阅读说明：本技术 主动摇摆正三轮车及其前馈反馈控制方法 (Active swing positive tricycle and feedforward feedback control method thereof ) 是由 张立鹏 于 2021-09-27 设计创作，主要内容包括：本发明公开了一种主动摇摆正三轮车,包括正三轮车本体、摇摆机构、正三轮车离心惯性检测装置、前叉编码器和摇摆控制系统；所述摇摆机构安装在驾驶厢与货厢之间,包括电缸推杆和电机,所述电缸推杆的两端均为可转动连接结构,因此驾驶厢、电缸推杆和形成三连杆机构；离心惯性检测装置用于获得反馈信息,前叉编码器用于获得前馈信息；所述摇摆控制系统根据前馈和反馈信息计算电缸推杆伸缩量从而使驾驶厢朝向车辆转弯/转向形成的圆弧的圆心方向侧倾,对三轮车进行摇摆控制。还公开了一种主动摇摆正三轮车的前馈反馈控制方法。(The invention discloses an active swing positive tricycle which comprises a positive tricycle body, a swing mechanism, a positive tricycle centrifugal inertia detection device, a front fork encoder and a swing control system, wherein the positive tricycle body is provided with a front fork and a rear fork; the swing mechanism is arranged between the cab and the cargo compartment and comprises an electric cylinder push rod and a motor, and two ends of the electric cylinder push rod are both in a rotatable connecting structure, so that the cab, the electric cylinder push rod and a three-link mechanism are formed; the centrifugal inertia detection device is used for obtaining feedback information, and the front fork encoder is used for obtaining feedforward information; the swing control system calculates the extension amount of the push rod of the electric cylinder according to the feedforward and feedback information so as to enable the driving compartment to incline towards the direction of the circle center of the arc formed by the turning/steering of the vehicle, and swing control is carried out on the tricycle. Also discloses a feedforward feedback control method of the active swing positive tricycle.)

1. An active swing positive tricycle is characterized by comprising a positive tricycle body, a swing mechanism, a positive tricycle centrifugal inertia detection device, a front fork encoder (32) and a swing control system;

the positive tricycle body comprises a driving compartment (1009) and a cargo compartment (1008), wherein two rear wheels (1007) are mounted on the cargo compartment (1008), and cannot swing relative to the ground; the front end of the driving compartment is provided with front wheels (1006), the driving compartment and the cargo compartment are connected through a rotating shaft (17), the driving compartment can rotate relative to the cargo compartment around the rotating shaft, and the rotating angle is +/-20 degrees;

the swing mechanism is arranged between the cab and the cargo compartment, and comprises an electric cylinder push rod (2004) and a motor (2041) for pushing the electric cylinder push rod to do linear motion, wherein the motor (2041) is fixedly arranged on the electric cylinder push rod; both ends of the electric cylinder push rod (2004) are of a rotatable connecting structure, the upper end of the electric cylinder push rod (2004) is connected with a bracket fixed on the cab through a hinge, and the lower end of the electric cylinder push rod is connected with a base fixed on the cargo compartment through a hinge; the swing mechanism is used for extending and shortening the electric cylinder push rod according to the instruction of the swing control system so as to drive the cab and the container to rotate relatively to form swing motion;

the positive tricycle centrifugal inertia detection device comprises a double-metal-plate mechanism, a swinging mechanism and an inertial mechanism encoder (3004), and is arranged at the rear part of a cab, and the inertial mechanism encoder is used for detecting the swinging angle of the swinging mechanism relative to the cab, so that the centrifugal force generated by a turning surface in the running process of a tricycle is detected, and feedback information is provided for the active swing control of the tricycle;

the front fork encoder (32) is arranged on a steering shaft of a front wheel of the tricycle and used for detecting the rotation and steering of the front wheel in the running process of the tricycle and providing feedforward information for the active swing control of the tricycle;

the swing control system comprises a motor driver, an information acquisition module and a microprocessor module; the information acquisition module is used for acquiring feedforward information and feedback information;

the microprocessor module is used for: synthesizing the feedforward and feedback information obtained by the information acquisition module, calculating the stretching amount of the electric cylinder push rod required by the swing by using a feedforward PID controller and a feedback PID controller, and outputting the stretching amount to a motor driver;

the motor driver is used for: driving a motor of the swing mechanism according to the stretching amount of the electric cylinder push rod obtained by the microprocessor module, and indicating the electric cylinder push rod to extend or retract so as to control the swing of the tricycle and enable the driving compartment to incline towards the direction of the circle center of an arc formed by turning/steering the tricycle; the motor driver is electrically connected with the motor.

2. The active rocking positive tricycle of claim 1, wherein the feedback information includes angle information of body rocking and the feed forward information includes front fork corner information.

3. The active rocking positive tricycle of claim 2, characterized in that the positive tricycle centrifugal inertia detection device comprises a bi-metallic plate structure, a rocking mechanism and an inertia mechanism encoder (3004), mounted on the rocking mechanism and the device is arranged in parallel with the ground, the bi-metallic plate structure comprises two parallel arranged, electrically and magnetically conductive metallic plates (3001), the rocking mechanism has a second rotation shaft (3003) and a pendulum bob (3022), the second rotation shaft (3003) is mounted in a hole on the top end of the metallic plate (3001) and can freely rotate, the inertia mechanism encoder (3004) is connected to one end of the second rotation shaft (3003), the pendulum bob (3022) is a powerful magnet and is located between the two metallic plates, and the swinging plane of the pendulum bob is perpendicular to the advancing direction of the vehicle.

4. The active roll positive tricycle as claimed in claim 2, further comprising an electronic gyroscope mounted on the positive tricycle, wherein the electronic gyroscope is arranged on the cargo compartment for detecting the inclination angle of the cargo compartment, and is connected with the active roll control system through a serial port.

5. A feedforward feedback control method of an active-swing positive tricycle comprises the following steps:

the method comprises the following steps: when the tricycle turns/steers, a handlebar (1002) drives a front fork (1005) to rotate, a front fork encoder (32) detects the front fork rotation angle of a front wheel in the running process of the tricycle to obtain feed-forward information, a pendulum bob (3022) of an inertia detection device swings under the action of centrifugal force, and an inertia mechanism encoder detects the pendulum angle of the pendulum bob relative to a driving compartment to obtain feedback information; an information acquisition module of the swing control system acquires feedforward and feedback information in driving;

step two: the swing control system integrates the feedforward and feedback information obtained in the first step, and calculates the electric cylinder push rod stretching amount required by swing by using a feedforward PID controller and a feedback PID controller;

step three: sending the telescopic amount of the electric cylinder push rod obtained in the step two to a motor of a motor driver driving a swing mechanism, and indicating the electric cylinder push rod to extend or retract, so that swing control is performed on a driving compartment of the tricycle, the driving compartment is inclined towards the direction of the center of a circle of an arc formed by turning/steering of the tricycle, and gravity center offset is generated so as to compensate for centrifugal force generated by turning/steering;

step four: as the vehicle rolls, the inertial mechanism encoder acquires that the swing angle θ of the pendulum relative to the vehicle cab approaches 0 degrees, thereby stopping the roll, and when the vehicle finishes turning back, the vehicle cab follows the swing of the pendulum, thereby swinging the cab to a vertical position.

Technical Field

The invention relates to a swing mechanism of an electric tricycle, in particular to an active swing tricycle and a feedforward feedback control method thereof.

Background

With the increasing popularity of motorcycles and automobiles, the safety of the motorcycles and the automobiles is more and more concerned by consumers. Most vehicles turn by driving the cross rod to swing through a steering wheel and a steering shaft, so that the wheels are turned. When the automatic tilting vehicle turns, if the vehicle speed is too high or the load is too heavy, the centrifugal force is large when the vehicle turns, the discomfort of drivers and passengers is easy to cause, and the vehicle has the danger of side turning.

WO2020/117043 discloses a self-balancing rocking vehicle comprising a rear frame portion having two drive wheels and a front frame portion having at least one wheel, the rear frame portion comprising a propulsion drive for rotating the drive wheels, a tilt drive for tilting the front frame portion about a tilt axis and a controller for controlling the tilt drive based on a driver steering input, wherein the tilt drive comprises an electric motor located at a predetermined distance from the tilt axis and a tilt member with a gear, the tilt member having a tooth face meshing with the gear such that the tilt member is movable transverse to the tilt axis by the rotation axis, whereby the tilt drive and the tilt member are connected to the respective front and rear frame portions. The inclined component of the self-balancing swing car is provided with the gear assembly, the processing is complex, and the gear is easy to wear when the self-balancing swing car is used for a long time, so that potential hazards are brought to the safety of the swing car; in addition, the self-balancing swing vehicle adopts a torque sensor, acquires information such as vehicle running speed and handlebar turning angle, obtains vehicle turning radius and centrifugal acceleration through calculation, obtains proper swing control and has large calculation error.

Disclosure of Invention

The tricycle adopts a connecting rod type swing mechanism, has a simple structure and high reaction speed, and the control method adopts an inertia detection device based on a damping pendulum to detect the centrifugal force of a vehicle as feedback information, detects the steering of the vehicle by a front fork encoder as feedforward information and carries out real-time control of active swing, thereby improving the rapidity, the flexibility and the accuracy of swing control and increasing the safety of swing. The control method can automatically adjust the inclination angle of the cab according to the running state of the tricycle in the running process so as to compensate the centrifugal force generated in the turning process or compensate the vehicle side inclination caused by the inclined road surface.

The invention discloses an active swing positive tricycle, which comprises a positive tricycle body, a swing mechanism, a positive tricycle centrifugal inertia detection device, a front fork encoder and a swing control system, wherein the positive tricycle body is provided with a front fork and a rear fork;

the tricycle body comprises a driving compartment and a cargo compartment, wherein two rear wheels are mounted on the cargo compartment and cannot swing relative to the ground; the front end of the driving compartment is provided with front wheels, the driving compartment is connected with the cargo compartment through a rotating shaft, the driving compartment can rotate relative to the cargo compartment around the rotating shaft, and the rotating angle is +/-20 degrees;

the swing mechanism is arranged between the driving compartment and the cargo compartment and comprises an electric cylinder push rod and a motor for pushing the electric cylinder push rod to do linear motion, and the motor is fixedly arranged on the electric cylinder push rod; the two ends of the electric cylinder push rod are both of a rotatable connecting structure, the upper end of the electric cylinder push rod is connected with a bracket fixed on the cab through a hinge, and the lower end of the electric cylinder push rod is connected with a base fixed on the cargo compartment through a hinge; the swing mechanism is used for extending and shortening the electric cylinder push rod according to the instruction of the swing control system so as to drive the cab and the container to rotate relatively to form swing motion;

the positive tricycle centrifugal inertia detection device comprises a bimetallic plate mechanism, a swinging mechanism and an inertial mechanism encoder, and is arranged at the rear part of a cab, and the inertial mechanism encoder is used for detecting the swinging angle of the swinging mechanism relative to the cab, so that the centrifugal force generated by a turning surface in the running process of a vehicle is detected, and feedback information is provided for the active swing control of a tricycle;

the front fork encoder is arranged on a steering shaft of a front wheel of the tricycle and used for detecting the rotation and steering of the front wheel in the running process of the tricycle and providing feedforward information for the active swing control of the tricycle;

the swing control system is configured to: the swing control when the vehicle heels comprises a motor driver, an information acquisition module and a microprocessor module; the information acquisition module is used for acquiring feedforward information and feedback information;

the microprocessor module is used for: synthesizing the feedforward and feedback information obtained by the information acquisition module, calculating the stretching amount of the electric cylinder push rod required by the swing by using a feedforward PID controller and a feedback PID controller, and outputting the stretching amount to a motor driver;

the motor driver is used for: driving a motor of the swing mechanism according to the stretching amount of the electric cylinder push rod obtained by the microprocessor module, and indicating the electric cylinder push rod to extend or retract so as to control the swing of the tricycle and enable the driving compartment to incline towards the direction of the circle center of an arc formed by turning/steering the tricycle; the motor driver is electrically connected with the motor.

Further, the feedback information includes angle information of the vehicle body sway, and the feed-forward information includes front fork rotation angle information.

The positive tricycle centrifugal inertia detection device comprises a double-metal-plate mechanism, a swinging mechanism and an inertia mechanism encoder, the double-metal-plate mechanism is installed on the swinging mechanism, the device is arranged in parallel with the ground, the double-metal-plate mechanism comprises two metal plates which are arranged in parallel, conductive and non-conductive, the swinging mechanism is provided with a second rotating shaft and a pendulum bob, the second rotating shaft is installed in a hole in the top end of each metal plate and can rotate freely, one end of the second rotating shaft is connected with the inertia mechanism encoder, the pendulum bob is a powerful magnet and is located between the two metal plates, and the swinging surface of the pendulum bob is perpendicular to the advancing direction of a vehicle; the inertial mechanism encoder is used for detecting the swing angle of the swing mechanism relative to the cab, so that the centrifugal force generated by turning in the running process of the vehicle is detected, and the centrifugal inertial swing angle information is provided for the active swing control of the tricycle.

Additionally, an electronic gyroscope is installed on the positive tricycle, the electronic gyroscope is arranged on the cargo compartment and used for detecting the inclination angle of the cargo compartment, the inclination angle information is used as feedback information, and the electronic gyroscope is connected with the active swing control system through a serial port.

The invention discloses a feedforward feedback control method of an active swing positive tricycle, which comprises the following steps:

the method comprises the following steps: when the tricycle turns/steers, the handlebar drives the front fork to rotate, the front fork encoder detects the front fork rotation angle of a front wheel in the running process of the tricycle to obtain feed-forward information of a tricycle body, the pendulum bob of the inertia detection device swings under the action of centrifugal force, and the inertia mechanism encoder detects the swing angle of the pendulum bob relative to a driving compartment to obtain feedback information; an information acquisition module of the swing control system acquires feedforward and feedback information in driving;

step two: the swing control system integrates the feedforward and feedback information obtained in the first step, and calculates the electric cylinder push rod stretching amount required by swing by using a feedforward PID controller and a feedback PID controller;

step three: sending the telescopic amount of the electric cylinder push rod obtained in the step two to a motor of a motor driver driving a swing mechanism, and indicating the electric cylinder push rod to extend or retract, so that swing control is performed on a driving compartment of the tricycle, the driving compartment is inclined towards the direction of the center of a circle of an arc formed by turning/steering of the tricycle, and gravity center offset is generated so as to compensate for centrifugal force generated by turning/steering;

step four: as the vehicle rolls, the inertial mechanism encoder acquires that the swing angle θ of the pendulum relative to the vehicle cab approaches 0 degrees, thereby stopping the roll, and when the vehicle finishes turning back, the vehicle cab follows the swing of the pendulum, thereby swinging the cab to a vertical position.

Compared with the prior art, the invention has the following advantages:

1) when the tricycle turns, the driving compartment, the swinging mechanism and the cargo compartment form a three-link mechanism, the driving compartment can automatically incline towards the direction of the center of a circular arc formed by turning/steering of the tricycle, the center of gravity is offset, and an eccentric moment is formed, so that the centrifugal force generated by turning of the tricycle is compensated, and the discomfort of a driver and passengers due to the centrifugal force is reduced;

2) the active swing of the driving compartment in the turning driving process of the tricycle enables the gravity center of the driving compartment to be deviated to the inner side, so that the centrifugal force is counteracted, the possibility of outward side turning caused by the centrifugal force is reduced, and the driving safety of the tricycle is enhanced;

3) when the tricycle runs on an inclined road surface, the driving compartment automatically swings to a vertical position, and the driving comfort is enhanced.

Drawings

FIG. 1 is a schematic structural view of an active rocking positive tricycle according to the present invention;

FIG. 2 is a schematic structural view of a rocking mechanism of the active rocking positive tricycle of the present invention;

FIG. 3 is a schematic structural diagram of a centrifugal inertia detecting device of the active swing positive tricycle according to the present invention;

FIG. 4 is a simplified structure diagram of the dynamic analysis of the centrifugal inertia detecting device of the active swing positive tricycle;

fig. 5 is a control flow diagram of the swing control system of the active swing positive tricycle of the present invention.

In the figure:

1001: the frame 1002: a handle 1003: vehicle head pipe

1004: the beam pipe 1005: front fork 1006: front wheel

1007: rear wheels 1008: cargo box 1009: steering box

17: rotation shaft 32: front fork encoder 2001: first connecting rod

2002: second link 2003: first connecting member 2004: push rod of electric cylinder

2041: motor 2005: fixing bracket 2006: base seat

2007: third link 2081: second transverse connection portion 2082: longitudinal joint

2083: first transverse connecting portion 1081: the cargo box frame 3001: metal plate

3003: second rotation axis 3102: the board fastener 3021: connecting piece

3022: pendulum 3023: swing link

3004: inertial mechanism encoder 3005: base 3006: long hole

Detailed Description

In order to make the objects, technical solutions, advantages and significant progress of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings provided in the embodiments of the present invention, and it is obvious that all of the described embodiments are only some embodiments of the present invention, but not all embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 shows an active rocking positive tricycle including a positive tricycle body, a rocking mechanism as shown in fig. 2, a positive tricycle centrifugal inertia detection device as shown in fig. 3, a front fork encoder 32 and a rocking control system.

The tricycle body comprises a frame 1001, a handlebar 1002, a head tube 1003, a beam tube 1004, a front fork 1005, a front wheel 1006, two rear wheels 1007, a brake mechanism, a swing locking mechanism, a cab 1009 and a cargo compartment 1008, wherein the handlebar 1002 is installed at one end of the head tube 1003, the other end of the head tube 1003 is connected with the upper end of the front fork 1005, the lower end of the front fork 1005 is connected with the front wheel 1006, one end of the frame 1001 is connected with the head tube 1003, the other end of the frame 1001 is connected with a rotating shaft 17, the two rear wheels 1007 are installed on a cargo compartment frame 1081 of the cargo compartment 1001, and the cargo compartment cannot swing relative to the ground; the cab is arranged between the front fork 1005 and a cargo box frame 1081 and is used for a driver to sit in the cab to control the handle bar 1002, and the cargo box is arranged on the upper parts of two coaxial rear wheels 1007 and is used for carrying cargo; the driving carriage is connected with the cargo carriage through a rotating shaft 17, a swinging mechanism is further installed between the driving carriage and the cargo carriage, when the handlebar rotates in the rotating direction during running, the swinging mechanism drives the driving carriage and the cargo carriage to rotate relatively, and the rotating angle is +/-20 degrees.

As shown in fig. 2, the swing mechanism includes a bracket parallel to the cab, an electric cylinder push rod 2004, and a motor 2041 for pushing the electric cylinder push rod to move linearly, the motor being fixed to the electric cylinder push rod. The bracket is composed of a first connecting rod 2001, a second connecting rod 2002 parallel to the first connecting rod, and two third connecting rods 2007, the third connecting rods are sleeved at the end parts of the first connecting rod and the second connecting rod, wherein the first connecting rod 2001 and the second connecting rod 2002 are long sides, and the two third connecting rods 2007 are short sides. Wherein, the first connecting rod 2001 is sleeved with a first connecting member 2003, one end of the first connecting member 2003 is fixed on the back of a driving compartment 1009 of the tricycle, the other end is a shaft part for movably connecting the upper end of an electric cylinder push rod 2004, the upper end of the electric cylinder push rod 2004 is connected with the bracket fixed on the driving compartment through a hinge, and the lower end of the electric cylinder push rod 2004 is connected with a base 2006 fixed on the cargo compartment through a hinge.

The base 2006 is of an i-shaped structure and comprises a first transverse connecting portion 2083, a second transverse connecting portion 2081 and a longitudinal connecting portion 2082 which are integrally formed, wherein two ends of the longitudinal connecting portion 2082 are respectively connected with the two transverse connecting portions and are perpendicular to the transverse connecting portions; the first and second lateral connecting portions 2083 and 2081 are fixed to the cargo box, and the cab is rotatable about the rotation axis 17. The first transverse connection portion 2083 has a bracket extending toward the cab for fixing the rotating shaft 17, the bracket has a width adapted to the outer diameter of the rotating shaft 17, and the other end of the fixing bracket 5 is fixed to the first transverse connection portion 2083. Under the action of the motor, the cylinder push rod 2004 can swing left and right relative to the first connecting member 2003, so as to drive the cab fixedly connected with the first connecting rod 2001 to swing left and right, and the swing angle of the cab is-20 to +20 degrees. The motor is electrically connected with a motor driver of the swing control system and used for extending and shortening the push rod according to the instruction of the active swing control system so as to drive the driving compartment and the cargo compartment to rotate relatively and form swing motion.

As shown in fig. 3, the centrifugal inertia detecting device for a positive tricycle includes a bimetal mechanism, a swing mechanism, and an inertial mechanism encoder 3004, which are mounted on a first link 2001 and a second link 2002 of the swing mechanism through connectors so that the device is disposed parallel to the ground. Bimetallic plate structure includes two electrically conductive and non-magnetic conductive metal sheet 3001 and adjustable base 3005, two the mutual parallel arrangement of metal sheet 3001, adjustable base 3005 is L type base, and there is the slot hole (not shown in the figure) bottom surface, thereby base 3005 removes the distance of adjusting between two bases 3005 along slot hole 3006, for this slot hole 3006's major axis perpendicular to base 3005's vertical panel, perpendicular to metal sheet 3001 sets up promptly. The adjustable base 3005 is provided with a vertical plate fastener 3102 for fixing the metal plates 3001, and the relative position of the two metal plates 3001 can be adjusted by adjusting the relative position of the base 3005; the slot 3006 is used to fixedly attach an adjustable base via screws. The two metal plates 3001 are arranged in parallel with each other. Specifically, a second screw hole correspondingly formed in the top end of the metal plate 3001 is used for passing through the second rotating shaft 3003; since the bob 3022 is made of a strong magnet material and is disposed between the metal plates 3001, the metal plate 3001 is made of a conductive and non-conductive metal, preferably copper or aluminum, in order to swing the bob 3022. Swing mechanism includes from last to lower fixed connection's second rotation axis 3003, pendulum rod 3023 and pendulum 3022 in proper order, second rotation axis 3003 is installed in the hole on the top of metal sheet 3001 to can the free rotation, second rotation axis 3003 one end has the axle cap, and the other end is the free end, and the one end card that has the axle cap is in the outside of metal sheet 3001, the free end of second rotation axis 3003 passes behind the metal sheet 3001, continue to pass behind connecting piece 3021, another metal sheet 3001, pass inertia mechanism encoder 3004. The inertial mechanism encoder 3004 is electrically connected to the second rotation shaft 3003, and is configured to read a swing angle of the swing mechanism. The swing rod 3023 is mounted in the middle of the second rotating shaft 3003 through a connecting piece 3021 and is fixedly connected with the second rotating shaft 3003 through a screw, the other end of the swing rod 3023 is fixedly connected with the pendulum 3022, the swing rod 3023 and the pendulum 3022 can swing freely around the axis of the second rotating shaft 3003, the swing angle is the angle through which the rotating shaft rotates, and the pendulum is made of a strong magnet and is located between two metal plates; the second rotation shaft 3003 is electrically connected to the inertia mechanism encoder 3004. The pendulum 3022 can freely swing as the vehicle changes the traveling direction, and when the distance between the bimetal plates 3001 is adjusted, the damping force of the pendulum is changed. When the running direction of the vehicle changes to form circular motion, centrifugal force is generated, so that the pendulum 3022 swings outwards, the swinging angle of the pendulum 3022 can be read through the inertial mechanism encoder 3004, the centrifugal force generated by the turning surface in the running process of the vehicle is detected, and feedback information is provided for the active swing control of the tricycle.

As shown in fig. 1, the front fork encoder 32 is mounted on a steering shaft of a front wheel of the tricycle to detect rotation and steering of the front wheel during driving of the tricycle, and provide feed-forward information for active roll control of the tricycle.

The swing control system of the positive tricycle comprises a motor driver, an information acquisition module and a microprocessor module; the information acquisition module is used for acquiring feedforward information and feedback information; the feedback information comprises angle information of vehicle body swing, and the feedforward information comprises front fork corner information. The microprocessor module integrates the feedforward and feedback information obtained by the information acquisition module, calculates the stretching amount of the electric cylinder push rod required by the swing by using a feedforward PID controller and a feedback PID controller and outputs the stretching amount to a motor driver; the motor driver drives a motor 2041 of the swing mechanism according to the telescopic amount of the electric cylinder push rod obtained by the microprocessor module, and instructs the electric cylinder push rod 2004 to extend or retract, so that the tricycle is subjected to swing control, and the cab is inclined towards the direction of the center of a circular arc formed by turning/steering of the tricycle; the motor driver is electrically connected with the motor.

Example 1: roll control during vehicle turning/steering

As shown in fig. 4-5, the feedforward feedback control method of the active rocking positive tricycle during the turning/steering of the vehicle comprises the following steps:

a swinging mechanism is arranged between a driving compartment and a cargo compartment of the active swinging tricycle, the inertia detection device is arranged between long rods of the swinging mechanism, and a front fork encoder 32 is arranged on a front wheel steering shaft; the distance between the two metal plates of the inertia detection device is adjusted by a passenger according to the allowable swing angle range of the vehicle, when the distance between the two metal plates is closer, the swing damping of the pendulum is larger, so that the pendulum is limited to rapidly oscillate, and when the distance between the two metal plates is farther, the swing damping of the pendulum is smaller;

the method comprises the following steps: when the tricycle turns right, the handlebar 1002 drives the front fork 1005 to rotate, the front fork encoder 32 detects the front fork rotation angle information of the front wheel during the running process of the tricycle as feed-forward information, and as the track of the wheel is arc-shaped, when the tricycle does arc motion, centrifugal force is generated, and the pendulum 3022 of the inertia detection device swings under the action of the centrifugal force to form a swing angle theta. The value of the swing angle θ at which the pendulum 3022 swings is transmitted to the inertia mechanism encoder 3004 through the link 3021 and read by the inertia mechanism encoder 3004, and the inertia mechanism encoder 3004 transmits the value of the swing angle of the pendulum 3022 as feedback information to the vehicle's swing control system through the communication cable.

FIG. 4 is a simplified schematic diagram of a dynamic analysis of an inertia detecting device, wherein the inertia detecting device is a nonlinear oscillation system with an adjustable damping coefficient, and the mathematical model of the inertia detecting device is

Wherein F is the external force applied to the pendulum bob, when the vehicle turns, F is the force applied to the pendulum bob by the centrifugal acceleration of the vehicle, theta is the swing angle of the rotating shaft, and F_cThe damping force between the pendulum and the metal plate when the pendulum swings is proportional to the swinging speed, i.e. the damping force is proportional to the swinging speedc is the damping coefficient of pendulum bob swing, when the distance between the bimetallic plates is reduced, the damping coefficient is increased, otherwise, the damping coefficient is reduced, m is the mass of the pendulum bob, and g is the gravity acceleration;

at a small swing angle, a linearized transfer function of

Wherein, theta(s) represents the Laplace transform of the pendulum output angle,when the damping coefficient c is larger, the pendulum mass is smaller, the time constant T is larger, the high-frequency oscillation suppression capability is stronger, and the high-frequency oscillation is generally caused by the rapid change of the external force F caused by poor driving conditions such as road bumping and the like; therefore, the inertia detecting apparatus of the present invention has a high frequency suppressing effect, the swing angle of the pendulum 3022 directly reflects the inertial change of the vehicle under a proper damping condition, and the pendulum reacts slowly to the pitching due to the rough road condition, thereby suppressing the violent shaking or swinging of the pendulum.

And acquiring feedforward and feedback information in driving by using an information acquisition module of the swing control system.

Step two: the swing control system integrates the feedforward and feedback information obtained in the first step, and calculates the electric cylinder push rod stretching amount required by swing by using a feedforward PID controller and a feedback PID controller;

step three: sending the telescopic amount of the electric cylinder push rod obtained in the step two to a motor of a motor driver driving a swing mechanism, and indicating the electric cylinder push rod to extend or retract, so that swing control is performed on a driving compartment of the tricycle, the driving compartment is inclined towards the direction of the center of a circle of an arc formed by turning/steering of the tricycle, and gravity center offset is generated so as to compensate for centrifugal force generated by turning/steering;

step four: as the vehicle rolls, the inertial mechanism encoder acquires that the swing angle theta of the pendulum relative to the vehicle cab tends to 0 degrees, so as to stop rolling, and when the vehicle returns to finish turning, the vehicle cab follows the swing of the pendulum, so as to swing the cab to a vertical position.

The swing control of the invention is the following control of the swing angle of the pendulum bob. The inertia detection device is arranged on the back of a cab of the swinging electro-tricycle, and the swinging plane of the pendulum bob is vertical to the advancing direction of the vehicle; the controller takes the swing angle as a posture tracking target of the vehicle body during circular motion, instructs a swing mechanism of the electric tricycle to actively incline the tricycle cab to the left according to the swing angle theta of the pendulum bob until the inclined angle of the cab body is consistent with the swing angle theta of the pendulum bob relative to the cab, and the theta read by the encoder is 0 or close to 0 degree at the moment, namely, the vehicle swing follows the swing angle of the pendulum bob, so that the gravity action of the inclined vehicle cab is balanced with the centrifugal force formed by the turning of the vehicle; however, the inertia detection device based on the pendulum bob is a first-order inertia system, and the pendulum angle response is not timely, so that the front fork steering angle is detected by the encoder to construct feedforward control, and meanwhile, the pendulum angle of the pendulum bob is used to construct a feedback controller, so that the feedforward control improves the rapidity of control, and the feedback control ensures the amplitude of swing; as shown in FIG. 5, a schematic block diagram of the feedforward-feedback control of active sway, where α is the steering angle of the front fork, θ is the pendulum angle of the pendulum relative to the cab, and u is the control output of the system to the cylinder servo motor, then

WhereinIn order to feed forward the controller parameters,the parameter is a feedback controller parameter, lambda is a saturation coefficient, and the parameter is obtained by setting according to an actual experiment of the tricycle.

In addition, in order to further limit the swinging angle of the pendulum, stoppers can be adhered to two side walls of the pendulum facing the metal plate, and are used for further reducing the swinging range of the pendulum and preventing the pendulum from being out of control due to an overlarge swinging angle, and the stoppers are made of rubber or plastics.

Example 2: roll control when a vehicle is traveling on an inclined road

The method comprises the following steps: when the tricycle runs on an inclined road surface, the pendulum 3022 of the inertia detection device keeps a vertical direction under the action of gravity, a relative angle, namely a pendulum angle theta, is formed between the pendulum 3022 and the cab, the value of the pendulum angle theta of the pendulum 3022 is used as feedback information to be sent to the swing control system, and the cab swings along the direction of the pendulum hammer, so that the cab swings to be vertical.

Step two: the swing control system integrates the feedforward and feedback information obtained in the first step, and calculates the electric cylinder push rod stretching amount required by swing by using a feedforward PID controller and a feedback PID controller;

step three: and D, sending the telescopic amount of the electric cylinder push rod obtained in the step two to a motor of a motor driver driving a swing mechanism, and indicating the electric cylinder push rod to extend or retract, so that the driving compartment of the tricycle is subjected to swing control, and the driving compartment is automatically swung to a vertical position.

Although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made on the technical solutions described in the foregoing embodiments, or some or all of the technical features of the embodiments can be replaced with equivalents, without departing from the scope of the embodiments of the present invention, and the technical solutions can not be modified or replaced by the modifications, the modifications and the substitutions in the non-essential scope of the present invention.