The present invention relates to a posture-balancing two-wheeled electric vehicle, which comprises: a first wheel rotatably mounted on one side of a frame having a footplate; a second wheel rotatably mounted at the other side of the frame; a first motor for driving the first wheel; a second motor for driving the second wheel; an acceleration sensor mounted on the frame to sense an acceleration, and outputting a first signal which is the acceleration sensed by each first cycle; a gyro sensor mounted on the frame to measure angular velocity, and outputting a second signal, which is the angular velocity sensed by each second cycle set by a cycle shorter than the first cycle; and a control unit for generating a third signal, which is a slope signal, using a first signal output from the acceleration sensor and a second signal provided from the gyro sensor, and comparing the generated third signal with a reference signal to generate a driving signal from a generated subtraction signal to control a driving unit for driving first and second motors. The control unit determines and controls the slope signal generated from the second signal as the third signal during a time period when the first signal is not output, calculates a compensation value for the second signal required to allow an accumulated slope value of the second signal previously used as the third signal to be followed by the currently received first signal when the first signal is output, and calculates the calculated compensation value to be applied to a subsequent second signal until a first signal of the next order is output so as to calculate a third signal. According to the posture-balancing two-wheeled electric vehicle, the accuracy of slope measurement can be improved, thereby improving the prompt response performance and control precision of the posture balance control.

    본 발명은 자세균형 이륜 전기차량에 관한 것으로서, 발판을 갖는 프레임의 일측에 회전가능하게 장착된 제1휠과, 프레임의 타측에 회전가능하게 장착된 제2휠과, 제1휠을 구동하는 제1모터와, 제2휠을 구동하는 제2모터와, 프레임에 장착되어 가속도를 감지하며 제1주기마다 감지된 가속도인 제1신호를 출력하는 가속도센서와, 프레임에 장착되어 각속도를 측정하며 상기 제1주기보다 짧은 시간으로 설정된 제2주기마다 감지된 각속도인 제2신호를 출력하는 자이로 센서와, 가속도 센서에서 출력되는 제1신호와 자이로센서로부터 제공되는 제2신호를 이용하여 기울기 신호인 제3신호를 생성하고, 생성된 제3신호를 기준신호와 비교하여 생성된 차감신호로부터 구동신호를 생성하여 제1모터와 제2모터를 구동하는 구동부를 제어하는 제어유니트를 구비하고, 제어유니트는 제1신호가 출력되지 않는 시간 동안에는 제2신호로부터 생성된 기울기 신호를 제3신호로 결정하여 제어하고, 제1신호가 출력되면 이전에 제3신호로 이용한 제2신호의 누적 기울기 값이 현재 수신된 제1신호에 추종되기 위해 요구되는 제2신호에 대한 보정치를 산출하고, 산출된 보정치를 다음 차수의 제1신호가 출력될 때까지 후속 제2신호에 적용하여 제3신호를 산출한다. 이러한 자세균형 이륜 전기차량에 의하면, 기울기 측정 정밀도를 높일 수 있어 자세균형 제어의 빠른 응답성능과 제어정밀도를 향상시킬 수 있다.


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    Titel :

    self-balancing two-wheeled electric vehicle


    Weitere Titelangaben:

    자세균형 이륜 전기차량


    Beteiligte:
    CHUNG DAE WON (Autor:in) / SON JU AM (Autor:in) / KIM HONG CHUL (Autor:in) / LEE KEON YU (Autor:in)

    Erscheinungsdatum :

    2017-12-28


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B62K Fahrräder , CYCLES



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