CN102710195B - 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
- Publication number
- CN102710195B CN102710195B CN201210167062.2A CN201210167062A CN102710195B CN 102710195 B CN102710195 B CN 102710195B CN 201210167062 A CN201210167062 A CN 201210167062A CN 102710195 B CN102710195 B CN 102710195B
- Authority
- CN
- China
- Prior art keywords
- armature
- switch
- current
- controller
- motor
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
Links
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
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 the anti-back skating motor drive controller of a kind of electric automobile and control method, belong to electric automobile electrical device manufacturing field.
Background technology
Vehicle is in upward slope process, if release the gas pedal, the vehicle likely free back skating because of gravity, prior art controls vehicle back skating by brake and the form such as parking brake usually, and when controlling by braking, and also must people control for the pedal that touches on the brake, wearing and tearing to brake block will be increased thus, if brake failure, by free back skating, likely there is security incident in vehicle.
CN201587499U discloses a kind of one-way brake device for vehicle, after what this invention related to is applicable electric motor car, motor vehicle travels and run out of steam on upward trend, prevent car from slipping by slope a kind of one-way brake device for vehicle of (back skating), this invention is solved by mechanical structure and slips by slope problem.
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, then ramp information is calculated, and then calculate moment information, and the moment information calculating gained is issued drive motor controller, drive motor controller sends torque instruction to drive motors, drive motors exports respective torque, this system is solved by relevant control algorithm and slips by slope (back skating) problem, do not need to increase hardware and mechanical system.
In prior art, Fig. 1 is conventional motor in electric automobile driving governor circuit theory diagrams, this controller comprises: motor, motor contains armature M and magnet exciting coil L, armature switch Q6, and it selects NMOS tube, output is connected with armature M, armature supply release-push Q5, it selects NMOS tube, and output is in parallel with armature M, exciting coil drive circuit is by the first switch Q1, second switch Q2, 3rd switch Q3, 4th switch Q4 forms, first switch all selects NMOS tube to the 4th switch, wherein, the drain electrode of the first switch Q1 connects anode B+, 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 is also connected with magnet exciting coil L as an output of exciting coil drive circuit, the source electrode of the 3rd switch Q3 connects battery cathode B-, the drain electrode of the 4th switch Q4 connects the source electrode of second switch Q2, this tie point is also connected with magnet exciting coil L as another output of exciting coil drive circuit, the source electrode of the 4th switch Q4 connects battery cathode B-, the grid of the first switch Q1 to the 4th switch Q4 and the grid of armature supply release-push Q5, the grid of armature switch Q6 are connected with controller respectively, anode B+ is connected with the drain electrode of armature supply release-push Q5, and battery cathode B-is connected with the source electrode of armature switch Q6.
The operation principle of this controller is as follows: when motor is in the normal task driven state of rotating forward, first switch Q1 and the 4th switch Q3 closes, second switch Q2 and the 3rd switch Q3 conducting, magnet exciting coil L adds an exciting current, then open armature switch Q6 copped wave, the current flowing now in armature M is as shown in solid arrow in figure, and armature M electric current cuts excitation field, produce driving moment, pushing motor rotates.Now armature supply release-push Q5 can turn off completely, also can be in the on off state with armature switch Q6 complementation.When motor is in regenerative braking, armature switch Q6 can complete shut-down disconnected (also can with armature supply release-push Q5 complementary switch), at this moment the back electromotive force in armature M, by armature supply release-push Q5 copped wave boosting (Boost), even if when very low inertia rotating speed, also back electromotive force can be utilized to charge to battery B, thus reach the function of energy regeneration feedback and braking, now the flow direction of electric current is as shown in Fig. 1 dotted arrow, and dash-dot arrows is the Boost loop of armature supply release-push Q5 when opening; When second switch Q2 and the 3rd switch Q3 closes, when the first switch Q1 and the 4th switch Q4 conducting, motor reversal, 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, therefore can prevent back skating.
Summary of the invention
The invention provides the anti-back skating motor drive controller of a kind of electric automobile and control method, when vehicle is parked in upward slope, when brake failure, or do not have apply the brakes can stop vehicle back skating yet, the present invention solves vehicle back skating problem by increasing hardware and increasing software program, and this control method is different from control method existing in prior art.
Technical scheme of the present invention is:
The anti-back skating motor drive controller of a kind of electric automobile, comprising:
Motor, described motor contains armature and magnet exciting coil;
Armature switch, its output is connected with described armature;
Armature supply release-push, its output and described Shunt-wound Armature;
Exciting coil drive circuit, its output is connected with described magnet exciting coil, for providing drive current forward or backwards to described magnet exciting coil;
Motor speed sensor;
Controller, it is connected with the control end of armature switch, the control end of armature supply release-push, the control end of exciting coil drive circuit, motor speed sensor respectively;
Battery, it is powered respectively to described armature, exciting coil drive circuit, motor speed sensor, controller;
It is characterized in that: also comprise the current sensor for detecting described armature electric current forward or backwards, the input of this current sensor is connected rear in parallel with described armature supply release-push output with described armature, the output of described current sensor is connected with described controller.
The operation principle of this technical scheme is:
When dead ship condition, if controller detects vehicle speed signal, then prove that car is now in and controlled do not slide OFF state; Be assumed to be and can not judge direction, then we do not know turning to of now motor, the first step, controller arbitrarily adds the exciting current in a direction on magnet exciting coil, armature will produce electromotive force under excitation field, in the right direction as added exciting current, electric current returns the path flow of armature through current sensor, armature supply release-push from armature, thus electric machine rotation, electric motor car back skating can be prevented, current sensor detects that the signal of this electric current outputs to controller, is undertaken judging and export next step control signal by the software of controller;
Suppose that the electromotive force that armature produces is contrary with above-mentioned situation; because this Time Controller is in stopped status; armature supply release-push ends; electromotive force then on this armature can not generation current; now can confirm that added by the first step, the direction of exciting current is wrong, this just needs us to add and exciting current contrary before, thus on armature, produce contrary magnetic field; with contrary electromotive force, thus produce armature supply.
Detect that armature has electric current once controller, represent that the direction of now exciting current is correct, then can control the size of electromotive force and the size of armature supply by regulating the size of exciting current, thus reach control vehicle sliding speed in certain scope.
The exciting coil drive circuit that control magnet exciting coil produces forward and reverse electric current is prior art, but the software program that the controller controlling exciting coil drive circuit work exports is different.
Should be noted that; motor operating state is now the loss potential energy slided having been become armature supply release-push and motor internal; but as the protection under a kind of abnormal condition, be also practicable, the current load ability of usual switching tube should be able to meet the demands.
Due to the software program in controller, add control method, coordinate software can realize stoping vehicle back skating by above-mentioned hardware.
The motor-driven control method of a kind of anti-back skating of electric automobile, stop without under the prerequisite of drive current at electric automobile, first the speed of a motor vehicle has been determined whether by detection, if "Yes" adds an exciting current, then judge whether vehicle is in the state of back skating by armature supply, if "no" is in anti-back skating state, the armature supply that current sensor detects is zero, then add an exciting current in the other direction; If be in anti-back skating state, the armature supply that current sensor detects is non-vanishing, then regulate exciting current, makes motor speed in allowed band, thus reaches the object of anti-back skating.
A kind of anti-back skating motor drive controller 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 when not using mechanical brake, effectively can avoid the back skating of vehicle, there is the security performance improving electric motor car, the beneficial effect extending the brake block life-span.
Accompanying drawing explanation
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
Now the present invention is further illustrated by reference to the accompanying drawings:
As shown in Figure 2, the anti-back skating motor drive controller of a kind of electric automobile, this controller comprises: motor, motor contains armature M and magnet exciting coil L, armature M, the input of current sensor S, be connected with battery after the output series connection of armature switch Q6, armature M, also in parallel with the output of armature supply release-push Q5 after the input series connection of current sensor S, armature switch Q6, armature supply release-push Q5 all selects NMOS tube, exciting coil drive circuit is by the first switch Q1, second switch Q2, 3rd switch Q3, 4th switch Q4 forms, first switch all selects NMOS tube to the 4th switch, wherein, the drain electrode of the first switch Q1 connects anode B+, the drain electrode of second switch Q2 connects anode B+, the drain electrode of the 3rd switch Q3 connects the source electrode of the first switch Q1, this tie point is also connected with magnet exciting coil L as an output of exciting coil drive circuit, the source electrode of the 3rd switch Q3 connects battery cathode B-, the drain electrode of the 4th switch Q4 connects the source electrode of second switch Q2, this tie point is also connected with magnet exciting coil L as another output of exciting coil drive circuit, the source electrode of the 4th switch Q4 connects battery cathode B-, the grid of the first switch Q1 to the 4th switch Q4 and the grid of armature supply release-push Q5, the grid of armature switch Q6 are connected with controller respectively, anode B+ is connected with the drain electrode of armature supply release-push Q5, and battery cathode B-is connected with the source electrode of armature switch Q6.
The motor speed sensor of the present embodiment is connected with controller and battery-powered.
The present embodiment can calculate the speed of a motor vehicle by motor speed sensor and tire size in controller MCU.
As 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, in figure shown in solid arrow, otherwise current sensor S no current flows through.
As 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, 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, in figure shown in dotted arrow.
The current sensor S increased newly due to the present invention can detect the electric current of both forward and reverse directions, does not affect 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 is parked in uphill way, motor does not turn, if because of parking brake malfunctioning, or not pulling the hand brake, can there is back skating in car, now, judges as follows:
Step S1: detect whether have 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, if the electric current of current sensor is non-vanishing, judge that armature supply is in anti-back skating operating state, otherwise armature supply is in non-anti-back skating operating state.
When step S1 does not have by detection then to continue during the speed of a motor vehicle to detect;
Then perform when step S3 armature supply is not in anti-back skating operating state;
Step S31: add one and the reciprocal exciting current of step S2, and continue to perform step S3;
Then step S4 is performed when the motor speed of step S5 is not in allowed band.
It should be noted that, step S4: regulate exciting current, progressively strengthen from little, when exciting current is less, the gradient of the upward slope stopped due to electric motor car is in different size, electric vehicle loading is different, likely cannot stop car back skating, now, need progressively to strengthen exciting current, when exciting current is too large, likely car driven forward, so whether in allowed limits must detect motor speed, best motor speed is close to zero, constantly regulates exciting current and keeps this electric current just can achieve the goal within the specific limits.Also should monitor armature supply in real time simultaneously, avoid armature supply to exceed the setting limiting value of motor controller switching tube.
Due to control method of the present invention, be use under controller cuts out the prerequisite of armature switch, when can not affect normal vehicle traveling, the execution of original control program.
It should be noted that, the armature supply that described exciting current produces has larger difference with the armature supply controlled through armature switch when normally travelling in method, and the present invention of security performance aspect wants high a lot.
Claims (2)
1. the anti-back skating motor drive control method of electric automobile, its feature comprises the steps:
(1) detect whether have the speed of a motor vehicle, repeat step (1) if not, if;
(2) exciting current is added;
(3) judge whether armature supply is in anti-back skating operating state, if not, add one and step (2) reciprocal exciting current, if;
(4) exciting current is regulated;
(5) judge motor speed whether in allowed band, if not, repeat step (4), if;
(6) keep exciting current, perform step (5).
2. the anti-back skating motor drive control method of electric automobile as claimed in claim 1, it is characterized in that: in step (3), if the electric current of current sensor is non-vanishing, judge that 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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102710195A CN102710195A (en) | 2012-10-03 |
| CN102710195B true CN102710195B (en) | 2015-02-25 |
Family
ID=46902795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102710195B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106809053B (en) * | 2017-01-19 | 2020-01-17 | 上海力信电气技术有限公司 | Method for preventing electric vehicle from sliding along ramp |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| JP2008199716A (en) * | 2007-02-09 | 2008-08-28 | Hitachi Ltd | Vehicle driver, and electronic circuit device for use therein |
| CN201450480U (en) * | 2009-03-31 | 2010-05-05 | 西安尤奈特电机控制技术有限公司 | Series direct-current motor control system capable of solving problem of coasting down slope |
| CN101817313A (en) * | 2010-04-27 | 2010-09-01 | 上海中科深江电动车辆有限公司 | Ramp safe starting control system of electric vehicle |
| JP2012019589A (en) * | 2010-07-07 | 2012-01-26 | Mitsubishi Electric Corp | Controller for ac generator for vehicle |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101554839A (en) * | 2009-03-25 | 2009-10-14 | 胡晓明 | Anti-rear-slip system of electric automobile |
-
2012
- 2012-05-23 CN CN201210167062.2A patent/CN102710195B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| JP2008199716A (en) * | 2007-02-09 | 2008-08-28 | Hitachi Ltd | Vehicle driver, and electronic circuit device for use therein |
| CN201450480U (en) * | 2009-03-31 | 2010-05-05 | 西安尤奈特电机控制技术有限公司 | Series direct-current motor control system capable of solving problem of coasting down slope |
| CN101817313A (en) * | 2010-04-27 | 2010-09-01 | 上海中科深江电动车辆有限公司 | Ramp safe starting control system of electric vehicle |
| JP2012019589A (en) * | 2010-07-07 | 2012-01-26 | Mitsubishi Electric Corp | Controller for ac generator for vehicle |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102710195A (en) | 2012-10-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5681256B2 (en) | Automotive voltage discharge apparatus and method | |
| CN105915093B (en) | For the control system of inverter | |
| JP5653534B2 (en) | Control device for electric vehicle | |
| CN103448570A (en) | Power management system and method for electric vehicle | |
| JP2009001172A (en) | Drive controller for hybrid vehicle | |
| JP6605031B2 (en) | Electric vehicle moving direction detection | |
| CN105141214A (en) | Method used by motor controller for treating bus voltage fault | |
| CN102710195B (en) | Backward slipping preventing motor drive controller for electric vehicle and control method | |
| JP2010143384A (en) | Control device for hybrid car | |
| US20130124117A1 (en) | Electric vehicle and method of diagnosing current sensor | |
| EP3127739B1 (en) | Electric driving system and transportation equipment including the same | |
| JP5450238B2 (en) | Electric vehicle | |
| JP2011168226A (en) | Control device for series hybrid vehicle | |
| EP3745589B1 (en) | Inverter control method and inverter control device | |
| JP2009219189A (en) | Four-wheel drive vehicle | |
| CN202586850U (en) | Electric automobile anti-backward skating motor driving controller | |
| GB2545642A (en) | Traction battery charging method and apparatus | |
| KR101918341B1 (en) | Control method of low dc-dc conveter for hybrid vehicle | |
| JP4805974B2 (en) | Hydraulic control device and construction machine including the same | |
| JP6816466B2 (en) | Vehicle control device | |
| US20220355787A1 (en) | Runaway prevention systems and methods for electric vehicles | |
| CN205417208U (en) | Motor for electric vehicle composite brake control system | |
| JP7417208B1 (en) | Transaxle oil temperature sensor failure determination device | |
| CN104097523A (en) | Electrical emergency braking system of pure electric vehicle | |
| CN104074596A (en) | Control device for electric pump |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150225 Termination date: 20180523 |