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A method and system for controlling the speed of a two-wheeled vehicle

A technology of speed control and two-wheeled vehicles, which is applied to two-wheeled bicycles, control drives, control devices, etc., can solve the problems of potential safety hazards, the vehicle shakes back and forth, and the pedals of the balance bike, etc., to reduce potential safety hazards, The effect of smooth motor speed

Active Publication Date: 2020-01-03
广东高标智能科技股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of this, the embodiment of the present invention provides a method and system for controlling the speed of a two-wheeled vehicle to solve the inconsistency of the motor speeds on the left and right sides of the two-wheeled vehicle in the prior art, which causes the whole vehicle to shake back and forth and cause people to leave the pedals of the self-balancing vehicle. resulting in safety hazards

Method used

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  • A method and system for controlling the speed of a two-wheeled vehicle
  • A method and system for controlling the speed of a two-wheeled vehicle
  • A method and system for controlling the speed of a two-wheeled vehicle

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Experimental program
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Embodiment 1

[0026] figure 1 Corresponding to the implementation flowchart of the two-wheeled vehicle speed control method provided in Embodiment 1 of the present invention, the details are as follows:

[0027] In S101, the actual left motor speed, the actual right motor speed, the first left motor target speed and the first right motor target speed are obtained.

[0028] When acquiring the actual left motor speed and the actual right motor speed in S101, considering the reaction time of the speed sensor and the speed change that can be perceived by humans, the motor speed is generally collected every Xus time, where Xus corresponds to the motor control cycle of 16Khz If the multiple of the cycle time is doubled, Xus is 62.5us, and generally the maximum value is 5000us, that is, the value range of Xus is 62.5us-5000us, and the best value is 500-2000us.

[0029] In S102, the actual motor speed difference and the turning limit value are determined according to the actual left motor speed an...

Embodiment 2

[0123] based on figure 2 Correspondingly is the flow chart of Embodiment 2 in which the present invention is applied to a single-axis two-wheel balance vehicle for speed control, and is described in detail as follows:

[0124] In this embodiment, selected case 1, V Δspeed =V Δspeed1 =V L -V R , V Δspeedref =V Δspeedref1 =V Lref -V Rtef as V Δadjust with V Δadjustref Calculation method, and choose to perform V before obtaining the turn instruction Δadjust with V Δadjustref calculation, select the corresponding V Lref2 =V Lref -V Δspeed -V Δspeedref , V Rref2 =V Rref +V Δspeed +V Δspeedref as V Lref2 and V Rref2 The calculation method is set to obtain the actual left motor speed and the actual right motor speed every 500us, and the default value is 0, and the preset coefficient 1 and preset coefficient 2 are both 0.5.

[0125] In S201, the limit coefficient, the actual left motor speed, the actual right motor speed, the first left motor target speed and the...

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Abstract

The invention is applicable to the field of speed control, and provides a speed controlling method and system of a double-wheeled vehicle. The speed controlling method of the double-wheeled vehicle includes the steps that the actual left motor speed, the actual right motor speed, the first left motor target speed and the first right motor target speed are obtained, and the actual motor speed difference and the turning limit value are determined according to the actual left motor speed and the actual right motor speed; the target motor speed difference is determined according to the first leftmotor target speed and the first right motor target speed; the second left motor target speed and the second right motor target speed are determined according to the turning limit value, the actual motor speed difference and the target motor speed difference; and a left driving motor is controlled to rotate according to the second left motor target speed, and a right driving motor is controlled torotate according to the second right motor target speed. By adjusting the target speed of the motors, the double-wheeled vehicle can adjust the target speed of the motors when the speeds of the motors on the two sides are inconsistent, so that the speeds of the motors on the two sides keep stable, and the smoothness of the whole vehicle is ensured.

Description

technical field [0001] The invention belongs to the field of speed control, in particular to a speed control method and system for a two-wheeled vehicle. Background technique [0002] The two-wheeled vehicle is supported by two wheels, powered by a battery, driven by a brushless motor, controlled by a single-chip microcomputer, and the attitude sensor collects angular velocity and angle signals to coordinate and control the balance of the car body. The basic principle of "Dynamic Stabilization" is to use the gyroscope and acceleration sensor inside the car body to detect the change of the car body attitude, and use the servo control system to accurately drive the motor to make corresponding adjustments to maintain the stability of the system. balance. Actions such as starting, accelerating, decelerating, and stopping of the vehicle can be realized only by changing the center of gravity of the human body. It is a new type of green and environmentally friendly product that m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62K3/00B60L15/28
CPCB60L15/28B60L2200/12B60L2240/421B60L2260/42B60L2260/44Y02T10/72
Inventor 詹文广
Owner 广东高标智能科技股份有限公司