CN105253243A - Intelligent climbing control system, electric bicycle and climbing control method of electric bicycle - Google Patents
Intelligent climbing control system, electric bicycle and climbing control method of electric bicycle Download PDFInfo
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- CN105253243A CN105253243A CN201510726200.XA CN201510726200A CN105253243A CN 105253243 A CN105253243 A CN 105253243A CN 201510726200 A CN201510726200 A CN 201510726200A CN 105253243 A CN105253243 A CN 105253243A
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention relates to an intelligent climbing control system, an electric bicycle and a climbing control method of the electric bicycle. According to the main technical characteristics, the intelligent climbing control system comprises a bicycle data acquisition unit, a data analysis unit, a climbing decision unit and a motor control unit, and is mounted in the intelligent climbing electric bicycle; the climbing control method comprises the following steps: whether the bicycle line circuit reaches an initial current limiting value or not and whether the rolling handle voltage exceeds an effective highest value or not are judged; when the bicycle line circuit reaches the initial current limiting value and the rolling handle voltage exceeds the effective highest value, a climbing recognition stage is started; if the climbing torque is insufficient, a preset climbing program is started; when the exit requirements of the climbing program is met, an initial program is recovered. Through adoption of the intelligent climbing control system, the climbing road conditions can be intelligently recognized, so that the electric bicycle can not only be driven on level roads but also has sufficient power while climbing, the using performance of the electric bicycle is effectively improved, and the demands of a large number of users are better met.
Description
Technical field
The present invention relates to vehicle technology field, a kind of intelligence climbing control system, a kind of intelligence climbing control method and a kind of battery-driven car.
Background technology
Traditional electrical motor-car master mode is more single, according to different road conditions adaptive output current in cut-off current.Because cut-off current is unique and immutable, so when battery-driven car climb very steep slopes, climbing moment of torsion can be caused not enough because of cut-off current restriction, power cannot promote, and rotating speed declines, and efficiency reduces.If satisfied climbing demand, arranged by cut-off current enough large, then can make breakaway starting current excessive, level road allows load carrying ability to increase, and when heavier loads, outgoing current maintains larger current value for a long time, and it is serious to cause that the motor feels hot, battery performance overdraw accelerated weathering.
In order to have preferable states when making battery-driven car at level road and climb, Normal practice arranges third gear cut-off current, and corresponding power saving, economy, climbing three gears, carry out state switching by combined switch.Use power saving shelves during level road, cut-off current arranges less; Hill gear during climbing, cut-off current arranges larger.Sandstone dirt road is with middle-grade, and cut-off current is moderate.Usual user likes riding at the hill gear of powerful, seldom can along with road conditions manual switchover gear, and more some user is to gear purposes concept obfuscation, poor practicability.
Also have some producers, on battery-driven car, horizon sensor is installed, be used for judging whether car load is in climbing state.When receiving climbing signal, cut-off current automatic lifting, moment of torsion increases.But the method mounting condition is harsh, and cost is higher, poor universality.
In sum, how Intelligent Recognition climbing section fast lifting torque is problem in the urgent need to address at present.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of intelligence climbing control system, battery-driven car and method thereof are provided, solve electric motor intelligent identification climbing section and the problem of fast lifting torque.
The concrete scheme of a technical solution difficult problem of the present invention is as follows:
A kind of intelligence climbing control system, comprises car load data acquisition unit, data analysis unit, climbing identifying unit and motor control unit, wherein:
Car load data acquisition unit: for the handle voltage in Real-time Collection battery-driven car driving process, car load line current, motor speed and climbing time;
Data analysis unit: judge whether that needs carry out climbing and judge according to the handle voltage of car load data acquisition unit acquires and car load line current;
Climbing identifying unit: for determine in data analysis unit needs carry out climbing judge time, continuation judge whether current torque meets climbing demand;
Motor control unit: for when identifying unit of climbing judges that climbing moment of torsion is not enough, incision Ramp program, improves battery-driven car cut-off current, until climbing terminates electric current be automatically down to initial cut-off current.
And described car load data acquisition unit comprises:
Handle voltage detecting subelement: for detecting the handle voltage of battery-driven car in real time;
Current detecting subelement: for detecting the car load line current of battery-driven car in real time;
Motor speed detection sub-unit: for detecting the rotating speed of described drive motor in real time;
Time interocclusal record subelement: after entering Ramp program, for the accumulative climbing time.
And, described handle voltage detecting subelement in data analysis unit for judging whether handle voltage is more than or equal to the highest available voltage; After motor control unit enters Ramp program, detect the handle voltage of battery-driven car in real time and judge whether handle voltage is more than or equal to the highest available voltage.
And, described current detecting subelement in initial program for judging whether car load line current reaches initial cut-off current, after motor control unit enters Ramp program, the car load line current of real-time detection battery-driven car, and judge whether car load line current is less than initial cut-off current or reaches second gear cut-off current.
And described motor speed detection sub-unit is when identifying unit of climbing judges that moment of torsion is not enough, and target setting velocity amplitude, this target velocity and default minimum speed of climbing are compared, when target velocity is lower than preset rotation speed, replacement target velocity is preset rotation speed.。
And time described, interocclusal record subelement detects the accumulative climbing time in real time and whether reaches Preset Time, after the climbing time reaches Preset Time, exits Ramp program.
And described motor control unit does closed loop control with target velocity after entering Ramp program.
A kind of intelligence climbing battery-driven car, comprises intelligence climbing control system.
A control method for intelligence climbing battery-driven car, comprises the following steps:
By data analysis, the car load data of step 1, Real-time Collection battery-driven car, judge whether car load line current reaches initial cut-off current and handle voltage is greater than effective peak;
Step 2, when car load line current reaches initial cut-off current and handle voltage is greater than effective peak, enter climbing cognitive phase, continue to judge whether current torque meets climbing demand;
Step 3, if climbing moment of torsion is not enough, then rotating speed declines, and enters presetting Ramp program, and starts timing;
Step 4, when meeting Ramp program exit criteria, recovering initial program, cut-off current is become initial cut-off current.
And described step 4 Ramp program exit criteria is one of satisfied following condition: (1) actual handle voltage is less than the highest effective value of handle voltage; (2) actual current is lower than initial cut-off current; (3) accumulated time of climbing reaches Preset Time.
Advantage of the present invention and good effect are:
This climbing control system can detect the enforcement information of battery-driven car in real time, by data analysis Intelligent Recognition climbing road conditions, when battery-driven car climbing moment of torsion is not enough, interim lifting car load power, to make battery-driven car both reliably can travel at level road, again can when climbing power sufficient, all processes are without the need to artificial adjustment, there is the advantages such as starting current is little, energy-efficient, nothing installs restriction, easy to use, effectively improve the in-use performance of Electrical Bicycle, better meet the demand of users.
Accompanying drawing explanation
Fig. 1 is intelligence climbing control system block diagram of the present invention;
Fig. 2 is intelligence climbing control method diagram of circuit of the present invention;
Fig. 3 is the program flow diagram of specific embodiment.
Detailed description of the invention
Below in conjunction with accompanying drawing, the embodiment of the present invention is further described.It should be noted that, for the ease of fully understanding the present invention, in the following describes, having set forth a lot of detail, but protection scope of the present invention is not by the restriction of following public specific embodiment.
According to embodiments of the invention, Fig. 1 shows the block diagram of intelligence climbing control system.
As shown in Figure 1, intelligence climbing control system comprises:
(1) car load data acquisition unit: for car load data such as Real-time Collection handle voltage, car load line current, motor speed and climbing times in battery-driven car driving process, judges this running data and the important evidence of electric machine control as subsequent data analysis, road conditions.
(2) data analysis unit: for analyzing handle voltage in car load data and car load line current, judges whether that needs carry out climbing and judge.
(3) to climb identifying unit: for determine in data analysis unit needs carry out climbing judge time, continue to judge whether current torque meets climbing demand.
(4) motor control unit: for when identifying unit of climbing judges that climbing moment of torsion is not enough, incision Ramp program, improve battery-driven car cut-off current, motor control unit will do closed loop control with target velocity after entering Ramp program; If climbing identifying unit judged result is that moment of torsion can meet climbing demand, battery-driven car will maintain original program.
By Real-time Collection car load data, analyze data, contrast the judged result of each unit, thus Intelligent Recognition climbing road conditions, adjustment battery-driven car motoring condition, makes car load driving information conform to current road conditions automatically, level road riding safety can be made reliable, and when can ensure again to climb, power is sufficient.
Described car load data acquisition unit comprises:
1. handle voltage detecting subelement: for detecting the handle voltage of battery-driven car in real time.For judging whether handle voltage is more than or equal to the highest available voltage in data analysis unit.After motor control unit enters Ramp program, detect the handle voltage of battery-driven car in real time and judge whether handle voltage is more than or equal to the highest available voltage.
2. current detecting subelement: for detecting the car load line current of battery-driven car in real time.For judging whether car load line current reaches initial cut-off current in initial program, after motor control unit entering Ramp program, detecting the car load line current of battery-driven car in real time, and judging whether car load line current is less than initial cut-off current or reaches second gear cut-off current,
3. motor speed detection sub-unit: for detecting the rotating speed of described drive motor in real time.In climbing identifying unit, judge whether rotating speed declines, rotating speed declines and can judge that moment of torsion is not enough, incision Ramp program.In motor control unit, recording the velocity amplitude that rotating speed starts to drop, this speed is set to target velocity, and compare with default climbing minimum speed n, when target velocity is lower than preset rotation speed, resetting target velocity for presetting climbing minimum speed n.
4. interocclusal record subelement time: after entering Ramp program, for the accumulative climbing time.After the climbing time reaches Preset Time, exit Ramp program.
It should be noted that, do not enter Ramp program at battery-driven car and promote before power, the key point of data analysis is: only have handle voltage to be more than or equal to the highest available voltage and car load line current reaches initial cut-off current time, just can carry out follow-up climbing identification.When only meeting one of them condition, battery-driven car can not carry out climbing and judge.
Because if handle voltage is less than the highest available voltage, then illustrate that handle is not screwed to the end, user is subjective does not need reinforcing.On the other hand, even if handle is screwed to the end, electric current does not but reach cut-off current, illustrates that car load moment of torsion still has room for promotion, now without the need to entering Ramp program.
Only have when meeting above-mentioned two conditions simultaneously, just illustrate car load be in torque demand comparatively large (electric current reaches cut-off current) and user still in afterburning (handle is screwed to the end) state.Now carry out moment of torsion judgement again.
Climbing identifying unit is in order to judge torque condition, and significance is: if initial cut-off current can meet climbing torque demand during climbing, then not open second gear cut-off current.That is, even if handle on earth, electric current also reaches initial cut-off current, if now rotating speed, still in increase, illustrates that the moment of torsion that initial cut-off current provides can meet climbing demand, then can not enter Ramp program; Otherwise when climbing moment of torsion is not enough, rotating speed declines, and can enter Ramp program.
Climbing decision method of the present invention can well avoid the battery-driven car starting stage to enter Ramp program by mistake.Because battery-driven car torque demand when starting to walk is comparatively large, electric current can reach cut-off current instantaneously, and usual handle also can forward the end to, and now whole vehicle state is similar to climbing state, only has and is distinguished by motor speed situation.During starting, rotating speed can be more and more faster; During climb very steep slopes, rotating speed then can decline.
Jointly judge battery-driven car driving road-condition by multiple condition, improve the accuracy of Intelligent Recognition climbing.
According to embodiments of the invention, Fig. 2 shows the control method of intelligence climbing battery-driven car, comprises the following steps:
By data analysis, the car load data of battery-driven car described in step 1, Real-time Collection, judge whether car load is in big current and powers and user needs Afterburning condition, namely electric current reaches initial cut-off current and handle voltage is greater than effective peak.
Step 2, when electric current reaches initial cut-off current and handle voltage is greater than effective peak, enter climbing cognitive phase, continue to judge whether current torque meets climbing demand, and namely whether rotating speed declines.
Step 3, if climbing moment of torsion is not enough, then rotating speed declines, and program enters climbing setting, starts timing simultaneously.
Step 4, when meeting Ramp program exit criteria, recover initial program setting, namely cut-off current becomes initial cut-off current.
In this step, Ramp program exit criteria is: when meet below arbitrary condition time, Ramp program terminates, and recovers initial cut-off current: (1) actual handle voltage is less than the highest effective value of handle voltage; (2) actual current is lower than initial cut-off current; (3) accumulated time of climbing reaches Preset Time.
Intelligence climbing electrombile control method of the present invention is realized by intelligence climbing battery-driven car controlling software design, and Fig. 3 gives the diagram of circuit of this control software design.In the drawings, I
1represent initial cut-off current, I
2represent two gear cut-off currents, V
0represent circulation motor rotating speed last time, V
irepresent this circulation motor rotating speed, a represents the highest available voltage of handle, and n represents climbing minimum speed, and T represents and enters Ramp program cumulative hours.This program flow diagram is write in strict accordance with the control method shown in Fig. 2, after being realized, gets final product Intelligent Recognition climbing road conditions, automatically adjusts cut-off current in controller for electric vehicle with program code.
Principle of work of the present invention is: to level road and climbing two kinds of road conditions setting distinct programs, basic specification is: correspondence less initial cut-off current during level road; Climbing and moment of torsion not enough time, enter larger second gear cut-off current.Its effect is: both can ensure that breakaway starting current is less, charge capacity during restriction level road, can ensure that again power when climbing is sufficient.Specific as follows: when battery-driven car is started to walk at every turn, electric current can reach cut-off current usually, now with less initial cut-off current starting, can reduce the injury of sudden discharge to battery.And when battery-driven car level road is ridden, when charge capacity exceeds standard bearing capacity, electric current will limit by initial cut-off current, motor speed is declined, and user feels that car load is unable, namely knows overload, so can avoid unreasonable car voluntarily, thus ensure that electrical part is functional; On the other hand when battery-driven car is climbed, due to Action of Gravity Field, car load overcomes resistance acting to be increased, torque demand becomes large, now this program judges torque condition by automatically carrying out data analysis, when the not enough Time Controller of climbing moment of torsion is switched to rapidly Ramp program in order to promote cut-off current, obtain larger power, ensure that user rides experience.
Above-mentioned two kinds of programs switching is completed automatically by intelligence climbing control system, by Real-time Collection travelling data, analyzes data, then judges whether to need to enter Ramp program according to analysis result.The present invention both can at starting limit electric current, and the load-carrying of flat pavement running limit, can meeting again the torque demand of battery-driven car when climbing, really realizing battery-driven car and travelling state optimization under different road conditions, operational mode is intelligent.
In the present invention, the battery-driven car specific works process of application intelligence climbing control system is as follows:
[climbing condition for identification] controller for electric vehicle enters the precondition that climbing identifies: handle voltage reaches effective peak, and electric current reaches initial cut-off current simultaneously.When handle voltage is lower than effective peak, illustrate that electric vehicle performance and power still have room for promotion; When current value is lower than initial cut-off current, illustrate that load is comparatively light, moment of torsion can satisfy the demands.
After [judgement of Ramp program] enters climbing recognizer, gather rotary speed information and compare.When rotating speed promotes or be constant, be judged as that battery-driven car is accelerating or at the uniform velocity travelling, moment of torsion can meet driving demand, and it is constant that cut-off current maintains initial value; When rotating speed declines, be judged as that battery-driven car is climbed, moment of torsion is not enough, now enters second gear cut-off current.
The present invention judges torque demand by rotary speed information, only promotes power when moment of torsion of climbing is not enough.Namely when battery-driven car is creeped mild clivia, when initial cut-off current can meet torque demand, this program can not enter Ramp program, really realizes electric current and exports optimization.Horizon sensor then can strengthen cut-off current when having perceived climbing gradient, and promote power, can this way can not get over gentle slope by automatic decision current torque, adds car load energy and runs off.
[climbing defence program], after open second gear cut-off current, user accelerates to ride in climbing process, causes outgoing current excessive, and cause motor and cell performance decay, the present invention is provided with defence program.Be specially: during record climbing, rotating speed starts the velocity amplitude declined, maintain the climbing of this speed.This way with constant speed (constant speed) mistake slope can avoid user to accelerate slope, suppresses climbing moment of torsion to cross victory, avoids the excessive output of electric current.Namely electric current automatically maintains and just meets climbing torque demand numerically, reduces degradation of energy.
[climbing minimum speed limit] starts to walk at the bottom of battery-driven car slope, and when initial velocity is less, even if judge that moment of torsion is not enough, because above-mentioned defence program limits, battery-driven car will maintain less speed and cross slope, affects user and to drive a vehicle experience.So for the less situation of this constant speed value, the present invention adds minimum Ramp Rate limiting condition when setting constant speed value, namely when constant speed value is less than threshold value n, battery-driven car will carry out constant speed climbing with minimum speed n, can guarantee that Ramp Rate can not be very low like this, ensure that the driving of user is experienced.
After [climbing the time limit] enters Ramp program, in order to avoid battery-driven car because climbing overlong time causes battery and motor damage, the present invention limited the climbing time.Detect climbing electric current and whether reach second gear cut-off current, when climbing electric current is less than second gear cut-off current, presetting the climbing time is five minutes; When continuing current flow of climbing maintains second gear cut-off current, Preset Time is two minutes.After reaching Preset Time, automatically exit Ramp program, cut-off current smoothly falls back initial cut-off current by higher value.
After [exiting Ramp program setting] climbing terminates, car load moment of torsion reduces, and current value declines, and when electric current is lower than initial cut-off current, automatically exits Ramp program, gets back to initial cut-off current state.Arrange like this when program can be avoided to switch and produce fluctuation, make user's road speed without drop, really realize the seamless connection of rotating speed, the intelligent conversion of mode of operation.
It is emphasized that; embodiment of the present invention is illustrative; instead of it is determinate; therefore the present invention includes the embodiment be not limited to described in detailed description of the invention; every other embodiments drawn by those skilled in the art's technical scheme according to the present invention, belong to the scope of protection of the invention equally.
Claims (10)
1. an intelligence climbing control system, is characterized in that: comprise car load data acquisition unit, data analysis unit, climbing identifying unit and motor control unit, wherein:
Car load data acquisition unit: for the handle voltage in Real-time Collection battery-driven car driving process, car load line current, motor speed and climbing time;
Data analysis unit: judge whether that needs carry out climbing and judge according to the handle voltage of car load data acquisition unit acquires and car load line current;
Climbing identifying unit: for determine in data analysis unit needs carry out climbing judge time, continuation judge whether current torque meets climbing demand;
Motor control unit: for when identifying unit of climbing judges that climbing moment of torsion is not enough, incision Ramp program, improves battery-driven car cut-off current, until climbing terminates electric current be automatically down to initial cut-off current.
2. a kind of intelligence climbing control system according to claim 1, is characterized in that: described car load data acquisition unit comprises:
Handle voltage detecting subelement: for detecting the handle voltage of battery-driven car in real time;
Current detecting subelement: for detecting the car load line current of battery-driven car in real time;
Motor speed detection sub-unit: for detecting the rotating speed of described drive motor in real time;
Time interocclusal record subelement: after entering Ramp program, for the accumulative climbing time.
3. a kind of intelligence climbing control system according to claim 2, is characterized in that: described handle voltage detecting subelement in data analysis unit for judging whether handle voltage is more than or equal to the highest available voltage; After motor control unit enters Ramp program, detect the handle voltage of battery-driven car in real time and judge whether handle voltage is more than or equal to the highest available voltage.
4. a kind of intelligence climbing control system according to claim 2, it is characterized in that: described current detecting subelement in initial program for judging whether car load line current reaches initial cut-off current, after motor control unit enters Ramp program, the car load line current of real-time detection battery-driven car, and judge whether car load line current is less than initial cut-off current or reaches second gear cut-off current.
5. a kind of intelligence climbing control system according to claim 2, it is characterized in that: described motor speed detection sub-unit is when identifying unit of climbing judges that moment of torsion is not enough, target setting velocity amplitude, this target velocity and default minimum speed of climbing are compared, when target velocity is lower than preset rotation speed, replacement target velocity is preset rotation speed.
6. a kind of intelligence climbing control system according to claim 2, is characterized in that: time described, interocclusal record subelement detects the accumulative climbing time in real time and whether reaches Preset Time, after the climbing time reaches Preset Time, exits Ramp program.
7. a kind of intelligence climbing control system according to claim 1, is characterized in that: described motor control unit does closed loop control with target velocity after entering Ramp program.
8. an intelligence climbing battery-driven car, is characterized in that: comprise the intelligence climbing control system as described in any one of claim 1 to 7.
9. as claimed in claim 8 intelligence climbing battery-driven car a control method, it is characterized in that comprising the following steps:
By data analysis, the car load data of step 1, Real-time Collection battery-driven car, judge whether car load line current reaches initial cut-off current and handle voltage is greater than effective peak;
Step 2, when car load line current reaches initial cut-off current and handle voltage is greater than effective peak, enter climbing cognitive phase, continue to judge whether current torque meets climbing demand;
Step 3, if climbing moment of torsion is not enough, then rotating speed declines, and enters presetting Ramp program, and starts timing;
Step 4, when meeting Ramp program exit criteria, recovering initial program, cut-off current is become initial cut-off current.
10. according to claim 9 intelligence climbing battery-driven car control method, it is characterized in that: described step 4 Ramp program exit criteria is one of satisfied following condition: (1) actual handle voltage is less than the highest effective value of handle voltage; (2) actual current is lower than initial cut-off current; (3) cumulative hours of climbing reaches Preset Time.
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