CN-116714707-B - Self-balancing control system and method and motorcycle

CN116714707BCN 116714707 BCN116714707 BCN 116714707BCN-116714707-B

Abstract

The invention discloses a self-balancing control system, a self-balancing control method and a motorcycle, which comprise a self-balancing device, an engine unit, a motor unit, a battery unit and a whole vehicle control unit, wherein the engine unit is used for providing power for a vehicle and providing energy for the motor unit, the engine unit comprises an engine and an engine controller, the motor unit is used for providing electric energy for the battery unit, the motor unit comprises a motor and a motor controller, the battery unit comprises a storage battery and a storage battery management system used for managing the storage battery, the storage battery management system is used for managing the charging and discharging of the storage battery, and the whole vehicle control unit is used for sending control instructions to the self-balancing device, the battery unit, the engine unit and the motor unit, so that the continuous self-balancing of the vehicle is realized. The invention can improve the vehicle endurance effect and eliminate the anxiety of the vehicle driving mileage on the basis of ensuring the self-balancing effect of the vehicle.

Inventors

ZHU KAI
ZHENG YU
WANG SHILONG
ZHANG BIN
LI XIN
SHI YINGHUI

Assignees

隆鑫通用动力股份有限公司
重庆隆鑫机车有限公司

Dates

Publication Date: 20260508
Application Date: 20230602

Claims (9)

1. The self-balancing control system is characterized by comprising a self-balancing device, an engine unit, a motor unit, a battery unit and a whole vehicle control unit; The engine unit is used for providing power for the vehicle and providing energy for the motor unit, and comprises an engine and an engine controller used for controlling the engine; The motor unit is used for providing electric energy for the battery unit and comprises a motor and a motor controller used for controlling the motor; the battery unit comprises a storage battery and a storage battery management system for managing the storage battery; The storage battery management system is used for managing the charge and discharge of the storage battery; The whole vehicle control unit is used for sending control instructions to the self-balancing device, the battery unit, the engine unit and the motor unit so as to realize continuous self-balancing of the vehicle; A self-balancing control method, said self-balancing control system comprising: The storage battery provides electric energy required by the motor driving to the self-balancing device, recovers and stores the electric energy generated by the moment gyro during deceleration, and simultaneously receives additional electric energy after the motor is in a power generation state and is used for driving the self-balancing device and other electric devices on the vehicle; The engine runs under the control of the engine controller, and on the basis of ensuring the normal output of the vehicle power, the extra energy is converted into electric energy through the motor; The motor controller controls the power generation capacity of the motor according to the torque demand generated by the whole vehicle controller, provides electric energy for electric devices on the vehicle, and charges the storage battery with additional electric energy; The vehicle controller calculates the balance angle deviation and the required balance moment of the vehicle, gives out a position instruction of the frame motor and a torque instruction of the moment gyro rotor motor, gives out a torque instruction of the motor according to the electric quantity state of the storage battery to maintain the electric quantity balance of the storage battery, and realizes the control of the balance moment and the vehicle body posture of the vehicle by using the self-balancing device.
2. The self-balancing control system of claim 1, wherein the self-balancing device comprises a moment gyro, a moment gyro rotor motor, a rotor motor controller, a moment gyro frame, a frame motor controller; The rotor motor controller is used for providing driving control for the moment gyro rotor motor in the moment gyro acceleration process; The frame motor controller is used for adjusting the angle position of the moment gyro frame through driving the frame motor according to the balance control requirement of the whole vehicle; the rotor motor controller and the frame motor controller are connected with the storage battery through a power line.
3. The self-balancing control system according to claim 1, wherein the motor is connected to the engine, and the motor controller is connected to the battery via a power line.
4. The self-balancing control system according to claim 3, wherein the whole vehicle control unit comprises a whole vehicle controller; the whole vehicle controller is connected with the rotor motor controller, the frame motor controller, the storage battery management system, the engine controller and the motor controller through signal wires.
5. The self-balancing control system according to claim 1, wherein the battery is in a discharge state and the electric quantity is gradually reduced when the vehicle is running, the motor converts part of torque of the engine into electric energy under the control of the motor controller when the electric quantity is lower than a low threshold value, the battery is charged with additional electric energy after the self-balancing device and other electric devices on the vehicle are consumed, the electric quantity is in an ascending state, and the motor stops generating electricity under the control of the motor controller after the electric quantity of the battery reaches a high electric quantity threshold value, and the battery is in a discharge state again and the electric quantity is reduced.
6. The self-balancing control system according to claim 5, wherein the fuel consumption of the vehicle is improved during the maintenance of the battery balance according to the following method: the method comprises the steps of connecting points with the same fuel consumption rate values under different rotating speeds and torques in the range of an external characteristic curve of an engine to form a fuel consumption contour curve, connecting the lowest fuel consumption points under each rotating speed to form an economic fuel consumption curve, wherein at a certain rotating speed n, three points A, B and C are respectively a torque point lower than the economic fuel consumption curve, a torque point on the economic fuel consumption curve and a torque point higher than the economic fuel consumption curve; when the rotating speed is n, if the storage battery is in a discharging state at the moment, the torque point of the engine, which is obtained according to the opening degree of the accelerator of the vehicle and is required by the power output of the vehicle, is A point, and the torque value of the A point is directly sent to the engine controller through a signal line, so that the power output of the engine is controlled; If the storage battery is in a charging state at this time, the torque point of the engine, which is obtained according to the opening degree of the accelerator of the vehicle and is required by the power output of the vehicle, is A point, the maximum power generation torque value which can be provided by the engine under the condition of considering the fuel consumption economy is A-B according to an economic fuel consumption curve, if the absolute value of the power generation torque value is larger than the limit torque given by a control system, the power generation torque is limited according to the limit torque, wherein the torque point of the limit torque is A1, at this time, the whole vehicle controller sends the torque value corresponding to the A1 point to the engine controller through a signal line so as to control the power output of the engine, and meanwhile, the whole vehicle controller also sends the torque value of the A point minus the torque value of the A1 point to the motor control as the motor power generation torque for controlling the power generation.
7. The self-balancing control system according to claim 6, wherein when the rotation speed is n, if the torque point of the engine obtained by the whole vehicle controller according to the opening degree of the accelerator of the vehicle is B point or C point, the torque value of the B point or the C point reaches or exceeds the economic oil consumption point of the engine at the rotation speed, at the moment, if the power generation is performed, the torque of the engine is increased, the oil consumption is poor, the whole vehicle controller sets the power generation torque to zero, and the torque value of the B point or the C point is sent to the engine controller through a signal line, so that the power output of the engine is controlled.
8. The self-balancing control system according to claim 6, wherein the limiting torque is a minimum value of absolute values of a generated torque corresponding to a maximum charging power of the battery given by the battery management system and a maximum generated torque of the motor given by the motor controller.
9. A motorcycle, characterized in that it employs the self-balancing control system according to any one of claims 1 to 8.

Description

Self-balancing control system and method and motorcycle Technical Field The invention relates to the field of vehicle balance control, in particular to a self-balancing control system and method and a motorcycle. Background Currently, when a two-wheeled motorcycle is driven at a low speed and temporarily stopped (such as waiting for a traffic light), a driver can support a single leg or two legs to ensure balance of the vehicle due to unstable gravity center, and in order to solve the problem, a current solution is to add a self-balancing device on the two-wheeled motorcycle. Moment gyroscopes in such balancing devices are typically motor driven, and the set of devices are typically mounted on electric motorcycles, such that the motor in the device is powered by a battery when the device is in operation. In order to maintain the rotational speed of the moment gyro, driving force is required to be continuously provided for the moment gyro, and the continuous operation causes energy loss of the storage battery. In addition, frequent adjustment of the balancing force is involved in the running process of the vehicle, and energy is consumed by the motor of the self-balancing device in the adjustment process, so that the energy loss can further increase the mileage anxiety of the electric motorcycle with shorter driving mileage. In order to solve the above problems, a self-balancing control system, a self-balancing control method and a motorcycle are needed to achieve the effect of self-balancing a motorcycle and solve the problem of anxiety of a user on mileage of the motorcycle. Disclosure of Invention In view of the above, the invention aims to overcome the defects in the prior art, and provides a self-balancing control system, a self-balancing control method and a motorcycle, which can improve the cruising effect of a vehicle and eliminate the anxiety of the driving mileage of the vehicle on the basis of ensuring the self-balancing effect of the vehicle. The self-balancing control system comprises a self-balancing device, an engine unit, a motor unit, a battery unit and a whole vehicle control unit; The engine unit is used for providing power for the vehicle and providing energy for the motor unit, and comprises an engine and an engine controller used for controlling the engine; The motor unit is used for providing electric energy for the battery unit and comprises a motor and a motor controller used for controlling the motor; The battery unit comprises a storage battery and a storage battery management system for managing the storage battery, wherein the storage battery management system is used for managing the charge and discharge of the storage battery; the whole vehicle control unit is used for sending control instructions to the self-balancing device, the battery unit, the engine unit and the motor unit, so that continuous self-balancing of the vehicle is realized. The self-balancing control system can provide continuous electric quantity for the self-balancing device, ensure stable operation of the self-balancing device, and simultaneously provide sufficient electric quantity for frequent adjustment of balancing force, so that the problem of anxiety of vehicle driving mileage is solved on the basis of ensuring the self-balancing effect of the vehicle. Further, the self-balancing device comprises a moment gyroscope, a moment gyroscope rotor motor, a rotor motor controller, a moment gyroscope frame, a frame motor and a frame motor controller; The rotor motor controller is used for providing driving control for the moment gyro rotor motor in the moment gyro acceleration process; The frame motor controller is used for adjusting the angle position of the moment gyro frame through driving the frame motor according to the balance control requirement of the whole vehicle; the rotor motor controller and the frame motor controller are connected with the storage battery through a power line. The motor is connected with the engine, and the motor controller is connected with the storage battery through a power line. Further, the whole vehicle control unit comprises a whole vehicle controller; the whole vehicle controller is connected with the rotor motor controller, the frame motor controller, the storage battery management system, the engine controller and the motor controller through signal wires. A self-balancing control method, using the self-balancing control system, comprising: The storage battery provides electric energy required by the motor driving to the self-balancing device, recovers and stores the electric energy generated by the moment gyro during deceleration, and simultaneously receives additional electric energy after the motor is in a power generation state and is used for driving the self-balancing device and other electric devices on the vehicle; The engine runs under the control of the engine controller, and on the basis of ensuring the normal output of the vehicle power, the extra energy is c