CN105480116A - Motor control method and system and electric vehicle - Google Patents
Motor control method and system and electric vehicle Download PDFInfo
- Publication number
- CN105480116A CN105480116A CN201510995669.3A CN201510995669A CN105480116A CN 105480116 A CN105480116 A CN 105480116A CN 201510995669 A CN201510995669 A CN 201510995669A CN 105480116 A CN105480116 A CN 105480116A
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- Prior art keywords
- motor
- control
- electric machine
- speed
- battery
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- 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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a motor control method and system and an electric vehicle. The motor control method comprises the following steps: closing a dynamic control mode to ensure that the control on the motor by rotating a rotary handle fails; detecting the movement speed of a wheel connected with the motor by a speed sensor, and transferring the movement speed to a motor controller; determining the motor running speed under the movement speed according to the set motor speed strategy by the motor controller; and outputting a control signal by the motor controller so as to control the motor to run at the motor running speed. When the dynamic control mode is closed, the motor controller can drive the motor according to the vehicle speed so as to provide great convenient for a user to push an electric motorcycle, thereby providing user experience of moving the electric motorcycle with the user; and meanwhile, the misoperation of the rotary handle is avoided when the electric motorcycle is pushed, thereby avoiding the risk of sudden running or tumbling of the electric motorcycle.
Description
Technical field
The present invention relates to a kind of Eltec, particularly relate to a kind of motor control method and system, battery-driven car.
Background technology
Along with the development of electrokinetic technique, battery-operated motor cycle has more and more been come in daily life, when using battery-operated motor cycle, user sometimes can need to promote battery-operated motor cycle and move ahead, battery-operated motor cycle has larger weight usually, promoting battery-operated motor cycle is not a thing easily, especially for old user.User can adopt by manual hand usually, or is carried out by the vehicle low speed that turn handle controls.If employing manual hand, because the deadweight of battery-operated motor cycle is larger, user is promoting compare effort when battery-operated motor cycle moves ahead, especially concerning more difficult women or old user.If direct control handle provides power-assisted, but operation is not easy to the speed controlling vehicle like this, and has maloperation handle in implementation state, more has the potential safety hazard that vehicle is toppled over.If turn handle starter motor power-assisted, be then not easy to control car speed, easily cause vehicle to be toppled over.
Given this, a kind of technical scheme being convenient to carry out battery-operated motor cycle how is found just to become those skilled in the art's problem demanding prompt solution.
Summary of the invention
The shortcoming of prior art in view of the above, the object of the present invention is to provide a kind of motor control method and system, battery-driven car, carries out inconvenient problem for solving battery-operated motor cycle in prior art.
For achieving the above object and other relevant objects, the invention provides a kind of motor control method, described motor control method comprises: close power control pattern, makes to rotate handle and loses efficacy to the control of motor; Speed sensor detects the kinematic velocity of the wheel that described motor connects, and described kinematic velocity is passed to electric machine controller; Electric machine controller determines the motor rotation speed under described kinematic velocity according to the motor speed strategy of setting, and electric machine controller output control signal controls described motor and operates with described motor rotation speed.
Alternatively, described motor comprises DC machine or alternating current dynamo.
Alternatively, described motor speed strategy comprises motor vector control algorithm.
Alternatively, described motor control method comprises: turn on the power master mode, makes the control of rotation handle to motor effective.
Alternatively, described speed sensor comprises Hall element.
The present invention also provides a kind of electric machine control system, and described electric machine control system comprises: power control start stop switch, and for opening or closing power control pattern, when opening described power control pattern, the control of rotation handle to motor is effective; When closing described power control pattern, rotating handle and the control of motor was lost efficacy; Speed sensor, for detecting the kinematic velocity of the wheel that described motor connects, and passes to electric machine controller by described kinematic velocity; Electric machine controller, for determining the motor rotation speed under described kinematic velocity according to the motor speed strategy of setting, output control signal controls described motor and operates with described motor rotation speed.
Alternatively, described motor speed strategy comprises motor vector control algorithm.
Alternatively, described motor comprises DC machine or alternating current dynamo.
Alternatively, described speed sensor comprises Hall element.
The present invention also provides a kind of battery-driven car, and described battery-driven car comprises electric machine control system as above.
Alternatively, described battery-driven car comprises battery-operated motor cycle or Electrical Bicycle.
As mentioned above, a kind of motor control method of the present invention and system, battery-driven car, have following beneficial effect: 1. can be convenient to user greatly and promote battery-operated motor cycle, especially for women and old user, do not need firmly special, just easily can promote vehicle; The use sense bringing a kind of car to move with people to user is subject to; 2. having stopped the maloperation for handle when promoting battery-operated motor cycle, having avoided the risk that vehicle is scurried out suddenly or fallen; 3. easy and simple to handle, do not need start button or control the operations such as handle; In corresponding scene, this system can start automatically.
Accompanying drawing explanation
Fig. 1 is shown as the schematic flow sheet of an embodiment of motor control method of the present invention.
Fig. 2 is shown as the module diagram of an embodiment of electric machine control system of the present invention.
Element numbers explanation
1 electric machine control system
11 power control start stop switches
12 speed sensors
13 electric machine controllers
S1 ~ S3 step
Detailed description of the invention
Below by way of specific instantiation, embodiments of the present invention are described, those skilled in the art the content disclosed by this specification sheets can understand other advantages of the present invention and effect easily.The present invention can also be implemented or be applied by detailed description of the invention different in addition, and the every details in this specification sheets also can based on different viewpoints and application, carries out various modification or change not deviating under spirit of the present invention.
It should be noted that, the diagram provided in the present embodiment only illustrates basic conception of the present invention in a schematic way, then only the assembly relevant with the present invention is shown in graphic but not component count, shape and size when implementing according to reality is drawn, it is actual when implementing, and the kenel of each assembly, quantity and ratio can be a kind of change arbitrarily, and its assembly layout kenel also may be more complicated.
The invention provides a kind of motor control method.Described motor control method is applicable to when people promote battery-driven car, allow battery-driven car according to people need power is provided, car moves with people, thus facilitates the implementation of battery-driven car.In one embodiment, as shown in Figure 1, described motor control method comprises:
Step S1, closes power control pattern, makes to rotate handle and loses efficacy to the control of motor.Particularly, when opening described power control pattern, rotate handle to the control of motor effectively, namely handle can control electric machine rotation.Under the master mode that turns on the power, controller adjusts the rotating speed of motor automatically according to the position of handle knob.When closing described power control pattern, rotating handle and losing efficacy to the control of motor, namely during rotation handle, motor is reactionless, now, by the rotating speed of motor controller controls motor.Described motor comprises DC machine or alternating current dynamo.Described handle is the handle of battery-driven car.
Step S2, speed sensor detects the kinematic velocity of the wheel that described motor connects, and described kinematic velocity is passed to electric machine controller.Described speed sensor comprises Hall element.
Step S3, electric machine controller determines the motor rotation speed under described kinematic velocity according to the motor speed strategy of setting, and electric machine controller output control signal controls described motor and operates with described motor rotation speed.Electric machine controller controls motor and uses, and it can allow motor by the instruction works of people, also can protect motor, can control big current as starter, frequency converter etc. with small area analysis.Electric machine controller controls the direction of motor according to setting by the active of integrated circuit, and speed, angle, response time carries out work.Make the advantages such as motor application scope is more extensive, and output efficiency is higher, and noise is less.Described motor speed strategy can comprise motor vector control algorithm.Motor vector control algorithm and motor FOC algorithm, Field Oriented Control System (FOC) is also called vector control system, and he selects motor a certain rotating field axle as specific synchronization rotational coordinate ax.The selection of field orientation axle has three kinds: rotor field-oriented, Air-gap-flux orientated and stator flux orientation; All there is coupling in Air-gap-flux orientated and stator flux orientation, make vector controlled structure more complicated in magnetic linkage relation; Rotor field-oriented is the mode of copying DC motor, utilize the means of coordinate transform, the stator current of electrical motor is resolved into magnetic-field component electric current (being equivalent to exciting current) and torque component electric current (being equivalent to load current) and is controlled respectively, namely full decoupled both flux current component and torque current component, thus obtain the dynamic property being similar to Direct Current Governor System.Described motor control method can also comprise: turn on the power master mode, makes the control of handle to motor effective.When user needs normally to use battery-driven car, can turn on the power master mode, makes the control of rotation handle to motor effective.In one embodiment, described motor control method comprises: 1, closes power control pattern, makes to rotate handle and loses efficacy to the control of motor.Now, the power system of battery-driven car does not start (during rotation handle, motor is reactionless); 2, user promotes vehicle, makes vehicle have certain initial velocity; Value and the direction of this speed is responded to by speed sensor; And this speed signal is passed to electric machine controller; 3, after electric machine controller receives speed signal, determine motor rotation speed V0 through motor speed strategy, export control signal to motor, enable battery-operated motor cycle with V0 speed cruise.4, in implementation process, if the desired speed V of user changes to some extent, then 3 processes that repeat upgrade V0; Reach the effect that car moves with people; Due in propelled vehicles driving process, during rotation handle, motor is responseless, can avoid the maloperation to handle in go-cart process; 5. turn on the power master mode, makes the control of rotation handle to motor effective; I.e. starter motor system (handle can control electric machine rotation).
The present invention also provides a kind of electric machine control system, and described electric machine control system can apply motor control method as above.In one embodiment, as shown in Figure 2, described electric machine control system comprises power control start stop switch 11, speed sensor 12 and electric machine controller 13.Wherein:
Power control start stop switch 11 is for opening or closing power control pattern, and when opening described power control pattern, the control of rotation handle to motor is effective; When closing described power control pattern, rotating handle and the control of motor was lost efficacy.Under the master mode that turns on the power, controller adjusts motor speed automatically according to the position of handle.When closing described power control pattern, rotating handle and losing efficacy to the control of motor, namely during rotation handle, motor is reactionless, now, by the rotating speed of motor controller controls motor.Described motor comprises DC machine or alternating current dynamo.
Described kinematic velocity for detecting the kinematic velocity of the wheel of described motor connection, and is passed to electric machine controller by speed sensor 12.Described speed sensor also can be described as motor speed sensor.Described speed sensor comprises Hall element.
Electric machine controller 13 is for determining the motor rotation speed under described kinematic velocity according to the motor speed strategy of setting, and output control signal controls described motor and operates with described motor rotation speed.Electric machine controller controls motor and uses, and it can allow motor by the instruction works of people, also can protect motor, can control big current as starter, frequency converter etc. with small area analysis.Electric machine controller controls the direction of motor according to setting by the active of integrated circuit, and speed, angle, response time carries out work.Make the advantages such as motor application scope is more extensive, and output efficiency is higher, and noise is less.Described motor speed strategy can comprise motor vector control algorithm.Motor vector control algorithm and motor FOC algorithm, FOC (field-orientedcontrol) is magnetic field steering control, be also called vector controlled (vectorcontrol), Field Oriented Control System (FOC) is also called vector control system, and he selects motor a certain rotating field axle as specific synchronization rotational coordinate ax.The selection of field orientation axle has three kinds: rotor field-oriented, Air-gap-flux orientated and stator flux orientation; All there is coupling in Air-gap-flux orientated and stator flux orientation, make vector controlled structure more complicated in magnetic linkage relation; Rotor field-oriented is the mode of copying DC motor, utilize the means of coordinate transform, the stator current of electrical motor is resolved into magnetic-field component electric current (being equivalent to exciting current) and torque component electric current (being equivalent to load current) and is controlled respectively, namely full decoupled both flux current component and torque current component, thus obtain the dynamic property being similar to Direct Current Governor System.Motor speed strategy can adopt existing control device or control circuit to realize.Electric machine controller 13 receives the kinematic velocity that speed sensor 12 sends, and determines the motor rotation speed under described kinematic velocity according to the motor speed strategy of setting, then exports control signal and controls described motor and operate with described motor rotation speed.
The present invention also provides a kind of battery-driven car, and described battery-driven car comprises electric machine control system as above.Described battery-driven car comprises battery-operated motor cycle or Electrical Bicycle.When people promote described battery-driven car, allow battery-driven car according to people need power is provided, car moves with people, thus facilitates the implementation of battery-driven car.The using method of described battery-driven car can comprise: 1, closes power control pattern, makes to rotate handle and loses efficacy to the control of motor.Now, the motor power system of battery-driven car does not start (during rotation handle, motor is reactionless); 2, user promotes battery-driven car, makes battery-driven car have certain initial velocity (i.e. the speed of vehicle); Value and the direction of this kinematic velocity is responded to by speed sensor; And this speed signal is passed to electric machine controller; 3, after electric machine controller receives speed signal, determine motor rotation speed V0 through motor speed strategy, export control signal to motor, enable battery-operated motor cycle with V0 speed cruise.4, in implementation process, if the desired speed V of user changes to some extent, then 3 processes that repeat upgrade V0; Reach the effect that car moves with people; Due in propelling battery-driven car driving process, during rotation handle, motor is responseless, can avoid the maloperation to handle in go-cart process; 5, turn on the power master mode, makes the control of rotation handle to motor effective; Namely starter motor system (handle can control electric machine rotation), normally uses battery-driven car.
In sum, a kind of motor control method of the present invention and system, battery-driven car can when closing power control pattern, realize electric machine controller according to car speed drive motor, thus. user can be convenient to greatly and promote battery-operated motor cycle, special in women and old user, do not need firmly special, just easily can promote vehicle; The use sense bringing a kind of car to move with people to user is subject to; Also having stopped the maloperation when promoting battery-operated motor cycle for handle simultaneously, having avoided the risk that vehicle is scurried out suddenly or fallen.So the present invention effectively overcomes various shortcoming of the prior art and tool high industrial utilization.
Above-described embodiment is illustrative principle of the present invention and effect thereof only, but not for limiting the present invention.Any person skilled in the art scholar all without prejudice under spirit of the present invention and category, can modify above-described embodiment or changes.Therefore, such as have in art usually know the knowledgeable do not depart from complete under disclosed spirit and technological thought all equivalence modify or change, must be contained by claim of the present invention.
Claims (10)
1. a motor control method, is characterized in that, described motor control method comprises:
Close power control pattern, make to rotate handle and the control of motor was lost efficacy;
Speed sensor detects the kinematic velocity of the wheel that described motor connects, and described kinematic velocity is passed to electric machine controller;
Electric machine controller determines the motor rotation speed under described kinematic velocity according to the motor speed strategy of setting, and electric machine controller output control signal controls described motor and operates with described motor rotation speed.
2. motor control method according to claim 1, is characterized in that: described motor control method also comprises: turn on the power master mode, makes the control of rotation handle to motor effective.
3. motor control method according to claim 1, is characterized in that: described motor comprises DC machine or alternating current dynamo.
4. motor control method according to claim 1, is characterized in that: described motor speed strategy comprises motor vector control algorithm.
5. an electric machine control system, is characterized in that: described electric machine control system comprises:
Power control start stop switch, for opening or closing power control pattern, when opening described power control pattern, the control of rotation handle to motor is effective; When closing described power control pattern, rotating handle and the control of motor was lost efficacy;
Speed sensor, for detecting the kinematic velocity of the wheel that described motor connects, and passes to electric machine controller by described kinematic velocity;
Electric machine controller, for determining the motor rotation speed under described kinematic velocity according to the motor speed strategy of setting, output control signal controls described motor and operates with described motor rotation speed.
6. electric machine control system according to claim 5, is characterized in that: described speed sensor comprises Hall element.
7. electric machine control system according to claim 5, is characterized in that: described motor speed strategy comprises motor vector control algorithm.
8. electric machine control system according to claim 5, is characterized in that: described motor comprises DC machine or alternating current dynamo.
9. a battery-driven car, is characterized in that: described battery-driven car comprises the electric machine control system as described in claim arbitrary in claim 5 to 8.
10. battery-driven car according to claim 9, is characterized in that: described battery-driven car comprises battery-operated motor cycle or Electrical Bicycle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510995669.3A CN105480116A (en) | 2015-12-25 | 2015-12-25 | Motor control method and system and electric vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510995669.3A CN105480116A (en) | 2015-12-25 | 2015-12-25 | Motor control method and system and electric vehicle |
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| CN105480116A true CN105480116A (en) | 2016-04-13 |
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| CN201510995669.3A Pending CN105480116A (en) | 2015-12-25 | 2015-12-25 | Motor control method and system and electric vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106476974A (en) * | 2016-10-21 | 2017-03-08 | 深圳乐行天下科技有限公司 | A kind of power-assisted carries out method, electric motor car and its controller |
| WO2018090981A1 (en) * | 2016-11-18 | 2018-05-24 | 深圳市道通智能航空技术有限公司 | Method of braking permanent magnet synchronous motors and related apparatus |
| CN113859416A (en) * | 2021-09-06 | 2021-12-31 | 天津爱玛车业科技有限公司 | Electric vehicle and control method thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106476974A (en) * | 2016-10-21 | 2017-03-08 | 深圳乐行天下科技有限公司 | A kind of power-assisted carries out method, electric motor car and its controller |
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| CN113859416A (en) * | 2021-09-06 | 2021-12-31 | 天津爱玛车业科技有限公司 | Electric vehicle and control method thereof |
| CN113859416B (en) * | 2021-09-06 | 2024-01-02 | 天津爱玛车业科技有限公司 | Electric vehicle and control method thereof |
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Address after: 200433 Shanghai City, Yangpu District National Road No. 323 room 701-13 Applicant after: SHANGHAI DAXING INTELLIGENT TECHNOLOGY CO., LTD. Address before: 200433 Shanghai City, Yangpu District National Road No. 323 room 701-13 Applicant before: SHANGHAI YINGGUANG ELECTRONIC TECHNOLOGY CO., LTD. |
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