Control system and control method of scooter
A technology of control system and scooter, which is applied in vehicle components, rider driving, transportation and packaging, and can solve the problems of low control stability and reliability, incomplete consideration of factors, and incomplete protection procedures, etc.
Inactive Publication Date: 2016-02-17
HEFEI UNIV OF TECH
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Problems solved by technology
In the somatosensory vehicle market, the main control chip used by scooters has low data processing capability, and due to the simple control algorithm, some even use open-loop control methods, resulting in low stability and reliability of scooter control, and in the software control program Insufficient consideration of factors and incomplete protection procedures will seriously affect the safety of drivers
Moreover, many scooter manufacturers only rely on gyroscopes or accelerometers to collect the inclination angle of the vehicle, and do not use the data fusion processing technology of the gyroscope and accelerometer. In this way, due to the vibration of the vehicle and other reasons, the inclination angle measurement accuracy is low, and then Lead to low control stability and reliability
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[0035] Such as figure 2 As shown, a control system of a scooter includes an attitude detection circuit 10 for detecting the attitude information of the scooter, a current sampling circuit 20 for detecting the A-phase and C-phase currents of the DC brushless motor 100, and a current sampling circuit 20 for detecting the motor The temperature sensor of the MOS tube temperature in the vector drive circuit 30, the output end of the attitude detection circuit 10 is connected with the first input end of the main controller 50, and the temperature sensor is connected with the second input end of the main controller 50 by the temperature detection circuit 40, The output end of the current sampling circuit 20 is connected with the third input end of the main controller 50, and the first output end of the main controller 50 is connected with the input end of the DC brushless motor 100 through the motor vector drive circuit 30, and the main controller The second output end of 50 is conn...
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The invention relates to a control system of a scooter. The control system comprises an attitude detecting circuit, a circuit sampling circuit and a temperature sensor, wherein the output end of the attitude detecting circuit is connected with a first input end of a main controller; the temperature sensor is connected with a second input end of the main controller through a temperature detecting circuit; the output end of the circuit sampling circuit is connected with a third input end of the main controller; the first output end of the main controller is connected with the input end of a brushless direct-current motor through a motor vector driving circuit; the second output end of the main controller is connected with the input end of an alarm circuit; the main controller adopts an STM32F103C8T6 chip. The invention also discloses a control method of the scooter. According to the control system and the control method, disclosed by the invention, the main controller is used for solving an obtained tri-axial angular speed and an obtained acceleration signal by using a quaternion algorithm, an accurate sidesway angle of the scooter can be obtained by utilizing a sensor data fusion technology, the brushless direct-current motor is controlled by utilizing a PID (Proportion Integration Difference) algorithm, the control accuracy is high, and the control is stable and reliable.
Description
technical field [0001] The invention relates to the technical field of scooter control, in particular to a scooter control system and a control method thereof. Background technique [0002] At present, electric somatosensory vehicles have quietly become popular. Electric somatosensory vehicles are no longer a special tool for special groups of people, and everyone can enjoy them. In the somatosensory vehicle market, the main control chip used by scooters has low data processing capability, and due to the simple control algorithm, some even use open-loop control methods, resulting in low stability and reliability of scooter control, and in the software control program Insufficient considerations and incomplete protection procedures have seriously affected the safety of drivers. Moreover, many scooter manufacturers only rely on gyroscopes or accelerometers to collect the inclination angle of the vehicle, and do not use the data fusion processing technology of the gyroscope an...
Claims
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IPC IPC(8): B62M6/45
Inventor 黄康刘晓黎甄圣超赵福民蒋晓炜
Owner HEFEI UNIV OF TECH