Control device for integrated auxiliary wheel driving two-wheel self-balancing electric vehicle

Abstract

The utility model discloses a control device for an integrated auxiliary wheel driving two-wheel self-balancing electric vehicle, which belongs to the technical field of electric vehicles and comprises a hub motor for driving the electric vehicle to advance, a steering motor for driving the electric vehicle to keep balance and an attitude sensor for monitoring the attitude of the electric vehicle. The power supply is connected with the hub motors through the hub driving circuit, and the power supply is connected with the steering motor through the steering driving circuit; the controller is respectively connected with the attitude sensor, the power supply, the hub driving circuit and the steering driving circuit; auxiliary motors are installed on one side or two sides of the electric vehicle and connected with the auxiliary wheels through transmission rods. The power supply comprises a high-voltage power supply module for providing high-voltage electric energy for the hub motor, the steering motor and the auxiliary motor and a low-voltage power supply module for providing low-voltage electric energy for the attitude sensor, the controller and the communication circuit; the low-voltage power supply module is connected with the auxiliary motor through the auxiliary driving circuit; and the controller performs data interaction with a remote controller through a communication circuit.

Description

Technical Field

[0001] This utility model belongs to the field of electric vehicle technology, and in particular relates to a control device for an integrated auxiliary wheel drive two-wheel self-balancing electric vehicle. Background Technology

[0002] The term "electric vehicle" as used in this application specifically refers to two-wheeled vehicles that use electricity as their primary power source. This category of vehicles is broad, encompassing various types such as electric bicycles and electric motorcycles. The operating principle of electric vehicles is based on traditional bicycles or motorcycles. By installing a series of control components on these foundations, including a motor, controller, battery, throttle, brake levers, and a display instrument system, a new type of electrically powered vehicle is formed.

[0003] In recent years, with the rapid development of society, the number and types of electric vehicles have experienced rapid growth, and they have become an indispensable means of transportation in modern society. Compared with traditional bicycles, electric vehicles are heavier, and their batteries may become flammable if improperly handled during use (such as local damage caused by falls). Therefore, ensuring the balance of electric vehicles and avoiding unnecessary falls are key to ensuring their safe operation.

[0004] According to the content disclosed in Chinese invention patent application number 201811396101.X, this patent relates to a self-balancing bicycle mechanical power system and its multi-rigid-body dynamics model. This invention, through specific software algorithms, can effectively ensure the bicycle's balance to a certain extent. However, in practical applications, some technical shortcomings have been found: because the bicycle is only equipped with front and rear wheels, due to limitations in its dynamic response characteristics, it is difficult for the bicycle to achieve a stable self-balancing start or smooth stop during the starting and stopping phases, which usually requires additional assistance from the operator. Utility Model Content

[0005] To address the problems existing in the prior art, this utility model provides a control device for an integrated auxiliary wheel drive two-wheel self-balancing electric vehicle. By installing auxiliary wheels on one or both sides of the electric vehicle and designing corresponding control circuits, the electric vehicle can achieve steady start-up and smooth stop with the assistance of the auxiliary wheels during start-up or stopping.

[0006] The technical solution adopted in this utility model is as follows:

[0007] A control device for an integrated auxiliary wheel drive two-wheel self-balancing electric vehicle includes a hub motor for driving the electric vehicle, a steering motor for maintaining the balance of the electric vehicle, and an attitude sensor for monitoring the attitude of the electric vehicle. A power supply is connected to the hub motor via a hub drive circuit and to the steering motor via a steering drive circuit. A controller is connected to the attitude sensor, the power supply, the hub drive circuit, and the steering drive circuit. An auxiliary motor is installed on one or both sides of the electric vehicle, and the auxiliary motor is connected to an auxiliary wheel via a transmission rod. The power supply includes a high-voltage power module that provides high-voltage power to the hub motor, steering motor, and auxiliary motor, and a low-voltage power module that provides low-voltage power to the attitude sensor, controller, and communication circuit. The low-voltage power module is connected to the auxiliary motor via the auxiliary drive circuit. The controller interacts with a remote controller via a communication circuit.

[0008] Preferably, the output voltage of the high-voltage power supply module is 36V to 72V, the output voltage of the low-voltage power supply module is 5V, and the two are arranged in separate zones.

[0009] Preferably, the power supply includes a chip of model LT8640 and a chip of model TLS4120D.

[0010] Preferably, the power path uses a wide copper foil trace with a width of not less than 2mm.

[0011] Preferably, the controller includes an STM32H743 microcontroller with an ARM core from STMicroelectronics.

[0012] Preferably, the direction angle sensor and torque sensor are connected to the controller via an ADC acquisition circuit.

[0013] Preferably, the ADC acquisition circuit includes a 12-bit ADC analog-to-digital conversion module in the main control chip of model STM32H743 and peripheral processing circuits.

[0014] Preferably, the PCB board includes, from top to bottom: a top layer, a power layer, a ground layer, and a bottom layer; wherein, the controller is located at the center of the top layer, the communication circuit is located at the edge of the top layer, the power supply is located on the power layer, the ground layer divides the ground signal into a power ground area, a data signal ground area, and an analog signal ground area according to their functions, and each area is connected by microstrip lines and striplines, and the bottom layer is used for microstrip lines for signal line routing.

[0015] Preferably, the controller communicates with the control terminals of the hub motor and the steering motor via a CAN bus, and the CAN transceiver uses the Infineon TLE6250G chip.

[0016] Preferably, the attitude sensor is an electronic gyroscope, which transmits data to the controller via RS232 serial communication.

[0017] Preferably, the auxiliary drive circuit includes a motor drive chip of model DRV8873.

[0018] Compared with the prior art, the advantages and positive effects of this application are:

[0019] This invention involves installing auxiliary wheels on one or both sides of an electric vehicle and designing corresponding control circuits for these wheels. This design allows the electric vehicle to achieve steady starts and smooth stops with the assistance of the auxiliary wheels. This design not only improves the stability of starting and stopping the electric vehicle but also increases the safety of remote-controlled driving.

[0020] In this invention, the power supply design includes a high-voltage power module (36V~72V) and a low-voltage power module (5V). This design, on the one hand, provides the necessary power supply for different power-consuming loads, meeting the power needs of electric vehicles under different components and conditions. On the other hand, through zoned arrangement, interference between high-voltage and low-voltage power supplies can be effectively avoided, ensuring the stability and safety of the power supply.

[0021] The power path in this invention uses wide copper foil traces. Because the trace width is not less than 2mm, transmission loss can be effectively reduced. This design not only improves the power transmission efficiency but also reduces energy loss, thereby increasing the range of the electric vehicle.

[0022] In this invention, all components are integrated onto a four-layer circuit board: a top layer, a power layer, a ground layer, and a bottom layer. The top and bottom layers are primarily used for chip layout and signal routing, while the power and ground layers are used for power management and electromagnetic shielding. The STM32H743 microcontroller is placed on the top layer as much as possible to reduce signal transmission paths, improve response speed, and reduce latency by being close to the center of the circuit board. This multi-layer stacked design enhances heat dissipation, ensures stable system operation, and thus improves the overall performance and lifespan of the electric vehicle. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1This is a circuit block diagram of a preferred embodiment of this application;

[0025] Figure 2 This is a power supply circuit diagram in a preferred embodiment of this application;

[0026] Figure 3 This is a peripheral circuit diagram of the microcontroller in a preferred embodiment of this application;

[0027] Figure 4 This is a circuit diagram of the remote control button processing in a preferred embodiment of this application;

[0028] Figure 5 This is a circuit diagram of the sensor processing in a preferred embodiment of this application;

[0029] Figure 6 This is a circuit diagram of the CAN bus processing in a preferred embodiment of this application;

[0030] Figure 7 This is a circuit diagram of the RS232 serial port processing in a preferred embodiment of this application;

[0031] Figure 8 This is a circuit diagram of the built-in IMU chip processing circuit in a preferred embodiment of this application;

[0032] Figure 9 This is a diagram of the auxiliary drive circuit in a preferred embodiment of this application;

[0033] Figure 10 This is a schematic diagram of the electric vehicle in a preferred embodiment of this application. Detailed Implementation

[0034] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0035] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" or "linked" should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral connection; it can refer to a mechanical connection or an electrical connection; it can refer to a direct connection or an indirect connection through an intermediate medium; and it can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0036] Please see Figures 1 to 10 A control device for an integrated auxiliary wheel drive two-wheel self-balancing electric vehicle, comprising:

[0037] The system includes a hub motor that drives the electric vehicle, a steering motor that keeps the electric vehicle balanced, and an attitude sensor that monitors the attitude of the electric vehicle. The power supply is connected to the hub motor through the hub drive circuit and to the steering motor through the steering drive circuit. The controller is connected to the attitude sensor, the power supply, the hub drive circuit, and the steering drive circuit.

[0038] In this embodiment, the rear drive (i.e., the hub motor is installed on the rear wheel of the electric vehicle) is used as an example for detailed explanation. In order to realize the adaptive balance function of the electric vehicle, various balance algorithm software can be pre-installed in the controller, such as the invention patent algorithm mentioned in the background technology. Since the balance algorithm is not the innovation of this application, it will not be described in detail here.

[0039] To achieve smooth operation of electric vehicles during start-up and stopping, and to prevent falls, the following additional technical features are adopted based on the aforementioned existing technology:

[0040] An auxiliary motor is installed on one or both sides of the electric vehicle, and the auxiliary motor is connected to the auxiliary wheel through a transmission rod; the power supply includes a high-voltage power module that provides high-voltage power to the hub motor, steering motor and auxiliary motor, and a low-voltage power module that provides low-voltage power to the attitude sensor, controller and communication circuit; the low-voltage power module is connected to the auxiliary motor through an auxiliary drive circuit; the controller interacts with the remote controller through a communication circuit.

[0041] Please see Figure 10 Auxiliary motors are installed on both sides of the electric vehicle frame, namely a left auxiliary motor 3 and a right auxiliary motor. The left auxiliary motor 3 is connected to the left auxiliary wheel 2 through the left transmission rod 4. Specifically, the motor shaft of the left auxiliary motor 3 is connected to the upper shaft of the left transmission rod 4 through the first upper bearing, and the lower end of the left transmission rod 4 is connected to the left auxiliary wheel 2 through the first lower bearing. The motor shaft of the right auxiliary motor is connected to the upper shaft of the right transmission rod through the second upper bearing, and the lower end of the right transmission rod is connected to the right auxiliary wheel 1 through the second lower bearing.

[0042] Working principle: When the electric vehicle starts, the remote control sends a start command to the controller. After receiving the start command, the controller drives the hub motor to rotate through the hub drive circuit. At the same time, the controller drives the steering motor through the steering drive circuit. Simultaneously, the controller drives the left auxiliary motor 3 and the right auxiliary motor to rotate through the auxiliary drive circuit. The left auxiliary motor 3 lifts the left auxiliary wheel 2 through the left transmission rod 4, and the right auxiliary motor lifts the right auxiliary wheel 1 through the right transmission rod. When the left auxiliary wheel 2 and the right auxiliary wheel 1 are raised to the designated position, the controller sends a stop command to the auxiliary drive circuit.

[0043] When the electric vehicle transitions from a driving posture to a deceleration stop, a deceleration stop command is issued to the controller via the remote control. Upon receiving the command, the controller drives the wheel hub motors to gradually decelerate via the wheel hub drive circuit. Simultaneously, the controller drives the steering motor via the steering drive circuit. At the same time, the controller drives the left auxiliary motor 3 and the right auxiliary motor via the auxiliary drive circuit. The left auxiliary motor 3 lowers the left auxiliary wheel 2 via the left transmission rod 4, and the right auxiliary motor lowers the right auxiliary wheel 1 via the right transmission rod. Once the left auxiliary wheel 2 and the right auxiliary wheel 1 have reached their designated positions, the controller issues a stop command to the auxiliary drive circuit, as well as to the steering drive circuit and the wheel hub drive circuit.

[0044] To better understand the inventive concept of this utility model, based on the above preferred embodiments, a non-limiting detailed description is provided below:

[0045] In one embodiment, the high-voltage power supply module has an output voltage of 36V to 72V, the low-voltage power supply module has an output voltage of 5V, and the two are arranged in separate zones.

[0046] Please see Figure 2 The power supply has an input voltage range of 36V to 72V and an operating voltage of 36V to 72V for the high-voltage power module and 5V for the low-voltage control module. The high and low voltages are arranged in a partitioned layout to avoid interference between the high voltage and the low voltage.

[0047] The power supply supports a wide voltage input range, adapting to electric vehicles with voltage levels from 36V to 72V to meet diverse needs. Its compact design facilitates easy installation and significantly improves vehicle handling and safety.

[0048] In this embodiment, the power supply includes a battery and a power management module. The power management module employs a high-efficiency design, utilizing the automotive-grade LT8640 chip to ensure stable operation in extreme environments and improve system reliability. Optimized heat dissipation design reduces temperature rise and extends lifespan. Integrated layout reduces cable interference and improves electromagnetic compatibility.

[0049] The LT8640 chip features a wide input voltage range, effectively simplifying the circuit structure, reducing conversion losses, and improving energy efficiency compared to traditional multi-stage buck converters. It also achieves seamless switching through a Buck-Boost topology. Built-in overvoltage and undervoltage protection ensures stable power output and prevents accidental damage. Synchronous rectification technology further improves conversion efficiency, reduces heat generation, and extends device lifespan. Its compact design adapts to various vehicle models. With a maximum continuous output current of 5A and a peak transient output current of 7A, it can meet the needs of various high-power applications.

[0050] Furthermore, the LT8640 has a quiescent current of only 2.5μA, significantly reducing standby power consumption and improving energy efficiency. Its fast transient response ensures stable output during sudden load changes, preventing voltage fluctuations from affecting the system. In addition, the LT8640 supports multiple protection mechanisms, such as overcurrent and short-circuit protection, ensuring safe system operation under various abnormal conditions. Its high-precision voltage regulation function guarantees stable output voltage, improving overall system performance. Its compact package design facilitates integration and further optimizes internal vehicle space layout.

[0051] The power path uses wide copper foil traces (trace width ≥ 2mm) to reduce transmission loss.

[0052] High-efficiency heat dissipation module: Utilizing an aluminum substrate or thermally conductive silicone, combined with an intelligent temperature-controlled fan, it ensures the module's temperature remains ≤60℃ during high-efficiency operation, effectively preventing performance degradation due to overheating. High-density layout optimizes the heat dissipation path, improving heat dissipation efficiency and extending service life. Built-in multiple protection mechanisms monitor temperature changes in real time and automatically adjust fan speed to ensure stable system operation.

[0053] This embodiment uses the high-performance LT8640 chip as the core component of the power supply, ensuring efficient and stable output. The modular structure facilitates maintenance and replacement, improving system reliability. It is paired with Infineon's TLS4120D chip as an auxiliary power management unit on the circuit board, further optimizing power distribution and regulation, and enhancing overall system stability. The low-power characteristics of the TLS4120D complement the LT8640, jointly constructing a highly efficient and energy-saving power management system. Precise voltage monitoring and regulation ensure stable voltage in each module, improving system operating efficiency and extending service life. The compact modular design facilitates integration and expansion, adapting to diverse application needs. The rational layout of the power processing circuit reduces electromagnetic interference and improves signal transmission quality.

[0054] Meanwhile, high-quality capacitors and inductors are selected to reduce ripple noise and ensure a clean power supply. It also features multiple protection functions including overcurrent, overvoltage, and short circuit protection, monitors circuit status in real time, and automatically cuts off abnormal power to prevent equipment damage.

[0055] The chip features intelligent sleep and wake-up functions, dynamically adjusting its operating status according to load requirements to reduce energy consumption. It also integrates a fault diagnosis system, providing real-time feedback on operational status for quick troubleshooting.

[0056] Please see Figure 3 In one embodiment, the controller includes an STM32H743 microcontroller with an ARM core from STMicroelectronics. The peripheral circuitry uses the high-performance STM32H743 microcontroller with an ARM core from STMicroelectronics as the main control unit, possessing powerful processing capabilities and abundant interface resources. The peripheral circuitry includes a clock module to ensure efficient system operation. The clock module uses a high-precision active crystal oscillator to provide a stable clock signal. In the PCB design, the clock module is strategically positioned away from interference sources to ensure signal purity. A filter circuit is used between the power supply module and the microcontroller to reduce noise impact.

[0057] Please see Figure 4 In one embodiment, the remote control and controller communicate via a 2.4GHz wireless module. Button signals are encoded before transmission to ensure accurate commands. The button signals are converted using an opto-isolator chip, effectively isolating interference and improving signal transmission stability.

[0058] Please see Figure 5 In one embodiment, the directional angle sensor and torque sensor are connected to the controller via an ADC acquisition circuit. The directional angle sensor and torque sensor are integrated onto the same sensor chip, which is a Bosch chip, model 0265019009. The ADC acquisition circuit includes a 12-bit ADC analog-to-digital converter module in the STM32H743 main control chip and peripheral ADC acquisition circuitry.

[0059] The ADC acquisition circuit employs high-precision resistors with 0.1% accuracy to ensure accurate and reliable measurement data. Furthermore, the circuit is equipped with terminating resistors to reduce signal reflection and improve transmission efficiency. The analog input circuit uses different π-shaped filter circuits matched to different sensor acquisition rates to effectively filter out high-frequency noise and ensure signal purity. The main control chip, STM32H743, integrates a 12-bit ADC, offering high conversion accuracy and fast sampling speed to meet data acquisition needs in complex environments. A built-in self-calibration function corrects errors in real time, ensuring data accuracy.

[0060] Please see Figure 6In one embodiment, the controller communicates with the rear wheel hub motor and the front handlebar motor controller via a CAN bus. The CAN transceiver uses the Infineon TLE6250G chip, which features high-speed data transmission and strong anti-interference capabilities. The TLE6250G chip has built-in overvoltage protection and short-circuit protection functions to ensure stable and reliable communication.

[0061] Please see Figure 7 In one embodiment, to ensure communication security, ferrite beads and filter capacitors are added to the circuit design to effectively suppress high-frequency interference. The communication line circuit design adopts differential transmission to ensure the synchronization and stability of signal transmission. Differential signals are transmitted through twisted-pair cables to further reduce electromagnetic interference and ensure the reliability of data transmission. The entire circuit design is rigorous, with each module working collaboratively, resulting in efficient and stable system operation that meets the needs of complex application scenarios.

[0062] An electronic gyroscope (IMU) is selected as the attitude sensor. The IMU communicates with the controller via RS232 serial communication, using a standard DB9 interface to ensure a stable connection. The RS232 processing circuit uses a MAX3232 chip for level conversion, ensuring stable signal transmission. A TVS diode is added to the circuit design to protect the interface from electrostatic discharge (ESD). The DB9 interface is shielded with a metal housing to effectively isolate external interference, ensuring the accuracy and reliability of data transmission. This dual protection of the TVS diode and the metal shield ensures stable and reliable operation even in complex environments.

[0063] Please see Figure 8 In one embodiment, taking into full account various complex factors in practical applications, the circuit board integrates a high-performance automotive-grade 6-axis inertial measurement unit (IMU) to complement the signals from the external electronic gyroscope. This unit integrates a high-precision accelerometer and gyroscope to monitor the device's attitude in real time and provide accurate motion data. Optimized algorithms effectively filter out noise, ensuring stable and reliable measurement results. This 6-axis IMU uses the STMicroelectronics ASM330LHH chip, which possesses excellent temperature stability and shock resistance, ensuring high-precision measurements even in various extreme environments. A built-in low-power mode extends the device's battery life, meeting the needs of long-term monitoring. A carefully designed circuit layout and multiple protection measures ensure the stability of data transmission and the reliability of the system, providing a solid guarantee for the efficient operation of the device. The 6-axis IMU and controller use the SPI communication protocol to ensure efficient data transmission. The SPI interface uses a 4-wire system, supporting high-speed full-duplex communication and reducing latency.

[0064] Please see Figure 9In one embodiment, the auxiliary wheel motor drive circuit can utilize the TI (Texas Instruments) DRV8873 as the auxiliary wheel motor drive chip, compatible with the 36V–72V high-voltage system of electric vehicles. Compared to traditional solutions using relays to drive DC motors, the DRV8873 chip integrates an H-bridge drive circuit, effectively improving motor control accuracy and response speed. Simultaneously, the chip features overcurrent and overheat protection functions, ensuring safe and stable motor operation. Furthermore, the DRV8873 supports PWM speed regulation, flexibly adjusting motor speed, and its built-in current detection function monitors motor status in real time, preventing overload and malfunctions, thus enhancing overall system reliability.

[0065] The auxiliary wheels are driven by dual motors, allowing for independent control of both wheels and ensuring stable vehicle operation under various road conditions. The dual motors work together to effectively improve steering agility and stability, adapting to complex terrain.

[0066] The DAV8873 was selected as the driver chip for the auxiliary wheel motor.

[0067] (1) The size of the drive circuit can be reduced by 60%, saving space and facilitating system integration.

[0068] (2) The chip has built-in protection function and parallel redundancy architecture, which provides double protection for motor operation safety and reduces the failure rate.

[0069] In one embodiment, the electronic components can be integrated onto a four-layer circuit board: a top layer, a power layer, a ground layer, and a bottom layer. The top and bottom layers are used for chip layout and signal routing, while the power and ground layers are used for power management and electromagnetic shielding. The STM32H743 microcontroller is placed on the top layer as much as possible to reduce signal transmission paths, improve response speed, and reduce latency by being close to the center of the circuit board. A multi-layer stacked design is adopted to enhance heat dissipation performance and ensure stable system operation.

[0070] The controller is located at the center of the top layer, the communication circuit is located at the edge of the top layer, the power supply is located in the power layer, and the ground layer is precisely meshed, dividing the system ground signal into power ground area, data signal ground area, and analog signal ground area according to function. Each area is precisely connected by microstrip lines and striplines to ensure low signal transmission loss and high stability, effectively reduce electromagnetic interference, and improve overall circuit performance. The microstrip lines used for signal routing on the bottom layer adopt precise impedance matching design, and the routing paths are optimized to avoid sensitive areas, reduce crosstalk, and ensure signal integrity and transmission rate.

[0071] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.

Claims

1. A control device for an integrated auxiliary wheel drive two-wheel self-balancing electric vehicle, comprising a hub motor for driving the electric vehicle forward, a steering motor for maintaining the balance of the electric vehicle, and an attitude sensor for monitoring the attitude of the electric vehicle; a power supply is connected to the hub motor via a hub drive circuit and to the steering motor via a steering drive circuit; a controller is connected to the attitude sensor, the power supply, the hub drive circuit, and the steering drive circuit; characterized in that: An auxiliary motor is installed on one or both sides of the electric vehicle, and the auxiliary motor is connected to the auxiliary wheel through a transmission rod; the power supply includes a high-voltage power module that provides high-voltage power to the hub motor, steering motor and auxiliary motor, and a low-voltage power module that provides low-voltage power to the attitude sensor, controller and communication circuit; the low-voltage power module is connected to the auxiliary motor through an auxiliary drive circuit; the controller interacts with the remote controller through a communication circuit.

2. The control device for an integrated auxiliary wheel drive two-wheel self-balancing electric vehicle according to claim 1, characterized in that, The power supply includes a chip of model LT8640 and a chip of model TLS4120D.

3. The control device for an integrated auxiliary wheel drive two-wheel self-balancing electric vehicle according to claim 2, characterized in that, The power path uses wide copper foil traces with a width of not less than 2mm.

4. The control device for an integrated auxiliary wheel drive two-wheel self-balancing electric vehicle according to claim 1, characterized in that, The controller includes an STM32H743 microcontroller with an ARM core from STMicroelectronics.

5. The integrated auxiliary wheel drive two-wheel self-balancing electric vehicle control device according to any one of claims 1-4, characterized in that, The steering angle sensor and torque sensor are connected to the controller via an ADC acquisition circuit.

6. The control device for an integrated auxiliary wheel drive two-wheel self-balancing electric vehicle according to claim 5, characterized in that, The ADC acquisition circuit includes a 12-bit ADC analog-to-digital conversion module in the STM32H743 main control chip and peripheral processing circuits.

7. The control device for an integrated auxiliary wheel drive two-wheel self-balancing electric vehicle according to claim 6, characterized in that, The PCB board includes, from top to bottom: a top layer, a power layer, a ground layer, and a bottom layer. The controller is located at the center of the top layer, the communication circuit is located at the edge of the top layer, the power supply is located on the power layer, the ground layer divides the ground signal into power ground area, data signal ground area, and analog signal ground area according to function, and each area is connected by microstrip lines and striplines. The bottom layer is used for microstrip lines for signal line routing.

8. The control device for an integrated auxiliary wheel drive two-wheel self-balancing electric vehicle according to claim 1, characterized in that, The controller communicates with the control terminals of the hub motor and steering motor via a CAN bus, and the CAN transceiver uses the Infineon TLE6250G chip.

9. The control device for an integrated auxiliary wheel drive two-wheel self-balancing electric vehicle according to claim 1, characterized in that, The attitude sensor is an electronic gyroscope, which transmits data to the controller via RS232 serial communication.

10. The control device for an integrated auxiliary wheel drive two-wheel self-balancing electric vehicle according to claim 1, characterized in that, The auxiliary drive circuit includes a motor drive chip of model DRV8873.

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