CN102857157A - Motor control system used for electromobile - Google Patents
Motor control system used for electromobile Download PDFInfo
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- CN102857157A CN102857157A CN201110178365XA CN201110178365A CN102857157A CN 102857157 A CN102857157 A CN 102857157A CN 201110178365X A CN201110178365X A CN 201110178365XA CN 201110178365 A CN201110178365 A CN 201110178365A CN 102857157 A CN102857157 A CN 102857157A
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Abstract
The invention aims to provide a motor control system used for an electromobile. The motor control system comprises a double-current sampling module, a speed feedback module, an inverter, a control module and a filter. Compared with the existing structure, the double-current sampling module is adopted for respectively sampling the current of a storage battery and the phase current of a motor; and appropriate algorithm control is carried out in the control module, so that the motor of the electromobile can have low noise and large toque, and can reliably run, and the purposes of the motor control system provided by the invention are realized.
Description
Technical field
The present invention relates to a kind of electric machine control system, particularly a kind of motor control system for electric vehicles that is applicable to electric bicycle or battery-operated motor cycle driving control.
Background technology
At present, electric motor car both domestic and external (electric bicycle or battery-operated motor cycle) generally adopts single sampling resistor that the electric current of storage battery is sampled, and according to the Hall state of motor motor is carried out square wave control.
Traditional this mode is not owing to sampling to the phase current of motor, so can not directly control the electric current of motor, for in the situation that the high pulling torque controller can not damage, electric current with storage battery after load surpasses certain moment of torsion progressively reduces, just need to use the power device of more power device parallel connection or larger specification, improved the cost of controller.
Simultaneously, owing to adopting square wave that motor is controlled, motor has very large spike electric current when commutation, causes the pulsation of motor output torque very large, cause electric motor car noise when riding large, and reliability is low.
In sum, need especially a kind of motor control system for electric vehicles, solved the problem of above-mentioned existing existence.
Summary of the invention
The object of the present invention is to provide a kind of motor control system for electric vehicles, the defective for prior art exists makes electric motor car (electric bicycle or battery-operated motor cycle) be operated in the plateau of low noise and high reliability.
To achieve these goals, technical scheme of the present invention is as follows:
A kind of motor control system for electric vehicles is characterized in that, it comprises:
One is used for the dual current sample module of sampling battery current and electric machine phase current;
One is used for obtaining the speed feedback module of electric vehicle motor speed and position signalling;
One is used for driving the inverter of electric vehicle motor;
One collects to get signal control module that inverter is controlled according to dual current sample module and speed feedback module; An and filter;
The control end of described control module connects described inverter, the output of described inverter connects electric vehicle motor, described control module Negotiation speed feedback module is connected with electric vehicle motor, one end of described dual current sample module connects respectively an end of described control module and an end of described inverter, the other end of described dual current sample module connects respectively the other end of described control module and an end of storage battery, the other end of storage battery connects respectively the other end of described inverter and an end of described filter, and the other end of described filter connects described dual current sample module and described control module successively.
In one embodiment of the invention, described control module comprises that one is used for receiving the current storage battery flow valuve of signal acquisition that dual current sample module gathers and the current processing module of electric vehicle motor phase current values, and described current processing module is connected to the two ends of described dual current sample module.
In one embodiment of the invention, described inverter adopts three-phase six bridge arm structures, T1-T6 consists of by power device, the drain electrode of power device T1, power device T3 and power device T5 is connected respectively to the anode of storage battery, the source electrode of power device T4 connects the drain electrode of power device T1 and connects the U phase of electric vehicle motor, the source electrode of power device T6 connects the drain electrode of power device T3 and connects the V phase of electric vehicle motor, and the source electrode of power device T2 connects the drain electrode of power device T5 and the W phase of electric vehicle motor.
Further, described power device is IGBT power tube or MOSFET power tube.
In one embodiment of the invention, described dual current sample module is the sampling resistor of two series connection or 2 taps of drawing for single resistance.
Motor control system for electric vehicles of the present invention has following advantage:
1) adopt dual sampling resistor, cost and device have been saved in the convenient sampling that realizes battery current and electric machine phase current greatly, have improved the reliability of product;
2) when starting, have the high pulling torque output characteristic that square wave is controlled, have quietness and the ride comfort of sinusoidal wave control during other operating modes.
Motor control system for electric vehicles of the present invention, adopt dual current sample module respectively to the sampling of battery current and electric machine phase current, in control module, carry out suitable algorithm control, so that the motor motor can low noise, high pulling torque, the running of high reliability realizes purpose of the present invention.
Characteristics of the present invention can be consulted the detailed description of the graphic and following better execution mode of this case and be obtained to be well understood to.
Description of drawings
Fig. 1 is the structural representation of motor control system for electric vehicles of the present invention;
Fig. 2 is that electric current is flowed into mutually by motor U in the present embodiment, the schematic diagram that V, W flow out mutually;
Fig. 3 is that electric current is flowed into mutually by motor U, W in the present embodiment, the schematic diagram that V flows out mutually;
Fig. 4 is the schematic diagram of the upper current signal of sampling resistor S2 of the present invention;
Fig. 5 is to the schematic diagram after the signal process processing amplification of sampling resistor S2 in the present embodiment.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect is easy to understand, further set forth the present invention below in conjunction with specific embodiment.
As shown in Figure 1, motor control system for electric vehicles of the present invention, it comprises: a dual current sample module 100, a speed feedback module 200, an inverter 300, a control module 400 and a filter 500; The control end of described control module 400 connects described inverter 300, the output of described inverter 300 connects electric vehicle motor 600, described control module 400 Negotiation speed feedback modules 200 are connected with electric vehicle motor 600, one end of described dual current sample module 100 connects respectively an end of described control module 400 and an end of described inverter 300, the other end of described dual current sample module 100 connects respectively the other end of described control module 400 and an end of storage battery 700, the other end of storage battery 700 connects respectively the other end of described inverter 300 and an end of described filter 500, and the other end of described filter 500 connects described dual current sample module 100 and described control module 400 successively.
Described control module 400 comprises a current processing module 410, current processing module 410 is used for receiving current storage battery flow valuve and the electric vehicle motor phase current values of signal acquisition that dual current sample module 100 gathers, and described current processing module 410 is connected to the two ends of described dual current sample module 100.
410 pairs of dual current sample modules 100 of current processing module carry out obtaining the electric current of storage battery 700 and the phase current of electric vehicle motor 600 after signal is processed; Speed feedback module 200 obtains speed, the position signalling of electric vehicle motor 600; Control module 400 is the electric current of the storage battery 700 that obtains, and the phase current feedback signal of electric vehicle motor 600 and velocity location signal carry out inverter 300 being provided control signal in order to drive electric vehicle motor 600 after suitable control algolithm calculates conversion.
Motor control system for electric vehicles of the present invention replaces with dual current sample module 100 with general storage battery sampling resistor, because the battery current sampling can be carried out at any time, and the sampling motor certain phase current the time this must be in independently conducting state mutually, so in control module 400, set up the sampling configuration of electric machine phase current.
In the present invention, described inverter 300 adopts three-phase six bridge arm structures, T1-T6 consists of by power device, the drain electrode of power device T1, power device T3 and power device T5 is connected respectively to the anode of storage battery, the source electrode of power device T4 connects the drain electrode of power device T1 and connects the U phase of electric vehicle motor 600, the source electrode of power device T6 connects the drain electrode of power device T3 and connects the V phase of electric vehicle motor 600, and the source electrode of power device T2 connects the drain electrode of power device T5 and the W phase of electric vehicle motor 600; Described power device is IGBT power tube or MOSFET power tube.
Control module 400 outputs 6 road pwm control signals, in twos complementary output, and be provided with Dead Time, three phase lines of dividing three groups of control electric vehicle motors 600, the U of power device T1 and power device T4 control electric vehicle motor 600 mutually, the V of power device T3 and power device T6 control electric vehicle motor 600 mutually, the W of power device T5 and power device T2 control electric vehicle motor 600 is mutually.
Filter 500 adopts the filter circuit of typically being built by operational amplifier; Control module 400 interior required various level are provided through rectification circuit on the plate by power taking on the main power source.
In the present invention, described dual current sample module 100 is the sampling resistor of two series connection or 2 taps of drawing for single resistance.In the present embodiment, dual current sample module 100 comprises sampling resistor S1 and sampling resistor S2, the sampling resistor S1 battery current of sampling, the sampling resistor S2 electric machine phase current of sampling; The precision of above-mentioned sampling resistor S1 and sampling resistor S2 is preferably in 5%, is organized as the milliohm rank, is convenient to batch production.
When electric motor car was advanced, control module 400 was determined the turn-on logic of inverter 300 according to the rate signal of electric vehicle motor 600, and according to the handle instruction of the current value on the sampling resistor S2 and input, T1～T6 controls to power device simultaneously.
Motor control system for electric vehicles of the present invention can be realized square wave high pulling torque and sinusoidal wave quiet driving control when battery-operated motor cycle travels.
When electric motor car starts, detect the position at rotor place according to motor position sensor, determine thus the electrical degree of driving, when the square wave in start-up course drives, all control is processed according to sine wave, but when electrical degree is given, spend as a step-length take 60, obtain the effect of similar square wave, but but have than the square wave driving force of high reliability more, after the speed of electric motor car surpasses to a certain degree, switch to sinusoidal wave control, the method for switching be electrical degree no longer take 60 degree as step-length, but the signal that arrives according to real-time sampling is as driving.
The method of sampling electric machine phase current is described as follows: as shown in Figure 2, electric current is flowed into mutually by motor U, V, W be the stream place mutually, under this driving condition, the forward current of the U phase of can only sampling, this information of record in control module 400, and with the information of the signal on the sampling resistor S2 as U phase forward current.The another one turn-on logic as shown in Figure 3, electric current is flowed into mutually by motor U, W, V flows out mutually, this can only sample the negative current of V phase constantly, equally, sampling resistor records this information, and with the information of the signal on the sampling resistor S2 as V phase negative current.
Among Fig. 3 is the signal of the three-phase current of the motor in a period of time, comprises forward and the negative current of U, V, W, wherein, T1, T2, T6 is open-minded; T3, T4, T5 conducting; Fig. 4 processes the U phase current signal that extract through microcontroller, wherein, T1, T5, T6 is open-minded; T2, T3, T5 conducting.Fig. 5 is to the schematic diagram after the signal process processing amplification of sampling resistor S2 in the present embodiment.
Above demonstration and described basic principle of the present invention, principal character and advantage of the present invention.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and the specification is principle of the present invention; the present invention also has various changes and modifications without departing from the spirit and scope of the present invention, and these changes and improvements all fall in the claimed scope of the present invention.The protection range that the present invention requires is defined by appending claims and equivalent thereof.
Claims (5)
1. a motor control system for electric vehicles is characterized in that, it comprises:
One is used for the dual current sample module of sampling battery current and electric machine phase current;
One is used for obtaining the speed feedback module of electric vehicle motor speed and position signalling;
One is used for driving the inverter of electric vehicle motor;
One collects to get signal control module that inverter is controlled according to dual current sample module and speed feedback module; An and filter;
The control end of described control module connects described inverter, the output of described inverter connects electric vehicle motor, described control module Negotiation speed feedback module is connected with electric vehicle motor, one end of described dual current sample module connects respectively an end of described control module and an end of described inverter, the other end of described dual current sample module connects respectively the other end of described control module and an end of storage battery, the other end of storage battery connects respectively the other end of described inverter and an end of described filter, and the other end of described filter connects described dual current sample module and described control module successively.
2. motor control system for electric vehicles according to claim 1, it is characterized in that, described control module comprises that one is used for receiving the current storage battery flow valuve of signal acquisition that dual current sample module gathers and the current processing module of electric vehicle motor phase current values, and described current processing module is connected to the two ends of described dual current sample module.
3. motor control system for electric vehicles according to claim 1, it is characterized in that, described inverter adopts three-phase six bridge arm structures, T1-T6 consists of by power device, the drain electrode of power device T1, power device T3 and power device T5 is connected respectively to the anode of storage battery, the source electrode of power device T4 connects the drain electrode of power device T1 and connects the U phase of electric vehicle motor, the source electrode of power device T6 connects the drain electrode of power device T3 and connects the V phase of electric vehicle motor, and the source electrode of power device T2 connects the drain electrode of power device T5 and the W phase of electric vehicle motor.
4. motor control system for electric vehicles according to claim 3 is characterized in that, described power device is IGBT power tube or MOSFET power tube.
5. motor control system for electric vehicles according to claim 1 is characterized in that, described dual current sample module is the sampling resistor of two series connection or 2 taps of drawing for single resistance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110178365XA CN102857157A (en) | 2011-06-29 | 2011-06-29 | Motor control system used for electromobile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110178365XA CN102857157A (en) | 2011-06-29 | 2011-06-29 | Motor control system used for electromobile |
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| CN102857157A true CN102857157A (en) | 2013-01-02 |
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| CN201110178365XA Pending CN102857157A (en) | 2011-06-29 | 2011-06-29 | Motor control system used for electromobile |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103731076A (en) * | 2014-01-02 | 2014-04-16 | 东南大学 | Electric bicycle control method based on permanent magnet brushless direct current motor |
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2011
- 2011-06-29 CN CN201110178365XA patent/CN102857157A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103731076A (en) * | 2014-01-02 | 2014-04-16 | 东南大学 | Electric bicycle control method based on permanent magnet brushless direct current motor |
| CN103731076B (en) * | 2014-01-02 | 2015-12-02 | 东南大学 | A kind of control method of electric bicycle based on permanent-magnet brushless DC electric machine |
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Application publication date: 20130102 |