TW577836B - Control system and method for electromotive vehicle - Google Patents

Abstract

Disclosed is a control system and method for electromotive vehicle, which utilizes a control system comprised of detection unit, signal processing unit and driving unit to control the forward movement, reverse movement, turning and balance-maintaining of an electromotive vehicle. The electromotive vehicle comprises a chassis, a left wheel, a right wheel, a control bar for direction control and an auxiliary roller for balancing purposes. The control method comprises providing detection signals, based on the moving direction of the control bar and the balance condition of the chassis, to the signal processing unit whereby the signal processing unit processes the detection signals and output a control signal to the driving unit to control the rotation speed of the motor of each wheel so as to realize balance of the electromotive vehicle for linear movement, turning and spinning at the original location. Further, a display unit may be additionally provided to illustrate power storage and the moving condition of the electromotive vehicle for safety purposes.

Description

V. Description of the invention (1) [Field of the invention The present invention is a kind of thunderstorm & refers to the control system and method of a 1-price life 丨 Yukuan moving car, which can control the electric car to push forward 1, the knife θ / 耷, especially with methods. Backward, steering and balance control system [Background of the Invention] In recent years, electric vehicles have been structurally different, and they have evolved as mobility tools. However, electric vehicles are known for their different control mechanisms. The function, right, balance ^ 1 head; the system only has the control of forward speed and steering single-motor drive manual control, and only used and disclosed in the conventional patent 2 it can not reach the zero radius of rotation; 3 Inquiry can control the electric vehicle and control system. The electric vehicle uses the rotation of the gyroscope to achieve balance, but the detection signal of the 4 body = two rain, so the system needs to process the detection signal. The large amount makes the signal processing more complicated, so the response time required by the system is long. From the above, it can be known that there are still many problems in the electric control system of the conventional electric vehicle ′, so it needs to be suggested by related researchers for a better way to solve it. [Objective of the Invention] The main purpose of the present invention is to solve the problems of the complex and difficult control of the electric control system of the conventional electric vehicle, and to propose an electronic control system and method that can control the steering angle, straight direction and speed, balance, and in-situ rotation. . [Brief description of the invention] In order to achieve the above-mentioned object, the control system of the electric vehicle of the present invention includes a sensing I plane

I8H Page 4 577836 V. Description of the invention (2) Unit, signal processing unit and driving forward, backward, steering, and maintaining balance Left wheel, right wheel, and control direction; the control method is based on the joystick to output the sensing signal The signal processing and sensing signals are output to the signal, and the motor speed and direction of the control signal are outputted to make, steer, and rotate in place. The power state and behavior of the electric vehicle are also known. [Detailed description of the invention] Control of the electric vehicle of the present invention The direction is to control the electric vehicle to move forward. Please refer to [Figure 1]. 10, signal processing unit 20 and element 1 0. Different sensing systems include level sensor 1 1 and front device 1. 3 and timer 14; various sensing wheel output control signals output by the signal unit 10; and the control signals of the driving single processing unit 20 to catch and assist the up and down movement of the wheel. In this embodiment, a device level sensor 11 is used, which outputs the signal from the sensor 11 to the signal processing og 70, and is used to control the front of an electric vehicle. The electric vehicle includes a frame and a control. The direction of movement of the rod and an auxiliary wheel for balancing and the balance state of the frame. The processing unit 'makes the signal processing unit to the drive unit to control the electric vehicle to balance each wheel and go straight out' A display unit is added to prevent driving danger. The control system is a block of the control system based on the control lever of the electric vehicle. The control system includes a sensing unit that drives the early element 30. The sensing unit detects the motion state of the electric vehicle, and moves forward and backward. Sensor 1 2. Steering sensor number processing unit 20, which receives the sensing signal, and then judges and processes it. Then it costs 30, which is used to receive the signal to control the rotation of the left and right wheels of the electric vehicle. The level meter on the frame of the electric vehicle is used as the equilibrium state of the electric vehicle; the balance sensing signal (d

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1) After the signal processing unit 2 0 judges and processes, _ makes a signal to the left-wheel drive unit 3 i and the right-wheel drive unit-卩 to output a balanced control wheel according to the tilt direction of the electric vehicle (forward or backward tilt = 3 2, Make the left and right to balance the electric vehicle. Turn to provide momentum @ resistance, potentiometer and pressure that change its characteristic value 1 2 'Use the value of the front lever of the control lever to output different physical units 2 〇 determine the processing unit 31 and the right Wheel drive, the second motor, reach left forward or backward. In addition, turn the left and right values of the control lever to output different units 2 〇 Judging the processing unit 31 and the two motors of the right wheel drive, to achieve the left turn left Or right turn; and when the wheel can run on its own and turn on the other, the moving car can be used in a narrow space. In this embodiment, a variable value element (such as a Hall element, a variable meter, etc.) can be driven by a control lever. Wait ...) As the forward and backward sensors move behind, and change the special forward and backward sensing signal (d 2) of the variable value element, after the signal is sent, a forward and backward control signal is output to Left wheel drive unit 3 2 to drive Equipped with left, right, and right wheels for constant speed operation in the same direction, the electric vehicle sensor 13 also uses a variable value element, and the direction of movement is used to change the characteristics of the variable value element. Steering sensing signal (d 3) After the signal processing, the second and output a steering control signal to the left-wheel drive single 70 3 2 to drive the left and right wheels respectively to perform the same-direction non-equal speed operation, while the electric motors are installed on the left and right wheels respectively, so that the left and right Direction, when the steering of the two wheels is different or one wheel is fixed, the electric vehicle can be turned in place. Therefore, the electric vehicle can be steered. This system can be added with a timer 14 continuously turning a timer 1 4 'When the electric vehicle is in When starting, the meter-timing signal (t) to the signal processing unit 2 〇

The starting time is supported at three points, and when the electric 0 controls the car from three points on the ground, a display is set on the control unit 3, and the driving wheels 40 can be used for the control of the LED lights. Reach (that is, the moving vehicle auxiliary support walking system 0 so early = time 'auxiliary wheels are in contact with the ground 2. The right wheel and the auxiliary wheels are supported at the ground for a predetermined time, the news :: moving unit 3 3 to control the auxiliary wheels; soil The surface is changed to two points on the ground. Fifth, the description of the invention (4), when the electric vehicle is brought to the surface, and the balance is reached, the processing unit 2 rises, and the electric vehicle is in a two-wheel state. In addition, the supply is insufficient. Or drive, the present invention can be installed, such as residual power, the status of the display unit, or the method of the present invention electric back, steering and a right wheel, a control program flow method mainly includes a barrier, it is easy to 40 Use the status, go straight or-LCD panel number to display the system method, used to control the lever of the electric car bag and an electronic control system [Figure 2], so when the power is prone to danger; therefore the user Understanding the system status and the like ,, and retreating state and displayed digitally based. Controlling the forward movement of an electric vehicle, including a frame and an auxiliary wheel for left wheel balancing, it is shown that the control of the electric vehicle is based on the moving direction of the control lever and the balance state of the frame to output a sensing signal to the signal processing unit 2 0. (2) The signal processing unit 20 processes the sensing signal and outputs a control signal to the driving unit 30. (3) The driving unit 30 controls the rotation speed and direction of the left and right wheels and the up and down movement of the auxiliary wheels in response to the control signals. First, first set the initial value of the control program, such as: the balance initial value (D 1

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V. Description of the invention (5)) Initial value (D 2), initial value of steering (D 3), initial value of timing (T) and so on after I. The value of the initial value can be used by the system in a balanced state and the joystick Place it in the center for testing to detect an average value as the basis for the signal processing unit 2 0; when the user stands or sits behind the electric vehicle, the system is started to start running, at this time the timer 1 4 open # timing 'and the various sensor signals output by the level sensor 1 1, forward and backward sensor 1 2, steering sensor 1 3 and output after detection, by the unit 2 0 of the signal location Determine the type of the sensing signal and make appropriate processing. The sensing signal can be distinguished from different sensing signals according to the variable range of the variable value element and its characteristic value. According to different sensing signals, there are the following: For different processing mechanisms, please refer to [Figure 3]. A. The stationary or walking judgment is made based on the forward and backward sensing signals (d 2) and the steering sensing signals (d 3). When d2 = D2 and d3 = D3 indicates that the electric vehicle control lever is in the neutral position, and the electric vehicle is stationary State, the auxiliary wheels move down and support the ground at three points with the left and right wheels; when d 2 = D2 and d 3 = D 3 are not established, the electric vehicle is in a walking state, and the start time is determined in the next step. B. The start time determination is based on the timing of the start of the timing output of the timer 14 to control the start of the auxiliary wheel. It is not violated: ^ 0 0 M M ^ ^ ^ 1 The timing signal (t) output by 4 determines the system and controls When t < τ, it is a predetermined time, which means that the auxiliary wheel is balanced after the system is started. Until t ^ T, the auxiliary wheel is raised, and the descent is not up to the predetermined time, which indicates that the system is down. 'To maintain the balance until t ^ T for the next boat_ > π wa Μ 1 for the next step of the balance state determination.

577836

V. Description of the invention (6) c. Determination of balance state Use: To determine the balance state of the electric vehicle during walking, and determine whether the electric vehicle is leaning forward or backward according to the side bluff j d 1). The sense of balance (1) When 31; 0, it indicates that the electric vehicle is unbalanced, and D 1 leans forward. At this time, the left and right wheels are driven to rotate in the same direction, and the clockwise momentum is used as compensation to make the electric vehicle reach Balance; d 丄 = -1, the meter leans backward. At this time, the left and right wheels are driven to rotate in the same direction to generate a ==. The momentum is used to compensate the electric vehicle to achieve balance. After the balance is reached, it is judged to walk or rotate in place.

D

(2) When d 1 = D 1, it indicates that the electric vehicle is balanced, and then the next step of walking or in-situ rotation is determined. The walking or in-situ rotation judgment is based on the forward-backward side signal (d 2) to determine that the electric vehicle is walking or in-situ rotation; when d2 = D2, it means that the electric vehicle has not made forward and backward movements. Determine the direction of in-situ rotation according to the steering-side signal (d 3); the speed of the left and right wheels can be set in the following way ... (1) Left wheel speed (VL) with the left wheel as the center of rotation: Vl = 〇;

Right wheel speed (Vr): Vr = K1 * (d3-D3), min 1 is a constant and greater than 〇, 43 > 〇3: rotate clockwise, d 3 < D 3: rotate counterclockwise; (2) to The right wheel is the right wheel speed (VR) of the center of rotation. VR = 0;

Page 9 577836 V. Description of the invention (7) Left wheel speed (VL): VL = Kl * (d3—D3), ruler 1 is a constant and greater than 0, (13 > 〇3: clockwise rotation, d 3 < D 3: counterclockwise rotation; (3) right wheel speed (VR) with the middle point of left and right wheels as the center of rotation: VR = — Kl * (d3 — D 3); left wheel speed (VL): VL = K1 * (d3 -D3); K 1 is a constant and greater than 0, d 3 > D 3 · clockwise rotation, d 3 < D 3: counterclockwise rotation. When d 2 2 indicates that the electric vehicle is walking, then Judging the direction, it has the following three situations: (1) When d3 = D3, it means that the user does not control the left and right direction of the joystick, the electric vehicle will go straight or back; the speed of the left and right wheels is as follows: Right wheel speed (VR) : VR = K2 * (d2— D2) ;. Left wheel speed (VL): Vl = K2 * (d2-D2); K2 is a constant and greater than 0, d2 > D2, go straight ahead, d2 < D2, go straight backward (2) When d3 > D3, it means that the electric vehicle is going straight or backward and has left turn; the speed of the left and right wheels is as follows: (A) When d2 > D2:

Page 10 577836 V. Description of the invention (8) Left wheel speed (VL): VL = K2 * (d2 — D2) -K3 * (d3-D3); Right wheel speed (VR): VR = K2 * (d2— D2 ) A K4 * (d3 — D3); where K3 and K4 are constants greater than 0, and K3 > K 4 〇 (Β) when d 2 < D 2 · · Left wheel speed (VL): VL = — [K2 * (D2 — d2) -K3 * (d3 — D3)]; Right wheel speed (VR): Vr = — [K2 * (D2 — d2) -K4 * (d3-D3)];

Among them, K3 and K4 are constants greater than 0, and K3 > K 4 〇 (3) When d3 < D3, it means that the electric vehicle is going straight or backward and has right turn; the speed of the left and right wheels is as follows: (A) when d2 > D2 Hours: Left wheel speed (VL): VL = K2 * (d2—D2) + K4 * (d3-D3); Right wheel speed (VR): VR = K2 * (d2—D2) + K3 * (d3-D3) ; Where K3 and K4 are constants greater than 0, and K3 > K 4 〇 (Β) when d2 < D2: left wheel speed (VL): VL = — [K2 * (D2 —

577836 V. Description of the invention (9) d Right d where 4 is based on control and operation, so that 10 repeats the processing unit 20 and operates. However, the above can be used to limit the scope of the average. K 2 氺 (D 2 — 2) + K 4 氺 Wheel speed (VR) 2) + K 3 氺

K3 and K4 are constants greater than 0, and K3 > K ο lever and sensing signals, the signal processing unit 20 controls the motor rotation to drive the left wheel, right wheel and driving wheel operator's expected motion state, After that, it is detected by the sensing unit, and the sensing signal and the feedback signal are output to the signal point until the power supply of the system is stopped, then the system side stops describing the 'only a preferred embodiment of the present invention, when not The scope of implementation of the invention, that is, any changes and modifications applied for patents according to the present invention should still be covered by the present invention patent

Page 577836 Brief description of the drawings [Brief description of the drawings] Fig. 1 is a block diagram of a control system for an electric vehicle according to the present invention. Fig. 2 is a flowchart of a control method for an electric vehicle according to the present invention. Fig. 3 is the present invention. Signal processing flowchart of electric vehicle [Brief description of figure number] Sensing unit ......... 10 Level sensor ......... 11 Forward and backward Sensor ......... 12 Turn sensor ......... 13 Timer ......... 14 Signal processing Units ......... 20 Drive units ......... 30 Left wheel drive units ......... 31 Right wheel drive units ... ......... 32 Auxiliary wheel drive unit ......... 33 Display unit ......... 40 Balance sensing signal ... ...... d 1 forward and backward sensing signals ......... d 2 turn sensing signals ......... d 3 timing signals ... ....... t

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Claims (1)

577836 6. Scope of patent application 1. A control (1) sensing unit for electric vehicles, which is a signal processing unit that moves the front and left levers of the sensing lever (2) to a signal processing unit that is processed to input (3) the driving unit, which controls the electric motor. The car moves up and down on the left. 2. If the balance sensor in the scope of the patent application outputs a front-rear sensing signal, and the 3, a control and retreat of an electric vehicle, a steering and holding wheel, a right wheel, and a system, it includes: = ί A balanced level sensor, a tethered sensor, and a timer; output control signals from the output signal of the sensing unit; and control signals of the receiving signal processing unit. The speed and direction of the wheel and the wheel of the auxiliary wheel, the electric (1) according to the sensory control signal (2) the signal drives the signal of the single lever of the single car to the signal processing unit; the first output senses the timing control balance control Control a mobile signal and a balance signal described in the item, the device output method, the method of the electric direction includes the direction and the control unit of the electric vehicle control system, its sensing signal, the forward and backward feeling of the steering sense The tester outputs a timing signal for turning. To control the forward and rearward movement of an electric vehicle, the vehicle includes a frame, a left control lever, and auxiliary components for balance. The balance state of the frame is used to output a signal 'and the control signal is output to (3) the drive unit responds to the control. The signal controls the left and right wheels, and the auxiliary wheels move up and down. The control method of electric vehicle as described in item 3 of the scope of patent application, Page 14 The forward and backward sensing signals and the relayed sensing signals may be balanced sensing signals, direction sensing signals, and timing signals. For example, in the scope of the patent application, the processing time judgment and horizontal steering judgment of the processing unit. The electric signal judgment described in item 3 includes the static balance state judgment, the control method of the traveling vehicle, the stop or walking judgment, the start or in-situ rotation judgment, and the electric vehicle described in item 5 of the patent scope. The control method, in which " Hai stationary or walking judgment, is based on the forward and backward sensing signals and the steering sensing signals. 7. The electric vehicle control method as described in item 5 of the scope of patent application, wherein the start time determination is based on a timing signal. 8. The method for controlling an electric vehicle as described in item 5 of the scope of patent application, wherein the determination of the balance state is based on the balance sensing signal. 9, 9, :: Control method of electric vehicle as described in item 5 of the profit range, where 2 = or in-situ determination is based on the front and rear sensing signals. The control method of the electric vehicle described in item 5 of the patent scope, wherein the steering determination is based on a steering sensing signal. Page 15