CN105553353A - Motor rotor locking-based anti-theft device for electric motor car and anti-theft method for anti-theft device - Google Patents
Motor rotor locking-based anti-theft device for electric motor car and anti-theft method for anti-theft device Download PDFInfo
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- CN105553353A CN105553353A CN201610090776.6A CN201610090776A CN105553353A CN 105553353 A CN105553353 A CN 105553353A CN 201610090776 A CN201610090776 A CN 201610090776A CN 105553353 A CN105553353 A CN 105553353A
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/24—Arrangements for stopping
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Abstract
The invention discloses a motor rotor locking-based anti-theft device for an electric motor car and an anti-theft method for the anti-theft device. The anti-theft device for the electric motor car mainly comprises a current sensor and a controller, wherein an input end of the current sensor is connected to one phase of winding of three-phase windings of a stator of a brushless direct current motor for the electric motor car; an output end of the current sensor is connected to the input end of the controller to form a current closed-loop system; the output end of the controller is connected to a control input end of a three-phase bridge-type inverter of the electric motor car; and the output end of the controller outputs a PWM signal. According to the anti-theft method, with an actual current value measured by the current sensor as a feedback value, output of the three-phase bridge-type inverter is controlled through the controller; and a rotor is positioned to the corresponding phase of winding of the stator to lock the electric motor car, so that the anti-theft target is achieved.
Description
Technical field
The invention belongs to electric vehicle anti-theft technical field, be specifically related to a kind of electric vehicle anti-theft device based on rotor locking and theft preventing method thereof.
Background technology
Along with the development of society and the continuous increase of the fuel oil vehicles, the natural resourcess such as the petroleum fuel faced by the mankind are not enough and fuel emission causes the problem of global warming day by day to highlight.So the traffic of hybrid power or pure power is total to the life that means of transportation enters into people gradually in this context, electric motor car arises at the historic moment.Electric motor car, because having environmental protection, fast and easily feature, is well received by consumers.In recent years, electric motor car market development is rapid, up to now, domestic electric motor car recoverable amount is more than 6,000 ten thousand, advanced electric vehicle anti-theft technology is the prerequisite ensureing electric motor car safety, electric vehicle anti-theft device conventional in prior art generally adopts the corresponding power tube break-make of Single-chip Controlling, make brshless DC motor three-phase short circuit and realize firmly antitheft, simultaneously by design single-chip microcomputer peripheral sensors circuit, making alarming horn send alarm sound realizes soft antitheft, the technical scheme of a kind of antitheft alarmer for electric bicycle that such as publication number CN2590837 provides.But, this anti-theft control device easily produces " erroneous judgement ", such as, the staff touching electric motor car or parking area when pedestrian because of carelessness moves electric motor car when arranging parking stall, also can cause burglar alarm, this have impact on the living environment of electric motor car periphery; Secondly, these anti-theft control devices also need additionally to increase a large amount of related hardware to realize anti-theft feature, considerably increase system hardware and software cost.
Therefore, design a kind of rationally, the electric vehicle anti-theft device of science and theft preventing method thereof, can better people's living environment, reduce the stolen rate of electric motor car, have great importance.
Summary of the invention
Object of the present invention is intended to overcome the shortcomings such as the cost of traditional electrical anti-theft device for motor vehicle and theft preventing method thereof is high, False Rate is high, a kind of new electric vehicle anti-theft device based on rotor locking provided and theft preventing method thereof.
For achieving the above object, the technical scheme of the present invention's employing is:
A kind of electric vehicle anti-theft device based on rotor locking, described electric motor car comprises DC power supply, three-phase bridge type converter and brshless DC motor, described brshless DC motor is by described DC power supply, described three-phase bridge type converter is in parallel with described DC power supply, the three-phase output end of described three-phase bridge type converter is connected respectively the three-phase windings of the stator of described brshless DC motor, described electric vehicle anti-theft device is formed primarily of current sensor and controller, wherein, the input of described current sensor is connected on certain phase winding of described three-phase windings, the output of described current sensor connects the input of described controller to form current closed-loop system, the output of described controller connects the control input end of described three-phase bridge type converter, the output output pwm signal of described controller.
Further, described three-phase bridge type converter is formed primarily of six transistors, and six transistors are divided into three groups, and every group transistor is in parallel with described DC power supply after connecting between two; And the series connection node often in group between two transistors is a phase output terminal of described three-phase output end, correspondence is connected to a phase winding of the stator of described brshless DC motor; The grid of every transistor, as a control input end of described three-phase bridge type converter, connects the output of described controller.
Further, PID adjuster or PWM device is provided with in described controller, the output of described PID adjuster or PWM device connects the control input end of described three-phase bridge type converter, for the current signal recorded according to described current sensor, the duty ratio of the pwm signal regulating the control input end of described three-phase bridge type converter to receive, thus regulate the output of the three-phase output end of described three-phase bridge type converter.
Further, also comparator is provided with in described controller, the input of described comparator connects the output of described current sensor, the output of described comparator connects the input of described PID adjuster or PWM device, described comparator is used for the actual current value that records of more described current sensor and a given load current value, obtain the difference between two current values, be supplied to described PID adjuster or PWM device.
Further, described electric vehicle anti-theft device also comprises the position detector of the rotor detecting described brshless DC motor, and the output of described position detector connects described controller.
A theft preventing method for the above-mentioned electric vehicle anti-theft device based on rotor locking, comprises the following steps:
(1) recorded the actual current value of certain phase winding of the stator of the described brshless DC motor that it connects by described current sensor, and described actual current value is fed back in described controller;
(2) described controller is according to the difference between described actual current value and the load current value of described phase winding given in advance, regulate the duty ratio of the pwm signal of the control input end sending into described three-phase bridge type converter, the actual current value controlling described phase winding follows described load current value, produces corresponding magnetic field force effect to make described stator;
(3) rotor of described brshless DC motor rotates and navigates to the position of described phase winding under described magnetic field force effect, and locking brshless DC motor, reaches the antitheft object of electric motor car described in locking.
Further, described three-phase bridge type converter is formed primarily of six transistors, six transistors are divided into three groups, every group transistor is in parallel with described DC power supply after connecting between two, and the series connection node often in group between two transistors is a phase output terminal of described three-phase output end, correspondence is connected to a phase winding of the stator of described brshless DC motor, and the grid of every transistor, as a control input end of described three-phase bridge type converter, connects the output of described controller; Be provided with comparator in described controller and connect PID adjuster or the PWM device of described comparator, described step (2) comprising:
(2.1) the more described actual current value of described comparator and described load current value, obtain the difference between two current values, is supplied to described PID adjuster or PWM device;
(2.2) described PID adjuster or PWM device are according to described difference, control the duty ratio of the pwm signal inputted to the gate input of the respective transistor of described three-phase bridge type converter, and then control the ON time of described transistor, make the actual current value of described phase winding be adjusted to described load current value.
Further, described electric vehicle anti-theft device also comprises the position detector of the rotor detecting described brshless DC motor, and the output of described position detector connects described controller,
Described step (1) also comprises: the position being detected described rotor by described position detector in real time, and by described position Real-time Feedback to described controller;
In described step (2.2), described PID adjuster or PWM device, according to the described position of described difference and Real-time Feedback, control the duty ratio of the pwm signal inputted to the gate input of the respective transistor of described three-phase bridge type converter.
Compared with prior art, the advantage of technical scheme of the present invention and beneficial effect are mainly:
1, technical scheme of the present invention adds the closed-loop control system of controller, three-phase inverter and current sensor composition on original hardware device, this electric vehicle anti-theft device structure is simple, cost is low, its theft preventing method mainly utilizes the control of closed-loop control system that the rotor of brshless DC motor is locked under the effect of stator field, thus can effectively prevent electric motor car to be forced displacement, effective, effectively reduce the stolen rate of electric motor car.
2, technical scheme of the present invention, the foundation of the pwm signal duty ratio that the difference between the actual current value detect current sensor and a given load current value exports as described closed-loop control system adjustment, thus can reduce " erroneous judgement ", realize precisely antitheft, warning of electric motor car etc.
3, in technical scheme of the present invention, described closed-loop control system controls the output of three-phase inverter in real time according to current differential, and then the actual current value real-time change that current sensor is detected, and be finally adjusted to described load current value, thus make the rotor of brshless DC motor under the corresponding magnetic field force effect of real-time change, slowly can forward relevant position locking to, thus avoid traditional electric vehicle anti-theft device utilizes the three-phase windings of the stator of brshless DC motor all by the short circuit mode of braking of short circuit, namely the short circuit current produced under avoiding this short circuit mode of braking is to the test of the ability to bear of the transistor of three-phase inverter, avoid installing simultaneously for detection rotor rotating speed velocity transducer and saved and waited for that spinner velocity is reduced to the time to a certain degree re-using short circuit braking.
Accompanying drawing explanation
Fig. 1 is the electrical block diagram of the electric vehicle anti-theft device based on rotor locking of the specific embodiment of the invention;
Fig. 2 is the theft preventing method flow chart of the electric vehicle anti-theft device based on rotor locking of the specific embodiment of the invention.
Embodiment
Below in conjunction with accompanying drawing, a kind of electric vehicle anti-theft device based on rotor locking of the present invention and theft preventing method thereof are described in further detail.
As shown in Figure 1, be the electric vehicle anti-theft device structure chart based on rotor locking of the present embodiment.This electric vehicle anti-theft device is installed based on the structure of existing electric motor car, described electric motor car comprises main body of vehicle frame and is arranged on front vehicle wheel on main body of vehicle frame, rear wheel, DC power supply 1, three-phase bridge type converter 2 and is arranged on the brshless DC motor 3 of rear wheel position, described brshless DC motor 3 is powered by described DC power supply 1, the storage battery of the electric motor car that described DC power supply 1 is that is usually said.Thus, the electric vehicle anti-theft device of the present embodiment is formed by connecting primarily of current sensor 4 and controller 5.
Wherein, three-phase bridge type converter 2 is in parallel with described DC power supply 1, described three-phase bridge type converter 2 can be the three-phase inverter of single " entering " three " going out ", also can be the three-phase inverter of three " entering " three " going out ", " enter " to be the control input end of three-phase bridge type converter 2, " go out " to be the phase output terminal of three-phase bridge type converter 2, and the three-phase output end of three-phase bridge type converter 2 is connected respectively the three-phase windings A phase of the stator of described brshless DC motor 3, B phase and C phase.In the present embodiment, described three-phase bridge type converter 2 is formed primarily of six transistor MOS1 ~ MOS6, be divided into after the source electrode of MOS1 in three groups: first group and the drain series of MOS4 that DC power supply 1 is in parallel again, and the series connection node N1 between MOS1 and MOS4 is connected with the A phase winding of the stator of described brshless DC motor; DC power supply 1 is in parallel again with after the drain series of MOS6 for the source electrode of the MOS3 in second group, and the series connection node N2 between MOS3 and MOS6 is connected with the B phase winding of the stator of described brshless DC motor; After the source electrode of MOS5 in 3rd group and the drain series of MOS2, DC power supply 1 is in parallel again, and the series connection node N3 between MOS5 and MOS2 is connected with the C phase winding of the stator of described brshless DC motor.In addition, the grid of every transistor, as a control input end of described three-phase bridge type converter 2, connects the output of described controller 5.
The input of described current sensor 4 is connected in certain phase winding of the three-phase windings of the stator of brshless DC motor 3, such as be connected in A phase, the input of the output connection control device 5 of current sensor 4, thus form current closed-loop system, the output of described controller 5 connects the grid of 6 metal-oxide-semiconductors of three-phase bridge type converter 2, to input corresponding pwm signal to corresponding metal-oxide-semiconductor to control its conducting.
In the present embodiment, be provided with comparator (not shown) in described controller 5 and connect PID adjuster or the PWM device (not shown) of described comparator, the input of described comparator connects the output of described current sensor 4, the output of described comparator connects the input of described PID adjuster or PWM device, the output of described PID adjuster or PWM device connects the grid of 6 metal-oxide-semiconductors of described three-phase bridge type converter, described comparator is used for the actual current value that records of more described current sensor 4 and given load current value, obtain the difference between two current values, be supplied to described PID adjuster or PWM device, described PID adjuster or PWM device are used for the difference obtained according to described comparator, the duty ratio of the pwm signal regulating the grid of 6 metal-oxide-semiconductors of described three-phase bridge type converter to receive, thus regulate the output of the three-phase output end of described three-phase bridge type converter.
Further, described electric vehicle anti-theft device can also comprise the position detector (not shown) of the rotor detecting described brshless DC motor, and the output of described position detector connects described controller.
Below in conjunction with Fig. 1 and Fig. 2, describe the electric vehicle anti-theft method based on rotor locking of the present embodiment in detail.
Please refer to Fig. 1 and Fig. 2, the present embodiment provides the theft preventing method of the electric vehicle anti-theft device based on rotor locking shown in a kind of Fig. 1, comprises the following steps:
(1) load current value of the A phase winding of existing given in controller 5 attached brushless DC motor of electric vehicle 3
the actual current value i of A phase winding is recorded by current sensor 4
a, by actual current value i
afeed back to controller 5;
(2) described controller is according to the difference between described actual current value and the load current value of described phase winding given in advance, regulate the duty ratio of the pwm signal of the control input end sending into described three-phase bridge type converter, the actual current value controlling described phase winding follows described load current value, to make described stator produce corresponding magnetic field force effect, particularly:
(2.1) comparator of controller 5 is by load current value value
with actual current value i
amake poor current differential Δ i and send into PID adjuster in controller 5 or PWM device;
(2.2) PID adjuster or PWM device control the duty ratio of the pwm signal of the grid of transistor MOS1, MOS6, MOS2 of sending into three-phase bridge type converter 2 according to current differential Δ i, and then control the ON time of transistor MOS1, MOS6, MOS2, make the actual current value i of A phase winding
afollow given load current value
change, thus make stator produce corresponding magnetic field force effect; Wherein, PID adjuster or PWM device, using current differential Δ i as the foundation controlling pwm signal duty ratio, can reduce " erroneous judgement " phenomenon in traditional electric vehicle anti-theft device;
(3) rotor of the brshless DC motor 3 of electric motor car navigates to A phase winding position under corresponding magnetic field force effect, and locking electric vehicle motor, reaches electric vehicle anti-theft object.
In above process, due to controller 5, the closed-loop control system that three-phase inverter 2 and current sensor 4 form, therefore, obtain the actual current value real-time change that current sensor detects, and can finally be adjusted to described load current value, so make the rotor of brshless DC motor slowly can forward relevant position locking under the corresponding magnetic field force effect of real-time change, thus avoid traditional electric vehicle anti-theft device and utilize the three-phase windings of the stator of brshless DC motor all by the short circuit mode of braking of short circuit, namely the short circuit current produced under avoiding this short circuit mode of braking is to the test of the ability to bear of the transistor of three-phase inverter, avoid installing simultaneously for detection rotor rotating speed velocity transducer and saved and waited for that spinner velocity is reduced to the time to a certain degree re-using short circuit braking.
In addition, when described electric vehicle anti-theft device also comprises the position detector of the rotor detecting described brshless DC motor, when the output of described position detector connects described controller, in described step (1), the position of described rotor is also detected in real time by described position detector, and by described position Real-time Feedback to described controller 5; In described step (2.2), described PID adjuster or PWM device, according to the described position of described difference and Real-time Feedback, control the duty ratio of the pwm signal inputted to the gate input of the respective transistor of described three-phase bridge type converter 2.
The electric vehicle anti-theft device based on brushless DC motor rotor lock-in techniques that the present invention adopts and method, structure is simple, and original hardware device carries out anti theft design, cost is low, electric motor car can be effectively prevented to be forced displacement, effective, effectively can reduce the stolen rate of electric motor car.
Claims (8)
1. the electric vehicle anti-theft device based on rotor locking, described electric motor car comprises DC power supply, three-phase bridge type converter, brshless DC motor, described brshless DC motor is by described DC power supply, described three-phase bridge type converter is in parallel with described DC power supply, the three-phase output end of described three-phase bridge type converter is connected respectively the three-phase windings of the stator of described brshless DC motor, it is characterized in that, described electric vehicle anti-theft device is formed primarily of current sensor and controller, wherein, the input of described current sensor is connected on certain phase winding of described three-phase windings, the output of described current sensor connects the input of described controller to form current closed-loop system, the output of described controller connects the control input end of described three-phase bridge type converter, the output output pwm signal of described controller.
2. electric vehicle anti-theft device as claimed in claim 1, it is characterized in that, described three-phase bridge type converter is formed primarily of six transistors, and six transistors are divided into three groups, and every group transistor is in parallel with described DC power supply after connecting between two; And the series connection node often in group between two transistors is a phase output terminal of described three-phase output end, correspondence is connected to a phase winding of the stator of described brshless DC motor; The grid of every transistor, as a control input end of described three-phase bridge type converter, connects the output of described controller.
3. electric vehicle anti-theft device as claimed in claim 1, it is characterized in that, PID adjuster or PWM device is provided with in described controller, the output of described PID adjuster or PWM device connects the control input end of described three-phase bridge type converter, for the current signal recorded according to described current sensor, the duty ratio of the pwm signal regulating the control input end of described three-phase bridge type converter to receive, thus regulate the output of the three-phase output end of described three-phase bridge type converter.
4. electric vehicle anti-theft device as claimed in claim 3, it is characterized in that, also comparator is provided with in described controller, the input of described comparator connects the output of described current sensor, the output of described comparator connects the input of described PID adjuster or PWM device, described comparator is used for the actual current value that records of more described current sensor and a given load current value, obtains the difference between two current values, is supplied to described PID adjuster or PWM device.
5. electric vehicle anti-theft device as claimed in claim 1, it is characterized in that, described electric vehicle anti-theft device also comprises the position detector of the rotor detecting described brshless DC motor, and the output of described position detector connects described controller.
6. a theft preventing method for the electric vehicle anti-theft device based on rotor locking according to any one of Claims 1-4, is characterized in that, comprise the following steps:
(1) recorded the actual current value of certain phase winding of the stator of the described brshless DC motor that it connects by described current sensor, and described actual current value is fed back in described controller;
(2) described controller is according to the difference between described actual current value and the load current value of described phase winding given in advance, regulate the duty ratio of the pwm signal of the control input end sending into described three-phase bridge type converter, the actual current value controlling described phase winding is adjusted to described load current value, produces corresponding magnetic field force effect to make described stator;
(3) rotor of described brshless DC motor rotates and navigates to the position of described phase winding under described magnetic field force effect, and locking brshless DC motor, reaches the antitheft object of electric motor car described in locking.
7. theft preventing method as claimed in claim 6, it is characterized in that, described three-phase bridge type converter is formed primarily of six transistors, six transistors are divided into three groups, every group transistor is in parallel with described DC power supply after connecting between two, and the series connection node often in group between two transistors is a phase output terminal of described three-phase output end, correspondence is connected to a phase winding of the stator of described brshless DC motor, the grid of every transistor, as a control input end of described three-phase bridge type converter, connects the output of described controller; Be provided with comparator in described controller and connect PID adjuster or the PWM device of described comparator, described step (2) comprising:
(2.1) the more described actual current value of described comparator and described load current value, obtain the difference between two current values, is supplied to described PID adjuster or PWM device;
(2.2) described PID adjuster or PWM device are according to described difference, control the duty ratio of the pwm signal inputted to the gate input of the respective transistor of described three-phase bridge type converter, and then control the ON time of described transistor, make the actual current value of described phase winding be adjusted to described load current value.
8. theft preventing method as claimed in claim 7, it is characterized in that, described electric vehicle anti-theft device also comprises the position detector of the rotor detecting described brshless DC motor, and the output of described position detector connects described controller,
Described step (1) also comprises: the position being detected described rotor by described position detector in real time, and by described position Real-time Feedback to described controller;
In described step (2.2), described PID adjuster or PWM device, according to the described position of described difference and Real-time Feedback, control the duty ratio of the pwm signal inputted to the gate input of the respective transistor of described three-phase bridge type converter.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610090776.6A CN105553353A (en) | 2016-02-18 | 2016-02-18 | Motor rotor locking-based anti-theft device for electric motor car and anti-theft method for anti-theft device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610090776.6A CN105553353A (en) | 2016-02-18 | 2016-02-18 | Motor rotor locking-based anti-theft device for electric motor car and anti-theft method for anti-theft device |
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| CN105553353A true CN105553353A (en) | 2016-05-04 |
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| CN201610090776.6A Pending CN105553353A (en) | 2016-02-18 | 2016-02-18 | Motor rotor locking-based anti-theft device for electric motor car and anti-theft method for anti-theft device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109731223A (en) * | 2019-01-31 | 2019-05-10 | 大悦创新（苏州）医疗科技股份有限公司 | Circuit and neuromuscular electric stimulation device with it |
| CN110880898A (en) * | 2019-11-28 | 2020-03-13 | 北京云迹科技有限公司 | Motor rotor initial position positioning method and device, electronic equipment and storage medium |
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| JPH10174484A (en) * | 1996-12-10 | 1998-06-26 | Zexel Corp | Dc brushless motor driver |
| CN201087825Y (en) * | 2007-05-30 | 2008-07-16 | 北京中纺锐力机电有限公司 | Zero point verifying unit of switch reluctance motor rotor angle position |
| CN103607143A (en) * | 2013-11-08 | 2014-02-26 | 江苏科技大学 | Electric bicycle antitheft control apparatus and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10174484A (en) * | 1996-12-10 | 1998-06-26 | Zexel Corp | Dc brushless motor driver |
| CN201087825Y (en) * | 2007-05-30 | 2008-07-16 | 北京中纺锐力机电有限公司 | Zero point verifying unit of switch reluctance motor rotor angle position |
| CN103607143A (en) * | 2013-11-08 | 2014-02-26 | 江苏科技大学 | Electric bicycle antitheft control apparatus and control method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109731223A (en) * | 2019-01-31 | 2019-05-10 | 大悦创新（苏州）医疗科技股份有限公司 | Circuit and neuromuscular electric stimulation device with it |
| CN109731223B (en) * | 2019-01-31 | 2023-02-24 | 大悦创新（苏州）医疗科技股份有限公司 | Circuit and neuromuscular electrical stimulation device with same |
| CN110880898A (en) * | 2019-11-28 | 2020-03-13 | 北京云迹科技有限公司 | Motor rotor initial position positioning method and device, electronic equipment and storage medium |
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