CN1502513A - Self-balancing two-wheeled electric vehicle - Google Patents

Self-balancing two-wheeled electric vehicle Download PDF

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Publication number
CN1502513A
CN1502513A CNA021386528A CN02138652A CN1502513A CN 1502513 A CN1502513 A CN 1502513A CN A021386528 A CNA021386528 A CN A021386528A CN 02138652 A CN02138652 A CN 02138652A CN 1502513 A CN1502513 A CN 1502513A
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car body
wheel
vehicle
control circuit
control
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CN100361862C (en
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张培仁
屠运武
张先舟
张培强
王久才
王桦
赖俊伟
吴晓东
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University of Science and Technology of China USTC
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Abstract

本发明是一种自平衡两轮电动车。它涉及电动车，尤其是两轮左右分布的电动车。本发明包括车体、车轮和电驱动系统等，带有电机的车轮安装在车体两侧，电源、控制电路、驱动电路以及传感器和控制开关等安装在车体上，车轮与车体之间为转轴连接，速度传感器和角度传感器将车轮与车体的转角及倾角信息传输到控制电路中，利用其中的软件计算控制量，从而控制车轮与车体的运动及平衡状态。本发明是利用倒立摆控制原理来实现车体的自动平衡，从而简化了车体的结构。在运行过程中自动保持车体平衡，灵活性强且结构简单、操作容易，可作为大型广场或娱乐场所、纺织车间、高尔夫球场等工作人员的代步工具；也可作为电动交通工具。

Figure 02138652

The invention is a self-balancing two-wheel electric vehicle. It relates to electric vehicles, especially electric vehicles with two wheels distributed around. The present invention comprises car body, wheel and electric drive system etc., and the wheel with motor is installed on both sides of car body, and power supply, control circuit, driving circuit, sensor and control switch etc. are installed on car body, between wheel and car body For the connection of the rotating shaft, the speed sensor and angle sensor transmit the rotation angle and inclination information of the wheel and the car body to the control circuit, and use the software in it to calculate the control amount, thereby controlling the movement and balance state of the wheel and the car body. The invention utilizes the control principle of the inverted pendulum to realize the automatic balance of the vehicle body, thereby simplifying the structure of the vehicle body. It can automatically maintain the balance of the car body during operation, has strong flexibility, simple structure, and easy operation. It can be used as a means of transportation for workers in large squares or entertainment places, textile workshops, golf courses, etc.; it can also be used as an electric vehicle.

Figure 02138652

Description

The self-balancing electric motor car with two wheels
Technical field
The present invention relates to battery-driven car, the battery-driven car that especially distributes about two-wheeled.
Background technology
For occasions such as shopping mall, square, recreation ground and large-scale meeting-place, automobile is impassable, and walking is tiresome again.Needing a kind of can the behaviour rides instead of walk, flexible operation, controls special car easily.
Though traditional bicycle and man or Electrical Bicycle can be behaved and be ridden instead of walk, owing to distribute before and after the two-wheeled, there is following shortcoming in it:
1. the turn radius of vehicle is big, can't be in little spatial dimension flexible motion; 2. the balance that relies on driver's health to come the manual control car body fully; 3. can't move backward.
Chinese patent application (application number: 02114794.9) patent of invention of Ti Chuing " novel electric vehicle " is the battery-driven car that distributes about a kind of two-wheeled, and it has utilized high speed gyro conservation of angular momentum principle to keep the balance of two-wheel car, but there is following defective in it:
1. having under the external interference situation of (comprising people's body movement state for a change), the moment of momentum direction can change, and influences its stable operation; 2. the very big and high speed revolution (10000 rev/mins) of balance rotating disk volume, thereby can consume a large amount of electric energy, the battery period of service is very short.
Summary of the invention
The purpose of this invention is to provide a kind of car body balance that keeps automatically in operational process, alerting ability is strong and simple in structure, the self-balancing electric motor car with two wheels of processing ease.
The present invention includes car body, wheel and power drive system etc., the wheel that has motor is installed in the car body both sides, power supply, control circuit, driving circuit and sensor and master cock etc. are installed on the car body, it is characterized in that: be connected for rotating shaft between described wheel and the car body, described sensor is speed sensor and angular transducer, speed sensor is installed in the junction of wheel and car body, angular transducer is installed on the car body, storage or solidified the software that is used to control balance accordingly in the described control circuit.
Human body support on the described car body is shaft-like handle, and master cock is installed on the handle or vertical rod of handle; Perhaps, human body support is a seat, and master cock is installed in the handrail of seat or rides.
That is to say that the present invention utilizes software to realize the self-equalizing of car body, thereby has simplified the structure of car body.
Structure of the present invention only comprises car body, wheel and power drive system etc.Its wheel adopts self-driven wheel, promptly all has the motor that drives usefulness, independent drive separately in each wheel.Wheel is installed in the car body both sides, forms two-wheeled left and right sides distributed architecture, to reduce the turn radius of vehicle.For rotating shaft is connected, make car body form horizontal hunting between wheel and the car body around the rotating shaft of wheel.Car body can have only vehicle body, perhaps comprises vehicle body and human body support etc., and enough loading strengths should be arranged.Vehicle body can be a boxlike, so that power supply and control circuit, driving circuit etc. are placed in one; Also can be form board-like or that other is suitable, at this moment power supply and control circuit, driving circuit etc. will be placed according to its particular case.Wheel is installed on the vehicle body usually, and human body support also is installed on the vehicle body.Human body support is shaft-like handle or seat (or other suitable form), can give the driver controlling or to rely on, its with vehicle body between should be and captive joint.Master cock is arranged on the human body support usually, so that operation.Sensor is arranged on the car body usually, so that directly experience the operation and the equilibrium condition of car body.The core devices of control circuit can adopt microprocessor, micro controller system etc., and driving circuit then adopts suitable form so that motor can just change, also can reverse.
Sensor of the present invention comprises speed sensor and angular transducer, by they can measure car body operation conditions and equilibrium condition, comprise the information at the inclination angle of two-wheel corner and car body, feed back to control circuit, thereby the cireular frequency and the angular acceleration that calculate two-wheeled and car body calculate the required motor torque of two-wheeled, realize the control to car body.Governing equation of the present invention is:
m 4 R 2 + m l R 2 + J l + J φ R 2 f 2 m 4 R 2 - J φ R 2 f 2 1 2 mRL m 4 R 2 - J φ R 2 f 2 m 4 R 2 + m r R 2 + J r + J φ R 2 f 2 1 2 mRL 1 2 mRL 1 2 mRL J θ + mL 2 θ l · · θ r · · θ · · - 0 0 0 0 0 0 0 0 mgL θ l θ r θ = M l M r - M l - M r
Wherein, M lBe the motor torque of left wheel, M rMotor torque for right wheel; θ lBe the corner of left wheel, θ rBe the corner of right wheel, θ is car body inclination angle with respect to the horizontal plane; J l, m lAnd J r, m rBe respectively the quality of left and right wheel and around the rotor inertia of barycenter, R is a radius of wheel, and m is car body and driver's a quality sum (the desirable typical amount of driver's quality is as 70kg), its barycenter is L to the distance of rotating shaft, and it is J around the rotor inertia of barycenter on the θ angle θ
Figure A0213865200042
With
Figure A0213865200043
Then be respectively the angular acceleration of left and right wheel and car body, they are to pass through θ l, θ rCalculate and get with θ.
When car body does not move when not tilting yet, angular transducer obtains car body dip angle signal (this moment is almost nil) and sends into control circuit, control circuit is calculated the required motor torque controlling quantity of two-wheeled according to the signal (this moment is also almost nil) of this signal and comprehensive left and right vehicle-wheel speed sensor, this controlling quantity is sent in the driving circuit, through being sent in the motor of drive wheels after the processing such as power gain, keep car body original place balance.When the needs car body advances, the driver turns forward car body a little, angular transducer obtains dip angle signal and sends into control circuit, control circuit is calculated the required motor torque controlling quantity of two-wheeled according to the angular signal of this signal and comprehensive left and right vehicle-wheel speed sensor, this controlling quantity is sent in the driving circuit, through being sent in the motor of drive wheels after the processing such as power gain, the control wheel rotates and remains the car body balance forward.The inclination angle is big more, quickens fast more.When needs slowed down, brake or retreat, the driver receded car body a little, thereby control circuit can be calculated required counter torque control wheel according to sensor signal equally and rotated backward and remain the car body balance.The inclination angle is big more, oppositely quickens fast more.When needing to turn, the driver provides a signal by master cock, the control circuit basis calculates left and right different moment sizes of taking turns, thereby the control wheel rotates with different speed or direction respectively and remains the car body balance, can control car body thus and turn to required direction.
In sum, the present invention and existing battery-driven car relatively have the following advantages:
1. because two-wheeled distributes about being, the turn radius that makes vehicle is zero, can be in little spatial dimension flexible motion;
2. calculate the output controlling quantity by software, control the both sides wheel respectively, not only make car body can keep balance automatically, and do not need brake, reversing, the balanced system of physical structure by control circuit; Make simple in structure, easy to operate.
3. has purposes widely.As: can be used as Walking People such as large-scale square or public place of entertainment, the relevant personnel that keep order of place, spinning and weaving workshop operating personal, golf course staff's etc. walking-replacing tool on a large scale; Also can be applicable to the electric vehicle in densely populated city and area.
Description of drawings
Fig. 1 is contour structures scheme drawing of the present invention (wherein human body support is shaft-like handle).
Fig. 2 is contour structures scheme drawing of the present invention (wherein human body support is a seat).
Fig. 3 is an inner structure scheme drawing of the present invention.
Fig. 4, Fig. 5 are speed sensor structural representation of the present invention (Fig. 4 are a front elevation, and Fig. 5 is a lateral plan).
Fig. 6 is the software flow pattern that is used to control balance of the present invention.
Fig. 7 is a circuit block diagram of the present invention.
Fig. 8 is the scheme circuit of control circuit of the present invention.
Fig. 9 is the scheme circuit of driving circuit of the present invention.
Specific embodiments
Below in conjunction with drawings and Examples the present invention is described in further detail (but being not limited in this embodiment):
The contour structures of the embodiment of the invention is shown in Fig. 1 or 2.Vehicle body is made of cover plate and base, with screw 2 cover plate 1 is fixed on the base 3 to form.Left and right wheel 6 is the anodontia electric drive wheel of permanent-magnet DC brush, and motor places wheel hub, and its rotating shaft is fixed on the car body base 3 by nut 7.Speed sensor is made of opto-electronic pickup 4 and measuring disk 5, read the angular signal of the measuring disk 5 that is fixed on the wheel 6 and be transferred in the control circuit, thereby (measuring disk 5 is for having the code-disc of grid for rotational angle, cireular frequency and the angular acceleration of calculating wheel, it is fixed on the wheel, can guarantee to rotate with identical speed with wheel.One end of opto-electronic pickup 4 sends infrared light and is received by the other end.If code-disc 5 rotates therebetween, grid will intermittently cut off the propagation of light, and opto-electronic pickup receives the impulse singla that obtains thus).Speed sensor also can adopt the form of speed measuring motor.Human body support is shaft-like handle 9 or seat 18, uses bolt of rear end plate 8 to be installed on the cover plate 1 and also can regulate its angle of inclination so that the driver feels comfortable.Master cock comprises source switch and pole changer, wherein source switch 10 and pole changer 11 all can adopt a dynamic formula, respectively be installed in the handle place of shaft-like handle 9 tops or the arm rest of seat 18 (also can be provided with as required suitable foot-operated, with source switch 10 and pole changer 11 be installed in foot-operated on); Perhaps, pole changer 11 adopts the rotating potentiometer formula, is installed in the middle part of the vertical rod of shaft-like handle 9.
Inner structure of the present invention is seen Fig. 3.After opening cover plate 1, can see the inner member that is fixed in the base 3.Core control element in the control circuit 15 adopts microprocessor 16.Angular transducer 14 is level indicator sensor or gyro sensor, the optional position that is installed on the car body all can (be installed on the control circuit board shown in the figure), when the car body run-off the straight, export a correspondent voltage signal in control circuit, thereby calculate angle of inclination and the cireular frequency and the angular acceleration of car body.Whole energy of dolly are provided by the lead battery 12 as power supply.Adopt photoelectricity to isolate and the bridge-type type of drive in the driving circuit 13.Annexation between control circuit and the driving circuit as shown in Figure 7, both concrete circuits are seen Fig. 8,9 respectively.
The software solidification that is used for controlling balance outside the sheet of microprocessor program store (this be since itself internal storage space of selected microprocessor model limited due to), its executive routine block diagram is seen Fig. 6.
During use, turn on the power switch 10, system start-up, microprocessor 16 is started working.When car body does not move when not tilting yet, angular transducer 14 obtains tilting of car body angle signal (this moment is almost nil) and sends into microprocessor 16, calculate required moment by software wherein according to the signal (this moment is also almost nil) of this signal and comprehensive left and right vehicle-wheel speed sensor 4, keep car body original place balance.In the time of need advancing, driver's car body that turns forward, angular transducer 14 obtains the tilting of car body angle signal and sends into microprocessor 16, calculate required moment by software wherein according to the signal of this signal and comprehensive left and right vehicle- wheel speed sensor 4,6 rotations of control wheel are advanced and are remained the car body balance.The inclination angle is big more, quickens fast more; After the inclination angle reaches certain angle (look car body and driver's quality different and difference slightly), quicken to stop, car load at the uniform velocity advances.When needs slow down, brake or retreat, driver's car body that recedes, microprocessor 16 can calculate the size of required counter torque equally according to the signal synthesis of each sensor, and control wheel 6 produces suitable counter torque, makes car load slow down, brake or retreat.The inclination angle is big more, oppositely quickens fast more; After the inclination angle reaches certain angle (look car body and driver's quality different and difference slightly), quicken to stop, car load at the uniform velocity retreats.When needing to turn, the driver provides a signal by pole changer 11 (can crawl or rotation), microprocessor calculates the left and right required different moment sizes of taking turns according to signal characteristic and comprehensive other sensor signal, utilize left and right speed discrepancy of taking turns, can control car body and turn to required direction.Owing to used the inverted pendulum control principle of three-dimensional dynamics in the governing equation, static, advance, retreat or slow down, under the various running statees such as brake and turning, car load can remain the state of balance and stability.
Principal parameter of the present invention is as follows: wheel use diameter is 16 inches the anodontia electric drive wheel of permanent-magnet DC brush, and the vehicle body leading dimensions is 520mm * 286mm * 110mm (length).Use 12 volts of lead battery series-feds of two joints, microprocessor adopts DSP, and model is TMS320LF2407.Angular transducer is the KY2000 type level indicator that Chinese Academy of Sciences's intelligence is produced, and the model of opto-electronic pickup is MOCH21A.Complete vehicle quality is about 25 kilograms.General personnel are through driving its any walking after the training about 10 minutes.Car auto acceleration when car body leans forward, automatic deceleration is until retreating during hypsokinesis.By master cock, but pivot turn is arbitrarily angled.The time 10 kilometers of scooters per hour.Travelled distance is about 30 kilometers continuously.

Claims (3)

1、一种自平衡两轮电动车，包括车体、车轮和电驱动系统等，带有电机的车轮安装在车体两侧，电源、控制电路、驱动电路以及传感器和控制开关等安装在车体上，其特征在于：所述车轮(6)与车体之间为转轴连接，所述传感器为速度传感器(4)和角度传感器(14)，速度传感器安装在车轮与车体的连接处，角度传感器安装在车体上，所述控制电路(15)中存储或固化了相应的用于控制平衡的软件。1. A self-balancing two-wheeled electric vehicle, including the vehicle body, wheels and electric drive system, etc. The wheels with motors are installed on both sides of the vehicle body, and the power supply, control circuit, drive circuit, sensors and control switches are installed on the vehicle body. On the body, it is characterized in that: the wheel (6) is connected to the car body by a rotating shaft, the sensor is a speed sensor (4) and an angle sensor (14), and the speed sensor is installed at the connection between the wheel and the car body. The angle sensor is installed on the vehicle body, and corresponding software for controlling balance is stored or solidified in the control circuit (15). 2、如权利要求1所述的自平衡两轮电动车，其特征在于：所述车体上的人体支撑件为杆状把手(9)，控制开关安装在把手的手柄或立杆上。2. The self-balancing two-wheeled electric vehicle according to claim 1, characterized in that: the body support on the vehicle body is a rod-shaped handle (9), and the control switch is installed on the handle or the pole of the handle. 3、如权利要求1所述的自平衡两轮电动车，其特征在于：所述车体上的人体支撑件为座椅(18)，控制开关安装在座椅的扶手或脚踏上。3. The self-balancing two-wheeled electric vehicle according to claim 1, characterized in that: the human body support on the vehicle body is a seat (18), and the control switch is installed on the armrest or the footrest of the seat.
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