CN106956615A

CN106956615A - The conversion controlled from the intelligent cruise and permanent magnetic brushless PWM for sliding motor with SVPWM

Info

Publication number: CN106956615A
Application number: CN201610039745.8A
Authority: CN
Inventors: 高学才
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-01-12
Filing date: 2016-01-12
Publication date: 2017-07-18

Abstract

The conversion application that hub motor for electric automobile of the present invention is controlled from the intelligent cruise and permanent magnetic brushless PWM for sliding motor with SVPWM, it includes the automatic and artificial conversion that motor intelligent cruise control and brushless, permanently BLDCM motor with automatic sliding function realize 120 ° of two the be conducted control of PWM square waves and the 180 ° of three SVPWM sine waves control that is conducted.

Description

Controlled from the intelligent cruise and permanent magnetic brushless PWM for sliding motor with SVPWM Conversion

Technical field

Specifically it is exactly a kind of control system of Motors used in EV the present invention relates to electric vehicle engineering field.

Background technology

At present, Motors used in EV species is various respectively short length, and wheel hub motor substitution built-in motor has been the general trend of events Become, it is energy-efficient in wheel hub motor that especially there is newcoming advantage from skating technique, but motor is from the control mesh that slides Before there is no research, automobile is easy to misuse from wheel function in upward trend, should not use the used time, automobile driver on straight road Often forget to use from wheel function, the used time is useless, at downhill path, used from the preferably opportunity of wheel function, but department Machine cannot often control the length from coasting time, and the downhill path of different gradient, driver is just more difficult to control the time slided, Upward trend even is treated as in downhill path sometimes, the long-time used time is used on the trunk junction circuit beyond city with not long From skating technique with regard to error-prone, it is impossible to play the energy-efficient potentiality from skating technique, cause unnecessary loss.

It is well known that brushless, permanently BLPCM dc motors, which are PWM, controls 120 ° of two square-wave motor being conducted, its Advantage is：Rotor-position sensor structure is simpler, and position can be just completed using Hall unit and is recognized, rapidity, controllability, Reliability, good economy performance, small volume, energy-conservation, efficiency high, particularly under equal effective material context, square wave working method Motor can increase by 15% than the motor output torque of sine wave working method, but square wave driving has the shortcomings that one fatal is Torque ripple is big, and noise is big, and brainstrust has looked for the method for many weakening torque ripples, eventually can not be effective although effect is significantly Noise is eliminated, the expansion application of BLDCM square-wave motors is received restriction；

Another is permasyn morot, also known as BLACM brushless AC motors, is SPWM or SVPWM controls 180 ° of three motor of sine wave drive for being conducted, its disadvantage is output torque fewer than BLDCM 15%, and its position Sensor must use expensive rotary transformer, the biggest advantage is that noise is low, torque ripple is zero in theory.

Although the special chip that existing Toshiba Corp succeeds in developing solves the conversion of both the above pattern, it is only It is to be started when starting with 120 ° of conducting square waves, sinusoidal modulation wave is produced after position signalling reaches 5Hz, modulating wave and triangular wave Compare generation sinusoidal wave PWM signal, be automatically shifted to 180 ° conducting SVPWM patterns, but when automobile low speed, climbing, acceleration, add When BLDCM patterns are needed when load, conversion becomes highly difficult.

The content of the invention

It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of used for electric vehicle from sliding wheel hub motor The new type of control method of automatic cruising system and permanent magnetic brushless.

To realize object above, the solution of the present invention is：

1st, intelligent cruise system：It includes input of car speed signal, the setting of cruising speed, velocity attenuation amount and declined Subtract the setting of minimum time, the control of brake signal, the setting of the maximum speed upper limit, motor turning control, automobile when sliding certainly Pivot turn optimization, the startup of cruise are with exiting.

2nd, the driving of PWM square waves and the conversion of SVPWM sine wave drives of permanent magnetic brushless, it includes the defeated of control signal Enter the conversion with two kinds of type of drive.

The advantage of the invention is that：

1st, the frequent operation of driver is reduced；

2nd, automatic sliding is more accurate, and because the time of velocity attenuation is less than the time of setting during automobile up slope, cruise can be certainly Dynamic cancellation is slided, and automatic sliding can be realized in the case of driver feels that deceleration is unconspicuous when being travelled on level road, in lower ripple When, it can more play the advantage of automatic sliding；

3rd, ensure coordination when motor turning is put on motor side flexibly and safety under planing case；

4th, it is more flexibly simple when automobile in-place is turned even to realize that original place is turn-taked.

5th, it is most perfect, most comprehensively saved electric energy；

6th, take full advantage of the characteristics of square wave driving output torque is big, inverter utilization rate is high, automobile starting, acceleration, Drive, change in the case of other to SVPWM sine wave drives elimination noise using PWM square waves when climbing, overload.

Brief description of the drawings

Fig. 1 is intelligent cruise schematic diagram of the invention

Fig. 2 is the PWM and SVPWM of present invention transition diagram

Symbol is represented in figure：

1st, hand-wheel signal input 2, rate signal input 3, cruise speed set 4, velocity attenuation amount setting 5, speed The minimum time setting 6 of degree decay, sliding speed upper limit setting 7, brake signal control 8, electric energy reclaim 9, numeric keypad 10th, cruise start/exit 11, foot control 12, power cathode 13, soft start 14, from skid steering control 15, pirouette Curved 16, pivot turn 17, micro computer 18, touch display screen 20, control signal input 21, PWM controller input 22, SVPWM controllers input 23, output end 24, triangular wave control 25, switching controller

Embodiment

The present invention is further illustrated below in conjunction with the accompanying drawings, such as accompanying drawing 1, of the present invention used for electric vehicle from sliding The intelligent cruise system of motor includes rate signal and inputs the instantaneous velocity of (1) from automobile from the input of this end and in display screen (18) shown on, it is the unlatching or exit the signal of cruise that driver inputs that cruise, which starts/exited end (10), driver can be with Stepped on and opened using foot control (11), leave exit, it is necessary to cruising speed from cruise speed set (3) output control phase Then powered-down road, can be inputted with (3) in touch display screen, another method can also be used to set during setting by numeric keypad (9) It is fixed, i.e., automobile instantaneous velocity when handle is started/exited (10) by cruise as setting cruising speed, as long as in touch-screen (18) On touch (0), or drive rudder on set a membrane keyboard use, this speed is shown on display screen (18)； Velocity attenuation amount setting (4) refers to that speed can be reduced, and be reduced to how many when, and motor can be automatically turned on when automobile is from when sliding, When speed is increased to the cruising speed of setting, electric motor circuit breaking, since slide again again, this reduction speed be exactly to decay Amount, this attenuation can in advance manually set, for example set cruising speed 10% or other, once setting can keep for a long time Do not reset, according to circumstances can also set at any time, behind (4) during setting in touch display screen (18), set with numeric keypad (9) Fixed, velocity attenuation amount sets (4) output control signal after setting, controls the circuit or equipment of correlation；The velocity attenuation minimum time Setting (5) refers to that the automobile in cruising condition is used when it reaches the attenuation of setting from slip velocity degree when automobile is climbed Time may be very short, so causes motor frequent starting, and more harm than good, sets after this time, as long as conforming to setting bar Part, loudspeaker (12) can send prompt tone, tell that driver exits and cruise or other, and the setting of this time can advance operation, touch Once (5) of display screen (18), are then set with numeric keypad (9), minimum time setting (5) the output letter of velocity attenuation Number, control interlock circuit or equipment；The sliding speed upper limit sets (6) and referred in automobile downhill, may be each due to the big grade of the gradient Reason is planted, makes speedup on the contrary of not slowing down during automobile slide, causes automobile more and more faster, will be dangerous if taken no action to, Therefore this speed limit is provided with, when car speed reaches the upper limit of this setting, sliding speed upper limit setting (6) passes through Electric energy is reclaimed or brake (8) output correlation signal, have electrical energy recovery device the recoverable system such as accumulated energy flywheel of then control electricity, Storage capacitor or motor become the storage electric energy reduction speed such as generator or directly initiate and stop by electric energy recovery or brake (8) Car system, electric energy recovering system or brake system will organically couple with the cruise system, and the setting will also be set in advance, touch After (6) of display screen (18), operated with numeric keypad (9)；Brake signal controls (7) to refer in automobile slide, in case of When burst accident needs brake, in brake in a flash, cruise system, which is automatically shut down, to be exited, and certain contact also will be in advance with stopping The organic connection of car system；Refer to be accustomed to according to driver on foot control (11), both optional cruises start/exited (10) or optional Foot control (11) is selected, foot control (11) is Sofe Switch, only when pin is stepped on always, cruise system just works, when pin leaves, Cruise system turns off exit therewith；It can be set on display screen on intelligent cruise device, other display screens can also be implanted into, such as If fruit has and may inserted；Soft start (13) is set, be based on automobile from sliding when speed reaches the minimum speed of setting, When motor restarts, often there is a kind of startup noise, this is produced when being and being powered static suddenly by the stator rotated, therefore electricity When machine restarts, passing to of short duration sawtooth current makes electromagnetic torque ascending delay some time, is made an uproar with eliminating startup Sound, the function is in embedment micro computer (17), and control signal is from soft start (13) output control interlock circuit or equipment：From cunning Row course changing control (14) be the automobile put based on motor side when sliding certainly, motor turning is likely to cause the automobile that computer is controlled Steering is miscalculated and out of control, therefore with being compensated from skid steering control (14), the system is equally to be embedded into micro computer (17) in, interlock circuit or equipment are controlled from output signal when sliding in automobile from skid steering control (14)；When automobile is needed When pivot turn or reversing, (1) on touch-screen is touched, now rate signal (2) speed is 0, and no input, hand-wheel signal is defeated Enter (1) to work, if this signal is rectangular pulse, input signal is negative pulse during left-hand rotation, input signal is positive pulse during right-hand rotation, Then pivot turn (15) and pivot turn (16) are while output control signal, but the steering of control motor is opposite, if side Switch to negative pulse to facing left, then pivot turn (15) makes motor reversal, and pivot turn (16) rotates forward motor, if steering wheel is turned right For positive pulse, then pivot turn (15) rotates forward motor, and pivot turn (16) makes motor reversal, realizes that automobile in-place is turned, letter It is single flexible.

2 it is described further below in conjunction with the accompanying drawings, Fig. 2 is shown a permanent magnet brushless electromotor and is utilizing Hall sensing Two kinds of moulds of the conversion of BLDCM120 ° two the be conducted control of PWM square waves and 180 ° of three SVPWM control that are conducted are realized under the premise of device Formula：A kind of pattern is input control signal, inputs one in control signal input (20) or pulse train signal realizes two kinds Mode automatic conversion, during PWM controller input (21) is the outlet line from square wave electronic controller, accesses the row each Point, SVPWM controllers input (22) is the outlet line from sine wave electronic controller, accesses row's each point, output end (23) it is that row's each point is accessed into each field location of pm brushless in-wheel motor input, electricity is made by the conversion of two kinds of control technologies Machine is in optimal operational condition, and when control signal input (20), input pulse signal makes the internal circuit of switching controller (25) When being transformed into PWM controller input (21), each point each point fifth wheel corresponding with output end (23) on input (21) row Hub motor is controlled by square wave electronic controller, and wheel hub motor output torque is big, is easy to automobile starting, low speed, acceleration, is loaded, climbs Situations such as slope, uses, when the pulse signal inputted in control signal input (20) makes the internal circuit conversion of controller (25) extremely During SVPWM controllers input (22), each point of the input (22) row is connected with corresponding output end (23) each point, wheel hub electricity Machine is controlled by sine wave electronic controller, and now noise of motor is minimum, and the automobile most of the time is in this pattern, it is ensured that electricity Machine not only electricity-saving high efficiency but also steady noiseless.Another pattern is switching regulator, and in Toshiba, sinusoidal wave controller can be used for motor originally In the circuit that two kinds of modes are changed during startup, increase switching function, when needing which kind of control mode, artificial interference control, When triangular wave control (24) is connected, circuit realiration motor square wave starts, sine wave operation, when triangular wave control (24) disconnects, Triangular-wave generator in circuit is stopped, and circuit is without SVPWM signal outputs, and circuit can only operate in Square operation state, When automobile needs Square operation to reinforce when climbing, acceleration, loading, triangular wave control (24) can be artificially disconnected.

Exemplary description is carried out to the present invention above in conjunction with accompanying drawing, it is clear that concrete implementation of the present invention is not by above-mentioned Described limitation, if the design of the present invention and the various improvement of technical scheme are employed, or the not improved structure by the present invention Think and technical scheme is directly used in other occasions, within the scope of the present invention.

Claims

1. it is a kind of used for electric vehicle from the intelligent cruise technology for sliding wheel hub motor, it is characterised in that it includes micro computer (17) With touch display screen (18), there is in micro computer (17) rate signal to input (2), cruise speed set (3), the setting of velocity attenuation amount (4), the minimum time setting (5) of velocity attenuation, sliding speed upper limit setting (6), numeric keypad (9), above items can be advance Setting, the respective digital combination numeric keypad (9) being set by touch display screen (18) set it is standby, can also be at any time Modify；Also include brake signal control (7) on micro computer (17), electric energy is reclaimed or braked (8), the startup of cruise/move back Go out (10), foot control (11), soft start (13), from taxiing turn (14) and pivot turn (15).

2. the intelligent cruise technology for sliding wheel hub motor certainly according to claim 1, it is characterised in that：Rate signal is inputted (2) car speed instruction line is accessed, GES is introduced into micro computer (17), cruise speed set (3), velocity attenuation amount are set The minimum time setting (5) of fixed (4), velocity attenuation, sliding speed upper limit setting (6) are respectively connected to the control system of motor not Same circuit, exports the working condition that corresponding signal controls motor.

3. the intelligent cruise technology for sliding wheel hub motor certainly according to claim 1, it is characterised in that：Rate signal is inputted (2) both numeric keypad (9) can be combined with the numeral (2) in touch display screen (18) set at any time, can also be directly using patrolling Boat starts/exited the spot speed of (10) automobile on startup as cruising speed, as long as touching on display screen (18) Digital (0).

4. the intelligent cruise technology for sliding wheel hub motor certainly according to claim 1, it is characterised in that：The sliding speed upper limit What setting (6) was connected in program with electric energy recovery or brake (8), when car speed reaches the upper limit, electric energy is reclaimed or brake (8) output control signal starts storage capacitor or motor is become generator storage electric energy, the rising or startup of regulation speed Brake system.

5. the intelligent cruise technology for sliding wheel hub motor certainly according to claim 1, it is characterised in that：Cruise starts/moved back Go out (10) and foot control (11) is in parallel, motionless cruise system work can be stepped on optionally first, foot control (11) is Sofe Switch Make, pin unclamps i.e. shut-off cruise system.

6. the intelligent cruise technology for sliding wheel hub motor certainly according to claim 1, it is characterised in that：Soft start (13), From trackslipping, curved (14) connect respective interlock circuit, are controlled all the time by micro computer (17), pivot turn (15) is only in automobile in-place During turning, micro computer (17) could be controlled.

7. the driving of PWM square waves and the SVPWM sine wave drives switching controller (25) of a kind of permanent magnet brushless electromotor, its feature exist In：It includes control signal input (20), PWM controller input (21), SVPWM controllers input (22), output end (23), triangular wave control (24), switching controller (25), switching controller (25) have two kinds of translative mode, and a kind of pattern is defeated Enter control signal, in control signal input (20) input pulse, make output end (23) defeated in PWM inputs (21) and SVPWM Enter rotation between end (22), another pattern is triangular wave switch control, originally can only be in the sinusoidal wave controller series of Toshiba The PWM just having during electric motor starting controls (24) with setting triangular wave in SVPWM change-over circuits, electricity when triangular wave control (24) is connected Machine is automatically shifted to 180 ° of three SVPWM control operation that are conducted, is worked as triangular wave later with 120 ° of two PWM control startup that are conducted When controlling (24) disconnection, triangular-wave generator is stopped, and motor is only controlled by PWM square waves.In automobile climbing, acceleration, loading When disconnect triangular wave control (24).

8. switching controller (25) according to claim 7, it is characterised in that：PWM controller input (21) and SVPWM Controller input (22) is located at the side of switching controller (25), and output end (23) is located at the another of switching controller (25) Side, control signal input (20) and triangular wave control (24) are located at the front end of switching controller (25).