described vehicle balance
Device is connected with vehicle power to obtain electric power.
7. the method adjusting vehicle balance, keep vehicle balance, described vehicle include vehicle frame and
Wheel, it is characterised in that
Described method includes:
Utilize the angle of inclination of sensor detected vehicle, will letter in the case of inclination of vehicle being detected
Number it is sent to controller,
Controller receives the signal action later to controlling motor and is controlled,
Control motor action so that swing up and down with controlling the rotor electric machine action of motor linkage,
Thus realize the balance of vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510349713.3A CN106314645A (en) | 2015-06-23 | 2015-06-23 | Vehicle balancing device and method for adjusting vehicle balance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510349713.3A CN106314645A (en) | 2015-06-23 | 2015-06-23 | Vehicle balancing device and method for adjusting vehicle balance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106314645A true CN106314645A (en) | 2017-01-11 |
Family
ID=57728014
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510349713.3A Pending CN106314645A (en) | 2015-06-23 | 2015-06-23 | Vehicle balancing device and method for adjusting vehicle balance |
Country Status (1)
| Country | Link |
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| CN (1) | CN106314645A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106864628A (en) * | 2017-03-17 | 2017-06-20 | 辽宁石油化工大学 | It is a kind of voluntarily to return force bike automatically |
| CN107380302A (en) * | 2017-08-09 | 2017-11-24 | 周起纳 | A kind of two-wheel vehicle used left and right self balancing device |
| WO2019000272A1 (en) * | 2017-06-28 | 2019-01-03 | 深圳飞豹航天航空科技有限公司 | Self-balancing motorcycle |
| ES2800070A1 (en) * | 2019-06-21 | 2020-12-23 | Univ Huelva | FALL SAFETY SYSTEM FOR MOTORCYCLES (Machine-translation by Google Translate, not legally binding) |
| CN113060218A (en) * | 2021-03-31 | 2021-07-02 | 宋长龙 | Vehicle balancing unit for road transportation |
| CN114348157A (en) * | 2022-03-21 | 2022-04-15 | 深圳摩吉智行科技有限公司 | Method and system for preventing electric two-wheeled vehicle from rollover based on G-sensor data |
| WO2022135597A1 (en) * | 2020-12-27 | 2022-06-30 | 刘鹏军 | Balance structure for connecting crossbars of bicycle |
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| JP4862801B2 (en) * | 2007-10-22 | 2012-01-25 | トヨタ自動車株式会社 | Coaxial motorcycle and control method thereof |
| CN102815357A (en) * | 2012-06-27 | 2012-12-12 | 北京工业大学 | Self-balancing manned solowheel based on inertia balance wheel |
| CN104608859A (en) * | 2015-01-05 | 2015-05-13 | 颜伟荣 | High-stability intelligent self-balance device and control method thereof |
| CN205059861U (en) * | 2015-06-23 | 2016-03-02 | 代志斌 | Vehicle balancing unit |
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| EP1977964A1 (en) * | 2006-01-27 | 2008-10-08 | Murata Manufacturing Co. Ltd. | Overturn prevention controller for two-wheeled vehicle |
| CN101573245A (en) * | 2006-12-12 | 2009-11-04 | 须田义大 | Attitude control device |
| JP4862801B2 (en) * | 2007-10-22 | 2012-01-25 | トヨタ自動車株式会社 | Coaxial motorcycle and control method thereof |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106864628A (en) * | 2017-03-17 | 2017-06-20 | 辽宁石油化工大学 | It is a kind of voluntarily to return force bike automatically |
| WO2019000272A1 (en) * | 2017-06-28 | 2019-01-03 | 深圳飞豹航天航空科技有限公司 | Self-balancing motorcycle |
| CN107380302A (en) * | 2017-08-09 | 2017-11-24 | 周起纳 | A kind of two-wheel vehicle used left and right self balancing device |
| ES2800070A1 (en) * | 2019-06-21 | 2020-12-23 | Univ Huelva | FALL SAFETY SYSTEM FOR MOTORCYCLES (Machine-translation by Google Translate, not legally binding) |
| WO2022135597A1 (en) * | 2020-12-27 | 2022-06-30 | 刘鹏军 | Balance structure for connecting crossbars of bicycle |
| CN113060218A (en) * | 2021-03-31 | 2021-07-02 | 宋长龙 | Vehicle balancing unit for road transportation |
| CN114348157A (en) * | 2022-03-21 | 2022-04-15 | 深圳摩吉智行科技有限公司 | Method and system for preventing electric two-wheeled vehicle from rollover based on G-sensor data |
| CN114348157B (en) * | 2022-03-21 | 2022-05-24 | 深圳摩吉智行科技有限公司 | Method and system for preventing electric two-wheeled vehicle from rollover based on G-sensor data |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170111 |
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| WD01 | Invention patent application deemed withdrawn after publication |