Two-wheeled electric bicycle self-balancing control system based on TC264 chip

Abstract

The utility model relates to a two-wheeled electric bicycle self-balancing control system based on a TC264 chip. Comprising a TC264 chip master control system; the attitude sensor is connected with the main control system and is used for detecting the body attitude information of the electric bicycle; the tracking sensor circuit is connected with the main control system and used for detecting steering information of the electric bicycle; the steering engine driving circuit is connected with the main control system; the steering engine is connected with the steering engine driving circuit; the brushless motor driving circuit is connected with the main control system; the brushless motor is connected with the brushless motor driving circuit; the momentum wheel is connected with the brushless motor and used for adjusting the body balance state of the electric bicycle; the momentum wheel encoder is connected with the momentum wheel and the main control system; the forward driving motor circuit is connected with the main control system; and the forward speed ring encoder is connected with the forward driving motor circuit and the main control system. According to the utility model, the TC264 single-chip microcomputer chip is adopted as a core control chip, so that the posture of the electric bicycle can be quickly responded and controlled, and the upright balance control of the two-wheeled electric bicycle is realized.

Description

Technical Field

[0001] The utility model relates to the technical field of two-wheeled electric motorcycle control, and more specifically, to a two-wheeled electric motorcycle self-balancing control system based on a TC264 chip. Background Art

[0002] As the natural environment problems become more and more serious, slogans such as "low-carbon travel, green environmental protection" have been put forward recently, and more and more people consciously use motorcycles as a means of travel. With the development of science and technology, the demand for intelligent and autonomous management of motorcycles has become a future trend. Therefore, combining unmanned driving, intelligent control and other technologies to enable motorcycles to achieve autonomous upright balance has become an important application direction for future development.

[0003] At present, the common way to balance an electric motorcycle upright is to use the rotation of the handlebars and the drive of the rear wheel to achieve the balance of the vehicle body during operation. This method may cause the vehicle to lose balance when the road surface is uneven, potholes, the speed is too low or other obstacles. Since the electric motorcycle relies on the drive of the rear wheel to maintain balance, it is difficult to maintain balance when driving at low speeds. At low speeds, the electric motorcycle may be more likely to tilt or lose stability, and the operator needs to exert human intervention (speed and steering) to achieve the preset effect. Therefore, this method has difficulties in stopping and starting. In addition, since the steering of the vehicle mainly depends on the handlebars, and the control of the balance of the electric motorcycle also depends on the turning of the handlebars, this design idea makes the control of the controller relatively difficult, especially when it is necessary to make an emergency turn or avoid obstacles, it is extremely difficult to achieve both balance and steering balance.

[0004] Therefore, how to quickly respond to the balance state of the motorcycle has become an important technical issue in the balance and stability control of the motorcycle. Utility Model Content

[0005] The utility model aims to overcome at least one defect (shortcoming) of the above-mentioned prior art and provide a two-wheeled electric motorcycle self-balancing control system based on the TC264 chip, which realizes the self-balancing control of the two-wheeled electric motorcycle by quickly responding to and controlling the posture of the electric motorcycle.

[0006] The technical solution adopted by the utility model is a two-wheeled electric motorcycle self-balancing control system based on the TC264 chip, comprising:

[0007] TC264 chip main control system;

[0008] A posture sensor connected to the TC264 chip main control system for detecting the body posture information of the motorcycle;

[0009] A tracking sensor circuit, connected to the TC264 chip main control system, for detecting the steering information of the motorcycle;

[0010] A steering gear drive circuit is connected to the TC264 chip main control system;

[0011] A steering gear, connected to the steering gear drive circuit;

[0012] A brushless motor drive circuit is connected to the TC264 chip main control system;

[0013] A brushless motor connected to the brushless motor drive circuit;

[0014] A momentum wheel connected to the brushless motor and used to adjust the balance state of the motorcycle;

[0015] A momentum wheel encoder connected to the momentum wheel and the TC264 chip main control system;

[0016] A forward drive motor circuit connected to the TC264 chip main control system;

[0017] a forward drive motor connected to the forward drive motor circuit;

[0018] The forward speed ring encoder is connected to the forward drive motor and the TC264 chip main control system.

[0019] In the above scheme, the TC264 chip main control system is provided with a voltage stabilizing circuit, and the voltage stabilizing circuit includes:

[0020] A first tantalum capacitor C1, a first capacitor C2, a first low voltage regulator U2, a second capacitor C3, a second tantalum capacitor C4, a second low voltage regulator U15, a third capacitor C5 and a third tantalum capacitor C6;

[0021] The first tantalum capacitor C1 is connected in parallel with the first capacitor C2, one end of which is connected to the input end of the first low voltage regulator U2 and to the power supply VCC, and the other end is grounded;

[0022] The output end of the first low voltage regulator U2 is connected to the input end of the second low voltage regulator U15 and to the steering gear drive circuit;

[0023] The second capacitor C3 is connected in parallel with the second tantalum capacitor C4, one end of which is connected to the output end of the first low voltage regulator U2, and the other end is grounded;

[0024] The third capacitor C5 and the third tantalum capacitor C6 are connected in parallel, one end of which is connected to the output end of the second low voltage regulator U15, and the other end is grounded;

[0025] The output end of the second low voltage regulator U15 is connected to the TC264 chip main control system.

[0026] In the above solution, the first low voltage regulator U2 is a LM2940 low voltage regulator, and / or the second low voltage regulator U15 is a LM1117 low voltage regulator.

[0027] In the above solution, the voltage stabilizing circuit is connected to the power supply VCC through an overvoltage protection circuit.

[0028] In the above scheme, the overvoltage protection circuit includes an ETA7014 overvoltage protector, a first resistor R1, a second resistor R2, a third resistor R3 and a fourth capacitor C7;

[0029] The first pin and the second pin of the ETA7014 overvoltage protector are connected to the power supply VCC through the first resistor R1 and the second resistor R2 respectively, the first pin is also connected to the ground through the third resistor R3, the third pin is connected to one end of the first tantalum capacitor C1 and the first capacitor C2 in parallel, the third pin is also grounded through the fourth capacitor C7, the fourth and fifth pins are connected to the power supply VCC, and the sixth pin is grounded.

[0030] In the above scheme, the servo drive circuit is provided with a servo voltage stabilizing circuit, and the servo voltage stabilizing circuit includes an LM1084 step-down chip, a fourth tantalum capacitor C8, a fifth capacitor C9, a sixth capacitor C10, a fifth tantalum capacitor C11, a fourth resistor R4, a potentiometer and a wiring terminal with three interfaces;

[0031] The fourth tantalum capacitor C8 and the fifth capacitor C9 are connected in parallel, one end of which is connected to the third pin of the LM1084 buck chip, and the other end is grounded;

[0032] The first pin of the LM1084 buck chip is connected to the first end and the middle end of the potentiometer, and the second pin is connected to the second interface of the wiring terminal;

[0033] The sixth capacitor C10 and the fifth tantalum capacitor C11 are connected in series, and both ends are connected to the second pin of the LM1084 buck chip;

[0034] One end of the fourth resistor R4 is connected to the second pin of the LM1084 buck chip, and the other end is connected to the first end and the middle end of the potentiometer;

[0035] The third terminal of the potentiometer is grounded;

[0036] The first interface of the terminal block is connected to the servo, and the third interface is grounded.

[0037] In the above scheme, the brushless motor drive circuit includes three pre-drive circuits and a three-phase H-bridge drive circuit. The three pre-drive circuits are respectively connected to the TC264 chip main control system and the three-phase H-bridge drive circuit. The three-phase H-bridge drive circuit is connected to the brushless motor.

[0038] In the above scheme, each of the pre-driving circuits includes an AUIRS2181 gate driver, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a seventh capacitor C12, a diode D1, and an eighth capacitor C13;

[0039] One end of the fifth resistor R5 is connected to the TC264 chip main control system, and the other end is connected to the first pin of the AUIRS2181 gate driver;

[0040] One end of the sixth resistor R6 is connected to the TC264 chip main control system, and the other end is connected to the second pin of the AUIRS2181 gate driver;

[0041] One end of the seventh resistor R7 is connected to the other end of the fifth resistor R5, and the other end is grounded;

[0042] One end of the eighth resistor R8 is connected to the other end of the sixth resistor R6, and the other end is grounded;

[0043] The third pin of the AUIRS2181 gate driver is grounded, the fourth pin, the sixth pin and the seventh pin are respectively connected to the three-phase H-bridge drive circuit, the fifth pin is connected to the power supply VCC and one end of the eighth capacitor C13 through the step-down circuit, the sixth pin is also connected to the eighth pin through the seventh capacitor C12, the eighth pin is also connected to the cathode of the diode D1, and the anode of the diode D1 is connected to one end of the eighth capacitor C13;

[0044] The other end of the eighth capacitor C13 is grounded.

[0045] In the above solution, the attitude sensor is a gyroscope.

[0046] Compared with the prior art, the beneficial effects of the utility model are:

[0047] (1) The utility model adopts the TC264 single-chip microcomputer chip as the core control chip of the control system, which can centrally acquire and process the data collected by the posture sensor, tracking sensor circuit, momentum wheel encoder, forward speed ring encoder, etc., so as to quickly respond to control the posture of the electric motorcycle and realize the upright balance control of the two-wheeled electric motorcycle.

[0048] (2) The utility model utilizes a momentum wheel encoder to monitor the rotation speed of the momentum wheel. The TC264 single-chip microcomputer chip drives the brushless motor to work through the brushless motor drive circuit. The brushless motor drives the momentum wheel to rotate, thereby utilizing the stability and precession of the high-speed rotational motion of the momentum wheel to further achieve upright self-balancing of the two-wheeled electric motorcycle within a certain angle range.

[0049] (3) The TC264 single chip microcomputer of the utility model drives the steering gear through the steering gear driving circuit, and controls the steering of the handlebars of the vehicle body through the steering gear, so that the steering of the vehicle body can be controlled by the steering gear. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a schematic diagram of a two-wheeled electric motorcycle self-balancing control system based on the TC264 chip of the utility model.

[0051] Figure 2 It is a schematic diagram of the TC264 single-chip microcomputer chip in the utility model.

[0052] Figure 3 It is a circuit diagram of the voltage stabilizing circuit in the utility model.

[0053] Figure 4 The utility model is a circuit diagram of the overvoltage protection circuit.

[0054] Figure 5 The utility model is a circuit diagram of the steering gear voltage stabilizing circuit.

[0055] Figure 6 It is a circuit diagram of the pre-driving circuit in the utility model.

[0056] Figure 7 It is a circuit diagram of a three-phase H-bridge drive circuit in the utility model. DETAILED DESCRIPTION

[0057] The drawings of the present invention are only used for illustrative purposes and cannot be construed as limiting the present invention. In order to better illustrate the following embodiments, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0058] Example 1

[0059] like Figure 1 As shown, the utility model is a two-wheeled electric motorcycle self-balancing control system based on TC264 chip, specifically comprising:

[0060] TC264 chip main control system;

[0061] A posture sensor connected to the TC264 chip main control system for detecting the body posture information of the motorcycle;

[0062] A tracking sensor circuit, connected to the TC264 chip main control system, for detecting the steering information of the motorcycle;

[0063] A steering gear drive circuit is connected to the TC264 chip main control system;

[0064] A steering gear, connected to the steering gear drive circuit;

[0065] A brushless motor drive circuit is connected to the TC264 chip main control system;

[0066] A brushless motor connected to the brushless motor drive circuit;

[0067] A momentum wheel connected to the brushless motor and used to adjust the balance state of the motorcycle;

[0068] A momentum wheel encoder connected to the momentum wheel and the TC264 chip main control system;

[0069] A forward drive motor circuit connected to the TC264 chip main control system;

[0070] a forward drive motor connected to the forward drive motor circuit;

[0071] The forward speed ring encoder is connected to the forward drive motor and the TC264 chip main control system.

[0072] Specifically, Figure 2 As shown in the figure, the TC264 chip main control system uses the TC264 single-chip microcomputer chip, which uses an internal adjustable crystal oscillator as its clock source. The TC264 chip main control system can centrally acquire and process the data collected by the attitude sensor, tracking sensor circuit, momentum wheel encoder, forward speed ring encoder, etc., so as to achieve a fast response to the upright balance control of the two-wheeled motorcycle.

[0073] In the specific implementation process, the power supply required by the TC264 chip main control system is 3.3V, and the voltage of the second power supply VCC is 12V. In order to prevent the voltage difference from being too large and causing the system to overheat, a 3.3V voltage regulator module with stepped voltage reduction needs to be constructed. A preferred implementation is that the TC264 chip main control system is provided with a voltage regulator circuit, which reduces the voltage of 12V to 3.3V step by step. Figure 3 As shown, the voltage stabilizing circuit includes:

[0074] A first tantalum capacitor C1, a first capacitor C2, a first low voltage regulator U2, a second capacitor C3, a second tantalum capacitor C4, a second low voltage regulator U15, a third capacitor C5 and a third tantalum capacitor C6; the first low voltage regulator U2 is a LM2940 low voltage regulator, and the second low voltage regulator U15 is a LM1117 low voltage regulator;

[0075] The first tantalum capacitor C1 is connected in parallel with the first capacitor C2, one end of which is connected to the input end of the first low voltage regulator U2 and to the power supply VCC, and the other end is grounded;

[0076] The output end of the first low voltage regulator U2 is connected to the input end of the second low voltage regulator U15 and to the steering gear drive circuit;

[0077] The second capacitor C3 is connected in parallel with the second tantalum capacitor C4, one end of which is connected to the output end of the first low voltage regulator U2, and the other end is grounded;

[0078] The third capacitor C5 and the third tantalum capacitor C6 are connected in parallel, one end of which is connected to the output end of the second low voltage regulator U15, and the other end is grounded;

[0079] The output end of the second low voltage regulator U15 is connected to the TC264 chip main control system, that is, connected to the VCC pins of the second and fourth pins of the TC264 single chip microcomputer chip.

[0080] The voltage stabilizing circuit first uses the LM2940 low voltage regulator to reduce the voltage of the power supply VCC12V to 5V, and then uses the LM1117 low voltage regulator to reduce the 5V voltage to 3.3V to power the TC264 single chip microcomputer chip.

[0081] During the specific implementation process, for the 12V battery power supply VCC, considering that the driver will be frequently turned on and off during the debugging process, in order to avoid the voltage exceeding the threshold or the electrophoretic shock circuit generated by the switch, an overvoltage protection circuit is chosen to design the voltage protection circuit. The overvoltage protection circuit uses the voltage protector ETA7014. This chip can react very quickly to input surges and switch within 0.1us, and can withstand voltage spikes up to 20V.

[0082] Specifically, Figure 4 As shown, the overvoltage protection circuit includes an ETA7014 overvoltage protector, a first resistor R1, a second resistor R2, a third resistor R3 and a fourth capacitor C7;

[0083] The first pin and the second pin of the ETA7014 overvoltage protector are connected to the power supply VCC through the first resistor R1 and the second resistor R2 respectively, the first pin is also connected to the ground through the third resistor R3, the third pin is connected to one end of the first tantalum capacitor C1 and the first capacitor C2 in parallel, the third pin is also grounded through the fourth capacitor C7, the fourth and fifth pins are connected to the power supply VCC, and the sixth pin is grounded.

[0084] In the specific implementation process, the attitude sensor is implemented by a gyroscope, so as to reduce the lagging and nonlinear attitude information of the motorcycle, optimize the dynamic performance and steady-state accuracy, and reliably calculate the vehicle position information.

[0085] During the specific implementation process, the tracking sensor circuit is used to obtain road element information, and the obtained information is sent to the TC264 chip main control system. After the TC264 chip main control system processes the information, it can realize the vehicle steering control.

[0086] During the specific implementation process, the motorcycle is provided with a handlebar, and the handlebar can realize steering control through the servo, and the servo can be realized by an S3010 servo. The driving voltage of the S3010 servo is generally between 4.8V and 6V. During the specific implementation, the servo can be powered and driven by a servo drive circuit, and specifically, a servo voltage stabilizing circuit is constructed using an LM1084 step-down chip. The advantage of LM1084 is that it has a low voltage drop under high current and very low power consumption. It will not heat up when the battery voltage is reduced from 12V to 5V, so this voltage stabilizing circuit is used to serve as a servo power supply module.

[0087] like Figure 5 As shown, the servo voltage stabilizing circuit includes a LM1084 step-down chip, a fourth tantalum capacitor C8, a fifth capacitor C9, a sixth capacitor C10, a fifth tantalum capacitor C11, a fourth resistor R4, a potentiometer and a wiring terminal with three interfaces;

[0088] The fourth tantalum capacitor C8 and the fifth capacitor C9 are connected in parallel, one end of which is connected to the third pin of the LM1084 buck chip, and the other end is grounded;

[0089] The first pin of the LM1084 buck chip is connected to the first end and the middle end of the potentiometer, and the second pin is connected to the second interface of the wiring terminal;

[0090] The sixth capacitor C10 and the fifth tantalum capacitor C11 are connected in series, and both ends are connected to the second pin of the LM1084 buck chip;

[0091] One end of the fourth resistor R4 is connected to the second pin of the LM1084 buck chip, and the other end is connected to the first end and the middle end of the potentiometer;

[0092] The third terminal of the potentiometer is grounded;

[0093] The first interface of the terminal block is connected to the servo, specifically to the enable end of the servo, that is, to the 27th pin of the TC264 microcontroller chip. The second interface is also connected to the power supply, specifically to the output end of the LM2940 low-voltage regulator, which outputs a 5V voltage. The third interface is grounded.

[0094] In the specific implementation process, the momentum wheel can be a mechanical gyroscope with a large mass, which can realize the upright self-balancing of the motorcycle within a certain angle range through the stability and precession of high-speed rotation. The system adds a momentum wheel to improve the problems of poor robustness and poor adjustability of the existing upright balance system of motorcycles, which can greatly reduce the difficulty of people's riding. In the specific implementation, the TC264 chip main control system outputs a control signal to drive the brushless motor, and the momentum wheel is driven by the brushless motor to move, so as to achieve balance control of the vehicle body.

[0095] At the same time, the momentum wheel encoder can also be used to monitor the speed of the momentum wheel in real time. The momentum wheel encoder can obtain the driving status of the motorcycle and the status of the closed-loop brushless motor driving the momentum wheel, and send it to the TC264 chip main control system for processing.

[0096] During specific operation, the momentum wheel rotates with the drive of the brushless motor, thereby applying angular momentum opposite to the tilt direction to the vehicle body, so as to achieve the purpose of controlling the balance of the vehicle body by controlling the momentum wheel.

[0097] In the specific implementation process, the brushless motor drive can adopt the Infineon brushless motor drive solution. The brushless DC motor is essentially a permanent magnet synchronous motor that uses a DC power input and converts it into a three-phase AC power supply using an inverter.

[0098] Specifically, the selected brushless motor has its own accurate Hall sensor, so the circuit part only needs to focus on the stable generation of PWM output. In order to enhance the PWM signal output by the TC264 chip main control system to the level that can drive the MOS switch, the AUIRS2181 gate driver is used to build a pre-drive circuit.

[0099] Specifically, the brushless motor drive circuit includes three pre-drive circuits and a three-phase H-bridge drive circuit. The three pre-drive circuits are respectively connected to the TC264 chip main control system and the three-phase H-bridge drive circuit. The three-phase H-bridge drive circuit is connected to the brushless motor.

[0100] like Figure 6 As shown, each of the pre-driving circuits includes an AUIRS2181 gate driver, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a seventh capacitor C12, a diode D1, and an eighth capacitor C13;

[0101] One end of the fifth resistor R5 is connected to the TC264 chip main control system, specifically to the 51st pin, the 52nd pin, or the 53rd pin of the TC264 chip main control system, and the other end is connected to the first pin of the AUIRS2181 gate driver;

[0102] One end of the sixth resistor R6 is connected to the TC264 chip main control system, specifically connected to the 30th pin, the 28th pin, or the 26th pin of the TC264 chip main control system, and the other end is connected to the second pin of the AUIRS2181 gate driver;

[0103] One end of the seventh resistor R7 is connected to the other end of the fifth resistor R5, and the other end is grounded;

[0104] One end of the eighth resistor R8 is connected to the other end of the sixth resistor R6, and the other end is grounded;

[0105] The third pin of the AUIRS2181 gate driver is grounded, the fourth pin, the sixth pin and the seventh pin are respectively connected to the three-phase H-bridge drive circuit, the fifth pin is connected to the power supply VCC and one end of the eighth capacitor C13 through the step-down circuit, the sixth pin is also connected to the eighth pin through the seventh capacitor C12, the eighth pin is also connected to the cathode of the diode D1, and the anode of the diode D1 is connected to one end of the eighth capacitor C13;

[0106] The other end of the eighth capacitor C13 is grounded.

[0107] In a preferred implementation, in order to reduce the power supply VCC to the required 3.3V and 5V power supplies respectively, the step-down circuit can be constructed using the RY8121 step-down regulator chip.

[0108] The high-side gate drive output and the low-side gate drive output output of the pre-driving circuit of the utility model are respectively given to the upper and lower half bridges of the three-way H bridge, and the three-phase H bridge driving circuit outputs to the brushless motor.

[0109] like Figure 7 As shown, the three-phase H-bridge drive circuit includes the first to twelfth field effect tubes Q1-Q12, the ninth to twentieth resistors R9-R20. In the three-phase H-bridge drive circuit, the diode D1 connected to the field effect tube is to eliminate the ringing phenomenon generated when it is turned on. A pull-down resistor (R10, R12, etc.) is added to the gate. The resistor has two functions: one is to give the gate a certain level when the circuit is powered on to prevent false conduction when powered on; the other is to provide a discharge path for the Cgs parasitic capacitor to consume the electrical energy stored in the parasitic capacitor.

[0110] Specifically, the three pre-driving circuits are a first pre-driving circuit, a second pre-driving circuit and a third pre-driving circuit;

[0111] One end of the ninth resistor R9 is connected to the seventh pin of the AUIRS2181 gate driver in the first pre-driving circuit, and the other end is connected to the gates of the first field effect transistor Q1 and the second field effect transistor Q2 respectively;

[0112] One end of the tenth resistor R10 is connected to the sixth pin of the AUIRS2181 gate driver in the first pre-driving circuit, and the other end is connected to the gate of the first field effect transistor Q1; one end of the tenth resistor R10 is also connected to the source of the first field effect transistor Q1, the source of the second field effect transistor Q2, the drain of the third field effect transistor Q3, and the drain of the fourth field effect transistor Q4;

[0113] The drains of the first field effect transistor Q1 and the second field effect transistor Q2 are connected to the power supply VCC;

[0114] The eleventh resistor R11 is connected to the fourth pin of the AUIRS2181 gate driver in the first pre-driving circuit, and the other end is connected to the gate of the third field effect transistor Q3 and the gate of the fourth field effect transistor Q4;

[0115] One end of the twelfth resistor R12 is connected to the source of the third field effect transistor Q3 and the fourth field effect transistor Q4 respectively, and the other end is connected to the gate of the third field effect transistor Q3;

[0116] The sources of the third field effect transistor Q3 and the fourth field effect transistor Q4 are grounded;

[0117] One end of the thirteenth resistor 13 is connected to the seventh pin of the AUIRS2181 gate driver in the second pre-driving circuit, and the other end is connected to the gates of the fifth field effect transistor Q5 and the sixth field effect transistor Q6 respectively;

[0118] One end of the fourteenth resistor R14 is connected to the sixth pin of the AUIRS2181 gate driver in the second pre-driving circuit, and the other end is connected to the gate of the fifth field effect transistor Q5; one end of the fourteenth resistor R14 is also connected to the source of the fifth field effect transistor Q5, the source of the sixth field effect transistor Q6, the drain of the seventh field effect transistor Q7, and the drain of the eighth field effect transistor Q8;

[0119] The drains of the fifth field effect transistor Q5 and the sixth field effect transistor Q6 are connected to the power supply VCC;

[0120] A fifteenth resistor R15 is connected to the fourth pin of the AUIRS2181 gate driver in the second pre-driving circuit, and the other end is connected to the gates of the seventh field effect transistor Q7 and the eighth field effect transistor Q8;

[0121] One end of the sixteenth resistor R16 is connected to the source of the seventh field effect transistor Q7 and the eighth field effect transistor Q8, respectively, and the other end is connected to the gate of the seventh field effect transistor Q7;

[0122] The sources of the seventh field effect transistor Q7 and the eighth field effect transistor Q8 are grounded;

[0123] One end of the seventeenth resistor 17 is connected to the seventh pin of the AUIRS2181 gate driver in the third pre-driving circuit, and the other end is connected to the gates of the ninth field effect transistor Q9 and the tenth field effect transistor Q10 respectively;

[0124] One end of the eighteenth resistor R18 is connected to the sixth pin of the AUIRS2181 gate driver in the third pre-driving circuit, and the other end is connected to the gate of the ninth field effect transistor Q9; one end of the eighteenth resistor R18 is also connected to the source of the ninth field effect transistor Q9, the source of the tenth field effect transistor Q10, the drain of the eleventh field effect transistor Q11, and the drain of the twelfth field effect transistor Q12;

[0125] The drains of the ninth field effect transistor Q9 and the tenth field effect transistor Q10 are connected to the power supply VCC;

[0126] A nineteenth resistor R19 is connected to the fourth pin of the AUIRS2181 gate driver in the third pre-driving circuit, and the other end is connected to the gates of the eleventh field effect transistor Q11 and the twelfth field effect transistor Q12;

[0127] One end of the twentieth resistor R20 is connected to the source of the eleventh field effect transistor Q11 and the twelfth field effect transistor Q12 respectively, and the other end is connected to the gate of the eleventh field effect transistor Q11;

[0128] The sources of the eleventh field effect transistor Q11 and the twelfth field effect transistor Q12 are grounded;

[0129] One end of the tenth resistor R10 , the fourteenth resistor R14 , and the eighteenth resistor R18 is also connected to the brushless motor to drive the brushless motor to work.

[0130] In the specific implementation process, in order to realize the motion control of the electric motorcycle, in addition to realizing the steering control, the forward control must also be realized. For the constant speed forward control of the vehicle body, a combination of a DC motor and an encoder can be set at the rear wheel of the vehicle body, and they can be controlled by a single speed loop. In the specific implementation, the forward drive motor is driven by the forward drive motor circuit, and the encoder is realized by a forward speed loop encoder.

[0131] Obviously, the above embodiments of the utility model are only examples for clearly explaining the technical solution of the utility model, and are not intended to limit the specific implementation methods of the utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the claims of the utility model shall be included in the protection scope of the claims of the utility model.

Claims

1. A two-wheeled electric motorcycle self-balancing control system based on TC264 chip, characterized in that: include: TC264 chip main control system; A posture sensor connected to the TC264 chip main control system for detecting the body posture information of the motorcycle; A tracking sensor circuit is connected to the TC264 chip main control system and is used to detect the steering information of the motorcycle; A servo drive circuit is connected to the TC264 chip main control system; A steering gear, connected to the steering gear drive circuit; A brushless motor drive circuit is connected to the TC264 chip main control system; A brushless motor connected to the brushless motor drive circuit; A momentum wheel connected to the brushless motor and used to adjust the balance state of the motorcycle; A momentum wheel encoder connected to the momentum wheel and the TC264 chip main control system; A forward drive motor circuit connected to the TC264 chip main control system; a forward drive motor connected to the forward drive motor circuit; The forward speed ring encoder is connected to the forward drive motor and the TC264 chip main control system.

2. The two-wheeled electric motorcycle self-balancing control system based on the TC264 chip according to claim 1 is characterized in that: The TC264 chip main control system is provided with a voltage stabilizing circuit, and the voltage stabilizing circuit comprises: A first tantalum capacitor C1, a first capacitor C2, a first low voltage regulator U2, a second capacitor C3, a second tantalum capacitor C4, a second low voltage regulator U15, a third capacitor C5 and a third tantalum capacitor C6; The first tantalum capacitor C1 is connected in parallel with the first capacitor C2, one end of which is connected to the input end of the first low voltage regulator U2 and to the power supply VCC, and the other end is grounded; The output end of the first low voltage regulator U2 is connected to the input end of the second low voltage regulator U15, and is connected to the steering gear drive circuit; The second capacitor C3 is connected in parallel with the second tantalum capacitor C4, one end of which is connected to the output end of the first low voltage regulator U2, and the other end is grounded; The third capacitor C5 and the third tantalum capacitor C6 are connected in parallel, one end of which is connected to the output end of the second low voltage regulator U15, and the other end is grounded; The output end of the second low voltage regulator U15 is connected to the TC264 chip main control system.

3. The two-wheeled electric motorcycle self-balancing control system based on the TC264 chip according to claim 2 is characterized in that: The first low voltage regulator U2 is a LM2940 low voltage regulator, and / or the second low voltage regulator U15 is a LM1117 low voltage regulator.

4. The two-wheeled electric motorcycle self-balancing control system based on the TC264 chip according to claim 2 is characterized in that: The voltage stabilizing circuit is connected to a power source VCC via an overvoltage protection circuit.

5. The two-wheeled electric motorcycle self-balancing control system based on the TC264 chip according to claim 4 is characterized in that: The overvoltage protection circuit includes an ETA7014 overvoltage protector, a first resistor R1, a second resistor R2, a third resistor R3 and a fourth capacitor C7; The first pin and the second pin of the ETA7014 overvoltage protector are connected to the power supply VCC through the first resistor R1 and the second resistor R2 respectively, the first pin is also connected to the ground through the third resistor R3, the third pin is connected to one end of the first tantalum capacitor C1 and the first capacitor C2 in parallel, the third pin is also grounded through the fourth capacitor C7, the fourth and fifth pins are connected to the power supply VCC, and the sixth pin is grounded.

6. The two-wheeled electric motorcycle self-balancing control system based on the TC264 chip according to any one of claims 1 to 5, characterized in that: The servo drive circuit is provided with a servo voltage stabilizing circuit, and the servo voltage stabilizing circuit includes an LM1084 step-down chip, a fourth tantalum capacitor C8, a fifth capacitor C9, a sixth capacitor C10, a fifth tantalum capacitor C11, a fourth resistor R4, a potentiometer and a wiring terminal with three interfaces; The fourth tantalum capacitor C8 and the fifth capacitor C9 are connected in parallel, one end of which is connected to the third pin of the LM1084 buck chip, and the other end is grounded; The first pin of the LM1084 buck chip is connected to the first end and the middle end of the potentiometer, and the second pin is connected to the second interface of the wiring terminal; The sixth capacitor C10 and the fifth tantalum capacitor C11 are connected in series, and both ends are connected to the second pin of the LM1084 buck chip; One end of the fourth resistor R4 is connected to the second pin of the LM1084 buck chip, and the other end is connected to the first end and the middle end of the potentiometer; The third terminal of the potentiometer is grounded; The first interface of the terminal block is connected to the servo, and the third interface is grounded.

7. The two-wheeled electric motorcycle self-balancing control system based on the TC264 chip according to any one of claims 1 to 5, characterized in that: The brushless motor drive circuit includes three pre-drive circuits and a three-phase H-bridge drive circuit. The three pre-drive circuits are respectively connected to the TC264 chip main control system and the three-phase H-bridge drive circuit. The three-phase H-bridge drive circuit is connected to the brushless motor.

8. The two-wheeled electric motorcycle self-balancing control system based on the TC264 chip according to claim 7 is characterized in that: Each of the pre-driving circuits includes an AUIRS2181 gate driver, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a seventh capacitor C12, a diode D1, and an eighth capacitor C13; One end of the fifth resistor R5 is connected to the TC264 chip main control system, and the other end is connected to the first pin of the AUIRS2181 gate driver; One end of the sixth resistor R6 is connected to the TC264 chip main control system, and the other end is connected to the second pin of the AUIRS2181 gate driver; One end of the seventh resistor R7 is connected to the other end of the fifth resistor R5, and the other end is grounded; One end of the eighth resistor R8 is connected to the other end of the sixth resistor R6, and the other end is grounded; The third pin of the AUIRS2181 gate driver is grounded, the fourth pin, the sixth pin and the seventh pin are respectively connected to the three-phase H-bridge drive circuit, the fifth pin is connected to the power supply VCC and one end of the eighth capacitor C13 through the step-down circuit, the sixth pin is also connected to the eighth pin through the seventh capacitor C12, the eighth pin is also connected to the cathode of the diode D1, and the anode of the diode D1 is connected to one end of the eighth capacitor C13; The other end of the eighth capacitor C13 is grounded.

9. The two-wheeled electric motorcycle self-balancing control system based on the TC264 chip according to any one of claims 1-5 and 8, characterized in that: The attitude sensor is a gyroscope.

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