CN105071732A - Driving system, motor control method and power-assisted electric vehicle - Google Patents
Driving system, motor control method and power-assisted electric vehicle Download PDFInfo
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- CN105071732A CN105071732A CN201510574980.0A CN201510574980A CN105071732A CN 105071732 A CN105071732 A CN 105071732A CN 201510574980 A CN201510574980 A CN 201510574980A CN 105071732 A CN105071732 A CN 105071732A
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Abstract
The invention provides a driving system, a motor control method and a power-assisted electric vehicle. The driving system comprises a gearless motor which directly outputs torque, a power source which is used for providing current for the gearless motor, and a vector controller which is connected with the gearless motor and the power source respectively and is used for controlling the torque and reluctance of the gearless motor through controlling the current vector of the current. According to the technical schemes of the invention, weak magnetic control technologies are adopted; the current vector of the current which is transmitted to the gearless motor by the power source is changed through the vector controller, so that an excitation magnetic field can be enhanced, and therefore, the reluctance of the gearless motor can be decreased, and the gearless motor can be applied to the power-assisted electric vehicle, and thus, problems such as high cost, low efficiency under low load and large possibility of being worn of a change gear can be solved.
Description
Technical field
The present invention relates to household appliance technical field, more specifically, relate to a kind of drive system, a kind of motor control method and a kind of power-assisted electric vehicle including this drive system.
Background technology
In prior art, the motor of electric motor car is divided into tooth motor and gearless motor two kinds.Have tooth motor to have gear reduction and directional overrunning clutch, the rotating speed of motor is very high, and motor is output torque after gear reduction slows down.Gearless motor does not have gear reduction and directional overrunning clutch, and the rotating speed of motor is low, and Motor torque directly exports without any deceleration.Current power-assisted electric vehicle has all adopted tooth motor to drive, but the problems such as the low and change-speed gearing of efficiency under the high and low load of cost is easy to wear that have tooth motor to exist.The cost of gearless motor is low, but there is the problem that magnetic resistance is large, this can cause extremely bad impact to the comfort level that coasting distance and the user of power-assisted electric vehicle ride, also do not have a kind of method can solve the magnetic resistance problem of gearless motor well at present, therefore gearless motor cannot be applied on power-assisted electric vehicle at present.
Summary of the invention
The present invention is intended at least to solve one of technical problem existed in prior art.
For this reason, first object of the present invention is, provides a kind of drive system adopting gearless motor.
Second object of the present invention is, provides a kind of motor control method.
3rd object of the present invention is, provides a kind of power-assisted electric vehicle, comprises above-mentioned drive system.
For achieving the above object, the embodiment of first aspect present invention provides a kind of drive system, for power-assisted electric vehicle, comprising: gearless motor, the direct output torque of described gearless motor; Power supply, for providing electric current for described gearless motor; Vector controller, is connected with described gearless motor and described power supply respectively, for moment of torsion and the magnetic resistance of gearless motor described in the Current Vector Control by controlling described electric current.
This drive system have employed weak magnetics detect technology, the magnetic resistance of gearless motor is that the magnetic field of the permanent magnet of its inside is caused, after iron-core coil energising in motor, iron core (stator) and iron-core coil can produce excitation field, excitation field direction is contrary with the magnetic direction of permanent magnet, changes power delivery to the current phasor of the electric current of gearless motor, can increase excitation field by vector controller, weakened the magnetic field of permanent magnet by excitation field, thus reduce the magnetic resistance of gearless motor.The magnetic resistance problem of gearless motor can be solved by said method, may be used in power-assisted electric vehicle to make gearless motor.Gearless motor with have compared with tooth motor, gear reduction and directional overrunning clutch is there is not in gearless motor, the part of motor is few, design accuracy is low, power-assisted electric vehicle adopts gearless motor to drive the production cost that significantly can reduce product, and solve change-speed gearing wear problem, extend the useful life of motor, thus the market competitiveness of improving product.Meanwhile, change power delivery to the current phasor of the electric current of gearless motor by vector controller, also can control the moment of torsion of gearless motor, can solve in prior art and have tooth motor inefficient problem under a low load.
In technique scheme, described electric current is the vector of torque current and exciting current.
In technique scheme, preferably, described vector controller is specifically for the magnetic resistance that controlled described gearless motor by the size controlling described exciting current; The moment of torsion of described gearless motor is controlled by the size controlling described torque current.
Drive system according to an embodiment of the invention, the electric current that the iron-core coil of gearless motor obtains is the vector of torque current and exciting current, and torque current makes iron core and iron-core coil produce driving magnetic field, and drive motors rotor rotates, to produce moment of torsion.Exciting current makes iron core and iron-core coil produce excitation field, to reduce the magnetic resistance of gearless motor.The moment of torsion of controlling torque controlled current flow gearless motor, to control the Power output of power-assisted electric vehicle; Increase exciting current and can reduce the magnetic resistance of gearless motor, with the coasting distance promoted when power-assisted electric vehicle uses gearless motor and the comfort of riding.
In above-mentioned arbitrary technical scheme, preferably, described drive system also comprises: drive checkout gear, be connected with described vector controller, the actuating force of the pedal of described power-assisted electric vehicle and the rotating speed of described pedal is given for detecting user, and detection signal is flowed to described vector controller, control the current phasor of described electric current to make described vector controller according to described detection signal.
Drive system according to an embodiment of the invention, vector controller is according to the current phasor (i.e. the size of torque current and exciting current) driving the testing result of checkout gear to adjust electric current, make the Power output that gearless motor provides suitable, and control the magnetic resistance of gearless motor in suitable size, thus promote the operational effect of power-assisted electric vehicle.
In above-mentioned arbitrary technical scheme, preferably, described driving checkout gear is torque sensor.
Drive system according to an embodiment of the invention, the Detection results of torque sensor is good, drives checkout gear to select torque sensor to promote Detection results, thus promotes the operational effect of power-assisted electric vehicle.
In above-mentioned arbitrary technical scheme, preferably, when the rotating speed of described pedal is greater than the rotating speed of described gearless motor, described drive system is charged to described power supply.
Drive system according to an embodiment of the invention, the drive system of existing power-assisted electric vehicle has all adopted tooth motor to drive, when extraneous rotating speed exceedes rotor rotating speed, rotor can be separated with change-speed gearing by the directional overrunning clutch of motor internal, therefore cannot carry out reverse charge.The drive system that this programme provides adopts gearless motor to drive, change-speed gearing and directional overrunning clutch is not had in motor, when extraneous rotating speed exceedes rotor rotating speed, realize drive system by control technology and reverse charge is carried out to power supply, like this can the flying power of improving product.
In above-mentioned arbitrary technical scheme, preferably, described gearless motor is without hall electric machine; Described vector controller is without hall controller.
Drive system according to an embodiment of the invention, the drive system of existing power-assisted electric vehicle has all adopted tooth motor to drive, tooth motor is had to need Hall element and change-speed gearing are installed in motor, the relative position of rotor and stator is detected by Hall element, the change of speed and power is realized by change-speed gearing, greatly increase the production cost of product like this, and Hall element is fragile, change-speed gearing is easy to wear, reduces the life-span of motor.The drive system that this programme provides adopts gearless motor to drive, gearless motor can adopt the relative position detecting rotor and stator without Hall detection technique (being calculated the relative position of rotor and stator by the back electromotive force of iron-core coil), vector controller adopts without Hall technology, the gearless motor not installing Hall element selected by motor, the low like this cost of product, and solve the problem that Hall element is fragile and change-speed gearing is easy to wear, extend electrical machinery life.
The embodiment of second aspect present invention provides a kind of motor control method, for including the drive system of power supply, vector controller and described motor, comprise: control by described vector controller the current phasor that described power supply is supplied to the electric current of described motor, to control moment of torsion and the magnetic resistance of described motor.
Motor control method according to an embodiment of the invention, the magnetic resistance of motor is that the magnetic field of the permanent magnet of its inside is caused, after stator coil energising in motor, stator and stator coil can produce excitation field and driving magnetic field, excitation field direction is contrary with the magnetic direction of permanent magnet, changes power delivery to the current phasor of the electric current of motor, can control the size of excitation field by vector controller, weakened the magnetic field of permanent magnet by excitation field, thus reduce the magnetic resistance of motor; Driving magnetic field is used for drive motors rotor and rotates, and to produce moment of torsion, changes power delivery to the current phasor of the electric current of motor, can control the moment of torsion of motor, thus control the Power output of motor by vector controller.
In technique scheme, described electric current is the vector of torque current and exciting current, the current phasor that described power supply is supplied to the electric current of described motor is controlled by described vector controller, specifically comprise with the step of the moment of torsion and magnetic resistance that control described motor: the size being controlled described exciting current by described vector controller, to control the magnetic resistance of described motor; The size of described torque current is controlled, to control the moment of torsion of described motor by described vector controller.
Motor control method according to an embodiment of the invention, the electric current that the stator coil of motor obtains is the vector of torque current and exciting current, torque current makes stator and stator coil produce driving magnetic field, drive motors rotor rotates, to produce moment of torsion, the moment of torsion of controlling torque controlled current flow motor, to control the Power output of power-assisted electric vehicle; Exciting current makes stator and stator coil produce excitation field, and excitation field can weaken the magnetic field of permanent magnet in motor, and the size controlling exciting current can control the size of excitation field, to control the magnetic resistance of motor.
The embodiment of third aspect present invention provides a kind of power-assisted electric vehicle, includes the drive system as described in first aspect present invention any embodiment.
The power-assisted electric vehicle that third aspect present invention embodiment provides, include the drive system that first aspect present invention any embodiment provides, therefore this power-assisted electric vehicle has whole beneficial effects of the drive system that above-mentioned any embodiment provides, and does not repeat them here.
Additional aspect of the present invention and advantage become obvious by description part below, or are recognized by practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or additional aspect of the present invention and advantage will become obvious and easy understand from accompanying drawing below combining to the description of embodiment, wherein:
Fig. 1 is the structural representation of the drive system described in one embodiment of the present of invention;
Fig. 2 is the Electric Machine Control principle schematic of the drive system described in one embodiment of the present of invention;
Fig. 3 is the schematic flow sheet of the motor control method described in one embodiment of the present of invention;
Fig. 4 is the schematic flow sheet of the motor control method described in an alternative embodiment of the invention.
Wherein, in Fig. 2, N represents the N pole of permanent magnet, and S represents the S pole of permanent magnet, I
arepresent torque electric current, A represents driving magnetic field, I
brepresent exciting current, B represents excitation field.
Corresponding relation in Fig. 2 between Reference numeral and component names is:
1021 permanent magnets, 1022 iron-core coils, 1023 iron cores.
Embodiment
In order to more clearly understand above-mentioned purpose of the present invention, feature and advantage, below in conjunction with the drawings and specific embodiments, the present invention is further described in detail.It should be noted that, when not conflicting, the feature in the embodiment of the application and embodiment can combine mutually.
Set forth a lot of detail in the following description so that fully understand the present invention; but; the present invention can also adopt other to be different from mode described here to implement, and therefore, protection scope of the present invention is not by the restriction of following public specific embodiment.
As depicted in figs. 1 and 2, the embodiment of first aspect present invention provides a kind of drive system 100, for power-assisted electric vehicle, comprising: gearless motor 102, power supply 104 and vector controller 106.
Wherein, described power supply 104 is for providing electric current for described gearless motor 102.Described vector controller 106 is connected with described gearless motor 102 and described power supply 104 respectively, for moment of torsion and the magnetic resistance of gearless motor 102 described in the Current Vector Control by controlling described electric current.
This drive system 100 have employed weak magnetics detect technology, the magnetic resistance of gearless motor 102 is that the magnetic field of the permanent magnet 1021 of its inside is caused, after iron core 1023 coil 1022 energising in motor, iron core 1023 (stator) and iron core 1023 coil 1022 can produce excitation field B, excitation field B direction is contrary with the magnetic direction of permanent magnet 1021, the current phasor that power supply 104 flows to the electric current of gearless motor 102 is changed by vector controller 106, excitation field B can be increased, the magnetic field of permanent magnet 1021 is weakened by excitation field B, thus reduce the magnetic resistance of gearless motor 102.The magnetic resistance problem of gearless motor 102 can be solved by said method, may be used in power-assisted electric vehicle to make gearless motor 102.Gearless motor 102 with have compared with tooth motor, gear reduction and directional overrunning clutch is there is not in gearless motor 102, the part of motor is few, design accuracy is low, power-assisted electric vehicle adopts gearless motor 102 to drive the production cost that significantly can reduce product, and solve change-speed gearing wear problem, extend the useful life of motor, thus the market competitiveness of improving product.Meanwhile, change by vector controller 106 current phasor that power supply 104 flows to the electric current of gearless motor 102, also can control the moment of torsion of gearless motor 102, can solve in prior art and have tooth motor inefficient problem under a low load.
In technique scheme, described electric current is torque electric current I
awith exciting current I
bvector.
In technique scheme, preferably, described vector controller 106 specifically for: by controlling described exciting current I
bsize control the magnetic resistance of described gearless motor 102; By controlling described torque electric current I
asize control the moment of torsion of described gearless motor 102.
Drive system 100 according to an embodiment of the invention, the electric current that iron core 1023 coil 1022 of gearless motor 102 obtains is torque electric current I
awith exciting current I
bvector, torque electric current I
amake iron core 1023 and iron core 1023 coil 1022 produce driving magnetic field A, drive motors rotor rotates, to produce moment of torsion.Exciting current I
biron core 1023 and iron core 1023 coil 1022 is made to produce excitation field B, to reduce the magnetic resistance of gearless motor 102.Control torque electric current I
athe moment of torsion of gearless motor 102 can be controlled, to control the Power output of power-assisted electric vehicle; Increase exciting current I
bthe magnetic resistance of gearless motor 102 can be reduced, to promote coasting distance when power-assisted electric vehicle uses gearless motor 102 and the comfort of riding.
In above-mentioned arbitrary technical scheme, preferably, described drive system 100 also comprises: drive checkout gear 108, be connected with described vector controller 106, the actuating force of the pedal of described power-assisted electric vehicle and the rotating speed of described pedal is given for detecting user, and detection signal is flowed to described vector controller 106, with the current phasor making described vector controller 106 control described electric current according to described detection signal.
Drive system 100 according to an embodiment of the invention, vector controller 106 is according to current phasor (the i.e. torque electric current I driving the testing result of checkout gear 108 to adjust electric current
awith exciting current I
bsize), make the Power output that gearless motor 102 provides suitable, and the magnetic resistance of gearless motor 102 controlled in suitable size, thus promote the operational effect of power-assisted electric vehicle.
In above-mentioned arbitrary technical scheme, preferably, described driving checkout gear 108 is torque sensor.
Drive system 100 according to an embodiment of the invention, the Detection results of torque sensor is good, drives checkout gear 108 to select torque sensor to promote Detection results, thus promotes the operational effect of power-assisted electric vehicle.
In above-mentioned arbitrary technical scheme, preferably, when the rotating speed of described pedal is greater than the rotating speed of described gearless motor 102, described drive system 100 is charged to described power supply 104.
Drive system 100 according to an embodiment of the invention, the drive system of existing power-assisted electric vehicle has all adopted tooth motor to drive, when extraneous rotating speed exceedes rotor rotating speed, rotor can be separated with change-speed gearing by the directional overrunning clutch of motor internal, therefore cannot carry out reverse charge.The drive system 100 that this programme provides adopts gearless motor 102 to drive, change-speed gearing and directional overrunning clutch is not had in motor, when extraneous rotating speed exceedes rotor rotating speed, realize drive system 100 pairs of power supplys 104 by control technology and carry out reverse charge, like this can the flying power of improving product.
In above-mentioned arbitrary technical scheme, preferably, described gearless motor 102 is without hall electric machine; Described vector controller 106 is without hall controller.
Drive system 100 according to an embodiment of the invention, the drive system of existing power-assisted electric vehicle has all adopted tooth motor to drive, tooth motor is had to need Hall element and change-speed gearing are installed in motor, the relative position of rotor and stator is detected by Hall element, the change of speed and power is realized by change-speed gearing, greatly increase the production cost of product like this, and Hall element is fragile, change-speed gearing wearing and tearing, reduces the life-span of motor.The drive system 100 that this programme provides adopts gearless motor 102 to drive, gearless motor 102 can adopt the relative position detecting rotor and stator without Hall detection technique (being calculated the relative position of rotor and stator by the back electromotive force of iron core 1023 coil 1022), vector controller adopts without Hall technology, the gearless motor 102 not installing Hall element selected by motor, the low like this cost of product, and solve the problem that Hall element is fragile and change-speed gearing is easy to wear, extend electrical machinery life.
As shown in Figure 3, the embodiment of second aspect present invention provides a kind of motor control method, for including the drive system of power supply, vector controller and described motor, comprise: step 302, the current phasor that described power supply is supplied to the electric current of described motor is controlled, to control moment of torsion and the magnetic resistance of described motor by described vector controller.
As shown in Figure 2, motor control method according to an embodiment of the invention, the magnetic resistance of motor is that the magnetic field of the permanent magnet of its inside is caused, after stator coil energising in motor, stator and stator coil can produce excitation field B and driving magnetic field A, excitation field B direction is contrary with the magnetic direction of permanent magnet, power delivery is changed to the current phasor of the electric current of motor by vector controller, the size of excitation field B can be controlled, weakened the magnetic field of permanent magnet by excitation field B, thus reduce the magnetic resistance of motor; Driving magnetic field A is used for drive motors rotor and rotates, and to produce moment of torsion, changes power delivery to the current phasor of the electric current of motor, can control the moment of torsion of motor, thus control the Power output of motor by vector controller.
As shown in Figure 4, in technique scheme, described electric current is torque electric current I
awith exciting current I
bvector, control by described vector controller the current phasor that described power supply is supplied to the electric current of described motor, specifically comprise with the step of the moment of torsion and magnetic resistance that control described motor: step 402, control described exciting current I by described vector controller
bsize, to control the magnetic resistance of described motor; Step 404, controls described torque electric current I by described vector controller
asize, to control the moment of torsion of described motor.
As shown in Figure 2, motor control method according to an embodiment of the invention, the electric current that the stator coil of motor obtains is torque electric current I
awith exciting current I
bvector, torque electric current I
amake stator and stator coil produce driving magnetic field A, drive motors rotor rotates, and to produce moment of torsion, controls torque electric current I
athe moment of torsion of motor can be controlled, to control the Power output of power-assisted electric vehicle; Exciting current I
bmake stator and stator coil produce excitation field B, excitation field B can weaken the magnetic field of permanent magnet in motor, controls exciting current I
bsize can control the size of excitation field B, to control the magnetic resistance of motor.
The embodiment of third aspect present invention provides a kind of power-assisted electric vehicle (not shown), includes the drive system as described in first aspect present invention any embodiment.
The power-assisted electric vehicle that third aspect present invention embodiment provides, include the drive system that first aspect present invention any embodiment provides, therefore this power-assisted electric vehicle has whole beneficial effects of the drive system that above-mentioned any embodiment provides, and does not repeat them here.
In describing the invention, term " is connected ", " connection " etc. all should be interpreted broadly, and such as " connection " can be fixedly connected with, and also can be removably connect, or connects integratedly; Can be directly be connected, also indirectly can be connected by intermediary.For the ordinary skill in the art, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the description of this specification, specific features, structure, material or feature that the description of term " embodiment ", " some embodiments ", " specific embodiment " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, identical embodiment or example are not necessarily referred to the schematic representation of above-mentioned term.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a drive system, for power-assisted electric vehicle, is characterized in that, comprising:
Gearless motor, the direct output torque of described gearless motor;
Power supply, for providing electric current for described gearless motor;
Vector controller, is connected with described gearless motor and described power supply respectively, for moment of torsion and the magnetic resistance of gearless motor described in the Current Vector Control by controlling described electric current.
2. drive system according to claim 1, is characterized in that,
Described electric current is the vector of torque current and exciting current.
3. drive system according to claim 2, is characterized in that, described vector controller specifically for:
The magnetic resistance of described gearless motor is controlled by the size controlling described exciting current;
The moment of torsion of described gearless motor is controlled by the size controlling described torque current.
4. drive system according to claim 1, is characterized in that, also comprises:
Drive checkout gear, be connected with described vector controller, the actuating force of the pedal of described power-assisted electric vehicle and the rotating speed of described pedal is given for detecting user, and detection signal is flowed to described vector controller, control the current phasor of described electric current to make described vector controller according to described detection signal.
5. drive system according to claim 4, is characterized in that
Described driving checkout gear is torque sensor.
6. drive system according to claim 4, is characterized in that,
When the rotating speed of described pedal is greater than the rotating speed of described gearless motor, described drive system is charged to described power supply.
7. drive system according to any one of claim 1 to 6, is characterized in that,
Described gearless motor is without hall electric machine;
Described vector controller is without hall controller.
8. a motor control method, for including the drive system of power supply, vector controller and described motor, is characterized in that, comprise:
The current phasor that described power supply is supplied to the electric current of described motor is controlled, to control moment of torsion and the magnetic resistance of described motor by described vector controller.
9. motor control method according to claim 8, described electric current is the vector of torque current and exciting current, it is characterized in that, control by described vector controller the current phasor that described power supply is supplied to the electric current of described motor, specifically comprise with the step of the moment of torsion and magnetic resistance that control described motor:
The size of described exciting current is controlled, to control the magnetic resistance of described motor by described vector controller;
The size of described torque current is controlled, to control the moment of torsion of described motor by described vector controller.
10. a power-assisted electric vehicle, is characterized in that, includes the drive system according to any one of claim 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510574980.0A CN105071732A (en) | 2015-09-10 | 2015-09-10 | Driving system, motor control method and power-assisted electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510574980.0A CN105071732A (en) | 2015-09-10 | 2015-09-10 | Driving system, motor control method and power-assisted electric vehicle |
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| Publication Number | Publication Date |
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| CN105071732A true CN105071732A (en) | 2015-11-18 |
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| CN201510574980.0A Pending CN105071732A (en) | 2015-09-10 | 2015-09-10 | Driving system, motor control method and power-assisted electric vehicle |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1149025A (en) * | 1996-09-20 | 1997-05-07 | 清华大学 | Bicycle with intellectual electric driver |
| CN1327929A (en) * | 1994-07-20 | 2001-12-26 | 大西义弘 | Moped equipped with manpower and electric drives |
| JP2002084780A (en) * | 2000-09-01 | 2002-03-22 | Hitachi Ltd | Motor controller |
-
2015
- 2015-09-10 CN CN201510574980.0A patent/CN105071732A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1327929A (en) * | 1994-07-20 | 2001-12-26 | 大西义弘 | Moped equipped with manpower and electric drives |
| CN1149025A (en) * | 1996-09-20 | 1997-05-07 | 清华大学 | Bicycle with intellectual electric driver |
| JP2002084780A (en) * | 2000-09-01 | 2002-03-22 | Hitachi Ltd | Motor controller |
Non-Patent Citations (1)
| Title |
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| 刘建林等: ""电动车用低速直驱稀土永磁无刷电机系统"", 《中南大学学报（自然科学版）》 * |
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