CN115092306A - Dynamic response driving control method for motor of electric cross-country motorcycle - Google Patents

Dynamic response driving control method for motor of electric cross-country motorcycle Download PDF

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CN115092306A
CN115092306A CN202210544119.XA CN202210544119A CN115092306A CN 115092306 A CN115092306 A CN 115092306A CN 202210544119 A CN202210544119 A CN 202210544119A CN 115092306 A CN115092306 A CN 115092306A
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motorcycle
angle
driving
motor
driving wheel
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秦小雷
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Shanghai Anpei Power Technology Co ltd
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Shanghai Anpei Power Technology Co ltd
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
    • 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
    • B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/12—Bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/24—Personal mobility vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention provides a dynamic response drive control method for a motor of an electric cross-country motorcycle, which obtains the inclination orientation state of the electric cross-country motorcycle according to the posture information of the motorcycle body during the driving process of the electric cross-country motorcycle and indicates the motor to output torque to a driving wheel so as to restore the balance state of the motorcycle body; the existence state of the obstacles on the road surface is determined through radar scanning, and then the motor is indicated to adjust the direction of the driving force output to the driving wheels, so that the running path of the motorcycle is changed; and finally, acquiring the holding force information of the motorcycle handle and the pressure information of the motorcycle driver seat, and indicating the motor to adjust the driving force output to the driving wheel or apply corresponding braking force to the driving wheel, so that the motorcycle can independently control the running state of the driving wheel aiming at the road surfaces of different terrains, the motorcycle can be ensured to maintain a stable running attitude, the motorcycle can be prevented from turning over, and the running safety and the control automation degree of the motorcycle can be improved.

Description

Dynamic response driving control method for motor of electric cross-country motorcycle
Technical Field
The invention relates to the technical field of electric motorcycle control, in particular to a dynamic response drive control method for a motor of an electric cross-country motorcycle.
Background
The electric cross-country motorcycle comprises a plurality of driving wheels, and a motor in the motorcycle can independently output driving force to each driving wheel, so that each driving wheel can independently rotate, and the motorcycle can be suitable for running on different terrain roads. The existing electric off-road motorcycle can only adjust the output state of the driving force to the driving wheel according to the steering operation of a driver to the motorcycle steering handle and the motorcycle head, and can not adjust the output torque to the driving wheel according to the body posture of the motorcycle in the driving process, and can not ensure that the body posture of the motorcycle is adjusted in real time in the driving process, so that the motorcycle can be turned over or slipped in an idling way in the driving process, thereby reducing the driving safety of the motorcycle and preventing the timely and reliable control of the motorcycle on different rugged roads.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a dynamic response drive control method for a motor of an electric cross-country motorcycle, which obtains the inclination orientation state of the electric cross-country motorcycle according to the posture information of the motorcycle body during the running process of the electric cross-country motorcycle and indicates the motor to output torque to a driving wheel so as to restore the balance state of the motorcycle body; the existence state of the obstacles on the road surface is determined through radar scanning, and then the motor is indicated to adjust the direction of the driving force output to the driving wheels, so that the running path of the motorcycle is changed; and finally, acquiring the holding force information of the motorcycle handle and the pressure information of the motorcycle driver seat, and indicating the motor to adjust the driving force output to the driving wheel or apply corresponding braking force to the driving wheel, so that the motorcycle can independently control the running state of the driving wheel aiming at the road surfaces of different terrains, the motorcycle can be ensured to maintain a stable running attitude, the motorcycle can be prevented from turning over, and the running safety and the control automation degree of the motorcycle can be improved.
The invention provides a dynamic response drive control method for a motor of an electric cross-country motorcycle, which comprises the following steps:
step S1, collecting vehicle body attitude information of the electric offroad motorcycle during driving, and determining the inclination orientation state of the motorcycle according to the vehicle body attitude information; then according to the inclination orientation state, indicating the motor to output torque to the corresponding driving wheel so as to adjust the body posture of the motorcycle;
step S2, when the vehicle body of the adjusted motorcycle is restored to the balance state, radar scanning is carried out on the current running road surface of the motorcycle to determine the existence state of the obstacle on the road surface; according to the obstacle existing state, the motor is instructed to adjust the driving force direction output to the driving wheel, so that the running path of the motorcycle is changed;
step S3, collecting the holding force information of the motorcycle handle and the pressure information of the motorcycle driver seat after the motorcycle changes the driving path and passes through the road surface area where the obstacle exists; and according to the holding force information and the pressure information, instructing a motor to adjust the magnitude of the driving force output to the driving wheels or applying corresponding braking force to the driving wheels.
Further, in step S1, before acquiring the body posture information of the electric dirtbike during driving, the method further includes:
acquiring a friction value between a wheel of the electric off-road motorcycle and the ground, and comparing the friction value with a preset friction threshold value;
if the friction value is larger than or equal to a preset friction threshold value, determining that the corresponding wheel is not in an idle state currently, and not collecting body posture information of the electric cross-country friction vehicle in the driving process;
and if the friction value is smaller than a preset friction threshold value, determining that the corresponding wheel is currently in an idling state, and acquiring the body posture information of the electric cross-country motorcycle in the driving process.
Further, in step S1, the determining the tilt orientation state of the motorcycle based on the vehicle body posture information specifically includes:
and extracting attitude angle values of four corner areas of the motorcycle body from the body attitude information, and determining inclination deviation information of the motorcycle body relative to a horizontal plane according to the attitude angle values.
Further, in step S1, instructing the motor to output torque to the corresponding driving wheel according to the tilt orientation state to adjust the posture of the motorcycle specifically includes:
extracting the yaw angle and the pitch angle of the motorcycle body from the inclination deviation information of the motorcycle body relative to the horizontal plane;
and according to the yaw angle and the pitch angle, the indicating motor outputs corresponding torque to front and rear driving wheels of the motorcycle, and synchronously acquires the body attitude information of the motorcycle until the body attitude of the motorcycle is adjusted to recover the position of the balance state.
Further, in step S1, in addition to indicating the output torque of the driving wheel corresponding to the motor according to the inclined orientation state, a controllable telescopic protruding block is disposed on the seat cushion of the electric motocross motorcycle, and the controllable telescopic protruding block is used for abutting against the body of the driver, so as to remind the driver to adjust the swaying state of the body of the electric motocross motorcycle, and specifically includes:
firstly, extracting attitude angle values of four corner areas of the motorcycle body from the body attitude information, obtaining a rolling angle value of the motorcycle along the direction vertical to the motorcycle body according to the attitude angle values, and obtaining the integral side-turning angle of the motorcycle according to the current steering angle of the motorcycle; according to the whole angle of turning on one's side of motorcycle, the protruding height of the controllable flexible protruding piece of control motorcycle cushion to the protruding height through controllable flexible protruding piece reminds the user to adjust the angle of turning on one's side of motorcycle and resumes, its specific process is:
step S101, obtaining the rolling angle value of the motorcycle along the direction vertical to the motorcycle body according to the attitude angle values of four corner areas of the motorcycle body by using the following formula (1),
Figure BDA0003649160310000031
in the above formula (1), θ 0 The rolling angle value of the motorcycle along the direction vertical to the motorcycle body is represented; theta (1) represents a rollover angle of a posture angle of a front left area in four corner areas of a motorcycle body; theta (2) represents the flip of the attitude angle of the front right area in the four corner areas of the motorcycle bodyRolling an angle; theta (3) represents a rollover angle of a posture angle of a rear left side area in four corner areas of a motorcycle body; theta (4) represents a rollover angle of a posture angle of a rear right side area among four corner areas of a motorcycle body; i represents a variable, and the value of the variable is 1, 2, 3 and 4;
step S102, obtaining the whole side-turning angle of the motorcycle according to the rolling angle value of the motorcycle along the direction vertical to the motorcycle body and the current steering angle of the motorcycle by using the following formula (2),
Figure BDA0003649160310000041
in the above-mentioned formula (2),
Figure BDA0003649160310000042
representing the overall rollover angle of the motorcycle; delta. for the preparation of a coating 0 Representing the pitch angle of the motorcycle body; l is q Indicating the length of a steering head of the motorcycle; l is s Indicating the body length of the motorcycle; beta represents the steering angle of the motorcycle, and the steering angle is changed into positive right deflection in the front direction of the motorcycle body and negative left deflection in the front direction of the motorcycle body; α represents the overall offset angle of the motorcycle;
step S103, controlling the height of the telescopic convex block on the motorcycle cushion according to the whole side turning angle of the motorcycle by using the following formula (3),
Figure BDA0003649160310000043
in the above formula (3), h l The height value of the projection of the telescopic projection block positioned on the left side of the motorcycle cushion is represented; h is r The height value of the projection of the telescopic projection block on the right side of the motorcycle cushion is represented; h represents the maximum protrusion height value of the telescopic protrusion blocks positioned on the left side and the right side on the motorcycle cushion.
Further, in step S2, when the vehicle body of the adjusted motorcycle returns to the balanced state, performing radar scanning on the current driving road surface of the motorcycle to determine the obstacle existing state on the road surface specifically includes:
when the vehicle body of the motorcycle is restored to the balanced state after adjustment, radar scanning is carried out on the road surface in front of the current running of the motorcycle, and corresponding radar echoes are received;
and determining the relative direction between the obstacle on the road surface in front of the current running of the motorcycle and the motorcycle according to the radar echo.
Further, in step S2, the instructing the motor to adjust the direction of the driving force output to the driving wheel according to the obstacle existing state so as to change the driving path of the motorcycle specifically includes:
determining the current running direction of the motorcycle and an included angle between the motorcycle and a connecting line between the motorcycle and the obstacle according to the relative direction between the obstacle existing on the road surface in front of the current running of the motorcycle and the motorcycle;
and determining a steering angle adjusting value corresponding to the driving wheel according to the included angle, and indicating the motor to adjust the driving force direction output to the driving wheel, so that the driving wheel drives the motorcycle to run along the adjusted steering angle.
Further, in step S3, after the motorcycle changes the driving route and passes through a road surface area where an obstacle exists, the collecting the grip force information of the motorcycle handle and the pressure information of the motorcycle driver' S seat specifically includes:
after the motorcycle changes the driving path, acquiring the relative distance between the motorcycle and the barrier; judging whether the motorcycle passes through a road surface area existing in an obstacle area or not according to the change condition of the relative distance;
after the motorcycle is determined to pass through a road surface area where the obstacle exists, the holding acting force applied by a driver to a motorcycle handle and the pressing acting force applied by the driver to a motorcycle driver seat are collected.
Further, in step S3, the instructing the motor to adjust the magnitude of the driving force output to the driving wheel or apply a corresponding braking force to the driving wheel according to the gripping force information and the pressure information specifically includes:
if the holding acting force is smaller than or equal to a preset holding acting force threshold value, or the abutting acting force is smaller than or equal to a preset abutting acting force threshold value, the motor is instructed to reduce the driving force value output to the driving wheel or increase the braking force value applied to the driving wheel; otherwise, the motor is instructed to keep outputting a constant preset driving force value to the driving wheel or applying a constant preset braking force value to the driving wheel.
Compared with the prior art, the electric cross-country motorcycle motor dynamic response drive control method obtains the inclination orientation state of the electric cross-country motorcycle according to the posture information of the motorcycle body during the driving process of the electric cross-country motorcycle, and indicates the motor to output torque to the driving wheels, so that the motorcycle body is restored to the balance state; the existence state of the obstacles on the road surface is determined through radar scanning, and then the motor is indicated to adjust the direction of the driving force output to the driving wheels, so that the running path of the motorcycle is changed; and finally, acquiring the holding force information of the motorcycle handle and the pressure information of the motorcycle driver seat, and indicating the motor to adjust the driving force output to the driving wheel or apply corresponding braking force to the driving wheel, so that the motorcycle can independently control the running state of the driving wheel aiming at the road surfaces of different terrains, the motorcycle can be ensured to maintain a stable running attitude, the motorcycle can be prevented from turning over, and the running safety and the control automation degree of the motorcycle can be improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a motor dynamic response driving control method for an electric cross-country motorcycle provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a flow chart of a motor dynamic response driving control method for an electric cross-country motorcycle according to an embodiment of the present invention is shown. The dynamic response drive control method for the motor of the electric cross-country motorcycle comprises the following steps:
step S1, collecting vehicle body attitude information of the electric offroad motorcycle during driving, and determining the inclined orientation state of the motorcycle according to the vehicle body attitude information; then according to the inclination orientation state, indicating the motor to output torque to the corresponding driving wheel so as to adjust the body posture of the motorcycle;
step S2, when the vehicle body of the adjusted motorcycle is restored to the balance state, radar scanning is carried out on the current running road surface of the motorcycle to determine the existence state of the obstacle on the road surface; according to the obstacle existing state, the motor is instructed to adjust the direction of the driving force output to the driving wheel, so that the running path of the motorcycle is changed;
step S3, collecting the holding force information of the motorcycle handle and the pressure information of the motorcycle driver seat after the motorcycle changes the driving path and passes through the road surface area where the obstacle exists; and according to the holding force information and the pressure information, instructing the motor to adjust the magnitude of the driving force output to the driving wheel or applying corresponding braking force to the driving wheel.
The beneficial effects of the above technical scheme are: the motor dynamic response drive control method of the electric cross-country motorcycle obtains the inclination orientation state of the electric cross-country motorcycle according to the posture information of the motorcycle body during the driving process of the electric cross-country motorcycle, and indicates the motor to output torque to a driving wheel, so that the motorcycle body of the motorcycle is restored to a balanced state; the existence state of the obstacles on the road surface is determined through radar scanning, and then the motor is indicated to adjust the direction of the driving force output to the driving wheels, so that the running path of the motorcycle is changed; and finally, acquiring the holding force information of the motorcycle handle and the pressure information of the motorcycle driver seat, and indicating the motor to adjust the driving force output to the driving wheel or apply corresponding braking force to the driving wheel, so that the motorcycle can independently control the running state of the driving wheel aiming at the road surfaces of different terrains, the motorcycle can be ensured to maintain a stable running attitude, the motorcycle can be prevented from turning over, and the running safety and the control automation degree of the motorcycle can be improved.
Preferably, in step S1, before acquiring the body posture information of the electric motocross motorcycle during driving, the method further includes:
collecting a friction value between a wheel of the electric cross-country motorcycle and the ground, and comparing the friction value with a preset friction threshold value;
if the friction value is larger than or equal to a preset friction threshold value, determining that the corresponding wheel is not in an idle state currently, and not collecting body posture information of the electric cross-country friction vehicle in the driving process;
if the friction value is smaller than the preset friction threshold value, determining that the corresponding wheel is currently in an idle state, and acquiring body posture information of the electric off-road motorcycle in the driving process.
The beneficial effects of the above technical scheme are: when the electric dirtbike runs on a rough road, the wheels of the motorcycle may sink into a depressed area, the wheels of the motorcycle may slip in the depressed area, and the body of the motorcycle may be in a tilted state. In order to instruct the motor to output corresponding driving torque to the driving wheels to drive the wheels to leave the low-lying area, the body posture information of the motorcycle needs to be determined, so that the driving torque output state of the motor is controlled in a targeted manner. By collecting the friction value between the wheels of the motorcycle and the ground, when the friction value is smaller than a preset friction threshold value, the wheels are determined to be in an idle running state at present, and the body posture information of the motorcycle in the running process is collected, so that a reliable basis is provided for the driving torque output by a subsequent control motor.
Preferably, in step S1, the determining the tilt orientation state of the motorcycle based on the vehicle body posture information specifically includes:
attitude angle values of four corner areas of the motorcycle body are extracted from the body attitude information, and the inclination deviation information of the motorcycle body relative to the horizontal plane is determined according to the attitude angle values.
The beneficial effects of the above technical scheme are: attitude angle values of four corner areas of the motorcycle body are extracted from the body attitude information, then all the attitude angle values are comprehensively calculated, and the inclination deviation information of the motorcycle body relative to the horizontal plane is determined, so that the overall attitude of the motorcycle body can be evaluated; the method for obtaining the tilt deviation information by comprehensively calculating all attitude angle values belongs to the conventional technical means in the field and is not described in detail here.
Preferably, in step S1, instructing the motor to output torque to the corresponding driving wheel according to the tilt orientation state to adjust the posture of the motorcycle specifically includes:
extracting a yaw angle and a pitch angle of the motorcycle body from the inclination deviation information of the motorcycle body relative to the horizontal plane;
and according to the yaw angle and the pitch angle, the indicating motor outputs corresponding torque to front and rear driving wheels of the motorcycle, and synchronously acquires the body attitude information of the motorcycle until the body attitude of the motorcycle is adjusted to recover the position of the balanced state.
The beneficial effects of the above technical scheme are: and extracting the yaw angle and the pitch angle of the motorcycle body from the inclination deviation information, wherein the yaw angle and the pitch angle directly reflect the yaw and pitch degrees of the driving wheels, so that the motor can output corresponding moments to the front driving wheel and the rear driving wheel of the motorcycle to correct the body posture of the motorcycle and enable the wheels to rapidly leave a low-lying area, and the driving stability of the motorcycle is improved.
Preferably, in step S1, in addition to indicating the output torque of the driving wheel corresponding to the motor according to the inclined orientation state, controllable telescopic protrusions are disposed on the left and right sides of the seat cushion of the electric dirtbike, and the controllable telescopic protrusions are used for abutting against the body of the driver, so as to remind the driver to adjust the swaying state of the electric dirtbike body, which specifically comprises:
firstly, extracting attitude angle values of four corner areas of a motorcycle body from the body attitude information, obtaining a rolling angle value of the motorcycle along the direction vertical to the body according to the attitude angle values, and then obtaining the integral rollover angle of the motorcycle according to the steering angle of the motorcycle; according to the whole angle of turning on one's side of motorcycle, the protruding height of the controllable flexible protruding piece of control motorcycle cushion to the protruding height through controllable flexible protruding piece reminds the user to adjust the angle of turning on one's side of motorcycle and resumes, its specific process is:
step S101, obtaining the rolling angle value of the motorcycle along the direction vertical to the motorcycle body according to the attitude angle values of four corner areas of the motorcycle body by using the following formula (1),
Figure BDA0003649160310000091
in the above formula (1), θ 0 Representing the rolling angle value of the motorcycle along the direction vertical to the motorcycle body; theta (1) represents a rollover angle of a posture angle of a front left area in four corner areas of a motorcycle body; theta (2) represents a rollover angle of a posture angle of a front right area in four corner areas of a motorcycle body; theta (3) represents a roll angle of a posture angle of a rear left side area among four corner areas of a motorcycle body; theta (4) represents a rollover angle of a posture angle of a rear right side area among four corner areas of a motorcycle body; i represents a variable, and the value of the variable is 1, 2, 3 and 4;
step S102, obtaining the whole side-turning angle of the motorcycle according to the rolling angle value of the motorcycle along the direction vertical to the motorcycle body and the current steering angle of the motorcycle by using the following formula (2),
Figure BDA0003649160310000092
in the above-mentioned formula (2),
Figure BDA0003649160310000093
representing the overall rollover angle of the motorcycle; delta 0 Representing the pitch angle of the motorcycle body; l is q Indicating the length of a steering head of the motorcycle; l is s Indicating the length of the motorcycle body; beta represents the steering angle of the motorcycle, and the steering angle is changed into positive right deflection in the front direction of the motorcycle body and negative left deflection in the front direction of the motorcycle body; α represents the overall offset angle of the motorcycle;
step S103, controlling the height of the retractable convex block on the motorcycle cushion according to the whole side-turning angle of the motorcycle by using the following formula (3),
Figure BDA0003649160310000101
in the above formula (3), h l The height value of the projection of the telescopic projection block positioned on the left side of the motorcycle cushion is represented; h is r The height value of the projection of the telescopic projection block positioned on the right side of the motorcycle seat cushion is represented; h represents the maximum protrusion height value of the telescopic protrusion blocks positioned on the left side and the right side on the motorcycle cushion.
The beneficial effects of the above technical scheme are: obtaining a rolling angle value of the motorcycle along a direction vertical to the motorcycle body according to the attitude angle values of four corner areas of the motorcycle body by using the formula (1), and further stereosizing the motorcycle and then obtaining a stereoscopically rolled angle so as to ensure the accuracy of subsequent control; then, the formula (2) is utilized to obtain the integral rollover angle of the motorcycle according to the rollover angle value of the motorcycle along the direction vertical to the motorcycle body and the current steering angle of the motorcycle, so that the instability of control and judgment caused by the turning of the motorcycle is avoided, and the reliability of the system is ensured; and finally, controlling the protrusion height of the controllable telescopic protrusion block on the motorcycle cushion according to the whole side turning angle of the motorcycle by using the formula (3), and further reminding a user to adjust the side turning angle of the motorcycle back, so that the side turning accident of the motorcycle is prevented.
Preferably, in step S2, when the vehicle body of the motorcycle returns to the balanced state after the adjustment, performing radar scanning on the current running road surface of the motorcycle to determine the obstacle existing state on the road surface specifically includes:
when the vehicle body of the motorcycle is restored to the balanced state after adjustment, radar scanning is carried out on the road surface in front of the current running of the motorcycle, and corresponding radar echoes are received;
and determining the relative direction between the motorcycle and the obstacle on the road surface in front of the current running of the motorcycle according to the radar echo.
The beneficial effects of the above technical scheme are: when the balance state of the motorcycle body is restored, radar scanning is carried out on the road surface in front of the motorcycle in the current driving process, so that the relative direction between the obstacle and the motorcycle on the road surface in front of the motorcycle in the current driving process can be determined by analyzing radar echoes, the relative position relation between the obstacle and the motorcycle can be determined, and the driving path of the motorcycle can be conveniently and accurately adjusted subsequently.
Preferably, in step S2, the instructing the motor to adjust the direction of the driving force output to the driving wheel so as to change the running path of the motorcycle, in accordance with the obstacle existing state, specifically includes:
determining the current running direction of the motorcycle and an included angle between the motorcycle and a connecting line between the motorcycle and the obstacle according to the relative direction between the obstacle existing on the road surface in front of the current running of the motorcycle and the motorcycle;
and determining a steering angle adjusting value corresponding to the driving wheel according to the included angle so as to indicate the motor to adjust the driving force direction output to the driving wheel, so that the driving wheel drives the motorcycle to run along the adjusted steering angle.
The beneficial effects of the above technical scheme are: the current driving direction of the motorcycle and the included angle between the connecting line of the motorcycle and the obstacle are taken as the reference, and the steering angle adjusting value corresponding to the driving wheel is determined, so that the motorcycle with the driving path adjusted does not collide with the obstacle, and the driving safety of the motorcycle is improved.
Preferably, in step S3, after the motorcycle changes the driving path and passes through the road surface area where the obstacle exists, the collecting the grip force information of the motorcycle handle and the pressure information of the motorcycle driver' S seat specifically includes:
after the motorcycle changes a driving path, acquiring a relative distance between the motorcycle and an obstacle; judging whether the motorcycle passes through a road surface area in which the obstacle area exists or not according to the change condition of the relative distance;
after the motorcycle is determined to pass through a road surface area where the obstacle exists, the holding acting force applied by a driver to a motorcycle handle and the pressing acting force applied by the driver to a motorcycle driver seat are collected.
The beneficial effects of the above technical scheme are: when the relative distance between the motorcycle and the obstacle during running is smaller and then larger after the motorcycle changes the running path, when the relative distance reaches the minimum value, the motorcycle is indicated to pass through the road surface area where the obstacle area exists safely. And then the holding acting force applied to the handle of the motorcycle by the driver and the pressing acting force applied to the driver seat of the motorcycle by the driver are collected, and whether the hands of the driver are separated from the handle and whether the driver leaves the driver seat can be determined by subsequently analyzing the holding acting force and the pressing acting force.
Preferably, in step S3, the instructing the motor to adjust the magnitude of the driving force output to the driving wheel or applying a corresponding braking force to the driving wheel according to the gripping force information and the pressure information specifically includes:
if the holding acting force is smaller than or equal to a preset holding acting force threshold value, or the abutting acting force is smaller than or equal to a preset abutting acting force threshold value, the motor is instructed to reduce the driving force value output to the driving wheel or increase the braking force value applied to the driving wheel; otherwise, the motor is instructed to keep outputting a constant preset driving force value to the driving wheel or applying a constant preset braking force value to the driving wheel.
The beneficial effects of the above technical scheme are: if the holding acting force is smaller than or equal to the preset holding acting force threshold value, or the abutting acting force is smaller than or equal to the preset abutting acting force threshold value, it is indicated that the two hands of the driver are separated from the rotating handle and the driver leaves the driver seat, and at the moment, the motor is indicated to reduce the driving force value output to the driving wheels or increase the braking force value applied to the driving wheels, so that the driving speed of the motorcycle can be reduced, and the phenomenon that the motorcycle cannot keep balance due to too fast driving and rollover accidents are avoided.
As can be seen from the contents of the above embodiments, the motor dynamic response drive control method for the electric motocross motorcycle obtains the tilt orientation state of the electric motocross motorcycle according to the posture information of the motorcycle body during the driving process of the electric motocross motorcycle, and instructs the motor to output torque to the driving wheels, so as to restore the balance state of the motorcycle body; the existence state of the obstacles on the road surface is determined through radar scanning, and then the motor is indicated to adjust the direction of the driving force output to the driving wheels, so that the running path of the motorcycle is changed; and finally, collecting the holding force information of the motorcycle handle and the pressure information of the motorcycle driver seat, and indicating the motor to adjust the driving force output to the driving wheel or apply corresponding braking force to the driving wheel, so that the motorcycle can independently control the running state of the driving wheel aiming at the road surfaces of different terrains, the motorcycle can be ensured to maintain a stable running posture, the motorcycle can be prevented from turning over, and the running safety and the control automation degree of the motorcycle can be improved.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (9)

1. The dynamic response driving control method of the motor of the electric cross-country motorcycle is characterized by comprising the following steps:
step S1, collecting body posture information of the electric off-road motorcycle during driving, and determining the inclination orientation state of the motorcycle according to the body posture information; then according to the inclination orientation state, indicating the motor to output torque to the corresponding driving wheel so as to adjust the body posture of the motorcycle;
step S2, when the vehicle body of the adjusted motorcycle is restored to the balance state, radar scanning is carried out on the current running road surface of the motorcycle to determine the existence state of the obstacle on the road surface; according to the obstacle existing state, the motor is instructed to adjust the driving force direction output to the driving wheel, so that the running path of the motorcycle is changed;
step S3, collecting the holding force information of the motorcycle handle and the pressure information of the motorcycle driver seat after the motorcycle changes the driving path and passes through the road surface area where the obstacle exists; and according to the holding force information and the pressure information, instructing a motor to adjust the magnitude of the driving force output to the driving wheels or applying corresponding braking force to the driving wheels.
2. The electric cross-country motorcycle motor dynamic response drive control method of claim 1, characterized in that:
in step S1, before collecting the body posture information of the electric motocross motorcycle during driving, the method further includes:
acquiring a friction value between a wheel of the electric off-road motorcycle and the ground, and comparing the friction value with a preset friction threshold value;
if the friction value is larger than or equal to a preset friction threshold value, determining that the corresponding wheel is not in an idling state at present, and not collecting body posture information of the electric cross-country friction vehicle in the running process;
and if the friction value is smaller than a preset friction threshold value, determining that the corresponding wheel is currently in an idle state, and acquiring body posture information of the electric off-road motorcycle in the driving process.
3. The electric cross-country motorcycle motor dynamic response drive control method according to claim 2, characterized in that:
in step S1, the determining the tilt orientation state of the motorcycle based on the vehicle body posture information specifically includes:
and extracting attitude angle values of four corner areas of the motorcycle body from the body attitude information, and determining inclination deviation information of the motorcycle body relative to a horizontal plane according to the attitude angle values.
4. The electric cross-country motorcycle motor dynamic response drive control method according to claim 3, characterized in that:
in step S1, instructing the motor to output a torque to the corresponding driving wheel according to the tilt orientation state to adjust the posture of the motorcycle specifically includes:
extracting the yaw angle and the pitch angle of the motorcycle body from the inclination deviation information of the motorcycle body relative to the horizontal plane;
and according to the yaw angle and the pitch angle, the indicating motor outputs corresponding torque to front and rear driving wheels of the motorcycle, and synchronously acquires the body attitude information of the motorcycle until the body attitude of the motorcycle is adjusted to recover the position of the balance state.
5. The electric off-road motorcycle motor dynamic response drive control method as set forth in claim 4, characterized in that:
in step S1, in addition to indicating the output torque of the driving wheel corresponding to the motor according to the inclined orientation state, a controllable telescopic protruding block is further disposed on the seat cushion of the electric motocross motorcycle, and the controllable telescopic protruding block is used for abutting against the body of the driver, so as to remind the driver to adjust the swaying state of the body of the electric motocross motorcycle, and specifically includes:
firstly, extracting attitude angle values of four corner areas of the motorcycle body from the body attitude information, obtaining a rolling angle value of the motorcycle along the direction vertical to the motorcycle body according to the attitude angle values, and obtaining the integral side-turning angle of the motorcycle according to the current steering angle of the motorcycle; according to the whole angle of turning on one's side of motorcycle, the protruding height of the controllable flexible protruding piece of control motorcycle cushion to the protruding height through controllable flexible protruding piece reminds the user to adjust the angle of turning on one's side of motorcycle and resumes, its specific process is:
step S101, obtaining the rolling angle value of the motorcycle along the direction vertical to the motorcycle body according to the attitude angle values of four corner areas of the motorcycle body by using the following formula (1),
Figure FDA0003649160300000031
in the above formula (1), θ 0 Representing the rolling angle value of the motorcycle along the direction vertical to the motorcycle body; theta (1) represents a rollover angle of a posture angle of a front left area in four corner areas of a motorcycle body; theta (2) represents a rollover angle of a posture angle of a front right area among four corner areas of a motorcycle body; theta (3) represents a roll angle of a posture angle of a rear left side area among four corner areas of a motorcycle body; theta (4) represents a roll angle of a posture angle of a rear right side area among four corner areas of a motorcycle body; i represents a variable, and the value of the variable is 1, 2, 3 and 4;
step S102, obtaining the whole side-turning angle of the motorcycle according to the rolling angle value of the motorcycle along the direction vertical to the motorcycle body and the current steering angle of the motorcycle by using the following formula (2),
Figure FDA0003649160300000032
in the above-mentioned formula (2),
Figure FDA0003649160300000033
representing the overall rollover angle of the motorcycle; delta 0 Representing the pitch angle of the motorcycle body; l is q Indicating the length of a steering head of the motorcycle; l is s Indicating the body length of the motorcycle; beta represents the steering angle of the motorcycle, and the steering angle is changed into positive right deflection in the front direction of the motorcycle body and negative left deflection in the front direction of the motorcycle body; α represents the overall offset angle of the motorcycle;
step S103, controlling the height of the retractable convex block on the motorcycle cushion according to the whole side-turning angle of the motorcycle by using the following formula (3),
Figure FDA0003649160300000034
in the above formula (3), h l The height value of the projection of the telescopic projection block positioned on the left side of the motorcycle cushion is represented; h is r The height value of the projection of the telescopic projection block positioned on the right side of the motorcycle seat cushion is represented; h represents the maximum protrusion height value of the telescopic protrusion blocks positioned on the left side and the right side on the motorcycle cushion.
6. The electric cross-country motorcycle motor dynamic response drive control method according to claim 1, characterized in that:
in step S2, when the vehicle body of the motorcycle returns to the balanced state after adjustment, performing radar scanning on the current driving road surface of the motorcycle to determine the existence state of the obstacle on the road surface specifically includes: when the vehicle body of the motorcycle is restored to the balanced state after adjustment, radar scanning is carried out on the road surface in front of the current running of the motorcycle, and corresponding radar echoes are received;
and determining the relative direction between the obstacle on the road surface in front of the current running of the motorcycle and the motorcycle according to the radar echo.
7. The electric off-road motorcycle motor dynamic response drive control method as set forth in claim 6, characterized in that:
in step S2, the instructing the motor to adjust the direction of the driving force output to the driving wheel according to the obstacle existing state so as to change the driving path of the motorcycle specifically includes:
determining the current running direction of the motorcycle and an included angle between the current running direction of the motorcycle and a connecting line between the motorcycle and the barrier according to the relative position between the barrier existing on the road surface in front of the current running of the motorcycle and the motorcycle;
and determining a steering angle adjusting value corresponding to the driving wheel according to the included angle, and indicating the motor to adjust the driving force direction output to the driving wheel, so that the driving wheel drives the motorcycle to run along the adjusted steering angle.
8. The electric cross-country motorcycle motor dynamic response drive control method according to claim 1, characterized in that:
in step S3, when the motorcycle changes the driving route and passes through a road surface area where an obstacle exists, the acquiring the grip force information of the motorcycle handle and the pressure information of the motorcycle driver' S seat specifically includes:
after the motorcycle changes the driving path, acquiring the relative distance between the motorcycle and the barrier; judging whether the motorcycle passes through a road surface area existing in an obstacle area or not according to the change condition of the relative distance;
after the motorcycle is determined to pass through a road surface area where the obstacle exists, the holding acting force applied by a driver to a motorcycle handle and the pressing acting force applied by the driver to a motorcycle driver seat are collected.
9. The electric cross-country motorcycle motor dynamic response drive control method of claim 8, characterized in that:
in step S3, the instructing the motor to adjust the magnitude of the driving force output to the driving wheel or apply a corresponding braking force to the driving wheel according to the gripping force information and the pressure information specifically includes:
if the holding acting force is smaller than or equal to a preset holding acting force threshold value, or the abutting acting force is smaller than or equal to a preset abutting acting force threshold value, the motor is instructed to reduce the driving force value output to the driving wheel or increase the braking force value applied to the driving wheel; otherwise, the motor is instructed to keep outputting a constant preset driving force value to the driving wheel or applying a constant preset braking force value to the driving wheel.
CN202210544119.XA 2022-05-18 2022-05-18 Dynamic response driving control method for motor of electric cross-country motorcycle Withdrawn CN115092306A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115871846A (en) * 2022-12-23 2023-03-31 巨能摩托车科技有限公司 Automatic balancing device of electric motorcycle

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115871846A (en) * 2022-12-23 2023-03-31 巨能摩托车科技有限公司 Automatic balancing device of electric motorcycle

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Application publication date: 20220923