CN118894179A - An electronic control system based on a new type of reaction wheel self-balancing two-wheel new energy electric vehicle - Google Patents

Abstract

The invention provides an electric control system based on a novel reaction wheel self-balancing double-wheel new energy electric vehicle, which relates to the technical field of two-wheel self-balancing and comprises a vehicle frame and a novel reaction wheel balance control structure, wherein a power supply device is fixedly connected inside the vehicle frame, a handlebar is fixedly connected to the upper end of the vehicle frame, vehicle axles are fixedly connected to the two ends of the vehicle frame, wheels are rotatably connected to the arc surfaces of the vehicle axles, a main controller is arranged inside the vehicle frame, and a walking controller is arranged inside the vehicle frame. The invention has the advantages of independent control of three reaction wheels, synchronous coordination, larger restoring moment generation, reduction of the load of a single motor, prolonged service life, solving of the problems of small restoring moment of the reaction wheels and large occupied space, lighter noise and smaller energy consumption. The three reaction wheels can reasonably distribute task targets according to actual use scenes, so that the three reaction wheels are more flexible, meanwhile, the system redundancy is increased, and the fault rate is reduced.

Description

An electronic control system based on a new type of reaction wheel self-balancing two-wheel new energy electric vehicle

Technical Field

The present invention relates to the technical field of two-wheel self-balancing technology, and in particular to an electric control system based on a novel reaction wheel self-balancing two-wheel new energy electric vehicle.

Background Art

The new reaction wheel self-balancing two-wheel new energy electric vehicle is composed of a new reaction wheel balance control structure, a main controller, a posture detection device, a power supply device, a rear wheel drive running device, a running controller, an axle, wheels, handlebars and a frame. It is a device used to control the self-balancing of the reaction wheel of the electric vehicle and is more common in daily life.

Existing self-balancing strategies include control handlebar steering, control torque gyro, center of gravity transfer, reaction wheel and compound control. The principle of control handlebar steering is to change the rotation angle of the front wheel of the vehicle to control the balance of the vehicle. This solution can only achieve balance when the vehicle is moving. The control torque gyro solution is based on the gyro effect, changing the direction of angular momentum to generate a precession torque to change the problematic tilt angle of the vehicle to restore balance, but this solution requires two motors, of which the high-speed motor needs to maintain high-speed rotation for a long time, and the noise and energy consumption are large. The center of gravity transfer solution changes the center of gravity of the vehicle body and changes the center of gravity transfer module to keep the center of gravity of the vehicle body above the contact line between the wheel and the ground to maintain balance, but the center of gravity transfer module in this solution occupies a large working space and is difficult to implement on small vehicles. The reaction wheel solution is based on the principle of conservation of angular momentum. It has low energy consumption and noise, and can balance under low speed and static conditions of the vehicle. However, it is limited by the volume of the flywheel, the performance of the motor, and the weight of the vehicle body, and cannot achieve balance on a heavy vehicle body.

At present, self-balancing technology has become a research hotspot in the field of new energy two-wheeled vehicle driving. The restoring torque, balance stability and energy consumption of the self-balancing device are important indicators for measuring the self-balancing device. In the existing self-balancing control technology, there are disadvantages such as small restoring torque, large device size, high noise and poor energy consumption performance. In the reaction wheel self-balancing control strategy, its principle is mainly to use the motor to drive the flywheel to rotate to generate a reaction force to maintain the balance of the vehicle body. Although this scheme can achieve self-balancing in a static state, the energy consumption is lower than that of the control torque gyro scheme and the noise is low, but the restoring torque provided by the existing reaction wheel balancing scheme is small, and it is difficult to balance a heavy vehicle body. The restoring torque generated by the reaction wheel is proportional to the rotational inertia of the flywheel and the acceleration performance of the motor. If enough restoring torque is to be generated, a flywheel with a large rotational inertia is required, which occupies a large space. At the same time, the motor must also have sufficient acceleration performance to drive the flywheel. These two items have become obstacles to the further development of the reaction wheel.

Summary of the invention

The purpose of the present invention is to solve the shortcomings of the prior art and to propose an electric control system based on a novel reaction wheel self-balancing two-wheel new energy electric vehicle.

In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an electronic control system based on a novel reaction wheel self-balancing two-wheel new energy electric vehicle, comprising a frame and a novel reaction wheel balance control structure, a body cross beam placement platform, a hub motor, an inner stator of the motor, an outer rotor, a body spoke, a DC-DC voltage stabilizing module, a main control board and a posture sensor, wherein a power supply device is fixedly connected inside the frame, a handlebar is fixedly connected to the upper end of the frame, both ends of the frame are fixedly connected to an axle, the arc surface of the axle is rotatably connected to a wheel, a main controller is installed inside the frame, a walking controller is installed inside the frame, a posture detection device is installed inside the frame, a rear-wheel drive walking device is installed inside the frame, and a novel reaction wheel balance control structure is arranged inside the frame.

Preferably, the posture detection device is installed on a vehicle body cross beam placement platform, and the posture detection device and the vehicle body cross beam placement platform are placed horizontally.

By adopting this preferred solution, the balance variables and body motion variables of the electric vehicle are measured and transmitted back to the main controller. The balance variables include the body roll angle and roll angular velocity, and the body motion variables include the body forward speed and the body yaw angle.

Preferably, the reaction wheel balance control structure includes a balancing device fixing frame, the balancing device fixing frame is fixedly connected to the vehicle frame, an encoding mounting frame is fixedly connected to one end of the balancing device fixing frame close to the posture detection device, an encoder is installed inside the encoding mounting frame, a brushless balancing motor is installed at one end of the encoding mounting frame away from the balancing device fixing frame, and a metal flywheel and a counterweight are installed at the output end of the brushless balancing motor.

By adopting this preferred solution, the outer rotor of the brushless balancing motor and the metal flywheel are connected by screws, an encoder is installed between the brushless balancing motor and the balancing device fixing frame to measure the motor speed, and the entire balancing device is installed under the crossbeam of the vehicle body through the fixing frame. The three balancing devices are arranged in series. Each flywheel has multiple counterweights, which are connected to the metal flywheel by screws, and the number of flywheel counterweights can be changed according to needs.

Preferably, the rear-wheel drive running device is driven by a brushless hub motor, the hub motor is embedded in the rear wheel of the vehicle body, the inner stator of the motor is fixed to the axle, and the outer rotor is fixed to the spokes of the vehicle body.

By adopting this preferred solution, the hub motor is connected to the travel drive system installed on the handlebars through the drive line, thereby controlling the travel of the vehicle body.

Preferably, the power supply device uses two batteries connected in series to supply power to the brushless hub motor and the brushless balancing motor, and the power supply device simultaneously steps down the voltage through a DC-DC voltage regulator module to supply power to the main control board, the attitude sensor and the encoder.

Preferably, the arc surface of the axle is provided with a protective structure, and the protective structure includes a clamping ring, which is rotatably connected to the axle, and the arc surface of the clamping ring is clamped with two connecting rings, and the two connecting rings are slidingly connected with two sliders on the side close to each other, and two clamping strips are fixedly connected on both sides of the sliders, and the clamping strips are clamped with the connecting rings, and the arc surface of the clamping ring is fixedly connected with a connecting rod, and the end of the connecting rod away from the connecting ring is fixedly connected to a limiting block, and the side of the limiting block away from the connecting rod is fixedly connected with a baffle, and the baffle is mounted on the frame.

By adopting this preferred scheme, when the baffle needs to be installed, the connecting ring is pulled to move, the connecting ring drives the connecting rod to move, the connecting rod drives the limit block to move, the limit block drives the baffle to move, and then the two connecting rings are aligned and installed on the clamping ring. After installation on the clamping ring, the slider is pulled to move, the slider drives the clamping strip to move, and then the slider is aligned with the connecting ring, the slider is inserted into the two connecting rings, and then the clamping strip and the connecting ring are clamped and fixed, and then the baffle is installed on the frame.

Preferably, two limiting rods are fixedly connected inside the connecting ring, and the limiting rods are slidably connected to the sliding block.

By adopting this preferred solution, the limiting rod can limit the slider, thereby preventing the slider from deviating when moving, and improving the sliding stability of the slider.

Preferably, a magnetic block is fixedly connected to one side of the sliding block and the connecting ring that are close to each other, and the cross section of the magnetic block is rectangular.

By adopting this preferred solution, when the slider and the clamping strip connect the two connecting strips, the magnetic blocks are adsorbed and fixed to each other, thereby avoiding sliding when the two connecting rings are connected.

Preferably, a cleaning structure is provided on one side of the baffle, and the cleaning structure includes an arc rail, the arc rail is fixedly connected to the baffle, one end of the arc rail is fixedly connected to a connecting rail, the inner wall of the arc rail is slidably connected to a screw, the screw is slidably connected to the connecting rail, one end of the screw close to the baffle is fixedly connected to a fixed block, a side of the fixed block close to the baffle is fixedly connected to a scraper, the arc surface of the screw is threadedly connected to a threaded ring, the arc surface of the threaded ring is fixedly connected to a protective sleeve, and the arc surface of the protective sleeve is provided with a plurality of notches.

By adopting this preferred solution, when it is necessary to clean the inside of the baffle, hold the protective sleeve and then rotate the threaded ring to loosen it. After loosening, pull the screw to move it. The screw slides on the inner wall of the arc rail, the screw drives the fixed block to move, the fixed block drives the scraper to move, the scraper cleans the baffle, and after cleaning, pull the screw to move to the inside of the connecting rail, and then turn the threaded ring to fix it.

Preferably, one end of the screw rod away from the fixing block is fixedly connected with a handle, and the handle is located inside two connecting rods close to each other.

Compared with the prior art, the advantages and positive effects of the present invention are:

1. In the present invention, by setting a new reaction wheel balance control structure, when using the device, the three reaction wheels are independently controlled and can work synchronously and coordinately to generate a larger restoring torque, reduce the load of a single motor, extend the service life, solve the problem of small reaction wheel restoring torque and large space, and at the same time, the noise is lighter and the energy consumption is lower. The three reaction wheels can reasonably allocate task objectives according to the actual use scenario, making it more flexible, while increasing system redundancy and reducing the failure rate.

2. In the present invention, by setting up a protective structure, it is possible to prevent the sewage or mud remaining on the road from being directly splashed onto the clothes or the driver's face through the wheels when driving a new energy electric vehicle, and it is also possible to prevent the driver's vision from being blurred due to being splashed on the face by sewage or mud, resulting in traffic accidents.

3. In the present invention, by providing a cleaning structure, the baffle can be easily cleaned to avoid the accumulation of sludge in the baffle, which in turn easily increases the load on the power system of the new energy electric vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the three-dimensional structure of an electric control system based on a novel reaction wheel self-balancing two-wheel new energy electric vehicle proposed by the present invention;

FIG2 is a partial structural schematic diagram of an electric control system of FIG1 based on a novel reaction wheel self-balancing two-wheel new energy electric vehicle proposed by the present invention;

FIG3 is a side structural schematic diagram of an electric control system of FIG1 based on a novel reaction wheel self-balancing two-wheel new energy electric vehicle proposed by the present invention;

FIG4 is a partial structural schematic diagram of an electric control system of FIG1 based on a novel reaction wheel self-balancing two-wheel new energy electric vehicle proposed by the present invention;

FIG5 is a new reaction wheel balancing control structure of an electric control system based on a new reaction wheel self-balancing two-wheel new energy electric vehicle proposed by the present invention;

FIG6 is a schematic diagram of a protective structure of an electric control system based on a novel reaction wheel self-balancing two-wheel new energy electric vehicle proposed by the present invention;

FIG7 is a partial structural schematic diagram of FIG6 of an electric control system based on a novel reaction wheel self-balancing two-wheel new energy electric vehicle proposed by the present invention;

FIG8 is an enlarged view of point A of FIG7 of an electric control system based on a novel reaction wheel self-balancing two-wheel new energy electric vehicle proposed by the present invention;

FIG9 is a schematic diagram of a cleaning structure of an electric control system based on a novel reaction wheel self-balancing two-wheel new energy electric vehicle proposed by the present invention;

FIG10 is an enlarged view of point B of FIG9 of an electric control system of a novel reaction wheel self-balancing two-wheel new energy electric vehicle proposed by the present invention.

Legend: 1. Travel controller; 2. Posture detection device; 3. Main controller; 4. Rear-wheel drive travel device; 5. New reaction wheel balance control structure; 51. Metal flywheel and counterweight; 52. Brushless balancing motor; 53. Encoder mounting frame; 54. Balancing device fixing frame; 55. Encoder; 6. Power supply device; 7. Axle; 8. Wheel; 9. Handlebar; 10. Protective structure; 101. Limit block; 102. Connecting rod; 103. Clamp ring; 104. Baffle; 105. Connecting ring; 106. Slider; 107. Magnetic block; 108. Limit rod; 109. Clamp strip; 11. Cleaning structure; 111. Circular rail; 112. Fixing block; 113. Connecting rail; 114. Handle; 115. Threaded ring; 116. Scraper; 117. Screw; 118. Protective cover; 119. Notch; 12. Frame.

DETAILED DESCRIPTION

In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments of the following disclosure.

Embodiment 1, as shown in Figures 1-10, the present invention provides an electronic control system based on a novel reaction wheel self-balancing two-wheel new energy electric vehicle, including a frame 12 and a novel reaction wheel balance control structure 5, the frame 12 is fixedly connected with a power supply device 6, a body cross beam placement platform, a hub motor, a motor internal stator, an external rotor, a body spoke, a DC-DC voltage regulator module, a main control board and a posture sensor, the upper end of the frame 12 is fixedly connected with a handlebar 9, both ends of the frame 12 are fixedly connected with an axle 7, the arc surface of the axle 7 is rotatably connected with a wheel 8, the frame 12 is installed with a main controller 3, the frame 12 is installed with a walking controller 1, the frame 12 is installed with a posture detection device, the frame 12 is installed with a rear-wheel drive walking device 4, the frame 12 is provided with a novel reaction wheel balance control structure 5, the arc surface of the axle 7 is provided with a protective structure 10, and one side of the baffle 104 is provided with a cleaning structure 11.

The specific settings and functions of the novel reaction wheel balance control structure 5, the protection structure 10, and the cleaning structure 11 are described in detail below.

As shown in Figures 1 and 5, the posture detection device 2 is installed on the vehicle body cross beam placement platform. The posture detection device 2 and the vehicle body cross beam placement platform are placed horizontally for measuring the balance variables and vehicle body motion variables of the electric vehicle and transmitting them back to the main controller 3. The balance variables include the vehicle body roll angle and the roll angular velocity. The vehicle body motion variables include the vehicle body forward speed and the vehicle body yaw angle. The reaction wheel balance control structure includes a balancing device fixing frame 54. The balancing device fixing frame 54 is fixedly connected to the frame 12. The balancing device fixing frame 54 is fixedly connected to an encoding mounting frame 53 at one end close to the posture detection device. An encoder 55 is installed inside the encoding mounting frame 53. A brushless balancing motor 52 is installed at one end of the encoding mounting frame 53 away from the balancing device fixing frame 54. A metal flywheel and a counterweight 51 are installed at the output end of the brushless balancing motor 52. The outer rotor of the brushless balancing motor 52 and the metal flywheel are connected by screws. An encoder 55 is installed between the brushless balancing motor 52 and the balancing device fixing frame 54 to measure the motor speed. The entire balancing device is installed under the vehicle body cross beam through the fixing frame. The three balancing devices are arranged in series. Each flywheel has multiple counterweights, which are connected to the metal flywheel by screws. The number of flywheel counterweights can be changed according to demand. The rear-wheel drive running device 4 is driven by a brushless hub motor, which is embedded in the rear wheel of the vehicle body. The stator inside the motor is fixed to the axle 7, and the outer rotor is fixed to the spokes of the vehicle body. The hub motor is connected to the running drive system installed on the handlebar 9 by a driving line to control the running effect of the vehicle body. The power supply device 6 uses two batteries connected in series to power the brushless hub motor and the brushless balancing motor 52. The power supply device 6 also powers the main control board, the attitude sensor and the encoder 55 by stepping down the voltage through the DC-DC voltage regulator module.

The effect achieved by the entire novel reaction wheel balancing control structure 5 is that it can reduce the volume of the balancing device, increase the restoring torque, reduce the burden on the motor, and achieve self-balancing of a heavy vehicle body.

As shown in FIGS. 6 to 8 , the protective structure 10 includes a snap ring 103, which is rotatably connected to the axle 7. The arc surface of the snap ring 103 is snapped with two connecting rings 105. Two sliding blocks 106 are slidably connected to the sides of the two connecting rings 105 that are close to each other. Two clamping strips 109 are fixedly connected to both sides of the sliding block 106. The clamping strips 109 are snapped with the connecting ring 105. The arc surface of the snap ring 103 is fixedly connected with a connecting rod 102, and the connecting rod 102 is away from the connecting ring 105. One end of the limit block 101 is fixedly connected, and the side of the limit block 101 away from the connecting rod 102 is fixedly connected with a baffle 104, and the baffle 104 is installed on the frame 12. When the baffle 104 needs to be installed, the connecting ring 105 is pulled to move, and the connecting ring 105 drives the connecting rod 102 to move, and the connecting rod 102 drives the limit block 101 to move, and the limit block 101 drives the baffle 104 to move, and then the two connecting rings 105 are aligned and installed to the clamping ring 103, after being installed on the snap ring 103, the slider 106 is pulled to move, and the slider 106 drives the clamping strip 109 to move, and then the slider 106 is aligned with the connecting ring 105, the slider 106 is inserted into the two connecting rings 105, and then the clamping strip 109 is clamped and fixed with the connecting ring 105, and then the baffle 104 is installed on the frame 12, and the interior of the connecting ring 105 is fixedly connected with two limit rods 108, and the limit rod 108 is slidably connected to the slider 106, and the limit rod 108 can limit the slider 106 to prevent the slider 106 from deflecting when moving, thereby improving the sliding stability of the slider 106, and the slider 106 and the connecting ring 105 are fixedly connected on one side where the slider 106 and the connecting ring 105 are close to each other. The cross-section of the magnetic block 107 is rectangular, and when the slider 106 and the clamping strip 109 connect the two connecting strips, the magnetic block 107 is adsorbed and fixed to the magnetic block 107 to prevent sliding when the two connecting rings 105 are connected.

The entire protective structure 10 can effectively protect the driver from being directly splashed by sewage or mud while driving.

As shown in Figures 9 and 10, the cleaning structure 11 includes an arc rail 111, which is fixedly connected to the baffle 104, one end of the arc rail 111 is fixedly connected to a connecting rail 113, the inner wall of the arc rail 111 is slidably connected to a screw 117, the screw 117 is slidably connected to the connecting rail 113, one end of the screw 117 close to the baffle 104 is fixedly connected to a fixed block 112, the side of the fixed block 112 close to the baffle 104 is fixedly connected to a scraper 116, the arc surface of the screw 117 is threadedly connected to a threaded ring 115, the arc surface of the threaded ring 115 is fixedly connected to a protective sleeve 118, and the arc surface of the protective sleeve 118 is provided with a plurality of notches 119. When it is necessary to clean the inside of the baffle 104, hold the protective sleeve 118, then rotate the threaded ring 115 to loosen it, and after loosening, pull the screw 117 to move it, and the screw 117 slides on the inner wall of the arc rail 111, and the screw 117 drives the fixed block 112 to move, and the fixed block 112 drives the scraper 116 to move, and the scraper 116 cleans the baffle 104. After cleaning, pull the screw 117 to move to the inside of the connecting rail 113, and then twist the threaded ring 115 to fix it. The end of the screw 117 away from the fixed block 112 is fixedly connected to the handle 114, and the handle 114 is located inside the two connecting rods 102 that are close to each other.

The whole cleaning structure 11 has the effect of conveniently cleaning the baffle plate to avoid excessive accumulation of internal sludge.

The overall working principle is as follows: 1. Turn on the main power switch, and observe the battery power supply, brushless balancing motor, and attitude sensor information through the host computer. Before starting, calibrate the sensor through the button, send the expected balance angle to the main controller, determine the expected balance angle in the program, and ensure the effectiveness of each balance control. Turn on the balance control of the vehicle body through the balance start switch. After turning it on, the main controller reads the data of the attitude sensor in real time, including the roll angle θ and roll angular velocity ω of the vehicle body, and reads the data returned by the brushless balancing motor, including the motor speed. The required motor speed and acceleration are calculated through the established dynamic model, and then the balancing motor is controlled to rotate to restore the balance of the vehicle body. A distributed control architecture is adopted, and three main control boards are used to control the motors respectively. The three main control boards communicate through a communication network. The three brushless balancing motors work together and use the same communication protocol for communication and synchronization. All main control boards run the same control algorithm and can receive sensor data in a consistent manner and respond to outputs, increasing the total torque generated by the balancing device while reducing the load on a single motor and extending the life of the equipment. The distributed control architecture improves the flexibility of the system and can adjust the working status of each motor as needed. Redundancy and fault-tolerant mechanisms ensure that when part of the system fails, other parts can continue to work, improving the reliability of the system.

When the baffle 104 needs to be installed, the connecting ring 105 is pulled to move, the connecting ring 105 drives the connecting rod 102 to move, the connecting rod 102 drives the limit block 101 to move, the limit block 101 drives the baffle 104 to move, and then the two connecting rings 105 are aligned and installed on the clamping ring 103. After being installed on the clamping ring 103, the slider 106 is pulled to move, the slider 106 drives the clamping strip 109 to move, and then the slider 106 is aligned with the connecting ring 105, and the slider 106 is inserted into the two connecting rings 105, and then the clamping strip 109 is clamped and fixed with the connecting rings 105, and then the baffle 104 is installed on the frame 12, and the limiting rod 108 can limit the slider 106 to prevent the slider 106 from offset when moving, thereby improving the sliding stability of the slider 106. When the slider 106 and the clamping strip 109 connect the two connecting strips, the magnetic block 107 is adsorbed and fixed with the magnetic block 107 to prevent sliding when the two connecting rings 105 are connected.

When it is necessary to clean the inside of the baffle 104, hold the protective sleeve 118, then rotate the threaded ring 115 to loosen it, and then pull the screw 117 to move it, and the screw 117 slides on the inner wall of the arc rail 111, and the screw 117 drives the fixed block 112 to move, and the fixed block 112 drives the scraper 116 to move, and the scraper 116 cleans the baffle 104. After cleaning, pull the screw 117 to move to the inside of the connecting rail 113, and then screw the threaded ring 115 to fix it.

The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims (10)

1. An electric control system based on a novel reaction wheel self-balancing two-wheel new energy electric vehicle, comprising a frame (12), a novel reaction wheel balancing control structure (5), a body cross beam placement platform, a hub motor, a motor inner stator, an outer rotor, a body spoke, a DC-DC voltage stabilizing module, a main control board and a posture sensor, characterized in that: a power supply device (6) is fixedly connected inside the frame (12), a handlebar (9) is fixedly connected to the upper end of the frame (12), an axle (7) is fixedly connected to both ends of the frame (12), a wheel (8) is rotatably connected to the arc surface of the axle (7), a main controller (3) is installed inside the frame (12), a travel controller (1) is installed inside the frame (12), a posture detection device (2) is installed inside the frame (12), a rear wheel drive travel device (4) is installed inside the frame (12), and a novel reaction wheel balancing control structure (5) is provided inside the frame (12). 2. According to claim 1, an electronic control system based on a new type of reaction wheel self-balancing two-wheel new energy electric vehicle is characterized in that: the posture detection device (2) is installed on the vehicle body cross beam placement platform, and the posture detection device (2) and the vehicle body cross beam placement platform are placed horizontally. 3. According to claim 1, an electric control system for a new type of reaction wheel self-balancing two-wheel new energy electric vehicle is characterized in that: the reaction wheel balance control structure (5) includes a balancing device fixing frame (54), the balancing device fixing frame (54) is fixedly connected to the frame (12), the balancing device fixing frame (54) is fixedly connected to an encoding mounting frame (53) at one end close to the posture detection device (2), an encoder (55) is installed inside the encoding mounting frame (53), a brushless balancing motor (52) is installed at one end of the encoding mounting frame (53) away from the balancing device fixing frame (54), and a metal flywheel and a counterweight (51) are installed at the output end of the brushless balancing motor (52). 4. According to claim 1, an electronic control system based on a novel reaction wheel self-balancing two-wheel new energy electric vehicle is characterized in that: the rear wheel drive walking device (4) is driven by a brushless hub motor, the hub motor is embedded in the rear wheel of the vehicle body, the stator inside the motor is fixed to the axle (7), and the outer rotor is fixed to the spokes of the vehicle body. 5. According to claim 1, an electric control system based on a novel reaction wheel self-balancing two-wheel new energy electric vehicle is characterized in that: the power supply device (6) uses two batteries connected in series to power the brushless hub motor and the brushless balancing motor (52), and the power supply device (6) simultaneously steps down the voltage through a DC-DC voltage regulator module to power the main control board, the attitude sensor and the encoder (55). 6. An electric control system based on a novel reaction wheel self-balancing two-wheel new energy electric vehicle according to claim 1, characterized in that: the arc surface of the axle (7) is provided with a protective structure (10), the protective structure (10) comprises a snap ring (103), the snap ring (103) is rotatably connected to the axle (7), the arc surface of the snap ring (103) is clamped with two connecting rings (105), and the two connecting rings (105) are slidably connected to two sliders (106) on one side close to each other, and the Two clamping strips (109) are fixedly connected to both sides of the slider (106), and the clamping strips (109) are clamped with the connecting ring (105). The arc surface of the clamping ring (103) is fixedly connected to a connecting rod (102). One end of the connecting rod (102) away from the connecting ring (105) is fixedly connected to a limiting block (101). The side of the limiting block (101) away from the connecting rod (102) is fixedly connected to a baffle (104), and the baffle (104) is installed on the vehicle frame (12). 7. According to claim 6, an electric control system based on a novel reaction wheel self-balancing two-wheel new energy electric vehicle is characterized in that: two limit rods (108) are fixedly connected inside the connecting ring (105), and the limit rods (108) are slidably connected to the slider (106). 8. According to claim 6, an electric control system based on a novel reaction wheel self-balancing two-wheel new energy electric vehicle is characterized in that: the slider (106) and the connecting ring (105) are fixedly connected to the side close to each other with a magnetic block (107), and the cross-section of the magnetic block (107) is rectangular. 9. An electric control system based on a novel reaction wheel self-balancing two-wheel new energy electric vehicle according to claim 6, characterized in that: a cleaning structure (11) is provided on one side of the baffle (104), the cleaning structure (11) comprises a circular arc rail (111), the circular arc rail (111) is fixedly connected to the baffle (104), one end of the circular arc rail (111) is fixedly connected to a connecting rail (113), the inner wall of the circular arc rail (111) is slidably connected to a screw (117), the screw (117) is slidably connected to the connecting rail (113), one end of the screw rod (117) close to the baffle (104) is fixedly connected to a fixing block (112), and one side of the fixing block (112) close to the baffle (104) is fixedly connected to a scraper (116), the arc surface of the screw rod (117) is threadedly connected to a threaded ring (115), the arc surface of the threaded ring (115) is fixedly connected to a protective sleeve (118), and the arc surface of the protective sleeve (118) is provided with a plurality of notches (119). 10. An electronic control system based on a novel reaction wheel self-balancing two-wheel new energy electric vehicle according to claim 9, characterized in that: the end of the screw (117) away from the fixed block (112) is fixedly connected to a handle (114), and the handle (114) is located inside two connecting rods (102) close to each other.