CN105344088A - Electronic speed regulator for electric skateboard and control method of electronic speed regulator - Google Patents
Electronic speed regulator for electric skateboard and control method of electronic speed regulator Download PDFInfo
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- CN105344088A CN105344088A CN201510682794.9A CN201510682794A CN105344088A CN 105344088 A CN105344088 A CN 105344088A CN 201510682794 A CN201510682794 A CN 201510682794A CN 105344088 A CN105344088 A CN 105344088A
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/0006—Accessories
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/12—Roller skates; Skate-boards with driving mechanisms
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/14—Roller skates; Skate-boards with brakes, e.g. toe stoppers, freewheel roller clutches
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
- A63C2203/12—Electrically powered or heated
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses an electronic speed regulator for an electric skateboard and a control method of the electronic speed regulator. The electronic speed regulator comprises a main control chip, a drive module, a receiver, a full-bridge circuit, a current detection module, a counter electromotive force detection module, a brushless motor module, a power module and a battery Ud, wherein the receiver, the drive module, the power module, the current detection module and the counter electromotive force detection module are connected with the main control chip, the battery Ud and the drive module are connected with the power module and the full-bridge circuit, and the full-bridge circuit, the current detection module and the counter electromotive force detection module are connected with the brushless motor module. The control method includes prepositioning, open-loop acceleration and closed-loop acceleration. The electronic speed regulator for the electric skateboard and the control method of the electronic speed regulator have the advantages of low motor start speed, high safety and low energy consumption.
Description
Technical field
The present invention relates to electron speed regulator and the control method of electric return board.
Background technology
When existing electron speed regulator is applied to electric return board, owing to lacking specificity, can cause toggle speed too fast, brake too quickly, security is low, Consumer's Experience is bad.On electric return board, in order to can normal starter motor, motor is often made to reach normal speed fast, so that phase-detection, therefore existing electricity adjusts toggle speed all quite fast, if toggle speed is too fast, people's hypsokinesis may be caused, have a strong impact on security and comfortableness, very dangerous, the mode of braking that existing electron speed regulator adopts is often short circuit braking, short circuit braking braking effect clearly, brake speed quickly, too quickly brake may cause user to be thrown out of, tremendous influence is caused to electric return board security, and short circuit braking can make the remaining kinetic energy of electric return board dissipate completely, result in the waste of energy.
Summary of the invention
The object of the invention is to overcome in existing product not enough, a kind of electric motor starting speed is slow, security is high, energy ezpenditure the is low electron speed regulator for electric return board and control method are provided.
In order to achieve the above object, the present invention is achieved by the following technical solutions:
A kind of electron speed regulator for electric return board of the present invention, comprise main control chip, driver module, receiver, full-bridge circuit, current detection module, counter electromotive force detection module, brushless electric machine module, power module, battery Ud, receiver, driver module, power module, current detection module, counter electromotive force detection module all connects main control chip, battery Ud is connected power module with driver module, battery Ud is also connected full-bridge circuit with driver module, full-bridge circuit connects brushless electric machine module, current detection module, counter electromotive force detection module all connects brushless electric machine module.
Counter electromotive force detection module of the present invention comprises resistance R11, resistance R12, resistance R13, resistance R21, resistance R22, resistance R23, resistance R31, resistance R32, resistance R33, one end of resistance R11 connects brushless electric machine module, one end of the other end contact resistance R21 of resistance R11, the other end of resistance R21 connects main control chip, one end of resistance R12 connects brushless electric machine module, one end of the other end contact resistance R22 of resistance R12, the other end of the other end contact resistance R22 of resistance R21, one end of resistance R13 connects brushless electric machine module, one end of the other end contact resistance R23 of resistance R13, the other end of the other end contact resistance R21 of resistance R23, the other end of resistance R11 connects earth signal GND by resistance R33, the other end of resistance R12 connects earth signal GND by resistance R32, the other end of resistance R13 connects earth signal GND by resistance R31, one end of resistance R11, one end of resistance R12, one end of resistance R13 all connects main control chip.
Brushless electric machine module of the present invention comprises motor M, driver module comprises low speed regenerative braking circuit, driving chip, low speed regenerative braking circuit comprises N-channel MOS pipe VQ1, N-channel MOS pipe VQ2, N-channel MOS pipe VQ3, N-channel MOS pipe VQ4, N-channel MOS pipe VQ5, N-channel MOS pipe VQ6, diode D1, diode D2, diode D3, diode D4, diode D5, diode D6, the D pole of N-channel MOS pipe VQ1 connects the positive pole of battery Ud, the S pole of N-channel MOS pipe VQ1 connects the D pole of N-channel MOS pipe VQ2, the S pole of N-channel MOS pipe VQ2 connects the negative pole of battery Ud, diode D1 is connected between the D pole of N-channel MOS pipe VQ1 and the S pole of N-channel MOS pipe VQ1, diode D2 is connected between the D pole of N-channel MOS pipe VQ2 and the S pole of N-channel MOS pipe VQ2, the D pole of N-channel MOS pipe VQ3 connects the positive pole of battery Ud, the S pole of N-channel MOS pipe VQ3 connects the D pole of N-channel MOS pipe VQ4, the S pole of N-channel MOS pipe VQ4 connects the negative pole of battery Ud, diode D3 is connected between the D pole of N-channel MOS pipe VQ3 and the S pole of N-channel MOS pipe VQ3, diode D4 is connected between the D pole of N-channel MOS pipe VQ4 and the S pole of N-channel MOS pipe VQ4, the D pole of N-channel MOS pipe VQ5 connects the positive pole of battery Ud, the S pole of N-channel MOS pipe VQ5 connects the D pole of N-channel MOS pipe VQ6, the S pole of N-channel MOS pipe VQ6 connects the negative pole of battery Ud, diode D5 is connected between the D pole of N-channel MOS pipe VQ5 and the S pole of N-channel MOS pipe VQ5, diode D6 is connected between the D pole of N-channel MOS pipe VQ6 and the S pole of N-channel MOS pipe VQ6, the G pole of N-channel MOS pipe VQ1, the G pole of N-channel MOS pipe VQ2, the G pole of N-channel MOS pipe VQ3, the G pole of N-channel MOS pipe VQ4, the G pole of N-channel MOS pipe VQ5, the G pole of N-channel MOS pipe VQ6 all connects driving chip, driving chip connects main control chip, the W end of motor M connects the S pole of N-channel MOS pipe VQ5, the V end of motor M connects the S pole of N-channel MOS pipe VQ3, the U end of motor M connects the S pole of N-channel MOS pipe VQ1.
The control method of a kind of electron speed regulator for electric return board of the present invention, comprises the following steps:
1) pre-determined bit, pre-determined bit be arrange dutycycle be 30% PWM ripple carry out pre-determined bit time of the 30ms of starter motor M and motor M;
2) open loop is accelerated;
3) closed loop is accelerated.
Open loop of the present invention is accelerated as motor M is carried out four delayed commutations.
Closed loop of the present invention is accelerated as detecting that according to counter electromotive force detection module motor M to be carried out commutation and regulated the dutycycle of PWM ripple of starter motor M by the phase information of motor M.
Four delayed commutations of the present invention are first time delayed commutation, the delayed commutation of second time, third time delayed commutation, the 4th delayed commutation, first time delayed commutation is 6.5ms with the second time delayed commutation interval time, the delayed commutation of second time is 5ms with the third time delayed commutation interval time, and third time delayed commutation and the 4th delayed commutation interval time are 3.5ms.
Power module of the present invention comprises 12V power circuit, 5V power circuit, 3.3V power circuit, 12V power circuit connects 5V power circuit, 5V power circuit connects 3.3V power circuit, 12V power circuit comprises LM7812 chip U4, polar capacitor EC6, polar capacitor EC5, electric capacity C2, electric capacity C3, 1 pin of LM7812 chip U4 connects 30V power supply VCC, 30V power supply VCC connects earth signal GND by polar capacitor EC6, polar capacitor EC6 and electric capacity C2 is in parallel, 2 pins of LM7812 chip U4 are connected earth signal GND with 4 pins, 3 pins of LM7812 chip U4 connect earth signal GND by polar capacitor EC5, polar capacitor EC5 and electric capacity C3 is in parallel, 3 pins of LM7812 chip U4 are 12V power output end, 5V power circuit comprises LM7805 three terminal regulator U2, polar capacitor EC2, polar capacitor EC1, electric capacity C10, electric capacity C11, 1 pin of LM7805 three terminal regulator U2 connects 12V power output end, 1 pin of LM7805 three terminal regulator U2 connects earth signal GND by polar capacitor EC2, polar capacitor EC2 and electric capacity C10 is in parallel, 2 pins of LM7805 three terminal regulator U2 are all connected earth signal GND with 4 pins, 3 pins of LM7805 three terminal regulator U2 connect earth signal GND by polar capacitor EC1, polar capacitor EC1 and electric capacity C11 is in parallel, 3 pins of LM7805 three terminal regulator U2 are 5V power output end, 3.3V power circuit comprises SP1117 chip U1, electric capacity C12, polar capacitor EC3,3 pins of SP1117 chip U1 connect 5V power output end, 1 pin of SP1117 chip U1 connects earth signal GND, 2 pins of SP1117 chip U1 connect earth signal GND by electric capacity C12, and electric capacity C12 and polar capacitor EC3 is in parallel.
The present invention regulates the dutycycle of the PWM ripple of starter motor M to be 15% to 30%.
Beneficial effect of the present invention is as follows: counter electromotive force detection module of the present invention comprises nine resistance, do not add electric capacity, so there is no the time-delay that filtering brings, the commutation of high-precision motor M can be reached, the present invention also regulates the dutycycle of the PWM ripple of starter motor M by counter electromotive force detection module, motor M is slowly started, and security is high; Motor is charged the battery and regenerative braking by low speed regenerative braking circuit by the present invention, and energy ezpenditure is low, and security is high.
Accompanying drawing explanation
Fig. 1 is system block diagram of the present invention;
Fig. 2 is the circuit theory schematic diagram of counter electromotive force detection module of the present invention;
Fig. 3 is the circuit theory schematic diagram of low speed regenerative braking circuit of the present invention;
Fig. 4 is the circuit theory schematic diagram of 12V power circuit of the present invention;
Fig. 5 is the circuit theory schematic diagram of 5V power circuit of the present invention;
Fig. 6 is the circuit theory schematic diagram of 3.3V power circuit of the present invention;
Detailed description of the invention
Below in conjunction with Figure of description, technical scheme of the present invention is described further:
As shown in Fig. 1 to Fig. 6, a kind of electron speed regulator for electric return board of the present invention, comprise main control chip, driver module, receiver, full-bridge circuit, current detection module, counter electromotive force detection module, brushless electric machine module, power module, battery Ud, receiver, driver module, power module, current detection module, counter electromotive force detection module all connects main control chip, battery Ud is connected power module with driver module, battery Ud is also connected full-bridge circuit with driver module, full-bridge circuit connects brushless electric machine module, current detection module, counter electromotive force detection module all connects brushless electric machine module.
Counter electromotive force detection module of the present invention comprises resistance R11, resistance R12, resistance R13, resistance R21, resistance R22, resistance R23, resistance R31, resistance R32, resistance R33, one end of resistance R11 connects brushless electric machine module, one end of the other end contact resistance R21 of resistance R11, the other end of resistance R21 connects main control chip, one end of resistance R12 connects brushless electric machine module, one end of the other end contact resistance R22 of resistance R12, the other end of the other end contact resistance R22 of resistance R21, one end of resistance R13 connects brushless electric machine module, one end of the other end contact resistance R23 of resistance R13, the other end of the other end contact resistance R21 of resistance R23, the other end of resistance R11 connects earth signal GND by resistance R33, the other end of resistance R12 connects earth signal GND by resistance R32, the other end of resistance R13 connects earth signal GND by resistance R31, one end of resistance R11, one end of resistance R12, one end of resistance R13 all connects main control chip.Counter electromotive force detection module comprises nine resistance, do not add electric capacity, so there is no the time-delay that filtering brings, the commutation of high-precision motor M can be reached, the present invention also regulates the dutycycle of the PWM ripple of starter motor M by counter electromotive force detection module, motor M is slowly started, and security is high.
Brushless electric machine module of the present invention comprises motor M, driver module comprises low speed regenerative braking circuit, driving chip, low speed regenerative braking circuit comprises N-channel MOS pipe VQ1, N-channel MOS pipe VQ2, N-channel MOS pipe VQ3, N-channel MOS pipe VQ4, N-channel MOS pipe VQ5, N-channel MOS pipe VQ6, diode D1, diode D2, diode D3, diode D4, diode D5, diode D6, the D pole of N-channel MOS pipe VQ1 connects the positive pole of battery Ud, the S pole of N-channel MOS pipe VQ1 connects the D pole of N-channel MOS pipe VQ2, the S pole of N-channel MOS pipe VQ2 connects the negative pole of battery Ud, diode D1 is connected between the D pole of N-channel MOS pipe VQ1 and the S pole of N-channel MOS pipe VQ1, diode D2 is connected between the D pole of N-channel MOS pipe VQ2 and the S pole of N-channel MOS pipe VQ2, the D pole of N-channel MOS pipe VQ3 connects the positive pole of battery Ud, the S pole of N-channel MOS pipe VQ3 connects the D pole of N-channel MOS pipe VQ4, the S pole of N-channel MOS pipe VQ4 connects the negative pole of battery Ud, diode D3 is connected between the D pole of N-channel MOS pipe VQ3 and the S pole of N-channel MOS pipe VQ3, diode D4 is connected between the D pole of N-channel MOS pipe VQ4 and the S pole of N-channel MOS pipe VQ4, the D pole of N-channel MOS pipe VQ5 connects the positive pole of battery Ud, the S pole of N-channel MOS pipe VQ5 connects the D pole of N-channel MOS pipe VQ6, the S pole of N-channel MOS pipe VQ6 connects the negative pole of battery Ud, diode D5 is connected between the D pole of N-channel MOS pipe VQ5 and the S pole of N-channel MOS pipe VQ5, diode D6 is connected between the D pole of N-channel MOS pipe VQ6 and the S pole of N-channel MOS pipe VQ6, the G pole of N-channel MOS pipe VQ1, the G pole of N-channel MOS pipe VQ2, the G pole of N-channel MOS pipe VQ3, the G pole of N-channel MOS pipe VQ4, the G pole of N-channel MOS pipe VQ5, the G pole of N-channel MOS pipe VQ6 all connects driving chip, driving chip connects main control chip, the W end of motor M connects the S pole of N-channel MOS pipe VQ5, the V end of motor M connects the S pole of N-channel MOS pipe VQ3, the U end of motor M connects the S pole of N-channel MOS pipe VQ1.
During low speed regenerative braking, we work as N-channel MOS pipe VQ2 by the PWM drive singal driven MOS pipe that driving chip is complementary and open, and when N-channel MOS pipe VQ1 closes, because impedance loop is low, electric current rises rapidly.When N-channel MOS pipe VQ2 closes, when N-channel MOS pipe VQ1 opens, due to the impact of motor internal inductance, motor internal current direction is constant, and now electric current flows to battery Ud from motor, achieves motor and charges and regenerative braking to battery Ud.
The essence of low speed regenerative braking, when being N-channel MOS pipe VQ2, N-channel MOS pipe VQ4, the VQ6 conducting of N-channel MOS pipe, be that magnetic field energy is stored in inductance by the kinetic transformation of motor, when N-channel MOS pipe VQ2, N-channel MOS pipe VQ4, N-channel MOS pipe VQ6 end, the kinetic energy of motor and the magnetic field energy of first half cycle memory storage in inductance are added, be converted into electric energy, by the boosting of inductance, to battery feedback energy.Meanwhile, because current of electric direction is all contrary with during electric operation within the whole cycle, therefore obtain the electromagnetic torque of braking, realize the electric braking of electric return board.The average severity of braking of this boost chopper regenerative braking mode is directly proportional to the mean value of current of electric, and cut-off current and the speed of a motor vehicle of the maximum severity of braking that it may reach and motor are directly proportional.
The control method of a kind of electron speed regulator for electric return board of the present invention, comprises the following steps:
1) pre-determined bit, pre-determined bit be arrange dutycycle be 30% PWM ripple carry out pre-determined bit time of the 30ms of starter motor M and motor M;
2) open loop is accelerated;
3) closed loop is accelerated.
Open loop of the present invention is accelerated as motor M is carried out four delayed commutations.
Closed loop of the present invention is accelerated as detecting that according to counter electromotive force detection module motor M to be carried out commutation and regulated the dutycycle of PWM ripple of starter motor M by the phase information of motor M.
Four delayed commutations of the present invention are first time delayed commutation, the delayed commutation of second time, third time delayed commutation, the 4th delayed commutation, first time delayed commutation is 6.5ms with the second time delayed commutation interval time, the delayed commutation of second time is 5ms with the third time delayed commutation interval time, and third time delayed commutation and the 4th delayed commutation interval time are 3.5ms.
Power module of the present invention comprises 12V power circuit, 5V power circuit, 3.3V power circuit, 12V power circuit connects 5V power circuit, 5V power circuit connects 3.3V power circuit, 12V power circuit comprises LM7812 chip U4, polar capacitor EC6, polar capacitor EC5, electric capacity C2, electric capacity C3, 1 pin of LM7812 chip U4 connects 30V power supply VCC, 30V power supply VCC connects earth signal GND by polar capacitor EC6, polar capacitor EC6 and electric capacity C2 is in parallel, 2 pins of LM7812 chip U4 are connected earth signal GND with 4 pins, 3 pins of LM7812 chip U4 connect earth signal GND by polar capacitor EC5, polar capacitor EC5 and electric capacity C3 is in parallel, 3 pins of LM7812 chip U4 are 12V power output end, 5V power circuit comprises LM7805 three terminal regulator U2, polar capacitor EC2, polar capacitor EC1, electric capacity C10, electric capacity C11, 1 pin of LM7805 three terminal regulator U2 connects 12V power output end, 1 pin of LM7805 three terminal regulator U2 connects earth signal GND by polar capacitor EC2, polar capacitor EC2 and electric capacity C10 is in parallel, 2 pins of LM7805 three terminal regulator U2 are all connected earth signal GND with 4 pins, 3 pins of LM7805 three terminal regulator U2 connect earth signal GND by polar capacitor EC1, polar capacitor EC1 and electric capacity C11 is in parallel, 3 pins of LM7805 three terminal regulator U2 are 5V power output end, 3.3V power circuit comprises SP1117 chip U1, electric capacity C12, polar capacitor EC3,3 pins of SP1117 chip U1 connect 5V power output end, 1 pin of SP1117 chip U1 connects earth signal GND, 2 pins of SP1117 chip U1 connect earth signal GND by electric capacity C12, and electric capacity C12 and polar capacitor EC3 is in parallel.
The present invention regulates the dutycycle of the PWM ripple of starter motor M to be 15% to 30%.
Pre-determined bit: the simplest pre-determined bit method is exactly that an optional phase is energized for a long time, the method need most it is considered that motor arrive correspondence mutually after may shake.Pre-determined bit dutycycle is large, then the cycle of shaking is little, and amplitude is large.Thus dutycycle too conference cause shock range too large, and dutycycle is too little also possibly cannot overcome external force and realize pre-determined bit.Suitable pre-determined bit should select suitable dutycycle and time, and the coefficient of friction on the selection of dutycycle and time and the weight of load and ground has relation in theory, is difficult to accurate Calculation, and we have selected the dutycycle of 30% and the pre-determined bit time of 30ms.State at the end of pre-determined bit can be divided into four kinds according to rotating and phase place lead-lag, and this accelerates to affect greatly to next step open loop.
Open loop is accelerated:
Open loop acceleration and program force setting each commutation time, allow motor force commutation according to setting-up time, thus make electric motor starting.Acquire a certain degree at motor speed, after can being detected and accurately detected motor phase by counter electromotive force, program enters closed loop acceleration mode.
Select delayed commutation in open loop accelerator, first step pre-determined bit can be solved and terminate the difference that rear motor position and speed exist four kinds of states.By delayed commutation, motor can be made under any state can to follow the phase place of changing, thus can be entered next step.To ease up slow turn-on to realize fast closed-loop, in program, open loop acceleration mode only has four pressure commutations, first time delayed commutation is 6.5ms with the second time delayed commutation interval time, the delayed commutation of second time is 5ms with the third time delayed commutation interval time, and third time delayed commutation and the 4th delayed commutation interval time are 3.5ms.
Closed loop is accelerated:
Under the place mat of two steps above, just can enter closed loop and accelerate link, successful starter motor.So-called closed loop be namely the phase information commutation at every turn detected according to counter electromotive force, instead of oneself is formulated the commutation time.Rotating speed can be extrapolated by counter electromotive force Detection Information by no-load voltage ratio in this stage, thus certain control has been done to toggle speed, regulate and start dutycycle, dutycycle is probably maintained between 15% ~ 30%, motor is slowly started, thus reaches the slowly comfortable effect of startup.
Counter electromotive force detection module of the present invention comprises nine resistance, do not add electric capacity, so there is no the time-delay that filtering brings, the commutation of high-precision motor M can be reached, the present invention also regulates the dutycycle of the PWM ripple of starter motor M by counter electromotive force detection module, motor M is slowly started, and security is high; Motor is charged the battery and regenerative braking by low speed regenerative braking circuit by the present invention, and energy ezpenditure is low, and security is high.
It should be noted that above what enumerate is only a kind of specific embodiment of the present invention.Obviously, the invention is not restricted to above embodiment, many distortion can also be had.
In a word, all distortion that those of ordinary skill in the art can directly derive from content disclosed by the invention or associate, all should think protection scope of the present invention.
Claims (9)
1. the electron speed regulator for electric return board, it is characterized in that, comprise main control chip (9), driver module (1), receiver (6), full-bridge circuit (2), current detection module (4), counter electromotive force detection module (5), brushless electric machine module (3), power module (7), battery Ud (8), described receiver (6), driver module (1), power module (7), current detection module (4), counter electromotive force detection module (5) all connects main control chip (9), described battery Ud (8) is all connected power module (7) with driver module (1), described battery Ud (8) is also all connected full-bridge circuit (2) with driver module (1), described full-bridge circuit (2) connects brushless electric machine module (3), described current detection module (4), counter electromotive force detection module (5) all connects brushless electric machine module (3).
2. a kind of electron speed regulator for electric return board according to claim 1, it is characterized in that, described counter electromotive force detection module comprises resistance R11, resistance R12, resistance R13, resistance R21, resistance R22, resistance R23, resistance R31, resistance R32, resistance R33, one end of described resistance R11 connects brushless electric machine module, one end of the other end contact resistance R21 of described resistance R11, the other end of described resistance R21 connects main control chip, one end of described resistance R12 connects brushless electric machine module, one end of the other end contact resistance R22 of described resistance R12, the other end of the other end contact resistance R22 of described resistance R21, one end of described resistance R13 connects brushless electric machine module, one end of the other end contact resistance R23 of described resistance R13, the other end of the other end contact resistance R21 of described resistance R23, the other end of described resistance R11 connects earth signal GND by resistance R33, the other end of described resistance R12 connects earth signal GND by resistance R32, the other end of described resistance R13 connects earth signal GND by resistance R31, one end of described resistance R11, one end of resistance R12, one end of resistance R13 all connects main control chip.
3. a kind of electron speed regulator for electric return board according to claim 1, it is characterized in that, described brushless electric machine module comprises motor M, described driver module comprises low speed regenerative braking circuit, driving chip, described low speed regenerative braking circuit comprises N-channel MOS pipe VQ1, N-channel MOS pipe VQ2, N-channel MOS pipe VQ3, N-channel MOS pipe VQ4, N-channel MOS pipe VQ5, N-channel MOS pipe VQ6, diode D1, diode D2, diode D3, diode D4, diode D5, diode D6, the D pole of described N-channel MOS pipe VQ1 connects the positive pole of battery Ud, the S pole of described N-channel MOS pipe VQ1 connects the D pole of N-channel MOS pipe VQ2, the S pole of described N-channel MOS pipe VQ2 connects the negative pole of battery Ud, diode D1 is connected between the D pole of described N-channel MOS pipe VQ1 and the S pole of N-channel MOS pipe VQ1, diode D2 is connected between the D pole of described N-channel MOS pipe VQ2 and the S pole of N-channel MOS pipe VQ2, the D pole of described N-channel MOS pipe VQ3 connects the positive pole of battery Ud, the S pole of described N-channel MOS pipe VQ3 connects the D pole of N-channel MOS pipe VQ4, the S pole of described N-channel MOS pipe VQ4 connects the negative pole of battery Ud, diode D3 is connected between the D pole of described N-channel MOS pipe VQ3 and the S pole of N-channel MOS pipe VQ3, diode D4 is connected between the D pole of described N-channel MOS pipe VQ4 and the S pole of N-channel MOS pipe VQ4, the D pole of described N-channel MOS pipe VQ5 connects the positive pole of battery Ud, the S pole of described N-channel MOS pipe VQ5 connects the D pole of N-channel MOS pipe VQ6, the S pole of described N-channel MOS pipe VQ6 connects the negative pole of battery Ud, diode D5 is connected between the D pole of described N-channel MOS pipe VQ5 and the S pole of N-channel MOS pipe VQ5, diode D6 is connected between the D pole of described N-channel MOS pipe VQ6 and the S pole of N-channel MOS pipe VQ6, the G pole of described N-channel MOS pipe VQ1, the G pole of N-channel MOS pipe VQ2, the G pole of N-channel MOS pipe VQ3, the G pole of N-channel MOS pipe VQ4, the G pole of N-channel MOS pipe VQ5, the G pole of N-channel MOS pipe VQ6 all connects driving chip, described driving chip connects main control chip, the W end of described motor M connects the S pole of N-channel MOS pipe VQ5, the V end of described motor M connects the S pole of N-channel MOS pipe VQ3, the U end of described motor M connects the S pole of N-channel MOS pipe VQ1.
4. for a control method for the electron speed regulator of electric return board, it is characterized in that, comprise the following steps:
1) pre-determined bit, described pre-determined bit be arrange dutycycle be 30% PWM ripple carry out pre-determined bit time of the 30ms of starter motor M and motor M;
2) open loop is accelerated;
3) closed loop is accelerated.
5. the control method of a kind of electron speed regulator for electric return board according to claim 4, is characterized in that, described open loop is accelerated as motor M is carried out four delayed commutations.
6. the control method of a kind of electron speed regulator for electric return board according to claim 4, it is characterized in that, described closed loop is accelerated as detecting that according to counter electromotive force detection module motor M to be carried out commutation and regulated the dutycycle of PWM ripple of starter motor M by the phase information of motor M.
7. the control method of a kind of electron speed regulator for electric return board according to claim 4, it is characterized in that, described four delayed commutations are first time delayed commutation, the delayed commutation of second time, third time delayed commutation, the 4th delayed commutation, the delayed commutation of described first time is 6.5ms with the second time delayed commutation interval time, the delayed commutation of described second time is 5ms with the third time delayed commutation interval time, and the delayed commutation of described third time and the 4th delayed commutation interval time are 3.5ms.
8. a kind of electron speed regulator for electric return board according to claim 1, it is characterized in that, described power module comprises 12V power circuit, 5V power circuit, 3.3V power circuit, described 12V power circuit connects 5V power circuit, described 5V power circuit connects 3.3V power circuit, described 12V power circuit comprises LM7812 chip U4, polar capacitor EC6, polar capacitor EC5, electric capacity C2, electric capacity C3, 1 pin of described LM7812 chip U4 connects 30V power supply VCC, described 30V power supply VCC connects earth signal GND by polar capacitor EC6, described polar capacitor EC6 and electric capacity C2 is in parallel, 2 pins of described LM7812 chip U4 are connected earth signal GND with 4 pins, 3 pins of described LM7812 chip U4 connect earth signal GND by polar capacitor EC5, described polar capacitor EC5 and electric capacity C3 is in parallel, 3 pins of described LM7812 chip U4 are 12V power output end, described 5V power circuit comprises LM7805 three terminal regulator U2, polar capacitor EC2, polar capacitor EC1, electric capacity C10, electric capacity C11, 1 pin of described LM7805 three terminal regulator U2 connects 12V power output end, 1 pin of described LM7805 three terminal regulator U2 connects earth signal GND by polar capacitor EC2, described polar capacitor EC2 and electric capacity C10 is in parallel, 2 pins of described LM7805 three terminal regulator U2 are all connected earth signal GND with 4 pins, 3 pins of described LM7805 three terminal regulator U2 connect earth signal GND by polar capacitor EC1, described polar capacitor EC1 and electric capacity C11 is in parallel, 3 pins of described LM7805 three terminal regulator U2 are 5V power output end, described 3.3V power circuit comprises SP1117 chip U1, electric capacity C12, polar capacitor EC3,3 pins of described SP1117 chip U1 connect 5V power output end, 1 pin of described SP1117 chip U1 connects earth signal GND, 2 pins of described SP1117 chip U1 connect earth signal GND by electric capacity C12, and described electric capacity C12 and polar capacitor EC3 is in parallel.
9. the control method of a kind of electron speed regulator for electric return board according to claim 6, it is characterized in that, the dutycycle of the PWM ripple of described adjustment starter motor M is 15% to 30%.
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