CN100506632C

CN100506632C - Automatic balanced electric bicycle

Info

Publication number: CN100506632C
Application number: CNB2007101303092A
Authority: CN
Inventors: （请求不公开姓名）
Original assignee: Individual
Current assignee: Individual
Priority date: 2007-07-16
Filing date: 2007-07-16
Publication date: 2009-07-01
Anticipated expiration: 2027-07-16
Also published as: CN101074039A

Abstract

The invention is concerned with the electric bicycle, especially the bicycle that the left and the right wheel can automatic balance, the two wheels are at left and right side of the rider, includes the carriage, the standing stick, the wheel, the electromotor, the driving circuit, the angle, the angle velocity transducer, and the treadle transducer, the characteristic is: the carriage (-) is composed by the separating of the cell chamber (-) and the electric chamber (-), the electric chamber (-) is set the electromotor (-,-), the electromotor driving circuit (-,-) and the central processing circuit (-); the electromotor driving circuit (-,-) includes the release loop, the release loop is set the release switch (-) and the consumed or stored energy element (-); the end of the handle assembly (-) is set the steering controlling mechanism (-,-).

Description

Automatic balanced electric bicycle

Technical field

The present invention relates to a kind of battery-driven car, especially have only about two wheels the battery-driven car that distributes, has automatic balance function.

Background technology

1988, Japanese patent specification JP63-305082 disclosed a kind of dolly that has only left and right sides two-wheeled, can keep dynamical equilibrium automatically.This application is a kind of experimental program that can demonstrate the one-level inverted pendulum, from riding of user one section remote distance is arranged still technically.

On the basis of Japanese patent application, US Patent specification US5,701,965 have disclosed bicyclist's the function of riding of standing, but the major defect that exists is:

(1) technical scheme is loaded down with trivial details, complicated, poor reliability, manufacturing cost height.

(2) battery use and there is following defective in replacing: need change very inconvenience from the bottom of car dismounting battery; The 2nd, there is not anti-theft measure, dangerous.

(3) battery chamber and electric panel room are not isolated, and the user interface of physical construction is unfriendly: battery is to need often to safeguard, change the parts that use, and the battery chamber need need easy-to-use to user friendly opening; The electrically driven the inside does not need easily the user to be opened, and should adopt enclosed construction because of being equipped with than precise part.

(4) deposit, transport inconvenience: when carrying with car, need special-purpose machinery, US Patent specification US20040050611 has disclosed this special-purpose auxiliary machinery.

(5) wheel train structure of its three wheels in every limit that adopt is too complicated.

Technical sophistication, major technique reason loaded down with trivial details, that manufacturing cost is too high have 4 points in wherein above-mentioned (1): (1) is excessively redundant: for keeping the dynamical equilibrium of described car, the rotating of left and right sides electrical motor need be switched rapidly, but can cause the generation of transient overvoltage and transient over-current like this, the power gain switching valve in the breakdown potential motor drive circuit.Above-mentioned US Patent for the safety that improves described car with reliable, the winding of electric driver circuit, central processing circuit, sensor and electrical motor etc. has almost all been backed up covers more.

(2) unnecessary repetition: in the technical scheme that above-mentioned US Patent specification discloses, on car body, installed in angular transducer and the angular velocity sensor, on two electrical motors rotating speed or position transduser have been installed all.In fact, there are direct causalnexus relation in the angle of tilting of car body and cireular frequency and rotating speed of motor.Under the situation that adopts angular transducer and angular velocity sensor full cut-off ring, if the performance perameter conformability of two motors is better, there is no need fully to add implantation site or speed sensor, repeat the semiclosed loop feedback, promptly can remove the position or the speed sensor of electrical motor at the electrical motor place.

(3) turn to control needn't adopt closed loop, turning mechanism is too complicated: U.S. Pat 6,581,714 and US6,789,640 customized designs turn to the mechanism of control.

(4) it is too complicated to detect the sensing device that the bicyclist gets on the bus: US Patent specification US6,796,396 Fig. 6 a, Fig. 6 b have disclosed this sensing device.

Summary of the invention

The purpose of this invention is to provide a kind of control and that the driving circuit topological structure is simple, reliability is high, battery is easy to change, turn to is easy, be convenient to transport and the automatic balanced electric bicycle of uphill/downhill implementation, safe and convenient, low cost of manufacture.

For achieving the above object, the technical solution adopted in the present invention is as follows:

A kind of automatic balanced electric bicycle, two-wheeled is distributed in bicyclist's the left and right sides, comprise compartment, vertical rod, wheel, electrical motor and driving circuit thereof, angle and angular velocity sensor, storage battery, panel treatment circuit, handle assembly, turn to control mechanism, ride sensor, it is characterized in that:

The compartment is separated by battery chamber and electric panel room and is formed, and battery pack has been deposited by the battery chamber, and electric panel room is equipped with left and right sides electrical motor and motor drive circuit and central processing circuit; About being provided with, the end of handle assembly turns to control mechanism; Motor drive circuit comprises bleed-off circuit, and bleed-off circuit is provided with release switch and power consumption or energy-storage travelling wave tube.

The further technical measures of the present invention adopt following scheme:

In the above-mentioned car, the upper surface in compartment is provided with foot-operated sensor, and foot-operated sensor is the metal water proof switch.

In the above-mentioned car, described battery chamber and electric panel room are formed by two parts up and down, and shared compartment, lower part bottom is middlely separated by dividing plate, and the top of electric panel room is provided with electric lid, adopts between electric lid and the dividing plate to be fixedly connected; The top of battery chamber is provided with battery cover, and the employing activity connects between battery cover and the bottom.

In the above-mentioned car, the bottom top in described compartment also is provided with a battery chamber, through electric panel room and aforesaid battery chamber symmetric arrangement, is placed with battery pack in this battery chamber.

In the above-mentioned car, described vertical rod is a cavity structure, and the bottom is provided with fold mechanism, and power supply is transferred to handle assembly by the supply cable that passes in the vertical rod chamber from the battery chamber.

In the above-mentioned car, the back side of described electric lid is equipped with the battery lockset, and the tapered end of battery lockset is covered by trapezoidal box.

In the above-mentioned car, the negative or positive electrode of described battery pack inserts motor drive circuit by a current sensor.

In the above-mentioned car, be provided with angular transducer, be provided with angular velocity sensor with the upright position of compartment bottom with the parallel position of described compartment bottom.

In the above-mentioned car, turn to about described and be respectively equipped with retracing spring in the control mechanism, the turning round on the contrary of two retracing springs.

In the above-mentioned car, the negative pole parallel connection of described two battery packs, as ground wire, every group of positive pole inserts the positive pole of dc bus respectively by relay and switching valve series connection back.

In the above-mentioned car, utilize a switch direct control panel treatment circuit, the power supply of central processing circuit and the control power supply of motor drive circuit, and pass through the electrical source of power of relay control motor driving circuit.

In the above-mentioned car, the bicyclist is on car body the time, and car body operates in the self-equalizing pattern; When not having load on the car body, car body operates in the auxiliary power pattern, and the selection of two kinds of patterns is determined by a switch; When car body operated in the self-equalizing pattern, even the on off state of select switch is changed, the mode of motion of car body did not change yet; When the auxiliary power mode state moved, the auxiliary torque M of driving body movement and the output angle θ of angular transducer are closely related: angle θ was big more, and auxiliary torque M is big more; Auxiliary torque M only is greater than or less than certain angle value θ at angle θ ₀After, auxiliary torque M just can take place, that is:

Formula (1)

Automatic balanced electric bicycle of the present invention is according to the principle of inverted pendulum, when bicyclist's centre of body weight leans forward, about two wheels rotate forward; During the hypsokinesis of bicyclist's centre of body weight, about two wheels rotate backward; The speed of rotating and the angle and the cireular frequency close association of body inclination.When bicyclist's centre of body weight does not change, about two wheel transfixions.

In sum, compared with prior art, automatic balanced electric bicycle of the present invention has the following advantages:

(1) this car has free to advance or retreat and the minimum advantage of turn radius;

(2) do not losing under the situation of performance substantially, number of sensors is few, and control loop is simple and reliable, need not back up whole circuit, and manufacturing cost reduces greatly;

(3) suppress or when having eliminated the frequent rotating of electrical motor and having switched transient overvoltage and transient over-current to the impact of circuit, thereby improved the reliability of electric part;

(4) physical construction is well defined, and is difficult for obtaining sealing fastening to the open electric panel room of user;

(5) effect of the convenient and tool balance complete vehicle quality of battery altering, and be subjected to the protection of battery lock, safe in utilization;

(6) turn to control simply, flexibly, freely, low cost of manufacture;

Lean on the not enough problem of artificial push-and-pull strength when (7) the auxiliary power pattern has solved uphill/downhill or stair activity;

(8) the folding feature of vertical rod makes described car be convenient to transportation, carry and deposit;

(9) Height Adjustable vertical rod makes the user of different heights buttress handle aptly, has improved the safety of using.

By abovementioned technology, the present invention finally will realize the automatic balanced electric bicycle that meets China's actual conditions, allow compatriots afford and outrode.

Description of drawings

Fig. 1 a is an integral structure scheme drawing of the present invention.

Fig. 1 b is the A portion enlarged drawing among Fig. 1 a.

Fig. 2 a is the physical construction scheme drawing in compartment of the present invention.

Fig. 2 b is the structural representation of the battery cover in compartment of the present invention.

Fig. 2 c is the structural representation of the electric lid in compartment of the present invention.

Fig. 2 d is the structural representation of the dividing plate in compartment of the present invention.

Fig. 2 e is the structural representation of the bottom in compartment of the present invention.

Fig. 3 is the structural representation of battery lock of the present invention and trapezoidal box.

Fig. 4 is the arrangement plan of electric panel room of the present invention.

Fig. 5 a is the circuit diagram of bleed-off circuit of the present invention.

Fig. 5 b is the power amplification circuit sketch that relates to the brush DC motor among Fig. 5 a.

Fig. 5 c is the power amplification circuit sketch that relates to brushless direct current motor among Fig. 5 a.

Fig. 6 is a circuit connection diagram of the present invention.

Fig. 7 is a power supply scheme drawing of the present invention.

Fig. 8 a is the constructional drawing one that turns to control mechanism of the present invention.

Fig. 8 b is the constructional drawing two that turns to control mechanism of the present invention.

Fig. 9 is a workflow block diagram of the present invention.

The specific embodiment

Below in conjunction with drawings and Examples the present invention is described in further detail (but being not limited only to this embodiment):

The physical construction part:

At first referring to Fig. 1 a and Fig. 1 b.Car of the present invention by compartment 7, two left and right wheelses 5,5 ' and mudwing 6,6 ', vertical rod 9, handlebar assembly 40, trapezoidal box 8 etc. form.The car body direct of travel along X or-X-axis, two left and right wheelses 5 and 5 ' line of centers require to be installed in as far as possible on the Y-axis line, be distributed in the right and left in compartment 7.Left and right wheels 5 and 5 ' and left and right sides electrical motor 17 and 17 ' (referring to Fig. 4) between connection can adopt multiple connection forms such as spline, keyway or gear, the wheel outer edge is with the combination 4,4 of nut, pad, stop washer ' fastening.Two fan left and right sides mudwinges 6 and 6 ' the be fixed on side in compartment 7.A vertical rod 9 is risen in the center in compartment 7.The upper surface in compartment 7 is equipped with foot-operated sensor 2, and whether this foot-operated sensor 2 can adopt the metal water proof switch, be used to detect the bicyclist and get on the bus.In case of necessity, foot pad can be spread in the surface in compartment 7.The mechanics of handlebar assembly 40 can be used the handlebar assembly of existing Electrical Bicycle, comprise headlight, left and right sides steering indicating light, loudspeaker, flasher, control the switch of these accessories, the display device 10 that shows dump energy and handle riser 41 etc., also can redesign handlebar assembly 40 as required or improved.

The composition of handlebar assembly 40 and structure:

(1) the present invention adopts two to turn to control mechanism 3 and 3 ' about being used for or the control of right left steering, and the back is described in detail;

(2) more friendly for user interface, the present invention adopts by display devices 10 such as liquid crystal or seven segment digital tubes arrays, is used to show the parameter such as operational mode, inclination angle of dump energy, the car body of battery.Display device 10 is installed on the panel treatment circuit 103, and panel treatment circuit 103 (referring to Fig. 6) is placed on dial hood 60 inside of headstock;

(3) because in the handlebar assembly 40 insertions vertical rod 9 of the present invention, different when being placed on the Electrical Bicycle front fork, both angles of inclination change, in case of necessity, can be handle riser 41 crooked angles of handlebar assembly 40, perhaps welding during handle riser 41 with different the angle of inclination of transverse tube 42 and bicycle, be as the criterion with suitable headlight illumination direction;

(4) power supply of handlebar assembly 40 is from the storage battery in the compartment 7 (group), and its power supply and data transmission communication cable pass in the middle of the vertical rod 9 of cavity, are not exposed to the outside, play attractive in appearance with prevent effect impaired because of the insulation of cable, that rainwater causes short circuit;

(5) the Electrical Bicycle lockhole 12 that was used for energized originally can be used, but also can be used to read the TM clip pin being transformed into TM card read head herein;

(6) be provided with the control source switch 14 (it is opened with closed and is opened and closed by car key) and the mode of motion master cock 13 of a whole set of circuit in the dial hood 60 of headstock, the back is described in detail;

(7) at the height adjustment mechanism 11 of the upper end of vertical rod 9 installation handle riser 41, the bottom is equipped with fold mechanism 15, can adopt the existing design pattern, and fold mechanism 15 is referring to the A portion enlarged drawing of Fig. 1 b.

Referring to Fig. 2 a～2e, compartment 7 is by the electric lid of a bottom 16, one 43, two dividing plates 44 and two same battery covers 45 and 45 ' form one in front and one in back.Electric lid 43 and front and back battery cover 45,45 ' bottom 16 is divided into three zones: preceding battery chamber 46, electric panel room 47, battery chamber 48, back, the centre separates with two dividing plates 44, connection between dividing plate 44 and the bottom 16 can adopt welding fixing, also can adopt the screw-nut link joint.Electric lid 43 is placed in the middle of two dividing plates 44, can fix with the through hole 50 employing screw-nuts connections at electric lid 43 edges by the through hole 49 at dividing plate 44 edges with the bind mode of dividing plate 44, also can change the through hole 49 on dividing plate 44 edges into tapping hole, electric lid 43 adopts screw to connect with dividing plate 44.Battery cover 45,45 ' with the front and back edge perforate 55 and 54 of bottom 16, adopt hinge 63 to connect, like this before and after battery cover 45,45 ' can open outwardly along the X-axis fore-and-aft direction respectively, be convenient to the taking-up of battery and put into.Dividing plate perforate 51 is so that supply cable 46 and 48 is transferred to electric panel room 47 to power supply from the battery chamber.Bottom perforate 52 be used to place electrical motor 17,17 ', through hole 53 is used to place central processing circuit 20 (referring to Fig. 4).Electric lid perforate 58 is used to lay foot-operated sensor 2 (referring to Fig. 1 a).

Car of the present invention does not have the surge and the waveform distortion of AC network power supply by storage battery (or battery pack) power supply.Be effectively shielding external interference, except that panel treatment circuit 103, turn to control mechanism 3,3 ' (referring to Fig. 6), the circuit integrally closed is in the metal compartment.

It is not necessary that the compartment is divided into three parts, but quality was symmetrical substantially before and after placement can make the compartment like this.

Referring to the battery lock 65 shown in Figure 3 and the constructional drawing of trapezoidal box 8.Vertical rod 9 is finished by trapezoidal box 8 with the fixing of compartment 7.The both sides up and down of trapezoidal box 8 are passed in hollow

vertical rod

9, and 9 times bottoms of vertical rod are concordant with the bottom of trapezoidal box 8, welding around the contact surface of vertical rod 9 and trapezoidal box 8.Trapezoidal box 8 is fixed on the electric lid 43 with nut screw 64 by the through hole 56 (referring to Fig. 2 c) on the electric lid 43, and two waists 67 of trapezoidal box and 68 can rotate in certain angle, so that the installation of screw-nut 64 with fix screw 73 and 73 ' be hinge.Electric lid 43 and hollow vertical rod 9 joint perforates 62 (referring to Fig. 2 c), power lead 203,204,210 (referring to Fig. 6, Fig. 7) and data transmission communication cable 105 pass hole 62, arrive handle assembly 40.

For when the user leaves described car, storage battery is unlikely to go adrift, and the present invention is equipped with the battery lock on the compartment.Fig. 3 shows a kind of mode that the battery lock is installed.Battery lock 65 is the mechanical drawer lockes that can stretch simultaneously in two ends, can buy from the market.From electric lid 43 lower ends, lock 65 passes electric lid 43 and trapezoidal box 8 bottoms, is positioned at trapezoidal box 8.By the perforate 61 of electric lid 43 and the perforate of trapezoidal box 8, pass electric lid 43, the base of lock 65 is fixed on the trapezoidal box 8 with screw 66 back-offs.Open the long waist limit 67 of trapezoidal box 8 activities, key 69 can insert in the lock 65 and rotation.When lock 65 was opened, the end of two locking bars 71 was contracted in the electric lid 43 simultaneously, front and back battery cover 45 and 45 ' can freely open.When locking, the end of two locking bars 71 extends to the through hole 72 interior (referring to Fig. 2 b) of front and back battery cover simultaneously from the through hole 57 (referring to Fig. 2 c) of electric lid 43.Key 69 can freely be extracted and insert.

Another kind of mode also can adopt electromagnetic lock, and mounting means is similar.

Arrangement plan referring to electric panel room shown in Figure 4: two left and right sides electrical motors 17 and 17 ' be installed in (referring to Fig. 2 e) on the bottom 16 by knock hole 52, the shaft extension end 74 of electrical motor 17 adopts spline or other modes to connect fastening with the wheel hub of wheel 5, two motors 17 and 17 ' shaft extension on straight line (Y-axis), this straight line advance with car body or direction of retreat (X-axis) vertical.The driving

circuit

18 and 18 of two motors ' each self-driven two

motors

17 and 17 '.Driving circuit 18,18 ' respectively be placed on two module radiators 19,19 ' on, radiator 19 and 19 ' be fixed on (referring to Fig. 2 d) on the dividing plate 44 by hole 75 respectively.Central processing circuit 20 has angular transducer 22, angular velocity sensor 21, microprocessor and peripheral interface and communication circuit etc. above by the central authorities that hole 53 (referring to Fig. 2 e) is fixed on compartment bottom 16.Because need to detect the angle of inclination on XY plane and the cireular frequency that rotates around Y-axis, therefore, angular velocity sensor 21 is vertical with bottom 16, angular transducer 22 is parallel with bottom 16.

Driving circuit and bleed-off circuit part:

The electrical motor that no matter adopts which kind of type is as driving motor, and car of the present invention requires the switch speed of electrical motor rotating fast, otherwise is difficult to keep bicyclist's dynamical equilibrium.But because electrical motor is inductive element, the energy storage in short-term of its winding, the rotating of electrical motor are switched moment and can be produced bigger transient current and transient voltage.The speed that rotating is switched is fast more, and its transient current and transient voltage are big more.When transient current and transient voltage are serious, can the breakdown switch pipe; Generally, also can cause the big ups and downs of storage battery DC supply voltage.

The technical measures that the present invention takes are: increase bleed-off circuit between dc bus.Before the voltage and current that electrical motor produces because of the rotating switching uprises, connect bleed-off circuit, make its unnecessary electric energy by bleeder resistance in heat-producing mode or to the electrically-charged mode of energy-storage travelling wave tube, transient overvoltage and the transient over-current eliminating or suppress to produce when the motor operation direction is switched, the reliability of enhancing driving circuit.

Brush DC motor and brushless direct current motor are arranged is that example is illustrated bleed-off circuit respectively with most popular below.

Fig. 5 a is the circuit diagram of bleed-off circuit of the present invention; Fig. 5 b is the power amplification circuit sketch when relating to the brush DC motor among Fig. 5 a; Fig. 5 c is the power amplification circuit sketch when relating to brushless direct current motor among Fig. 5 a.

Referring to Fig. 5 a: in start not with when authenticate by the TM card, relay 81 disconnects,

power switch pipe

84,85 disconnections, and power supply and motor power (output) amplifying circuit 80 disconnect fully.Start and by after the TM card authentication, relay 81 closes, and relay 82 disconnects, but switching valve 84 still is in off-state.When the self-equalizing state, only under the situation that foot-operated sensor 2 (referring to Fig. 1) is triggered, switching valve 84 is just connected and is closed.Central processing circuit 20 (referring to Fig. 4) calculates the driving power of electrical motor according to angle of inclination, cireular frequency and the turn sign in compartment 7, and the power tube of driving motor 17 and 17 ' running in the opposite direction is by open-minded.

Referring to Fig. 5 b, the power amplification circuit 80 (1) of brush DC motor is arranged, switching

valve

93,96 or switching

valve

94,95 are open-minded.With electrical motor 17 is example, when turning round with a kind of direction, if switching

valve

93 and 96 is open-minded, to carry out the transition to opposite rotation direction now, before switching

valve

94 and 95 is opened, bleed-off circuit switching valve 85 will be opened a period of time, make that transient current and the transient voltage in the circuit released by the element 86 of releasing.The element 86 of releasing can be a power consumption resistance, and this moment, unnecessary transient electric-energy was released with heat-producing form; The element 86 of releasing also can be the combinational circuit that rectifying circuit and energy storage device form, and this moment, unnecessary transient electric-energy was released with the form of energy storage.

Referring to Fig. 5 c, the power amplification circuit 80 (2) of brushless direct current motor, 87～92 are switching valve.Be conducted with one of star-like six states of three-phase and be example, electrical motor 17 or 17 ' when rotating with a kind of direction, for

example switching valve

87 and 91 is open-minded, next step should be that switching

valve

87 and 92 is open-minded, present electrical motor 17 or 17 ' rotate round about, be not that switching

valve

87 and 92 is open-minded, but switching

valve

89 and 91 is open-minded.Before switching

valve

89 and 91 is opened, bleed-off circuit switching valve 85 will be opened a period of time, make that the transient electric-energy in the circuit is released by the element 86 of releasing.

Some explanation:

(1) all there are time-delay in the above-mentioned commutation and the process of releasing, and concrete delay time need be determined according to the parameters such as performance of electrical motor and driving switch pipe and battery pack;

(2) Fig. 5 a only shows a bleed-off circuit in the motor drive circuit, two motors just has two bleed-off circuits, but can remove a bleed-off circuit or increase many bleed-off circuits in actual the use, the character of bleed-off circuit effect is the same, only can influence the speed of releasing and commutating.Precondition is that the positive and negative busbar of two motors driving circuit is corresponding respectively continuous;

(3) on off state of switching valve commutation is the example explanation with star-like six states of three-phase just among Fig. 5 c, can also have other to change according to the operation logic of brushless direct current motor, and the switching process of bleed-off circuit is similar.

Annexation between each circuit module:

Annexation between each circuit module of the present invention is referring to Fig. 6.Central processing circuit 20 is made up of microprocessor, voltage stabilizing sheet and crystal oscillator etc., the TMS320C2812 that microprocessor can select for use TI company to provide, but be not unique selection.Angle, cireular frequency, voltage (not shown), electric current, senser element such as foot-operated are formed sensing circuit 102.ADXL210 and ADXRS300 that angular transducer (22) and angular velocity sensor (21) can select for use ADI company to provide respectively.Voltage sensor can be implemented by bleeder circuit.The KT30AP model that current sensor can select for use Ke Hai company to provide, foot-operated sensor 2 can utilize the metal water proof switch.

Panel treatment circuit 103 is made up of microprocessor (as 8051 micro controller systems) and peripheral circuit.Peripheral circuit comprises mode of motion master cock 13, TM card read head 12 and display device 10 and voltage stabilizing and crystal oscillator etc.

Left and right sides motor drive circuit 18 and 18 ' link by cable with central processing circuit 20.Central processing circuit 20 links by communication cable 105 with panel treatment circuit 103.About turn to control mechanism 3 and 3 ' can on the panel treatment circuit 103 through transferring to central processing circuit 20 by communication cable 105 behind the analogue to digital conversion, also can directly transfer to central processing circuit and remove analogue to digital conversion for 20 li with cable.

The electric power system of car body

The electric power system of a whole set of circuit of the present invention can adopt one or more groups battery pack power supply, is that example illustrates with two group storage battery groups 201 and 202 among Fig. 7.Take out the control power unit of a whole set of circuit of a group storage battery group 201 supplies, three feed cables 203,204 and ground wire 210 are promptly arranged, after wherein positive and negative two cables 203 of power supply and 210 take out electricity from a battery chamber 46 or 48, pass hole 62 on the electric lid 43 and vertical rod 9 and arrive handle assemblies 40 backs (a) referring to Fig. 2 e, 2c and Fig. 1, tell a cable 211 through light current source switch 14, the mu balanced circuit that transfers to panel treatment circuit 103 is again reduced to suitable voltage, offer display device 10 and turn to control mechanism 3 and 3 ' etc.The 3rd power lead 204 arrives electric panel rooms 47 through handle assemblies 40, vertical rod 9 and electric lid 43, the power supply of supply central processing circuit 20, angular transducer 22 and angular velocity sensor 21 and left and right sides motor drive circuit 18 and 18 ' the control power supply.Like this, except that 212 direct another root cables 205 of being told by cable 203 such as headlight, loudspeaker are powered, the control power supply supply of control source switch 14 all circuit modules of control on the dial hood 60, because the electrical source of power supply is subjected to relay 81 controls (referring to Fig. 5), and relay 81 open and turn-off also controlled voltage control, therefore control the power supply that source switch 14 directly and has indirectly been controlled a complete set of circuit.

In addition, adopt when organizing direct-flow storage battery group parallel operation, the parallel connection of plurality of groups of storage batteries group needs to coordinate more.Not when electrical motor is powered, the plurality of groups of storage batteries group can not be directly in parallel, in order to avoid because pressure reduction and internal resistance do not match and form circulation; When motor starting needed power supply, the plurality of groups of storage batteries group can be connected in parallel to the electrical motor power supply, in order to avoid every electrical motor is because the pressure reduction difference of power supply causes the difference of motor speed.(moment that a) is triggered referring to Fig. 1 is when being exactly motor starting for foot-operated sensor 2.At this moment, the power switch pipe 208,209 of plurality of groups of storage batteries group (being equivalent to the switching valve 84 among Fig. 5 a) conducting, under the situation of relay 206,207 (being equivalent to the relay 81 when single group storage battery group is powered among Fig. 5 a) conducting, the positive pole of two groups of power supplys also together, to electrical motor 17 and 17 ' power supply, so just be unlikely to because the pressure reduction difference of power supply causes the difference of electrical motor 17 and 17 ' rotating speed.

In most of motor control, the current feedback link is the link of kernel in many ring controls.For two motors, need two current sensors at least.The two motors performance perameter index that arrives involved in the present invention is the same substantially, and in real-world operation, even when turning to, the drive current of two motors is more or less the same.So, as a further improvement on the present invention, can only place the negative or positive electrode of a current sensor 98 at dc bus, this magnitude of current is fed back in the central processing unit 20, as feedback and current limliting link, can reduce by a current sensor like this to the total current in two cover electrical motors and the driving circuit.

Turn to control:

Shown in Fig. 8 a and 8b, the present invention adopt turn to about two control mechanism 3 and 3 ' about being installed on the transverse tube 42 (a) referring to Fig. 1.Because retracing spring 301,301 ' and banking stop 302,302 ' effect, handle can only can automatically restore to reference position by folk prescription after rotating to certain angle, loosing one's grip.In rotary course, the Hall plate 303,303 on the handle ' can respond to permanent magnet magnetic-field intensity 304,304 ' variation, cause its voltage to change, thereby control turning to of described car.

Above-mentioned two turn to control mechanism 3 and 3 ' relatively be placed on the right-hand man about same, if both retracing springs 301,301 ' rotation direction identical, must be that a hand rotates forward, an other hand rotates backwards, and the inconsistent rotation mode in this both sides causes the beginner to be difficult to adapt to.As innovative approach, the present invention hand of rotation that turns to the retracing spring 301 of 3 li of control mechanisms wherein change over another turn to control mechanism 3 ' lining retracing spring 301 ' opposite turn round to, make the control mechanism that turns to of original two same hand of rotation become the control mechanism that turns to of opposite hand of rotation, form like this one pair turns to control mechanism 3 and 3 ' when relatively being installed on the left and right sides handle transverse tube 42, their hand of rotation is identical, unanimity forward, unanimity is operated consistent, convenient backwards.

The workflow of entire circuit is please referring to content shown in Figure 9.

(1) at first, when desiring to ride, start, open control source switch 14, start the power supply of a whole set of Circuits System by car key;

(2) the electron key sign indicating number of TM card is checked in display device 10 promptings, if the password mistake, program remains where one is;

(3) after the TM card reads in correct sign indicating number, panel treatment circuit 103 scanning motion mode control switch 13, if mode of motion is imported with inquiry mode, when perhaps mode of motion master cock 13 inserts in the mode of interrupting, under the situation that does not receive interruption, panel treatment circuit 103 is with default mode of motion---and the instruction of self-equalizing pattern is transferred to central processing circuit 20 by communication cable, otherwise, just transmit the auxiliary power mode instruction;

(4) if central processing circuit 20 receives the auxiliary power mode instruction, just according to aforementioned formula (1)

The calculating motor horsepower output, and be transferred to motor drive block, then parameters such as angle, remaining battery power are transferred to panel treatment circuit 103 by communication cable;

If central processing circuit 20 receives the balance exercise mode instruction, just wait for that foot-operated sensor 2 is triggered; After foot-operated sensor 2 is triggered, kinematic parameters such as real-time detection angles value, magnitude of angular velocity, turn sign, and the horsepower output of calculating motor in view of the above, be transferred to left and right sides motor drive circuit 18 and 18 ' go and carry out, then parameters such as angle, dump energy are transferred to panel treatment circuit 103;

(5) panel treatment circuit 103 is after receiving parameters such as remaining battery power, angle, shows on display device 10 together with the sign of mode of motion (auxiliary power pattern or balance exercise pattern).

(6) repeat (3), (4), (5) process.

Claims

1. automatic balanced electric bicycle, two-wheeled is distributed in bicyclist's the left and right sides, comprise compartment, vertical rod, wheel, electrical motor and driving circuit thereof, angular transducer and angular velocity sensor, storage battery, panel treatment circuit, handle assembly, turn to control mechanism, be used to detect the foot-operated the sensor whether bicyclist gets on the bus, it is characterized in that:

A. compartment (7) are made up of battery chamber 1 (46) and electric panel room (47) separation, battery pack 1 (201) has been deposited by battery chamber 1 (46), and electric panel room (47) is equipped with left and right sides electrical motor (17,17 ') and motor drive circuit (18,18 ') and central processing circuit (20);

B. a vertical rod (9) is risen at the center compartment place, and handle assembly (40) inserts in the vertical rod (9), turns to control mechanism (3,3 ') about the end of handle assembly (40) is provided with;

C. motor drive circuit (18) comprises bleed-off circuit, and bleed-off circuit is provided with the switch of releasing (85) and power consumption or energy-storage travelling wave tube (86);

D. described battery chamber 1 (46) and electric panel room (47) are formed by two parts up and down, shared compartment, lower part bottom (16), battery chamber 1 (46) is separated by dividing plate (44) with electric panel room (47) is middle, the top of electric panel room (47) is provided with electric lid (43), adopts between electric lid (43) and the dividing plate (44) to be fixedly connected; The top of battery chamber 1 (46) is provided with battery cover (45), and the employing activity connects between battery cover (45) and the bottom (16);

E. angular transducer is parallel with the compartment bottom, and angular velocity sensor is vertical with the compartment bottom, with the angle of inclination of detecting bottom XY plane, compartment and the cireular frequency that bottom XY plane, compartment rotates around Y-axis.

2. automatic balanced electric bicycle as claimed in claim 1 is characterized in that: described foot-operated sensor (2) is the metal water proof switch.

3. automatic balanced electric bicycle as claimed in claim 1 or 2 is characterized in that: bottom (16) top of described compartment (7) also is provided with battery chamber 2 (48); Battery chamber 2 (48) and battery chamber 1 (46) are with respect to electric panel room (47) symmetric arrangement; Be placed with battery pack 2 (202) in the battery chamber 2 (48).

4. automatic balanced electric bicycle as claimed in claim 3, it is characterized in that: described vertical rod (9) is cavity structure, the bottom is provided with fold mechanism (15), and power supply 1 (46) is transferred to handle assembly (40) by passing supply cable (203,210) in vertical rod (9) chamber from the battery chamber.

5. automatic balanced electric bicycle as claimed in claim 4 is characterized in that: the back side of described electric lid (43) is equipped with battery lockset (65), and the tapered end (651) of battery lockset (65) is covered by trapezoidal box (8).

6. automatic balanced electric bicycle as claimed in claim 5 is characterized in that: the negative or positive electrode of described battery pack 2 (202) inserts motor drive circuit (18) by a current sensor (98).

7. automatic balanced electric bicycle as claimed in claim 6, it is characterized in that: turn to about described to be respectively equipped with retracing spring 1 (301) and retracing spring 2 (301 ') in the control mechanism (3,3 '), retracing spring 1 (301) is turned round to opposite with retracing spring 2 (301 ').

8. automatic balanced electric bicycle as claimed in claim 7, it is characterized in that: the negative pole parallel connection of described battery pack 1 (201) and battery pack 2 (202), as ground wire, the positive pole of every group storage battery group is by relay 1 (206) and switching valve 1 (208) or pass through relay 2 (207) and the positive pole of switching valve 2 (209) series connection back access dc buss.

9. automatic balanced electric bicycle as claimed in claim 8, it is characterized in that: the control power supply of the power supply of a switch (14) direct control panel treatment circuit (103), central processing circuit (20) and motor drive circuit (18,18 '), and the electrical source of power by relay 1 (206) and relay 2 (207) control motor driving circuits (18,18 ').

10. automatic balanced electric bicycle as claimed in claim 9 is characterized in that: the bicyclist is on car body the time, and car body operates in the self-equalizing pattern; When not having load on the car body, car body operates in the auxiliary power pattern, and the selection of two kinds of patterns is determined by a select switch (13); When car body operated in the self-equalizing pattern, even the on off state of select switch (13) is changed, the mode of motion of car body did not change yet; When operating in the auxiliary power pattern, the auxiliary torque of driving body movement and the output angle of angular transducer (22) are closely related: angle is big more, and auxiliary torque M is big more; Only after angle was greater than or less than the certain angle value, auxiliary torque just can take place auxiliary torque.