CN105730561B - A kind of theft preventing method of the electric vehicle anti-theft device based on rotor positioning - Google Patents
A kind of theft preventing method of the electric vehicle anti-theft device based on rotor positioning Download PDFInfo
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- CN105730561B CN105730561B CN201610091294.2A CN201610091294A CN105730561B CN 105730561 B CN105730561 B CN 105730561B CN 201610091294 A CN201610091294 A CN 201610091294A CN 105730561 B CN105730561 B CN 105730561B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
- B62H5/00—Appliances preventing or indicating unauthorised use or theft of cycles; Locks integral with cycles
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of electric vehicle anti-theft device and its theft preventing method based on rotor positioning, the electric vehicle anti-theft device is made of current detection module and control module；Wherein, the current detection module includes the current collector being sequentially connected in series, Clark converter and Park converter, on the three-phase windings for the stator that the input of the current collector terminates at attached brushless DC motor of electric vehicle, the output end of the Park converter connects the input terminal of the control module；The control module includes two comparators, two PID regulators, d shaft current gives device, q shaft current gives device, anti-Park converter and SVPWM converter, the output end of the SVPWM converter and connects the control signal of the three-phase bridge type converter of the electric vehicle.The theft preventing method is positioned by rotor, reaches electric vehicle anti-theft effect.
Description
Technical field
The invention belongs to electric vehicle anti-theft technical fields, and in particular to a kind of electric vehicle anti-theft based on rotor positioning
Device and its theft preventing method.
Background technique
With the development of society and being continuously increased for the fuel oil vehicles, the natural resources such as petroleum fuel that the mankind face are not
The problem of foot and fuel emission lead to global warming is increasingly prominent out.So the friendship of hybrid power or pure power in this context
Means of transport gradually enters into people's lives in all, and electric vehicle comes into being.Electric vehicle is because having environmental protection, spy operated quickly and conveniently
Point, is well received by consumers.In recent years, electric vehicle market development is rapid, and up to now, domestic electric vehicle ownership has been more than
60000000.
Brshless DC motor is widely used in electric car and electric bicycle market.Brshless DC motor is by motor
Main body and driver composition, the stator winding of motor body are made into three-phase symmetrical star connection more, and on the rotor of motor body
It is stained with the permanent magnet to have magnetized, in order to detect the polarity of rotor, position sensor is filled in motor body；Driver is by power
Electronic device and integrated circuit etc. constitute, be used to receive the starting, stopping, brake signal of motor, with control motor starting,
Stop and brake, is also used to receive position sensor signal and positive and negative rotaring signal, for controlling the on-off of each power tube of inverter bridge,
It generates continuous torque and receives speed command and feedback speed signal, for controlling and the revolving speed for adjusting rotor etc..
Advanced electric vehicle anti-theft technology is to guarantee the premise of electric vehicle safety, electric vehicle anti-theft commonly used in the prior art
Device generally uses single-chip microcontroller to control corresponding power tube on-off, come enable brshless DC motor three-phase be shorted and realize it is hard antitheft,
Simultaneously by design single-chip microcontroller peripheral sensors circuit, alarming horn sending alarm sound is enabled to realize soft antitheft, such as publication number
A kind of technical solution for antitheft alarmer for electric bicycle that CN2590837 is provided.However, this anti-theft control device holds
It is also easy to produce " erroneous judgement ", such as is moved in the staff that pedestrian accidentally touches electric vehicle or parking area when arranging parking stall
In the case where electric vehicle, it can also cause burglar alarm, this affects the living environment on electric vehicle periphery；Secondly, these antitheft controls
Device processed needs additionally to increase a large amount of related hardwares also to realize anti-theft function, considerably increases system hardware and software cost.
Therefore, a kind of electric vehicle anti-theft device and method rationally, scientific is designed, can better people's living environment, reduce electronic
Vehicle is stolen rate, has great importance.
Summary of the invention
The purpose of the present invention is intended to provide a kind of electric vehicle anti-theft device and its theft preventing method based on rotor positioning,
To overcome the disadvantages of traditional electric car security method is at high cost and False Rate is high.
In order to achieve the above objectives, the present invention use the technical solution adopted is that:
A kind of electric vehicle anti-theft device based on rotor positioning, the electric vehicle includes DC power supply, three-phase bridge
Inverter and brshless DC motor, the brshless DC motor are powered by the DC power supply, the three-phase bridge type converter with
The DC power supply is in parallel, and the three-phase output end of the three-phase bridge type converter is connected respectively the brshless DC motor
The three-phase windings of stator；The electric vehicle anti-theft device is made of current detection module and control module；Wherein, the electric current
Detection module includes the current collector being sequentially connected in series, Clark converter and Park converter, the input of the current collector
It terminates on the three-phase windings, the output end of the Park converter connects the input terminal of the control module；The control
Module include two comparators, two PID regulators, d shaft current give device, q shaft current give device, anti-Park converter and
SVPWM converter, two input terminals of one of comparator be separately connected d shaft current give device and Park converter and its
Output end connects the input terminal of one of PID regulator, two input terminals of another comparator be separately connected q shaft current to
Determine the input terminal that device connects another PID regulator with Park converter and its output end, the output end of two PID regulators
It is connected to the input terminal of anti-Park converter, the output end of anti-Park converter connects the input terminal of SVPWM converter,
The output end of SVPWM converter connects the control signal of the three-phase bridge type converter with output pwm signal.
Further, the three-phase bridge type converter is mainly made of six transistors, and six transistors are divided into three groups, often
Group transistor is in parallel with the DC power supply after connecting two-by-two；And the series connection node in every group between two transistors is described three
One phase output terminal of phase output terminal is correspondingly connected to a phase winding of the stator of the brshless DC motor；Every crystal
A control signal of the grid of pipe as the three-phase bridge type converter, connects the output end of the SVPWM converter.
Further, the current collector is current transformer or current sensor.
Further, the quantity of the current collector is one or three, for acquiring the three-phase windings of the stator
On electric current.
Further, the comparator is subtracter.
A kind of theft preventing method of the above-mentioned electric vehicle anti-theft device based on rotor positioning, comprising the following steps:
(1) d axis of the stator current of the brshless DC motor of electric vehicle in its two-phase synchronous rotary d-q coordinate system is given
On given current componentAnd the given current component on q axisθ=- 90 °, wherein iNFor the stator
Rated current, θ are the space bit angle setting of the rotor of the brshless DC motor；
(2) the actual current value i of the three-phase windings of the stator is acquired by the current collector of current detection moduleA、
iB、iC, by the three-phase windings actual current value iA、iB、iCPass sequentially through the Clark converter of the current detection module
After Clark transformation and the Park transformation of Park converter, the actual current component i of the d axis is obtaineddAnd the reality of the q axis
Border current component iq, then by two comparators of control module the given current component on the d axis is obtained respectivelyWith reality
Current component idDifference and the q axis on given current componentWith actual current component iqDifference after, be respectively fed to
In two PID regulators of the control module, the component of voltage u on the d axis is obtaineddWith the component of voltage on the q axis
uq, by udAnd uqAfter the anti-Park transformation of anti-Park converter, two perpendicular static α-of the brshless DC motor are obtained
Component of voltage u needed on α axis in β coordinate systemαWith component of voltage u required on β axisβ, by uα、uβIt is sent to the control
The SVPWM converter of module；
(3) three-phase bridge type converter that corresponding pwm pulse signal is sent into the electric vehicle is generated by SVPWM converter
In, so that the actual current component i on the d axisdAnd the actual current component i on the q axisqIt follows respectively given
WithSo that the stator generates corresponding magnetic field force effect, the rotor navigates to institute under magnetic field force effect
The corresponding position of stator is stated, brshless DC motor is locked, achievees the purpose that electric vehicle anti-theft.
Compared with prior art, the advantages of technical solution of the present invention and beneficial effect is:
1, the electric vehicle anti-theft device that the present invention uses, structure is simple, at low cost, by locking to rotor location technology
Dead axle can effectively prevent electric vehicle and be forced to shift, and the stolen rate of electric vehicle can be effectively reduced.
2, the three-phase actual current of stator is passed through Clark transformation and Park by the electric vehicle anti-theft method that the present invention uses
Transformation is converted to the actual current component on two-phase synchronous rotary d-q coordinate system d, q axis, and by the actual current on d-q axis
Difference between component and given current component passes through the adjusting of corresponding PID regulator respectively, obtains the voltage point on d, q axis
Amount, the voltage after carrying out anti-Park transformation to component of voltage, needed for obtaining on the α axis and β axis of two perpendicular static alpha-beta coordinate systems
Component, component of voltage of the SVPWM converter needed on α axis and β axis carry out PWM modulation, control to three-phase bridge type converter
Motor-locking, not only processing speed is fast, but also can improve d, q current tracking performance, simply and effectively locks electric vehicle, reaches anti-
The purpose of robber.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the electric vehicle anti-theft device based on rotor positioning of the specific embodiment of the invention；
Fig. 2 is the electric vehicle anti-theft method flow diagram based on rotor positioning of the specific embodiment of the invention.
Specific embodiment
With reference to the accompanying drawing to a kind of electric vehicle anti-theft device and its antitheft square based on rotor positioning of the invention
Method is described in further detail.
Referring to FIG. 1, the present embodiment provides a kind of electric vehicle anti-theft devices based on rotor positioning, for electronic
Vehicle carries out antitheft, wherein the electric vehicle 1 includes DC power supply, three-phase bridge type converter 2 and brshless DC motor 3, the nothing
Brushless motor 3 is powered by the DC power supply 1, and the three-phase bridge type converter 2 is in parallel with the DC power supply 1, and described three
The three-phase output end of phase bridge-type inverter 2 is connected respectively three-phase windings A, B, C of the stator of the brshless DC motor 3.
The three-phase bridge type converter 2 can be the three-phase inverter of single " into " three " out ", or three " into " three " out " three-phase
Inverter, " into " are the control signal of three-phase bridge type converter 2, and " out " is the phase output terminal of three-phase bridge type converter 2.
In the present embodiment, the three-phase bridge type converter 2 is mainly made of six transistor MOS1~MOS6, is divided into three groups: first
The source electrode of MOS1 in group with DC power supply 1 is in parallel again after the drain series of MOS4, and the series connection node between MOS1 and MOS4
N1 is connect with the A phase winding of the stator of the brshless DC motor；The source electrode of MOS3 in second group and the drain series of MOS6
DC power supply 1 is in parallel again afterwards, and the B phase of the stator of the series connection node N2 between MOS3 and MOS6 and the brshless DC motor around
Group connection；The source electrode of MOS5 in third group with DC power supply 1 is in parallel again after the drain series of MOS2, and MOS5 and MOS2 it
Between series connection node N3 connect with the C phase winding of the stator of the brshless DC motor.In addition, the grid conduct of every transistor
One control signal of the three-phase bridge type converter 2, connects the output of the SVPWM converter 58 of the control module 5
End.
The electric vehicle anti-theft device of the present embodiment is made of current detection module 4 and control module 5.
Wherein, the current detection module 4 includes current collector 41, Clark converter 42 and the Park being sequentially connected in series
Converter 43.The current collector 41 can be current transformer or current sensor, and quantity is 1 or 3, input
It terminates on described three-phase windings A, B, C, the electric current i on three-phase windings for acquiring the statorA、iB、iC.The Park
The output end of converter 43 connects the input terminal of the control module 5.
The control module 5 includes two comparators 53,54, and two PID regulators 55,56, d shaft current give device 51,
Q shaft current gives device 52, anti-Park converter 57 and SVPWM converter 58.Wherein, comparator 53,54 can be subtracter,
It is capable of the difference of two input current signals, two input terminals of comparator 53 are separately connected d shaft current and give device 51 and Park
Converter 43, output end connect the input terminal of PID regulator 55；Two input terminals of comparator 54 be separately connected q shaft current to
Determine device 52 and Park converter 43, output end connects the input terminal of PID regulator 56.The output end of two PID regulators 55,56
It is connected to the input terminal of anti-Park converter 57, the input of the output end connection SVPWM converter 58 of anti-Park converter 57
End, the output end of SVPWM converter 58 connect the control signal of the three-phase bridge type converter 2 with to three-phase bridge type converter
2 output pwm signals.
The electric vehicle anti-theft device that the present invention uses, structure is simple, at low cost, by locked to rotor location technology
Axle can effectively prevent electric vehicle and be forced to shift, and the stolen rate of electric vehicle can be effectively reduced.
Below with reference to apparatus structure schematic diagram shown in FIG. 1 and method flow diagram shown in Fig. 2 describe it is of the invention based on
Rotor positioning electric vehicle anti-theft device theft preventing method, the theft preventing method the following steps are included:
(1) device 51 is given by d shaft current and the given device 52 of q shaft current gives the stator of attached brushless DC motor of electric vehicle 3
Given current component of the electric current on the d axis in its two-phase synchronous rotary d-q coordinate systemGiven current component on q axisθ=- 90 °, wherein iNFor rated current of motor, θ is the space bit angle setting of the rotor of the brshless DC motor 3, i.e.,
For the rotor space position angle of the magnetic pole d axis relative stator A phase winding a axis of rotor；
(2) actual current value for controlling the three-phase windings of the stator follows given value, specific as follows:
(2.1) actual current of the three-phase windings of the stator is acquired by the current collector 41 of current detection module 4
Value iA、 iB、iC, that is, obtain the practical three-phase of stator in static (a, b, the c) coordinate system of three-phase symmetrical of brshless DC motor around
Group current value；
(2.2) by practical three-phase windings current value iA、iB、iCIt is sent into the Clark converter 42 of current detection module 4, is passed through
Wherein corresponding Clark converts to obtain the practical electricity of the stator two-phase in two perpendicular static alpha-beta coordinate systems of brshless DC motor
Flow component iαAnd iβ；
(2.3) two-phase actual current component iαAnd iβIt converts, obtains brushless straight by Park corresponding in Park converter 43
The practical flow component i of d axis in the two-phase synchronous rotary d-q coordinate system of the same frequency of galvanic electricity machinedAnd q axis actual current component iq；
(2.4) comparator 53 of control module 5 by step (1) giveWith the i in step (2.3)dMake difference to be sent into
PID regulator 55 obtains the component of voltage u on the d axisd, the comparator 54 of control module 5 i that step (1) is givenq *With
(2.3) i inqMake difference and be sent into PID controller 56, obtains the component of voltage u on the q axisq；
(2.5) by udAnd uqIt converts to obtain the two-phase by the anti-Park in the anti-Park converter 57 of control module 5 to hang down
In straight static alpha-beta coordinate system on α axis required component of voltage to uαWith component of voltage u required on β axisβ, it is sent into SVPWM converter 58；
(3) the SVPWM converter 58 of control module 5 is according to uα、uβCorresponding pwm pulse signal is generated, it is inverse to be sent into three-phase bridge
Become device 2, the turn-on time of its corresponding metal-oxide-semiconductor is controlled, so that practical component i of the stator current on d axisdAnd on q axis
Practical component iqIt follows respectively givenWithStator generates corresponding magnetic field force effect, electric vehicle brushless direct current during this
The rotor of motor can navigate to corresponding position under magnetic field force effect and lock, such as navigate to the position locking of A phase winding, from
And electric vehicle is locked, achieve the purpose that electric vehicle anti-theft.
The electric vehicle anti-theft method that the present invention uses can effectively prevent electric vehicle and be forced to shift, and by motor
Rotor fixed position technology locks axle, and the stolen rate of electric vehicle can be effectively reduced.
Claims (1)
1. it is a kind of based on rotor positioning electric vehicle anti-theft device theft preventing method, the electric vehicle include DC power supply,
Three-phase bridge type converter and brshless DC motor, the brshless DC motor are powered by the DC power supply, the three-phase bridge
Inverter is in parallel with the DC power supply, and the three-phase output end of the three-phase bridge type converter is connected respectively described brushless straight
The three-phase windings of the stator of galvanic electricity machine；The electric vehicle anti-theft device is made of current detection module and control module；Wherein,
The current detection module includes the current collector being sequentially connected in series, Clark converter and Park converter, the current acquisition
The input of device terminates on the three-phase windings, and the output end of the Park converter connects the input terminal of the control module；
The control module includes two comparators, two PID regulators, d shaft current gives device, q shaft current gives device, anti-Park becomes
Parallel operation and SVPWM converter, two input terminals of one of comparator are separately connected d shaft current and give device and Park transformation
Device and its output end connect the input terminal of one of PID regulator, and two input terminals of another comparator are separately connected q axis
Given value of current device connects the input terminal of another PID regulator with Park converter and its output end, two PID regulators it is defeated
Outlet is connected to the input terminal of anti-Park converter, and the output end of anti-Park converter connects the input terminal of SVPWM converter,
The output end of SVPWM converter connects the control signal of the three-phase bridge type converter with output pwm signal；The three-phase bridge
Formula inverter is mainly made of six transistors, and six transistors are divided into three groups, every group transistor connect two-by-two after with it is described straight
Flow power sources in parallel；And the series connection node in every group between two transistors is a phase output terminal of the three-phase output end, it is right
A phase winding of the stator of the brshless DC motor should be connected to；The grid of every transistor is inverse as the three-phase bridge
A control signal for becoming device, connects the output end of the SVPWM converter；The current collector is one or three electricity
Current transformer or one or three current sensors；The comparator is subtracter；It is characterized in that, the theft preventing method packet
Include following steps:
(1) stator current of the brshless DC motor of electric vehicle is given on the d axis in its two-phase synchronous rotary d-q coordinate system
Given current componentAnd the given current component on q axisθ=- 90 °, wherein iNFor the specified of the stator
Electric current, θ are the space bit angle setting of the rotor of the brshless DC motor；
(2) the actual current value i of the three-phase windings of the stator is acquired by the current collector of current detection moduleA、iB、iC,
By the three-phase windings actual current value iA、iB、iCThe Clark for passing sequentially through the Clark converter of the current detection module becomes
It changes with after the Park of Park converter transformation, obtains the actual current component i of the d axisdAnd the actual current of the q axis point
Measure iq, then by two comparators of control module the given current component on the d axis is obtained respectivelyWith actual current component
idDifference and the q axis on given current componentWith actual current component iqDifference after, be respectively fed to the control
In two PID regulators of module, the component of voltage u on the d axis is obtaineddWith the component of voltage u on the q axisq, by udWith
uqAfter the anti-Park transformation of anti-Park converter, two perpendicular static alpha-beta coordinate systems of the brshless DC motor are obtained
In α axis on needed for component of voltage uαWith component of voltage u required on β axisβ, by uα、uβIt is sent to the control module
SVPWM converter；
(3) corresponding pwm pulse signal is generated by SVPWM converter to be sent into the three-phase bridge type converter of the electric vehicle, make
Obtain the actual current component i on the d axisdAnd the actual current component i on the q axisqIt follows respectively givenWith
So that the stator generates corresponding magnetic field force effect, the rotor navigates to the stator under magnetic field force effect
Corresponding position, lock brshless DC motor, achieve the purpose that electric vehicle anti-theft.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610091294.2A CN105730561B (en) | 2016-02-18 | 2016-02-18 | A kind of theft preventing method of the electric vehicle anti-theft device based on rotor positioning |
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| CN201610091294.2A CN105730561B (en) | 2016-02-18 | 2016-02-18 | A kind of theft preventing method of the electric vehicle anti-theft device based on rotor positioning |
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| CN105730561A CN105730561A (en) | 2016-07-06 |
| CN105730561B true CN105730561B (en) | 2019-02-26 |
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| CN106597857A (en) * | 2017-01-09 | 2017-04-26 | 南京杰峰科技发展有限公司 | Control method of electric motorcycle controller through dynamic adjustment of switching frequency |
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| JP3982088B2 (en) * | 1998-12-17 | 2007-09-26 | 松下電器産業株式会社 | Bicycle lock drive motor control device |
| CN202617060U (en) * | 2012-04-28 | 2012-12-19 | 东南大学 | Control system of variable speed constant frequency double-rotor permanent magnetic wind power generation system |
| CN103412481A (en) * | 2013-08-13 | 2013-11-27 | 江苏大学 | Construction method for active-disturbance-rejection controller of hybrid electric vehicle BSG system |
| 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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2016
- 2016-02-18 CN CN201610091294.2A patent/CN105730561B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3982088B2 (en) * | 1998-12-17 | 2007-09-26 | 松下電器産業株式会社 | Bicycle lock drive motor control device |
| CN202617060U (en) * | 2012-04-28 | 2012-12-19 | 东南大学 | Control system of variable speed constant frequency double-rotor permanent magnetic wind power generation system |
| CN103412481A (en) * | 2013-08-13 | 2013-11-27 | 江苏大学 | Construction method for active-disturbance-rejection controller of hybrid electric vehicle BSG system |
| 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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Effective date of registration: 20190411 Address after: No. 3 Shangyang Road, Jingkou District, Zhenjiang City, Jiangsu Province, 2016 Patentee after: Zhenjiang Fangyuan Intelligent Technology Co., Ltd. Address before: 212003 Mengxi Road, Jingkou District, Zhenjiang, Jiangsu Province, No. 2 Patentee before: Jiangsu University of Science and Technology |