US-12623554-B2 - Self-balancing power system, self-balancing control method, self-balancing control system, and self-balancing vehicle

US12623554B2US 12623554 B2US12623554 B2US 12623554B2US-12623554-B2

Abstract

A self-balancing power system includes a first drum unit, a second drum unit, a first battery pack, a second battery pack, a first power motor, a second power motor, a power output set and an anti-torque power set, where the power output set and the anti-torque power set are in transmission connection to the first drum unit and the second drum unit respectively from two sides of the first drum unit and the second drum unit, the power output set is configured to provide output power of the self-balancing power system, and the anti-torque power set is configured to provide anti-torque of the self-balancing power system. The present disclosure further relates to a self-balancing control method, a self-balancing control system and a self-balancing vehicle. At least stability and heat dissipation effect of the self-balancing power system can be improved.

Inventors

Wei Li
Panhua ZENG

Assignees

HORWIN INC.

Dates

Publication Date: 20260512
Application Date: 20241106
Priority Date: 20230924

Claims (20)

1 . A self-balancing power system, comprising: a first drum unit, a second drum unit, a first battery pack, a second battery pack, a first power motor, a second power motor, a first power output set and a second power output set, wherein the first power output set is in transmission connection to one side of the first drum unit and one side of the second drum unit respectively, and the second power output set is in transmission connection to another side of the first drum unit and another side of the second drum unit, respectively; the first power output set is configured to provide a first power torque of the self-balancing power system, and the second power output set is configured to provide a second output torque of the self-balancing power system; the first battery pack and the first power motor are fixed inside the first drum unit, and the second battery pack and the second power motor are fixed inside the second drum unit.
2 . The self-balancing power system according to claim 1 , wherein the first power motor comprises a first motor housing and a first motor output shaft, wherein the first motor housing is rotatable relative to the first motor output shaft, and the first motor housing is nonrotatable relative to the first drum unit; and the second power motor comprises a second motor housing and a second motor output shaft, wherein the second motor housing is rotatable relative to the second motor output shaft, and the second motor housing is nonrotatable relative to the second drum unit.
3 . The self-balancing power system according to claim 2 , wherein the first battery pack is fixed to the first drum unit, and the second battery pack is fixed to the second drum unit.
4 . The self-balancing power system according to claim 2 , wherein the first motor housing is connected to the first drum unit in a nonrotatable manner, and the second motor housing is connected to the second drum unit in a nonrotatable manner.
5 . The self-balancing power system according to claim 2 , wherein the first drum unit and the second drum unit comprise a first transmission shaft and a second transmission shaft respectively, wherein the first transmission shaft is nonrotatable relative to the first drum unit, and the second transmission shaft is nonrotatable relative to the second drum unit.
6 . The self-balancing power system according to claim 5 , wherein the first power output set is in transmission connection to the first motor output shaft and the second motor output shaft separately, and the second power output set is in transmission connection to the first transmission shaft and the second transmission shaft separately.
7 . The self-balancing power system according to claim 5 , wherein the second power output set is in transmission connection to the first motor output shaft and the second motor output shaft separately, and the first power output set is in transmission connection to the first transmission shaft and the second transmission shaft separately.
8 . The self-balancing power system according to claim 1 , wherein the self-balancing power system is configured to: make the first power output set output no torque and the second power output set output the second output torque under a condition that the first motor and the second motor output torque in a same direction and with a same size; alternatively, make the first power output set power the first output torque and the second power output set output no torque under a condition that the first motor and the second motor output torque in opposite directions and with a same size; and alternatively, make the first power output set output the first output torque and the second power output set output the second output torque under a condition that the first motor and the second motor output torque with different sizes.
9 . The self-balancing power system according to claim 8 , wherein the first drum unit and the second drum unit are arranged in parallel in a vertical direction or a horizontal direction.
10 . The self-balancing power system according to claim 8 , wherein the first power output set comprises a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear, a fifth bevel gear, a sixth bevel gear and a seventh bevel gear, wherein the first bevel gear and the sixth bevel gear are connected to the first motor output shaft and the second motor output shaft in a relatively nonrotatable manner respectively; the second bevel gear and the seventh bevel gear are in transmission connection to the first bevel gear and the sixth bevel gear respectively; the third bevel gear and the fifth bevel gear are coaxially connected to the second bevel gear and the seventh bevel gear in a relatively nonrotatable manner respectively; and the fourth bevel gear is in transmission connection to the third bevel gear and the fifth bevel gear separately.
11 . The self-balancing power system according to claim 8 , wherein the first power output set comprises a first straight gear, a second straight gear, a third straight gear and a fourth straight gear, wherein the first straight gear and the second straight gear are connected to the first motor output shaft and the second motor output shaft in a relatively nonrotatable manner respectively, the third straight gear and the fourth straight gear are in transmission connection to the first straight gear and the second straight gear respectively, and the third straight gear is in transmission connection to the fourth straight gear.
12 . The self-balancing power system according to claim 8 , wherein the second power output set comprises a first straight gear, a second straight gear and a third straight gear, wherein the first straight gear and the second straight gear are connected to the first transmission shaft and the second transmission shaft in a relatively nonrotatable manner respectively, and the third straight gear is in transmission connection to the first straight gear and the second straight gear separately.
13 . The self-balancing power system according to claim 8 , wherein the second power output set comprises a first straight gear, a second straight gear and a third straight internal gear, wherein the first straight gear and the second straight gear are connected to the first transmission shaft and the second transmission shaft in a relatively nonrotatable manner respectively, and the third straight internal gear is in transmission connection to the first straight gear and the second straight gear separately.
14 . A self-balancing vehicle, comprising the self-balancing power system according to claim 1 .
15 . The self-balancing vehicle according to claim 14 , wherein the first power output set is configured to provide the first output torque for a forward or backward state of the self-balancing vehicle, and the second power output set is configured to provide the second output torque for correcting an overturning attitude of the self-balancing vehicle.
16 . The self-balancing vehicle according to claim 14 , wherein the self-balancing vehicle is a two-wheeled vehicle.
17 . The self-balancing vehicle according to claim 14 , wherein the self-balancing vehicle is an electric motorcycle.
18 . The self-balancing vehicle according to claim 17 , wherein the electric motorcycle is a pure electric driven motorcycle or a hybrid oil and electricity driven motorcycle.
19 . A self-balancing power system, comprising: a first drum unit, a second drum unit, a first battery pack, a second battery pack, a first power motor, a second power motor, a first power output set and a second power output set, wherein the first power output set is in transmission connection to one side of the first drum unit and one side of the second drum unit respectively, and the second power output set is in transmission connection to another side of the first drum unit and another side of the second drum unit, respectively; the first power output set is configured to provide a first output torque of the self-balancing power system, and the second power output set is configured to provide a second output torque of the self-balancing power system; wherein the self-balancing power system is configured to: make the first power output set output no torque and the second power output set output the second output torque under a condition that the first power motor and the second power motor output torque in a same direction and with a same size; alternatively, make the first power output set output the first output torque and the second power output set output no torque under a condition that the first power motor and the second power motor output torque in opposite directions and with a same size; and alternatively, make the first power output set output the first output torque and the second power output set output the second output torque under a condition that the first power motor and the second power motor output torque with different sizes; wherein the first power output set comprises a first straight gear, a second straight gear, a first bevel gear, a second bevel gear, a first belt pulley, a second belt pulley, a third belt pulley and a synchronous belt, wherein the first belt pulley and the second straight gear are connected to the first motor output shaft and the second motor output shaft in a relatively nonrotatable manner respectively, the second straight gear is in transmission connection to the first straight gear, the second belt pulley is coaxially connected to the first straight gear in a relatively nonrotatable manner, the synchronous belt is in transmission connection to the first belt pulley and the second belt pulley separately, the second straight gear is coaxially connected to the first bevel gear in a relatively nonrotatable manner, the second bevel gear is in transmission connection to the first bevel gear, and the third belt pulley is coaxially connected to the second bevel gear in a relatively nonrotatable manner.
20 . A self-balancing power system, comprising: a first drum unit, a second drum unit, a first battery pack, a second battery pack, a first power motor, a second power motor, a first power output set and a second power output set, wherein the first power output set is in transmission connection to one side of the first drum unit and one side of the second drum unit respectively, and the second power output set is in transmission connection to another side of the first drum unit and another side of the second drum unit, respectively; the first power output set is configured to provide a first output torque of the self-balancing power system, and the second power output set is configured to provide a second output torque of the self-balancing power system; wherein the self-balancing power system is configured to: make the first power output set output no torque and the second power output set output the second output torque under a condition that the first power motor and the second power motor output torque in a same direction and with a same size; alternatively, make the first power output set output the first output torque and the second power output set output no torque under a condition that the first power motor and the second power motor output torque in opposite directions and with a same size; and alternatively, make the first power output set output the first output torque and the second power output set output the second output torque under a condition that the first power motor and the second power motor output torque with different sizes; wherein the second power output set comprises a first belt pulley, a second belt pulley and a synchronous belt, wherein the first belt pulley and the second belt pulley are connected to the first transmission shaft and the second transmission shaft in a relatively nonrotatable manner respectively; and the synchronous belt is in transmission connection to the first belt pulley and the second belt pulley separately.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application is a continuation of International Patent Application No. PCT/CN2023/138084 with a filing date of Dec. 12, 2023, designating the United States, now pending, and further claims priority to Chinese Patent Application No. 202311234206.6 with a filing date of Sep. 24, 2023. The content of the aforementioned applications, including any intervening amendments thereto, is incorporated herein by reference. TECHNICAL FIELD The present disclosure relates to a self-balancing technology, in particular to the technical field of balancing vehicles. In particular, the present disclosure relates to a self-balancing power system, a self-balancing control method, a self-balancing control system and a self-balancing vehicle. BACKGROUND This section merely provides background information related to the present disclosure and is not necessarily the prior art. With the development of technologies for two-wheeled vehicles, such as motorcycles, the self-balancing performance of the vehicle becomes increasingly important. Currently, the technical solutions available for the self-balancing technology of two-wheeled vehicles include a center of gravity transfer technology, an electronic control steering technology, a gyroscope stabilizing technology and an anti-torque control technology. The center of gravity transfer technology adopts a swing structure of a rear wheel and a body in order to maintain balance through center of gravity transfer when the body reaches a overturning attitude, but the center of gravity transfer technology is weak in terms of anti-interference ability, and it is difficult to maintain balance in a high-speed driving condition. The electronic control steering technology uses a computer to control steering and balancing, but it is actually impossible to achieve self-balancing at low speeds. The gyroscope stabilizing technology utilizes the principle that a high-speed rotating gyro can remain vertically stable to allow a two-wheeled vehicle to self-balance, but this technology requires additional space and consumes higher power. The anti-torque control technology adopts a power/anti-torque motor two-in-one method with an anti-torque/power conversion system to reduce the occupied space and body weight, so as to improve a certain range capability. However, current anti-torque control technology may suffer from the following technical problems. First, the anti-torque control system has a large number of internal parts, which complicates the overall structure and may be detrimental to the balance of the system itself, and thus to the balance of the two-wheeled vehicle. Second, if a number of motors and controllers are arranged in the same internal space, it may not be conducive to the heat dissipation of the motors and controllers, and may in turn affect the heat dissipation effect of the entire system. SUMMARY An objective of the present disclosure is to provide a self-balancing power system that at least partially solves the above problems. The objective may be achieved by the following technical solutions. In a first aspect, the present disclosure provides a self-balancing power system. The self-balancing power system includes a first drum unit, a second drum unit, a first battery pack, a second battery pack, a first power motor, a second power motor, a power output set and an anti-torque power set, where the power output set and the anti-torque power set are in transmission connection to the first drum unit and the second drum unit respectively from two sides of the first drum unit and the second drum unit, the power output set is configured to provide output power of the self-balancing power system, and the anti-torque power set is configured to provide anti-torque of the self-balancing power system. The self-balancing power system according to the present disclosure may be configured, for example, to improve integration and self-balancing performance of a two-wheeled vehicle by separately arranging the power motors inside different drum units and arranging the power output set and the anti-torque power set outside the drum unit, and/or integrating functions of power output and anti-torque power output of the motors, such that stability and a heat dissipation effect of the self-balancing power system may be at least improved, and/or a space occupancy and energy consumption of a two-wheeled vehicle may be reduced. In a second aspect, the present disclosure provides a self-balancing control method, configured to control the above self-balancing power system. The self-balancing control method includes: an obtaining step including obtaining a current speed, a preset speed, an inclination angle and a preset inclination angle range of the self-balancing power system; a determination step including determining whether the current speed is consistent with the preset speed, and determining whether the inclination angle falls within the preset inclination angle ra