CN102710195A - Backward slipping preventing motor drive controller for electric vehicle and control method - Google Patents
Backward slipping preventing motor drive controller for electric vehicle and control method Download PDFInfo
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- CN102710195A CN102710195A CN2012101670622A CN201210167062A CN102710195A CN 102710195 A CN102710195 A CN 102710195A CN 2012101670622 A CN2012101670622 A CN 2012101670622A CN 201210167062 A CN201210167062 A CN 201210167062A CN 102710195 A CN102710195 A CN 102710195A
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Abstract
The invention discloses a backward slipping preventing motor drive controller for an electric vehicle, belonging to the field of electrical appliance manufacturing of electric vehicles. The controller comprises an engine which comprises a armature and a magnet exciting coil, an armature switch, an armature current release switch, a magnet exciting coil driving circuit, a dynamo speed sensor, a controller, and a battery, and also comprises a current sensor used for detecting forward current and reverse current of the armature. The input end of the current sensor is connected in parallel with the output end of the armature current release switch after the current sensor is connected in series with the armature. The output end of the current sensor is connected with the controller. The invention also discloses a control method for the backward slipping preventing motor drive for electric vehicle. The controller and the method provided by the invention can effectively prevent the backward slipping of the vehicle on the condition of mechanical brake being out of work or without using the mechanical brake, the safety performance of the electric vehicle is improved and the lifetime of a brake block is prolonged.
Description
Technical field
The present invention relates to anti-back skating motor drive controller of a kind of electric automobile and control method, belong to electric automobile electrical equipment and make the field.
Background technology
Vehicle is in the upward slope process, if release the gas pedal, the possible free back skating of vehicle because of gravity; Prior art is controlled the vehicle back skating through brake and form such as parking brake usually, and when controlling through braking, also must the people control for the pedal that touches on the brake; To increase wearing and tearing thus to brake block; If security incident might take place with free back skating in brake failure, vehicle.
CN201587499U discloses a kind of automobile-used one-way braking means; This invention relates to be fit to electric motor car, motor vehicle go on the upward trend run out of steam after; Prevent a kind of automobile-used one-way braking means on car slide slope (back skating), this invention solves the sloping problem of slide through mechanical structure.
CN101817313A discloses a kind of electric motor car ramp safe starting control system; Comprise entire car controller, drive motor controller, automatic shift control device and handle gear acquisition system, wherein said entire car controller calculates vehicle acceleration, calculates ramp information then; And then calculate moment information; And the moment information that will calculate gained issues drive motor controller, and drive motor controller is sent torque instruction to drive motors, drive motors output respective torque; This system solves slope (back skating) problem of slipping through relevant control algorithm, need not increase hardware and mechanical system.
In the prior art, Fig. 1 is motor in electric automobile driving governor circuit theory diagrams commonly used, and this controller comprises: motor; Motor contains armature M and magnet exciting coil L, armature switch Q6, and it selects the NMOS pipe for use; Output is connected with armature M; Armature supply release-push Q5, it selects the NMOS pipe for use, and output is parallelly connected with armature M; Exciting coil drive circuit is made up of the first switch Q1, second switch Q2, the 3rd switch Q3, the 4th switch Q4; First switch to the, four switches are all selected the NMOS pipe for use; Wherein, the drain electrode of the first switch Q1 connects anode B+, and the drain electrode of second switch connects anode B+; The drain electrode of the 3rd switch Q3 connects the source electrode of the first switch Q1; This tie point also is connected with magnet exciting coil L as an output of exciting coil drive circuit, and the source electrode of the 3rd switch Q3 connects GND B-, and the drain electrode of the 4th switch Q4 connects the source electrode of second switch Q2; This tie point also is connected with magnet exciting coil L as another output of exciting coil drive circuit, and the source electrode of the 4th switch Q4 connects GND B-; The grid of the grid of the first switch Q1 to the, four switch Q4 and the grid of armature supply release-push Q5, armature switch Q6 is connected with controller respectively; Anode B+ is connected with the drain electrode of armature supply release-push Q5, and GND B-is connected with the source electrode of armature switch Q6.
The operation principle of this controller is following: when motor was in the operate as normal driving condition that is just changeing, the first switch Q1 and the 4th switch Q3 closed, second switch Q2 and the 3rd switch Q3 conducting; Magnet exciting coil L adds an exciting current; Open armature switch Q6 copped wave then, the electric current among the armature M flows shown in solid arrow among the figure at this moment, armature M electric current cutting excitation field; Produce driving moment, pushing motor rotates.This moment, armature supply release-push Q5 can turn-off fully, also can be in the on off state complementary with armature switch Q6.When motor is in regenerative braking; But armature switch Q6 complete shut-down disconnected (also can with armature supply release-push Q5 complementary switch); At this moment the back electromotive force among the armature M boosts (Boost) through armature supply release-push Q5 copped wave, even under the situation of very low inertia rotating speed; Also can utilize back electromotive force that battery B is charged; Thereby reach the function of energy regeneration feedback and braking, this moment electric current the flow direction shown in Fig. 1 dotted arrow, dash-dot arrows is the Boost loop of armature supply release-push Q5 when opening; When second switch Q2 and the 3rd switch Q3 close, when the first switch Q1 and the 4th switch Q4 conducting, the motor counter-rotating, other operation principle is identical.
Utilize available circuit, when electric automobile generation back skating, select the current direction of suitable magnet exciting coil L can change the direction of rotation of motor, so can prevent back skating.
Summary of the invention
The invention provides anti-back skating motor drive controller of a kind of electric automobile and control method; When vehicle is parked in upward slope; Under the situation that brake was lost efficacy; Perhaps do not have apply the brakes also can stop the vehicle back skating, the present invention solves vehicle back skating problem through increasing hardware and increasing software program, and existing control method is different in this control method and the prior art.
Technical scheme of the present invention is:
A kind of electric automobile is prevented the back skating motor drive controller, comprising:
Motor, described motor contains armature and magnet exciting coil;
The armature switch, its output is connected with said armature;
The armature supply release-push, its output is parallelly connected with said armature;
Exciting coil drive circuit, its output is connected with described magnet exciting coil, is used for to described magnet exciting coil drive current forward or backwards being provided;
Motor speed sensor;
Controller, it is connected with control end, the control end of armature supply release-push, the control end of exciting coil drive circuit, the motor speed sensor of armature switch respectively;
Battery, it is respectively to described armature, exciting coil drive circuit, motor speed sensor, controller power supply;
It is characterized in that: also comprise being used to detect the said armature current sensor of electric current forward or backwards; Parallelly connected with described armature supply release-push output after the input of this current sensor is connected with described armature, the output of said current sensor is connected with described controller.
The operation principle of this technical scheme is:
When dead ship condition,, prove that then car is in the not controlled OFF state that slides at this moment if controller detects GES; Be assumed to be and can not judge direction, then we do not know this moment motor turn to the first step; Controller arbitrarily adds the exciting current of a direction on magnet exciting coil; Armature will produce electromotive force under excitation field, as adding exciting current in the right direction, electric current returns the path flow of armature through current sensor, armature supply release-push from armature; Thereby motor rotates; Can prevent the electric motor car back skating, current sensor senses outputs to controller to the signal of this electric current, is judged and is exported next step control signal by the software of controller;
The electromotive force of supposing the armature generation is opposite with above-mentioned situation, because this moment, controller was in stopped status, the armature supply release-push ends; Then the electromotive force on this armature can not produce electric current; Can confirm that the direction of exciting current that the first step adds is wrong this moment, and this just needs us to add and opposite before exciting current, thereby on armature, produce opposite magnetic field; With opposite electromotive force, thereby produce armature supply.
In case controller detects armature when electric current is arranged; The direction of expression exciting current this moment is correct; Then can control the size of electromotive force and the size of armature supply, thereby reach control vehicle sliding speed in certain scope through the size of regulating exciting current.
The exciting coil drive circuit that the control magnet exciting coil produces forward and reverse electric current is a prior art, but the software program of the controller output of control exciting coil drive circuit work is different.
Should be noted that; Motor operating state at this moment is the loss that has changed into the potential energy that slides armature supply release-push and motor internal; As the protection under a kind of improper situation, also be practicable but, the current load ability of switching tube should be able to meet the demands usually.
Because the software program in the controller has increased control method, cooperate software can realize stoping the vehicle back skating through above-mentioned hardware.
A kind of electric automobile is prevented the motor-driven control method of back skating; Under the prerequisite of the no drive current of electric automobile parking, at first determined whether the speed of a motor vehicle, if " being " adds an exciting current through detection; Judge through armature supply whether vehicle is in the state of back skating then; If " be not " to be in anti-back skating state, current sensor senses to armature supply be zero, then add an exciting current in the other direction; If be in anti-back skating state, the armature supply that current sensor senses arrives is non-vanishing, then regulates exciting current, makes motor speed in allowed band, thereby reaches the purpose of anti-back skating.
Anti-back skating motor drive controller of a kind of electric automobile of the present invention and control method; When vehicle is parked in half way up the mountain; If mechanical brake is malfunctioning; Or do not use under the situation of mechanical brake, can effectively avoid the back skating of vehicle, have the security performance that improves electric motor car, the beneficial effect that prolongs the brake block life-span.
Description of drawings
Fig. 1 is the circuit theory diagrams of prior art motor in electric automobile driving governor.
Fig. 2 is the circuit theory diagrams of the anti-back skating motor drive controller of electric automobile of the present invention.
Fig. 3 is the flow chart of the anti-back skating motor drive control method of electric automobile of the present invention.
Embodiment
Combine accompanying drawing that the present invention is further described at present:
As shown in Figure 2, a kind of electric automobile is prevented the back skating motor drive controller, and this controller comprises: motor; Motor contains armature M and magnet exciting coil L, and the output series connection back of the input of armature M, current sensor S, armature switch Q6 is connected with battery, and is also parallelly connected with the output of armature supply release-push Q5 after the input series connection of armature M, current sensor S; Armature switch Q6, armature supply release-push Q5 all select the NMOS pipe for use; Exciting coil drive circuit is made up of the first switch Q1, second switch Q2, the 3rd switch Q3, the 4th switch Q4, and first switch to the, four switches are all selected the NMOS pipe for use, wherein; The drain electrode of the first switch Q1 connects anode B+; The drain electrode of second switch Q2 connects anode B+, and the drain electrode of the 3rd switch Q3 connects the source electrode of the first switch Q1, and this tie point also is connected with magnet exciting coil L as an output of exciting coil drive circuit; The source electrode of the 3rd switch Q3 connects GND B-; The drain electrode of the 4th switch Q4 connects the source electrode of second switch Q2, and this tie point also is connected with magnet exciting coil L as another output of exciting coil drive circuit, and the source electrode of the 4th switch Q4 connects GND B-; The grid of the grid of the first switch Q1 to the, four switch Q4 and the grid of armature supply release-push Q5, armature switch Q6 is connected with controller respectively; Anode B+ is connected with the drain electrode of armature supply release-push Q5, and GND B-is connected with the source electrode of armature switch Q6.
The motor speed sensor of present embodiment is connected with controller and is battery-powered.
Present embodiment can calculate the speed of a motor vehicle through motor speed sensor and tire size in controller MCU.
When the first switch Q1 and the 4th switch Q4 conducting, magnet exciting coil obtains electric current, if added exciting current is in the right direction; Then current sensor S has electric current to flow through, and motor is in anti-back skating state, among the figure shown in the solid arrow; Otherwise current sensor S no current flows through.
When the first switch Q1 and the 4th switch Q4 conducting, magnet exciting coil obtains electric current, if added exciting current anisotropy; Then current sensor S no current flows through, and motor is in non-anti-back skating state, and then controller cuts out the first switch Q1 and the 4th switch Q4; Open second switch Q2 and the 3rd switch Q3, magnet exciting coil obtains electric current, and current sensor S has electric current to flow through; Motor is in anti-back skating state, among the figure shown in the dotted arrow.
Because the current sensor S that the present invention increases newly can detect the electric current of both forward and reverse directions, does not influence the use of prior art.
Accordingly, as shown in Figure 3, the flow chart of the anti-back skating motor drive control method of a kind of electric automobile, when electric motor car was parked in uphill way, motor did not change, if malfunctioning because of parking brake, or did not pull the hand brake, and back skating can take place in car, at this moment, judges as follows:
Whether step S1: detecting has the speed of a motor vehicle, if;
Step S2: add an exciting current;
Step S3: whether armature supply is in anti-back skating operating state, if;
Step S4: regulate exciting current;
Step S5: judge motor speed whether in allowed band, if;
Step S6: keep exciting current.
Wherein, judge that if the electric current of current sensor is non-vanishing armature supply is in anti-back skating operating state, otherwise armature supply is in non-anti-back skating operating state.
, then continues step S1 to detect when not having the speed of a motor vehicle through detection;
, then do not carry out step S3 armature supply when not being in anti-back skating operating state;
Step S31: add one and the reciprocal exciting current of step S2, and continue execution in step S3;
Execution in step S4 then when the motor speed of step S5 is not in allowed band.
Need to prove step S4: regulate exciting current, progressively strengthen from little; When exciting current hour because the gradient of the upward slope that electric motor car stopped appearance not of uniform size, electric vehicle loading is different; Might the car back skating can't be stoped, at this moment, exciting current need be progressively strengthened; When exciting current is too big, might start forward by car, so must whether in allowed limits to detect motor speed; Best motor speed is near zero, constantly regulates exciting current and keeps this electric current just can achieve the goal within the specific limits.Simultaneously also should monitor armature supply in real time, avoid armature supply to surpass the setting limiting value of motor and controller switches pipe.
Because control method of the present invention, be under controller cuts out the prerequisite of armature switch, to use, in the time of can not influencing normal vehicle and go, the execution of original control program.
Need to prove that the armature supply through the control of armature switch when armature supply that described exciting current produced and cruising has bigger difference on method, it is high a lot of that the present invention of security performance aspect wants.
Claims (3)
1. an electric automobile is prevented the back skating motor drive controller, comprising:
Motor, described motor contains armature and magnet exciting coil;
The armature switch, its output is connected with said armature;
The armature supply release-push, its output is parallelly connected with said armature;
Exciting coil drive circuit, its output is connected with described magnet exciting coil, is used for to described magnet exciting coil drive current forward or backwards being provided;
Motor speed sensor;
Controller, it is connected with control end, the control end of armature supply release-push, the control end of exciting coil drive circuit, the motor speed sensor of armature switch respectively;
Battery, it is respectively to described armature, exciting coil drive circuit, motor speed sensor, controller power supply;
It is characterized in that: also comprise being used to detect the said armature current sensor of electric current forward or backwards; Parallelly connected with described armature supply release-push output after the input of this current sensor is connected with described armature, the output of said current sensor is connected with described controller.
2. an electric automobile is prevented the back skating motor drive control method, and its characteristic comprises the steps:
(1) detect whether the speed of a motor vehicle is arranged, if deny repeating step (1), if;
(2) add an exciting current;
(3) judge whether armature supply is in anti-back skating operating state, if not, adds one and the reciprocal exciting current of step (2), if;
(4) regulate exciting current;
(5) judge motor speed whether in allowed band, if not, repeating step (4), if;
(6) keep exciting current, execution in step (5).
3. electric automobile as claimed in claim 2 is prevented the back skating motor drive control method; It is characterized in that: in the step (3); Judge that if the electric current of current sensor is non-vanishing armature supply is in anti-back skating operating state, otherwise armature supply is in non-anti-back skating operating state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210167062.2A CN102710195B (en) | 2012-05-23 | 2012-05-23 | Backward slipping preventing motor drive controller for electric vehicle and control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210167062.2A CN102710195B (en) | 2012-05-23 | 2012-05-23 | Backward slipping preventing motor drive controller for electric vehicle and control method |
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| CN102710195A true CN102710195A (en) | 2012-10-03 |
| CN102710195B CN102710195B (en) | 2015-02-25 |
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| CN201210167062.2A Expired - Fee Related CN102710195B (en) | 2012-05-23 | 2012-05-23 | Backward slipping preventing motor drive controller for electric vehicle and control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105691239A (en) * | 2016-04-07 | 2016-06-22 | 重庆长安汽车股份有限公司 | Motor torque control method and device as well as electric automobile |
| CN106809053A (en) * | 2017-01-19 | 2017-06-09 | 上海力信电气技术有限公司 | Electric motor car ramp is anti-to slip by slope method |
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| CN202586850U (en) * | 2012-05-23 | 2012-12-05 | 宁波云控电气有限公司 | Electric automobile anti-backward skating motor driving controller |
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- 2012-05-23 CN CN201210167062.2A patent/CN102710195B/en not_active Expired - Fee Related
Patent Citations (8)
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| US4908553A (en) * | 1988-12-20 | 1990-03-13 | Eaton Corporation | Magnetic regenerative braking system |
| US7362065B2 (en) * | 2004-04-19 | 2008-04-22 | Yamaha Motor Electronics Co Ltd | Regenerative breaking system for electric vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105691239A (en) * | 2016-04-07 | 2016-06-22 | 重庆长安汽车股份有限公司 | Motor torque control method and device as well as electric automobile |
| CN105691239B (en) * | 2016-04-07 | 2018-12-11 | 重庆长安汽车股份有限公司 | A kind of Motor torque control method, device and electric car |
| CN106809053A (en) * | 2017-01-19 | 2017-06-09 | 上海力信电气技术有限公司 | Electric motor car ramp is anti-to slip by slope method |
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| CN102710195B (en) | 2015-02-25 |
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