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WO1989006117A1 - Procede pour stabiliser un vehicule a roues a un seul essieu, et vehicule ainsi stabilise - Google Patents

Procede pour stabiliser un vehicule a roues a un seul essieu, et vehicule ainsi stabilise Download PDF

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Publication number
WO1989006117A1
WO1989006117A1 PCT/EP1989/000018 EP8900018W WO8906117A1 WO 1989006117 A1 WO1989006117 A1 WO 1989006117A1 EP 8900018 W EP8900018 W EP 8900018W WO 8906117 A1 WO8906117 A1 WO 8906117A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
wheel
wheels
axle
motors
Prior art date
Application number
PCT/EP1989/000018
Other languages
German (de)
English (en)
Inventor
Rudolf Rix
Original Assignee
Anschütz & Co. Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Anschütz & Co. Gmbh filed Critical Anschütz & Co. Gmbh
Publication of WO1989006117A1 publication Critical patent/WO1989006117A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/1089—Anti-tip devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L1/00—Supplying electric power to auxiliary equipment of vehicles
    • B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
    • B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K1/00—Unicycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/16—Single-axle vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B60L2240/16—Acceleration longitudinal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B60L2240/18—Acceleration lateral
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B60L2240/20—Acceleration angular
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/28—Four wheel or all wheel drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/34—Stabilising upright position of vehicles, e.g. of single axle vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to a method for stabilizing a uniaxial vehicle according to the preamble of claim 1 and vehicles which are stabilized by this method.
  • Vehicles are usually equipped with at least three wheels arranged on two axles that form a stable footprint on the floor. These vehicles are stable to drive in normal operation, but they have poor maneuverability in a confined space and the off-road capability leaves something to be desired due to small wheel diameters and limited ground clearance between the axles.
  • a special case is the so-called two-wheeled vehicle, in which two axles are arranged one behind the other in the longitudinal direction (bicycle, motorcycle). Such vehicles can only be driven stably by people who form a control loop with the vehicle.
  • Wheelchairs capable of climbing stairs are also known from the literature. This is how AU-OS 20473/83 describes such a wheelchair that moves by means of caterpillars that are guided over several vertically movable pairs of rollers.
  • the wheelchair contains a sensor that triggers a shift of the battery to the raised side when the wheelchair is tilted. This ensures a stable center of gravity, which prevents the wheelchair from tipping over.
  • US Pat. No. 4,432,425 also describes a wheelchair capable of climbing stairs, which has two pairs of wheels, one of which is vertically movable.
  • the axles of the wheel pairs drive a chain, which pulls the wheelchair up stairs via elements attached to it.
  • the wheelchair is equipped with a sensor that measures the angle of inclination.
  • the sensor signal uses a piston to operate a lever that keeps the seat of the wheelchair horizontal, regardless of the inclined position of the chassis.
  • the present invention is based on the knowledge that vehicles with only one wheel or with two wheels arranged on one axle with regard to maneuverability, off-road capability and compact Construction offer significant advantages.
  • the invention has for its object to stabilize such vehicles in a preselectable operating position relative to the horizontal plane, so that they are stable to drive.
  • every tilting movement of the vehicle is sensed and the additional forces to be applied are controlled in such a way that they trigger a torque about the respective tilting axis which exactly reverses the tilting movement.
  • All sensor and compensation elements form a closed control loop, so that the operating position of the vehicle is stabilized, regardless of uneven floors or shifts in the center of gravity.
  • the operating position of the vehicle can be set by appropriate treatment of the sensor signals in the control loop.
  • the additional forces can be applied by a relative displacement between the center of gravity of the vehicle and the wheel axle, for example by moving the wheel suspension or the axle.
  • a particularly advantageous way of applying the additional forces for pitch stabilization is according to claim 3 to change the driving forces.
  • the vehicle is either accelerated or decelerated and the corresponding vector forms a resultant with the vector of gravity, which passes through the position of a wheel or the connecting line between the points of contact of two wheels on the plane of motion.
  • the drive motors of the vehicle work actively, they are part of the control loop. As a result, for example, a uniaxial vehicle lifts over an obstacle without requiring any special precautions.
  • Claims 7-9 relate to vehicles with two wheels arranged on an axle, which stabilize the vehicle about its longitudinal axis. Such vehicles are designed with a particularly great advantage as disabled lifts.
  • auxiliary wheels In the case of a single-wheel vehicle, two pairs of auxiliary wheels are to be provided in the longitudinal direction in front of and behind the vehicle wheel; in the case of a single-axle vehicle with two wheels, one auxiliary wheel in front of and behind the axle is sufficient.
  • the auxiliary wheels can be designed so that they are raised as long as the stabilization is active and that they automatically lower quickly after this effect ceases. It is also possible to move the axis of the vehicle accordingly vertically and to arrange the auxiliary wheels firmly. Instead of the auxiliary wheels, supports could also be provided.
  • the sensor signals are to be converted into control variables for the motors in order to apply the additional forces. Since complex processes have to be mastered, it is advantageous Use microcomputers in the control loop. Furthermore, it is advantageous to effect the regulation on the basis of a state model updated continuously by the computer (regulation in the state space).
  • Figure 1 is a schematic diagram of a single-wheel vehicle in Se tenansicht.
  • Fig. 2 shows the embodiment of Figure 1 in a view from above.
  • FIG. 3 shows a basic illustration of a uniaxial vehicle which is stabilized about a longitudinal axis by two wheels arranged on the axle, in a side view;
  • Fig. 4 shows the embodiment of Figure 3 in a view from above.
  • F g. 5a the conditions when approaching an obstacle to 5c nit by the vehicle of FIGS. 3 and 4.
  • FIG. 1 schematically denotes (1) a vehicle which stands on the plane of movement (3) with only one wheel (2).
  • the illustration of suspension and damping elements has been omitted to simplify the illustration.
  • the axle (4) of the wheel (2) is mounted in a bearing block (5), which at the same time comprises a drive motor seated on the axle (4).
  • the bearing block (5) is displaceable in one in the direction of the longitudinal axis (x)
  • Component (6) mounted, a hydraulic or electric servomotor (7) being used for longitudinal displacement.
  • the component (6) is mounted rotatably about an axis (8) and can be pivoted in the direction of the transverse axis (y) by means of a servomotor (9).
  • Other means for displacing the bearing block (5) can also be provided.
  • the vehicle (1) is equipped with two pairs of auxiliary wheels (10) and C11), which do not stand up on level (3) during normal driving.
  • a sensor (12) is arranged in the vehicle (1) and can be configured, for example, as a gyro platform, accelerometer, rotational speed gyroscope, position gyroscope or rotational accelerometer.
  • the sensor (12) measures the pitch angle, i.e. the tilt angle about the transverse axis (y) and gives a corresponding signal to an electronic controller (13).
  • This manipulated variable signal is amplified in the amplifier (14) and actuates the servomotor (7), which shifts the bearing block (5) and thus the wheel axle (4) in the longitudinal direction (x).
  • a signal is generated by the sensor (12) which actuates the servomotor (9) via the adjustable controller (15) and the amplifier (1 ch). This moves the vehicle (2) and bearing block (5) relative to each other in direction (y) until a stable position is reached.
  • the elements (12, 15, 16, 9) form a closed control loop with the other vehicle components for stabilizing the vehicle (1) to the set roll angle.
  • the elements (13, 14, 15, 16) of simplicity are shown outside the vehicle (1). In reality, these elements are accommodated in the vehicle itself.
  • the vehicle (1) is steered by a combined control of wheel drive and roll angle in a manner not shown here.
  • FIG. 3 schematically shows a vehicle (21) which stands on the plane of movement (3) with two wheels (22, 23) which are arranged on an axis (24).
  • the vehicle (21) is stabilized about its longitudinal axis (x) by these wheels.
  • the two auxiliary wheels (25) and (26) serve to support the vehicle (21) in the rest position; they are not on level (3) during normal driving.
  • the wheels (22, 23) are driven by separately controllable electric motors (27, 28).
  • the vehicle (21) is steered by controlling these motors accordingly.
  • the vehicle pivot point can be placed, for example, on the left or right wheel or in the center of the vehicle.
  • Sensors (29) and (30) are connected to the wheels (22, 23), which measure the respective rotational speed and feed the corresponding signals to the controller (31), which is expediently designed as a computer.
  • a sensor (32) is connected to the vehicle (21), which measures the angle of rotation about the transverse axis Cy), the rotational acceleration and / or the speed of rotation and supplies the corresponding signal to the controller (31).
  • the controller (31) controls the power drive motors (27, 28) via power amplifiers (34) and (35) so that the resulting vector acting on the center of gravity (S), which is composed of the acceleration due to gravity (g) and the acceleration due to acceleration or braking , always intersects the connecting line of the contact points (36) of the wheels (22, 23). The pitch position is thus stabilized.
  • the elements (27, 28, 29, 30, 31, 32, 34, 35) form a closed control loop which quickly stabilizes the vehicle (21) with respect to its pitch position, ie the rotational position about the transverse axis (y).
  • the vehicle (21) can advantageously be designed as an elevator for the disabled. Such an elevator is able to overcome small obstacles, such as a curb. In addition, its maneuverability is very high.
  • 5a to 5c show the conditions when approaching an obstacle, for example a threshold (40) by the vehicle of FIGS. 3 and 4.
  • the vehicle (21) thus rises above the threshold (40) without the operator having to take any special measures. From the above explanations it can be seen that the vehicle according to the invention is also able to drive up stairs with a corresponding design of the wheel diameter, the tires and the wheel drive. If the vehicle is designed as a wheelchair, the stairs are approached backwards. The wheelchair then moves upstairs while constantly tilting backwards and straightening up, each step being overcome as shown in FIGS. 5a to 5c.
  • sensors can be used to detect obstacles and uneven floors, which trigger suitable control processes for overcoming or circumventing the obstacles or for stopping the vehicle.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Chemical & Material Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Combustion & Propulsion (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

Un véhicule à un seul éssieu avec une ou deux roues agencées sur l'essieu est caractérisé par une manoeuvrabilité élevée. Dans le but de stabiliser le véhicule, un capteur produit un signal correspondant à la position réelle, lequel régule dans une boucle d'asservissement fermée la direction et l'ampleur des forces additionnelles s'exerçant sur le véhicule, de telle manière que la résultante de toutes les forces appliquées sur le centre de gravité du véhicule passe toujours par le point de contact de la roue ou par la ligne de jonction des points de contact des deux roues sur le plan de mouvement. Les forces additionnelles s'appliquent par déplacement relatif entre le centre de gravité du véhicule et l'essieu. On stabilise l'angle de basculement également en faisant varier les forces motrices agissant sur les roues.
PCT/EP1989/000018 1988-01-11 1989-01-11 Procede pour stabiliser un vehicule a roues a un seul essieu, et vehicule ainsi stabilise WO1989006117A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DEP3800476.3 1988-01-11
DE3800476A DE3800476A1 (de) 1988-01-11 1988-01-11 Verfahren zum stabilisieren eines einachsigen radfahrzeugs und fahrzeug, das nach diesem verfahren stabilisiert ist

Publications (1)

Publication Number Publication Date
WO1989006117A1 true WO1989006117A1 (fr) 1989-07-13

Family

ID=6345037

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP1989/000018 WO1989006117A1 (fr) 1988-01-11 1989-01-11 Procede pour stabiliser un vehicule a roues a un seul essieu, et vehicule ainsi stabilise

Country Status (3)

Country Link
EP (1) EP0378588A1 (fr)
DE (1) DE3800476A1 (fr)
WO (1) WO1989006117A1 (fr)

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USD846452S1 (en) 2017-05-20 2019-04-23 Deka Products Limited Partnership Display housing
USD876994S1 (en) 2017-05-20 2020-03-03 Deka Products Limited Partnership Display housing
US12214841B2 (en) 2017-12-22 2025-02-04 Razor Usa Llc Electric balance vehicles
US11654995B2 (en) 2017-12-22 2023-05-23 Razor Usa Llc Electric balance vehicles
USD837323S1 (en) 2018-01-03 2019-01-01 Razor Usa Llc Two wheeled board
US11681293B2 (en) 2018-06-07 2023-06-20 Deka Products Limited Partnership System and method for distributed utility service execution
CN112996685A (zh) * 2018-10-22 2021-06-18 皮亚吉奥科技有限公司 移位组件及包括其的移动载具
US11903887B2 (en) 2020-02-25 2024-02-20 Invacare Corporation Wheelchair and suspension systems
DE102020125036B3 (de) 2020-09-25 2022-02-24 Jonas HEINZLER Arbeitsmaschine

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EP0378588A1 (fr) 1990-07-25
DE3800476A1 (de) 1989-07-20

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