CN104691363B - Electric bicycle mechanical variable speed type motor controller and variable speed control method thereof - Google Patents
Electric bicycle mechanical variable speed type motor controller and variable speed control method thereof Download PDFInfo
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- CN104691363B CN104691363B CN201510134815.3A CN201510134815A CN104691363B CN 104691363 B CN104691363 B CN 104691363B CN 201510134815 A CN201510134815 A CN 201510134815A CN 104691363 B CN104691363 B CN 104691363B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention relates to an electric bicycle mechanical variable speed type motor controller and a variable speed control method thereof. The electric bicycle mechanical variable speed type motor controller is characterized by comprising the following steps of (1) selecting an automatic variable speed mode, collecting a rotor position signal of a motor and transmitting the rotor position signal to a central processor through a coding unit; (2) enabling riding speed to be served as one of a variable speed judgment condition under an automatic variable speed mode through the central processor; (3) reading and inputting a voltage value to a current detection unit through an output end of a motor driving circuit, providing a voltage signal to the central processor to serve as another variable speed judgment condition under the automatic variable speed mode after the voltage signal is amplified through the current detection unit through the current detection unit; (4) enabling the central processor to judge motor steering according to the riding speed and a motor operation current value and providing a corresponding control signal to a motor driving circuit to control rotation and inversion work of the motor to achieve mechanical variable speed. The electric bicycle mechanical variable speed type motor controller automatically changes speed to an optimal operation speed according to variation of parameters of the driving speed, the resistance and the current under the automatic variable speed mode.
Description
Technical field
The invention belongs to electric bicycle motor controller, particularly relate to a kind of electric bicycle mechanical speed change formula electric machine controller and control method for changing speed.
Background technology
At present, electric bicycle motor controller is provided with electric machine speed regulation function, is to change current of electric according to handle signal power to control motor speed, to reach speed governing purpose.Motor initial designs is with regard to only one of which optimum efficiency rotating speed.If by being that optimum efficiency designs when running at high speed, low-speed performance is very poor, i.e. starting climbing capacity is poor；If being that optimum efficiency designs during by starting climbing, poor performance of running at high speed, i.e. take electricity.High speed characteristics can only be accepted or rejected with low-speed characteristic, and during design of electrical motor or in the raising of the main flying power considering electric bicycle, when therefore becoming to run at high speed by design of electrical motor, efficiency preferred plan designs, generally 20～25km/h.Control the method for motor speed by electric current solve the needs of some speed changes although this, but it is affected by the restriction of motor self character, the problem that electric current is excessive and torque is not enough when low speed such as starting or climbings, the method now used to solve the problems referred to above is expanded motor power, to make up the deficiency of starting, climbing capacity.The disadvantage of existing electric bicycle is that starting is very poor with climbing capacity, must assist the most permissible by pedal when starting to walk and climb.If starting to walk against motor or climbing, because load is big, make motor generation resistance turn phenomenon, easy motor damage, and impacting property of accumulator is injured by heavy-current discharge, shortens service lifetime of accumulator.
Current electric bicycle industry is urgently to be resolved hurrily, and under conditions of not strengthening power of motor, raising electric bicycle is started to walk, this maximum of climbing capacity does not solves a difficult problem.
Summary of the invention
It is an object of the invention to overcome the deficiency of above-mentioned technology, a kind of electric bicycle mechanical speed change formula electric machine controller is provided and controls method for changing speed, function and motor positive and inverse is selected to control function by increasing speed change pattern, realize controlling electric bicycle motor mechanical speed change, solve electric bicycle and normally continue a journey the problem that both duty ability and starting or climbing capacity can not get both.
The present invention is for achieving the above object, by the following technical solutions: a kind of electric bicycle mechanical speed change formula electric machine controller, it is characterized in that: include central processing unit, decoding unit, motor-drive circuit and current detecting unit, described central processing unit is connected with decoding unit, current detecting unit and actuator driven circuit respectively；
The motor rotor position signal collected is flowed to central processing unit and constitutes riding speed as the velocity estimated loop under automatic shift mode by described decoding unit, and central processing unit judges the riding speed of electric bicycle according to the frequency that motor rotor position signal converts；
Described central processing unit gathers brake signal, battery voltage signal, handle signal, automatic or manual mode select signal and low or first gear or top gear selects signal to control motor by motor-drive circuit；
The outfan of described motor-drive circuit is connected with motor and current detecting unit respectively, described current detecting unit is connected with central processing unit to collectively form and judges loop using gathering motor working current with setting the electric current that compares under automatic shift mode of electric current, the outfan read voltage value of motor-drive circuit is also input to current detecting unit, and current detecting unit is supplied to central processing unit after being amplified by voltage signal.
Described motor-drive circuit is made up of bridge-type and connects drive circuit six switching tubes.
The control method for changing speed of a kind of electric bicycle mechanical speed change formula electric machine controller, is characterized in that: increase speed change pattern and motor positive and inverse controls function, control the mechanical speed change of electric bicycle motor, specifically comprise the following steps that
1) selecting automatic shift mode, the rotor electric machine rotor-position signal gathering motor is transmitted to central processing unit by decoding unit；
2) central processing unit calculates the riding speed of electric bicycle according to the cymometer that motor rotor position signal converts, one of condition that riding speed is judged as speed change under automatic shift mode；
3) in the outfan read voltage value of motor-drive circuit and be input to current detecting unit, current detecting unit is supplied to central processing unit after being amplified by voltage signal, another condition judged as speed change under automatic shift mode；
4) current value that central processing unit runs according to riding speed and motor, judge motor steering, and corresponding control signal is supplied to motor-drive circuit, switching tubes different in motor-drive circuit is in turn switched on according to the signal that central processing unit provides, control respectively be conducted direction and the turn-on sequence of motor, control the work of motor forward and backward, it is achieved the mechanical speed change of electric bicycle motor.
Described motor is wheel hub motor or the brshless DC motor decelerator group of variable deceleration ratio.
Described speed change pattern arranges manual shift mode, selects switch by high/low speed shelves, and during selection top gear, motor rotates forward, motor reversal during selection low or first gear.
Beneficial effect: compared with prior art, the wheel hub motor of the present invention and variable deceleration ratio with the use of, there are fluid drive and two kinds of speed change patterns of hand gear, can be according to travel speed, resistance, electric current isoparametric change fluid drive to optimal operational condition under automatic shift mode, can need to carry out at any time speed change according to user under manual shift mode, mechanical speed change not only solves electric bicycle starting ability and the problem of climbing capacity difference, and the range of electric motor car expands to knob, mountain area from plains region.Reduce the impact to battery simultaneously, keep battery performance to increase the service life.It addition, expand motor best efficiency ranges, power saving extends endurance distance, it is adaptable to electric bicycle, electro-tricycle or mobility scooter for old people.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the present invention；
Fig. 2 is the workflow diagram of the present invention；
Fig. 3 is existing motor-drive circuit schematic diagram.
In figure: 1, motor, 2, coil C phase, 3, coil B phase, 4, loop A phase, 5, motor rotor position signal Ha, 6, motor rotor position signal Hb, 7, motor rotor position signal Hc, 8, current sampling resistor, 9-1, T1 switching tube, 9-2, T2 switching tube, 9-3, T3 switching tube, 9-4, T4 switching tube, 9-5, T5 switching tube, 9-6, T6 switching tube.
Detailed description of the invention
The detailed description of the invention of the present invention is described in detail below in conjunction with preferred embodiment.
Embodiment 1
Refer to accompanying drawing 1, the invention provides a kind of electric bicycle mechanical speed change formula electric machine controller, including central processing unit, decoding unit, motor-drive circuit and current detecting unit, described central processing unit is connected with decoding unit, current detecting unit and actuator driven circuit respectively；Described decoding unit will collect and include motor rotor position signal Ha 5, motor rotor position signal Hb6, the motor rotor position signal of motor rotor position signal Hc 7 flows to central processing unit and constitutes using riding speed as the velocity estimated loop under automatic shift mode, and central processing unit judges the riding speed of electric bicycle according to the frequency that motor rotor position signal converts；Described central processing unit gathers brake signal, battery voltage signal, handle signal, automatic or manual mode select signal and low or first gear or top gear selects signal to control motor 1 by motor-drive circuit；The outfan of described motor-drive circuit respectively with the coil C phase 2 of motor, coil B phase 3, loop A phase 4 and current detecting unit connect, described current detecting unit is connected with central processing unit to collectively form and compares gathering motor working current and judge loop with setting electric current as electric current under automatic shift mode, the outfan read voltage value of motor-drive circuit is also input to current detecting unit, current detecting unit is supplied to central processing unit after being amplified by voltage signal, described motor-drive circuit is by six switching tube 9-1, 9-2 to 9-6 constitutes bridge-type and connects drive circuit.
Refer to accompanying drawing 2, the control method for changing speed of a kind of electric bicycle mechanical speed change formula electric machine controller, increase speed change pattern and motor positive and inverse controls function, control the mechanical speed change of electric bicycle motor, specifically comprise the following steps that
1) select automatic shift mode, gather motor rotor position signal and be transmitted to central processing unit by decoding unit；
2) central processing unit calculates the riding speed of electric bicycle according to the cymometer that motor rotor position signal converts, one of condition that riding speed is judged as speed change under automatic shift mode；
3) in the outfan read voltage value of motor-drive circuit and be input to current detecting unit, current detecting unit is supplied to central processing unit after being amplified by voltage signal, another condition judged as speed change under automatic shift mode；The signal that current detecting unit is sampled from loop is weak voltage signals, and current detecting unit is supplied to central processing unit after small-signal being amplified, and exceedes setting value in order to judging whether.The present embodiment, current detecting unit two ends connect current sampling resistor 8, and sampling resistor is generally 0.01 Ω.
4) current value that central processing unit runs according to riding speed and motor, judge motor steering, and corresponding control signal is supplied to motor-drive circuit, switching tubes different in motor-drive circuit is in turn switched on according to the signal that central processing unit provides, control respectively be conducted direction and the turn-on sequence of motor, control the work of motor forward and backward, it is achieved the mechanical speed change of electric bicycle motor.
Described motor is wheel hub motor or the brshless DC motor decelerator group of variable deceleration ratio.
Described speed change pattern arranges manual shift mode, selects switch by high/low speed shelves, and during selection top gear, motor rotates forward, motor reversal during selection low or first gear.
Referring to accompanying drawing 2, motor control flow is as follows:
It is initialised to handle sampling step from controller identical with the workflow of existing controller, is a difference in that and has compared fluid drive many than existing controller workflow and manual shift mode judges that flow process, velocity estimated flow process, electric current judge that flow process, manual rotating judge flow process.According to above-mentioned Rule of judgment Comprehensive Control motor, reach most preferably to ride condition.
The method controlling speed change has two kinds, and one is automatic shift mode control method, and another kind is manual shift mode control method.Concrete which kind of speed Control pattern applicable, is selected by user's manual toggle automatic/hand mode selection switch.
When user selects automatic shift mode, controller workflow is as follows:
According to central processing unit to riding speed and the result of calculation of motor working current, first current riding speed and setting speed are compared judgement, if current riding speed is less than setting speed, then control motor reversal, i.e. low or first gear work；If current riding speed is higher than setting speed, the most further motor working current is compared judgement with setting electric current, if current motor electric current is less than setting electric current, then control motor to rotate forward, i.e. top gear work, if current motor electric current is higher than setting electric current, then control motor reversal, i.e. low or first gear work.
When user selects manual shift mode, controller workflow is as follows:
Select the signal of switch according to high, low speed shelves, control motor forward or reverse.Motor the most at that time is selected to rotate forward, motor reversal during selection low or first gear.
Under automatic shift mode actual ride in process be to start starting from static, now speed is relatively low, less than setting value, runs by low or first gear.Through one section of accelerator, after speed brings up to setting value, change top gear into and run.I.e. starting stage low or first gear runs, and normal travel phase top gear runs.When running into upward trend in normal ride or situation resistance becomes big windward, current of electric can rise therewith, transfers low or first gear to and run after exceeding setting value, to improve driving force and protection motor and battery.
Refer to accompanying drawing 3, as shown in table 1, the signal that when motor rotates forward, motor rotor position signal and central processing unit provide to motor-drive circuit.
Table 1) motor rotate forward time motor rotor position signal and drive signal truth table
As shown in table 2, the signal that during motor reversal, motor rotor position signal and central processing unit provide to motor-drive circuit.
Table 2) motor reversal time motor rotor position signal and drive signal truth table
The above, be only presently preferred embodiments of the present invention, and not the structure to the present invention makees any pro forma restriction.Every any simple modification, equivalent variations and modification made above example according to the technical spirit of the present invention, all still falls within the range of technical scheme.
Claims (5)
1. an electric bicycle mechanical speed change formula electric machine controller, is characterized in that: include centre
Reason device, decoding unit, motor-drive circuit and current detecting unit, described central processing unit respectively with
Decoding unit, current detecting unit and actuator driven circuit connect；
The motor rotor position signal collected is flowed to central processing unit and constitutes by described decoding unit
Using riding speed as the velocity estimated loop under automatic shift mode, central processing unit turns according to motor
The frequency of sub-position signalling conversion judges the riding speed of electric bicycle；
Described central processing unit gathers brake signal, battery voltage signal, handle signal, automatic or hands
Dynamic mode select signal and low or first gear or top gear select signal to control electricity by motor-drive circuit
Machine；
The outfan of described motor-drive circuit is connected with motor and current detecting unit respectively, described electricity
Stream detector unit is connected with central processing unit collectively form gather motor working current and setting electric current
Comparing and judge loop as the electric current under automatic shift mode, the outfan of motor-drive circuit is read
Taking magnitude of voltage and be input to current detecting unit, current detecting unit is supplied to after being amplified by voltage signal
Central processing unit.
Electric bicycle mechanical speed change formula electric machine controller the most according to claim 1, it is special
Levy and be: described motor-drive circuit is made up of bridge-type and connects drive circuit six switching tubes.
3. an electric bicycle mechanical speed change formula electric machine controller according to claim 1
Control method for changing speed, it is characterized in that: increase speed change pattern and motor positive and inverse controls function, control electricity
The mechanical speed change of dynamic bicycle motor, specifically comprises the following steps that
1) select automatic shift mode, gather the rotor electric machine rotor-position signal of motor by decoding
Unit is transmitted to central processing unit；
2) cymometer that central processing unit converts according to motor rotor position signal calculates electric bicycle
Riding speed, one of condition that riding speed is judged as speed change under automatic shift mode；
3) in the outfan read voltage value of motor-drive circuit and be input to current detecting unit, electricity
Stream detector unit is supplied to central processing unit after being amplified by voltage signal, becomes as under automatic shift mode
Another condition that speed judges；
4) current value that central processing unit runs according to riding speed and motor, it is judged that motor steering,
And corresponding control signal is supplied to motor-drive circuit, depend on according to the signal that central processing unit provides
Switching tubes different in secondary connection motor-drive circuit, controls the direction and turn on suitable of being respectively conducted of motor
Sequence, controls the work of motor forward and backward, it is achieved the mechanical speed change of electric bicycle motor.
The control of electric bicycle mechanical speed change formula electric machine controller the most according to claim 3
Method for changing speed, is characterized in that: described motor is wheel hub motor or the brshless DC motor of variable deceleration ratio
Decelerator group.
The control of electric bicycle mechanical speed change formula electric machine controller the most according to claim 3
Method for changing speed, is characterized in that: described speed change pattern arranges manual shift mode, is selected by high/low speed shelves
Selecting switch, during selection top gear, motor rotates forward, motor reversal during selection low or first gear.
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| CN201510134815.3A CN104691363B (en) | 2015-03-26 | 2015-03-26 | Electric bicycle mechanical variable speed type motor controller and variable speed control method thereof |
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| CN201510134815.3A CN104691363B (en) | 2015-03-26 | 2015-03-26 | Electric bicycle mechanical variable speed type motor controller and variable speed control method thereof |
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| CN105128698B (en) * | 2015-08-27 | 2016-05-04 | 福建省汽车工业集团云度新能源汽车股份有限公司 | A kind of electric automobile continuation of the journey control system |
| CN105329191B (en) * | 2015-11-20 | 2016-06-22 | 福建省汽车工业集团云度新能源汽车股份有限公司 | A kind of energy-efficient electric automobile continuation of the journey control system |
| CN112963523A (en) * | 2021-02-05 | 2021-06-15 | 浙江绿源电动车有限公司 | Gear switching control method of electric motorcycle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH07264712A (en) * | 1994-03-18 | 1995-10-13 | Hitachi Ltd | Apparatus and method for controlling electric vehicle |
| JPH08113184A (en) * | 1994-10-14 | 1996-05-07 | Sanyo Electric Co Ltd | Motor driven bicycle |
| US7197390B2 (en) * | 2003-03-13 | 2007-03-27 | Wavecrest Laboratories Llc | Electric vehicle with adaptive cruise control system |
| CN102756668B (en) * | 2011-04-29 | 2015-09-30 | 久鼎金属实业股份有限公司 | The speed-change control device of Electrical Bicycle |
| KR101516075B1 (en) * | 2013-07-26 | 2015-05-04 | 삼성전기주식회사 | Eletricity bike control system and method for control the same |
| CN204586547U (en) * | 2015-03-26 | 2015-08-26 | 严振华 | Electrical Bicycle mechanical speed change formula electric machine controller |
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Effective date of registration: 20240604 Address after: 214000 area a, Yangjian Town Industrial Park, Xishan District, Wuxi City, Jiangsu Province Patentee after: Wuxi Yatai Machinery Technology Co.,Ltd. Country or region after: China Address before: 300222 Tianjin Hexi District Xiaohaiti Four Seasons Garden 16-3-101 Patentee before: Yan Zhenhua Country or region before: China |