CN112550540B - Consumer-grade electric balance car control method and system based on gyroscope - Google Patents
Consumer-grade electric balance car control method and system based on gyroscope Download PDFInfo
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- CN112550540B CN112550540B CN202011446315.0A CN202011446315A CN112550540B CN 112550540 B CN112550540 B CN 112550540B CN 202011446315 A CN202011446315 A CN 202011446315A CN 112550540 B CN112550540 B CN 112550540B
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- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 claims abstract description 6
- 230000001133 acceleration Effects 0.000 claims description 20
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 19
- 229910052744 lithium Inorganic materials 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 18
- 230000008569 process Effects 0.000 claims description 14
- 238000006073 displacement reaction Methods 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 11
- 230000008859 change Effects 0.000 claims description 8
- 230000009467 reduction Effects 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims 1
- 238000011156 evaluation Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
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- 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
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- 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
- B60L15/2054—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 by controlling transmissions or clutches
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- 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
- Y02T10/64—Electric machine technologies in electromobility
-
- 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)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention belongs to the field of electric balance cars, and particularly relates to a control method and a control system of a consumption-grade electric balance car based on a gyroscope. According to the balance car, by adopting a grading evaluation mode, when the balance car is used, the inclination angle of the car body can be divided into five grades, the control module can apply electric signals of different grades to the brushless motor, and the braking of the balance car is implemented according to a grading scheme, so that the situation that the car body slides continuously due to insufficient braking acting force or the human body is unbalanced due to overlarge braking acting force can be prevented; meanwhile, when the balance car per se inclines to a large extent, the balance car per se interrupts an external operation instruction, so that a larger safety accident is avoided, and the safety and the practicability of the balance car are embodied.
Description
Technical Field
The invention relates to the field of electric balance cars, in particular to a control system of a consumption-grade electric balance car based on a gyroscope.
Background
The electric balance car is also called a body-sensing car, a thinking car, a camera car and the like. The market mainly comprises a single wheel and two wheels. The operating principle is mainly established on the basic principle called dynamic stability, a gyroscope and an acceleration sensor in the vehicle body are used for detecting the change of the vehicle body posture, and a servo control system is used for accurately driving a motor to perform corresponding adjustment so as to keep the balance of the system. Is a novel green and environment-friendly product used as a travel tool and leisure and entertainment by modern people.
The electric balance car is directed to the balance of the car body itself, and the forward and backward movements of the car body are controlled by the balance of the body. Although the existing electric balance car can meet basic use requirements, the defects are also quite obvious, and the main table of the existing electric balance car is as follows: in the use process of the balance car, the state is often unbalanced due to collision, a driver can do large-amplitude actions due to panic or urgent balance searching, the sensor measures the large-amplitude change of the center of gravity of a person, the balance car can be braked or accelerated suddenly, unbalance is aggravated, and the out-of-control situation is caused. The common out-of-control condition mainly includes that when the vehicle is faced with a complex terrain, a short barrier, a slope sill and the like are impacted, or the vehicle is subjected to rapid acceleration or rapid deceleration under a special condition, and actions which greatly cause the change of the gravity center are carried out on the vehicle, so that the balance vehicle can be promoted to lose balance, accidents such as rollover, falling down of a user and the like can be caused, and important parts can be damaged if the landing posture is not good.
In order to solve the problems, the application provides a control method and a control system of a consumption-grade electric balance car based on a gyroscope.
Disclosure of Invention
Objects of the invention
In order to solve the technical problems in the background art, the invention provides a control method and a control system of a consumption-grade electric balance car based on a gyroscope, and the control method and the control system have the characteristic of good balance.
(II) technical scheme
In order to solve the technical problems, the invention provides a control system of a consumption-grade electric balance car based on a gyroscope, which comprises a transmission assembly and a control module, wherein the transmission assembly comprises a lithium battery pack, a brushless motor, a reduction gear and the gyroscope, and the control module comprises a single chip microcomputer, a displacement sensor, a microprocessor and a rotating speed sensor.
The transmission assembly is a main power source and a structural support which can be driven by the electric balance car, the transmission assembly can provide electric power for the operation of the control module, and the control module controls the operation state and the balance of the balance car to ensure the stability of the operation of the car body.
Preferably, the lithium battery pack is electrically connected with the brushless motor, and the reduction gear is arranged on the brushless motor;
the working process of the transmission assembly comprises the following steps:
s1: after the electric balance car is powered on, the lithium battery pack can provide power for the brushless motor, and the brushless motor can drive the rollers to synchronously rotate, so that the balance car can move;
s2: the self inclination change of the balance car can drive the gyroscope inside to move synchronously, the gyroscope calculates the inclination angle for the microprocessor and gives an electric signal to the brushless motor, so that the brushless motor can adjust the rotating speed and the steering according to the inclination angle;
s3: brushless motor is after receiving microprocessor's signal of telecommunication, and brushless motor self can realize adjusting the rotational speed of output shaft with turning to, and when the rotational speed becomes fast, the balance car can accelerate simultaneously to when brushless motor slows down or reverse rotation, the automobile body can realize the effect of slowing down and stopping.
Preferably, the control module provides a basis for smooth operation of the vehicle body, the control module is implemented in a grading evaluation mode, and the main working process of the control module comprises the following steps:
a, when the balance car drives the gyroscope to synchronously tilt, the displacement sensor can convert the activity information of the gyroscope into an electric signal and transmit the electric signal to the microprocessor;
after receiving the electric signals of the gyroscope, the microprocessor can carry out grading division according to different inclination angles, the inclined electric signals are divided into forward inclination and backward inclination which respectively correspond to acceleration and deceleration of the balance car, and then the graded electric signals are transmitted to the singlechip;
and c, the singlechip adjusts the rotating speed of the brushless motor according to the electric signals of different levels.
Preferably, the displacement sensor is matched with a slide rheostat to be used together, and a slide rod of the slide rheostat is provided with five nodes which respectively correspond to five acceleration and deceleration stages during the running of the balance car.
Preferably, in the process of carrying out graded adjustment on the balance car, the control module divides the intervals into 0-5%, 5-10%, 10-15%, 15-20% and more than 20%; the five graded adjustments respectively correspond to instantaneous starting, acceleration, normal running, high-speed running and vehicle body out of control in the running process of the balance vehicle, and correspondingly, five grades of resistance acting forces are applied to the balance vehicle by the backward tilting of the vehicle.
Preferably, the inclination angle value of the balance car is in direct proportion to the acceleration and the braking acting force of the balance car.
Preferably, five nodes on the sliding rheostat correspond to two corresponding schemes, a hierarchical braking scheme is adopted between a starting point and a fourth node on the sliding rheostat, and an unbalance protection scheme is adopted at a fifth node.
Preferably, speed sensor sets up on brushless motor's output shaft, and speed sensor can change brushless motor pivoted rotational speed signal into the signal of telecommunication, and speed sensor cooperates the combined use of gyroscope, guarantees that microprocessor can apply with balance car actual operation assorted signal of telecommunication.
Preferably, the slide rheostat, the brushless motor and the lithium battery pack are electrically connected through cables, and the slide rheostat is located between the brushless motor and the lithium battery pack circuit.
Preferably, the output shaft of the brushless motor is in transmission connection with a rotating shaft, the two ends of the rotating shaft are respectively provided with rollers, and the bottom surfaces of the rollers at the two ends are on the same horizontal plane.
The technical scheme of the invention has the following beneficial technical effects: according to the balance car, by adopting a grading evaluation mode, when the balance car is used, the inclination angle of the car body can be divided into five grades, the control module can apply electric signals of different grades to the brushless motor, and the braking of the balance car is implemented according to a grading scheme, so that the situation that the car body slides continuously due to insufficient braking acting force or the human body is unbalanced due to overlarge braking acting force can be prevented; meanwhile, when the balance car per se inclines to a large extent, the balance car per se interrupts an external operation instruction, so that a larger safety accident is avoided, and the safety and the practicability of the balance car are embodied.
Drawings
FIG. 1 is a schematic diagram of the workflow structure of the present invention;
FIG. 2 is a schematic view of a transmission assembly and control module subdivision of the present invention;
FIG. 3 is a schematic diagram of a ranked evaluation level according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The invention provides a consumer-grade electric balance car control system based on a gyroscope, which comprises a transmission assembly and a control module, wherein the transmission assembly comprises a lithium battery pack, a brushless motor, a reduction gear and the gyroscope, and the control module comprises a single chip microcomputer, a displacement sensor, a microprocessor and a rotating speed sensor.
The transmission assembly is a main power source and a structural support which can be driven by the electric balance car, the transmission assembly can provide necessary electric power for the operation of the control module, and the control module controls the operation state and the balance of the balance car so as to ensure the stability of the operation of a car body. The transmission assembly mainly provides power support for driving of the balance car, and the control module can reduce the out-of-control situation of the balance car caused by collision, wet slip and the like on the basis of not influencing acceleration and deceleration of the car, so that the good stability and feasibility of the balance car are reflected.
The lithium battery pack is electrically connected with the brushless motor, and the reduction gear is arranged on the brushless motor.
The working process of the transmission assembly comprises the following steps:
s1: after the electric balance car is powered on, the lithium battery pack can provide necessary electric power for the brushless motor to rotate, and the brushless motor can drive the roller wheels to rotate synchronously, so that the balance car can move;
s2: the self inclination change of the balance car can drive the gyroscope inside to move synchronously, the gyroscope calculates the inclination angle for the microprocessor and gives an electric signal to the brushless motor, so that the brushless motor can adjust the rotating speed and the steering according to the inclination angle;
s3: brushless motor is after receiving microprocessor's signal of telecommunication, and brushless motor self can realize adjusting the rotational speed of output shaft with turning to, and when the rotational speed becomes fast, the balance car can accelerate in step to when brushless motor slows down or reverse rotation, the automobile body can realize slowing down the effect that stops even. The lithium battery pack provides necessary electric power support for the operation of the whole balance car system, the brushless motor can drive the rollers to rotate synchronously, so that the car body has movable acting force, the reduction gear can timely reduce the torque of the rotation of the rollers, the gyroscope can send different operation instructions according to different inclination angles, and the balance car can normally run as a main structure support.
In this embodiment, the control module provides a basis for smooth operation of the vehicle body, the control module itself is implemented by a hierarchical evaluation method, and the main workflow of the control module includes the following steps:
a, when the balance car drives the gyroscope to synchronously tilt, the displacement sensor can convert the activity information of the gyroscope into an electric signal and transmit the electric signal to the microprocessor;
after receiving the electric signals of the gyroscope, the microprocessor can carry out grading division according to different inclination angles, the inclined electric signals are mainly divided into forward inclination and backward inclination which respectively correspond to acceleration and deceleration of the balance car, and then the graded electric signals are transmitted to the singlechip;
and c, the singlechip adjusts the rotating speed of the brushless motor according to the electric signals of different levels. The rotation speed sensor cooperates the common use of gyroscope, can realize dual judgement to the state that the automobile body traveles, the inclination of gyroscope can pass through displacement sensor and transmit for microprocessor to microprocessor can divide the inclination into five grades, different grades correspond different instruction signal, and last singlechip gives brushless motor with instruction signal second time transfer, makes brushless motor stop or the operation with higher speed, cooperates reduction gear's use, can realize the control effect of acceleration and deceleration.
The displacement sensor is matched with the slide rheostat for common use, and five nodes are arranged on a slide rod of the slide rheostat and respectively correspond to five acceleration and deceleration stages of the balance car during operation. The five sections of electric signals are realized through the sliding rheostat, and the resistance in the circuit is changed along with the five sections of electric signals at different positions, so that the effect of controlling the balance car is realized.
In the embodiment, in the process of carrying out graded adjustment on the balance car, the control module divides the intervals into 0-5%, 5-10%, 10-15%, 15-20% and more than 20% respectively; the five graded adjustments respectively correspond to instantaneous starting, acceleration, normal running, high-speed running and out-of-control of a vehicle body in the running process of the balance vehicle, and relatively, the backward tilting of the vehicle can apply five grades of resistance acting forces to the balance vehicle.
The inclination angle of the balance car is in direct proportion to the acceleration and the braking acting force of the balance car. According to the different inclination angles of the balance car, the acceleration and deceleration acting force applied to the balance car is different, and the larger the inclination angle value is, the larger the acceleration or deceleration acting force is.
In this embodiment, five nodes on the sliding rheostat correspond to two corresponding schemes, a hierarchical braking scheme is adopted between a starting point and a fourth node on the sliding rheostat, and an unbalance protection scheme is adopted in the fifth node. When an acceleration and deceleration signal is applied in the running process of the balance car, the front four nodes only can accelerate or reduce the speed of the car body and cannot interrupt the running state of the car, and when the balance car is completely unbalanced, an overlarge inclination angle can directly jump to the fifth node, at the moment, a circuit of the car body can be in a state of maximum resistance, the current of the car body is interrupted, and the situation that the car is out of control to cause more accidents is avoided.
It should be noted that, speed sensor sets up on brushless motor's output shaft, and speed sensor can change brushless motor pivoted rotational speed signal into the signal of telecommunication, and speed sensor cooperates the common use of gyroscope, guarantees that microprocessor can apply and balance car actual operation assorted signal of telecommunication.
In this embodiment, the sliding rheostat, the brushless motor and the lithium battery pack are electrically connected through a cable, and the sliding rheostat is located between the brushless motor and the lithium battery pack circuit. Since the sliding rheostat is arranged between the brushless motor and the lithium battery pack, when the sliding rheostat is adjusted in a sliding mode, the current between the brushless motor and the lithium battery pack changes synchronously.
It should be noted that, the output shaft of the brushless motor is connected with a rotating shaft in a transmission manner, two ends of the rotating shaft are respectively provided with a roller, and the bottom surfaces of the rollers at the two ends are on the same horizontal plane. Through the design that adopts the pivot for brushless motor's rotation effort can transmit for the gyro wheel through the pivot, and the bottom surface of both ends gyro wheel is on same horizontal plane, makes the balance car can not influence the balanced effect of self because of the gyro wheel.
The working principle and the using process of the invention are as follows: when the balance car is used, the lithium battery pack provides electric support necessary for operation of the brushless motor and other motor devices. When the balance car inclines, the gyroscope can synchronously incline along with the balance car, in the process of inclining the gyroscope, the displacement sensor can convert the signal of the gyroscope movement into an electric signal and transmit the electric signal to the microprocessor, the microprocessor can divide the movement of the gyroscope into an acceleration signal and a deceleration signal and distinguish different electric signals according to grades, when the car body suddenly applies a deceleration signal during running, the deceleration signal is transmitted to the brushless motor again through the singlechip and is used together with the deceleration gear, the effect of decelerating the car body is realized, the deceleration acting force is equal to the sum of the inertia acting force and the rotation torque of the brushless motor, thereby the effect of mutual offset between the two is achieved, the car body is made to be in a stable state in time, when the inclination angle of the gyroscope is overlarge, the slide rheostat can directly drive the circuit to a fifth node, at this time, the circuit is in a state of the maximum resistance value, the current of the circuit stops flowing, the power supply of the vehicle is interrupted, and the larger safety accident caused by the runaway is avoided.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (8)
1. The control system of the consumer-grade electric balance car based on the gyroscope comprises a transmission assembly and a control module, and is characterized in that the transmission assembly comprises a lithium battery pack, a brushless motor, a reduction gear and the gyroscope, and the control module comprises a single chip microcomputer, a displacement sensor, a microprocessor and a rotating speed sensor;
the transmission assembly is a power source and a structural support for driving of the electric balance car, provides electric power for the operation of the control module, and controls the operation state and the balance of the balance car by the control module so as to ensure the stability of the operation of a car body;
the control module provides a foundation for the stable operation of the vehicle body, the control module is realized by adopting a graded adjustment mode, and the working steps are as follows:
a, when the balance car drives the gyroscope to synchronously tilt, the displacement sensor converts the activity information of the gyroscope into an electric signal and transmits the electric signal to the microprocessor;
after receiving the electric signals of the gyroscope, the microprocessor performs grading division according to different inclination angles, the electric signals of the gyroscope, which are received by the microprocessor, are divided into forward inclination and backward inclination which respectively correspond to the acceleration and deceleration of the balance car, and then the graded electric signals are transmitted to the singlechip;
c, the single chip microcomputer adjusts the rotating speed of the brushless motor according to the electric signals of different levels;
the control module is in the process of carrying out hierarchical adjustment on the balance car, and the hierarchical adjustment of the control module is divided into the following intervals according to the inclination angle of the gyroscope: 0-5%, 5-10%, 10-15%, 15-20% and more than 20% respectively; the five graded adjustments respectively correspond to instantaneous starting, acceleration, normal running, high-speed running and out-of-control of a vehicle body in the running process of the balance vehicle, and correspondingly, five grades of resistance acting forces are applied to the balance vehicle by the backward tilting of the vehicle.
2. The gyroscope-based consumer grade motor balance car control system of claim 1, wherein the lithium battery pack is electrically connected to a brushless motor on which a reduction gear is disposed;
the working process of the transmission assembly comprises the following steps:
s1: after the electric balance car is powered on, the lithium battery pack can provide power for the brushless motor, and the brushless motor can drive the roller wheels to synchronously rotate, so that the balance car can move;
s2: the inclination change of the balance car can drive the gyroscope inside to move synchronously, the microprocessor calculates the inclination angle and gives an electric signal to the brushless motor, and the brushless motor adjusts the rotating speed and the steering according to the inclination angle;
s3: brushless motor is after receiving microprocessor's signal of telecommunication, and brushless motor self can realize adjusting the rotational speed of output shaft and turning to, and when the rotational speed becomes fast, the balance car is synchronous with higher speed to when brushless motor slows down or reverse rotation, the automobile body realizes slowing down and stops.
3. The gyroscope-based consumer-grade motor-driven balance car control system of claim 1, wherein the displacement sensor is used in conjunction with a slide rheostat, and a slide rod of the slide rheostat is provided with five nodes, corresponding to five acceleration and deceleration stages of the balance car during operation.
4. The gyroscope-based consumer grade electric balance car control system of claim 1, wherein the angular value of the balance car tilt is proportional to the acceleration and braking effort of the balance car.
5. The gyroscope-based consumer grade motor balance car control system of claim 3, wherein five nodes on the sliding rheostat correspond to two schemes, a hierarchical braking scheme is between a starting point to a fourth node on the sliding rheostat, and a fifth node is an unbalanced protection scheme.
6. The control system of claim 1, wherein the rotation speed sensor is disposed on an output shaft of the brushless motor, the rotation speed sensor converts a rotation speed signal generated by the rotation of the brushless motor into an electrical signal, and the rotation speed sensor is used in cooperation with the gyroscope to ensure that the microprocessor applies an electrical signal matched with the actual operation of the balance car.
7. The gyroscope-based consumer grade motor balance car control system of claim 5, wherein the sliding rheostat, the brushless motor, and the lithium battery pack are electrically connected by a cable, the sliding rheostat being located between the brushless motor and the lithium battery pack circuitry.
8. The control system of claim 1, wherein the output shaft of the brushless motor is connected with a rotating shaft, the two ends of the rotating shaft are respectively provided with rollers, and the bottom surfaces of the rollers at the two ends are on the same horizontal plane.
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