CN102710196B - Uniform-speed control device for hand-pushing electric vehicle and work method of uniform-speed control device - Google Patents
Uniform-speed control device for hand-pushing electric vehicle and work method of uniform-speed control device Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 10
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Abstract
The invention relates to a uniform-speed control device for a hand-pushing electric vehicle and a work method of the uniform-speed control device. The uniform-speed control device comprises a direct current motor, a central controller which is connected with a Hall sensor and is used for acquiring the rotating speed of the direct current motor, a vehicle speed setting circuit, a PWM (Pulse-Width Modulation) pulse amplifying circuit and a switch circuit, wherein the central controller is used for controlling the duty factor of the output PWM pulse signal according to the magnitude relationship of the vehicle speed of the hand-pushing electric vehicle and the vehicle speed set by a vehicle speed setting circuit; the switch circuit is used for driving the direct current motor to work in an electric state or a brake power generation state according to the duty factor of the PWM pulse signal and the vehicle speed; under the action of the PWM pulse signal, drive voltage UAB is generated at the power supply output end of the switch circuit; the duty factor of the PWM pulse signal and the drive voltage UAB form a proportional relationship; and when the drive voltage UAB is greater than a counter electromotive force UM of the direct current motor, the direct current motor works in an electric state.
Description
The application is application number: 201110045719.3, and invention and created name is " constant speed control device of hand/electric car ", and the applying date is: the divisional application of the application for a patent for invention on February 25th, 2011.
Technical field
The technical field that the average rate that the present invention relates to electric motor car controls, specifically a kind of uniform speed control device of hand/electric car and method of work thereof.
Background technology
Electric boosted type trolley (as hand/electric cars such as golf cart, hand push tricycles for the disabled) uses storage battery, direct current machine adds controller, work in the hand steered mode grasping direction of holding of user, be loaded with weight above (as golf cart places many balls bar, ball or other article, weight can reach more than 20Kg), in order to reduce the thrust of user, the speed height of direct current machine is changed, to make the electric motor car speed of a motor vehicle consistent with user's walking speed by governing speed knob.But this electric motor car in use, once the output torque speed of motor is constant after regulating, when the ground meeting obstructions large (as pit, meadow etc.), the upper speed of a motor vehicle is slack-off; When running into more smooth ground, then the speed of a motor vehicle is very fast, make to need to quicken one's step during user, sometimes need slow down paces or do not stop governing speed knob, to ensure walking in step with each other of the speed of a motor vehicle and user, special when descending due to the Action of Gravity Field of in-vehicle mounted object, need user need to run tracking, thus bring inconvenience to use.
How solving the problem that the average rate of above-mentioned hand/electric car when different road surface (as pit, meadow, descending etc.) travel controls, is the technical barrier of this area.
Summary of the invention
The technical problem to be solved in the present invention be to provide a kind of be suitable for remaining a constant speed when different road traveling hand/electric car uniform speed control device and method of work.
For solving the problems of the technologies described above, the invention provides a kind of uniform speed control device of hand/electric car, comprising: direct current machine, for driving the wheel on described hand/electric car;
Central controller, is connected with a Hall element, to gather the rotating speed of described direct current machine;
Speed of a motor vehicle initialization circuit, is connected with described central controller, for setting the speed of a motor vehicle of hand/electric car;
Pwm pulse amplifying circuit, is connected with the pwm pulse signal output of described central controller;
Switching circuit, the control signal input of this switching circuit is connected with the pulse signal output end of described pwm pulse amplifying circuit, and the power output end of switching circuit is connected with the power input of described direct current machine;
The magnitude relationship of the speed of a motor vehicle that described central controller sets according to the speed of a motor vehicle of the hand/electric car recorded and described speed of a motor vehicle initialization circuit, control the duty ratio of described pwm pulse signal exported, switching circuit according to the duty of described pwm pulse signal when the described speed of a motor vehicle drive described direct current machine to be operated in motoring condition or brake power generating state.
Described pwm pulse amplifying circuit comprises: first, second, and third oppositely cushions discharger IC3, IC5, IC6, first, second signal input part oppositely cushioning discharger IC3, IC5 is connected with the pwm pulse signal output of described central controller, second signal output part oppositely cushioning discharger IC5 is connected with the 3rd signal input part oppositely cushioning discharger IC6, and the first, the 3rd signal output part oppositely cushioning discharger IC3, IC6 is the pulse signal output end of described pwm pulse amplifying circuit;
First, second, and third signal output part oppositely cushioning discharger IC3, IC5, IC6 is connected with+5V a DC source with R3 through first, second, and third resistance R1, R2 respectively.
Described switching circuit comprises: first, second VMOS switching tube VT1, VT2 and first, second fast recovery diode D1, D2; Described first, the 3rd signal output part oppositely cushioning discharger IC3, IC6 is connected with the grid of the second, the one VMOS switching tube VT2, VT1 respectively, one VMOS switching tube VT1 source electrode is connected with the positive pole of a storage battery, the drain electrode of the one VMOS switching tube VT1 is connected with the source electrode of the 2nd VMOS switching tube VT2, and the drain electrode of the 2nd VMOS switching tube VT2 is connected with the negative pole of described storage battery;
The drain electrode of the one VMOS switching tube VT1 is connected with negative electrode with the anode of described first fast recovery diode D1 respectively with source electrode, and the drain electrode of the 2nd VMOS switching tube VT2 is connected with negative electrode with the anode of described second fast recovery diode D2 respectively with source electrode;
Negative pole, the positive pole of described direct current machine are connected with the drain electrode of a VMOS switching tube VT1 with the negative pole of described DC source respectively.
The method of work of described uniform speed control device comprises:
Under the effect of described pwm pulse signal, the power output end of switching circuit produces driving voltage U
aB, and the duty ratio of described pwm pulse signal and described driving voltage U
aBform proportional relationship;
As described driving voltage U
aBbe greater than the back electromotive force U of described direct current machine
mtime, described direct current machine is operated in motoring condition; As described driving voltage U
aBbe less than the back electromotive force U of described direct current machine
mtime, described direct current machine is operated in brake power generating state
;
The body rear end of hand/electric car is provided with handspike, is provided with the pressure sensor be connected with described central controller between vehicle body with handspike;
When described central controller by this pressure sensor record there is thrust in described handspike time, increase the duty ratio of described pwm pulse signal, until when the thrust recorded on described handspike is zero, keep the duty ratio of current pwm pulse signal constant;
When described central controller by this pressure sensor record there is pulling force in described handspike time, reduce the duty ratio of described pwm pulse signal, until when the pulling force recorded on described handspike is zero, keep the duty ratio of current pwm pulse signal constant;
Central controller is connected with a control switch, the speed of a motor vehicle setting signal only exported according to speed of a motor vehicle initialization circuit for setting central controller controls the real-time speed of a motor vehicle, or only controls the real-time speed of a motor vehicle according to the output of described pressure sensor.
Further, the body rear end of hand/electric car is provided with handspike, is provided with the pressure sensor be connected with described central controller between vehicle body with handspike.When described central controller by this pressure sensor record there is thrust in described handspike time, increase the duty ratio of described pwm pulse signal, until when the thrust recorded on described handspike is zero, keep the duty ratio of current pwm pulse signal constant; When described central controller by this pressure sensor record there is pulling force in described handspike time, reduce the duty ratio of described pwm pulse signal, until when the pulling force recorded on described handspike is zero, keep the duty ratio of current pwm pulse signal constant; Central controller is connected with a control switch, the speed of a motor vehicle setting signal only exported according to speed of a motor vehicle initialization circuit for setting central controller controls the real-time speed of a motor vehicle, or only controls the real-time speed of a motor vehicle according to the output of described pressure sensor.
When the difference of the speed of a motor vehicle of the real-time speed of a motor vehicle and described setting is less than preset value, described central controller enters the mode of operation that bi-pulse width timesharing exports, namely described central controller is according to the real-time speed of a motor vehicle, first Posterior circle export corresponding duty ratio be suitable for control described DC motor and be in the pwm pulse signal of motoring condition and the pwm pulse signal of electric pulse and dynamic brake state and brake pulse, the size of the speed of a motor vehicle of the more real-time speed of a motor vehicle and described setting simultaneously, and the corresponding described electric pulse of adjustment output and the time span of brake pulse, until in real time the speed of a motor vehicle equals the speed of a motor vehicle of described setting and the time of the described electric pulse exported or brake pulse is zero.
The present invention has positive effect: the uniform speed control device of (1) hand/electric car of the present invention, for the shortcoming that electric motor car descending accelerates, utilize microprocessor detect motor speed size, adopt and be suitable for making direct current machine brake the PWM drive circuit of electric discharge, by the duty ratio of single-chip microcomputer by adjustment pwm pulse signal, automatically adjust little vehicle speed under making dolly be operated in electronic and braking two states in turn, remain the speed of a motor vehicle of setting.(2) in the present invention, by detecting the thrust on the handspike of hand/electric car, the little vehicle speed of adjustment, is consistent with the walking speed pushing away passerby all the time to make the speed of a motor vehicle automatically.The power high low signal that pressure sensor sends is after amplifying, and send the conversion of Chip Microcomputer A/D, single-chip microcomputer, according to transforming numerical, sends the pwm pulse of different pulse duration, pulse through power amplification rear drive machine operation under corresponding rotating speed.
Accompanying drawing explanation
In order to make content of the present invention be more likely to be clearly understood, below basis specific embodiment and by reference to the accompanying drawings, the present invention is further detailed explanation, wherein
Fig. 1 is the electronic of direct current machine and brake power generating schematic diagram;
Fig. 2 is the circuit theory diagrams of the switching circuit be connected with direct current machine in embodiment;
Fig. 3 is direct current machine in embodiment current circuit schematic diagram when being in motoring condition;
Fig. 4 is direct current machine in embodiment current circuit schematic diagram when being in brake power generating state;
Fig. 5 be direct current machine in embodiment when being in motoring condition central controller deliver to the oscillogram of the pwm pulse signal on the grid of a VMOS switching tube VT1, the 2nd VMOS switching tube VT2;
Fig. 6 be direct current machine in embodiment when being in brake power generating state central controller deliver to the oscillogram of the pwm pulse signal on the grid of a VMOS switching tube VT1, the 2nd VMOS switching tube VT2;
Fig. 7 is the vertical view of the hand/electric car in embodiment;
Fig. 8 is the circuit theory diagrams of the uniform speed control device of hand/electric car in embodiment;
Fig. 9 is the schematic diagram of pressure sensor in the described uniform speed control device in embodiment and signal amplification circuit thereof;
Figure 10 is the flow chart of the central controller in the described uniform speed control device in embodiment.
Embodiment
The uniform speed control device of the hand/electric car of the present embodiment comprises: direct current machine, for driving the wheel on described hand/electric car; Central controller, is connected with a Hall element, to gather the rotating speed of described direct current machine; Speed of a motor vehicle initialization circuit, is connected with described central controller, for setting the speed of a motor vehicle of hand/electric car; Pwm pulse amplifying circuit, is connected with the pwm pulse signal output of described central controller; Switching circuit, the control signal input of this switching circuit is connected with the pulse signal output end of described pwm pulse amplifying circuit, and the power output end of switching circuit is connected with the power input of described direct current machine; The magnitude relationship of the speed of a motor vehicle that described central controller sets according to the speed of a motor vehicle of the hand/electric car recorded and described speed of a motor vehicle initialization circuit, control the duty ratio of described pwm pulse signal exported, switching circuit according to the duty of described pwm pulse signal when the described speed of a motor vehicle drive described direct current machine to be operated in motoring condition or brake power generating state.
Under the effect of described pwm pulse signal, the power output end of switching circuit produces driving voltage U
aB, and the duty ratio of described pwm pulse signal and described driving voltage U
aBform proportional relationship; As described driving voltage U
aBbe greater than the back electromotive force U of described direct current machine
mtime, described direct current machine is operated in motoring condition; As described driving voltage U
aBbe less than the back electromotive force U of described direct current machine
mtime, described direct current machine is operated in brake power generating state.
Described pwm pulse amplifying circuit comprises: first, second, and third oppositely cushions discharger IC3, IC5, IC6, first, second signal input part oppositely cushioning discharger IC3, IC5 is connected with the pwm pulse signal output of described central controller, second signal output part oppositely cushioning discharger IC5 is connected with the 3rd signal input part oppositely cushioning discharger IC6, and the first, the 3rd signal output part oppositely cushioning discharger IC3, IC6 is the pulse signal output end of described pwm pulse amplifying circuit; First, second, and third signal output part oppositely cushioning discharger IC3, IC5, IC6 is connected with+5V a DC source with R3 through first, second, and third resistance R1, R2 respectively.
Described switching circuit comprises: first, second VMOS switching tube VT1, VT2 and first, second fast recovery diode D1, D2; Described first, the 3rd signal output part oppositely cushioning discharger IC3, IC6 is connected with the grid of the second, the one VMOS switching tube VT2, VT1 respectively, one VMOS switching tube VT1 source electrode is connected with the positive pole of a storage battery, the drain electrode of the one VMOS switching tube VT1 is connected with the source electrode of the 2nd VMOS switching tube VT2, and the drain electrode of the 2nd VMOS switching tube VT2 is connected with the negative pole of described storage battery; The drain electrode of the one VMOS switching tube VT1 is connected with negative electrode with the anode of described first fast recovery diode D1 respectively with source electrode, and the drain electrode of the 2nd VMOS switching tube VT2 is connected with negative electrode with the anode of described second fast recovery diode D2 respectively with source electrode; Negative pole, the positive pole of described direct current machine are connected with the drain electrode of a VMOS switching tube VT1 with the negative pole of described DC power supply respectively.
As Fig. 7, the rear end of the vehicle body 1 of hand/electric car is provided with handspike 2, and the end of this handspike 2 is located at by the control handle in speed of a motor vehicle initialization circuit.The pressure sensor be connected with described central controller is provided with between vehicle body 1 with handspike 2.Central controller is connected with a control switch K, the speed of a motor vehicle setting signal only exported according to speed of a motor vehicle initialization circuit for setting central controller controls the real-time speed of a motor vehicle, or only controls the real-time speed of a motor vehicle according to the output of described pressure sensor.
When described central controller by this pressure sensor record there is thrust in described handspike time, increase the duty ratio of described pwm pulse signal, until when the thrust recorded on described handspike is zero, keep the duty ratio of current pwm pulse signal constant; Wherein, the increase amplitude of the duty ratio of pwm pulse signal is directly proportional to described thrust, and concrete parameter draws by experiment.Also described duty ratio can be made to increase 5-10% at every turn.When described central controller by this pressure sensor record there is pulling force in described handspike time, reduce the duty ratio of described pwm pulse signal, until when the pulling force recorded on described handspike is zero, keep the duty ratio of current pwm pulse signal constant.Wherein, the increase amplitude of the duty ratio of pwm pulse signal is directly proportional to described pulling force, and concrete parameter draws by experiment.Also described duty ratio can be made to reduce 5-10% at every turn.
Be in series with ammeter A between the positive pole of described direct current machine and the drain electrode of a described VMOS switching tube VT1, the current direction signal output of this ammeter A is connected with the electric machine operation state test side of described central controller; When ammeter A exports positive level, described direct current machine is operated in motoring condition; When ammeter A exports negative level, described direct current machine is operated in brake power generating state; When ammeter A exports zero level, described driving voltage U
aBequal the back electromotive force U of described direct current machine
m.
Described central controller detects the real-time speed of a motor vehicle of hand/electric car by Hall element, when the setting numerical value of the real-time speed of a motor vehicle higher than described speed of a motor vehicle initialization circuit, according to the ratio of the described real-time speed of a motor vehicle higher than described setting numerical value, (namely the real-time speed of a motor vehicle is larger higher than the ratio of described setting numerical value for the duty ratio of the described pwm pulse signal that corresponding reduction exports, the described duty ratio amplitude of corresponding reduction is larger, such as: if the described real-time speed of a motor vehicle is higher by 10% than described setting numerical value, then the described duty ratio 10% of corresponding reduction); After 1-3 second, if when recording the real-time speed of a motor vehicle still higher than described setting numerical value, again according to the ratio of the described real-time speed of a motor vehicle higher than described setting numerical value, the described duty ratio of corresponding reduction (such as: if the speed of a motor vehicle is now higher by 5% than described setting numerical value, the then duty ratio 5% of the pwm pulse signal that corresponding reduction is current), if the absolute value of the difference of the speed of a motor vehicle now and described setting numerical value is within 2% of described setting numerical value, the real-time speed of a motor vehicle then judging now equals the setting numerical value of described speed of a motor vehicle initialization circuit, then keep the duty ratio of current pwm pulse signal constant.
When the described real-time speed of a motor vehicle is lower than described setting numerical value, according to the ratio of the described real-time speed of a motor vehicle lower than described setting numerical value, (namely the real-time speed of a motor vehicle is larger lower than the ratio of described setting numerical value for the duty ratio of the described pwm pulse signal that corresponding increase exports, the amplitude of the described duty ratio of corresponding increase is larger, such as: if the described real-time speed of a motor vehicle is lower by 10% than described setting numerical value, then the described duty ratio 10% of corresponding increase); After 1-3 second, if when recording the described real-time speed of a motor vehicle still lower than described setting numerical value, again according to the ratio of the described real-time speed of a motor vehicle lower than described setting numerical value, the described duty ratio of corresponding increase, so repeatedly, until when the described real-time speed of a motor vehicle equals the setting numerical value of described speed of a motor vehicle initialization circuit, keep the duty ratio of current pwm pulse signal constant.
Brake power generating state is in when described central controller records direct current machine by described ammeter A, and when recording the described speed of a motor vehicle lower than setting numerical value, increase the duty ratio of described pwm pulse signal, until when recording described ammeter A output zero level, keep the duty ratio of current pwm pulse signal constant; Then, within 1-3 second, if record the described real-time speed of a motor vehicle when continuing to increase, then judge that Current vehicle is on gug; Meanwhile, acceleration is calculated according to the speed increment in the unit interval; When the real-time speed of a motor vehicle recorded reaches the setting numerical value of described speed of a motor vehicle initialization circuit, according to the current real-time speed of a motor vehicle and described acceleration, the duty ratio of the described pwm pulse signal of corresponding reduction, to make described direct current machine be operated in brake power generating state, and makes the acceleration of Current vehicle be zero.
Speed of a motor vehicle initialization circuit comprises: resistance R4 and band knob-style variable resistor R5; By changing the prevention of resistance R5, i.e. the corresponding speed of a motor vehicle set point of adjustable.Pressure sensor comprises: wire type resistance strain gage R11, R12, R13 and R14, and the signal amplification circuit be connected with the signal output part of this pressure sensor comprises: high input impedance type amplifier IC7(model is LF356).When pressure sensor is stressed, the internal resistance of resistance strain gage R11 and R13 diminishes, and the interior resistive of R12 and R14 is large, and amplifier IC7 exports negative voltage; When pressure sensor pressure, the interior resistive of resistance strain gage R11 and R13 is large, and the internal resistance of R12 and R14 diminishes, and amplifier IC7 exports positive voltage.
Described central controller is single-chip microcomputer IC1, it adopts inside to have the P87LPC768 chip of FLASH program storage and 4 road A/D converters and 4 road pwm pulse generators, IC2 is integrated voltage-stabilized chip 7805, first, second, and third oppositely cushions discharger IC3, IC5, IC6 uses OC gate circuit (model is 7406), Hall element comprise switching mode Integrated Hall IC circuit 4(model can be adopted to be 6837), fast recovery diode uses FR304, VMOS to adopt IRF540.
In Fig. 1, it is be operated in motoring condition (i.e. motor export positive-torque) that the motor of first and third quadrant rotates and reverse, and second, four-quadrant is operated in dynamic brake state (i.e. motor output negative torque).
For the irreversible PWM type of drive adopting Fig. 2 to have braking, Us is for being storage battery, and Ui1, Ui2 are respectively the driving voltage of VT2 and VT2, as shown in Figure 5, two groups of reverse pwm pulse signals are exported, conducting when ensureing that VT1, VT2 are different by pwm pulse amplifying circuit.
Fig. 3 is the sense of current that direct current machine M is operated in motoring condition, shown in 0-t1(Fig. 5 of pwm pulse) stage VT1 conducting, electric current flows through Us+, VT1, M and Us-successively, and motor M is in motoring condition as shown in loop in Fig. 31; Shown in t1-t2(Fig. 5 of pwm pulse) stage VT1 ends, power supply is truncated, the self induction electromotive force of armature winding makes electric current form loop as shown in loop Fig. 32 from sustained diode 2, motor M is still in motorized motions state, although now VT2 grid is high level Ui2, due to the clamped effect VT2 not conducting of D2.
When the duty ratio of pwm pulse diminishes (as shown in Figure 6) gradually, until be added in the forward average voltage U on direct current machine
aBbe less than the back electromotive force U of direct current machine
m, now, the reverse direction current flow of direct current machine, produces brake torque.The 0-t1 stage in Fig. 6, VT1 conducting, direct current machine is operated in regenerative braking state, the flowing of electric current as shown in loop in Fig. 43, to power source charges; The t1-t2 stage of Fig. 6, VT2 conducting, direct current machine is operated in dynamic braking state, and the flowing of electric current is as shown in loop in Fig. 44;
When the difference of the speed of a motor vehicle of the real-time speed of a motor vehicle and described setting is less than preset value, and when controlling direct current machine and entering on-position, when may will cause excessive reduction speed, mode of operation (working method that bi-pulse width timesharing exports) that is electronic and braking timesharing driven can be adopted, namely described central controller is according to the real-time speed of a motor vehicle, first Posterior circle export corresponding duty ratio be suitable for control described DC motor and be in the pwm pulse signal (i.e. electric pulse) of motoring condition and the pwm pulse signal (i.e. brake pulse) of dynamic brake state, the size of the speed of a motor vehicle of the more real-time speed of a motor vehicle and described setting simultaneously, and the corresponding described electric pulse of adjustment output and the time length of brake pulse, 2-3 still can not to meet second at the uniform velocity require time, the duty ratio of corresponding adjustment electric pulse and brake pulse is (if that is: the real-time speed of a motor vehicle is greater than the speed of a motor vehicle of described setting again, then reduce the duty ratio of electric pulse respectively, increase the duty ratio of brake pulse, otherwise, then increase the duty ratio of electric pulse respectively, reduce the duty ratio of brake pulse), until the speed of a motor vehicle equals the speed of a motor vehicle of described setting and the time of the described electric pulse exported or brake pulse is zero in real time.
Fig. 7 is the vertical view of hand/electric car, wherein finding speed uses Hall element, it comprises switching Hall components 5 and magnet 4, Hall element 5 is arranged in motor fixed main body, (particular circuit configurations is shown in Fig. 8) on singlechip interruption mouth is received in the output of Hall element 5, 4 magnet 4 were evenly installed in the rotating shaft of car 3 on the other side one week, such wheel often rotates a circle, by generation 4 interruption pulses, the detection of rotating speed adopts interrupts method of counting, namely after receiving interrupt signal, cycle count is started, again receive interrupt signal and stop counting last time, start counting next time, and twice count value is compared the rear change determining speed.
Above-described embodiment is only for example of the present invention is clearly described, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all execution modes.And these belong to spirit institute's apparent change of extending out of the present invention or change and are still among protection scope of the present invention.
Claims (4)
1. a uniform speed control device for hand/electric car, is characterized in that comprising:
Direct current machine, for driving the wheel on described hand/electric car;
Central controller, is connected with a Hall element, to gather the rotating speed of described direct current machine;
Speed of a motor vehicle initialization circuit, is connected with described central controller, for setting the speed of a motor vehicle of hand/electric car;
Pwm pulse amplifying circuit, is connected with the pwm pulse signal output of described central controller;
Switching circuit, the control signal input of this switching circuit is connected with the pulse signal output end of described pwm pulse amplifying circuit, and the power output end of switching circuit is connected with the power input of described direct current machine;
The magnitude relationship of the speed of a motor vehicle that described central controller sets according to the speed of a motor vehicle of the hand/electric car recorded and described speed of a motor vehicle initialization circuit, control the duty ratio of described pwm pulse signal exported, switching circuit according to the duty of described pwm pulse signal when the described speed of a motor vehicle drive described direct current machine to be operated in motoring condition or brake power generating state;
Described pwm pulse amplifying circuit comprises: first, second, and third oppositely cushions discharger (IC3, IC5, IC6), the pwm pulse signal output of first, second signal input part and described central controller of oppositely cushioning discharger (IC3, IC5) is connected, the signal input part that second signal output part and the 3rd oppositely cushioning discharger (IC5) oppositely cushions discharger (IC6) is connected, and the first, the 3rd signal output part oppositely cushioning discharger (IC3, IC6) is the pulse signal output end of described pwm pulse amplifying circuit;
First, second, and third signal output part oppositely cushioning discharger (IC3, IC5, IC6) is connected with+5V a DC source through first, second, and third resistance (R1, R2 and R3) respectively.
2. the uniform speed control device of hand/electric car according to claim 1, is characterized in that: described switching circuit comprises: first, second VMOS switching tube (VT1, VT2) and first, second fast recovery diode (D1, D2); Described first, the 3rd signal output part oppositely cushioning discharger (IC3, IC6) is connected with the grid of the second, the one VMOS switching tube (VT2, VT1) respectively, one VMOS switching tube (VT1) source electrode is connected with the positive pole of a storage battery, the drain electrode of the one VMOS switching tube (VT1) is connected with the source electrode of the 2nd VMOS switching tube (VT2), and the drain electrode of the 2nd VMOS switching tube (VT2) is connected with the negative pole of described storage battery;
The drain electrode of the one VMOS switching tube (VT1) is connected with negative electrode with the anode of described first fast recovery diode (D1) respectively with source electrode, and the drain electrode of the 2nd VMOS switching tube (VT2) is connected with negative electrode with the anode of described second fast recovery diode (D2) respectively with source electrode;
Negative pole, the positive pole of described direct current machine are connected with the drain electrode of a VMOS switching tube (VT1) with the negative pole of described DC source respectively.
3. the method for work of the uniform speed control device of hand/electric car according to claim 1, is characterized in that comprising:
Under the effect of described pwm pulse signal, the power output end of switching circuit produces driving voltage (U
aB), and the duty ratio of described pwm pulse signal and described driving voltage (U
aB) form proportional relationship;
As described driving voltage (U
aB) be greater than the back electromotive force (U of described direct current machine
m) time, described direct current machine is operated in motoring condition; As described driving voltage (U
aB) be less than the back electromotive force (U of described direct current machine
m) time, described direct current machine is operated in brake power generating state;
When the difference of the speed of a motor vehicle of the real-time speed of a motor vehicle and described setting is less than preset value, described central controller enters the mode of operation that bi-pulse width timesharing exports, namely described central controller is according to the real-time speed of a motor vehicle, first Posterior circle export corresponding duty ratio be suitable for control described direct current machine and be in the pwm pulse signal of motoring condition and the pwm pulse signal of electric pulse and dynamic brake state and brake pulse, the size of the speed of a motor vehicle of the more real-time speed of a motor vehicle and described setting simultaneously, and the corresponding described electric pulse of adjustment output and the time span of brake pulse, until in real time the speed of a motor vehicle equals the speed of a motor vehicle of described setting and the time of the described electric pulse exported or brake pulse is zero.
4. the method for work of the uniform speed control device of hand/electric car according to claim 3, is characterized in that: the body rear end of hand/electric car is provided with handspike, is provided with the pressure sensor be connected with described central controller between vehicle body with handspike;
When described central controller by this pressure sensor record there is thrust in described handspike time, increase the duty ratio of described pwm pulse signal, until when the thrust recorded on described handspike is zero, keep the duty ratio of current pwm pulse signal constant;
When described central controller by this pressure sensor record there is pulling force in described handspike time, reduce the duty ratio of described pwm pulse signal, until when the pulling force recorded on described handspike is zero, keep the duty ratio of current pwm pulse signal constant;
Central controller is connected with a control switch, the speed of a motor vehicle setting signal only exported according to speed of a motor vehicle initialization circuit for setting central controller controls the real-time speed of a motor vehicle, or only controls the real-time speed of a motor vehicle according to the output of described pressure sensor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011100457193A CN102158160B (en) | 2011-02-25 | 2011-02-25 | Uniform speed control device for hand-propelled electromobile |
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| CN2011100457193A Division CN102158160B (en) | 2011-02-25 | 2011-02-25 | Uniform speed control device for hand-propelled electromobile |
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| CN102710196A CN102710196A (en) | 2012-10-03 |
| CN102710196B true CN102710196B (en) | 2015-07-08 |
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| CN201210196447.1A Active CN102710196B (en) | 2011-02-25 | 2011-02-25 | Uniform-speed control device for hand-pushing electric vehicle and work method of uniform-speed control device |
| CN2011100457193A Expired - Fee Related CN102158160B (en) | 2011-02-25 | 2011-02-25 | Uniform speed control device for hand-propelled electromobile |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011100457193A Expired - Fee Related CN102158160B (en) | 2011-02-25 | 2011-02-25 | Uniform speed control device for hand-propelled electromobile |
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| CN102710197B (en) * | 2011-02-25 | 2014-12-10 | 江苏理工学院 | Work method for uniform-speed control device of push electric vehicle |
| CN111775937B (en) * | 2020-06-03 | 2022-05-20 | 深圳拓邦股份有限公司 | Method for slowly descending steep slope of mowing vehicle, control device and computer readable storage medium |
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| CN1077925A (en) * | 1992-04-30 | 1993-11-03 | 赵杰 | The control system of intelligent electric sedan |
| CN2287597Y (en) * | 1996-12-27 | 1998-08-12 | 北方工业大学 | Motor assisted device for safety man power cycle |
| CN2734550Y (en) * | 2004-09-29 | 2005-10-19 | 西安交通大学 | Speed limiting control device for electric bicycle or electric motorcycle |
| CN201113873Y (en) * | 2007-06-12 | 2008-09-10 | 上海理工大学 | Electric bicycle control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2376398Y (en) * | 1999-04-19 | 2000-05-03 | 武汉云鹤车辆制造厂 | Electric vehicle controller |
| CN2666720Y (en) * | 2003-12-14 | 2004-12-29 | 西南师范大学 | Digital intelligent electric vehicle controller |
| CN101434200A (en) * | 2007-11-17 | 2009-05-20 | 天津市松正电子有限公司 | Intelligent electric vehicle control circuit |
| CN201656885U (en) * | 2010-04-02 | 2010-11-24 | 浙江绿佳车业有限公司 | Speed control device for battery truck |
-
2011
- 2011-02-25 CN CN201210196447.1A patent/CN102710196B/en active Active
- 2011-02-25 CN CN2011100457193A patent/CN102158160B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1077925A (en) * | 1992-04-30 | 1993-11-03 | 赵杰 | The control system of intelligent electric sedan |
| CN2287597Y (en) * | 1996-12-27 | 1998-08-12 | 北方工业大学 | Motor assisted device for safety man power cycle |
| CN2734550Y (en) * | 2004-09-29 | 2005-10-19 | 西安交通大学 | Speed limiting control device for electric bicycle or electric motorcycle |
| CN201113873Y (en) * | 2007-06-12 | 2008-09-10 | 上海理工大学 | Electric bicycle control system |
Also Published As
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|---|---|
| CN102158160B (en) | 2013-05-08 |
| CN102710196A (en) | 2012-10-03 |
| CN102158160A (en) | 2011-08-17 |
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