Self-balancing control system, method and motorcycle

Abstract

The application discloses a self-balancing control system, method and motorcycle, and belongs to the field of motorcycle control technology.The self-balancing control system comprises a self-balancing device, an engine unit, a motor unit, a battery unit and a whole vehicle control unit.The engine unit is used for providing power for the vehicle and providing energy for the motor unit.The engine unit comprises an engine and an engine controller.The motor unit is used for providing electric energy for the battery unit.The motor unit comprises a motor and a motor controller.The battery unit comprises a storage battery and a storage battery management system used for managing the storage battery.The storage battery management system is used for managing the charging and discharging of the storage battery.The whole vehicle control unit is used for sending control instructions to the self-balancing device, the battery unit, the engine unit and the motor unit, so that the continuous self-balancing of the vehicle is realized.The application can improve the endurance effect of the vehicle on the basis of guaranteeing the self-balancing effect of the vehicle, and eliminates the vehicle driving mileage anxiety.

Description

Technical Field

[0001] This invention relates to the field of vehicle balance control, specifically to a self-balancing control system, method, and motorcycle. Background Technology

[0002] Currently, when riding a two-wheeled motorcycle at low speeds and during temporary stops (such as at traffic lights), the rider often uses one or both legs to brace themselves and ensure the vehicle's balance due to instability. To address this issue, the current solution is to add a self-balancing device to the motorcycle. The torque gyroscope in this device is typically driven by an electric motor, and this system is usually installed on electric motorcycles. Thus, when the self-balancing device is running, the battery powers the motor within it.

[0003] To maintain the rotational speed of the torque gyroscope, a continuous driving force is required, which leads to energy loss from the battery. Furthermore, frequent adjustments to the balancing force during vehicle operation consume energy from the self-balancing motor, further exacerbating range anxiety for electric motorcycles with limited range. To address these issues, a self-balancing control system, method, and motorcycle are needed to simultaneously achieve effective self-balancing for two-wheeled motorcycles and alleviate range anxiety for users. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to overcome the defects in the prior art and provide a self-balancing control system, method and motorcycle that can improve the vehicle's range while ensuring the vehicle's self-balancing effect and eliminate range anxiety.

[0005] The self-balancing control system of the present invention includes a self-balancing device, an engine unit, a motor unit, a battery unit, and a vehicle control unit;

[0006] The engine unit is used to provide power to the vehicle and to supply energy to the motor unit; the engine unit includes an engine and an engine controller for controlling the engine;

[0007] The motor unit is used to provide electrical energy to the battery unit; the motor unit includes a motor and a motor controller for controlling the motor;

[0008] The battery unit includes a storage battery and a battery management system for managing the storage battery; the battery management system is used to manage the charging and discharging of the storage battery.

[0009] The vehicle control unit is used to send control commands to the self-balancing device, battery unit, engine unit, and motor unit to achieve continuous self-balancing of the vehicle.

[0010] The self-balancing control system of the present invention not only provides a continuous power supply to the self-balancing device to ensure its stable operation, but also provides sufficient power for frequent adjustments of the balancing force, thereby eliminating the problem of vehicle range anxiety while ensuring the self-balancing effect of the vehicle.

[0011] Furthermore, the self-balancing device includes a torque gyroscope, a torque gyroscope rotor motor, a rotor motor controller, a torque gyroscope frame, a frame motor, and a frame motor controller;

[0012] The rotor motor controller is used to provide drive control for the torque gyroscope rotor motor during torque gyroscope acceleration;

[0013] The frame motor controller is used to adjust the angle position of the torque gyroscope frame by driving the frame motor according to the vehicle balance control requirements;

[0014] The rotor motor controller and the frame motor controller are connected to the battery via a power cord.

[0015] Furthermore, the motor is connected to the engine; the motor controller is connected to the battery via a power cord.

[0016] Furthermore, the vehicle control unit includes a vehicle controller;

[0017] The vehicle controller is connected to the rotor motor controller, frame motor controller, battery management system, engine controller, and motor controller via signal lines.

[0018] A self-balancing control method, utilizing the aforementioned self-balancing control system, includes:

[0019] The battery provides the electrical energy required for the self-balancing device to drive the motor, and recovers and stores the electrical energy generated when the torque gyroscope decelerates. It also receives the additional electrical energy consumed by the motor when it is generating electricity to drive the self-balancing device and other electrical components on the vehicle.

[0020] The engine operates under the control of the engine controller. While ensuring the normal power output of the vehicle, the additional energy is converted from mechanical energy to electrical energy through the motor.

[0021] The motor controller controls the motor's power generation capacity according to the torque demand issued by the vehicle controller, providing electrical energy to the vehicle's electrical components, and charging the battery with additional electrical energy; when the torque demand is negative, the motor is in power generation state, and when the torque demand is 0, the motor is in power generation stop state.

[0022] The vehicle controller calculates the vehicle's balance angle deviation and the required balance torque, and issues position commands to the frame motor and torque commands to the torque gyroscope rotor motor. At the same time, it issues torque commands to the motors based on the battery's charge status to maintain battery charge balance. The self-balancing device is used to control the vehicle's balance torque and body posture.

[0023] Furthermore, when the vehicle is running, the battery is in a discharging state, and the charge gradually decreases. When the charge is below the low threshold, the motor, under the control of the motor controller, converts part of the engine torque into electrical energy. After the extra electrical energy consumed by the self-balancing device and other electrical components on the vehicle is used to charge the battery, the charge is in a rising state. When the battery charge reaches the high charge threshold, the motor, under the control of the motor controller, stops generating electricity, the battery enters the discharging state again, and the charge decreases.

[0024] By employing the above strategies, the battery charge balance can be maintained while ensuring a continuous power supply to the self-balancing device.

[0025] Furthermore, in maintaining the battery's charge balance, the vehicle's fuel consumption can be improved using the following methods:

[0026] Within the range of the engine's external characteristic curve, points with the same fuel consumption rate at different speeds and torques are connected to form a fuel consumption contour curve; points with the lowest fuel consumption at each speed are connected to form an economic fuel consumption curve; at a certain speed n, points A, B, and C are respectively the torque point below the economic fuel consumption curve, the torque point on the economic fuel consumption curve, and the torque point above the economic fuel consumption curve at that speed.

[0027] When the speed is n, if the battery is in a discharging state, the vehicle controller will directly send the torque value at point A, which is the torque point required by the engine to achieve the power output of the vehicle, based on the throttle opening. This torque value will be sent to the engine controller via the signal line to control the power output of the engine.

[0028] If the battery is charging at this time, the vehicle controller determines the torque point required by the engine to achieve the vehicle's power output based on the vehicle's throttle opening, which is point A. According to the fuel economy curve, the maximum generating torque that the engine can provide while considering fuel economy is AB. If the absolute value of this generating torque is greater than the limit torque given by the control system, then the generating torque will be limited according to the limit torque; where the limit torque is point A1. At this time, the vehicle controller sends the torque value corresponding to point A1 to the engine controller through the signal line, thereby controlling the engine's power output. At the same time, the vehicle controller also sends the torque value at point A minus the torque value at point A1 as the motor generating torque to the motor controller for controlling power generation.

[0029] The above methods can improve the vehicle's fuel consumption, thereby achieving vehicle self-balancing and resulting in lower energy consumption.

[0030] Furthermore, at a speed of n, if the vehicle controller obtains the torque point required by the engine to achieve the vehicle's power output based on the vehicle's throttle opening as point B or point C, since the torque value at point B or point C has reached or exceeded the engine's economic fuel consumption point at that speed, generating electricity at this time would increase the engine torque and worsen fuel consumption. Therefore, the vehicle controller will set the generated torque to zero and send the torque value at point B or point C to the engine controller via a signal line, thereby controlling the engine's power output.

[0031] The above method takes into account the smoothness of engine load changes. When applying or canceling the above-mentioned power generation torque to the engine, the torque value can be set to decrease or increase over time until the set torque command value is reached.

[0032] Furthermore, the limiting torque is the minimum absolute value between the generating torque corresponding to the maximum charging power of the battery given by the battery management system and the maximum generating torque of the motor given by the motor controller.

[0033] A motorcycle that employs the self-balancing control system and / or the self-balancing control method described above.

[0034] The beneficial effects of this invention are as follows: The self-balancing control system, method, and motorcycle disclosed in this invention ensure the self-balancing effect of the vehicle by adding a self-balancing device. By reasonably and effectively controlling the engine, motor, and effectively controlling the charging and discharging of the battery, it can not only provide a continuous power supply to the self-balancing device and ensure its stable operation, but also provide sufficient power for frequent adjustments of the balancing force. Thus, while ensuring the self-balancing effect of the vehicle, it achieves the rational utilization of energy and increases the vehicle's range. Attached Figure Description

[0035] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0036] Figure 1 This is a schematic diagram of the vehicle self-balancing control system of the present invention;

[0037] Figure 2 This is a schematic diagram of the self-balancing device structure of the present invention;

[0038] Figure 3 This is a schematic diagram of the self-balancing control principle of the present invention;

[0039] Figure 4 This is a schematic diagram of the battery charge retention trend curve of the present invention;

[0040] Figure 5 This is a schematic diagram of the universal characteristics of engine fuel consumption according to the present invention;

[0041] Figure 6 This is a schematic diagram of the torque command calculation process of the present invention;

[0042] Among them, 1-vehicle, 2-self-balancing device, 3-battery, 4-battery management system, 5-engine, 6-engine controller, 7-motor, 8-motor controller, 9-vehicle controller, 10-mode button, 21-torque gyroscope, 22-torque gyroscope rotor motor, 23-rotor motor controller, 24-torque gyroscope frame, 25-frame motor, 26-frame motor controller, 27-self-balancing device housing. Detailed Implementation

[0043] The present invention will be further described below with reference to the accompanying drawings, as shown in the figures:

[0044] The self-balancing control system of the present invention includes a self-balancing device 2, an engine unit, a motor unit, a battery unit, and a vehicle control unit;

[0045] The engine unit is used to provide power to the vehicle 1 and to provide energy to the motor unit; the engine unit includes an engine 5 and an engine controller 6 for controlling the engine 5;

[0046] The motor unit is used to provide electrical energy to the battery unit; the motor unit includes a motor 7 and a motor controller 8 for controlling the motor 7;

[0047] The battery unit includes a storage battery 3 and a battery management system 4 for managing the storage battery 3; the battery management system 4 is used to manage the charging and discharging of the storage battery 3.

[0048] The vehicle control unit is used to send control commands to the self-balancing device 2, battery unit, engine unit and motor unit, thereby realizing the continuous self-balancing of vehicle 1.

[0049] The self-balancing control system of the present invention can not only provide continuous power to the self-balancing device 2 to ensure the stable operation of the self-balancing device 2, but also provide sufficient power for frequent adjustments of the balancing force, thereby eliminating the range anxiety problem of vehicle 1 while ensuring the self-balancing effect of vehicle 1.

[0050] like Figure 1 As shown, the self-balancing device 2, engine unit, motor unit, battery unit, and vehicle control unit are all located on vehicle 1.

[0051] In this embodiment, as Figure 2As shown, the self-balancing device 2 includes a torque gyroscope 21, a torque gyroscope rotor motor 22, a rotor motor controller 23, a torque gyroscope frame 24, a frame motor 25, and a frame motor controller 26; it also includes a self-balancing device housing 27 and other related structural components.

[0052] The rotor motor controller 23 is used to provide drive control for the torque gyroscope rotor motor 22 during the acceleration process of the torque gyroscope 21;

[0053] The frame motor controller 26 is used to adjust the angle position of the torque gyroscope frame 24 by driving the frame motor 25 according to the vehicle balance control requirements;

[0054] The rotor motor controller 23 and the frame motor controller 26 are connected to the battery 3 via a power line.

[0055] That is, the rotor motor controller 23 in the self-balancing device 2 has a speed regulation function, which can provide drive control for the torque gyroscope rotor motor 22 during the acceleration process of the torque gyroscope 21.

[0056] The frame motor controller 26 has the ability to drive the frame motor 25 and can adjust the angle position of the torque gyroscope frame 24 according to the vehicle balance control requirements.

[0057] The self-balancing device 2, consisting of the aforementioned torque gyroscope 21, torque gyroscope rotor motor 22, rotor motor controller 23, torque gyroscope frame 24, frame motor 25, and frame motor controller 26, along with the control algorithm, can achieve control of the vehicle 1's balance torque and body posture.

[0058] To ensure the stability of the center of gravity of vehicle 1, the self-balancing device 2 is located in the lower middle part of vehicle 1, and the physical positions of the other components can be determined according to the overall vehicle layout requirements.

[0059] In this embodiment, the rotor motor controller 23 and frame motor controller 26 of the self-balancing device 2 are connected to the battery 3 via power lines. The motor 7 is mechanically connected to the engine 5. The power line of the motor 7 is connected to the motor controller 8. The operating signal of the motor 7 is connected to the motor controller 8 via a signal line. The motor controller 8 is connected to the battery 3 via a power line. The battery 3 is connected to the battery management system 4 via a signal line.

[0060] The vehicle control unit includes a vehicle controller 9; the vehicle controller 9 is connected to the rotor motor controller 23, the frame motor controller 26, the battery management system 4, the engine controller 6, and the motor controller 8 via signal lines.

[0061] The vehicle controller 9 is connected to the rotor motor controller 23, frame motor controller 26, battery management system 4, engine controller 6 and motor controller 8 in the self-balancing device 2 via signal lines.

[0062] Of course, the self-balancing control system of the present invention may also include a mode button 10 for the self-balancing device 2, which can be used to enable or disable the self-balancing device 2 of the vehicle 1.

[0063] The battery management system 4, motor controller 8, and vehicle controller 9 can also be integrated into a two-in-one or three-in-one controller in terms of physical structure, depending on cost and space requirements.

[0064] The self-balancing device housing 27 can also be integrated with the vehicle body structure and body panels as a single unit to save vehicle space and reduce vehicle weight.

[0065] The present invention also relates to a self-balancing control method, wherein the self-balancing control system comprises:

[0066] The battery 3 provides the electrical energy required for the self-balancing device 2 to drive the motor 7, and recovers and stores the electrical energy generated when the torque gyroscope 21 decelerates. It also receives the additional electrical energy consumed by the motor 7 when it is generating electricity to drive the self-balancing device 2 and other electrical components on the vehicle. The battery management system 4 monitors the operating status of the battery 3 and converts the battery's operating information, such as voltage, current, temperature, state of charge, and charging / discharging capacity, into communication signals and sends them to the vehicle controller 9.

[0067] The engine 5 operates under the control of the engine controller 6. While ensuring the normal power output of the vehicle 1, the additional energy is converted from mechanical energy to electrical energy through the motor 7.

[0068] The motor controller 8 controls the power generation capacity of the motor 7 according to the torque demand issued by the vehicle controller 9, and provides electrical energy to the vehicle's electrical components. The additional electrical energy is used to charge the battery 3. When the torque demand is negative, the motor 7 is in the power generation state, and when the torque demand is 0, the motor 7 is in the power generation stop state.

[0069] The vehicle controller 9 calculates the balance angle deviation of the vehicle 1 and the required balance torque, such as... Figure 6 As shown, the position command of the frame motor 25 and the torque command of the torque gyroscope rotor motor 22 are given. At the same time, the torque command of the motor 7 is given according to the power status of the battery 3 to maintain the power balance of the battery 3. The self-balancing device 2 is used to control the balance torque and body posture of the vehicle 1.

[0070] In this embodiment, to ensure the normal operation of the self-balancing device 2, during the vehicle 1's operation, to maintain the operation of the self-balancing device 2, the battery 3's charge change trend curve under the control of the vehicle controller 9 is as follows: Figure 4 As shown.

[0071] When vehicle 1 is running, battery 3 is in a discharging state, and its charge gradually decreases. When the charge is below the low threshold, motor 7, under the control of motor controller 8, converts part of the torque of engine 5 into electrical energy. The extra electrical energy consumed by self-balancing device 2 and other electrical components on the vehicle is used to charge battery 3, and the charge is in a rising state. When the charge of battery 3 reaches the high charge threshold, motor 7 stops generating electricity under the control of motor controller 8, and battery 3 enters the discharging state again, and the charge decreases.

[0072] In this embodiment, while maintaining the balance of the battery 3's charge according to the above strategy, in order to improve the fuel consumption of vehicle 1, the operating point of engine 5 at different speeds can be combined with, for example... Figure 5 The universal fuel consumption characteristics of engine 5 as shown are... Figure 6 The control algorithm shown is optimized.

[0073] In maintaining the charge balance of battery 3, the fuel consumption of vehicle 1 is improved according to the following method:

[0074] Within the range of the engine's five external characteristic curves, connecting points with the same fuel consumption rate at different speeds and torques creates a fuel consumption contour curve, such as... Figure 5 The curves at speeds of 240, 260, 280, and 300 are used to form an economical fuel consumption curve. At a certain speed n, points A, B, and C are the torque points at that speed that are below the economical fuel consumption curve, on the economical fuel consumption curve, and above the economical fuel consumption curve, respectively.

[0075] At a rotational speed of n, if battery 3 is in a state of rotation... Figure 4 If the discharge state is shown, then the vehicle controller 9 will send the torque value at point A required by the engine 5 to achieve the power output of the vehicle 1 based on the throttle opening of the vehicle 1. The torque value at point A will be sent directly to the engine controller 6 through the signal line, thereby controlling the power output of the engine 5.

[0076] If at this time the battery 3 is in Figure 4 The charging state shown indicates that, based on the throttle opening of vehicle 1, the vehicle controller 9 determines the torque point required by engine 5 to achieve power output for vehicle 1 as point A. Figure 5The fuel economy curve shown indicates that the maximum generating torque that engine 5 can provide while considering fuel economy is AB. If the absolute value of this generating torque is greater than the limit torque given by the control system, then the generating torque will be limited according to the limit torque. The torque point for the limit torque is A1. Figure 5 As shown; at this time, the vehicle controller 9 sends the torque value corresponding to point A1 to the engine controller 6 through the signal line, thereby controlling the power output of the engine 5. At the same time, the vehicle controller 9 also sends the torque value at point A minus the torque value at point A1 as the generator torque of the motor 7 to the motor controller 8 for controlling the generator.

[0077] The limiting torque is the minimum absolute value between the generating torque corresponding to the maximum charging power of the battery 3 given by the battery management system 4 and the maximum generating torque of the motor 7 given by the motor controller 8.

[0078] In this embodiment, in order to take into account the smoothness of the load change of engine 5, when applying or canceling the above-mentioned power generation torque to engine 5, the torque value can be set to a value that decreases or increases over time until the set torque command value is reached.

[0079] When the speed is n, if the torque point required by the engine 5 to achieve the power output of the vehicle 1, obtained by the vehicle controller 9 based on the throttle opening of the vehicle 1, is point B or point C, since the torque value at point B or point C has reached or exceeded the economic fuel consumption point of the engine 5 at that speed, generating electricity at this time will increase the torque of the engine 5 and worsen the fuel consumption. Therefore, the vehicle controller 9 will set the generated torque to zero and send the torque value at point B or point C to the engine controller 6 through the signal line, thereby controlling the power output of the engine 5.

[0080] The present invention also discloses a motorcycle, wherein the motorcycle employs the self-balancing control system and / or the self-balancing control method described in the above embodiments.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A self-balancing control system, characterized in that: This includes a self-balancing device, engine unit, motor unit, battery unit, and vehicle control unit; The engine unit is used to provide power to the vehicle and to supply energy to the motor unit; the engine unit includes an engine and an engine controller for controlling the engine; The motor unit is used to provide electrical energy to the battery unit; the motor unit includes a motor and a motor controller for controlling the motor; The battery unit includes a storage battery and a battery management system for managing the storage battery. The battery management system is used to manage the charging and discharging of the battery; The vehicle control unit is used to send control commands to the self-balancing device, battery unit, engine unit and motor unit to achieve continuous self-balancing of the vehicle. A self-balancing control method, wherein the self-balancing control system comprises: The battery provides the electrical energy required for the self-balancing device to drive the motor, and recovers and stores the electrical energy generated when the torque gyroscope decelerates. It also receives the additional electrical energy consumed by the motor when it is generating electricity to drive the self-balancing device and other electrical components on the vehicle. The engine operates under the control of the engine controller. While ensuring the normal power output of the vehicle, the additional energy is converted from mechanical energy to electrical energy through the motor. The motor controller controls the motor's power generation capacity according to the torque demand issued by the vehicle controller, providing electrical energy to the vehicle's electrical components, and charging the battery with additional electrical energy; when the torque demand is negative, the motor is in power generation state, and when the torque demand is 0, the motor is in power generation stop state. The vehicle controller calculates the vehicle's balance angle deviation and the required balance torque, and issues position commands to the frame motor and torque commands to the torque gyroscope rotor motor. At the same time, it issues torque commands to the motors based on the battery's charge status to maintain battery charge balance. The self-balancing device is used to control the vehicle's balance torque and body posture.

2. The self-balancing control system according to claim 1, characterized in that: The self-balancing device includes a torque gyroscope, a torque gyroscope rotor motor, a rotor motor controller, a torque gyroscope frame, a frame motor, and a frame motor controller. The rotor motor controller is used to provide drive control for the torque gyroscope rotor motor during torque gyroscope acceleration; The frame motor controller is used to adjust the angle position of the torque gyroscope frame by driving the frame motor according to the vehicle balance control requirements; The rotor motor controller and the frame motor controller are connected to the battery via a power cord.

3. The self-balancing control system according to claim 1, characterized in that: The motor is connected to the engine; the motor controller is connected to the battery via a power cord.

4. The self-balancing control system according to claim 3, characterized in that: The vehicle control unit includes a vehicle controller; The vehicle controller is connected to the rotor motor controller, frame motor controller, battery management system, engine controller, and motor controller via signal lines.

5. The self-balancing control system according to claim 1, characterized in that: When the vehicle is running, the battery is in a discharging state and the charge gradually decreases. When the charge is below a low threshold, the motor, under the control of the motor controller, converts part of the engine torque into electrical energy. The extra electrical energy after satisfying the consumption of the self-balancing device and other electrical components on the vehicle is used to charge the battery, and the charge is in an increasing state. Once the battery reaches a high charge threshold, the motor stops generating electricity under the control of the motor controller, and the battery enters a discharge state again, causing the charge to decrease.

6. The self-balancing control system according to claim 5, characterized in that: To improve vehicle fuel consumption while maintaining battery charge balance, the following methods can be used: Within the range of the engine's external characteristic curve, points with the same fuel consumption rate at different speeds and torques are connected to form a fuel consumption contour curve; points with the lowest fuel consumption at each speed are connected to form an economic fuel consumption curve; at a certain speed n, points A, B, and C are respectively the torque point below the economic fuel consumption curve, the torque point on the economic fuel consumption curve, and the torque point above the economic fuel consumption curve at that speed. When the speed is n, if the battery is in a discharging state, the vehicle controller will directly send the torque value at point A, which is the torque point required by the engine to achieve the power output of the vehicle, based on the throttle opening. This torque value will be sent to the engine controller via the signal line to control the power output of the engine. If the battery is charging at this time, the vehicle controller determines the torque point required by the engine to achieve the vehicle's power output based on the vehicle's throttle opening, which is point A. According to the fuel economy curve, the maximum generating torque that the engine can provide while considering fuel economy is AB. If the absolute value of this generating torque is greater than the limit torque given by the control system, then the generating torque will be limited according to the limit torque; where the limit torque is point A1. At this time, the vehicle controller sends the torque value corresponding to point A1 to the engine controller through the signal line, thereby controlling the engine's power output. At the same time, the vehicle controller also sends the torque value at point A minus the torque value at point A1 as the motor generating torque to the motor controller for controlling power generation.

7. The self-balancing control system according to claim 6, characterized in that: At engine speed n, if the vehicle controller determines the torque point required by the engine to achieve the vehicle's power output based on the vehicle's throttle opening as point B or C, and since the torque value at point B or C has reached or exceeded the engine's economic fuel consumption point at that engine speed, generating electricity at this time would increase the engine torque and worsen fuel consumption. Therefore, the vehicle controller will set the generated torque to zero and send the torque value at point B or C to the engine controller via a signal line, thereby controlling the engine's power output.

8. The self-balancing control system according to claim 6, characterized in that: The limiting torque is the minimum absolute value between the generating torque corresponding to the maximum charging power of the battery given by the battery management system and the maximum generating torque of the motor given by the motor controller.

9. A motorcycle, characterized in that: The motorcycle employs the self-balancing control system described in any one of claims 1-8.

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