CN106080265A - All-wheel powered farmland electric three-wheel vehicle control and control method in good time - Google Patents

All-wheel powered farmland electric three-wheel vehicle control and control method in good time Download PDF

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Publication number
CN106080265A
CN106080265A CN201610552979.2A CN201610552979A CN106080265A CN 106080265 A CN106080265 A CN 106080265A CN 201610552979 A CN201610552979 A CN 201610552979A CN 106080265 A CN106080265 A CN 106080265A
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China
Prior art keywords
wheel
signal
deviation
tricycle
control unit
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CN201610552979.2A
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CN106080265B (en
Inventor
艾长胜
武德林
王鲁川
孙选
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Shandong Crowd And Equipment For Plant Protection Co Ltd By Shares
University of Jinan
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Shandong Crowd And Equipment For Plant Protection Co Ltd By Shares
University of Jinan
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    • 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
    • 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
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • 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
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—Speed
    • 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
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/28—Four wheel or all wheel drive
    • 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)
  • Automatic Cycles, And Cycles In General (AREA)

Abstract

The invention discloses in good time all-wheel powered farmland electric three-wheel vehicle control and control method, control unit judges whether in the deviation range set according to gathering the rate signal come, when deviation ratio reaches setting value, control unit controls tricycle front-wheel and starts to drive, and increases power to improve the numerical value of deviation；When entering a11wheel drive, every the time detecting deviation numerical value set, when deviateing numerical value still greater than setting value, judge after the time that will again wait for setting, until the data of signal processing less than setting value i.e. front and back wheel stably exports time, control unit abandons front-wheel drive automatically, only tricycle is carried out rear wheel drive, and calculate overall movement speed according to each position velometer, according to speed calculation and perform spraying or the consumption of broadcast application.Whether automatically select a11wheel drive, reduce power consumption, reasonable distribution auxiliary activities power, improve medicine fertilizer utilization rate.

Description

All-wheel powered farmland electric three-wheel vehicle control and control method in good time
Technical field
The present invention relates to automation control area, particularly relate to a kind of all-wheel powered farmland electro-tricycle in good time and control System and control method.
Background technology
Along with World Economics development, science and technology is all being constantly changing with environment, continuous to environmental consciousness of people Improve, wherein there occurs great transformation at traffic transport industry, the automobile industry such as Toyota, masses, general, Ford take the lead enterprise Industry successively carries out the change restructuring of production industry, has eliminated the brand and product of the highest oil consumption, makees with new-energy automobile energy-conservation For enterprise product, the most important thing that energy-conservation and new-energy automobile are researched and developed as enterprise product.
Electro-tricycle product by it is energy-conservation, practical, environmental protection, the superiority such as convenient, economic, in each department particularly Small towns, rural area, and the electric motor car such as regional market between urban and rural areas rapidly increases, vista car, be also applied to each neck Territory, and play the most important effect in China, nowadays with following quite a while, people focus on environmental protection, emphasis Energy-conservation theory increases day by day, and electro-tricycle environmental protection, the advantage of convenient practicality highlight day by day, and the market demand is the highest at home Rise.
China's Mechanization Technique is at the early-stage, especially agricultural electromechanization, and geographical environment and national conditions etc. are multiple former Cause, the farmland production of China manages still based on labor management, and Mechanization Level is the most backward.Real applicable Geomorphology of China Farming machine is considerably less.On the one hand China's crop acreage division line-spacing is limited, and the soil of individual work is more, medium-and-large-sized Agricultural machinery cannot be carried out operation.Big-and-middle-sized equipment for plant protection kind on market is more, specification is also the most complete.But really adapt to At present agricultural production the most little.
But undeniable electronic automatization enters agricultural from industry.China's field management is mainly with hand spray now Device, hand pedal formula and knapsack electric sprayer are main.This aerosol apparatus labor intensity is big, labor efficiency is low, pesticide utilizes Rate is low, and crop growth needs fertilising of repeatedly going and buy Chinese medicine, and to spray the most at once, and requires medicinal liquid spray as much as possible It is sprinkled upon on the leaf of crop.So, manual hydraulic spray labor intensity is big, and the medicinal liquid of ejection is uneven, and diffusivity is poor, increases medicine Thing remain, directly affect grain crops quality and yield, thus affect the development of whole industry, cannot meet at all grain, The demand of melon and fruit industry fast development.
China is large agricultural country, technology, economy, the modernization development of culture, but China's agricultural major part is also It is in small collectives even self-employed entrepreneurs's production phase, is planting, apply fertilizer, managing crops, particularly paddy field crops, working environment Arduous, and the inefficient development greatly affecting China productivity.
Summary of the invention
The purpose of the present invention is contemplated to solve the problems referred to above, it is provided that a kind of all-wheel powered farmland electro-tricycle in good time Control system and control method, it is achieved in farmland operation, tricycle is according to the most in good time control of real work parameter and excellent Change, to overcome the external environment conditions such as road muddy in farmland that walking and auxiliary activities are had a strong impact on, automatically select full wheel driving Whether move, reduce power consumption, reasonable distribution auxiliary activities power, improve medicine fertilizer utilization rate.
To achieve these goals, the present invention adopts the following technical scheme that
All-wheel powered farmland electro-tricycle control method in good time, including,
Control unit judges whether in the deviation range set according to gathering the rate signal come, when deviation ratio reaches During setting value, control unit controls tricycle front-wheel and starts to drive, and increases power to improve the numerical value of deviation；
When entering a11wheel drive, every the time detecting deviation numerical value set, when deviateing numerical value still greater than setting value, Will again wait for set time after judge, until signal processing data less than setting value i.e. front and back wheel stably exports time, control Unit processed abandons front-wheel drive automatically, tricycle only carries out rear wheel drive, and calculates overall shifting according to each position velometer Dynamic speed, according to speed calculation and perform spraying or the consumption of broadcast application.
Deviation interval is set to gathering the front-wheel steer angle come, gathers data and during change, adopt in deviation is interval simultaneously Collecting the instantaneous velocitys of three wheels, be converted into current wheel linear velocity, the instantaneous average speed of two trailing wheels is equal to the instantaneous speed of front-wheel The product of the cosine value of degree and front-wheel actual steering angle β, front-wheel steer angle the biggest trailing wheel average speed is the least.
Deviation interval is, the instantaneous average speed of two trailing wheels front-wheel component velocity forward 1/2nd and 3/2nds it Between.
When detecting that each speed taken turns, not when deviation is interval, judges to prevent letter after a period of time that interval sets again The error of number shake, if the most not in deviation is interval, it will be driven front-wheel automatically, after the wait setting time again The deviation state of secondary judgement wheel velocity, until only driving trailing wheel when deviateing in interval.
Rising rapidly or during dramatic decrease gathering the hall signal that gives, output speed signal can not be immediately with suddenly That signal intensity, sets the hall signal gathered as desired value, it is determined that currency and desired value size, the most defeated when desired value is big Go out current speed and add certain rating number, otherwise export current speed and deduct this rating number, return mastery routine, main journey Sequence meeting Automatic Cycle, entrance judges next time, exports, this completes the trapezoidal acceleration of control signal.
When control unit detects any brake signal, stop all outputs driving signal, and light brake lamp.
Use the control system of described in good time all-wheel powered farmland electro-tricycle control method, including control unit, Signal gathering unit is connected with the input of control unit, and the outfan of control unit connects front-wheel isolator and digital-to-analogue conversion list Connecting front wheel drive after unit, front wheel drive is connected with front turbin generator, and the outfan of control unit is also connected with rear wheel isolator With connection rear wheel drive device after D/A conversion unit, rear wheel drive device is connected with rear-wheel motor；
Described control unit is also connected with memorizer；The output of electrokinetic cell is system power supply after Voltage stabilizing module.
Described signal gathering unit include the left speed probe of front wheel rotation speed sensor, trailing wheel, the right speed probe of trailing wheel, Handle Hall element, turn to encoder, brake sensor.
Described signal gathering unit connects the input of control unit after connecting analog-to-digital conversion module.
Front-wheel isolator and rear wheel isolator include that single channel π type filters optocoupler interface circuit, including port I+ and I-, port Series resistance R3 between I+ and an input of photoelectrical coupler, port I-is connected with another input of photoelectrical coupler, end Series resistance R4 and light emitting diode D3 between mouth I+ and I-, an outfan of described photoelectrical coupler is simultaneously connected with resistance R5's One end and the negative pole of light emitting diode D2, one end of the other end of resistance R5 connecting resistance R6 simultaneously and one end of electric capacity C1, resistance The other end of R6 leaves outfan O1, simultaneously ground connection after another termination capacitor C2 of R6, the other end ground connection of electric capacity C1；Luminous two The negative pole series resistor R2 of pole pipe D2 is followed by power supply.
Beneficial effects of the present invention:
Realize tricycle in farmland operation according to the most in good time control of real work parameter and optimization, to overcome farmland In the external environment condition such as muddy road walking and auxiliary activities are had a strong impact on, whether automatically select a11wheel drive, reduce merit Consumption, reasonable distribution auxiliary activities power, improve medicine fertilizer utilization rate.
The advantages such as in good time the electro-tricycle comprehensive automation of a11wheel drive farmland, high power, clean energy resource, improve agricultural Modernization, laborsaving to peasant, save non-renewable resource to country, also reduce the practical cost of peasant simultaneously, also will promote Enter the development of China's mechanical industry, agricultural automation.
Accompanying drawing explanation
Fig. 1 is that single channel π type provided by the present invention filters optocoupler interface circuit design schematic diagram；
Fig. 2 is the basic observing and controlling block diagram of main control unit provided by the present invention；
Fig. 3 is three-wheel motion analysis speed vector figure provided by the present invention；
Fig. 4 is the automatic control flow chart figure that tricycle provided by the present invention is basic；
Fig. 5 is that curve is analyzed in the control of trapezoidal acceleration program provided by the present invention；
Fig. 6 is in good time a11wheel drive electro-tricycle walking function structure diagram provided by the present invention.
Wherein, 1. hall signal, 2. export the dutycycle of PWM.
Detailed description of the invention
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
As shown in Figure 2 and Figure 6, in good time all-wheel powered farmland electric three-wheel vehicle control, including control unit, signal Collecting unit is connected with the input of control unit, after the outfan of control unit connects front-wheel isolator and D/A conversion unit Connecting front wheel drive, front wheel drive is connected with front turbin generator, and the outfan of control unit is also connected with rear wheel isolator sum Connecting rear wheel drive device after mould converting unit, rear wheel drive device is connected with rear-wheel motor；The outfan of control unit is also connected with spreading Fertile motor drives and farm chemical spray pump motor drives；
Described control unit is also connected with memorizer；The output of electrokinetic cell is system power supply after Voltage stabilizing module.
Described signal gathering unit include the left speed probe of front wheel rotation speed sensor, trailing wheel, the right speed probe of trailing wheel, Handle Hall element, turn to encoder, brake sensor.
Described signal gathering unit connects the input of control unit after connecting analog-to-digital conversion module.
Be illustrated in figure 1 single channel π type filtering optocoupler interface circuit design schematic diagram, including port I+ and I-, port I+ and Series resistance R3 between one input of photoelectrical coupler, port I-is connected with another input of photoelectrical coupler, port I+ And series resistance R4 and light emitting diode D3 between I-, an outfan of described photoelectrical coupler is simultaneously connected with one end of resistance R5 With the negative pole of light emitting diode D2, one end of the other end of resistance R5 connecting resistance R6 simultaneously and one end of electric capacity C1, resistance R6's The other end leaves outfan O1, simultaneously ground connection after another termination capacitor C2 of R6, the other end ground connection of electric capacity C1；Light emitting diode The negative pole series resistor R2 of D2 is followed by power supply.
Current driver for brushless DC motor rate signal many employings analogue signal is given, and (analogue signal has the most directly perceived And the easy advantage such as realization), and control unit oneself only has two DAC (digital-to-analogue conversion output), for multi signal analog circuit Control to be accomplished by other forms and export and be converted into analogue signal, and be most commonly that the PWM utilizing control unit output more Signal.Pwm signal is the digital signal that one has fixed cycle (T) indefinite dutycycle (τ).If the dutycycle of pwm signal Change over, will be the analogue signal of amplitude change by the output signal after filtering.Therefore by controlling pwm signal Dutycycle, it is possible to produce different analogue signals, i.e. DAC exports.Signal output PWM count word signal interface circuit to be passed through enters Utilize stable analogue signal could drive the steady steady running of each motor after the effect such as row π type isolation filter amplification.So Design suitable interface circuit and isolate to realize master controller and driver electrical equipment, only carry out the transmission between signal.
Main control unit is the essential core unit realizing electric control product as shown in Figure 2, is equivalent to the brain of human body；Gather letter Number it is equivalent to the perception positions such as the eye of people, nose, ear；The design driven then represents installs both hands both feet to electric control product Deng.Main control unit mainly completes after each task then needs the signal that collection is next is calculated, processed and exports control accordingly Signal, and then control whole system.
The present invention includes: the calculating gathering signal processes part and the output control part of control process signal.
The calculating process part gathering signal includes monitoring and calculating process, the front-wheel steer system in real time of Hall handle signal The monitoring of system and calculating process, front-wheel and the monitoring of rear-wheel motor hall signal and calculating process, brake signal monitoring and process etc..
The wherein the most available common shown Hall pedal of electric switch signal, angle difference can export different ground electric switch letters Number, pin corresponding in linker enters the AD acquisition module of main control unit, responds through certain proportion after entrance Control.
Front-wheel steer axle and encoder, by the engagement of Tong Bu wheel Timing Belt, utilize the encoder can be to handlebar rotational displacement Or current location information is changed into electric impulse signal accurately, it is delivered to controller with the signal of telecommunication, writes correspondence at controller Reception program, completes the collection of front-wheel velocity attitude information.
Collection front and back wheel simple effective method is the mutual of the communication between intercepting motor and motor driver at present Signal is measured current motor rotating speed.Tricycle operationally, when user such as runs into roadblock or other demands need to stop, behaviour Author can step on brake, uses brake power-off switch, and brake switch is moving together contact, no matter entering tricycle under what circumstances During row brake, the contact of brake switch is released, and brake switch closes, and when brake, the sensing foot of controller is pulled low, and controls Brake signal learnt by device (main control module), and stops all driving signal outputs, the loss even accident of energy when reducing brake Generation；Brake lamp two ends occur that voltage difference, brake lamp are also lit simultaneously.
All-wheel powered farmland electro-tricycle control method in good time, for completing above in good time all-wheel powered tricycle For, allow controller know when to take a11wheel drive, this will use the next input signal that gathers of each signal, control The signal data that diverse location collection is come by unit compares with actual ideal operation situation binding analysis, certain signal number the most selected According to the numerical value of the deviation after processing and between desired quantity, when the number ratios of deviation reaches a setting value, by controller control Tricycle front-wheel processed starts to drive, and increases power to improve the numerical value of deviation, when entering a11wheel drive, can set every one Time will detect deviation numerical value when deviation value is still above setting value, will judge after again waiting for the time set, until letter Number data processed less than setting value i.e. front and back wheel stably exports time, controller abandons front-wheel drive automatically, thus only to three-wheel Car carries out rear wheel drive, reduces loss of electric machine when running in flat road surface.And calculate overall shifting according to each position velometer Dynamic speed, according to speed calculation the consumption that performs spraying and broadcast application.
As it is shown on figure 3, utilize the data of the rate signal collection of diverse location to carry out in the controller in actual control Data below process, and with actual binding analysis.Actual steering angle β is gone out for turn signal data correspondence, owing to wheel exists When turning to, two trailing wheel average speeds are perpendicular to the radius of two-wheeled center of rotation all the time.Again can by the front-wheel steer angle that collection is come Reasonable interval is set, when collection data change in reasonable interval, gathers the real-time instantaneous velocitys of three wheels simultaneously, be converted into Current wheel linear velocity, the corresponding different angle information of the data that the turn signal of front-wheel gathers, the biggest trailing wheel of front wheel angle is put down All speed will be the least, have figure can draw below equation in theory
Wherein β actual steering angle VAveragelyTwo instantaneous trailing wheel average speeds when being to run, namely rear-wheel motor slows down After speed.VBeforeIt it is the instantaneous velocity of front-wheel.V1It it is the most instantaneous component velocity of relative car body of front-wheel.V2、V3After being respectively Instantaneous velocity on the right of the wheel left side and trailing wheel.
Often there is difference with gross data in the detection signal of each wheel speed of tricycle, can be set up by above formula Contact and arrange deviation range, the deviation of actual motion exceed zone of reasonableness, controller perception at short notice fast reaction, Control to drive front-wheel output.Same with V1、V2、V3Represent what front-wheel velocity component forward, left rear wheel, off hind wheel rotated respectively Instantaneous velocity, T1, T2 are the adjustable timing time.The rate signal that tricycle collection comes i.e. can determine that deviation numerical value through processing, If account for the 50% of component velocity forward with tricycle front-wheel component velocity forward and trailing wheel average speed difference, namely trailing wheel Average speed is between 1/2nd and 3/2nds of component velocity forward.That is:
V 1 2 < V 2 + V 3 2 < 3 V 1 2
After abbreviation it is: V1＜ V2+V3＜ 3V1
In tricycle walking process, general electric switch control signal can directly drive back axle motor, starts walking, and signal is adopted The data that collection comes can process and calculate current each wheel speed, and when detecting that each wheel speed does not meets above formula, meeting exists Closely spaced a period of time judges that speed prevents the error of signal jitter again, if still not meeting above formula, it will the most right Front-wheel is driven, and again judges the deviation state of wheel velocity after waiting for a period of time.Automatically control the flow process of differentiation such as Shown in Fig. 4.And when when receiving brake signal, controller quickly responds, stop all drive signals outputs (also dependent on Front and back wheel speed drives to accelerate retro-speed suitably to the signal of telecommunication contrary with current rotating speed).
Rising rapidly or during dramatic decrease gathering the hall signal that gives, output speed signal can not be immediately with suddenly That signal intensity, can set the hall signal of collection as desired value, it is determined that currency and desired value size, when desired value is big just Export current speed and add certain rating number, otherwise export current speed and deduct this rating number, return mastery routine, main Program meeting Automatic Cycle, entrance judges next time, exports.This completes the trapezoidal acceleration of control signal.Remind and accelerate to analyze Figure as it is shown in figure 5, wherein 1 line represent be hall signal, 2 refer to lines represent output PWM dutycycle.
Only processing and export this intermediate link system through control system could be properly functioning.Main control part is by car Each several part module close ties are got up, and obtain information from each module or are controlled each module.Perception is gone to need brain Process, just can have the support of mechanical part, execution.So control system programming task be tricycle can be automatically in good time complete The core of wheel drive design.The in good time a11wheel drive electro-tricycle walking merit that control flow according to car load electric power signal is drawn Energy structure diagram is as indicated with 6.Only set up a process performance superior, quick accordingly, action control system accurately, Cai Nengcong " eye, nose, ear " is delivered to " brain " the complete and stable control system responded with trick.
Although the detailed description of the invention of the present invention is described by the above-mentioned accompanying drawing that combines, but not the present invention is protected model The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art are not Need to pay various amendments or deformation that creative work can make still within protection scope of the present invention.

Claims (10)

1. in good time all-wheel powered farmland electro-tricycle control method, is characterized in that, including,
Control unit judges whether in the deviation range set according to gathering the rate signal come, when deviation ratio reaches to set During value, control unit controls tricycle front-wheel and starts to drive, and increases power to improve the numerical value of deviation；
When entering a11wheel drive, every the time detecting deviation numerical value set, when deviateing numerical value still greater than setting value, will again Secondary wait the time set after judge, until the data of signal processing less than setting value i.e. front and back wheel stably exports time, control single Unit abandons front-wheel drive automatically, tricycle only carries out rear wheel drive, and calculates overall movement speed according to each position velometer Degree, according to speed calculation and perform spraying or the consumption of broadcast application.
2. the most in good time all-wheel powered farmland electro-tricycle control method, is characterized in that, carrys out collection Front-wheel steer angle arranges deviation interval, gathers data and during change, gathers the instantaneous velocity of three wheels in deviation is interval simultaneously, Being converted into current wheel linear velocity, the instantaneous average speed of two trailing wheels is equal to the instantaneous velocity of front-wheel and front-wheel actual steering angle The product of the cosine value of β, front-wheel steer angle the biggest trailing wheel average speed is the least.
3. the most in good time all-wheel powered farmland electro-tricycle control method, is characterized in that, deviation interval For the instantaneous average speed of, two trailing wheels between 1/2nd and 3/2nds of front-wheel component velocity forward.
4. the most in good time all-wheel powered farmland electro-tricycle control method, is characterized in that, each when detecting The speed of wheel, not when deviation is interval, judges to prevent the error of signal jitter, again if also after a period of time that interval sets It is not in deviation is interval, it will automatically front-wheel is driven, after waiting the setting time, again judges wheel velocity Deviation state, until only driving trailing wheel when deviateing in interval.
5. the most in good time all-wheel powered farmland electro-tricycle control method, is characterized in that, gives gathering Fixed hall signal rises or during dramatic decrease rapidly, and output speed signal can not change with hall signal immediately, and setting is adopted The hall signal integrated is as desired value, it is determined that currency and desired value size, just exports current speed when desired value is big and adds Certain rating number, on the contrary export current speed and deduct this rating number, return mastery routine, mastery routine meeting Automatic Cycle, enter Enter to judge next time, export, this completes the trapezoidal acceleration of control signal.
6. the most in good time all-wheel powered farmland electro-tricycle control method, is characterized in that, control unit is examined When measuring any brake signal, stop all outputs driving signal, and light brake lamp.
7. use the control system of all-wheel powered farmland electro-tricycle control method in good time described in claim 1, its feature That, including control unit, signal gathering unit is connected with the input of control unit, the outfan of control unit connect front-wheel every Connecting front wheel drive after device and D/A conversion unit, front wheel drive is connected with front turbin generator, the outfan of control unit Connecting rear wheel drive device after being also connected with rear wheel isolator and D/A conversion unit, rear wheel drive device is connected with rear-wheel motor；
Described control unit is also connected with memorizer；The output of electrokinetic cell is system power supply after Voltage stabilizing module.
8. as claimed in claim 7 control system, is characterized in that, described signal gathering unit include front wheel rotation speed sensor, after Take turns left speed probe, the right speed probe of trailing wheel, handle Hall element, turn to encoder, brake sensor.
9. control system as claimed in claim 7, is characterized in that, described signal gathering unit connects after connecting analog-to-digital conversion module The input of control unit.
10. control system as claimed in claim 7, is characterized in that, front-wheel isolator and rear wheel isolator include that single channel π type filters Optocoupler interface circuit, including port I+ and I-, series resistance R3 between port I+ and an input of photoelectrical coupler, port I- It is connected with another input of photoelectrical coupler, series resistance R4 and light emitting diode D3, described photoelectricity between port I+ and I- One outfan of bonder is simultaneously connected with one end and the negative pole of light emitting diode D2 of resistance R5, and the other end of resistance R5 connects simultaneously One end of resistance R6 and one end of electric capacity C1, the other end of resistance R6 leaves outfan O1, simultaneously another termination capacitor C2 of R6 Rear ground connection, the other end ground connection of electric capacity C1；The negative pole series resistor R2 of light emitting diode D2 is followed by power supply.
CN201610552979.2A 2016-07-14 2016-07-14 The farmland electric three-wheel vehicle control and control method of in due course a11wheel drive Expired - Fee Related CN106080265B (en)

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CN110127483A (en) * 2019-05-28 2019-08-16 苏州台菱电梯有限公司 A kind of elevator faults rescue system
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