The invention discloses a control method for preventing a power wheel of a scooter from slipping. The control method comprises the following steps that S1, the estimated speed of a sliding plate is calculated by combining an acceleration sensor, a rotating speed sensor and torsion on a reference wheel; s2, after the estimated speed is calculated, the estimated steering rotating speed difference of the left driving wheel and the right driving wheel is calculated; s3, calculating the speed error of each wheel = the speed of each wheel-the pre-estimated speed +/-the pre-estimated steering speed difference; s4, taking the speed error of each wheel as the input of the PID algorithm, and taking the accelerator brake compensation of each wheel as the output; and S5, the actual control accelerator of each wheel is equal to the original accelerator (remote control accelerator)-the accelerator compensation of each wheel. Compared with the prior art, the method has the advantages that the slipping phenomenon caused by the difference value in the actual driving process is reduced through the balance of the wheel speed difference value, the safety performance is greatly improved, and the good market prospect is achieved.
本发明公开了一种防止滑板车动力轮打滑的控制方法,包括以下步骤:S1、结合加速度传感器以及转速传感器,参考轮上扭力计算滑板的估计速度;S2、算得预估速度后,计算左右驱动轮的预估转向转速差;S3、计算各轮速度误差=各轮速度‑预估速度+/‑预估转向转速差;S4、各轮速度误差作为PID算法的的输入,而输出则是各轮的油门刹车补偿;S5、各轮的实际控制油门=原始油门(遥控油门)‑各轮的油门补偿。本发明与现有技术相比的优点在于:通过轮子速度差值的平衡来减少实际行驶过程中因为差值出现的打滑现象,大大提升了安全性能,具有很好的市场前景。
Control method for preventing power wheel of scooter from slipping
一种防止滑板车动力轮打滑的控制方法
2022-07-22
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62J Fahrrad- oder Motorradsättel oder -sitze , CYCLE SADDLES OR SEATS / B62M RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES , Antrieb von Radfahrzeugen oder Schlitten durch den Fahrer |
METHOD FOR PREVENTING WHEEL PAIRS FROM SLIPPING WHEN BRAKING RAILWAY CAR
European Patent Office | 2022
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