CN102857164A - Driving system of electric bicycle and controlling method thereof - Google Patents
Driving system of electric bicycle and controlling method thereof Download PDFInfo
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- CN102857164A CN102857164A CN201210379529XA CN201210379529A CN102857164A CN 102857164 A CN102857164 A CN 102857164A CN 201210379529X A CN201210379529X A CN 201210379529XA CN 201210379529 A CN201210379529 A CN 201210379529A CN 102857164 A CN102857164 A CN 102857164A
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Abstract
The invention discloses a driving system of an electric bicycle and a controlling method of the driving system. A current sensor (6) is arranged on a stator of a motor (2), a magnetic sensor (7) is arranged on an inverting module (5), the current sensor (6) and the magnetic sensor (7) are respectively coupled to a controller (1), the magnetic sensor (7) is used for marking relative positions between a rotor and the stator and rotating speed of the rotor, and the current sensor (6) is used for sensing the magnitude of direct current output by a power supply (3); and the controller (1) is used for outputting corresponding pulse width modulation (PWM) signals to a driving module (4) according to the received instruction signals, a parameter of the magnitude of the direct current output by sensing the power supply (3) and parameters of the relative positions between the rotor and the stator of the motor (2). Aiming at the defects of high torque pulsation, low efficiency and the like of the driving system of the conventional electric bicycle, the invention designs the driving system of the electric bicycle with low torque pulsation, low energy conservation and low interference and the controlling method of the driving system.
Description
Technical field
The present invention relates to the electric motor and controller technical field, particularly a kind of drive system of electric motor vehicle and control method thereof for electric bicycle.
Background technology
At present in the electric bicycle field, drive system adopts the control method of six bat formulas mostly, six control methods of clapping formula are 120 degree converter techniques, three-phase alternating current at any time in, only has in twos conducting in the three-phase, and other one be in cut-off state mutually, also shows 120 degree that whenever are conducted in any one cycle.Drive system is under such control method, and the torque pulsation meeting of motor is very large, so that large at the noise of driver when riding electric bicycle, produce uncomfortable; And the voltage utilization of drive system is low, so that the efficient of whole drive system is lower, produces energy waste; Because six bat formula control methods are simple, can not detect constantly the relative position of rotor and stator, so that power device the flat rate of switch inhomogeneous, thereby cause the heating of power device unbalanced, and under the inhomogeneous impact of power device switch skin frequency, ripple can appear in the power supply output of power supply, all parts of the drive system of electric bicycle is produced disturb.Based on above defective, the drive system of traditional electric bicycle need to be improved design.
Summary of the invention
The purpose of this invention is to provide a kind of control method meticulous, different motors is had better adaptability, can reduce the torque pulsation of motor, the utilization ratio of the energy is high, disturbs little drive system of electric motor vehicle and control method thereof.
The present invention takes following technical scheme to realize:
Comprise controller, motor, power supply, driver module, inversion module, motor is dc brushless motor, power supply is DC power supply, Electric source coupling is to inversion module, inversion module is coupled to motor, controller is coupled to driver module, driver module is coupled to inversion module, be provided with current sensor on the stator of motor, be provided with Magnetic Sensor on the inversion module, current sensor and Magnetic Sensor are coupled respectively to controller, the quantity of magnetic inductor is three, differ successively 60 degree electrical degrees, the epitrochanterian permanent magnet of motor makes each magnetic inductor generation output valve separately in the process of rotating, thus the rotor of sign motor and the rotating speed of the relative position between the stator and rotor; The galvanic size that the current sensor induction power supply is exported; Magnetic inductor and current sensor transfer to controller with induction output separately, magnetic inductor processed by controller and the rotor speed parameter that draws motor is exported in current sensor induction separately, the parameter of the relative position of rotor and stator, the parameter of the size of power supply institute output DC; Parameter, the rotor of motor and the parameter of the relative position between the stator of the galvanic size that controller is exported according to received command signal, induction power supply are to the driver module output pwm signal.
Inversion module is made of mosfet transistor or igbt transistor, is the three-phase inversion full bridge structure, and the direct current that inversion module is exported power supply is converted to three-phase alternating current, thus drive motors.
Controller is exported 6 road pwm signals to driver module, and driver module carries out level to the signal of inputting it and amplifies, and the road pwm signal behind the amplification level is exported to the transistorized grid of the three-phase inversion full bridge structure of inversion module again.
Magnetic inductor is Hall element, and current sensor is Hall element or sampling resistor.
Can produce corresponding 6 road pwm signals after the command signal that controller is received, determine the waveform of 6 road pwm signals according to the rotor of motor and the parameter of the relative position between the stator, thereby configure a transistorized on off state in each moment inversion module.
Controller is determined the threshold value of duty ratio of 6 road pwm signals of its generation according to the parameter of the size of the output current of power supply, if duty ratio is less than threshold value, then do not change the duty ratio of 6 road pwm signals, if duty ratio is greater than threshold value, then constantly reduce the duty ratio of 6 road pwm signals, make it level off to gradually threshold value.
The numerical value of the speed measuring instrument of electric motor car determined the parameter of the rotating speed of the rotor of motor by controller.
The present invention compared with prior art has significant advantage and beneficial effect, is embodied in the following aspects:
This drive system of electric motor vehicle and control method thereof have overcome the little drawback of torque pulsation of six traditional bat formula control methods, and the noise that produces in the process of drive system work is little.
Because the control mode of this drive system of electric motor vehicle is meticulous, but Real-Time Monitoring goes out the relative position between rotor and the stator, so have stronger adaptability for different motors, the dc brushless motor that can mate different process, and under meticulous control mode, the utilance for the power of system of this drive system of electric motor vehicle is high, energy savings.
This drive system control mode is meticulous, and the switching frequency of the power device that also can make is consistent, the caloric value uniform distribution because the switching frequency uniformity of each power device, so that Power supply can not produce ripple yet, system produce interference little.
Description of drawings
Fig. 1 is the structural representation of drive system of electric motor vehicle of the present invention.
Embodiment
Below in conjunction with accompanying drawing the embodiment of the invention is further described; below just exemplary about the description of embodiments of the present invention; the claimed theme that is not meant to limit the present invention; other variations in the claim protection range for embodiment described in the invention also exists all belong to the theme that will protect required for the present invention.
For mentioning getting " coupling " among the present invention, definition according to electric, electronics, mechanical field, refer to exist between the input of two or more circuit elements or electric network and the output and closely cooperate and influence each other, and by interacting from the phenomenon of a side direction opposite side signal transmission or energy, summary say that coupling just refers to that two or more entities interdepend and measures in one of the other side.Can be understood as in the present invention the transmission means of digital signal, voltage, electric current homenergic stream, " coupling " in of the present invention according to interactively under the different situations between each module is further understood that connected directly or indirectly.Although so announced a kind of exemplary layout and structure of each assembly in the embodiments of the invention, also be included in other layouts and the structure that have in the scope of protecting theme under the different coupled modes in the protection theme of this invention
Such as accompanying drawing 1, wherein, the 1st, controller, the 2nd, motor, the 3rd, power supply, the 4th, driver module, the 5th, inversion module, the 6th, current sensor, the 7th, magnetic inductor.
As shown in Figure 1, this drive system of electric motor vehicle comprises controller 1, motor 2, power supply 3, driver module 4, inversion module 5.
The pwm signal that act as controller 1 output of driver module 4 carries out level conversion, and the level of PWM is amplified to the level that can finish the configuration operation of inversion module 5.
The quantity of magnetic inductor 7 is three, differ successively 60 degree electrical degrees, the output valve that the epitrochanterian permanent magnet of motor 2 makes each magnetic inductor 7 produce separately in the process of rotating, thereby the rotor of sign motor 2 and the rotating speed of the relative position between the stator and rotor; The galvanic size that current sensor 6 induction power supplies 3 are exported; Magnetic inductor 7 and current sensor 6 transfer to controller 1 with induction output separately, magnetic inductor 7 processed by controller 1 and the rotor speed parameter that draws motor 2 is exported in current sensor 6 induction separately, the parameter of the relative position of rotor and stator, the parameter of the size of 3 output DCs of power supply; Parameter, the rotor of motor 2 and the parameter of the relative position between the stator of the galvanic size that controller 1 is exported according to received command signal, induction power supply 3 are to corresponding 6 road pwm signals of driver module 4 outputs.
Can produce corresponding 6 road pwm signals after the command signal that controller 1 is received, determine the waveform of 6 road pwm signals according to the rotor of motor 2 and the parameter of the relative position between the stator, thereby configure a transistorized on off state in each moment inversion module 5.Controller 1 is to driver module 4 outputs 6 road pwm signals, the signal that 4 pairs of driver modules are inputted it carries out the level amplification, again the road pwm signal behind the amplification level is exported to the transistorized grid of the three-phase inversion full bridge structure of inversion module 5, connected mode for each transistorized grid of 6 road PWM and three-phase inversion full bridge structure, for those skilled in the art known, can not lead to misunderstanding, therefore succinct for describing, its particular circuit configurations is not done in the present invention and is stated.
The duty ratio of 6 road pwm signals is larger, and then the rotating speed of motor is higher, and controller 1 is determined the threshold value of duty ratio of 6 road pwm signals of its generation according to the parameter of the size of the output current of power supply 3, to prevent that duty ratio is excessive and burn out the electronic device of drive system.If duty ratio less than threshold value, does not then change the duty ratio of 6 road pwm signals, if duty ratio greater than threshold value, then constantly reduces the duty ratio of 6 road pwm signals, make it level off to gradually threshold value.
The numerical value of the speed measuring instrument of electric motor car determined the parameter of the rotating speed of the rotor of motor 2 by controller 1, and speed measuring instrument is not the necessary structure in the drive system, thus succinct for describing, display speed instrument not in the accompanying drawing in the present invention.
For being example embodiment of the present invention; should be understood to is wherein a certain demonstrative example in the protection range of claims of the present invention; have the directiveness effect that those skilled in the art is realized corresponding technical scheme, but not limitation of the invention.
Claims (7)
1. a drive system of electric motor vehicle and control method thereof, comprise: controller (1), motor (2), power supply (3), driver module (4), inversion module (5), motor (2) is dc brushless motor, power supply (3) is DC power supply, power supply (3) is coupled to inversion module (5), inversion module (5) is coupled to motor (2), controller (1) is coupled to driver module (4), driver module (4) is coupled to inversion module (5), be provided with current sensor (6) on the stator of motor (2), be provided with Magnetic Sensor (7) on the inversion module (5), current sensor (6) and Magnetic Sensor (7) are coupled respectively to controller (1), it is characterized in that: the quantity of magnetic inductor (7) is three, differ successively 60 degree electrical degrees, the epitrochanterian permanent magnet of motor (2) makes each magnetic inductor (7) generation output valve separately in the process of rotating, thus the rotor of sign motor (2) and the rotating speed of the relative position between the stator and rotor; The galvanic size that current sensor (6) induction power supply (3) is exported; Magnetic inductor (7) and current sensor (6) transfer to controller (1) with induction output separately, magnetic inductor (7) processed by controller (1) and the rotor speed parameter that draws motor (2) is exported in current sensor (6) induction separately, the parameter of the relative position of rotor and stator, the parameter of the size of power supply (3) institute output DC; Parameter, the rotor of motor (2) and the parameter of the relative position between the stator of the galvanic size that controller (1) is exported according to received command signal, induction power supply (3) are to driver module (4) output pwm signal.
2. drive system of electric motor vehicle according to claim 1 and control method thereof, it is characterized in that: described inversion module (5) is made of mosfet transistor or igbt transistor, be the three-phase inversion full bridge structure, the direct current that inversion module (5) is exported power supply (3), be converted to three-phase alternating current, thus drive motors (2).
3. according to claim 1 or drive system of electric motor vehicle claimed in claim 2 and control method thereof, it is characterized in that: described controller (1) is to driver module (4) output 6 road pwm signals, driver module (4) carries out level to the signal of inputting it and amplifies, and the road pwm signal behind the amplification level is exported to the transistorized grid of the three-phase inversion full bridge structure of inversion module (5) again.
4. drive system of electric motor vehicle according to claim 1 and control method thereof, it is characterized in that: described magnetic inductor (7) is Hall element, and current sensor (6) is Hall element or sampling resistor.
5. according to claim 1 or drive system of electric motor vehicle claimed in claim 3, it is characterized in that: can produce corresponding 6 road pwm signals after the command signal that described controller (1) is received, determine the waveform of 6 road pwm signals according to the rotor of motor (2) and the parameter of the relative position between the stator, thereby configure a transistorized on off state in each moment inversion module (5).
6. according to claim 1 or drive system of electric motor vehicle claimed in claim 3 and control method thereof, it is characterized in that: described controller (1) is determined the threshold value of duty ratio of 6 road pwm signals of its generation according to the parameter of the size of the output current of power supply (3), if duty ratio is less than threshold value, then do not change the duty ratio of 6 road pwm signals, if duty ratio is greater than threshold value, then constantly reduce the duty ratio of 6 road pwm signals, make it level off to gradually threshold value.
7. drive system of electric motor vehicle according to claim 1 and control method thereof, it is characterized in that: the numerical value of the speed measuring instrument of electric motor car determined the parameter of the rotating speed of the rotor of motor (2) by described controller (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210379529XA CN102857164A (en) | 2012-10-09 | 2012-10-09 | Driving system of electric bicycle and controlling method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210379529XA CN102857164A (en) | 2012-10-09 | 2012-10-09 | Driving system of electric bicycle and controlling method thereof |
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| CN102857164A true CN102857164A (en) | 2013-01-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113726231A (en) * | 2021-08-23 | 2021-11-30 | 珠海格力电器股份有限公司 | Motor control method, device and system and storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01264590A (en) * | 1988-04-14 | 1989-10-20 | Alps Electric Co Ltd | Forward and reverse rotation drive method of three-phase dc motor |
| CN101268610A (en) * | 2005-09-23 | 2008-09-17 | 罗伯特·博世有限公司 | Method for supplying electrical power to a DC motor which can be commutated electronically via a semiconductor power output stage |
| CN101499763A (en) * | 2008-02-03 | 2009-08-05 | 苏州宝时得电动工具有限公司 | Controlling method for electric tool and electric tool executing the controlling method |
-
2012
- 2012-10-09 CN CN201210379529XA patent/CN102857164A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01264590A (en) * | 1988-04-14 | 1989-10-20 | Alps Electric Co Ltd | Forward and reverse rotation drive method of three-phase dc motor |
| CN101268610A (en) * | 2005-09-23 | 2008-09-17 | 罗伯特·博世有限公司 | Method for supplying electrical power to a DC motor which can be commutated electronically via a semiconductor power output stage |
| CN101499763A (en) * | 2008-02-03 | 2009-08-05 | 苏州宝时得电动工具有限公司 | Controlling method for electric tool and electric tool executing the controlling method |
Non-Patent Citations (1)
| Title |
|---|
| 钟晓伟: ""电动自行车用无刷直流电机控制系统研究"", 《中国优秀硕士学位论文全文数据库》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113726231A (en) * | 2021-08-23 | 2021-11-30 | 珠海格力电器股份有限公司 | Motor control method, device and system and storage medium |
| CN113726231B (en) * | 2021-08-23 | 2023-10-10 | 珠海格力电器股份有限公司 | Motor control method, device, system and storage medium |
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Effective date of registration: 20160201 Address after: 300308 Tianjin free trade zone (Airport Economic Zone) West ten Avenue 1 Applicant after: Tianjin Santroll Electric Automobile Technology Co., Ltd. Address before: 300308 Tianjin District of Dongli City Airport Economic Zone West Road No. ten Applicant before: Tianjin Santroll Electric Science & Technology Co., Ltd. |
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Application publication date: 20130102 |
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