EP3115091A1 - Motor feed back loop and controlsystem, in particular for an electrically motorised rollerboard or long board - Google Patents

Abstract

The invention relates to a motor control and regulating device, in particular for an electrically driven skateboard or longboard. It includes a sensor for detecting laterally to the direction of travel (15) forces acting on the skate or longboard, a sensor (8) for speed control of an electric motor (6), a sensor (13) for measuring speed and direction of rotation of rollers (26) the skate or longboard (1), a sensor (11) for detecting the steering angle of the skate or longboard (1) relative to the direction of travel (15) and an electronic data processing with an integrated controller (10), the processing of the sensors obtained signals the speed and direction of the electric motor (6) controls. With the invention, the particular advantage that laterally acting on the skate or longboard forces are deflected into a lateral thrust and so the movement is effectively supported. Without an external control, a reversal of the direction of rotation of the electric motor is triggered by the invention almost in real time as soon as the skateboard exceeds an angle defined in the direction of travel and is therefore no longer in a roll mode but in a slide mode.

Description

The invention relates to a motor control and regulating device, which is particularly suitable for an electrically driven skate or longboard. It can have four or fewer wheels and, as a special skateboard version, a double-suspended front axle. The invention is also applicable to electrically driven unicycles, so-called Monowheels.

The skateboard and the longboard are each a board with two axes and four wheels in which the user can move by the repulsion with one leg. The technical development of the skateboard is also characterized by the fact that more and more skateboards have a drive and prove to be an alternative means of transportation. An associated technical challenge is the provision of suitable engine controls.

Out DE 20 2010 004 820 U1 is a portable electronically controlled drive system, which is characterized by the activation or deactivation of the drive by means of brake, electrical switch or sensor reading.

The DE 100 34 277 A1 discloses a variable speed engine control system including a speed sensing sensor and a wheel provided encoder and a wireless remote control or provided on a handlebar stepless switch or performed by means of foot pedal operation.

The DE 10 2009 036 924 A1 describes a skateboard in which the electric motor is controllable by a designed as a gun controller, rocker controller or joystick controller. With the controller, more than one electric motor can be operated individually or together, and a forward and reverse drive can also be controlled.

The use of the skateboard is characterized in recent decades by a sporty expression of skateboarding in conjunction with the expression of a variety of feats. Steering the skateboard by shifting your weight and jumping with the skateboard in conjunction with turning the user's board and body are common practice. For this purpose, the upturned tip and the upturned end of the deck are used.
Above all, the user must master the skateboard sliding, a braking technique in which the speed of a moving skateboard is braked by crossing the board up to 90 ° to the direction of travel and the wheels skid over the ground, thus braking the vehicle.

With the technical solutions shown, the freedom of movement of the driver is partially limited. Objects carried by hand, such as a remote control, may limit the safety of the driver and in unfavorable cases may also be the cause of falls and injuries.
In addition, the aforementioned controls do not take into account the situations and forces involved in skateboard sliding and in the tricks of the drivers. Skilled skateboarders are thus able to impart an impulse to the board by means of certain swinging motions of their body and thus significantly prolong the phase until the onset of repulsion with the leg. These lateral forces acting thereby are not taken up by the mentioned technical solutions.

The object of the invention is therefore to provide a motor control and -regeleinrichtung especially for an electrically operated skateboard or longboard that allows a higher degree of freedom of movement and safety for the driver, which has a low weight and absorbs the laterally acting forces and this Strengthening forces to increase speed.

According to the invention, the object is achieved by a motor control and regulating device, in particular for an electrically driven skateboard or longboard, which has a sensor for detecting lateral forces acting on the skateboard or longboard, a sensor system for speed control of an electric motor, a sensor system for measuring speed and direction of non-driven passive rollers of the skate or longboard, a sensor for detecting the steering angle of the skateboard or longboard in relation to the direction of travel and electronic data processing with an integrated controller comprising the processing of the signals received by the sensor, the speed and direction of the electric motor controls.

With the invention, the particular advantage that laterally acting on the skate or longboard forces are deflected into a lateral thrust and so the movement is effectively supported. Without an external control, a reversal of the direction of rotation of the electric motor is triggered by the invention almost in real time as soon as the skateboard exceeds an angle defined in the direction of travel and is therefore no longer in a roll mode but in a slide mode. Experienced drivers can endlessly move without skipping the direction of travel on one level with the skate or longboard and without having to push it with his foot again. Supported by the ease of use of the skateboard or longboard equipped with the invention, the drivers quickly adapt to the possible speed control in this way. Since the driver has full freedom of movement in the hand and foot area, the invention also gives him a higher degree of safety.

An embodiment of the invention provides that the skate or longboard has a pressure sensor or another sensor for detecting the weight of the driver acting on the skate or longboard.

A preferred embodiment of the invention provides that the skateboard or longboard has a light-emitting diode that is visible to a driver, preferably a multicolor light-emitting diode, or another optical signal generator for signaling information about the operating state of the skateboard or longboard.

The engine control and regulating device preferably has a piezo loudspeaker or another acoustic signal generator, which gives the driver acoustic signals for the operating state of the skateboard or longboard.

According to a further embodiment, the rotational speed of the electric motor can be controlled dynamically and / or constantly with respect to a minimum and / or maximum speed of the skateboard or longboard and / or the controller activates the drive rollers when a predefined speed is exceeded as brake rollers.

According to a particularly preferred embodiment of the invention, the direction of rotation of the electric motor is reversible as soon as the skateboard or longboard crosses at first by more than 90 ° to the direction of travel and then retains the direction of travel when rotated by a further 90 °.

A further particularly preferred embodiment of the invention provides that the controller does not control the rotational speed of the electric motor again when the skateboard or longboard is rotated by 180.degree. When the sensor is in relation to the angular position of the deck in relation to the direction of travel and the sensor report stable values with regard to the detected speed of the non-driven passive rollers.

By the data processing with the controller, the forces detected by an acceleration sensor and acting laterally on the skateboard or longboard are preferably converted into a thrust force and an amplification factor for the electric motor.

According to a further embodiment, the thrust can be controlled by means of a potentiometer or another setpoint generator in conjunction with the controller.

Preferably, the conversion of the forces acting laterally on the skateboard or longboard into a thrust force can be switched off.

According to a further particularly preferred embodiment of the invention, the controller controls the number of revolutions of the electric motor so that when using the skateboard or longboard after a rotation through 180 ° and after changing the direction of rotation of the electric motor, the freewheeling gear produces no braking effect on further travel of the skate or longboard ,

It is envisaged that the controller may change the direction of rotation of the electric motor when the user of the skateboard or longboard performs this jump or makes it turn and rotate about its longitudinal axis.

Fig. 1

in schematischer Darstellung die Anordnung von Bauelementen der erfindungsgemäßen Motorsteuer- und -regeleinrichtung an der Unterseite eines Skateboards;

Fig. 2a,2b, 2c

in schematischer Darstellung 3 Stufen des Skateboard-Sliding;

Fig. 3

die Darstellung seitlich auf ein Skateboard wirkender Kräfte und deren Einfluss auf die Geschwindigkeit des Skateboards in Abhängigkeit von der Zeit.

In the following, the invention will be explained in more detail with reference to drawings. Show it:

Fig. 1

a schematic representation of the arrangement of components of the motor control and regulating device according to the invention on the underside of a skateboard;

Fig. 2a, 2b, 2c

in a schematic representation, 3 levels of skateboard sliding;

Fig. 3

the representation of forces acting on the side of a skateboard and their influence on the speed of the skateboard as a function of time.

FIG. 1 shows an embodiment in a schematic representation arranged on the underside of the deck 18 of a skateboard construction of components of the engine control and regulating device according to the invention. On the deck 18 of the skateboard 1 a total of four arranged on the axes 12 rollers 3, 26 and a freewheel gear 4 are provided. The adopted axis angle of the suspension of the axles 12 determines the steering direction and the steering angle. The electric motor 6, in this embodiment, a brushless three-phase motor, is supplied by the accumulator 2 with electric energy. Instead of the accumulator 2, a battery can also be used.
The exemplary embodiment of the skateboard 1 shown here has the driven, so-called active roller 3 and non-driven, so-called passive rollers 26. The drive roller 3 is mechanically connected via a not shown here transmission, a chain or a toothed belt with the electronically controlled drive system , The number of revolutions of the passive rollers 26 is measured by the sensor 13. The combined sensor 11, here the sensor with the identifier MPU-6050, combines the acceleration sensor to measure the drive strength of the electric motor 6 and the gyro sensor for detecting the steering angle of the skateboard in relation to the direction of travel 15. To regulate the lateral thrust force is the with Controller 10 connected potentiometer 19 is provided.
A weight sensor arranged on the top of the deck 18 but not shown here reports the "user status" when an adjustable measured value is exceeded.
On the deck 18 and connected to the controller 10 are further provided, the LED status indicator 23, the piezo speaker 24 and the display 25 as Segment display. It is understood that the LED status indicator 23, the piezo speaker 24 and the display 25 are arranged on the deck 18 so that their signals are well perceived by the user.
The LED status indicator 23 is designed as a multi-color diode in the colors red / green and gives the driver of the skateboard 1 with the color "green" the information that the skateboard 1 is ready to drive. However, another optical signal transmitter can also be used. After turning on the board, the MPU-6050 sensor must initialize. This process requires about 20 seconds in the present example. Only then is the skateboard 1 ready to drive.
As long as the LED status indicator 23 is lit in the color "red", the MPU 6050 sensor is not yet initialized and consequently the board is not ready to drive. A flashing LED status indicator 23 signals the driver a fault.
About the initialization or the readiness for travel, the driver with the piezo speaker or another signal generator and an acoustic signal can be given. Likewise, it can be given a warning to the battery discharge state. With the segment display 25, various information can be communicated to the driver, such as the status of the battery 2 and the speed, the maximum, the current and the average speed, as well as the distance traveled as well as information on the set driving mode, such as a deactivated motor reverse.

To use the skateboard 1, it is pushed by the driver. Due to the mechanical freewheel gear 4, the electric motor 6 initially remains passive. He does not turn. When a certain speed is exceeded, which is detected by means of the sensor 13 on the passive rollers 26, the electric motor 6 drives the mechanical connection formed by a gear, a chain or a toothed belt in a lower-speed manner. However, there is still no thrust on the arranged active roller. 3
If the driver now moves the skateboard 1 so that lateral forces on the skateboard 1 become active, the acceleration sensor 11 detects this change and the microprocessor in the controller 10 processes the obtained measured values into a lateral thrust force and generates in real time the resulting amplification factor for the electric Drive. If no lateral thrust force is generated, the electric motor 6 interrupts its drive and continues to run through the freewheel device 4 untertourig. And when falling below a certain predetermined speed, the controller switches off the electric motor 6 and expires in a standby mode.

In a picture sequence show the Figures 2a, 2b and 2c the crossing of the skateboard 1 by 90 ° and the transition from the driving mode to the slide mode. The average turning time to turn skateboard 1 90 ° and put it into slide mode is 500 ms to 700 ms. This is detected by the motor control and regulating device according to the invention in real time via the angular position of the orientation of the deck 18 to the direction of travel 15 by means of the gyro sensor 11. In a very short period of time, the electric motor 6 is braked in detection of the looming turning maneuver to zero revolutions, the last measured speed and derived engine speed cached and the electric motor 6 in the opposite direction reversed speed again to allow an optimal freewheel when the skateboard to another 90 ° is taken.
With a 180 ° rotation of the skateboard 1, the active roller 3 and the passive rollers 26 stand still for a tiny moment.
Only when the controller 10 for each of the gyro sensor 11 in relation to the angular position of the deck 18 in relation to the direction of travel 15 and the sensor 13 with respect to the speed of the non-driven passive rollers stability in the reported values, consistent or only low changing values, has been found, so the sliding mode has ended, the controller 10 again controls the speed of the electric motor. 6

This operation of the invention proves to be a particular advantage over the known prior art, because only from the detection of the direction of rotation of the passive rollers 26 of the skateboard 1 and the rotational speed of the passive rollers 26, this process can not be realized. So if the skateboard 1 has been rotated by a total of 180 ° can be continued without braking by the over-rotated freewheel gear while maintaining the previous direction of travel. Only with the help of the gyro sensor 11, which acts as a "compass" for the skateboard and measures in real time the change in the steering angle, it can act as a trigger for the reversal of the direction of rotation of the electric motor 6.

Now, if the skateboard is rotated again by 180 ° and the sensor 13 and the gyro sensor 11 deliver stable values, the electric motor 6 can be used again as a drive after the change of direction.

FIG. 3 shows in a test drive the influence of measured lateral forces and their conversion into shear forces on the speed over a period of about 30 seconds. In the data series 20, the profile of the measured values acquired by the sensor 11 is the Lateral forces shown. The data series 21 shows the progression of the speed of the skateboard 1 with a maximum speed of 22 km / h and the data series 22 the calculated gain factor. The measured values clearly show the influence of the lateral forces converted into a thrust force to the point when the skateboard 1 was braked by the driver after accelerating.

The above example is not limited to the embodiment of the invention described therein.
Thus, at the top of the skateboard, incorporated in the deck and visible to the driver, two likewise multi-colored LEDs can be incorporated, for example, to signal measured sideward forces to the driver by color change or to give him a warning signal when the battery 6 is discharged or a fault condition. Also, more than one role can act as active roles 3.

With 2 piezo sensors, each under the front and rear axle of the skateboard, the parameters for the acceleration could be adjusted automatically, depending on the weight of the rider for longer or shorter acceleration moments.

Piezzo's can also be used as a sensor for the vibrations caused by the road surface.
If one of the front wheels rolls over a stone, the rear roller should also do this with a time delay. Any unevenness on the road is recorded first by the first piezo in the front axle, then by the second piezo in the rear axle.
Similar signals (vibrations from the ground) are thus measured twice. If these vibrations are measured and the time delay calculated as a function of the speed traveled, these can then also be analyzed in the controller and mathematically filtered out.
By the road surface related shocks can be hidden in this way as well as the occurrence of the driver isolated on the board can be detected and used as a trigger signal for a driving application. Thus, a single occurrence on the moving skateboard may mean that the current speed is to be held until the next corner or until the sensor is operated again by the driver.

REFERENCE SIGNS LIST

1

Skateboard, longboard

2

battery pack

3

Powered active role

4

Freewheel Gear

5

Chain or timing belt

6

electric motor

7

Drive motor feed line

8th

Device for speed control of the engine

9

Cable for data transmission for speed control

10

controller

11

Sensor, accelerometer, gyrometer

12

axis

13

Sensor for measuring the speed and detecting the direction of rotation

14

tipping point

15

direction of travel

16

Front part of the skateboard

17

Back part of the skateboard

18

deck

19

Potentiometer for controlling the acceleration factor

20

Data series of the measured lateral forces,

21

Data series of the speed

22

Data series for the calculated amplification factor

23

LED status display

24

Piezzo speaker

25

Display (segment display)

26

Non-driven passive rollers

Claims (12)

Motor control and regulating device, in particular for an electrically driven skateboard or longboard, characterized in that it comprises a sensor for detecting laterally to the direction of travel (15) forces acting on the skate or longboard, a sensor (8) for speed control of an electric motor (6 ), a sensor (13) for measuring rotational speed and direction of non-driven rollers (26) of the skate or longboard (1), a sensor (11) for detecting the steering angle of the skate or longboard (1) in relation to the direction of travel ( 15) and electronic data processing with an integrated controller (10), which controls the speed and direction of the electric motor (6) while processing the signals obtained by the sensor. Motor control measurement and control device according to claim 1, characterized in that the skate or long board (1) comprises a pressure sensor or other sensor for detecting the on the skateboard (1) acting weight. Motor control and regulating device according to claim 1 or 2, characterized in that it has a visible to a driver LED (23) or other optical signal transmitter for signaling information about the operating state of the skateboard or longboard (1). Motor control and -regeleinrichtung according to at least one of claims 1 to 3, characterized in that it has a piezo speaker (24) or another signal generator, which gives the driver acoustic signals to the operating state of the skate or longboard (1). Motor control and regulating device according to at least one of claims 1 to 4, characterized in that the rotational speed of the electric motor (6) dynamically and / or constantly with respect to a minimum and / or maximum speed of the skateboard or longboard (1) is adjustable and / or the controller (10) activates the drive rollers (3) as brake rollers when a predetermined speed is exceeded. Motor control and regulating device according to at least one of claims 1 to 5, characterized in that it reverses the direction of rotation of the electric motor (6) as soon as the skateboard or longboard (1) initially traverses more than 90 ° to the direction of travel (15) and then retains the direction of travel (15) when turning by 90 °. Motor control and regulating device according to at least one of claims 1 to 6, characterized in that the controller (10) upon rotation of the skateboard or longboard (1) by 180 °, the speed of the electric motor (6) only again controls when the Sensor (11) with respect to the angular position of the deck (18) relative to the direction of travel (15) and the sensor (13) with respect to the detected rotational speed of the non-driven passive rollers (26) each reporting stable values. Motor control and regulating device according to at least one of claims 1 to 7, characterized in that the data processing with the controller (10) detected by an acceleration sensor (11) and laterally on the skate or longboard (1) acting forces in a thrust and converts a gain factor for the electric motor (6). Motor control and -regeleinrichtung according to at least one of claims 1 to 8, characterized in that by means of a potentiometer (21) or another setpoint generator in conjunction with the controller (10) the thrust can be regulated Motor control and regulating device according to at least one of claims 1 to 9, characterized in that the conversion of the laterally acting on the skate or longboard (1) forces in a thrust force can be switched off. Motor control and regulating device according to at least one of claims 1 to 10, characterized in that when using the skateboard or longboard (1) after a rotation through 180 ° and the electric motor (6) has changed its direction of rotation, the controller (10) the number of revolutions of the electric motor (6) controls so that the freewheeling gear (4) produces no braking effect on further travel of the skateboard or longboard (1). Motor control and regulation device according to at least one of claims 1 to 11, characterized in that the controller (10) can change the direction of rotation of the electric motor (6) when the user of the skate or longboard (1) performs with this jumps, it rotates about the longitudinal axis or makes it into a rotary motion.

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