TWI731524B - Vehicle balance control method and system - Google Patents

Abstract

The invention relates to a vehicle balance control method and system. A tilt function module is connected between a first vehicle body and a second vehicle body, and the tilt function module is electrically connected to a micro-controller, and is collected and installed. The sensing signal on the car body is input to the microcontroller, and the sensing signal further includes a parking, a brake, a wheel speed, an angle or/and a user selection interface, etc., and then through the micro The controller performs calculations based on the collected signal parameters, and outputs the result to control the tilt function module to brake and adjust the damping coefficient of the tilt angle (θ) between the first and second car bodies. Improve driving comfort and safety.

Description

Vehicle balance control method and system

The invention relates to the technical field of a vehicle, especially the technical category of balancing the vehicle body when the vehicle is running or cornering.

According to this, general vehicles, such as electric tricycles, are driven by electric magnetic brakes, so the driving speed is faster. However, when the car body is cornering, the rear wheels on the outer side of the car body will suffer more Centrifugal force is prone to understeer, causing the car body to tip over and become dangerous.

In order to avoid the above situation, some manufacturers will apply a differential to the rear wheel shaft of the electric tricycle to balance the centrifugal force caused by the dumping of people, vehicles and objects when the car body corners; however, the general differential is mainly It is composed of a planetary gear mechanism, and its manufacturing cost is high.

In addition, some companies have developed the invention patent No. I549857 "Tricycle coupling mechanism" by using mechanical devices with several buffers to balance the centrifugal force caused by people, vehicles, and objects falling when the electric tricycle is cornering; however, the coupling The mechanisms are all mechanical components, with numerous parts and complex structures, so their manufacturing costs are high; therefore, the existing balancing system or device of the tricycle needs to be improved.

For this reason, in view of the problems of the above-mentioned existing balance systems or devices that adopt purely mechanical mechanisms, the inventors worked hard to develop a vehicle balance control method and system. Therefore, the main purpose of the present invention is to provide electronic control The control method and system for balancing the vehicle body during driving or cornering in combination with a simple mechanism; the secondary purpose of the present invention: to provide a vehicle balance control with good driving comfort Another object of the present invention is to provide a vehicle balance control method and system with multiple driving modes.

In order to achieve the above objective, the present invention uses the following technical means: Regarding a vehicle balance control method of the present invention, it includes the following steps: a vehicle body modularization step is to divide a vehicle body into a first vehicle body and a second vehicle body. Two car bodies, in which a tilt function module is connected between the first car body and the second car body, and the tilt function module is controlled by a micro-controller; The sensing element is installed on the aforementioned vehicle body, wherein the sensing unit further includes a brake, a wheel speed or/and an angle sensor; the steps of constructing an electronic control module are electrically connected with a micro-controller. The sensing unit is used to collect a brake signal, a wheel speed signal or/and an angle signal for profit calculation; and a balance control step, which controls the tilt function module through the calculation result of the microcontroller; Step: When the vehicle is driving or cornering, the microcontroller will make the tilt function module to brake and adjust the distance between the first and second vehicle bodies according to the signals of the brake, wheel speed or/and angle. Damping coefficient for changes in tilt angle (θ).

In the vehicle balance control method, in the vehicle body modularization step, a return spring is provided between the tilt function module and the vehicle body, and the return spring provides the restoring force of the tilted vehicle body, and the The tilt function module is set as a brake, and the damping coefficient of the vehicle body during reciprocating rotation is adjusted by the boost/resistance of the brake.

In the vehicle balance control method, in the step of constructing the sensing unit, a user selection interface is added, and the user selection interface further includes: a riding mode, a load mode, or/and a damping coefficient adjustment mode ; And the microcontroller will control the tilt function module according to the brake signal, wheel speed signal, angle signal or/and user-selected interface signal.

In the vehicle balance control method, in the vehicle body modularization step, a parking lock module is provided at a corresponding position of the tilt function module, and the parking lock module is controlled by the microcontroller; Set this brake as a magnetic brake.

In the vehicle balance control method, in the balance control step, when the signal of the wheel speed and angle is zero, the microcontroller determines that the vehicle body is in a parking state, and at the same time controls the parking lock module; When the wheel speed signal is not zero, the micro-controller will release the parking mode; and control the tilt function module according to the signal of the brake, wheel speed, angle or/and user selection interface; and when the vehicle is traveling Or in the process of cornering, the microcontroller will adjust the damping coefficient of the car body during reciprocating rotation through the tilt function module according to the signal of the angle.

With regard to a vehicle balance control system of the present invention, the vehicle balance control method described above is used, and includes: a vehicle body including a first vehicle body and a second vehicle body; and a tilt function module connected to the second vehicle body Between a car body and a second car body; a micro-controller is electrically connected to the sensing unit and tilt function module; a sensing unit is installed on the car body to sense a brake signal, A wheel speed signal or/and an angle signal; and when the vehicle is driving or cornering, the microcontroller will make the tilt function module to brake and adjust according to the signals of parking, braking, wheel speed or/and angle The damping coefficient of the change in the inclination angle (θ) between the first vehicle body and the second vehicle body.

The vehicle balance control system further includes a return spring, and the return spring is installed on the tilt function module, and the tilt function module is set as a brake, and the reciprocation of the vehicle body is adjusted by the brake Damping coefficient during rotation.

The vehicle balance control system further includes a parking lock module electrically connected to the microcontroller and arranged on the tilt function module; and the brake is set as a magnetic brake.

The vehicle balance control system further includes a user selection interface electrically connected to the microcontroller, wherein the user selection interface is installed on the first vehicle body and outputs a user selection interface signal.

In the vehicle balance control system, the vehicle body is set as an electric tricycle or an electric three-wheel scooter.

Through the above technical means, the present invention can achieve the following effects:

1. The present invention is based on the rotation path of the tilt function module, and a brake is provided to balance the tilt force (including the cornering centrifugal force) of the vehicle body during driving, so as to provide control of tilt at different vehicle speeds (including cornering tilt) , In order to improve driving safety.

2. The present invention utilizes the tilt function module to rotate and stretch the return spring to achieve the function of body reset and avoid the discomfort of the vehicle body tilting too fast during driving or cornering.

3. The user selection interface provided by the present invention includes: a riding mode, a load mode or/and a damping coefficient adjustment mode, which can be adjusted according to the amount of load on the car and based on the experience of the user's control. Customizing and adjusting the tilt function module and the damping coefficient of the vehicle body can help the user to more safely control the tilt degree of the vehicle body.

A: Vehicle balance control system

1: car body

11: The first car body

111: front wheel

112: Steering mechanism

113: Driving cushion

114: Brake Grip

115: front wheel motor

12: Second car body

121: rear wheel group

122: Bucket

123: connecting plate

2: Tilt function module

20: Magnetic brake

201: Pedestal

21: Mandrel

22: turntable

221: lock hole

23: Bolt

3: Microcontroller

30: Sensing unit

31: Input unit

32: output unit

33: arithmetic unit

4: parking lock module

41: Moving axis

5: return spring

6: User selection interface

61: Riding Mode

62: Load Mode

63: Damping coefficient adjustment mode

Figure 1: is a block diagram of the architecture of the vehicle balance control system of the present invention.

Figure 2: is the electronic control block diagram of the vehicle balance control system of the present invention.

Figure 3: is a diagram showing the implementation of the vehicle balance control system of the present invention on an electric tricycle.

Figure 4: is a perspective view of the vehicle balance control system of the present invention.

Figure 5: is a combined cross-sectional view of the vehicle balance control system of the present invention.

Fig. 6 is a schematic diagram of the balance action of the vehicle balance control system of the present invention.

Figure 7 is a schematic diagram of the balancing action of the electric tricycle of the present invention.

Figure 8 is a diagram showing the relationship between current and reluctance torque of various magnetic brakes used in the present invention.

Figure 9 is a diagram showing the implementation of the vehicle balance control system of the present invention on an electric three-wheeled scooter.

Figure 10: is a schematic diagram of the balancing action of the electric three-wheeled scooter of the present invention.

The present invention relates to a vehicle balance control method. As shown in Figs. 1 to 5, it includes the following steps: a vehicle body modularization step, which divides a vehicle body 1 into a first vehicle body 11 and a second vehicle body 11 The vehicle body 12, and the vehicle body 1 can be an electric three-wheeled vehicle, an electric three-wheeled scooter or other applicable vehicles; wherein a tilt function module 2 is connected between the first vehicle body 11 and the second vehicle body 12, and the tilt The functional module 2 can be a brake or a magnetic brake 20, and the tilt function module 2 is controlled by a microcontroller 3; in addition, a parking lock module 4 is provided at the corresponding position of the tilt function module 2 to provide parking The parking lock module 4 is controlled by the micro-controller 3 or mechanically controlled. Furthermore, a return spring 5 is provided between the tilt function module 2 and the car body 1, and the parking lock module 4 is controlled by the micro-controller 3 or mechanically. The return spring 5 provides the restoring force of the tilted vehicle body 1 and the resistance when the tilt angle is to be increased.

A sensor unit construction step is to install several sensor elements on the vehicle body 1, wherein the sensor unit 30 further includes a brake, a wheel speed, an angle or/and a user-selectable interface sensor .

An electronic control module construction step is to electrically connect the sensing unit 30 with a microcontroller 3 so as to collect the signals of the brake, wheel speed, angle or/and user selection interface, etc., and perform calculations; In one step, the user selection interface 6 series further includes: a riding mode, a load mode or/and a damping coefficient adjustment mode; and the microcontroller 3 will be based on the brake, wheel speed, angle or/and user selection The signal from the interface 6 controls the tilt function module 2 to adjust the damping coefficient of the vehicle body 1 when tilting.

A balance control step is to control the tilt function module 2 through the calculation result of the microcontroller 3; further, when the signal of the wheel speed and angle is zero, the microcontroller 3 determines that the vehicle body 1 is parked State, and control the parking lock module 4 at the same time; when the wheel speed signal is not zero, the microcontroller 3 releases the parking mode; and according to the brake, wheel speed, angle or/and the signal of the user selection interface 6 , To control the tilt function module 2; in addition, when the vehicle body 1 is traveling, the microcontroller 3 will control the damping coefficient of the tilt function module 2 when the tilt function module 2 reciprocates according to the signal of the angle.

Through the above steps, as shown in Figure 3, Figure 6 and Figure 7, when the vehicle is driving or cornering, the microcontroller 3 will order the signal according to the brake, wheel speed, angle or/and user-selected interface The tilt function module 2 brakes and balances the tilt angle θ of the first vehicle body 11 or the second vehicle body 12 to adjust the damping coefficient of the vehicle body 1 when tilting. In other words, taking the electric tricycle in this embodiment as an example, when the vehicle body 1 is cornering, the sensing unit 30 will sense the wheel speed, angle, presence or absence of brakes, user selection interface and other signals of the vehicle body 1 and send it to The micro-controller 3 performs calculations and then uses the tilt function module 2 to brake and balance the tilt angle θ between the first vehicle body 11 and the second vehicle body 12.

Furthermore, the tilt function module 2 brakes the tilt angle θ by using the reluctance torque of the magnetic brake 20, that is, the magnetic brake 20 to adjust the damping coefficient of the vehicle body 1 during reciprocating rotation, so as to avoid the tilt angle θ. Discomfort caused. Also, if the vehicle body 1 is in the parking state, the parking lock module 4 will be activated to lock the second vehicle body 12 without deflection (as shown in FIG. 5); in particular, as shown in FIG. 8, the above The magnetic brake 20 adjusts the braking force (ie reluctance torque) by controlling the current, in other words Therefore, the magnetic brake 20 will output an appropriate current through the calculation of the microcontroller 3 according to the current vehicle body wheel speed, tilt angle and other signals, so that the magnetic brake 20 will output appropriate torque, that is, the vehicle body 1 must overcome the torque. It can tilt, and then use the torque to brake and balance the tilt angle θ to improve driving comfort and safety.

The vehicle balance control system A of the present invention is extended by the aforementioned vehicle balance control method, as shown in FIGS. 2 to 6, which includes: a vehicle body 1, a tilt function module 2, a micro-controller 3, a sensor Measuring unit 30, parking lock module 4, return spring 5.

The car body 1 includes a first car body 11 and a second car body 12. The first car body 11 is set as the front half of the car body 1 and includes a front wheel 111, a steering mechanism 112, and a driving The seat cushion 113 and a user selection interface 6, and the second vehicle body 12 is set as the rear half of the vehicle body 1 and includes a rear wheel set 121 and a bucket 122.

The tilt function module 2 is connected between the first vehicle body 11 and the second vehicle body 12, and the tilt function module 2 can be set as a magnetic brake 20, and the magnetic brake 20 provides cooperation The return spring 5 adjusts the damping coefficient of the vehicle body 1, that is, the magnetic brake 20 cooperates with the return spring 5 to achieve the damping coefficient of the vehicle body 1 with its reluctance torque, so as to balance the first vehicle body 11 and the first vehicle body The inclination angle θ between the two vehicle bodies 12; as shown in FIGS. 4 and 5, the embodiment of the tilt function module 2 of the present invention is mainly fixed to the rear end of the first vehicle body 11 with a base 201, And a spindle 21 extends from the inside, and the outer end of the spindle 21 is provided with a turntable 22, and a connecting disk 123 is provided from the front end of the second vehicle body 12, and the turntable 22, The connecting plate 123 is combined together so that the tilt function module 2 can brake and balance the tilt angle 0 between the first vehicle body 11 and the second vehicle body 12.

The microcontroller 3 is electrically connected to the sensing unit 30 and the tilt function module 2 to control the operation of the tilt function module 2; further, the microcontroller 3 further includes an arithmetic unit 31. A memory unit 32, an input unit 33, an output unit 34, etc., wherein the input unit 33 is electrically connected to the sensors of the sensing unit 30 so as to be able to collect the brake, wheel speed, angle or/and The user selects the interface and other signals to provide the calculation unit 31 for interpretation; and the output unit 34 is electrically connected to the tilt function module 2 and the parking lock module 4.

The sensing unit 30 is mounted on the vehicle body 1, and the sensing unit 30 further includes a number of sensors which are respectively mounted on the brake grip 114, the front wheel motor 115 or the rear wheel motor, and the tilt function module 2 and user selection interface 6, according to which signals of the brake, wheel speed, angle or/and user selection interface are sensed respectively.

The parking lock module 4 is electrically connected to the microcontroller 3, and the parking lock module 4 is connected to the tilt function module 2 to lock the first vehicle body 11, The second vehicle body 12 rotates relative to each other; further, the parking lock module 4 further includes a moving shaft 41, and the moving shaft 41 is electromagnetically actuated, so that the moving shaft 41 extends or does not extend through the A locking hole 221 is provided on the rotating shaft 22 of the tilt function module 2 to lock the first vehicle body 11 and the second vehicle body 12.

The return spring 5 is installed on the tilt function module 2, and the magnetic brake 20 cooperates with the return spring 5 to adjust the damping coefficient of the vehicle body 1. In this embodiment, the return spring 5 is used. One end is installed on the turntable 22 of the tilt function module 2, and the other end of the return spring 5 is installed on the base 201 of the tilt function module 2.

The user selection interface 6 is electrically connected to the microcontroller 3, as shown in FIG. 2, which provides the rider to select and switch, and the user selection interface 6 further includes: a riding mode 61, a Load mode 62 or/and a damping coefficient adjustment mode 63.

Further, the riding mode 61 can be differentiated and set to cancel tilt/auto tilt/forced tilt, wherein the cancel tilt system activates the parking lock module 4 or increases the damping coefficient of the vehicle body 1, The automatic tilt system automatically adjusts the damping coefficient of the vehicle body 1 when the sensing unit 30 detects that the wheel speed is slow, and automatically adjusts the damping coefficient of the vehicle body 1 when the wheel speed is medium. When the speed becomes faster, the damping coefficient of the car body 1 is automatically adjusted; when the vehicle is forced to tilt, the damping coefficient of the car body 1 is forcibly adjusted.

Further, in the load mode 62, a larger damping coefficient of the vehicle body 1 is preset to provide a larger load, and the damping coefficient adjustment mode 63 is set to the user accustomed to the tilt function module 2, which can automatically Adjust the desired coefficient.

The above components constitute the vehicle balance control system A of the present invention. When the vehicle is driving (including cornering), the microcontroller 3 will make the tilt according to the signal of the brake, wheel speed, angle or/and user selection interface The functional module 2 brakes and balances the centrifugal angle θ of the first vehicle body 11 or the second vehicle body 12 so as to balance the vehicle body 1 without excessive tilting.

In particular, the vehicle balance control system A of the present invention can also be applied to an electric three-wheeled scooter, as shown in Figures 9 and 10, that is, the tilt function module 2 is used to brake and balance the first vehicle body 11 or the second vehicle. The centrifugal angle θ of the body 12 during driving or cornering is used to balance the body 1 without excessive tilting.

In summary, the present invention relates to a vehicle balance control method and system, and its composition method and system have not been seen in books or publicly used, and sincerely meets the requirements of a patent application. I sincerely ask Jun Bureau to approve the patent as soon as possible. Prayer; if you need to clarify, the above are the specific embodiments of this case and the technical principles used. If the changes made in accordance with the concept of this case, the resulting functional effects do not exceed the spirit covered by the specification and drawings , Should be combined with Chen Ming within the scope of this case.

1: car body

2: Tilt function module

3: Microcontroller

30: Sensing unit

4: parking lock module

5: return spring

Claims (10)

A vehicle balance control method includes the following steps: a vehicle body modularization step is to divide a vehicle body into a first vehicle body and a second vehicle body. A tilt function module is connected indirectly, and the tilt function module is controlled by a micro-controller; the tilt function module is set as a brake, and the brake is used to adjust the damping coefficient when the vehicle body reciprocates; A sensor unit building step is to install several sensor components on the vehicle body, wherein the sensor unit further includes a wheel speed or/and angle sensor; an electronic control module building step , A micro-controller is electrically connected to the sensing unit to collect a wheel speed signal or/and an angle signal to facilitate calculation; and a balance control step is to control the tilt through the calculation result of the micro-controller Function module; through the above steps, when the vehicle is driving or cornering, the microcontroller will make the tilt function module brake and balance the first car body and the second car according to the signal of the wheel speed or/and angle The inclination angle θ between the bodies. The vehicle balance control method according to claim 1, wherein in the vehicle body modularization step, a return spring is provided between the tilt function module and the vehicle body, and the return spring provides the restoring force of the tilted vehicle body ; And the step of constructing the sensing unit further includes a brake sensor to provide a brake signal. The vehicle balance control method of claim 2, wherein in the step of establishing the sensing unit, a user selection interface is added, and the user selection interface further includes: a riding mode, a load mode, or/and a Damping coefficient adjustment mode; and the microcontroller will be based on the brake information Signal, wheel speed signal, angle signal or/and user-selected interface signal to control the tilt function module. The vehicle balance control method according to claim 3, wherein in the vehicle body modularization step, a parking lock module is provided at a corresponding position of the tilt function module, and the parking lock module is controlled by the micro-controller The brake is controlled by the device; the brake is also set as a magnetic brake. The vehicle balance control method according to claim 4, wherein in the balance control step, when the signal of the wheel speed and angle is zero, the microcontroller determines that the vehicle body is in a parking state, and at the same time controls the parking lock mode Group; when the wheel speed signal is not zero, the micro-controller will release the parking mode; and control the tilt function module according to the signal of the brake, wheel speed, angle or/and user selection interface; During the driving or cornering of the vehicle body, the micro-controller will control the increase or decrease of the rotation of the tilt function module according to the signal of the angle. A vehicle balance control system includes: a vehicle body including a first vehicle body and a second vehicle body; a tilt function module connected between the first vehicle body and the second vehicle body; In addition, the tilt function module is set as a brake, and the brake is used to adjust the damping coefficient when the vehicle body reciprocates; a microcontroller is electrically connected to the sensing unit and tilt function module; and a sensing unit , Is installed on the car body to sense a wheel speed signal or/and an angle signal; and when the car body is driving or cornering, the microcontroller will be based on the parking, wheel speed or/and angle signal , The tilt function module is made to brake and balance the tilt angle θ between the first vehicle body and the second vehicle body. According to claim 6, the vehicle balance control system further includes a return spring, and the return spring is installed on the tilt function module; and the sensing unit further includes a brake sensor The sensor is provided with a brake signal. The micro-controller will make the tilt function module brake and balance the first car body and the second car body according to the signals of parking, braking, wheel speed or/and angle. The inclination angle θ between. According to claim 7, the vehicle balance control system further includes a parking lock module electrically connected to the microcontroller, and is set on the tilt function module; and the brake is set as a magnetic brake. The vehicle balance control system of claim 8, further comprising a user selection interface electrically connected to the microcontroller, wherein the user selection interface is installed on the first vehicle body and outputs a user selection interface signal . The vehicle balance control system according to claim 6, wherein the vehicle body is set as an electric tricycle or an electric three-wheel scooter.

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