CN101957250A - Motion balance detection system for teeterboard of electric vehicle - Google Patents

Abstract

A seesaw motion balance detection system for an electric vehicle is composed of six parts: an electric vehicle drive module, a trajectory detection module, a balance detection module, an electric vehicle control module, a control part, an input and output module, and the like. The electric vehicle drive circuit completes the steering and speed control of the electric vehicle; the trajectory detection module controls the direction of the electric vehicle, so that the electric vehicle can accurately find the seesaw and move on it according to the given trajectory to complete the predetermined task; the balance detection module reaches the given predetermined The position balances the electric car with the balance weight and detects whether the balance meets the requirements; the function of the control part is mainly to start the electric car, time the driving time, and be responsible for communicating with the detection and control system; the input and output module completes the man-machine interface, completes the input of instructions and output. The detection and control system detects the predetermined trajectory of the electric vehicle and the inclination angle of the seesaw through various sensors, and sends the signal to the single-chip microcomputer. After processing, it controls the operation of the electric vehicle, so that the electric vehicle can accurately find the seesaw and make the seesaw reach balance. Therefore, the electric seesaw motion balance detection system of the present invention integrates performances such as accurate control and good safety, has the characteristics of high degree of informatization, and is easy to use.

Description

Electric vehicle seesaw motion balance detection system

technical field

The invention relates to a motion balance detection system, in particular to a seesaw motion balance detection system for an electric vehicle integrating convenience, accuracy, safety and the like. the

Background technique

With the improvement of the quality of life in today's society, entertainment has changed from the simplest handmade toys to the current high-tech toys, such as small wooden cars made by ourselves in the countryside to the current smart remote control electric cars and remote control small planes, so that children today There is a kind of high-tech existence, so that children's brains can be exercised from an early age. Today there are few toys that can automatically complete the balance detection of the seesaw movement of electric vehicles, either the control is complicated, or the price is relatively expensive, and some peripheral signals are needed to achieve the balance of the seesaw movement of electric vehicles. the

The present invention corrects the current electric vehicle seesaw motion balance detection system, and can well realize the electric vehicle seesaw motion balance without the need of peripheral signals. It improves children's traditional game intelligence level, and is easy to implement and popularize. It has been proved by experiments that the modified system has good motion performance. the

Contents of the invention

The technical problem to be solved by the present invention is to provide a seesaw motion balance detection system for an electric vehicle that has a high degree of motion performance, is easy to popularize, and is easy to use. the

The technical scheme adopted in the present invention is:

The electric vehicle seesaw motion balance detection system of the present invention transmits the information detected by the road surface to the controller (1) so that the dolly can automatically track and find point A. Collect the left and right inclination information of the car to the controller through the angle sensor and the RS485 communication interface of the single-chip computer The device (2) displays the information through the liquid crystal display module, and when the specified time is up, the trolley automatically finds point A and returns to the initial position. It has been proved by experiments that the distance difference between the two ends of A and B and the ground during balance is d=|d _A -d _b |≤10mm, which constitutes a complete electric vehicle seesaw motion balance detection system, so that the electric vehicle seesaw motion balance device can Convenience, accuracy, safety and other performances are integrated into one. It has the characteristics of high degree of informatization, low cost, easy promotion and convenient use.

Description of drawings

Fig. 1 is overall block diagram of the present invention;

Fig. 2 is the circuit schematic diagram of controller mega16 of the present invention;

Fig. 3 is the circuit schematic diagram of controller mega48 of the present invention;

Fig. 4 is a schematic diagram of the L298N motor drive circuit of the present invention;

Fig. 5 is a photoelectric pair tube detection circuit diagram of the present invention;

Fig. 6 is the warning circuit of the present invention;

Fig. 7 is the RS485 communication interface that angle sensor of the present invention is connected with single-chip microcomputer;

Fig. 8 is a schematic diagram of a power supply circuit of the present invention;

Fig. 9 is the interface of the liquid crystal display module of the present invention;

Fig. 10 is the system program flow of the present invention;

Fig. 11 is the trajectory of the seesaw of the electric vehicle of the present invention. the

in:

1: Controller mega48 2: Controller mega16

3: Road surface detection module 4: Seesaw balance module

6: Start input button 7: Liquid crystal display module

8: Motor drive module 9: Left and right wheel motors

Detailed ways

Specific embodiments are given below in conjunction with the accompanying drawings to further illustrate how the electric vehicle seesaw motion balance detection device of the present invention is realized. the

The electric vehicle seesaw motion balance detection system of the present invention comprises a road surface detection module, a seesaw balance module, each point position detection module, a start input button, a liquid crystal display module, a motor drive module, left and right wheel motors and a controller (1) and a controller (2) form a complete electric vehicle seesaw motion balance detection system. the

As shown in Figure 1, the electric vehicle seesaw motion balance detection system of the present invention has a controller 1, and also includes a motion track diagram connected with the input end of the controller (1) for providing the controller (1) with road surface detection 5; The communication module connected to the input terminal of controller 1 and used to provide the controller 1 with the balance of the trolley movement is shown in Figure 7. The difficulty of this work is that the electric vehicle reaches balance at the fastest speed, so the dual-axis inclination sensor signal The processing adopts digital PI control algorithm. The mathematical model of the PI controller in continuous form can be expressed as:

$u\left(t\right)=k_{p}e\left(t\right)+k_I{\∫}_0^{t}e\left(t\right)\mathrm{dt}$ Formula (1-1)

In formula (1-1): e(t)=y _r -y(t) is called output error:

Due to the use of a single-chip microcomputer for its data processing, a discrete form of the PI algorithm is used:

$u\left(k\right)=k_{p}e\left(k\right)+k_I\underset{i=1}{\overset{k}{\mathrm{\Σ}}}e\left(i\right)$ Formula (1-2)

After the PI adjustment, the time for the electric vehicle to reach equilibrium is obviously shortened, and the design effect is achieved; it is connected with the output terminal of the controller 1 to pass the status information of the controller 1 through the controller (2) and adopts a liquid crystal display module (7 ) is displayed, and is connected with the output terminal of the controller 1 to control the motor drive module (8) of the left and right motors (9). The liquid crystal display module (7) is a Chinese liquid crystal display module of C series, which is finally displayed in Chinese liquid crystal after collection and processing. the

The biaxial inclination sensor in the seesaw balance module (4) adopts a model of ZCT245AL-485 sensor, which is used to measure the angle of the horizontal direction and the vertical direction of the car body, and the sensor sensitivity is higher (less than 0.1 degree), Wide measurement range (±45 degrees), small size, fast response speed, stable performance, high reliability, multiple signal output and wide working temperature and other advantages. It is a low-cost planar digital dual-axis inclination sensor, which communicates with the host computer through half-duplex communication (RS485), and is placed on the bottom of the car. the

As shown in Figure 2, controller (2) of the present invention adopts single-chip microcomputer MCU, selects the single-chip microcomputer that model is Mega16 for use. Includes start and stop buttons (6). The controller (1) transmits the current status information to the controller (2), and finally completes the display function through the controller (2). the

As shown in Figure 3, controller (1) of the present invention adopts single-chip microcomputer MCU, selects the single-chip microcomputer that model is Mega48 for use. Including the microcontroller reset switch REST. It mainly completes the processing of various feedback signals, controls the driving direction and speed of the electric vehicle, and displays and communicates the current state. Its realization method is as follows: first, use the photoelectric sensor to identify the predetermined driving route, and judge the driving direction of the car according to the feedback signal of the dual-axis inclination sensor. Find the seesaw and reach equilibrium. the

The controller 1 is also provided with an RS485 communication interface 10 for connecting the dual-axis inclination sensor to the single-chip microcomputer. the

Shown in Fig. 4 is the L298N motor drive circuit schematic diagram of the present invention, and the left and right wheel motors (9) of the present invention adopt the DC reduction motor model of permanent magnet excitation mode to be 37RG240, are installed on the left and right car bodies of two rear wheels of dolly . Connect the two DC geared motors with the output terminals of the chip L298N, and connect the input terminals of the chip L298N with the output terminals of the controller (1). the

As Fig. 5 is the photoelectric pair tube detection circuit diagram of the present invention, described road surface detection module (3) all enters the controller ( 1). Using the characteristics of different reflection coefficients of black and white paper, a photoelectric sensor is used to detect the guiding line/boundary line in the field. A total of four sets of photoelectric sensors were selected (effective distance: 0.5-2cm), of which the two photoelectric sensors in the center were used to detect the guiding line, and the photoelectric sensors on both sides were used to detect whether the trolley touched the boundary of the field. The adjustable resistor R3 in the circuit described above can adjust the threshold voltage of the comparator. the

Figure 6 shows the alarm circuit of the present invention. When the electric vehicle reaches point C, that is, when the seesaw is in a balanced state, the alarm red light is always on, and the buzzer emits a continuous long sound to alarm. The PC2 terminal in the figure is connected with the output terminal of the controller (1). the

Fig. 8 is a schematic diagram of the power supply circuit of the present invention. The power supply includes two Ni-MH battery packs connected in series to reach 12V voltage to supply power to the drive circuit, and a voltage stabilizing module is used to generate 5V voltage to supply power to the single-chip microcomputer. the

Fig. 10 is a system program flow chart of the present invention, the software of the electric vehicle seesaw motion balance detection system mainly completes the control of the dual DC motors, the processing and display of the sensor signals. The key part is the control of the DC motor. The forward rotation and reverse rotation of the right wheel motor determine the left turn, right turn and straight driving of the car respectively, and the forward rotation and reverse rotation of the left wheel motor determine the right turn of the car respectively. And turn left, in the process of tracking, the single chip microcomputer always uses the incremental control scheme, that is, in the process of adjusting the turning or speed control and deviation correction tracking, the road signal sampling speed, driving speed, direction adjustment range, etc. need to be adjusted at any time. It is adjusted, and these parameters are continuously increased or decreased in a certain step value. The control of the sensor part is mainly responsible for collecting information from the outside world, and different information corresponds to different processing schemes. the

From the above, the electric vehicle seesaw motion balance detection system of the present invention can improve the motion balance accuracy and avoid misoperation during use. the

Claims (8)

1. an electric motor car seesaw movement balance master system has controller (1), it is characterized in that, also including links to each other with the input end of controller (1) is used for providing pavement detection module (3) to controller (1); Link to each other with the input end of controller (1) and to be used for providing seesaw balance module (4) to controller (1); Link to each other with the output terminal of controller (1) and to be used for the handled signal of controller (1) is removed to control controller (2); And link to each other with the output terminal of controller (1) and to be used for the handled information of controller (1) is removed to control motor drive module (8).

2. electric motor car seesaw movement balance master system according to claim 1, it is characterized in that, described seesaw balance module (4) is included in double-shaft tilt angle sensor and links to each other with controller (1) by RS485 communication interface (10), finish the intensive collection of electric motor car balance detection, obtain complete movement locus.

3. electric motor car seesaw movement balance master system according to claim 1 is characterized in that, described pavement detection module (3) is included in photoelectric tube testing circuit Fig. 5 and links to each other with controller (1).

4. electric motor car seesaw movement balance master system according to claim 1 is characterized in that, described motor drive module (8) includes L298N motor-drive circuit schematic diagram 4 and links to each other with controller (1), finishes the driving of left and right sides motor.

5. electric motor car seesaw movement balance master system according to claim 1 is characterized in that the output of described controller (1) also is provided with controller (2).

6. electric motor car seesaw movement balance master system according to claim 1 is characterized in that the output of described controller (2) also is provided with display module (7) and finishes Presentation Function.

7. electric motor car seesaw movement balance master system according to claim 1 is characterized in that, also is provided with on the described controller (1) to start and stop button (6).

8. electric motor car seesaw movement balance master system according to claim 1 is characterized in that, also is provided with RS485 communication interface (10) on the described controller (1).

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