A balance car control device
By designing a control device for the self-balancing scooter, the stability and battery management issues of the scooter in complex terrain and at high speeds were solved, the power system was optimized, additional functions were added, and the user experience and safety were improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- PINGHU XIAOLONG HABI CHILDRENS BICYCLE CO LTD
- Filing Date
- 2025-06-24
- Publication Date
- 2026-06-23
AI Technical Summary
Existing self-balancing scooters lack balance stability on complex terrain or at high speeds, have inadequate battery management, low power system efficiency, and lack necessary additional functions such as light control and charging detection, which affect safety and convenience.
A self-balancing scooter control device was designed, comprising a controller, a brushless motor three-phase drive circuit, a single-phase half-bridge drive circuit, a gyroscope sensor circuit, a lighting control circuit, a Hall effect detection circuit, a BUCK-BOOST step-down circuit, and a charging detection circuit. These circuits enable balance control, battery management, power system optimization, and additional functions for the self-balancing scooter.
It improves the stability and battery life of the self-balancing scooter, reduces the risk of tipping over, improves the efficiency of the power system, and enhances driving safety and convenience, such as automatic brightness adjustment of the headlights and safety during the charging process.
Smart Images
Figure CN224392377U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of self-balancing scooter technology, and more specifically, to a self-balancing scooter control device. Background Technology
[0002] Self-balancing scooters are a convenient and environmentally friendly personal electric mode of transportation. However, some existing self-balancing scooters lack sufficient balance stability when facing complex terrain or traveling at high speeds, making them prone to tipping over and other safety issues. Some self-balancing scooters have inadequate battery management systems, which can lead to overcharging, over-discharging, or overheating, affecting battery life and safety. The power systems of some self-balancing scooters are inefficient and consume a lot of energy, impacting range and user experience. Finally, some self-balancing scooters lack essential additional functions, such as light control and charging detection, reducing driving safety and convenience. Utility Model Content
[0003] To address the aforementioned deficiencies in the prior art, this utility model provides a self-balancing scooter control device, comprising:
[0004] The controller includes a brushless motor three-phase drive circuit, a single-phase half-bridge drive circuit, a gyroscope sensor circuit, a lighting control circuit, a Hall effect detection circuit, a BUCK-BOOST step-down circuit, a charging detection circuit, and a battery detection circuit, all electrically connected to the controller. The controller receives information from the gyroscope sensor circuit and the Hall effect detection circuit, and maintains the balance of the scooter by controlling the rotation of the motor. The brushless motor three-phase drive circuit receives control signals from the controller and drives the brushless motor to rotate. The single-phase half-bridge drive circuit assists in driving or braking control. The gyroscope sensor circuit detects the tilt angle and angular velocity of the scooter and transmits these parameters to the controller. The lighting control circuit controls the brightness and flashing status of the scooter's lights. The Hall effect detection circuit is used for motor drive measurement, braking control, and speed adjustment. The BUCK-BOOST step-down circuit manages the voltage of the scooter's battery pack. The charging detection circuit monitors the charging status of the scooter, and the battery detection circuit monitors the status of the battery pack in real time.
[0005] Preferably, the three-phase drive circuit for the brushless motor includes: a U-phase drive circuit for the brushless motor, a V-phase drive circuit for the brushless motor, and a W-phase drive circuit for the brushless motor.
[0006] The brushless motor U-phase drive circuit includes: one end of resistor R28 is connected to one end of resistor R78 and the gate of MOSFET V1, the other end of resistor R78 is connected to the source of MOSFET V1, one end of resistor R107, the drain of MOSFET V4 and one end of terminal J1, one end of resistor R118 is connected to one end of resistor R121 and the gate of MOSFET V4, and the other end of resistor R121 is connected to the source of MOSFET V4 and the other end of resistor R107.
[0007] The brushless motor V-phase drive circuit includes: one end of resistor R39 is connected to one end of resistor R80 and the gate of MOSFET V2; the other end of resistor R80 is connected to the source of MOSFET V2, one end of resistor R116, the drain of MOSFET V5, and one end of terminal J3; one end of resistor R119 is connected to one end of resistor R122 and the gate of MOSFET V5; and the other end of resistor R122 is connected to the source of MOSFET V5 and the other end of resistor R116.
[0008] The brushless motor W-phase drive circuit includes: one end of resistor R41 is connected to one end of resistor R105 and the gate of MOSFET V3; the other end of resistor R105 is connected to the source of MOSFET V3, one end of resistor R117, the drain of MOSFET V6, and one end of terminal J4; one end of resistor R120 is connected to one end of resistor R123 and the gate of MOSFET V6; and the other end of resistor R123 is connected to the source of MOSFET V6 and the other end of resistor R117.
[0009] Preferably, the single-phase half-bridge drive circuit includes: pin 1 of the gate drive chip U8 is connected to one end of the capacitor C8 and the positive terminal of the diode D7, pin 8 of the gate drive chip U8 is connected to the negative terminal of the diode D7 and one end of the capacitor C47, and pin 6 of the gate drive chip U8 is connected to the other end of the capacitor C47.
[0010] Preferably, the gyroscope sensor circuit includes: pin 13 of motion sensing chip U1 is connected to one end of resistor R16 and one end of resistor R18 respectively; pin 14 of motion sensing chip U1 is connected to one end of resistor R15 and one end of resistor R17 respectively; pin 8 of motion sensing chip U1 is connected to one end of capacitor C6; pin 1 of 6-axis motion tracking chip U4 is connected to one end of capacitor C43; pin 14 of 6-axis motion tracking chip U4 is connected to one end of capacitor C44; pin 15 of 6-axis motion tracking chip U4 is connected to one end of capacitor C41 and one end of capacitor C42 respectively; and pin 16 of 6-axis motion tracking chip U4 is connected to the other end of capacitor C41 and one end of capacitor C42 respectively.
[0011] Preferably, the lighting control circuit includes: one end of resistor R20 is connected to the base of transistor Q6, the collector of transistor Q6 is connected to one end of resistor R76, the other end of resistor R76 is connected to pin 1 and pin 2 of LED2 respectively, and the emitter of transistor Q6 is grounded.
[0012] Preferably, the Hall detection circuit includes: terminal 1 of Hall element 35 is connected to one end of resistor R7 and one end of resistor R114 respectively; terminal 2 of Hall element 35 is connected to one end of capacitor C9; terminal 3 of Hall element 35 is connected to one end of resistor R26 and one end of resistor R27 respectively; terminal 4 of Hall element 35 is connected to one end of resistor R24 and one end of resistor R25 respectively; terminal 5 of Hall element 35 is connected to one end of resistor R22 and one end of resistor R23 respectively; terminal 6 of Hall element 35 is connected to the negative terminal of diode D7 and the other end of capacitor C9 respectively; the other end of resistor R22 is connected to the other end of resistor R24, the other end of resistor R26, and the other end of resistor R7 respectively; the other end of resistor R23 is connected to one end of capacitor C10; the other end of resistor R25 is connected to one end of capacitor C11; the other end of resistor R27 is connected to one end of capacitor C12; and the other end of resistor R114 is connected to one end of capacitor C4.
[0013] Preferably, the BUCK-BOOST step-down circuit includes: pin 1 of the switching power supply chip PC1 is connected to the cathode of diode D2, one end of capacitor C21, and the cathode of diode D3, respectively; pin 2 of the switching power supply chip PC1 is connected to one end of resistor R152, pin 5 of the switching power supply chip PC1, pin 6 of the switching power supply chip PC1, the cathode of diode D22, one end of resistor R153, the other end of capacitor C21, one end of inductor L1, and the anode of diode D3, respectively; pin 3 of the switching power supply chip PC1 is connected to... Pin 4 of the switching power supply chip PC1 is connected to one end of capacitor C152. Pin 7 of the switching power supply chip PC1 is connected to the other end of resistor R152. Pin 8 of the switching power supply chip PC1 is connected to the other end of resistor R153 and one end of resistor R154. The other end of resistor R154 is connected to the other end of inductor L1, one end of capacitor C58, one end of capacitor C61, and one end of resistor R61. The positive terminal of diode D22 is connected to the other end of capacitor C58, the other end of capacitor C61, and the other end of resistor R61.
[0014] Preferably, the charging detection circuit includes: one end of resistor R49 is connected to the collector of transistor Q12; the emitter of transistor Q12 is connected to one end of resistor R54 and one end of capacitor C23; the base of transistor Q12 is connected to the other end of resistor R54, the other end of capacitor C23, and one end of resistor R55; the other end of resistor R55 is connected to one end of fuse F1, pin 1 of battery CN9, and pin 2 of battery CN9; the other end of fuse F2 is connected to the anode of diode D18; the cathode of diode D18 is connected to the anode of capacitor C0H and one end of capacitor C0; and the cathode of capacitor C0H is connected to the other end of capacitor C0 and grounded.
[0015] Preferably, the battery detection circuit includes: one end of resistor R4 is connected to one end of resistor R9 and the base of transistor Q23; the collector of transistor Q23 is connected to one end of resistor R3; the other end of resistor R3 is connected to one end of resistor R2 and the base of transistor Q2; the other end of resistor R2 is connected to the emitter of transistor Q2; the collector of transistor Q2 is connected to one end of resistor R57; the other end of resistor R57 is connected to one end of resistor R59; the other end of resistor R59 is connected to one end of resistor R79 and one end of capacitor C22; and the other end of resistor R79 is connected to the other end of capacitor C22, the emitter of transistor Q23, and the other end of resistor R9.
[0016] Preferably, the controller includes any one of the following: LKS32MCR11C8T8, STM32 series MCU, ATmega328, PIC16F877A, ESP8266 / ESP32 and MSP430 series MCU.
[0017] The self-balancing scooter control device of this utility model has the following beneficial effects:
[0018] (1) Improved balance stability: By optimizing the controller algorithm and enhancing the accuracy of the gyroscope sensor, the balance stability of the self-balancing vehicle has been improved. Even on complex terrain or at high speeds, the self-balancing vehicle can maintain a stable driving state, reducing the risk of safety problems such as rollover.
[0019] (2) Improved battery management: By introducing a BUCK-BOOST step-down circuit and a battery detection circuit, precise management of the battery pack is achieved. This not only protects the battery from damage caused by overcharging, over-discharging, or overheating, but also extends battery life and improves safety.
[0020] (3) Improved power system efficiency: By optimizing the design of the three-phase drive circuit and the single-phase half-bridge drive circuit of the brushless motor, the efficiency of the power system has been improved. This reduces energy consumption, increases range, and provides users with a better driving experience.
[0021] (4) Additional functions have been added: By introducing additional functions such as a light control circuit and a charging detection circuit, the safety and convenience of driving have been improved. For example, the headlights can automatically adjust their brightness according to the ambient light intensity, which improves the safety of driving at night; the charging detection circuit can monitor the charging status to ensure the safety and efficiency of the charging process. Attached Figure Description
[0022] 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 the structures shown in these drawings without creative effort. The utility model will be further described below in conjunction with the drawings and embodiments. In the drawings:
[0023] Figure 1 This is a schematic diagram of the module structure of the self-balancing scooter control device of this utility model;
[0024] Figure 2 (1) is a circuit diagram of the brushless motor U-phase drive circuit in the three-phase drive circuit of the brushless motor in the balance vehicle control device of this utility model;
[0025] Figure 2 (2) is a circuit diagram of the brushless motor V-phase drive circuit in the three-phase drive circuit of the brushless motor in the balance vehicle control device of this utility model;
[0026] Figure 2 (3) is a circuit diagram of the brushless motor W-phase drive circuit in the three-phase drive circuit of the brushless motor in the balance vehicle control device of this utility model;
[0027] Figure 3 This is a circuit diagram of the single-phase half-bridge drive circuit in the self-balancing scooter control device of this utility model;
[0028] Figure 4 This is a circuit diagram of the gyroscope sensor circuit in the self-balancing scooter control device of this utility model;
[0029] Figure 5 This is a circuit diagram of the lighting control circuit in the self-balancing scooter control device of this utility model;
[0030] Figure 6 This is a circuit diagram of the Hall effect detection circuit in the self-balancing scooter control device of this utility model;
[0031] Figure 7 This is the circuit diagram of the BUCK-BOOST step-down circuit in the self-balancing scooter control device of this utility model;
[0032] Figure 8 This is a circuit diagram of the charging detection circuit in the self-balancing scooter control device of this utility model;
[0033] Figure 9 This is a circuit diagram of the battery detection circuit in the self-balancing scooter control device of this utility model. Detailed Implementation
[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0035] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.
[0036] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.
[0037] Please see Figure 1 This is a schematic diagram of the module structure of the self-balancing scooter control device of this utility model. Figure 1 As shown, the self-balancing scooter control device provided in the first embodiment of this utility model includes at least a controller, a brushless motor three-phase drive circuit, a single-phase half-bridge drive circuit, a gyroscope sensor circuit, a lighting control circuit, a Hall effect detection circuit, a BUCK-BOOST step-down circuit, a charging detection circuit, and a battery detection circuit electrically connected to the controller. The controller receives information from the gyroscope sensor circuit and the Hall effect detection circuit, and maintains the balance of the self-balancing scooter by controlling the rotation of the motor. The brushless motor three-phase drive circuit receives control signals from the controller and drives the brushless motor to rotate. The single-phase half-bridge drive circuit is used for auxiliary drive or braking control. The gyroscope sensor circuit detects the tilt angle and angular velocity of the self-balancing scooter and transmits the tilt angle and angular velocity to the controller. The lighting control circuit controls the brightness and flashing state of the self-balancing scooter's lights. The Hall effect detection circuit is used for motor drive measurement, braking control, and speed adjustment. The BUCK-BOOST step-down circuit is used for voltage management of the self-balancing scooter's battery pack. The charging detection circuit monitors the charging status of the self-balancing scooter. The battery detection circuit monitors the status of the battery pack in real time.
[0038] Figure 2(1) is a circuit diagram of the brushless motor U-phase drive circuit in the three-phase drive circuit of the brushless motor in the balance vehicle control device of this utility model; Figure 2(2) is a circuit diagram of the brushless motor V-phase drive circuit in the three-phase drive circuit of the brushless motor in the balance vehicle control device of this utility model; Figure 2(3) is a circuit diagram of the brushless motor W-phase drive circuit in the three-phase drive circuit of the brushless motor in the balance vehicle control device of this utility model. As shown in Figures 2(1)-2(3), the three-phase drive circuit of the brushless motor includes: the brushless motor U-phase drive circuit, the brushless motor V-phase drive circuit and the brushless motor W-phase drive circuit;
[0039] The brushless motor U-phase drive circuit includes: one end of resistor R28 is connected to one end of resistor R78 and the gate of MOSFET V1; the other end of resistor R78 is connected to the source of MOSFET V1, one end of resistor R107, the drain of MOSFET V4, and one end of terminal J1; one end of resistor R118 is connected to one end of resistor R121 and the gate of MOSFET V4; the other end of resistor R121 is connected to the source of MOSFET V4 and the other end of resistor R107.
[0040] The brushless motor V-phase drive circuit includes: one end of resistor R39 is connected to one end of resistor R80 and the gate of MOSFET V2; the other end of resistor R80 is connected to the source of MOSFET V2, one end of resistor R116, the drain of MOSFET V5, and one end of terminal J3; one end of resistor R119 is connected to one end of resistor R122 and the gate of MOSFET V5; and the other end of resistor R122 is connected to the source of MOSFET V5 and the other end of resistor R116.
[0041] The brushless motor W-phase drive circuit includes: one end of resistor R41 is connected to one end of resistor R105 and the gate of MOSFET V3; the other end of resistor R105 is connected to the source of MOSFET V3, one end of resistor R117, the drain of MOSFET V6, and one end of terminal J4; one end of resistor R120 is connected to one end of resistor R123 and the gate of MOSFET V6; and the other end of resistor R123 is connected to the source of MOSFET V6 and the other end of resistor R117.
[0042] The working principle of the three-phase drive circuit for a brushless motor is as follows: MOSFETs V2, V3, and V4, such as those driven by the NCE7580 driver IC, are given continuously changing high and low level signals (HOU, LOU, HOV, LOV, HOW, LOW), which in turn drive MOSFETs V1, V2, V3, V4, V5, and V6 to turn on and off. This enables the three phases (UV, UW, VW, VU, WV, WU) of the brushless motor to conduct in a specific sequence, achieving a three-phase, six-step drive mode for the brushless motor.
[0043] The speed and direction of the brushless motor are controlled by the controller through PWM (Pulse Width Modulation) signals, thereby enabling the self-balancing scooter to move forward, backward, and turn.
[0044] Figure 3 This is a circuit diagram of the single-phase half-bridge drive circuit in the self-balancing scooter control device of this utility model. Figure 3As shown, the single-phase half-bridge drive circuit includes: pin 1 of the gate drive chip U8 is connected to one end of capacitor C8 and the positive terminal of diode D7 respectively; pin 8 of the gate drive chip U8 is connected to the negative terminal of diode D7 and one end of capacitor C47 respectively; and pin 6 of the gate drive chip U8 is connected to the other end of capacitor C47.
[0045] The working principle of a single-phase half-bridge drive circuit is as follows: The gate driver chip U8, such as U3115S, integrates a bootstrap circuit, an amplifier circuit, and undervoltage protection functions such as VCC and VBS. The controller sends control timing instructions to the gate driver chip U8, which then controls the switching on and off of the MOSFETs to achieve half-bridge drive of the brushless motor.
[0046] Compared with the three-phase drive circuit of brushless motor, the single-phase half-bridge drive circuit has a relatively simple structure, but it still requires the control signal of the controller to achieve precise control.
[0047] Figure 4 This is a circuit diagram of the gyroscope sensor circuit in the self-balancing scooter control device of this utility model. Figure 4 As shown, the gyroscope sensor circuit includes: pin 13 of motion sensing chip U1 is connected to one end of resistor R16 and one end of resistor R18 respectively; pin 14 of motion sensing chip U1 is connected to one end of resistor R15 and one end of resistor R17 respectively; pin 8 of motion sensing chip U1 is connected to one end of capacitor C6; pin 1 of 6-axis motion tracking chip U4 is connected to one end of capacitor C43; pin 14 of 6-axis motion tracking chip U4 is connected to one end of capacitor C44; pin 15 of 6-axis motion tracking chip U4 is connected to one end of capacitor C41 and one end of capacitor C42 respectively; and pin 16 of 6-axis motion tracking chip U4 is connected to the other end of capacitor C41 and one end of capacitor C42 respectively.
[0048] The working principle of a gyroscope sensor circuit is as follows: the gyroscope sensor transmits angular position signals to the controller, which then uses these signals to control the forward and backward direction of the motor, as well as the speed of the brushless motor. The gyroscope sensor circuit is crucial for maintaining the balance of the self-balancing scooter. The gyroscope detects the tilt angle and angular velocity of the scooter and transmits this information to the controller. The controller adjusts the motor's rotation speed and direction based on this information to maintain the stability of the scooter. The principle of the gyroscope is based on the conservation of angular momentum; when the scooter tilts, the gyroscope senses the change in angular velocity and triggers the controller to make corresponding adjustments.
[0049] Figure 5 This is a circuit diagram of the lighting control circuit in the self-balancing scooter control device of this utility model. Figure 5As shown, the lighting control circuit includes: one end of resistor R20 is connected to the base of transistor Q6, the collector of transistor Q6 is connected to one end of resistor R76, the other end of resistor R76 is connected to pin 1 of LED2 and pin 2 of LED2 respectively, and the emitter of transistor Q6 is grounded.
[0050] The working principle of the lighting control circuit is as follows: the controller drives the transistor through the I / O port P1 to control the transistor's on / off state, thereby turning the lights on and off. When P1 outputs a high level, the transistor conducts and the lights turn on; conversely, when P1 outputs a low level, the lights turn off.
[0051] Figure 6 This is a circuit diagram of the Hall effect detection circuit in the self-balancing scooter control device of this utility model. Figure 6 As shown, the Hall effect detection circuit includes: terminal 1 of Hall element 35 is connected to one end of resistor R7 and one end of resistor R114 respectively; terminal 2 of Hall element 35 is connected to one end of capacitor C9; terminal 3 of Hall element 35 is connected to one end of resistor R26 and one end of resistor R27 respectively; terminal 4 of Hall element 35 is connected to one end of resistor R24 and one end of resistor R25 respectively; terminal 5 of Hall element 35 is connected to one end of resistor R22 and one end of resistor R23 respectively; terminal 6 of Hall element 35 is connected to the negative terminal of diode D7 and the other end of capacitor C9 respectively; the other end of resistor R22 is connected to the other end of resistor R24, the other end of resistor R26, and the other end of resistor R7 respectively; the other end of resistor R23 is connected to one end of capacitor C10; the other end of resistor R25 is connected to one end of capacitor C11; the other end of resistor R27 is connected to one end of capacitor C12; and the other end of resistor R114 is connected to one end of capacitor C4.
[0052] The Hall effect detection circuit works as follows: Connected to the Hall sensor interface of the brushless motor, when the motor rotor rotates, the Hall sensor senses its position and sends the phase sequence position of the brushless motor to the controller. The controller then allocates the conduction sequence of the three-phase six-step phases (UV, UW, VW, VU, WV, WU) to ensure normal motor operation. The Hall element 35 detects changes in the magnetic field and converts them into electrical signals. Mounted on the axle, the Hall element 35 calculates the vehicle speed by detecting the number of times the magnetic strip passes over it. In brake control and speed regulation, the Hall element 35 outputs high and low levels based on the magnetic field changes to control braking and speed adjustment.
[0053] Figure 7 This is the circuit diagram of the BUCK-BOOST step-down circuit in the self-balancing scooter control device of this utility model. Figure 7As shown, the BUCK-BOOST step-down circuit includes: pin 1 of the switching power supply chip PC1 is connected to the cathode of diode D2, one end of capacitor C21, and the cathode of diode D3, respectively; pin 2 of the switching power supply chip PC1 is connected to one end of resistor R152, pin 5 of the switching power supply chip PC1, pin 6 of the switching power supply chip PC1, the cathode of diode D22, one end of resistor R153, the other end of capacitor C21, one end of inductor L1, and the anode of diode D3, respectively; pin 3 of the switching power supply chip PC1 is connected to the cathode of diode D2, one end of resistor R153, the other end of capacitor C21, one end of inductor L1, and the anode of diode D3, respectively; and pin 3 of the switching power supply chip PC1 is connected to the cathode of diode D2, one end of capacitor C21, and the cathode of diode D3, respectively. Pin 4 of the power supply chip PC1 is connected to one end of capacitor C152. Pin 7 of the power supply chip PC1 is connected to the other end of resistor R152. Pin 8 of the power supply chip PC1 is connected to the other end of resistor R153 and one end of resistor R154. The other end of resistor R154 is connected to the other end of inductor L1, one end of capacitor C58, one end of capacitor C61, and one end of resistor R61. The positive terminal of diode D22 is connected to the other end of capacitor C58, the other end of capacitor C61, and the other end of resistor R61.
[0054] The BUCK-BOOST step-down circuit works by utilizing the high-frequency switching characteristics of the switching power supply chip and the charging and discharging characteristics of inductors and capacitors to reduce the voltage from 36V to 15V. The BUCK-BOOST step-down circuit is used for voltage management of the self-balancing scooter's battery pack. It can boost or buck the voltage based on the battery pack's state of voltage, ensuring a stable voltage output for the scooter. This is crucial for protecting the battery, extending battery life, and improving the scooter's performance.
[0055] Figure 8 This is a circuit diagram of the charging detection circuit in the self-balancing scooter control device of this utility model. Figure 8 As shown, the charging detection circuit includes: one end of resistor R49 is connected to the collector of transistor Q12; the emitter of transistor Q12 is connected to one end of resistor R54 and one end of capacitor C23; the base of transistor Q12 is connected to the other end of resistor R54, the other end of capacitor C23, and one end of resistor R55; the other end of resistor R55 is connected to one end of fuse F1, pin 1 of battery CN9, and pin 2 of battery CN9; the other end of fuse F2 is connected to the anode of diode D18; the cathode of diode D18 is connected to the anode of capacitor C0H and one end of capacitor C0; and the cathode of capacitor C0H is connected to the other end of capacitor C0 and grounded.
[0056] The charging detection circuit works as follows: when the battery is charging, P12 will detect a low level. For safety reasons, the device cannot be powered on at this time. The charging detection circuit monitors the charging status of the self-balancing scooter. It can detect parameters such as the battery pack's voltage and current to ensure a safe and efficient charging process. When the battery pack is fully charged, the charging detection circuit will trigger the controller to cut off the charging power to prevent overcharging from damaging the battery.
[0057] Figure 9 This is a circuit diagram of the battery detection circuit in the self-balancing scooter control device of this utility model. Figure 9 As shown, the battery detection circuit includes: one end of resistor R4 is connected to one end of resistor R9 and the base of transistor Q23; the collector of transistor Q23 is connected to one end of resistor R3; the other end of resistor R3 is connected to one end of resistor R2 and the base of transistor Q2; the other end of resistor R2 is connected to the emitter of transistor Q2; the collector of transistor Q2 is connected to one end of resistor R57; the other end of resistor R57 is connected to one end of resistor R59; the other end of resistor R59 is connected to one end of resistor R79 and one end of capacitor C22; the other end of resistor R79 is connected to the other end of capacitor C22, the emitter of transistor Q23, and the other end of resistor R9.
[0058] The battery detection circuit works by implementing undervoltage protection. When the battery voltage drops below a set threshold, P7 will detect a high level, indicating insufficient battery power and prompting the user to charge. The battery detection circuit monitors the battery pack's status in real time, including parameters such as voltage, current, and temperature. Based on this information, the controller determines the remaining battery power and health condition, adjusting the scooter's operating mode to protect the battery. When the battery power is too low or the temperature is too high, the controller triggers corresponding protection measures to prevent the scooter from malfunctioning due to battery issues.
[0059] The controller includes any one of the following: LKS32MCR11C8T8, STM32 series MCU, ATmega328, PIC16F877A, ESP8266 / ESP32, and MSP430 series MCU. In this specific implementation, the controller is selected as LKS32MCR11C8T8. The LKS32MCR11C8T8 is a high-performance motor motion control chip. This chip integrates a high-performance 32-bit controller (microcontroller unit) and DSP (digital signal processor) core, specifically designed for the motor drive market. It has rich built-in peripheral interfaces, such as ADC (analog-to-digital converter) and PWM (pulse width modulation) controllers, making motor control more precise and efficient.
[0060] The primary function of the LKS32MCR11C8T8 is to provide high-precision motion control solutions for motors. Leveraging its powerful processing capabilities and high level of integration, this chip can implement complex motor control algorithms, such as FOC (Field Oriented Control), thereby optimizing motor performance and improving operating efficiency and stability. Furthermore, it supports multiple communication interfaces, facilitating data exchange and monitoring with external devices or systems. Simultaneously, the LKS32MCR11C8T8 controller also handles additional functions such as monitoring battery status and managing lighting.
[0061] The controller, as the core component, communicates with gyroscope sensor circuits and Hall effect detection circuits via buses (such as I2C and SPI) to acquire the status information of the self-balancing scooter. Simultaneously, the controller uses PWM signals to control the three-phase drive circuit and single-phase half-bridge drive circuit of the brushless motor, realizing the power output and auxiliary function control of the self-balancing scooter. The lighting control circuit, BUCK-BOOST step-down circuit, charging detection circuit, and battery detection circuit are connected to the controller through interfaces to achieve their respective functions.
[0062] The working principle of this self-balancing scooter control device is as follows: When a user stands on the scooter and tilts their body, the gyroscope sensor circuit detects changes in tilt angle and angular velocity and transmits this information to the controller. The controller processes this information according to a preset algorithm and outputs corresponding control signals to the three-phase drive circuit of the brushless motor. The brushless motor adjusts its speed and direction according to the control signals to maintain the stability of the scooter. Simultaneously, the controller monitors the battery pack status through a battery detection circuit to ensure the normal operation of the scooter. When it is necessary to adjust the headlight brightness, the controller generates a PWM signal based on information from the photosensor and pressure sensor, and adjusts the headlight brightness through the light control circuit.
[0063] In its implementation, the controller first communicates with the gyroscope sensor circuit and Hall effect detection circuit via a bus to acquire the real-time status information of the self-balancing scooter. Then, the controller processes and analyzes this information according to a preset algorithm to determine parameters such as the scooter's tilt angle, angular velocity, and speed. Next, the controller outputs corresponding control signals to the three-phase drive circuit and single-phase half-bridge drive circuit of the brushless motor based on the processing results. These drive circuits adjust the motor's speed and direction according to the control signals to maintain the stability of the self-balancing scooter and achieve power output. Simultaneously, the controller monitors the battery pack's status through a battery detection circuit to ensure its normal operation. When the headlight brightness needs adjustment, the controller generates a PWM signal based on information from the photosensitive sensor and pressure sensor, adjusting the headlight brightness through the headlight control circuit. Furthermore, the charging detection circuit monitors the charging status to ensure the charging process is safe and efficient.
[0064] The beneficial effects of this utility model, through the design of the above embodiments, are as follows:
[0065] (1) Improved balance stability: By optimizing the controller algorithm and enhancing the accuracy of the gyroscope sensor, the balance stability of the self-balancing vehicle has been improved. Even on complex terrain or at high speeds, the self-balancing vehicle can maintain a stable driving state, reducing the risk of safety problems such as rollover.
[0066] (2) Improved battery management: By introducing a BUCK-BOOST step-down circuit and a battery detection circuit, precise management of the battery pack is achieved. This not only protects the battery from damage caused by overcharging, over-discharging, or overheating, but also extends battery life and improves safety.
[0067] (3) Improved power system efficiency: By optimizing the design of the three-phase drive circuit and the single-phase half-bridge drive circuit of the brushless motor, the efficiency of the power system has been improved. This reduces energy consumption, increases range, and provides users with a better driving experience.
[0068] (4) Additional functions have been added: By introducing additional functions such as a light control circuit and a charging detection circuit, the safety and convenience of driving have been improved. For example, the headlights can automatically adjust their brightness according to the ambient light intensity, which improves the safety of driving at night; the charging detection circuit can monitor the charging status to ensure the safety and efficiency of the charging process.
[0069] This utility model has been described based on specific embodiments, but those skilled in the art will understand that various changes and equivalent substitutions can be made without departing from the scope of this utility model. Furthermore, to adapt to specific applications of this utility model, numerous modifications can be made without departing from its protection scope. Therefore, this utility model is not limited to the specific embodiments disclosed herein, but includes all embodiments falling within the protection scope of the claims.
Claims
1. A self-balancing scooter control device, characterized in that, include: The controller includes a brushless motor three-phase drive circuit, a single-phase half-bridge drive circuit, a gyroscope sensor circuit, a lighting control circuit, a Hall effect detection circuit, a BUCK-BOOST step-down circuit, a charging detection circuit, and a battery detection circuit, all electrically connected to the controller. The controller receives information from the gyroscope sensor circuit and the Hall effect detection circuit, and maintains the balance of the scooter by controlling the rotation of the motor. The brushless motor three-phase drive circuit receives control signals from the controller and drives the brushless motor to rotate. The single-phase half-bridge drive circuit assists in driving or braking control. The gyroscope sensor circuit detects the tilt angle and angular velocity of the scooter and transmits these parameters to the controller. The lighting control circuit controls the brightness and flashing status of the scooter's lights. The Hall effect detection circuit is used for motor drive measurement, braking control, and speed adjustment. The BUCK-BOOST step-down circuit manages the voltage of the scooter's battery pack. The charging detection circuit monitors the charging status of the scooter, and the battery detection circuit monitors the status of the battery pack in real time.
2. The self-balancing scooter control device according to claim 1, characterized in that, The brushless motor three-phase drive circuit includes: a brushless motor U-phase drive circuit, a brushless motor V-phase drive circuit, and a brushless motor W-phase drive circuit. The brushless motor U-phase drive circuit includes: one end of resistor R28 is connected to one end of resistor R78 and the gate of MOSFET V1, the other end of resistor R78 is connected to the source of MOSFET V1, one end of resistor R107, the drain of MOSFET V4 and one end of terminal J1, one end of resistor R118 is connected to one end of resistor R121 and the gate of MOSFET V4, and the other end of resistor R121 is connected to the source of MOSFET V4 and the other end of resistor R107. The brushless motor V-phase drive circuit includes: one end of resistor R39 is connected to one end of resistor R80 and the gate of MOSFET V2; the other end of resistor R80 is connected to the source of MOSFET V2, one end of resistor R116, the drain of MOSFET V5, and one end of terminal J3; one end of resistor R119 is connected to one end of resistor R122 and the gate of MOSFET V5; and the other end of resistor R122 is connected to the source of MOSFET V5 and the other end of resistor R116. The brushless motor W-phase drive circuit includes: one end of resistor R41 is connected to one end of resistor R105 and the gate of MOSFET V3; the other end of resistor R105 is connected to the source of MOSFET V3, one end of resistor R117, the drain of MOSFET V6, and one end of terminal J4; one end of resistor R120 is connected to one end of resistor R123 and the gate of MOSFET V6; and the other end of resistor R123 is connected to the source of MOSFET V6 and the other end of resistor R117.
3. The self-balancing scooter control device according to claim 1, characterized in that, The single-phase half-bridge drive circuit includes: pin 1 of the gate drive chip U8 is connected to one end of capacitor C8 and the positive terminal of diode D7 respectively; pin 8 of the gate drive chip U8 is connected to the negative terminal of diode D7 and one end of capacitor C47 respectively; and pin 6 of the gate drive chip U8 is connected to the other end of capacitor C47.
4. The self-balancing scooter control device according to claim 1, characterized in that, The gyroscope sensor circuit includes: pin 13 of motion sensing chip U1 is connected to one end of resistor R16 and one end of resistor R18 respectively; pin 14 of motion sensing chip U1 is connected to one end of resistor R15 and one end of resistor R17 respectively; pin 8 of motion sensing chip U1 is connected to one end of capacitor C6; pin 1 of 6-axis motion tracking chip U4 is connected to one end of capacitor C43; pin 14 of 6-axis motion tracking chip U4 is connected to one end of capacitor C44; pin 15 of 6-axis motion tracking chip U4 is connected to one end of capacitor C41 and one end of capacitor C42 respectively; and pin 16 of 6-axis motion tracking chip U4 is connected to the other end of capacitor C41 and one end of capacitor C42 respectively.
5. The self-balancing scooter control device according to claim 1, characterized in that, The lighting control circuit includes: one end of resistor R20 is connected to the base of transistor Q6, the collector of transistor Q6 is connected to one end of resistor R76, the other end of resistor R76 is connected to pin 1 of LED2 and pin 2 of LED2 respectively, and the emitter of transistor Q6 is grounded.
6. The self-balancing scooter control device according to claim 1, characterized in that, The Hall effect detection circuit includes: terminal 1 of Hall element 35 is connected to one end of resistor R7 and one end of resistor R114 respectively; terminal 2 of Hall element 35 is connected to one end of capacitor C9; terminal 3 of Hall element 35 is connected to one end of resistor R26 and one end of resistor R27 respectively; terminal 4 of Hall element 35 is connected to one end of resistor R24 and one end of resistor R25 respectively; terminal 5 of Hall element 35 is connected to one end of resistor R22 and one end of resistor R23 respectively; terminal 6 of Hall element 35 is connected to the negative terminal of diode D7 and the other end of capacitor C9 respectively; the other end of resistor R22 is connected to the other end of resistor R24, the other end of resistor R26, and the other end of resistor R7 respectively; the other end of resistor R23 is connected to one end of capacitor C10; the other end of resistor R25 is connected to one end of capacitor C11; the other end of resistor R27 is connected to one end of capacitor C12; and the other end of resistor R114 is connected to one end of capacitor C4.
7. The self-balancing scooter control device according to claim 1, characterized in that, The BUCK-BOOST step-down circuit includes: pin 1 of the switching power supply chip PC1 is connected to the cathode of diode D2, one end of capacitor C21, and the cathode of diode D3, respectively; pin 2 of the switching power supply chip PC1 is connected to one end of resistor R152, pin 5 of the switching power supply chip PC1, pin 6 of the switching power supply chip PC1, the cathode of diode D22, one end of resistor R153, the other end of capacitor C21, one end of inductor L1, and the anode of diode D3, respectively; pin 3 of the switching power supply chip PC1 is connected to the switch... Pin 4 of power supply chip PC1 is connected to one end of capacitor C152. Pin 7 of switching power supply chip PC1 is connected to the other end of resistor R152. Pin 8 of switching power supply chip PC1 is connected to the other end of resistor R153 and one end of resistor R154 respectively. The other end of resistor R154 is connected to the other end of inductor L1, one end of capacitor C58, one end of capacitor C61, and one end of resistor R61 respectively. The positive terminal of diode D22 is connected to the other end of capacitor C58, the other end of capacitor C61, and the other end of resistor R61 respectively.
8. The self-balancing scooter control device according to claim 1, characterized in that, The charging detection circuit includes: one end of resistor R49 is connected to the collector of transistor Q12; the emitter of transistor Q12 is connected to one end of resistor R54 and one end of capacitor C23; the base of transistor Q12 is connected to the other end of resistor R54, the other end of capacitor C23, and one end of resistor R55; the other end of resistor R55 is connected to one end of fuse F1, pin 1 of battery CN9, and pin 2 of battery CN9; the other end of fuse F2 is connected to the anode of diode D18; the cathode of diode D18 is connected to the anode of capacitor C0H and one end of capacitor C0; and the cathode of capacitor C0H is connected to the other end of capacitor C0 and grounded.
9. The self-balancing scooter control device according to claim 1, characterized in that, The battery detection circuit includes: one end of resistor R4 is connected to one end of resistor R9 and the base of transistor Q23; the collector of transistor Q23 is connected to one end of resistor R3; the other end of resistor R3 is connected to one end of resistor R2 and the base of transistor Q2; the other end of resistor R2 is connected to the emitter of transistor Q2; the collector of transistor Q2 is connected to one end of resistor R57; the other end of resistor R57 is connected to one end of resistor R59; the other end of resistor R59 is connected to one end of resistor R79 and one end of capacitor C22; the other end of resistor R79 is connected to the other end of capacitor C22, the emitter of transistor Q23, and the other end of resistor R9.
10. The self-balancing scooter control device according to any one of claims 1 to 9, characterized in that, The controller includes any one of the following: LKS32MCR11C8T8, STM32 series MCU, ATmega328, PIC16F877A, ESP8266 / ESP32, and MSP430 series MCU.