An electric double-support intelligent control method, control system, and control circuit

Abstract

The present invention discloses an electric double-support intelligent control method, control system, and control circuit. When the vehicle is powered on for the first time, the vehicle is kept in a horizontal state and the initial angle θ0 of the gyroscope is obtained; when the vehicle is actually used, the ground contact angle θ1 of the gyroscope in the ground contact state is obtained, and it is determined whether the ground contact angle θ1 is the same as the initial angle θ0. If not, an action instruction is sent to the left motor and the right motor, wherein the action instruction is used for the left motor to control the left support rod to rotate forward and backward and the right motor to control the right support rod to rotate forward and backward, and the actual angle θ2 of the gyroscope is obtained in real time until the actual angle θ2 is the same as the initial angle θ0, and the action instruction stops. At this time, the left support rod and the right support rod are in a propped-up state, and the vehicle is in a horizontal state. The present invention uses a Hall motor to detect the Hall signal in real time, so that the controller realizes closed-loop control, can accurately know the position of the support rod, can make automatic corrections, and can adapt to a wide voltage.

Description

Technical Field

[0001] The invention relates to electric vehicles and motorcycles, and in particular to an electric double-support intelligent control method, a control system and a control circuit. Background Art

[0002] The electric double support of electric vehicles adopts open-loop control, and the actual position of the support rod cannot be known. The ground contact state and the support state can only be judged by the current loop; the existing products adapt to a single voltage, and the same product can only operate at the rated voltage, and the versatility is poor. Summary of the invention

[0003] In order to solve the defects of the above-mentioned prior art, the present invention provides an electric double-support intelligent control method, control system, and control circuit. The present invention uses a Hall motor to detect the Hall signal in real time, so that the controller can implement closed-loop control, accurately know the position of the support rod, make automatic corrections, and adapt to a wide voltage.

[0004] To achieve the above technical objectives, the present invention adopts the following technical solutions: an electric double-strut intelligent control method, defining the stowed state as a state where both the left strut and the right strut are raised and remain relatively motionless with the vehicle, defining the ground contact state as a state where both the left strut and the right strut are at the moment of ground contact, defining the propped-up state as a state where both the left strut and the right strut are ground contact and the vehicle is kept horizontal, and defining the angle of the gyroscope as the angle of the vehicle;

[0005] The following steps are involved:

[0006] When the vehicle is powered on for the first time, keep the vehicle in a horizontal state and obtain the initial angle θ of the gyroscope 0 ;

[0007] When the vehicle is actually in use, the ground contact angle θ of the gyroscope is obtained. 1 , determine the ground contact angle θ 1 With the initial angle θ 0 If they are not the same, the action command is sent to the left motor and the right motor. The action command is used for the left motor to control the left support rod to rotate forward and backward and the right motor to control the right support rod to rotate forward and backward, and the actual angle θ of the gyroscope is obtained in real time. 2 , until the actual angle θ 2 With the initial angle θ 0 At the same time, the action command stops, at which time the left support rod and the right support rod are in the propped-up state, and the vehicle is in a horizontal state.

[0008] When the vehicle is powered on for the first time, the following sub-steps are also included:

[0009] Get the number of steps of the left motor and the right motor rotating from the stowed state to the ground contact state of the left support rod and the right support rod, respectively, and record them as T 左1 , T右1 ; Obtain the number of steps of the left motor and the right motor rotating from the left support rod and the right support rod respectively from the touching state to the supporting state, which are recorded as T 左1 , T 右2 ;

[0010] Among them, T 左1 , T 右1 As the maximum number of steps of the left and right motors rotating from the stowed state to the ground contact state in actual use; T 左1 , T 右2 The maximum number of steps that the left and right motors rotate from the ground contact state to the propped-up state during actual use.

[0011] When the vehicle is actually used, the following sub-steps are also included:

[0012] Get the number of steps of the left motor and the right motor rotating from the stowed state to the ground contact state of the left support rod and the right support rod, recorded as T 左AB and T 右AB ; Obtain the number of steps of the left motor and the right motor rotating from the left support rod and the right support rod respectively from the touchdown state to the propping state, recorded as T 左BC and T 右BC ;

[0013] Calculate the actual number of steps of the left motor and the right motor rotating from the stowed state to the propped state of the left and right struts, recorded as T 左AC and T 右AC , where T 左AC =T 左AB +T 左BC , T 右AC =T 右AB +T 右BC ; T 左AC and T 右AC The number of steps of rotation of the left motor and the right motor respectively used for the left support rod and the right support rod from the propped-up state to the retracted state;

[0014] Among them, the left motor and the right motor rotate forward during the process from the folded state to the ground touching state and from the ground touching state to the raised state, and the left motor and the right motor rotate reversely during the process from the raised state to the ground touching state and from the ground touching state to the folded state. When the left motor and the right motor rotate forward, the corresponding number of steps is positive, and when they rotate reversely, the corresponding number of steps is negative.

[0015] When the vehicle is actually used, the following sub-steps are also included:

[0016] Detect the pressure value of the vehicle seat. When the pressure value meets a certain range, it indicates that there is someone in the vehicle, and then the left motor and the right motor are controlled to rotate respectively -T 左BC and -T 右BC, so that the left support rod and the right support rod each move from a propped-up state to a ground-contacting state.

[0017] An electric double-support intelligent control system, comprising:

[0018] A controller, mounted on the vehicle, for receiving angle information from the gyroscope and for controlling forward and reverse rotation of the left motor and the right motor;

[0019] A gyroscope is installed in the controller and is used to obtain the angle of the vehicle; wherein the gyroscope is installed at any angle;

[0020] The left motor and the right motor are respectively installed on the left and right sides of the vehicle, and are used to drive the left support rod and the right support rod to rotate forward and backward respectively;

[0021] A left support rod and a right support rod are connected to the left motor and the right motor respectively;

[0022] Two sets of Hall sensors are installed on the left motor and the right motor respectively, and are used to record the rotation steps of the left motor and the right motor;

[0023] Pressure sensors, installed on vehicle seats, are used to detect whether there is someone in the vehicle;

[0024] A button, provided on the handlebar, for starting the left motor and the right motor;

[0025] When the button is long pressed, the left motor and the right motor start at the same time, controlling the left and right struts to return to the retracted state. Press it again to control the left and right struts from the retracted state to the ground-touching state. Press it again to control the left and right struts from the ground-touching state to the extended state. Press it again to control the left and right struts from the extended state to the ground-touching state.

[0026] An electric double-support intelligent control circuit, including MCU, power supply circuit, motor control circuit, motor feedback circuit, seat switch detection circuit, gyroscope chip U13;

[0027] Among them, the output end of the gyroscope is connected to the MCU for sending vehicle angle information to the MCU. The input voltage of the power supply circuit adopts a wide voltage. The input end of the motor control circuit is connected to the MCU, and the output end is connected to the left motor and the right motor, for controlling the forward and reverse rotation of the left motor and the right motor. The input end of the motor feedback circuit is connected to the left motor and the right motor, and the output end is connected to the MCU, for detecting the Hall signal of the left motor and the right motor and sending it to the MCU. The input end of the seat switch detection circuit is connected to the seat pressure sensor, and the output end is connected to the MCU, for detecting whether there is someone on the seat. The gyroscope chip U13 is connected to the MCU for sending vehicle angle information.

[0028] The motor control circuit includes a left motor drive circuit and a right motor drive circuit;

[0029] The left motor drive circuit includes relay K1, relay K2, gate driver U4, and MOS tube Q4; pin 2 of relay K1 is connected to 37V, pin 3 is connected to the drain of MOS tube Q4, pin 4 is connected to +12V02 in one way and capacitor C88 in another way, capacitor C88 is grounded, and pin 5 is connected to pin 12 of Darlington crystal array U7; pin 2 of relay K2 is connected to 37V, pin 3 is connected to the drain of MOS tube Q4, pin 5 is connected to +12V02 in one way and capacitor C89 in another way, capacitor C89 is grounded, and pin 4 is connected to pin 10 of Darlington crystal array U7; the source of MOS tube Q4 is connected to resistor R56 and gate driver U4, resistor R56 Grounded, the gate is connected to resistor R55 and pin 6 of gate driver U4, and resistor R55 is grounded; pin 1 of gate driver U4 is connected to capacitor C4, resistor R2, and resistor R1, capacitor C4 is grounded, resistor R2 is grounded, and resistor R1 is connected to +3V3D; pin 2 is connected to capacitor C15, resistor R7, and resistor R8, capacitor C15 is grounded, resistor R7 is grounded, and resistor R8 is connected to the source of MOS tube Q4; pin 3 is connected to resistor R4, and resistor R4 is connected to pin 13 of MCU; pin 4 is grounded, pin 5 is grounded, pin 7 is connected to resistor R9, and resistor R9 is connected to pin 6; pin 8 is connected to +12V, capacitor C2, and capacitor C21, and capacitor C2 and capacitor C21 are connected in parallel and grounded;

[0030] The right motor drive circuit includes relay K3, relay K4, MOS tube Q2, and gate driver U6; pin 2 of relay K3 is connected to 37V, pin 3 is connected to the drain of MOS tube Q2, pin 4 is connected to +12V02 in one way and capacitor C90 in another way, capacitor C90 is grounded, and pin 5 is connected to pin 16 of Darlington crystal array U7; pin 2 of relay K4 is connected to 37V, pin 3 is connected to the drain of MOS tube Q2, pin 5 is connected to +12V02 in one way and capacitor C91 in another way, capacitor C91 is grounded, and pin 4 is connected to pin 14 of Darlington crystal array U7; the source of MOS tube Q2 is connected to resistor R57 and gate driver U6, resistor R57 is connected to resistor R34, resistor R34 is grounded, The gate is connected to resistor R54, resistor R22, and pin 6 of gate driver U6. Resistor R54 is grounded, and resistor R22 is connected to pin 7 of gate driver U6. Pin 1 of gate driver U6 is connected to capacitor C32, resistor R14, and resistor R10. Capacitor C32 is grounded, resistor R14 is grounded, and resistor R10 is connected to +3V3D. Pin 2 is connected to capacitor C33, resistor R17, and resistor R21. Capacitor C33 is grounded, resistor R17 is grounded, and resistor R21 is connected to the source of MOS tube Q2. Pin 3 is connected to resistor R15, and resistor R15 is connected to pin 15 of MCU. Pin 4 is grounded, pin 5 is grounded, and pin 8 is connected to +12V, capacitor C9, and capacitor C35. Capacitor C9 and capacitor C35 are connected in parallel and grounded.

[0031] The motor feedback circuit includes a comparator IC1, a transistor Q3, and a transistor Q1. Pin 1 of the comparator IC1 is connected to a resistor R12, the resistor R12 is connected to a capacitor C70, and the capacitor C70 is grounded. Pin 2 is connected to a capacitor C71, a resistor R32, and a resistor R6. The capacitor C71 is connected to the resistor R32 in parallel and then grounded. The resistor R6 is connected to +12V. Pin 3 is connected to a resistor R44 and a capacitor C73, and the capacitor C73 is grounded. Pin 4 is grounded. Pin 5 is connected to a resistor R41 and a capacitor C80, and the capacitor C80 is grounded. Pin 7 is connected to a resistor R61, and the resistor R61 is connected to a capacitor C75. Capacitor C75 is grounded, pin 8 is connected to capacitor C1 and +12V, and capacitor C1 is grounded; the collector of transistor Q3 is connected to fuse F2, fuse F2 is connected to resistor R58 and resistor R59, resistor R58 is connected to resistor R41, resistor R59 is connected to resistor R44, the emitter of transistor Q3 is connected to +12V and resistor R5, resistor R5 is connected to the base of transistor Q3 and resistor R38, resistor R38 is connected to the collector of transistor Q1, the emitter of transistor Q1 is grounded, the base of transistor Q1 is connected to resistor R42 and resistor R40, and resistor R42 is grounded.

[0032] Pin 8 of the gyroscope chip U13 is connected to +3V3D and capacitor C53, capacitor C53 is grounded, pin 9 is connected to resistor R137, resistor R137 is grounded, pin 19 is connected to capacitor C54, capacitor C54 is grounded, pin 11 is grounded, pin 13 is connected to resistor R29 and capacitor C56, resistor R29 is connected to +3V3D, capacitor C56 is grounded, pin 20 is connected to capacitor C55, capacitor C55 is grounded, pin 23 is connected to resistor R139, resistor R139 is connected to resistor R141 and pin 32 of MCU, pin 24 is connected to resistor R138, resistor R138 is connected to resistor R140 and pin 1 of MCU, resistors R141 and R140 are both connected to +3V3D.

[0033] In summary, the present invention has achieved the following technical effects:

[0034] The present invention has a built-in step-down circuit and adopts a wide voltage range design, adapting to a voltage range of 38V-100V, and is compatible with electric bicycles and electric motorcycles of the 48V-96V platform.

[0035] The present invention uses a Hall motor to detect the Hall signal in real time, so that the controller can achieve closed-loop control, accurately know the position of the support rod, the motor rotation speed and rotation angle, and achieve multiple protections such as overcurrent, overload, and jamming. In the process of use, it can also make automatic corrections as the mechanical transmission mechanism ages or the resistance increases due to temperature changes. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the double support in three states;

[0037] Figure 2 It is the MCU, i.e. the controller circuit schematic;

[0038] Figure 3 It is the schematic diagram of the power supply circuit;

[0039] Figure 4 It is the motor control circuit;

[0040] Figure 5 It is the motor feedback circuit;

[0041] Figure 6 It is a gyroscope chip;

[0042] Figure 7 It is the input circuit of the motor Hall sensor;

[0043] Figure 8 It is the electric door lock ACC input circuit;

[0044] Fig. 9 It is the seat switch detection circuit;

[0045] Fig.10 It is a key switch circuit;

[0046] Fig.11 It is a current amplifier circuit. DETAILED DESCRIPTION

[0047] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0048] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

[0049] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0051] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0053] Example:

[0054] An intelligent control method for electric double supports, Figure 1 It is a schematic diagram of the double support in three states; the stowed state A is defined as the state where the left support rod and the right support rod are both raised and remain relatively motionless with the vehicle, the ground contact state B is defined as the state where the left support rod and the right support rod are both at the moment of touching the ground, the propped state C is defined as the state where the left support rod and the right support rod are both touching the ground and the vehicle is kept level, and the angle of the gyroscope is defined as the angle of the vehicle;

[0055] The following steps are involved:

[0056] When the vehicle is powered on for the first time, keep the vehicle in a horizontal state and obtain the initial angle θ of the gyroscope 0 ;

[0057] When the vehicle is actually in use, the ground contact angle θ of the gyroscope is obtained. 1 , determine the ground contact angle θ 1 With the initial angle θ 0If they are not the same, the action command is sent to the left motor and the right motor. The action command is used for the left motor to control the left support rod to rotate forward and backward and the right motor to control the right support rod to rotate forward and backward, and the actual angle θ of the gyroscope is obtained in real time. 2 , until the actual angle θ 2 With the initial angle θ 0 At the same time, the action command stops, at which time the left support rod and the right support rod are in the propped-up state, and the vehicle is in a horizontal state.

[0058] In the present invention, the first time the vehicle is powered on after leaving the factory is used as a learning period. Since the gyroscope of the present invention is installed at any angle, the angle of the gyroscope must be initialized when it is powered on for the first time. The angle of the gyroscope when it is powered on for the first time is used as the horizontal angle, and the subsequent actual parking is adjusted based on this angle.

[0059] When the vehicle is powered on for the first time, the following sub-steps are also included:

[0060] Get the number of steps of the left motor and the right motor rotating from the stowed state to the ground contact state of the left support rod and the right support rod, respectively, and record them as T 左1 , T 右1 ; Obtain the number of steps of the left motor and the right motor rotating from the left support rod and the right support rod respectively from the touchdown state to the propping state, recorded as T 左2 , T 右2 ;

[0061] Among them, T 左1 , T 右1 As the maximum number of steps of the left and right motors rotating from the stowed state to the ground contact state in actual use; T 左2 , T 右2 The maximum number of steps that the left and right motors rotate from the ground contact state to the propped-up state during actual use.

[0062] In this embodiment, the maximum number of steps during state conversion is limited to prevent the motor from rotating without limit under the influence of current.

[0063] The present invention is also provided with a stall function. When the wheels of the double supports (the double supports refer to the left support rod and the right support rod) touch the ground, the stall function is triggered, the motor stops, and the double supports stop.

[0064] The present invention sets a maximum number of steps for state conversion to avoid stalling and disabling.

[0065] When the vehicle is actually used, the following sub-steps are also included:

[0066] Get the number of steps of the left motor and the right motor rotating from the stowed state to the ground contact state of the left support rod and the right support rod, recorded as T 左AB and T 右AB; Obtain the number of steps of the left motor and the right motor rotating from the left support rod and the right support rod respectively from the touchdown state to the propping state, recorded as T 左BC and T 右BC ;

[0067] Calculate the actual number of steps of the left motor and the right motor rotating from the stowed state to the propped state of the left and right struts, recorded as T 左AC and T 右AC , where T 左AC =T 左AB +T 左BC , T 右AC =T 右AB +T 右BC ; T 左AC and T 右AC The number of steps of rotation of the left motor and the right motor respectively used for the left support rod and the right support rod from the propped-up state to the retracted state;

[0068] Among them, the left motor and the right motor rotate forward during the process from the folded state to the ground touching state and from the ground touching state to the raised state, and the left motor and the right motor rotate reversely during the process from the raised state to the ground touching state and from the ground touching state to the folded state. When the left motor and the right motor rotate forward, the corresponding number of steps is positive, and when they rotate reversely, the corresponding number of steps is negative.

[0069] In this embodiment, the direction of ABC is defined as forward rotation, and the direction of CBA is defined as reverse rotation, and the corresponding steps are assigned positive and negative signs. When calculating the actual number of steps from the folded state to the extended state, the addition and subtraction method of positive and negative signs is directly used, which is simple and convenient.

[0070] When the vehicle is actually used, the following sub-steps are also included:

[0071] Detect the pressure value of the vehicle seat. When the pressure value meets a certain range, it indicates that there is someone in the vehicle, and then the left motor and the right motor are controlled to rotate respectively -T 左BC and -T 右BC , so that the left support rod and the right support rod each move from a propped-up state to a ground-contacting state.

[0072] In this embodiment, when it is sensed that there is someone on the seat, the MCU receives a signal. If the double support is in the "C support state", the double support will return from the "C support state" to the "B touchdown state", keeping the wheels of the double support to assist support or assist forward movement.

[0073] When the vehicle seat pressure sensor cannot detect a certain range of pressure, it indicates that there is no one on the seat at this time. If the double support is in the "A stowed state" at this time, the left / right motor drives the double support to touch the ground at the same time. Regardless of whether the left support rod or the right support rod runs to any ground contact position between the "A stowed state" and the "C propped state", the Hall sensor installed on the motor determines the ground contact angle θ at this time1 Is it the initial angle θ? 0 , when the actual angle θ 2 Whether it is tilted to the left or right, the number of steps recorded by the Hall sensor will be used to calculate the number of steps the left / right motor needs to rotate and make corrections until the vehicle returns to the initial angle θ 0 When the vehicle angle returns to the initial angle θ 0 After that, the left / right motors drive the double supports to rotate at the same time. As long as one of the motors reaches the number of steps of "C support state" recorded during learning, the two motors stop running at the same time.

[0074] An electric double-support intelligent control system, comprising:

[0075] A controller, mounted on the vehicle, for receiving angle information from the gyroscope and for controlling forward and reverse rotation of the left motor and the right motor;

[0076] A gyroscope is installed in the controller and is used to obtain the angle of the vehicle; wherein the gyroscope is installed at any angle;

[0077] The left motor and the right motor are respectively installed on the left and right sides of the vehicle, and are used to drive the left support rod and the right support rod to rotate forward and backward respectively;

[0078] A left support rod and a right support rod are connected to the left motor and the right motor respectively;

[0079] Two sets of Hall sensors are installed on the left motor and the right motor respectively, and are used to record the rotation steps of the left motor and the right motor;

[0080] Pressure sensors, installed on vehicle seats, are used to detect whether there is someone in the vehicle;

[0081] A button, provided on the handlebar, for starting the left motor and the right motor;

[0082] When the button is long pressed, the left motor and the right motor start at the same time, controlling the left and right struts to return to the retracted state. Press it again to control the left and right struts from the retracted state to the ground-touching state. Press it again to control the left and right struts from the ground-touching state to the extended state. Press it again to control the left and right struts from the extended state to the ground-touching state.

[0083] In this embodiment, the gyroscope is installed at any angle, which means that the gyroscope is installed in the controller at any angle, and the controller is installed on the vehicle at any angle. Finally, the installation angle of the gyroscope is in any state, not necessarily in a horizontal state. The present invention initializes the initial installation angle to be horizontal, and subsequently adjusts based on the initial angle. Since the installation of the gyroscope requires horizontality, and the installation space of the vehicle is limited, and the installation space of the controller is limited, if the gyroscope is rigidly required to be installed horizontally, the controller must be remade, and both the gyroscope and the vehicle must be matched, and the angle must be continuously corrected, which is relatively cumbersome. The present invention installs the gyroscope at any angle, does not need to remake the controller, and can use the original controller. There is no requirement for the installation angle of the controller, and it does not need to be corrected all the time, which is easy to use. The present invention uses the gyroscope as the angle of the vehicle, and can quickly straighten the vehicle in conjunction with the double support and dual motors.

[0084] The present invention is provided with a button, and the rider can control the double supports by directly pressing the button without stopping the vehicle, getting off the vehicle, or stepping on the pedals. The rider can stop the vehicle without getting off the vehicle on a slippery road or when waiting for a traffic light, and avoids getting shoes wet.

[0085] The present invention is provided with a Hall sensor, which can detect the number of steps of electrode rotation, and uses the number of steps as the basis for controlling the forward and backward rotation of the double support. The existing scheme uses current to control the forward and backward rotation of the double support. Since the current is affected by external factors such as weather, the operation of the double support is unstable. The present invention uses the number of steps recorded by the Hall sensor to control the forward and backward rotation of the double support, which is not affected by external factors and has stable adjustment. Moreover, the current control method requires complex calculations, while the number of steps does not, and the adjustment is fast.

[0086] An electric double-support intelligent control circuit, including MCU, power supply circuit, motor control circuit, motor feedback circuit, seat switch detection circuit, gyroscope chip U13;

[0087] Among them, the output end of the gyroscope is connected to the MCU for sending vehicle angle information to the MCU. The input voltage of the power supply circuit adopts a wide voltage. The input end of the motor control circuit is connected to the MCU, and the output end is connected to the left motor and the right motor, for controlling the forward and reverse rotation of the left motor and the right motor. The input end of the motor feedback circuit is connected to the left motor and the right motor, and the output end is connected to the MCU, for detecting the Hall signal of the left motor and the right motor and sending it to the MCU. The input end of the seat switch detection circuit is connected to the seat pressure sensor, and the output end is connected to the MCU, for detecting whether there is someone on the seat. The gyroscope chip U13 is connected to the MCU for sending vehicle angle information.

[0088] Figure 2 It is the schematic diagram of MCU, i.e. controller circuit.

[0089] Figure 3It is a schematic diagram of a power supply circuit, wherein the power supply circuit is also connected to a step-down circuit and an overcurrent circuit. The power supply circuit includes a positive electrode and a negative electrode of a battery. An anti-reverse connection MOS tube Q13, a resistor R27, and a diode D8 are connected between the positive and negative electrodes. The step-down circuit includes a step-down chip U5, a capacitor C10, a capacitor C11, a capacitor C12, an inductor L1, a capacitor C25, a capacitor C26, a capacitor C28, and a capacitor C50. Pin 20 of the step-down chip U5 is connected to a resistor R39. A resistor R30 is connected to capacitors C10, C11, and C12. Capacitors C10, C11, and C12 are connected in parallel. Pin 19 of the buck chip U5 is connected to the inductor L1, which is connected to capacitors C25, C26, C28 and C50. Capacitors C25, C26, C28 and C50 are connected in parallel to output a voltage of 37V. Pin 18 of U5 is connected to resistor R13, which is connected to the gate of MOS tube Q18, the source of MOS tube Q18 is connected to pin 19, the drain of MOS tube Q18 is connected to VCC+, pin 19 is connected to the drain of MOS tube Q19, the gate of MOS tube Q19 is connected to resistor R16, resistor R16 is connected to pin 13, and the source of MOS tube Q19 is grounded. The overcurrent circuit includes an amplifier U1, pin 4 of the amplifier U1 is connected to diode D1, diode D1 is connected to resistor R18, resistor R18 is connected to pin 5 of the buck chip U5, pin 1 of the amplifier U1 is connected to resistor R19, resistor R19 is connected to resistor R43, and resistor R43 is connected to resistor R46. The power supply is input from VIN+VIN-, and the input voltage range is between 38V-100V. Q13 plays an anti-reverse connection protection role. The buck chip U5 controls Q18 and Q19 to work together. With the cooperation of L1 and C10-C12, C25, C26, C28, and C50, a buck circuit is formed to control the output voltage at 37V±2%. The working state of the buck circuit is controlled by the MCU; the current amplifier U1 and the sampling resistor R46 form a hardware overcurrent protection circuit to perform hardware overcurrent protection on the entire buck system.

[0090] Figure 4 is a motor control circuit, the motor control circuit comprising a left motor drive circuit and a right motor drive circuit;

[0091] The left motor drive circuit includes relay K1, relay K2, gate driver U4, and MOS tube Q4; pin 2 of relay K1 is connected to 37V, pin 3 is connected to the drain of MOS tube Q4, pin 4 is connected to +12V02 in one way and capacitor C88 in another way, capacitor C88 is grounded, and pin 5 is connected to pin 12 of Darlington crystal array U7; pin 2 of relay K2 is connected to 37V, pin 3 is connected to the drain of MOS tube Q4, pin 5 is connected to +12V02 in one way and capacitor C89 in another way, capacitor C89 is grounded, and pin 4 is connected to pin 10 of Darlington crystal array U7; the source of MOS tube Q4 is connected to resistor R56 and gate driver U4, resistor R56 Grounded, the gate is connected to resistor R55 and pin 6 of gate driver U4, and resistor R55 is grounded; pin 1 of gate driver U4 is connected to capacitor C4, resistor R2, and resistor R1, capacitor C4 is grounded, resistor R2 is grounded, and resistor R1 is connected to +3V3D; pin 2 is connected to capacitor C15, resistor R7, and resistor R8, capacitor C15 is grounded, resistor R7 is grounded, and resistor R8 is connected to the source of MOS tube Q4; pin 3 is connected to resistor R4, and resistor R4 is connected to pin 13 of MCU; pin 4 is grounded, pin 5 is grounded, pin 7 is connected to resistor R9, and resistor R9 is connected to pin 6; pin 8 is connected to +12V, capacitor C2, and capacitor C21, and capacitor C2 and capacitor C21 are connected in parallel and grounded;

[0092] The right motor drive circuit includes relay K3, relay K4, MOS tube Q2, and gate driver U6; pin 2 of relay K3 is connected to 37V, pin 3 is connected to the drain of MOS tube Q2, pin 4 is connected to +12V02 in one way and capacitor C90 in another way, capacitor C90 is grounded, and pin 5 is connected to pin 16 of Darlington crystal array U7; pin 2 of relay K4 is connected to 37V, pin 3 is connected to the drain of MOS tube Q2, pin 5 is connected to +12V02 in one way and capacitor C91 in another way, capacitor C91 is grounded, and pin 4 is connected to pin 14 of Darlington crystal array U7; the source of MOS tube Q2 is connected to resistor R57 and gate driver U6, resistor R57 is connected to resistor R34, resistor R34 is grounded, The gate is connected to resistor R54, resistor R22, and pin 6 of gate driver U6. Resistor R54 is grounded, and resistor R22 is connected to pin 7 of gate driver U6. Pin 1 of gate driver U6 is connected to capacitor C32, resistor R14, and resistor R10. Capacitor C32 is grounded, resistor R14 is grounded, and resistor R10 is connected to +3V3D. Pin 2 is connected to capacitor C33, resistor R17, and resistor R21. Capacitor C33 is grounded, resistor R17 is grounded, and resistor R21 is connected to the source of MOS tube Q2. Pin 3 is connected to resistor R15, and resistor R15 is connected to pin 15 of MCU. Pin 4 is grounded, pin 5 is grounded, and pin 8 is connected to +12V, capacitor C9, and capacitor C35. Capacitor C9 and capacitor C35 are connected in parallel and grounded.

[0093] Relays K1, K2, K3, K4, MOS tubes Q2, Q4, gate drivers U4, U6, Darlington crystal array U7, etc. constitute the executive motor control circuit. K1 and K2 are a group to control the forward and reverse rotation of the left executive motor. U4 drives Q4 to be responsible for the PWM speed regulation of the executive motor. R56 is the executive motor current sampling resistor. This current signal is sent to U4 and MCU at the same time. U4 is used as hardware overcurrent control, and MCU is used as software overcurrent control to protect the executive motor drive circuit part. Similarly, K3, K4, U6, Q2 constitute the right motor drive part.

[0094] Figure 5 The motor feedback circuit includes a comparator IC1, a transistor Q3, and a transistor Q1. Pin 1 of the comparator IC1 is connected to a resistor R12, the resistor R12 is connected to a capacitor C70, and the capacitor C70 is grounded. Pin 2 is connected to a capacitor C71, a resistor R32, and a resistor R6. The capacitor C71 is connected to the resistor R32 in parallel and then grounded. The resistor R6 is connected to +12V. Pin 3 is connected to a resistor R44 and a capacitor C73, and the capacitor C73 is grounded. Pin 4 is grounded. Pin 5 is connected to a resistor R41 and a capacitor C80, and the capacitor C80 is grounded. Pin 7 is connected to a resistor R61, and the resistor R61 is connected to the capacitor C75, capacitor C75 is grounded, pin 8 is connected to capacitor C1 and +12V, capacitor C1 is grounded; the collector of transistor Q3 is connected to fuse F2, fuse F2 is connected to resistor R58 and resistor R59, resistor R58 is connected to resistor R41, resistor R59 is connected to resistor R44, the emitter of transistor Q3 is connected to +12V and resistor R5, resistor R5 is connected to the base of transistor Q3 and resistor R38, resistor R38 is connected to the collector of transistor Q1, the emitter of transistor Q1 is grounded, the base of transistor Q1 is connected to resistor R42 and resistor R40, and resistor R42 is grounded.

[0095] Q1 and Q3 are controlled by MCU, and power is supplied to the external motor Hall sensor through the self-resetting fuse F2. IC1 is a comparator, which isolates and shapes the returned Hall signal of the actuator motor to obtain a standard square wave signal, which is sent to the MCU. This signal is used to detect the speed and number of rotations of the motor, and the travel or angle of the support rod can be obtained by calculation.

[0096] Figure 6It is a gyroscope chip. The 8th pin of the gyroscope chip U13 is connected to +3V3D and capacitor C53, capacitor C53 is grounded, the 9th pin is connected to resistor R137, resistor R137 is grounded, the 19th pin is connected to capacitor C54, capacitor C54 is grounded, the 11th pin is grounded, the 13th pin is connected to resistor R29 and capacitor C56, resistor R29 is connected to +3V3D, capacitor C56 is grounded, the 20th pin is connected to capacitor C55, capacitor C55 is grounded, the 23rd pin is connected to resistor R139, resistor R139 is connected to resistor R141 and pin 32 of MCU, the 24th pin is connected to resistor R138, resistor R138 is connected to resistor R140 and pin 1 of MCU, resistors R141 and resistor R140 are both connected to +3V3D. Pins 23 and 24 of U13 send the angle to MCU for the control of double support.

[0097] Figure 7 It is the input circuit of the motor Hall sensor, including transistor Q38. Pin 1 of transistor Q38 is connected to capacitor C41, resistor R31, and resistor R103. Capacitor C41 and resistor R31 are grounded. Pin 2 of transistor Q38 is grounded. Pin 1 of transistor Q38 is connected to resistor R98 and resistor R100. Resistor R98 is connected to capacitor C40 and pin 19 of MCU. Capacitor C40 is grounded. Resistor R100 is connected to +3V3D. The Hall sensor of the motor detects the number of steps of motor rotation and sends it to MCU. The Hall signal of the walking motor can be isolated and converted into a square wave signal of 3.3V level and sent to MCU to detect vehicle speed.

[0098] Figure 8 It is the electric door lock ACC input circuit, including diode D10, resistor R24, resistor R28, diode D11, resistor R26, capacitor C6, D11 ensures that current can only flow into the PCB from the outside, and after voltage division by R24, R28, a voltage signal of <3V is obtained. D11 is a voltage-stabilizing diode, which clamps the voltage input to the MCU below 3.3V to prevent the sudden increase in voltage from burning the MCU. R26 is a current-limiting resistor, which limits the current input to the MCU to below 4MA to prevent excessive current from burning the MCU's I / O port. C6 is a filter capacitor, which filters interference and jitter in the circuit.

[0099] Fig. 9 It is the seat switch detection circuit, including resistor R106 connected to pin 27 of MCU, capacitor C43, capacitor C79, resistor R108, diode D12, capacitor C43 is grounded, capacitor C79 is grounded, resistor R108 is connected to +3V3D, and diode D12 is connected to the seat pressure sensor, which is used to send the pressure on the seat to MCU. When the seat switch detects that there are passengers in the car, ACC is turned off and the electric car does not perform the propping action.

[0100] Fig.10It is a key switch, including resistor R107 connected to pin 23 of MCU, capacitor C44, capacitor C78, ​​resistor R109, and diode D13. Capacitor C44 is grounded, capacitor C78 is grounded, resistor R109 is connected to +3V3D, and diode D13 is connected to the key, which is used to send the retracted and released state of the key to MCU. R109 is a pull-up resistor, D13 can ensure that the external voltage does not flow back into the PCB, and R107 is a current limiting resistor.

[0101] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are within the scope of the technical solution of the present invention.

Claims

1. An intelligent control method for electric double supports, characterized in that: The stowed state is defined as a state where both the left and right support rods are raised and remain relatively motionless with respect to the vehicle, the ground contact state is defined as a state where both the left and right support rods are at the moment of ground contact, the raised state is defined as a state where both the left and right support rods are ground contact and the vehicle is kept level, and the angle of the gyroscope is defined as the angle of the vehicle; The following steps are involved: When the vehicle is powered on for the first time, keep the vehicle in a horizontal state and obtain the initial angle θ0 of the gyroscope; When the vehicle is actually used, the contact angle θ1 of the gyroscope in the contact state is obtained, and it is determined whether the contact angle θ1 is the same as the initial angle θ0. If not, an action command is sent to the left motor and the right motor, wherein the action command is used for the left motor to control the left support rod to rotate forward and backward and the right motor to control the right support rod to rotate forward and backward, and the actual angle θ2 of the gyroscope is obtained in real time until the actual angle θ2 is the same as the initial angle θ0, and the action command stops. At this time, the left support rod and the right support rod are in the propped-up state, and the vehicle is in a horizontal state.

2. According to claim 1, an electric double-bracing intelligent control method is characterized in that: When the vehicle is powered on for the first time, the following sub-steps are also included: Get the number of steps of the left motor and the right motor rotating from the stowed state to the ground contact state of the left support rod and the right support rod, respectively, and record them as T 左1 , T 右1 ; Obtain the number of steps of the left motor and the right motor rotating from the left support rod and the right support rod respectively from the touching state to the supporting state, which are recorded as T 左2 , T 右2 ; Among them, T 左1 , T 右1 As the maximum number of steps of the left and right motors from the stowed state to the ground contact state in actual use; Tleft2, T 右2 The maximum number of steps that the left and right motors rotate from the ground contact state to the propped-up state during actual use.

3. The electric double-support intelligent control method according to claim 1 is characterized in that: When the vehicle is actually used, the following sub-steps are also included: Get the number of steps of the left motor and the right motor rotating from the stowed state to the ground contact state of the left support rod and the right support rod, recorded as T 左AB and T 右AB ; Obtain the number of steps of the left motor and the right motor rotating from the left support rod and the right support rod respectively from the touching state to the supporting state, which are recorded as T 左BC and T 右BC ; Calculate the actual number of steps of the left motor and the right motor rotating from the stowed state to the propped state of the left and right struts, recorded as T 左AC and T 右AC , where T 左AC =T 左AB +T 左BC , T 右AC =T 右AB +T 右BC ; T 左AC and T 右AC The number of steps of the left motor and the right motor respectively used for rotating the left support rod and the right support rod from the propped-up state to the retracted state; Among them, the left motor and the right motor rotate forward during the process from the folded state to the ground touching state and from the ground touching state to the raised state, and the left motor and the right motor rotate reversely during the process from the raised state to the ground touching state and from the ground touching state to the folded state. When the left motor and the right motor rotate forward, the corresponding number of steps is positive, and when they rotate reversely, the corresponding number of steps is negative.

4. The electric double-bracing intelligent control method according to claim 3 is characterized in that: When the vehicle is actually used, the following sub-steps are also included: Detect the pressure value of the vehicle seat. When the pressure value meets a certain range, it indicates that there is someone in the vehicle, and then the left motor and the right motor are controlled to rotate respectively -T 左BC and -T 右BC , so that the left support rod and the right support rod each move from a propped-up state to a ground-contacting state.

5. An electric double-bracing intelligent control system according to an electric double-bracing intelligent control method according to any one of claims 1 to 4, characterized in that: include, A controller, mounted on the vehicle, for receiving angle information from the gyroscope and for controlling forward and reverse rotation of the left motor and the right motor; A gyroscope is installed in the controller and is used to obtain the angle of the vehicle; wherein the gyroscope is installed at any angle; The left motor and the right motor are respectively installed on the left and right sides of the vehicle, and are used to drive the left support rod and the right support rod to rotate forward and backward respectively; A left support rod and a right support rod are connected to the left motor and the right motor respectively; Two sets of Hall sensors are installed on the left motor and the right motor respectively, and are used to record the rotation steps of the left motor and the right motor; Pressure sensors, installed on vehicle seats, are used to detect whether there is someone in the vehicle; A button, provided on the handlebar, for starting the left motor and the right motor; When the button is long pressed, the left motor and the right motor start at the same time, controlling the left and right struts to return to the retracted state. Press it again to control the left and right struts from the retracted state to the ground-touching state. Press it again to control the left and right struts from the ground-touching state to the extended state. Press it again to control the left and right struts from the extended state to the ground-touching state.

6. An electric double-bracing intelligent control circuit of an electric double-bracing intelligent control system according to claim 5, characterized in that: Including MCU, power supply circuit, motor control circuit, motor feedback circuit, seat switch detection circuit, gyroscope chip U13; Among them, the output end of the gyroscope is connected to the MCU for sending vehicle angle information to the MCU. The input voltage of the power supply circuit adopts a wide voltage. The input end of the motor control circuit is connected to the MCU, and the output end is connected to the left motor and the right motor, for controlling the forward and reverse rotation of the left motor and the right motor. The input end of the motor feedback circuit is connected to the left motor and the right motor, and the output end is connected to the MCU, for detecting the Hall signal of the left motor and the right motor and sending it to the MCU. The input end of the seat switch detection circuit is connected to the seat pressure sensor, and the output end is connected to the MCU, for detecting whether there is someone on the seat. The gyroscope chip U13 is connected to the MCU for sending vehicle angle information.

7. An electric double-support intelligent control circuit according to claim 6, characterized in that: The motor control circuit includes a left motor drive circuit and a right motor drive circuit; The left motor driving circuit includes relay K1, relay K2, gate driver U4, and MOS tube Q4; pin 2 of relay K1 is connected to 37V, pin 3 is connected to the drain of MOS tube Q4, pin 4 is connected to +12V02 in one way and capacitor C88 in another way, capacitor C88 is grounded, and pin 5 is connected to pin 12 of Darlington crystal array U7; pin 2 of relay K2 is connected to 37V, pin 3 is connected to the drain of MOS tube Q4, pin 5 is connected to +12V02 in one way and capacitor C89 in another way, capacitor C89 is grounded, and pin 4 is connected to pin 10 of Darlington crystal array U7; the source of MOS tube Q4 is connected to resistor R56 and gate driver U4, resistor R56 is grounded, the gate is connected to resistor R55 and pin 6 of gate driver U4, and resistor R55 is grounded; Pin 1 of gate driver U4 is connected to capacitor C4, resistor R2, and resistor R1. Capacitor C4 is grounded, resistor R2 is grounded, and resistor R1 is connected to +3V3D. Pin 2 is connected to capacitor C15, resistor R7, and resistor R8. Capacitor C15 is grounded, resistor R7 is grounded, and resistor R8 is connected to the source of MOS tube Q4. Pin 3 is connected to resistor R4, and resistor R4 is connected to pin 13 of MCU. Pin 4 is grounded, and pin 5 is grounded. Pin 7 is connected to resistor R9, and resistor R9 is connected to pin 6. Pin 8 is connected to +12V, capacitor C2, and capacitor C21. Capacitor C2 and capacitor C21 are connected in parallel and then grounded. The right motor drive circuit includes relay K3, relay K4, MOS tube Q2, and gate driver U6; pin 2 of relay K3 is connected to 37V, pin 3 is connected to the drain of MOS tube Q2, pin 4 is connected to +12V02 in one way and capacitor C90 in another way, capacitor C90 is grounded, and pin 5 is connected to pin 16 of Darlington crystal array U7; pin 2 of relay K4 is connected to 37V, pin 3 is connected to the drain of MOS tube Q2, pin 5 is connected to +12V02 in one way and capacitor C91 in another way, capacitor C91 is grounded, and pin 4 is connected to pin 14 of Darlington crystal array U7; the source of MOS tube Q2 is connected to resistor R57 and gate driver U6, resistor R57 is connected to resistor R34, resistor R34 is grounded, the gate is connected to resistor R54, resistor R22, and pin 6 of gate driver U6, resistor R54 is grounded, and resistor R22 is connected to pin 7 of gate driver U6; Pin 1 of the gate driver U6 is connected to capacitor C32, resistor R14, and resistor R10. Capacitor C32 is grounded, resistor R14 is grounded, and resistor R10 is connected to +3V3D. Pin 2 is connected to capacitor C33, resistor R17, and resistor R21. Capacitor C33 is grounded, resistor R17 is grounded, and resistor R21 is connected to the source of MOS tube Q2. Pin 3 is connected to resistor R15, and resistor R15 is connected to pin 15 of the MCU. Pin 4 is grounded, pin 5 is grounded, and pin 8 is connected to +12V, capacitor C9, and capacitor C35. Capacitor C9 and capacitor C35 are connected in parallel and then grounded.

8. The electric double-bracing intelligent control circuit according to claim 6 is characterized in that: The motor feedback circuit includes a comparator IC1, a transistor Q3, and a transistor Q1. Pin 1 of the comparator IC1 is connected to a resistor R12, the resistor R12 is connected to a capacitor C70, and the capacitor C70 is grounded. Pin 2 is connected to a capacitor C71, a resistor R32, and a resistor R6. The capacitor C71 is connected to the resistor R32 in parallel and then grounded. The resistor R6 is connected to +12V. Pin 3 is connected to a resistor R44 and a capacitor C73, and the capacitor C73 is grounded. Pin 4 is grounded. Pin 5 is connected to a resistor R41 and a capacitor C80, and the capacitor C80 is grounded. Pin 7 is connected to a resistor R61, and the resistor R61 is connected to a capacitor C75. Capacitor C75 is grounded, pin 8 is connected to capacitor C1 and +12V, and capacitor C1 is grounded; the collector of transistor Q3 is connected to fuse F2, fuse F2 is connected to resistor R58 and resistor R59, resistor R58 is connected to resistor R41, resistor R59 is connected to resistor R44, the emitter of transistor Q3 is connected to +12V and resistor R5, resistor R5 is connected to the base of transistor Q3 and resistor R38, resistor R38 is connected to the collector of transistor Q1, the emitter of transistor Q1 is grounded, the base of transistor Q1 is connected to resistor R42 and resistor R40, and resistor R42 is grounded.

9. The electric double-bracing intelligent control circuit according to claim 6 is characterized in that: Pin 8 of the gyroscope chip U13 is connected to +3V3D and capacitor C53, capacitor C53 is grounded, pin 9 is connected to resistor R137, resistor R137 is grounded, pin 19 is connected to capacitor C54, capacitor C54 is grounded, pin 11 is grounded, pin 13 is connected to resistor R29 and capacitor C56, resistor R29 is connected to +3V3D, capacitor C56 is grounded, pin 20 is connected to capacitor C55, capacitor C55 is grounded, pin 23 is connected to resistor R139, resistor R139 is connected to resistor R141 and pin 32 of MCU, pin 24 is connected to resistor R138, resistor R138 is connected to resistor R140 and pin 1 of MCU, resistors R141 and R140 are both connected to +3V3D.

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