CN110171520A - Two-wheeled control system of balance car and two-wheeled balance car - Google Patents

Abstract

The invention discloses a two-wheel balance vehicle control system and the two-wheel balance vehicle, wherein the control system includes: a main control board for collecting signals, processing the detected signals and sending control signals to the outside; an auxiliary board for Collecting signals for signal interaction with the main control board, and for vehicle information indication or/and function expansion; and, peripheral devices, for providing signals, receiving control signals sent by the main control board or/and sub-boards and Perform corresponding functions; the main control board is connected to the sub-board, and the peripheral devices are connected to the main control board or/and the sub-board. The main control board is equipped with a main control chip, a gyroscope chip, a first power supply circuit, a motor drive circuit, and The interface and the first signal interface circuit, the gyroscope chip, the first power supply circuit, the motor drive circuit and the sub-board interface are all connected to the main control chip. In the present invention, the control system adopts the design of a whole main control board, and the auxiliary board can carry out vehicle information indication or/and function expansion.

Description

Two-wheel balance car control system and two-wheel balance car

technical field

The invention relates to a control system of a two-wheel balance vehicle and a two-wheel balance vehicle.

Background technique

In an existing type of two-wheeled balance car, the left and right frames cannot be twisted relative to each other. The forward movement of the balance car is realized by controlling the forward tilt of the car body, and the backward movement is realized by controlling the backward tilt of the car body. The steering of the balance car is achieved by turning the operating lever accomplish. During the process of realizing the present invention, the inventors have found at least the following problems in the prior art. The main control board in the control system of the self-balancing car has a single function and is generally set up in several pieces, such as a motor drive board, a control board, etc., whose signal transmission is unstable, and the design is complicated, and it is inconvenient to replace.

Contents of the invention

The invention relates to a two-wheel balance car control system and the two-wheel balance car, wherein the control system adopts the design of a whole main control board, and main functional circuits are integrated on the main control board, which improves the reliability of signal transmission and is easy to replace.

The present invention is achieved through the following technical solutions:

A control system for a two-wheel balance car, comprising:

The main control board is used to detect signals, process the detected signals and send control signals to the outside;

The sub-board is used for signal detection, for signal interaction with the main control board, and for vehicle information indication or/and function expansion; and,

Peripheral devices are used to provide signals, receive control signals sent by the main control board or/and sub-boards, and perform corresponding functions;

The main control board is connected to the sub-board, and the peripheral device is connected to the main control board or/and the sub-board;

The main control board is provided with,

The main control chip used to detect signals, process the detected signals, and send control signals to the outside;

A gyroscope chip used to detect the angular velocity and acceleration of the two-wheel balance car body;

A first power supply circuit for supplying power to the main control board, the sub-board, and peripheral devices;

A motor drive circuit for driving the motor;

a sub-board interface for connecting with the sub-board; and,

A first signal interface circuit for connecting with peripheral devices;

The gyroscope chip, the first power supply circuit, the motor drive circuit and the sub-board interface are all connected to the main control chip, the first power supply circuit is connected to a battery interface, the battery interface is connected to the motor drive circuit, and the sub-board interface is connected to the first power supply circuit; The sub-board is provided with a steering sensor interface, and the steering signal is connected to the main control chip on the main control board through the steering sensor interface-the main control board interface-the connection line-the sub-board interface, if not used If the sub-board is used to increase the function, the switch and the steering sensing element can be directly connected to the sub-board interface on the main control board; the steering sensing element can be a steering Hall element, that is, a linear Hall element for steering. The steering sensing element is used to detect the rotation angle of the steering lever of the self-balancing vehicle, so as to control the steering of the self-balancing vehicle.

By adopting the above technical solution, the main functional circuits of the two-wheeled self-balancing vehicle are concentrated on the main control board. For example, the main control board is provided with a motor drive circuit for driving the hub motors of the two wheels of the self-balancing vehicle, which is used to detect the vehicle body. The gyroscope chip for angular velocity and acceleration; and the first signal interface circuit for connecting with peripheral devices; each circuit can be directly connected to the main control chip and concentrated on one main control board, which improves the reliability of signal transmission. It increases the safety of the two-wheeled self-balancing vehicle and is also convenient for production; vehicle information indication or/and function expansion can be performed on the sub-board to increase the added value of the vehicle.

As a further improvement of the present invention, the main control board is also provided with,

A current detection circuit for detecting the running current of the motor;

An overcurrent protection circuit for protectively cutting off the PWM signal of the motor when the motor operating current is too large;

as well as,

A voltage detection circuit for detecting battery voltage; the current detection circuit is connected to the motor drive circuit and the main control chip, and the voltage detection circuit is connected to the first power supply circuit and the main control chip; the overcurrent protection circuit is connected to a sampling resistor and The main control chip, the sampling resistor is connected to the motor drive circuit and the battery interface. By adopting the above technical scheme, the operating state of the motor can be detected and fed back in real time through its operating current, and the control current is within the normal range; the overcurrent protection circuit can protect the motor drive circuit and ensure the safety of the balance car; voltage detection The circuit can detect the output voltage of the battery in real time to ensure the normal voltage supply of the main control board and the auxiliary board. When the power is too low, it can be displayed on the vehicle information display device, accompanied by a sound prompt to remind the user to charge in time. The sampling resistor of the over-current protection circuit needs to use a milliohm resistor.

As a further improvement of the present invention, the motor drive circuit is connected with a MOS tube, the current detection circuit is connected with a milliohm-level sampling resistor or is connected with the MOS tube, and the current detection circuit is connected to the milliohm-level sampling resistor or the conduction MOS tube resistance. The pressure difference is detected, and the detected signal is amplified by the operational amplifier chip or the internal operational amplifier of the main control chip and then sampled; the main control board or/and the sub-board are provided with an expansion function board interface. The sampling resistor used in the current detection circuit can be a milliohm resistor, or a MOS tube in the motor drive circuit can be used as the sampling resistor to save costs. The setting of the sampling resistor in the current detection circuit is more volume-saving than the traditional current sensor, which can optimize the design of the circuit board and make the structure compact. By adopting the above technical scheme, the extended function board is a circuit board with additional functions, and the interface (power supply or signal interface) of the extended function board can be reserved on the main control board or/and the sub-board, so as to facilitate the increase of subsequent expansion functions and improve the The richness of the control system of the two-wheel balance car.

As a further improvement of the present invention, the sub-board is provided with,

A chip used to detect signals, process the detected signals, perform signal interaction with the main control board, and send or/and receive control signals externally;

Vehicle information indication circuit for externally displaying vehicle information;

a main control board interface for connecting with the main control board; and,

A second signal interface circuit for connecting with peripheral devices;

Both the vehicle information indicating circuit and the main control board interface are connected to the chip. By adopting the above-mentioned technical solution, the chip on the sub-board can be used for signal interaction with the main control board, externally sending or/and receiving control signals; The collected battery information, motor information, or Bluetooth information on the sub-board are displayed through the vehicle information display device.

As a further improvement of the present invention, the chip is a control chip, which is used to detect signals, process the detected signals, interact with the main control board signals, send or/and receive control signals externally; or, the chip is Bluetooth Chip, the Bluetooth chip is integrated with the function of the control chip and the function for data communication with external Bluetooth devices, which can be called a function-integrated Bluetooth chip; or, the chip is a control chip and a Bluetooth chip, and the control chip is used to detect Signal, process the detected signal, interact with the main control board signal, send or/and receive control signal externally, and the Bluetooth chip is used for data communication with external Bluetooth devices. By adopting the above technical solution, the chip on the sub-board can integrate the data communication function of Bluetooth on the basis of the control chip, which is beneficial to data communication with external Bluetooth devices and enhances the performance of human-computer interaction.

As a further improvement of the present invention, the main control board or the sub-board is also provided with,

A sound prompt circuit for fault alarm, driving sound prompt, and function prompt; the sound prompt circuit is connected to the main control chip on the main control board or the chip on the sub-board; the vehicle collected by the main control board or/and sub-board The information is transmitted to the vehicle information display device through the vehicle information indication circuit for display. By adopting the above technical solution, the sound prompt circuit, as an extended function circuit, can be set on the main control board or the sub-board, which can realize the function of alarm, warning or voice broadcast, which is convenient for human-computer interaction and improves the operation safety and fun of the balance car sex. The vehicle information display device can adopt such as LCD screen, LED light screen, LED light, OLED screen, etc., which is convenient for users to experience directly.

As a further improvement of the present invention, the sub-board is also provided with,

A capacitive sensing control circuit for detecting an artificially triggered operation signal; the capacitive sensing control circuit is connected to the chip. By adopting the above technical solution, the capacitive sensing control circuit of the sub-board uses the capacitive sensing chip to realize the function setting or power on and off control of the vehicle by approaching a specific area without buttons. There is no need to bend over to operate, which makes the balance bike more convenient to use.

As a further improvement of the present invention, the peripheral devices include batteries, motors, occupant detection components, light strips, lighting lamps and steering sensing components. If the sound prompt device and vehicle information display device are moved to the main control Outside, they are all regarded as peripheral devices, the batteries, motors, light strips, lighting lamps and occupant detection components are connected to the main control board, and the vehicle information display device is directly welded to the sub-board or through a wiring harness or a printed circuit board. Connect to sub-board. By adopting the above-mentioned technical solution, the above-mentioned battery can be a lithium battery, the motor can be a wheel hub motor, the station detection element can be a photoelectric switch or a button switch or a strain gauge, the light strip can be a magic light strip or a full-color light strip, and the lighting can be For LED lights. Peripheral devices can also include Hall elements inside the hub motor, power-on switches, music Bluetooth chip speakers, external buzzers, etc. Peripheral devices include but are not limited to the above-mentioned components, which can improve the performance of the self-balancing vehicle.

As a further improvement of the present invention, the vehicle information includes any one or several of fault information, battery information, motor information, and Bluetooth information. By adopting the above technical solution, the fault information in the vehicle information can be collected from the main control board, including but not limited to communication faults, current detection faults, motor Hall faults, gyroscope faults, low voltage faults, overspeed alarms, and high current alarms , reversing alarm; battery information and motor information are collected from the main control chip on the main control board, and Bluetooth information includes but not limited to Bluetooth information for communication or Bluetooth information for playing audio.

As a further improvement of the present invention, the second power supply circuit is also provided on the sub-board, and the second power supply circuit is connected to the interface of the main control board; the first power supply circuit of the main control board includes a battery interface circuit, a charging detection circuit, an upper Electric switch detection circuit, power-on hold circuit and power-off control circuit; the first power supply circuit on the main control board also includes a switch control circuit connected to the sub-board interface and a corresponding switch signal detection circuit. By adopting the above technical solution, the charging detection circuit is used to detect the charging situation, the power-on switch detection circuit is used to detect the button switch action of the balance car, the power-on holding circuit is used to keep the power on, and the power-off control circuit is used for power-off control. The second power supply circuit on the sub-board includes a regular power supply and a low-power power supply. The regular power supply supplies power during normal operation, and the low-power power supply supplies power when the regular power supply is powered off and the capacitive sensing element triggers. The capacitive sensing element triggers a signal, which will pass through other electronic The component generates a low-power power supply, which can also work for the Bluetooth chip or control chip of the sub-board when the conventional power supply is cut off. The Bluetooth chip or control chip of the sub-board detects the trigger signal of the capacitive sensing element, processes it and outputs the control signal, and passes the main The control board interface outputs to the main control board to control power-on, power-off, or other function settings.

A two-wheeled self-balancing vehicle, including the two-wheeled self-balancing vehicle control system described in any one of the above solutions. The two-wheel balance car has a compact structure, a fully functional control system, and easy installation.

According to the two-wheel balance car control system of the present invention, the design of a whole main control board is adopted. The main functional circuit is integrated on the main control board, which has comprehensive functions and improves the reliability of signal transmission. Vehicle information indication can be carried out on the sub-board Or/and function expansion to increase the added value of the vehicle.

In order to make the above and other objects, features and advantages of the present invention more comprehensible, preferred embodiments are specifically cited below and described in detail with accompanying drawings.

Description of drawings

Fig. 1 is a schematic diagram of the principle of a two-wheel balance vehicle control system provided by an embodiment of the present invention.

Fig. 2 is a functional block diagram of the main control board of the two-wheel balance vehicle control system provided by an embodiment of the present invention.

Fig. 3 is a functional block diagram of the sub-board of the two-wheel balance vehicle control system provided by an embodiment of the present invention.

Detailed ways

In order to further explain the technical means and effects of the present invention to achieve the intended purpose of the invention, the specific implementation, structure, features and effects of the present invention will be described in detail below in conjunction with the drawings and preferred embodiments.

It should be noted that in this application, the terms "first" and "second" are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.

The term "connection" should be understood in a broad sense, for example, it can be a wired connection or a wireless connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be two Connectivity within the component. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

Pulse width modulation (PWM) is an analog control method that modulates the bias of the base of the transistor or the gate of the MOS transistor according to the change of the corresponding load to realize the change of the conduction time of the transistor or MOS transistor. In this way, the output of the switching regulated power supply can be changed. The PWM signal refers to the pulse width modulation signal.

The MOS tube is a metal-oxide-semiconductor (Metal-Oxide-Semiconductor) field effect transistor, or called a metal-insulator-semiconductor. To be precise, the name describes the structure of the MOS tube, namely: in On a semiconductor device with a certain structure, silicon dioxide and metal are added to form a gate.

The main control board and the auxiliary board are printed circuit boards.

A printed circuit board (Printed Circuit Board, PCB for short), also known as a printed circuit board, uses a thin layer of metal conductors on the substrate for wiring and connects electronic components to form a complete circuit.

Referring to Figures 1 to 3, a two-wheeled self-balancing vehicle control system includes a main control board, a sub-board connected to the main control board, and peripheral devices. The wheel hub motor moves and interacts with the sub-board through the connection line. The sub-board is used to indicate the vehicle information of the self-balancing vehicle, detect signals, and perform signal interaction with the main control board through the connection line.

As shown in Figure 1, the motor is the hub motor inside the wheel, and the two-wheeled self-balancing vehicle is a self-balancing vehicle with two wheels, and each wheel has a hub motor. Two motors, with the same circuit, are both connected to the main control board, which can exchange signals with the main control board. The battery is connected to the main control board, which can supply power to the main control board. Signal interaction.

Referring to Figure 2, the main control board includes a main control chip, a gyroscope chip, a first power supply circuit, a motor drive circuit, a current detection circuit, an overcurrent protection circuit, a voltage detection circuit, and an interface circuit for signal interaction with the sub-board (sub-board Interface), the first signal interface circuit of peripheral devices; the main control chip is used to detect signals, process the detected data, interact with the sub-board signal, and send control signals to the outside, and the gyroscope chip is used to detect the body of the two-wheeled balance car Angular velocity and acceleration, the first power supply circuit is used to supply the voltage required by the main control board, sub-board, and peripheral devices, and the motor drive circuit is used to convert the PWM signal of the main control chip into a PWM signal of the battery voltage, and send it to the battery through the motor interface To the motor, drive the hub motor to run, the current detection circuit is used to detect the running current of the motor, the overcurrent protection circuit is used to protect and cut off the PWM signal of the driving motor when the motor running current is too large, the voltage detection circuit is used to detect the battery voltage, and the auxiliary The sub-board interface through which the board performs signal interaction is also used to supply power to the sub-board, match the interface voltage between the main control board and the sub-board, and process signals. The first signal interface circuit of the peripheral device is used to supply power to the peripheral device, match the signal voltage, and signal processing.

As shown in Figure 2, the principle block diagram of the main control board, the sub-board interface, the voltage detection circuit, the first power supply circuit, the overcurrent protection circuit, the current detection circuit, the motor drive circuit, the Hall element interface inside the motor, and the station detection element interface , magic light strip interface, LED night light interface, gyroscope (ie gyroscope chip) are all connected to the main control chip. The on-board buzzer or buzzer interface, and the on-board Bluetooth or music Bluetooth interface can be used as the extended function circuit of the main control board to connect to the main control chip; in other implementations, the extended function circuit can be set on the sub-board, and It is not set on the main control board. The voltage detection circuit is connected to the first power supply circuit, the first power supply circuit is connected to the battery interface, and the sub-board interface is connected to the first power supply circuit. The switch interface is connected to the first power supply circuit and the main control chip, including the switch interface of the power-on switch and the switch signal of the sub-board in the sub-board interface. The battery interface is connected to the milliohm-level sampling resistor, and the milliohm-level sampling resistor is connected to the overcurrent protection circuit; the battery interface is connected to the motor drive circuit, the motor drive circuit is connected to the current detection circuit and the motor interface, and the milliohm-level sampling resistor is connected to the motor drive circuit. The circuit in the dotted line box in the lower left part of Fig. 2 is the principle block diagram of the motor control circuit. The dotted line box in the lower right part is the expansion circuit.

The peripheral devices connected to the main control board include but are not limited to occupancy detection components, magic light strips, LED night lights, motors, Hall elements inside the motors, power-on switches, speakers, external buzzers, etc. The first signal interface circuit is an interface circuit on the main control board for connecting with the aforementioned peripheral devices. Of course, in other solutions, the power-on switch, horn, external buzzer, etc. can be connected to the sub-board as peripheral devices of the sub-board.

Referring to Figure 3, the sub-board includes a control chip, a Bluetooth chip, a second power supply circuit, a vehicle information indication circuit, a sound prompt circuit, a capacitive sensing control circuit, an interface circuit for signal interaction with the main control board (main control board interface), peripheral The second signal interface circuit of the device; the control chip is used to detect signals, process the detected data, interact with the main control board signal, and send control signals to the outside, and the Bluetooth chip is used to perform data communication with external Bluetooth devices and receive control signals. The second power supply circuit is used to supply the voltage required by the sub-board and peripheral devices, the vehicle information indication circuit is used to display relevant vehicle information externally, the sound prompt circuit is used for fault alarm, driving sound prompt, function prompt, etc., and the capacitive sensing control circuit is used It is used to detect human-triggered operation signals and trigger low-power power supply when power is off. The interface circuit for signal interaction with the main control board is used to supply sub-board power, match the interface voltage of the main control board and sub-board, and signal processing. The signal interface circuit of the device is used for supplying power to peripheral devices, matching signal voltage and signal processing.

As shown in Figure 3, the functional block diagram of the sub-board, the function-integrated Bluetooth chip, integrates the functions of the control chip and the Bluetooth chip, the main control board interface, the second power supply circuit, the capacitive sensing control circuit, the switch interface, and the steering Hall element interface and the vehicle information display device are all connected to the Bluetooth chip; the second power supply circuit is connected to the power interface (signal interface) of the expansion function board, and other expansion function boards can be connected to the sub-board through the power interface (signal interface) of the expansion function board. Of course, the power interface (signal interface) of the expansion function board can also be arranged on the main control board. Sound prompt circuit interface, on-board welding buzzer or external buzzer, and on-board music bluetooth or music bluetooth interface can be set on the sub-board as the function expansion circuit of the sub-board, and the function expansion circuit is not set on the main board .

Peripheral devices include but are not limited to vehicle information display devices, lithium batteries, in-wheel motors, Hall elements inside the in-wheel motors, occupant detection components (such as photoelectric switches or push button switches or strain gauges, etc.), magic light strips or full-color lights Belt, LED night lighting, linear Hall element for steering, power-on switch, music Bluetooth chip and related circuits, speaker, external buzzer, etc. The connected peripheral devices on the sub-board include but are not limited to vehicle information display devices, music Bluetooth chips, speakers, external buzzers, linear Hall elements for steering, power-on switches, etc. The second signal interface circuit refers to the interface circuit of the aforementioned peripheral devices on the sub-board. Of course, in other solutions, such as no sub-board, Hall elements for steering and power-on switches can be used as peripheral devices of the main control board, directly connected to the sub-board interface of the main control board.

The Hall element inside the wheel hub motor, by detecting its signal, the main control chip can calculate the angle of motor control, wheel speed, driving speed and other information.

The linear Hall element for steering can detect the rotation angle information of the operating lever of the self-balancing car, and feed the information back to the main control board to provide a reference for the steering of the self-balancing car.

The power supply circuit of the main control board includes an interface circuit connected to the battery, a charging detection circuit, a power-on switch detection circuit, a power-on hold circuit and a power-off control circuit controlled by the main control chip, a switch control circuit connected to the sub-board interface and corresponding switch signal detection circuit. The charging detection circuit is used to detect the charging situation, the power-on switch detection circuit is used to detect the button switch action of the balance car, the power-on hold circuit is used to keep the power on, and the power-off control circuit is used for power-off control. When the capacitive sensing element on the sub-board triggers the signal, other electronic components generate low-power power supply. When the conventional power supply is cut off, it can also work for the Bluetooth chip or control chip on the sub-board. The Bluetooth chip or control chip on the sub-board detects capacitance. The sensing element triggers the signal, processes it and outputs the control signal, which is output to the main control board through the interface of the main control board, and realizes power-on, Power off or other function settings.

The gyroscope chip of the main control board uses its internal angular velocity meter and accelerometer to detect the angular velocity and acceleration of the vehicle, and sends any relevant information to the main control chip, or through the configuration of the gyroscope chip, the gyroscope chip internal Calculate the angle value of the vehicle, and send any information such as angle, angular velocity, acceleration, etc. to the main control chip.

The current detection circuit of the main control board detects the voltage difference between the sampling resistor or the conduction MOS tube resistance, and the signal is amplified by the operational amplifier chip or the internal operational amplifier of the main control chip and then sampled. Compared with the traditional current sensor, the solution of the present application can effectively reduce the volume of the circuit board.

The main control chip of the main control board collects gyroscope chip data, current data, overcurrent detection data, battery voltage data, Hall element data inside the hub motor, etc., and after integrated calculation, sends a driving signal to drive the hub motor through the motor drive circuit Run to keep the balance of the two-wheel balance car body.

The control chip and Bluetooth chip of the sub-board, the control chip refers to the control chip without the Bluetooth function, which is used to detect signals, process the detected data, interact with the signal of the main control board, and send control signals to the outside; or use the control chip and Bluetooth chip; or only use the Bluetooth chip to realize all the functions of the control chip and the Bluetooth chip through the Bluetooth chip. Certainly, in other schemes, the data communication function of Bluetooth can also be integrated on the control chip.

The vehicle information indication circuit of the sub-board directly displays the fault information, battery information, motor information, Bluetooth information, etc. collected by the main control board and the sub-board through the vehicle information display device (such as LCD screen, LED light screen, LED light, OLED screen, etc.) displayed to the user.

The vehicle information display device is directly welded on the sub-board or moved out of the sub-board through wiring harness or PCB board.

The sound of the sub-board prompts the circuit to solder the buzzer and supporting circuits in the board or use the buzzer as a peripheral accessory or move the buzzer to the main control board.

The capacitive sensing control circuit of the sub-board uses a capacitive sensing chip to realize function setting or power on and off control of the vehicle by approaching a specific area without buttons. The second power supply circuit on the sub-board includes a regular power supply and a low-power power supply. The regular power supply supplies power during normal operation, and the low-power power supply supplies power when the regular power supply is powered off and the capacitive sensing element triggers. The capacitive sensing element triggers a signal, which will pass through other electronic The component generates a low-power power supply, which can also work for the Bluetooth chip or control chip of the sub-board when the conventional power supply is cut off. The Bluetooth chip or control chip of the sub-board detects the trigger signal of the capacitive sensing element and processes it. If necessary, it can The preset pins of the circuit are configured as control signals, which are output to the main control board through the main control board interface to control power-on, power-off, or other function settings.

In the present invention, the main control board itself is connected to the peripheral power-on switch, lamp, pedal photoelectric switch, steering Hall element, motor, etc. to control the work of the balance car. The expansion function board interface can continue to expand the function.

The two-wheeled self-balancing car includes the above-mentioned two-wheeled self-balancing car control system, and also includes the frame, and the wheels with hub motors on both sides of the frame. The main control board and the sub-board are installed on the frame. The frame can be integrated Or layered, compact structure, convenient and ingenious control of the two-wheel balance car, and complete functions.

The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention, and everything does not depart from the present invention. The content of the technical solution, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention still belong to the protection scope of the technical solution of the present invention.

Claims (10)

1. a kind of two-wheeled control system of balance car characterized by comprising

Master control borad carries out processing to signal detected and externally sends control signal for detecting signal；

Subplate is used to carry out signal interaction with master control borad, and for information of vehicles instruction and/or function for detecting signal Extension；And

Peripheral components, for providing signal, receiving control signal transmitted by master control borad and/or subplate and executing corresponding function；

The master control borad is connect with subplate, and the peripheral components are connect with master control borad and/or subplate；

It is provided on the master control borad,

Main control chip for detecting signal, being handled signal detected, externally send control signal；

For detecting the angular speed of two-wheeled balance car car body and the gyroscope chip of acceleration；

The first power supply circuit for powering to master control borad, subplate, peripheral components；

Motor-drive circuit for driving motor operation；

Subplate interface for being attached with subplate；And

The first signal interface circuit for being attached with peripheral components；

The gyroscope chip, the first power supply circuit, motor-drive circuit and subplate interface are connected to main control chip, and first supplies Electric circuit connection has battery interface, and battery interface connects motor-drive circuit, and subplate interface connects the first power supply circuit；The master It is provided on control plate or subplate and turns to sensing element interface.

2. two-wheeled control system of balance car as described in claim 1, which is characterized in that it is additionally provided on the master control borad,

For detecting the current detection circuit of motor operating current；

Current foldback circuit for motor operating current pwm signal of protectiveness cutting motor when excessive；And

For detecting the voltage detecting circuit of cell voltage；

The current detection circuit connection motor-drive circuit and main control chip, the first power supply of voltage detecting circuit connection electricity Road and main control chip；The current foldback circuit is connected with sampling resistor and main control chip, and sampling resistor connects motor driven electricity Road and battery interface.

3. two-wheeled control system of balance car as described in claim 1, which is characterized in that motor-drive circuit is connected with metal-oxide-semiconductor, Current detection circuit is connected with milliohm grade sampling resistor or the connection metal-oxide-semiconductor, and current detection circuit is to milliohm grade sampling resistor Perhaps signal detected is detected to the energization pressure difference of conducting metal-oxide-semiconductor resistance to pass through in amplifier chip or main control chip Portion's amplifier amplifies post-sampling；Extension function plate interface is provided on the master control borad and/or subplate.

4. the two-wheeled control system of balance car as described in claims 1 or 2 or 3, which is characterized in that it is provided on the subplate,

Signal interaction is carried out for detecting signal, being handled signal detected, with master control borad, is externally sent and/or is connect Receive the chip of control signal；

For externally showing the information of vehicles indicating circuit of information of vehicles；

Master control plate interface for being attached with master control borad；And

Second signal interface circuit for being attached with peripheral components；

Information of vehicles indicating circuit and master control plate interface are connected to chip.

5. two-wheeled control system of balance car as claimed in claim 4, which is characterized in that the chip is control chip, is used for Detection signal handles signal detected, controls signal with master control borad signal interaction, external send；Alternatively, the core Piece is the Bluetooth chip that function integrates, and the function of control chip is integrated on Bluetooth chip and for carrying out with external bluetooth equipment The function of data communication；Alternatively, the chip is control chip and Bluetooth chip, control chip for detecting signal, to being examined The signal of survey is handled, controls signal with master control borad signal interaction, external send, and Bluetooth chip is used for and external bluetooth equipment It carries out data communication, receive control signal.

6. two-wheeled control system of balance car as claimed in claim 4, which is characterized in that it is additionally provided on the subplate,

For detecting the capacitive sensing control circuit of the operation signal artificially triggered；Capacitive sensing control circuit is connected to chip.

7. two-wheeled control system of balance car as claimed in claim 4, which is characterized in that also set up on the master control borad or subplate Have,

For fault alarm, the auditory tone cues electric circuit of drive a vehicle auditory tone cues, function prompt；The auditory tone cues electric circuit is connected to master Control the chip on the main control chip or subplate on plate；Master control borad and/or the information of vehicles of subplate acquisition, are indicated by information of vehicles Circuit sends information indicator for automobile to and shows.

8. two-wheeled control system of balance car as claimed in claim 4, which is characterized in that the peripheral components include battery, electricity Machine, people's detecting element of standing, light bar, headlamp and steering sensing element, the battery, motor, light bar, headlamp and the inspection of people from station It surveys element and is connected to master control borad, turn to sensing element and be connected to steering sensing element interface；Information of vehicles includes fault message, electricity Pond information, motor information, in Bluetooth information any one or it is any several.

9. two-wheeled control system of balance car as claimed in claim 4, which is characterized in that be additionally provided with the second confession on the subplate Circuit, the second power supply circuit connect master control plate interface；First power supply circuit of the master control borad includes battery interface circuit, fills Power detection circuit, upper electrical switch detection circuit power on holding circuit and lower electric control circuit；First power supply circuit of master control borad is also Including the ON-OFF control circuit and corresponding switch signal detection circuit being connected with subplate interface.

10. two-wheeled balance car, which is characterized in that including the described in any item two-wheeled control system of balance car of claim 1-9.