Dual-motor driven self-balancing straddle electric vehicle

Abstract

The utility model discloses a kind of double-motor drive's self-balancing straddle electric vehicles, including self-balancing straddle electric vehicle device, including electric vehicle body and the power supply and self-balancing module on electric vehicle body, power supply is the power supply for self-balancing module;Self-balancing module includes two symmetrically arranged reaction wheel groups, multiple connecting wheels and an error adjustment wheel, two reaction wheel groups are oppositely arranged along the electric vehicle axle direction and connecting wheel and error adjustment wheel are located between two reaction wheel groups, error adjustment wheel both ends are connected with reaction wheel group through connecting wheel and error adjustment wheel is located in middle;Reaction wheel group includes hub, multiple reaction wheels, reaction wheel motor and driver, hub is fixed on the rotating shell of reaction wheel motor, multiple reaction wheels are axially stacked and connected to the axial inside of hub.

Description

Technical Field

[0001] This utility model relates to the field of electric vehicle balancing technology, and in particular to a dual-motor driven self-balancing motorcycle electric vehicle. Background Technology

[0002] Currently, the self-balancing technology of two-wheeled vehicles mainly relies on the following four solutions:

[0003] Weight transfer technology: This solution adjusts the position of the weight transfer module to keep the vehicle's center of gravity above the wheel-to-ground contact line, thus achieving dynamic balance. While this method is structurally intuitive, it has weak anti-interference capabilities and is prone to failure, especially at high speeds. Furthermore, the relatively large size of the weight transfer module limits its application in smaller vehicles.

[0004] Electric steering technology: This technology maintains vehicle balance by controlling the steering angle of the front wheels, demonstrating a high level of intelligence. However, its balance performance depends on a certain driving speed, and it is difficult to maintain stability at low speeds or when stationary, limiting its applicability.

[0005] Gyroscope stabilization technology: This solution is based on the principle of conservation of angular momentum of a high-speed rotating gyroscope, and performs well in terms of static equilibrium. However, this solution generally suffers from drawbacks such as high energy consumption, high noise, and large installation space requirements, which are not conducive to its widespread application in lightweight and energy-saving designs.

[0006] Reaction wheel control technology: This method achieves attitude stabilization by adjusting the total angular momentum of the system using a flywheel motor. It boasts advantages such as low power consumption, quiet operation, and compact structure, making it suitable for balance control in stationary or low-speed scenarios. However, this solution still faces key technical bottlenecks. Because it relies on the principle of conservation of angular momentum, the required restoring torque is closely related to the flywheel's moment of inertia, the motor's output torque, and its speed performance. To generate sufficient restoring torque, a flywheel with a large moment of inertia must be configured, which not only occupies valuable space but also places higher demands on the drive motor's performance. These two factors together limit the further promotion and application of reaction wheel technology in medium and heavy-duty vehicles. Utility Model Content

[0007] To address the shortcomings mentioned above, this utility model provides a dual-motor driven self-balancing electric motorcycle.

[0008] To achieve the above objectives, this utility model provides a detachable dual-motor driven self-balancing electric motorcycle device, including an electric motorcycle body and a power supply and a self-balancing module disposed on the electric motorcycle body, wherein the power supply supplies power to the self-balancing module.

[0009] The self-balancing module includes two symmetrically arranged reaction wheel sets, multiple connecting wheels, and an error adjustment wheel. The two reaction wheel sets are arranged opposite each other along the axial direction of the electric vehicle, and the connecting wheel and the error adjustment wheel are located between the two reaction wheel sets. Both ends of the error adjustment wheel are connected to the reaction wheel sets through the connecting wheels, and the error adjustment wheel is located in the middle. The reaction wheel set includes a hub, multiple reaction wheels, a reaction wheel motor, and a driver. The hub is fixed to the rotating housing of the reaction wheel motor, and the multiple reaction wheels are axially stacked and connected to the axial inner side of the hub.

[0010] Preferably, the reaction wheel assembly further includes a motor mounting plate, a driver mounting plate, and a support frame. The support frame has a through hole at its bottom end. The motor mounting plate is connected to the driver mounting plate and the support frame in sequence. The driver is connected to the driver mounting plate through the through hole. The support frame is connected to the electric vehicle body.

[0011] Preferably, the plurality of reaction wheels are detachably mounted on the axial inner side of the hub.

[0012] Preferably, the support frame is equipped with a balance controller.

[0013] Preferably, the electric vehicle body is also equipped with an attitude sensor and a rear wheel motor drive system. The attitude sensor is electrically connected to the balance controller. The rear wheel motor drive system includes a rear wheel motor located in the rear wheel hub. The motor is powered by the power supply and controlled by a knob on the handlebars of the electric vehicle body.

[0014] Preferably, the power source is a storage battery, which is located inside the strip seat tube of the electric vehicle body.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] This invention improves the restoring torque of the reaction wheel self-balancing scheme. Compared to traditional reaction wheels, which can only maintain the balance of a relatively small vehicle body, this scheme expands the application range of reaction wheels and the types of vehicle bodies they can support. While improving the torque of the reaction wheel scheme, it also reduces the space occupied, ensuring space utilization and a better riding experience. The dual-motor drive improves the balancing performance while reducing the burden on a single motor, avoiding the problem of relying on the performance of a single motor. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the dual-motor driven self-balancing motorcycle of this utility model.

[0018] Figure 2This is an exploded view of the self-balancing module in the dual-motor driven self-balancing motorcycle of this utility model;

[0019] Figure 3 This is an exploded view of the reaction wheel assembly in the dual-motor driven self-balancing motorcycle of this utility model. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0021] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they 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.

[0023] The following is in conjunction with the appendix Figure 1-3 The present invention will be described in further detail as follows:

[0024] Reference Figure 1 This utility model provides a detachable dual-motor driven self-balancing electric motorcycle device, including an electric motorcycle body 1, a power supply 2, a self-balancing module 3, an attitude sensor 4, and a rear wheel motor drive system 5.

[0025] See Figure 2The self-balancing module 3 includes: two symmetrically arranged reaction wheel sets 3.1, a connecting wheel 3.2, and an error adjustment wheel 3.3; wherein the two reaction wheel sets 3.1 are placed opposite each other along the axial direction (i.e., the left and right direction of the vehicle body) and connected to each other through the connecting wheel 3.2, and the error adjustment wheel 3.3 is sleeved in the middle of the connecting wheel 3.2; wherein the connecting wheel 3.2 is fixed to the hub end of the reaction wheel sets 3.1 on both sides by eight circumferentially distributed bolts.

[0026] See Figure 3 The reaction wheel assembly 3.1 includes: a hub 3.11, multiple reaction wheels 3.12, a reaction wheel motor 3.13, a motor mounting plate 3.14, a driver mounting plate 3.15, a support frame 3.16, a reaction wheel motor driver 3.17, and a balance controller 3.18;

[0027] The hub 3.11 is fixed to the rotating housing of the reaction wheel motor 3.13 by four bolts distributed on the inner ring;

[0028] Multiple reaction wheels 3.12 are axially stacked and rigidly connected to the inner side of the hub 3.11 by eight bolts distributed on the outer ring;

[0029] The stator end of the reaction wheel motor 3.13 is fixed to the motor mounting plate 3.14 by bolts;

[0030] The reaction wheel motor driver 3.17 is bolted to the driver mounting plate 3.15;

[0031] The driver mounting plate 3.15 and the motor mounting plate 3.14 are connected by bolts;

[0032] The motor mounting plate 3.14 is fixed to the support frame 3.16 by bolts;

[0033] A through hole is provided at the bottom of the support frame 3.16. The motor mounting plate 3.14 is connected to the driver mounting plate 3.15 and the support frame 3.16 in sequence. The driver 3.17 is connected to the driver mounting plate 3.15 through the through hole.

[0034] The base of the support frame 3.16 extends below the body crossbeam and is connected to the body mounting plate by bolts.

[0035] Two sets of reaction wheel sets 3.1 are suspended opposite each other under the body crossbeam, and the two sets of reaction wheel motors 3.13 are of the same model and both use external rotor DC brushless motors; the two sets of reaction wheel sets 3.1 are connected in the center by connecting wheel 3.2, and the connecting wheel 3.2 is fixed to the hub of the reaction wheel sets 3.1 on both sides by bolts; the error adjustment wheel 3.3 is sleeved in the middle of the connecting wheel 3.2.

[0036] In this embodiment, multiple reaction wheels 3.12 are detachably mounted on the axial inner side of the hub 3.11. The number of these wheels can be adjusted. The modular design facilitates adjustment of inertia to adapt to different loads and optimize performance.

[0037] Furthermore, attitude sensor 4 is mounted on a platform above the bottom bracket of the vehicle body to acquire the roll angle and roll rate of the vehicle body and transmit them back to the balance controller. The rear wheel motor drive system 5 is driven by a hub motor installed in the rear wheel hub and controlled by a knob on the handlebars.

[0038] In this embodiment, the power supply 2 is a storage battery installed inside the vehicle body strip seat tube, and supplies power to the self-balancing module 3 and the rear wheel motor drive system 5; wherein, a DC-DC voltage regulator module provides step-down power to the balance controller 3.18 and the attitude sensor 4.

[0039] Specifically, the electric motorcycle body 1 is also equipped with a balance control system. These electrical components are all conventional electric devices and are not part of the improvements to be made in this application, so they will not be described in detail. The balance control system is a single-main-controller dual-motor scheme. A single main control board simultaneously controls two reaction wheel motors 3.13. The main control board receives data from the attitude sensor and calculates the required total restoring torque based on the real-time roll angle and angular velocity. Then, it calculates the acceleration commands required for each of the two motors according to a preset strategy. Finally, it drives the two motors to work together. Specifically, when the motorcycle body rotates clockwise (viewed from the front), the main control board controls both motors to simultaneously accelerate clockwise. The output torques of the two motors are superimposed, providing a restoring torque for the counter-clockwise rotation of the motorcycle body, thus restoring balance. When the motorcycle body rotates counter-clockwise (viewed from the front), the main control board controls both motors to simultaneously accelerate counter-clockwise. The output torques of the two motors are superimposed, providing a restoring torque for the clockwise rotation of the motorcycle body, thus restoring balance. This electric vehicle uses a hub drive system, controlled by a handlebar knob. The rear wheel rotates to drive the vehicle forward.

[0040] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A self-balancing motorcycle driven by dual motors, characterized in that, The electric vehicle body includes a power supply and a self-balancing module disposed on the electric vehicle body, wherein the power supply supplies power to the self-balancing module. The self-balancing module includes two symmetrically arranged reaction wheel sets, multiple connecting wheels, and an error adjustment wheel. The two reaction wheel sets are arranged opposite each other along the axial direction of the electric vehicle, and the connecting wheel and the error adjustment wheel are located between the two reaction wheel sets. Both ends of the error adjustment wheel are connected to the reaction wheel sets through the connecting wheels, and the error adjustment wheel is located in the middle. The reaction wheel set includes a hub, multiple reaction wheels, a reaction wheel motor, and a driver. The hub is fixed to the rotating housing of the reaction wheel motor, and the multiple reaction wheels are axially stacked and connected to the axial inner side of the hub.

2. The dual-motor driven self-balancing electric motorcycle as described in claim 1, characterized in that, The reaction wheel assembly also includes a motor mounting plate, a driver mounting plate, and a support frame. The support frame has a through hole at its bottom end. The motor mounting plate is connected to the driver mounting plate and the support frame in sequence. The driver is connected to the driver mounting plate through the through hole. The support frame is connected to the electric vehicle body.

3. The dual-motor driven self-balancing motorcycle electric vehicle as described in claim 2, characterized in that, The plurality of reaction wheels are detachably mounted on the axial inner side of the hub.

4. The dual-motor driven self-balancing motorcycle electric vehicle as described in claim 3, characterized in that, The support frame is equipped with a balance controller.

5. The dual-motor driven self-balancing motorcycle electric vehicle as described in claim 4, characterized in that, The electric vehicle is also equipped with an attitude sensor and a rear wheel motor drive system. The attitude sensor is electrically connected to the balance controller. The rear wheel motor drive system includes a rear wheel motor located in the rear wheel hub. The motor is powered by the power supply and controlled by a knob on the handlebars of the electric vehicle.

6. The dual-motor driven self-balancing motorcycle electric vehicle as described in claim 5, characterized in that, The power source is a storage battery, which is located inside the strip seat tube of the electric vehicle body.

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