A dual-motor balance stability driving control method and system for an electric tricycle

Abstract

The application relates to the technical field of intelligent control of electric tricycles, in particular to a double-motor balance stability driving control method and system for an electric tricycle, which comprises the following steps: acquiring a steering angle in real time, and judging a steering direction according to the steering angle; driving a corresponding motor to reduce speed according to the steering direction, and the size of the speed reduction is calculated according to the steering angle and the speed of a rear wheel which is different from the steering direction; and if the steering angle resets, driving the corresponding motor to increase speed, so that the vehicle restores the running speed. It can be understood that the technical scheme provided by the application can adjust the speed of the electric tricycle according to the steering angle of the electric tricycle, so that the stability and reliability of the electric tricycle during running are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control of electric tricycles, and in particular to a dual-motor balance stability drive control method and system for an electric tricycle. Background Art

[0002] Current electric tricycles generally feature two types of drive structures: a single-motor bridge drive and a dual-hub drive. The single-motor bridge drive utilizes a mechanical differential to ensure steering balance. While this method offers rapid response, the addition of a rear axle reduces transmission efficiency and increases vehicle weight. Dual-hub drives are typically equipped with an electronic differential, which controls steering balance. The dual-hub drive allows for independent control of both drive wheels, reducing vehicle weight while increasing control flexibility.

[0003] However, the dual-wheel hub drive structure with dual motors requires complex control strategies to ensure the stability and reliability of the vehicle's cornering. As for the existing dual-wheel hub drive structure, there is no good steering balance control method, which makes the vehicle's stability and reliability insufficient. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a dual-motor balance stability drive control method and system for an electric tricycle, so as to solve the problem that the dual-hub drive structure in the prior art makes the vehicle less stable and reliable.

[0005] According to a first aspect of an embodiment of the present invention, a dual-motor balance stability drive control method for an electric tricycle is provided, comprising:

[0006] Obtain the steering angle in real time and determine the steering direction based on the steering angle;

[0007] According to the steering direction, driving the corresponding motor to reduce speed, the speed reduction magnitude being calculated based on the steering angle and the speed of the rear wheels that are different from the steering direction;

[0008] If the steering angle is reset, the corresponding motor is driven to increase speed so that the vehicle resumes its driving speed.

[0009] Preferably, after obtaining the steering angle in real time and determining the steering direction according to the steering angle, the method further includes:

[0010] Calculating the friction force and the turning centrifugal force at the moment of turning according to the steering angle;

[0011] If the friction force at the turning moment is less than the turning centrifugal force, an alarm is issued to remind the driver.

[0012] Preferably, the driving of the corresponding motor to reduce speed further includes:

[0013] Obtaining the tilt angle in real time, and calculating the adjustment amount of the corresponding motor according to the tilt angle;

[0014] According to the steering direction, the corresponding motor is driven to decelerate, and the deceleration magnitude is calculated based on the steering angle, the speed of the rear wheels different from the steering direction, and the adjustment amount.

[0015] Preferably, after the motor corresponding to the driving is decelerated, the method further comprises:

[0016] If the steering angle is greater than a preset angle value and the speed of the rear wheel in a direction different from the steering direction is greater than a first speed value, the speed of the rear wheel in a direction different from the steering direction is reduced to the first speed value, and then the rear wheel in the same direction as the steering direction is driven to slow down;

[0017] Determine whether the difference between the speed of the left rear wheel and the speed of the right rear wheel after deceleration is less than a preset speed;

[0018] If not, the speed of the rear wheel in a direction different from the steering direction is reduced again to a second speed value, and the rear wheel in the same direction as the steering direction is driven to reduce speed again; the second speed value is less than the first speed value.

[0019] Preferably, the method further comprises:

[0020] Detect the number of Hall pulses of the left and right rear wheels at a preset period;

[0021] If the number of Hall pulses on one side changes but the number of Hall pulses on the other side does not change, an abnormality is recorded;

[0022] Determine whether a preset number of anomalies occur within a preset time;

[0023] If so, it is determined that the tire pressure on the side where the number of Hall pulses changes is abnormal, and an alarm is issued to remind the driver.

[0024] According to a second aspect of an embodiment of the present invention, there is provided a dual-motor balance stability drive control system for an electric tricycle, comprising:

[0025] A steering sensor, a first gyroscope, a second gyroscope, a processor, a left controller, a right controller, a left motor, and a right motor;

[0026] The steering sensor is used to detect the steering angle of the handlebar and transmit the steering angle to the processor;

[0027] The first gyroscope is used to detect the tilt angle of the handlebar and transmit the tilt angle to the processor;

[0028] The second gyroscope is used to detect the tilt angle between the two rear wheels and transmit the tilt angle to the processor;

[0029] The processor is used to receive the steering angle and the tilt angle, generate a control signal, and send the control signal to the left controller and the right controller respectively;

[0030] The left controller and the right controller receive the control signal and control the rotation speed of the left motor and the right motor respectively according to the control signal.

[0031] Preferably, the left controller and the right controller are further used to collect the Hall pulse numbers of the left motor and the right motor, and transmit the Hall pulse numbers to the processor in real time;

[0032] The processor is further configured to receive the number of Hall pulses and determine the rotational speeds of the left motor and the right motor, as well as the tire pressures of the left and right rear wheels.

[0033] Preferably, the system further comprises:

[0034] The instrument panel is connected to the processor and is used to receive the tire pressure information sent by the processor and display the tire pressure information.

[0035] The technical solutions provided by the embodiments of the present invention may have the following beneficial effects:

[0036] It is understood that the technical solution provided by the present invention relates to a dual-motor balance stability drive control method and system for an electric tricycle. The method includes obtaining a steering angle in real time and determining a steering direction based on the steering angle; driving the corresponding motor to reduce speed based on the steering direction, the reduction in speed being calculated based on the steering angle and the speed of the rear wheel that is different from the steering direction; if the steering angle is reset, driving the corresponding motor to increase speed to restore the vehicle to its driving speed. It is understood that the technical solution provided by the present invention can adjust the speed of the electric tricycle based on the steering angle of the electric tricycle, thereby improving the stability and reliability of the electric tricycle during driving.

[0037] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0039] Figure 1This is a schematic diagram showing the steps of a dual-motor balance stability drive control method for an electric tricycle according to an exemplary embodiment;

[0040] Figure 2 is a schematic diagram of a turning control process according to an exemplary embodiment;

[0041] Figure 3 This is a schematic diagram of an electric tricycle turning according to an exemplary embodiment:

[0042] Figure 4 is a schematic diagram showing inclined road surface data according to an exemplary embodiment;

[0043] Figure 5 is a schematic diagram showing a force analysis of an inclined road surface according to an exemplary embodiment;

[0044] Figure 6 The present invention is a schematic block diagram of a dual-motor balance stability drive control system for an electric tricycle according to an exemplary embodiment. DETAILED DESCRIPTION

[0045] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent like or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present invention, as detailed in the appended claims.

[0046] Example 1

[0047] Figure 1 This is a schematic diagram of a dual-motor balance stability drive control method for an electric tricycle according to an exemplary embodiment. Figure 1 , provides a dual-motor balance stability drive control method for an electric tricycle, comprising:

[0048] Obtain the steering angle in real time and determine the steering direction based on the steering angle;

[0049] According to the steering direction, driving the corresponding motor to reduce speed, the speed reduction magnitude being calculated based on the steering angle and the speed of the rear wheels that are different from the steering direction;

[0050] If the steering angle is reset, the corresponding motor is driven to increase speed so that the vehicle resumes its driving speed.

[0051] In specific practice, assuming that the vehicle's handlebar is facing left, indicating that the vehicle is turning left, the steering angle at this time is biased to the left, and then the degree to which the left motor should slow down is calculated, and the left motor is driven to slow down. The degree of deceleration is calculated based on the steering angle and the speed of the rear wheel that is different from the steering direction.

[0052] It is understood that the technical solution provided by this embodiment can obtain the steering angle in real time and determine the steering direction based on the steering angle; based on the steering direction, the corresponding motor is driven to reduce speed, and the speed reduction is calculated based on the steering angle and the speed of the rear wheel that is different from the steering direction; if the steering angle is reset, the corresponding motor is driven to increase speed to restore the vehicle to the driving speed. It is understood that the technical solution provided by this embodiment can adjust the speed of the electric tricycle according to the steering angle of the electric tricycle, thereby improving the stability and reliability of the electric tricycle during driving.

[0053] It should be noted that, after obtaining the steering angle in real time and determining the steering direction according to the steering angle, the following steps are further included:

[0054] Calculating the friction force and the turning centrifugal force at the moment of turning according to the steering angle;

[0055] If the friction force at the turning moment is less than the turning centrifugal force, an alarm is issued to remind the driver.

[0056] In actual practice, after obtaining the steering angle, it is also possible to judge whether turning at this time will cause the vehicle to roll over based on the calculated friction and turning centrifugal force. If the calculated result shows that the friction at the moment of turning is less than the turning centrifugal force, it means that the steering is prone to rollover at this time, and an alarm is issued to remind the driver, so that the driver can make timely adjustments based on the alarm.

[0057] It should be noted that the motor speed reduction corresponding to the drive also includes:

[0058] Obtaining the tilt angle in real time, and calculating the adjustment amount of the corresponding motor according to the tilt angle;

[0059] According to the steering direction, the corresponding motor is driven to decelerate, and the deceleration magnitude is calculated based on the steering angle, the speed of the rear wheels different from the steering direction, and the adjustment amount.

[0060] In practice, when turning, the road may not be flat but rather have a certain slope. In this case, the road's inclination angle can be obtained, and the corresponding motor adjustment amount can be calculated based on the inclination angle. For example, if the vehicle turns left, after calculating the speed to which the left motor should be reduced, the speed is multiplied by the adjustment amount to obtain the final speed to which the left motor should be reduced.

[0061] It should be noted that after the corresponding motor is driven to reduce speed, it further includes:

[0062] If the steering angle is greater than the preset angle value, and the speed of the rear wheel different from the steering direction is greater than the first speed value, the speed of the rear wheel different from the steering direction is reduced to the first speed value, and the rear wheel same as the steering direction is driven to reduce speed;

[0063] It is judged whether the difference between the speed of the left rear wheel and the speed of the right rear wheel after speed reduction is less than a preset speed;

[0064] If not, the speed of the rear wheel different from the steering direction is reduced to a second speed value again, and the rear wheel same as the steering direction is driven to reduce speed again; the second speed value is less than the first speed value.

[0065] In specific practice, assuming that the vehicle turns left, when the steering angle is the same, the greater the real-time speed of the right wheel during turning, the greater the speed difference required by the left and right wheels; when the real-time speed of the right wheel during turning is the same, the greater the steering angle, the greater the speed difference required by the left and right wheels. When the speed difference between the left and right wheels is too large, rollover is likely to occur. In order to prevent rollover, after it is judged that the steering angle is greater than the preset angle value, the right rear wheel is actively reduced to the first speed value, so that the vehicle can turn at a speed difference less than or equal to the first speed value. However, when the steering angle is relatively large, after the first active speed reduction of the right wheel, the speed difference between the left and right wheels of the vehicle is still large, and rollover is likely to occur. Therefore, if it is judged that the speed difference between the left and right wheels of the vehicle is greater than or equal to the preset speed, the right wheel needs to be actively reduced for the second time. After each active speed reduction of the right wheel, the speed of the left wheel needs to be adjusted at the same time.

[0066] Referring to Figure 2 , Figure 2 is a turning control flow diagram according to an exemplary embodiment, which shows a flow diagram assuming that the vehicle turns left. When the vehicle turns left, the steering sensor changes the angle deviation, collects the steering angle, calculates the friction force F and the centrifugal force FN during turning, compares the size of F and FN, if FN>F, it is determined that the vehicle is likely to rollover if it continues to turn, the central controller controls the alarm system to issue a warning, and prevents the vehicle from continuing to turn; if FN≤F, it is determined that the vehicle can safely turn.

[0067] After detecting the steering angle of the steering sensor, according to the size of the steering angle, the instruction information is transmitted to the left controller through the communication protocol. After receiving the instruction information, the left controller drives the left motor to actively reduce the speed. The left motor actively reduces the speed according to V 左 =V 右 ×R2 / R3=V 右×(L1 / tanθ1-L / 2) / (L1 / tanθ1+L / 2) to reduce the left wheel motor speed to V 左 In the above formula, R2 is the turning radius of the left rear wheel (rear inner wheel), R3 is the turning radius of the right rear wheel (rear outer wheel), L1 is the vertical distance from the front wheel to the rear wheel of the tricycle, L is the distance between the left and right rear wheels, and θ1 is the steering angle.

[0068] If the central control processor also detects that the gyroscope has a leftward center of gravity offset, it means that the vehicle is turning on a left-sloping road. In order to further improve the stability when turning on an inclined road, the left electronic control gives the left motor a certain adjustment amount after receiving the command information. The adjustment amount is the V 左 Multiply the adjustment amount K on the basis of the adjusted speed K×V 左 Drive the left motor to actively reduce speed, K>1; ( Figure 2 The example only shows the situation when the road surface is tilted to the left. If the central control processor also detects that the gyroscope has a rightward center of gravity shift, it means that the whole vehicle is turning on a road surface tilted to the right. In order to further improve the stability when turning on the tilted road surface, the left electronic control gives the left motor the same adjustment amount as when the left center of gravity shift occurs).

[0069] At this time, the vehicle steering angle is θ1 and the right wheel speed is V 右 , the left wheel speed is V 左 In order to make the vehicle turn smoothly and safely, the processor actively reduces the speed according to the current vehicle's real-time turning state. Specifically: when the steering angle θ1> the preset angle value, and V 右 When the vehicle's center of gravity deviates from the first speed value, the processor detects the vehicle's turning state and actively decelerates. The processor transmits the command information to the right controller through the communication protocol. After receiving the command information, the right controller drives the right motor to actively decelerate. The right controller reduces the speed of the right motor to less than or equal to the first speed value.

[0070] In addition, considering the same speed, the larger the steering angle, the greater the speed difference. For example, when the steering angle is 40°, V 右 The vehicle rotates at a speed of 20 km / h. The left wheel rotates at a speed of 11 km / h under the active deceleration of the left controller. The speed difference between the left and right wheels is 9 km / h. When turning at a large steering angle, the speed difference is large, which makes it easy to roll over and cause a safety accident. Therefore, if the processor detects that the vehicle state further satisfies the left and right wheel speed difference greater than the preset speed, that is, the left and right wheel speed difference is greater than 7 km / h, the command information is transmitted to the right controller through the communication protocol. After receiving the command information, the right controller drives the right motor to actively decelerate. The right controller reduces the speed of the right motor to the second speed value.

[0071] After the vehicle passes the turn smoothly and safely, the steering handle returns to the center position and the steering sensor angle is reset. After the processor detects the angle reset, it transmits the command information to the left and right controllers through the communication protocol. After receiving the command information, the left and right controllers drive the left and right motors to actively speed up, end the turn state, and restore the driving speed.

[0072] This embodiment can solve the problem of safe turning and achieve smooth steering during the turning process. The calculation formula is as follows:

[0073] Figure 3 is a schematic diagram of an electric tricycle turning according to an exemplary embodiment, see Figure 3 Conditions: 3 10-inch tires, tire diameter 413mm, tire pressure 2.8KP, tire rolling diameter (d) 406mm, motor speed 600rpm / min.

[0074] The controller calculates the motor speed: the number of motor poles is 30, the number of Hall effect pulses per motor revolution is 180, the controller collects Hall effect pulses every 500ms, and one revolution is 180 pulses. The result is 650 × 180 / min, which translates to 650 × 180 × 60 / h. V = π × 406 (d) × 650 (rpm / min) × 60 (min) / 1000 = 49718 m / h = 49.7 km / h.

[0075] like Figure 3 As shown, assuming that the tricycle turns left on a flat road:

[0076] The vertical distance from the front wheel to the rear wheel of the tricycle is recorded as L1

[0077] The distance between the left and right rear wheels is recorded as L

[0078] The turning radius of the front wheel is R1

[0079] The turning radius of the left rear wheel (rear inner wheel) is R2

[0080] The turning radius of the right rear wheel (rear outer wheel) is R3

[0081] Calculate that when the tricycle turns left at an angle of θ1 and the real-time steering speed is V1, the turning radius R2 of the left rear wheel (rear inner wheel) and the turning radius R3 of the right rear wheel (rear outer wheel) are:

[0082] θ3=180°-90°-θ2=θ1

[0083] Turning radius of the right rear wheel (rear outer wheel) R3 = L1 / tanθ1+L / 2

[0084] The turning radius of the left rear wheel (rear inner wheel) is R2 = R3 - L = L1 / tanθ1 - L / 2

[0085] At this time, in order to improve the steering balance of the tricycle, in the present embodiment, the right wheel speed V 右 is kept unchanged, and the left wheel speed is reduced to V 左 :

[0086] The turning speed V 左 of the left rear wheel (rear inner wheel) is V 右 ×R2 / R3=V 右 ×(L1 / tanθ1-L / 2) /

[0087] (L1 / tanθ1+L / 2)

[0088] Assuming that L1 is equal to 1.5m and L is equal to 1m, the corresponding relationship is shown in Table 1:

[0089]

[0090] Table 1

[0091] When the tricycle turns on a flat road, in order to keep the vehicle turning smoothly, the left rear wheel (rear inner wheel) needs to be reduced in speed, so that the speed of the left rear wheel (rear inner wheel) is less than the speed of the right rear wheel (rear outer wheel);

[0092] When the steering angle is the same, the greater the real-time steering speed V1, the greater the speed difference required by the left and right wheels;

[0093] When the real-time steering speed V1 is the same, the greater the steering angle, the greater the speed difference required by the left and right wheels.

[0094] Referring to Figure 4 , assuming that the tricycle turns left on a road with an inclination angle of θ2:

[0095] The turning speed of the left rear wheel (rear inner wheel) is:

[0096] V 左 =V 右 ×(L1 / tanθ1-L’ / 2) / (L1 / tanθ1+L’ / 2)

[0097] The inclination wheel spacing L’ = L*cosθ2

[0098] Assuming that L1 is equal to 1.5m and L is equal to 1m, the corresponding relationship is shown in Table 2:

[0099]

[0100] Table 2

[0101] In addition, when the tricycle turns on an inclined road, in order to keep the vehicle turning smoothly, it is also necessary to slow down the left rear wheel (rear inner wheel) so that the speed of the left rear wheel (rear inner wheel) is lower than that of the right rear wheel (rear outer wheel);

[0102] Similar to turning on a flat road, if the road's inclination angle is constant, when the steering angle is the same, the greater the real-time steering speed V1, the greater the speed difference required by the left and right wheels; when the real-time steering speed V1 is the same, the greater the steering angle, the greater the speed difference required by the left and right wheels.

[0103] Unlike turning on a flat road, due to the inclination of the road surface, the distance between the left and right wheels, L', is smaller than the distance between the left and right wheels, L, of the tricycle. Therefore, at the same turning angle, the descent speed of the left rear wheel (rear inner wheel) on the inclined road surface is slightly smaller than that on the flat road surface. As the inclination angle θ2 of the road surface increases, the descent speed of the left rear wheel (rear inner wheel) decreases.

[0104] In order to further improve the stability when turning on a sloped road and simplify the calculation procedure, it is also possible to consider directly assigning an adjustment coefficient K to the calculation result of turning on a flat road, K>1. Specifically: using the formula V 左 =V 右 ×R2 / R3=V 右 ×(L1 / tanθ1-L / 2) / (L1 / tanθ1+L / 2) to calculate the speed V of the left rear wheel (rear inner wheel) when the tricycle turns on a flat road 左 At this time, if the gyroscope detects that the vehicle body is tilting, the processor receives the signal from the gyroscope and transmits the command information to the left controller through the communication protocol. After receiving the command information, the left controller gives a certain adjustment amount to the left motor, multiplies the adjustment amount K by the calculated Vleft, and drives the left motor to actively slow down according to the adjusted speed, so that the vehicle can turn smoothly on the inclined road.

[0105] Additionally, see Figure 5 If the centrifugal force is greater than the combined force of friction and gravity, the vehicle may easily roll over if it continues to turn. Figure 5 As shown, the vehicle mass is M, the turning angle is θ, FS is the friction force, μ is the friction coefficient, g is the acceleration of gravity, and FN is the turning centrifugal force. The steps to calculate F are as follows:

[0106] F=Mg×cosθ+FS=Mg×cosθ+μMg;

[0107] If FN≤F, the vehicle can turn safely;

[0108] When FN≤F, MV2 / R≤Mg×cosθ+μMg=MV2 / R;

[0109] If FN>F, it is dangerous for the vehicle to turn.

[0110] It should be noted that the method further includes:

[0111] Detect the number of Hall pulses of the left and right rear wheels at a preset period;

[0112] If the number of Hall pulses on one side changes but the number of Hall pulses on the other side does not change, an abnormality is recorded;

[0113] Determine whether a preset number of anomalies occur within a preset time;

[0114] If so, it is determined that the tire pressure on the side where the number of Hall pulses changes is abnormal, and an alarm is issued to remind the driver.

[0115] In actual practice, when the vehicle is driving normally, for example, the left tire is suddenly punctured by a sharp object and the tire pressure of the left tire drops. At this time, the left controller detects a change in the motor Hall pulse and transmits the change information to the processor. The right controller does not detect a change in the motor Hall pulse. It detects once every 3 seconds within a certain period of time. When the same abnormal signal is detected 5 times in a row, it is determined that the left tire pressure is abnormal, and the abnormal tire pressure information is transmitted to the instrument to prompt the driver that the tire pressure is abnormal.

[0116] Explanation of abnormal tire pressure determination: The working principle of indirect tire pressure monitoring is that when the pressure in a tire decreases, the weight of the vehicle reduces the rolling radius of that wheel, causing it to rotate faster than the other wheels. By comparing the speed differences between tires, tire pressure is monitored. Indirect tire warning systems actually rely on calculating the tire's rolling radius to monitor air pressure.

[0117] Tire pressure detection method: The left and right controllers can directly query the number of Hall pulses of the left and right motors, calculate the real-time speed of the motors, and transmit the data to the processor. The processor determines whether there is a difference in the number of Hall pulses transmitted by the left and right controllers. If there is a certain number of differences, it is determined that the tire pressure is abnormal. If there is no difference, it is considered that the tire pressure is normal. Finally, the comparison information is transmitted to the instrument display via CAN / 485.

[0118] Explanation of the above method: If the tire pressure of the left and right motors of the vehicle is the same, both are 250KPa, taking a 10-inch 2.5 (diameter 412mm) tire as an example, when the vehicle is operating normally, the circumference of one rotation of the left motor is 1.3m (3.14*412 / 1000). If the number of pulses is exactly 5, the right motor also rotates one circle at this time, which is also 5 Hall pulses. The data is transmitted to the left and right controllers through the central control processing to compare the number of Hall pulses of the left and right motor wheels. It is determined that the tire pressure is normal. If the left-motor tire pressure drops, rolling down to below 200, the tire will decrease in size, with the diameter dropping from 412mm to 400mm. At this point, the circumference of one rotation of the left-motor wheel is 1.25m (3.14*400 / 1000). If the number of pulses is also 5, since the right-motor wheel's tire pressure is normal and its tire diameter remains at 412mm, the left-motor wheel rotates one rotation, while the right-motor wheel rotates 97% (less than one rotation). At this time, the right-motor wheel's Hall pulses detect 4.5 Hall pulses. The central control processor compares the left and right controller data and finds that the Hall pulse counts for the left and right motor wheels are inconsistent, determining that the tire pressure is abnormal. The above calculation is just an example; in practice, the total number of Hall pulses may be determined after one minute of vehicle operation.

[0119] Example 2

[0120] Figure 6 This is a schematic block diagram of a dual-motor balance stability drive control system for an electric tricycle according to an exemplary embodiment. Figure 6 , provides a dual-motor balance stability drive control system for an electric tricycle, comprising:

[0121] Steering sensor 101, first gyroscope 102, second gyroscope 108, processor 103, left controller 104, right controller 106, left motor 105 and right motor 107;

[0122] The steering sensor is used to detect the steering angle of the handlebar and transmit the steering angle to the processor;

[0123] The first gyroscope is used to detect the tilt angle of the handlebar and transmit the tilt angle to the processor;

[0124] The second gyroscope is used to detect the tilt angle between the two rear wheels and transmit the tilt angle to the processor;

[0125] The processor is used to receive the steering angle and the tilt angle, generate a control signal, and send the control signal to the left controller and the right controller respectively;

[0126] The left controller and the right controller receive the control signal and control the rotation speed of the left motor and the right motor respectively according to the control signal.

[0127] Among them, the left-mounted motor is suitable for applying driving force and braking force to the left rear wheel of the electric tricycle; the right-mounted motor is suitable for applying driving force and braking force to the right rear wheel of the electric tricycle.

[0128] It is understandable that the technical solution provided by this embodiment is that the steering sensor is used to detect the steering angle of the handlebar and transmit the steering angle to the processor; the first gyroscope is used to detect the tilt angle of the handlebar and transmit the tilt angle to the processor; the second gyroscope is used to detect the tilt angle between the two rear wheels and transmit the tilt angle to the processor; the processor is used to receive the steering angle and the tilt angle, generate a control signal, and send the control signal to the left controller and the right controller respectively; the left controller and the right controller receive the control signal and control the speed of the left motor and the right motor respectively according to the control signal. It is understandable that the technical solution provided by this embodiment can adjust the speed of the electric tricycle according to the steering angle of the electric tricycle, so that the stability and reliability of the electric tricycle during driving are improved.

[0129] It should be noted that the left controller and the right controller are further used to collect the Hall pulse numbers of the left motor and the right motor, and transmit the Hall pulse numbers to the processor in real time;

[0130] The processor is further configured to receive the number of Hall pulses and determine the rotational speeds of the left motor and the right motor, as well as the tire pressures of the left and right rear wheels.

[0131] It should be noted that the system further includes:

[0132] The instrument panel is connected to the processor and is used to receive the tire pressure information sent by the processor and display the tire pressure information.

[0133] In addition, this embodiment can also solve the problem of turning in place:

[0134] By utilizing the dual-motor balance stability drive control system of the electric tricycle of this embodiment, the electric tricycle can be turned on the spot, and can realize large turns on the spot and small turns on the spot according to the driver's needs.

[0135] When a large turn in place is required (for example, a large left turn in place), the controller sends a signal instruction. After receiving the signal instruction, the left controller stops working the left motor, the left rear wheel does not move, and the right motor controls the right rear wheel to rotate. At this time, the right rear wheel realizes a large left turn in place with the left rear wheel as the center of the circle; when a small turn in place is required (for example, a small left turn in place), the controller sends a signal instruction. The left motor controls the left rear wheel to reverse (the wheel rotates backward), and the right motor controls the right rear wheel to rotate forward (the wheel rotates forward). At this time, the left and right rear wheels realize a small left turn in place with the midpoint of the line connecting the left and right rear wheels as the center of the circle.

[0136] The present invention can also realize the escape function of the electric tricycle: when the left wheel falls into a pit; at this time, the first and second gyroscopes have a leftward center of gravity offset, the offset of the second gyroscope is greater than that of the first gyroscope, and the inclinometer does not change. At this time, the central controller detects the change signal of the above-mentioned detection component. At this time, the central controller sends the information to the left controller and the right controller. After the left controller receives the signal change information, it suspends the operation of the left motor. After the right controller receives the signal change information, it drives the right motor to increase power. After the power is increased, the right motor drives the right wheel to rotate until the left wheel is driven out of the pit; when the left wheel leaves the pit, the center of gravity of the first and second gyroscopes is reset. At this time, the central controller detects the signal of the above-mentioned detection component, and the central controller sends the signal to the left controller and the right controller. The left controller and the right controller respectively control the left motor and the right motor to restore normal kinetic energy output.

[0137] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0138] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" is at least two.

[0139] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0140] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0141] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0142] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing module, or each unit may exist physically separately, or two or more units may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or in the form of software functional modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.

[0143] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0144] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0145] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A dual-motor balance stability drive control method for an electric tricycle, characterized in that: include: Obtain the steering angle in real time and determine the steering direction based on the steering angle; According to the steering direction, driving the corresponding motor to decelerate, the rear wheel speed after deceleration is calculated based on the steering angle and the rear wheel speed different from the steering direction; The rear wheel speed after deceleration is calculated using the following formula: V 降 =V 非降 ×R2 / R3=V 非降 ×(L1 / tanθ1-L / 2) / (L1 / tanθ1+L / 2) Among them, V 降 is the speed of the rear wheels in the same direction as the steering direction; V 非降 is the speed of the rear wheel in a direction different from the steering direction; R2 is the turning radius of the wheel in the same direction as the steering direction, R3 is the turning radius of the wheel in a direction different from the steering direction, L1 is the vertical distance from the front wheel to the rear wheel of the tricycle, L is the distance between the left and right rear wheels, and θ1 is the steering angle; The method further includes: obtaining a tilt angle in real time, calculating an adjustment amount of a corresponding motor according to the tilt angle, and using the adjustment amount to calculate a rear wheel speed after the speed reduction; The method further includes: if the steering angle is greater than a preset angle value and the speed of the rear wheel in a direction different from the steering direction is greater than a first speed value, reducing the speed of the rear wheel in a direction different from the steering direction to the first speed value, and then driving the rear wheel in the same direction as the steering direction to reduce the speed; Determine whether the difference between the speed of the left rear wheel and the speed of the right rear wheel after deceleration is less than a preset speed; If not, reducing the speed of the rear wheel in a direction different from the steering direction to a second speed value again, and driving the rear wheel in the same direction as the steering direction to reduce the speed again; the second speed value is less than the first speed value; If the steering angle is reset, the corresponding motor is driven to increase speed so that the vehicle resumes its driving speed.

2. The method according to claim 1, characterized in that After obtaining the steering angle in real time and determining the steering direction according to the steering angle, the method further includes: Calculating the friction force and the turning centrifugal force at the moment of turning according to the steering angle; If the friction force at the turning moment is less than the turning centrifugal force, an alarm is issued to remind the driver.

3. The method according to claim 1, characterized in that Also includes: Detect the number of Hall pulses of the left and right rear wheels at a preset period; If the number of Hall pulses on one side changes but the number of Hall pulses on the other side does not change, an abnormality is recorded; Determine whether a preset number of anomalies occur within a preset time; If so, it is determined that the tire pressure on the side where the number of Hall pulses changes is abnormal, and an alarm is issued to remind the driver.

4. A dual-motor balance stability drive control system for an electric tricycle, characterized in that: include: A steering sensor, a first gyroscope, a second gyroscope, a processor, a left controller, a right controller, a left motor, and a right motor; The steering sensor is used to detect the steering angle of the handlebar and transmit the steering angle to the processor; The first gyroscope is used to detect the tilt angle of the handlebar and transmit the tilt angle to the processor; The second gyroscope is used to detect the tilt angle between the two rear wheels and transmit the tilt angle to the processor; The processor is configured to receive the steering angle and the tilt angle, execute the method according to any one of claims 1 to 3, generate a control signal, and send the control signal to the left controller and the right controller respectively; The left controller and the right controller receive the control signal and control the rotation speed of the left motor and the right motor respectively according to the control signal.

5. The system according to claim 4, characterized in that The left controller and the right controller are further used to collect the Hall pulse numbers of the left motor and the right motor, and transmit the Hall pulse numbers to the processor in real time; The processor is further configured to receive the number of Hall pulses and determine the rotational speeds of the left motor and the right motor, as well as the tire pressures of the left and right rear wheels.

6. The system according to claim 5, characterized in that Also includes: The instrument panel is connected to the processor and is used to receive the tire pressure information sent by the processor and display the tire pressure information.

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