CN105034851B - Motor control assembly and method - Google Patents
Motor control assembly and method Download PDFInfo
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- CN105034851B CN105034851B CN201510395097.5A CN201510395097A CN105034851B CN 105034851 B CN105034851 B CN 105034851B CN 201510395097 A CN201510395097 A CN 201510395097A CN 105034851 B CN105034851 B CN 105034851B
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000006073 displacement reaction Methods 0.000 claims description 31
- 230000001133 acceleration Effects 0.000 claims description 14
- 230000005611 electricity Effects 0.000 claims description 5
- 230000001960 triggered effect Effects 0.000 claims description 3
- 230000006399 behavior Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000005520 electrodynamics Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
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Abstract
A kind of motor control assembly, including detecting unit, judging unit, control unit.Detecting unit is used to detect the status information of the electric carrier；Judging unit for judging whether the electric carrier is subsequently lifted ground according to the state information；Control unit is used for when the electric carrier is subsequently lifted ground, controls the motor stalls of the electric carrier.The present invention also provides motor control methods.The present invention can prevent the idle running of electric carrier motor when lifting.
Description
Technical field
The present invention relates to electric automobiles, in particular to a kind of motor control assembly and method.
Background technique
Electric unicycle vehicle is mainly built upon one kind and is referred to as a kind of novel vehicles, operation principles
In the basic principle of " dynamic stability ", that is, the autobalance ability of vehicle itself.Come with built-in accurate solid-state gyroscope
Judge posture state locating for vehicle body, after calculating instruction appropriate by accurate and high speed central microprocessor, drives horse
Up to the effect to realize balance.
For electric unicycle, in some particular places and it is not suitable for riding, such as stair, artificially will needs at this time
It, which lifts, is carried, and when so lifting wheelbarrow, flies to turn since self-balancing system still effectively will lead to wheel, so just have
Probably due to wheel flies then injury body.Currently in order to wheel flies the case where turning when vehicle being prevented to be raised, generally can all select
Select artificial switching vehicle power supply before mentioning vehicle, so so probably due to people carelessness and forget to cut off the power, while also because
So to increase the complex of vehicle operating, and then affect the user experience of wheelbarrow.
Summary of the invention
In view of this, can lift in delivery vehicle the object of the present invention is to provide a kind of motor control assembly and method
During, motor is controlled in time, prevents the idle running of motor.
The motor control assembly provided in embodiment of the present invention is applied to electric carrier, including single including detecting
Member, judging unit, control unit.Detecting unit is used to detect the status information of the electric carrier；Judging unit is used for
Judge whether the electric carrier is subsequently lifted ground according to the state information；Control unit is used in the electronic delivery
When tool is subsequently lifted ground, the motor stalls of the electric carrier are controlled.
Preferably, the electric carrier have acceleration metering device, 9 axle sensors and motor encoder sensor,
Handle and the physical button being mounted on the handle, the status information for the continuous data of acceleration metering device, by institute
State the first displacement of 9 axle sensors calculating and the second displacement of motor encoder sensor calculating, by the object in squeeze grip
The physics electric signal that reason key is triggered.
Preferably, the judging unit is further used for: judging the continuous data of the acceleration metering device is
One preset range of no satisfaction, and the electricity is determined when the continuous data of the acceleration metering device meets the preset range
Dynamic delivery vehicle is subsequently lifted ground；Judge whether first displacement is less than the second displacement, and small in first displacement
Determine that the electric carrier is subsequently lifted ground when the second displacement；The physics electricity is detected in the detecting unit
When signal, determine that the electric carrier is subsequently lifted ground.
Preferably, the electric carrier includes electric machine control system.
Preferably, described control unit is further used for sending motor disability signal to the electric machine control system, makes institute
It states electric machine control system and controls the rotation that the motor disables and then stops motor.
The motor control method provided in embodiment of the present invention is applied to electric carrier, the motor control side
Method includes: to detect the status information of the electric carrier；Judging the electric carrier according to the state information is
It is no to be subsequently lifted ground；If the electric carrier is subsequently lifted ground, the motor for controlling the electric carrier stops turning
It is dynamic.
Preferably, the electric carrier have acceleration metering device, 9 axle sensors and motor encoder sensor,
Handle and the physical button being mounted on the handle, the status information for the continuous data of acceleration metering device, by institute
State the first displacement of 9 axle sensors calculating and the second displacement of motor encoder sensor calculating, by pressing on the handle
The physics electric signal that is triggered of physical button.
Preferably, it is described judge according to the state information the step of whether electric carrier is subsequently lifted ground into
If determining the electronic delivery work if the continuous data that a step includes: the acceleration metering device meets a preset range
Tool is subsequently lifted ground；If first displacement is less than the second displacement, determine that the electric carrier is subsequently lifted ground；
If detecting the physics electric signal, determine that the electric carrier is subsequently lifted ground.
Preferably, the electric carrier includes electric machine control system.
Preferably, the step of motor stalls of the control electric carrier further comprise: sending electricity
Machine disables signal to the electric machine control system, so that the electric machine control system is controlled the motor and disables and then stop motor
Rotation.
Above-mentioned motor control assembly and method lift state according to electric carrier, and then timely carry out to motor
Control, prevents the idle running of motor, and then avoid potential security risk.
Below in conjunction with the drawings and specific embodiments, the present invention will be described in detail, but not as a limitation of the invention.
Detailed description of the invention
Fig. 1 is the functional block diagram of one embodiment of motor control assembly of the present invention.
Fig. 2 is the functional block diagram of the another embodiment of motor control assembly of the present invention.
Fig. 3 is the flow chart of one embodiment of motor control method of the present invention.
Main element symbol description
Motor control assembly 10
Detecting unit 100
Judging unit 102
Control unit 104
Memory 106
Processor 108
The present invention that the following detailed description will be further explained with reference to the above drawings.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
Fig. 1 is the schematic diagram of 10 1 embodiment of motor control assembly of the present invention.In the present embodiment, motor control fills
Setting 10 includes detecting unit 100, judging unit 102 and control unit 104.
100 detecting vehicle information of detecting unit.In the present embodiment, the information of vehicles of detecting is the number of accelerometer
Value, the second displacement being also possible in 9 axle sensors interior for a period of time the first displacement and motor encoder sensor same time.
In yet another embodiment, information of vehicles is also possible to a physical trigger signal, the signal be when user lifts wheelbarrow, by
Under the action of user's grip force and car body self gravity, triggers the physical button on handle and generate.
Judging unit 102 judges whether vehicle is in the state of being raised according to information of vehicles.In the present embodiment, it is relating to
And in the various movements of wheelbarrow, by experimental analysis it is found that lift act the data of corresponding accelerometer generally can be one
In preset range.If judging, the numerical value of vehicle accelerometer is located at a preset range, judges the behavior of vehicle at this time to be mentioned
The state of rising, wherein the preset range is preferably 1-1.3G.
In the present embodiment, if the first displacement in judging 9 axle sensors for a period of time is less than motor encoder sensor
Second displacement in same time then determines that the behavior of vehicle at this time is to be raised state.Wherein, second displacement is passed by 9 axis
Sensor is calculated according to Geomagnetism Information combination accelerometer and gyroscope, and second displacement is the code sensor by motor
(wheelbarrow is generally Hall sensor) is calculated.
In yet another embodiment, if detecting unit 102 detects the touching generated by the physical button on triggering handle
It signals, judging unit 104 then judges that vehicle-state is lifts state at this time.
Control unit 104 controls motor stalls when judging vehicle to be raised state.In the present embodiment,
The operation of motor is controlled by electric machine control system, and when vehicle is raised, control unit 104 sends motor disability signal extremely
Electric machine control system, electric machine control system stop operating according to disability signal control motor.
Fig. 2 show the functional block diagram of the another embodiment of motor control assembly 10 of the present invention.Motor control assembly 10
Including detecting unit 100, judging unit 102, control unit 104, memory 106 and processor 108.In the present embodiment,
Unit 100~104 is executable program and is present in the memory 106 of control device 10 together, and is executed by processor 108
Relative program is to realize the function of above-mentioned module.
Motor control assembly 10 is mainly used in wheelbarrow, balance car and other portable electric carriers, and
By above-mentioned functional module, during electrodynamic balance vehicle can be made to be raised, the rotation of motor, Jin Erfang are automatically controlled
Only as motor dally and caused by potential danger.
Fig. 3 is the flow chart of 10 motor control method of motor control assembly, one embodiment of the present invention.Wherein this method is logical
Cross Implement of Function Module the method shown in fig. 1 or fig. 2.
In step S300,100 detecting vehicle information of detecting unit.In the present embodiment, the information of vehicles of detecting is to add
The numerical value of speedometer is also possible in 9 axle sensors interior for a period of time the first displacement and motor encoder sensor same time
Second displacement.In yet another embodiment, information of vehicles is also possible to a physical trigger signal, which lifted in user
When wheelbarrow, under the action of user's grip force and car body self gravity, triggers the physical button on handle and generate.
In step S302, judging unit 102 judges whether vehicle is in the state of being raised according to information of vehicles.In this implementation
In mode, in the various movements for being related to wheelbarrow, by experimental analysis it is found that lifting the data for acting corresponding accelerometer
It generally can be in a preset range.If judging, the numerical value of vehicle accelerometer is located at a preset range, judges vehicle at this time
Behavior is to be raised state, wherein the preset range is preferably 1-1.3G.
In the present embodiment, if the first displacement in judging 9 axle sensors for a period of time is less than motor encoder sensor
Second displacement in same time then determines that the behavior of vehicle at this time is to be raised state.Wherein, the first displacement is passed by 9 axis
Sensor is calculated according to Geomagnetism Information combination accelerometer and gyroscope, and second displacement is the code sensor by motor
(wheelbarrow is generally Hall sensor) is calculated.
In yet another embodiment, if detecting unit 100 detect by triggering handle physical button and generate
Trigger signal, judging unit 102 then judge that vehicle-state is lifts state at this time.
In step S304, control unit 104 controls motor stalls when judging vehicle to be raised state.At this
In embodiment, the operation of motor is controlled by electric machine control system, and when vehicle is raised, control unit 106 sends electricity
Machine disables signal to electric machine control system, and electric machine control system stops operating according to disability signal control motor
In conclusion by by above-mentioned motor control assembly 10 apply electric unicycle, electrodynamic balance vehicle and other
On portable electric delivery vehicle, so that vehicle can timely control motor during lifting, and then motor is prevented
The potential security threat to dally to user.
Claims (6)
1. a kind of motor control method, it is applied to electric carrier, which is characterized in that the motor control method includes:
Detect the status information of the electric carrier；
Judge whether the electric carrier is subsequently lifted ground according to the state information；And
If the electric carrier is subsequently lifted ground, the motor stalls of the electric carrier are controlled.
The electric carrier has acceleration metering device, 9 axle sensors and motor encoder sensor, handle and is mounted on
Physical button on the handle, the status information are the continuous data of acceleration metering device, by 9 axle sensor
First calculated is displaced the second displacement calculated with the motor encoder sensor, by pressing the physical button on the handle
The physics electric signal triggered.
2. motor control method as described in claim 1, which is characterized in that described to judge the electricity according to the state information
The step of whether dynamic delivery vehicle is subsequently lifted ground further comprises:
If determining that the electric carrier is mentioned if the continuous data of the acceleration metering device meets a preset range
From the ground；
If first displacement is less than the second displacement, determine that the electric carrier is subsequently lifted ground；
If detecting the physics electric signal, determine that the electric carrier is subsequently lifted ground.
3. motor control method as described in claim 1, which is characterized in that the electric carrier includes motor control system
System.The step of motor stalls of the control electric carrier, further comprises:
It sends motor and disables signal to the electric machine control system, the electric machine control system is made to control the motor disability in turn
Stop the rotation of motor.
4. a kind of motor control assembly, it is applied to electric carrier, which is characterized in that the motor control assembly includes:
Detecting unit, for detecting the status information of the electric carrier；
Judging unit, for judging whether the electric carrier is subsequently lifted ground according to the state information；And control is single
Member, for controlling the motor stalls of the electric carrier when the electric carrier is subsequently lifted ground.
The electric carrier has acceleration metering device, 9 axle sensors and motor encoder sensor, handle and is mounted on
Physical button on the handle, the shape letter state breath is the continuous data of acceleration metering device, by 9 axle sensor
The second displacement of the first displacement and motor encoder sensor calculating that calculate is touched by the physical button in squeeze grip
The physics electric signal of hair.
5. motor control assembly as claimed in claim 4, which is characterized in that the judging unit is further used for:
Judge whether the continuous data of the acceleration metering device meets a preset range, and in the acceleration metering device
Continuous data determine that the electric carrier is subsequently lifted ground when meeting the preset range；
Judge whether first displacement is less than the second displacement, and sentences when first displacement is less than the second displacement
The fixed electric carrier is subsequently lifted ground；
When the detecting unit detects the physics electric signal, determine that the electric carrier is subsequently lifted ground.
6. motor control assembly as claimed in claim 4, which is characterized in that the electric carrier includes motor control system
System.Described control unit is further used for sending motor disability signal to the electric machine control system, makes the motor control system
System controls the rotation that the motor disables and then stops motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510395097.5A CN105034851B (en) | 2015-07-06 | 2015-07-06 | Motor control assembly and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510395097.5A CN105034851B (en) | 2015-07-06 | 2015-07-06 | Motor control assembly and method |
Publications (2)
| Publication Number | Publication Date |
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| CN105034851A CN105034851A (en) | 2015-11-11 |
| CN105034851B true CN105034851B (en) | 2019-01-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510395097.5A Active CN105034851B (en) | 2015-07-06 | 2015-07-06 | Motor control assembly and method |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105365993B (en) * | 2015-11-25 | 2018-06-22 | 纳恩博（北京）科技有限公司 | Motor control method, motor control assembly and the electric vehicle of electric vehicle |
| FR3045303B1 (en) * | 2015-12-16 | 2018-03-30 | Seb Sa | INTERFACE AND CONTROL ASSEMBLY |
| CN109515587B (en) * | 2018-12-07 | 2021-03-30 | 北京小米移动软件有限公司 | Scooter, scooter control method and device, and storage medium |
| CN109484549A (en) * | 2018-12-27 | 2019-03-19 | 浙江阿尔郎科技有限公司 | Balance car is liftoff braking method and balance car |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003134610A (en) * | 2001-10-19 | 2003-05-09 | Yamaha Motor Co Ltd | Drive control method for motorcycle |
| CN203032843U (en) * | 2012-12-03 | 2013-07-03 | 郑丞宏 | Anti-slip device of electric locomotive |
| CN104085475A (en) * | 2014-07-11 | 2014-10-08 | 王纯杰 | Self-balancing unicycle |
| CN204056163U (en) * | 2014-07-21 | 2014-12-31 | 上海战诚电子科技有限公司 | There is the electric unicycle of human body sensing braking function |
-
2015
- 2015-07-06 CN CN201510395097.5A patent/CN105034851B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003134610A (en) * | 2001-10-19 | 2003-05-09 | Yamaha Motor Co Ltd | Drive control method for motorcycle |
| CN203032843U (en) * | 2012-12-03 | 2013-07-03 | 郑丞宏 | Anti-slip device of electric locomotive |
| CN104085475A (en) * | 2014-07-11 | 2014-10-08 | 王纯杰 | Self-balancing unicycle |
| CN204056163U (en) * | 2014-07-21 | 2014-12-31 | 上海战诚电子科技有限公司 | There is the electric unicycle of human body sensing braking function |
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| CN105034851A (en) | 2015-11-11 |
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Address after: Nanshan District Xueyuan Road in Shenzhen city of Guangdong province 518055 No. 1001 Nanshan Chi Park B1 building 18 floor Applicant after: INMOTION TECHNOLOGIES Co.,Ltd. Address before: Nanshan District Xili Tong long Shenzhen city of Guangdong Province in 518055 with rich industrial city 8 Building 2, 6 floor Applicant before: INMOTION TECHNOLOGIES Co.,Ltd. |
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Effective date of registration: 20231220 Address after: 518000 523, building 9, zone 2, Shenzhen Bay science and technology ecological park, No. 3609 Baishi Road, high tech Zone community, Yuehai street, Nanshan District, Shenzhen, Guangdong Patentee after: Shenzhen Youbo Life Technology Co.,Ltd. Address before: 518055 18th floor, building B1, Nanshan wisdom Park, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: INMOTION TECHNOLOGIES Co.,Ltd. |