CN106248984B - A kind of driving motor is the electric bicycle current mode vehicle speed measurement method and measuring device of permanent magnet synchronous motor - Google Patents
A kind of driving motor is the electric bicycle current mode vehicle speed measurement method and measuring device of permanent magnet synchronous motor Download PDFInfo
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- CN106248984B CN106248984B CN201610586875.3A CN201610586875A CN106248984B CN 106248984 B CN106248984 B CN 106248984B CN 201610586875 A CN201610586875 A CN 201610586875A CN 106248984 B CN106248984 B CN 106248984B
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- electric bicycle
- speed
- driving motor
- vehicle speed
- permanent magnet
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
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- General Physics & Mathematics (AREA)
- Control Of Electric Motors In General (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
A kind of driving motor is the electric bicycle current mode vehicle speed measurement method and measuring device of permanent magnet synchronous motor, including current sensor, signal amplifier, filter, speed estimator and serial ports output module.Current sensor acquires the single-phase winding current of electric bicycle driving motor, and collected signal passes through signal amplifier and filter process, is sent into speed estimator, estimates by speed estimator, and electric bicycle speed is exported by serial ports output module.The beneficial effects of the present invention are: being research object by the electric bicycle of permanent magnet synchronous motor of driving motor, propose electric bicycle current mode vehicle speed measurement method and measuring device, it solves the problems, such as that electric bicycle tests the speed, while improving the reliability of velocity-measuring system.
Description
Technical field
The present invention relates to a kind of driving motor be permanent magnet synchronous motor electric bicycle current mode vehicle speed measurement method and
Measuring device.
Background technique
In recent years, electric bicycle is increasingly becoming the first choice of people's trip.On the market, due to permanent magnet synchronous motor
Have the characteristics that small in size, power density is high, is widely used as electric bicycle driving motor.Accurately to electric bicycle
As one of electric bicycle necessary functions.Current achievement has: current achievement has: Authorization Notice No. CN102087297B
Patent " bicycle speed measuring system " propose a kind of vehicle speed measuring device, however, needing optical-electric module in the device
Auxiliary completes the measurement process that tests the speed, and it reduce the reliabilities of velocity-measuring system.
Summary of the invention
In order to overcome the shortage of prior art, the present invention provide it is a kind of for driving motor be permanent magnet synchronous motor it is electronic from
Driving current mode vehicle speed measurement method and measuring device, due to not needing photoelectricity mechanism, thus reliability in this method and device
It is improved significantly.
The technical solution adopted by the present invention to solve the technical problems the following steps are included:
The first step acquires the single-phase winding current y of electric bicycle driving motor；
Second step constructs observer
Wherein,WithRespectively observer state variable 1 and state variable 2；Y is electric bicycle driving motor two-phase
Between winding voltage；The parameter observed by observer；k1For control parameter 1, value range is 0~100000；k2For control ginseng
Number 2, value range are 0~100000；L2For control parameter 3, value range is 0~100000；Γ is control parameter 4, value
Range is 0~100000；
Third step calculates electric bicycle speedWherein,For bicycle speed；It is observed by observer
Parameter.
The present invention also provides following speed measuring devices: including current sensor, signal amplifier, filter, speed estimation
Device and serial ports output module.Current sensor acquires the single-phase winding current of electric bicycle driving motor, collected signal warp
Signal amplifier and filter process are crossed, speed estimator is sent into, is estimated by speed estimator, electric bicycle speed is passed through
The output of serial ports output module.
The beneficial effects of the present invention are: being research object by the electric bicycle of permanent magnet synchronous motor of driving motor, mention
Electric bicycle current mode vehicle speed measurement method and measuring device are gone out, have solved the problems, such as that electric bicycle tests the speed, improve simultaneously
The reliability of velocity-measuring system.
Detailed description of the invention
Fig. 1 is electric bicycle current mode speed-measuring method flow chart.
Fig. 2 is electric bicycle current mode speed measuring device.
In figure, 1-current sensor, 2-signal amplifiers, 3-filters, 4-speed estimators, the output of 5-serial ports
Module.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in Figure 1, the present invention the following steps are included:
The first step acquires the single-phase winding current y of electric bicycle driving motor, goes to second step.；
Second step constructs observer
Wherein,WithRespectively observer state variable 1 and state variable 2；Y is electric bicycle driving motor two-phase
Between winding voltage；The parameter observed by observer；k1For control parameter 1 (value range is 0~100000)；k2For control
Parameter 2 (value range is 0~100000)；L2For control parameter 3 (value range is 0~100000)；Γ is control parameter 4
(value range is 0~100000)；Go to third step.
Third step calculates electric bicycle speedWherein,For bicycle speed；It is observed by observer
Parameter.
As shown in Fig. 2, the present invention also provides following speed measuring devices: including current sensor 1, signal amplifier 2, filtering
Device 3, speed estimator 4 and serial ports output module 5.Current sensor 1 acquires the single-phase winding current of electric bicycle driving motor,
Collected signal is handled by signal amplifier 2 and filter 3, is sent into speed estimator 4, is estimated by speed estimator 4,
Electric bicycle speed is exported by serial ports output module 5.
Claims (2)
1. the electric bicycle current mode vehicle speed measurement method that a kind of driving motor is permanent magnet synchronous motor, it is characterised in that including
Following step:
The first step acquires the single-phase winding current y of electric bicycle driving motor；
Second step constructs observer
Wherein,WithRespectively observer state variable 1 and state variable 2；Y is electric bicycle driving motor two-phase spaced winding
Group voltage；The parameter observed by observer；k1For control parameter 1, value range is 0~100000；k2For control parameter 2,
Value range is 0~100000；L2For control parameter 3, value range is 0~100000；Γ is control parameter 4, value range
It is 0~100000；
Third step calculates electric bicycle speedWherein,For bicycle speed；The ginseng observed by observer
Number.
2. a kind of vehicle speed measurement device using claim 1 the method, including current sensor, signal amplifier, filtering
Device, speed estimator and serial ports output module, it is characterised in that: current sensor acquire electric bicycle driving motor it is single-phase around
Group electric current, collected signal pass through signal amplifier and filter process, are sent into speed estimator, estimate by speed estimator
Meter, electric bicycle speed are exported by serial ports output module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610586875.3A CN106248984B (en) | 2016-07-25 | 2016-07-25 | A kind of driving motor is the electric bicycle current mode vehicle speed measurement method and measuring device of permanent magnet synchronous motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610586875.3A CN106248984B (en) | 2016-07-25 | 2016-07-25 | A kind of driving motor is the electric bicycle current mode vehicle speed measurement method and measuring device of permanent magnet synchronous motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106248984A CN106248984A (en) | 2016-12-21 |
| CN106248984B true CN106248984B (en) | 2019-06-07 |
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| CN201610586875.3A Active CN106248984B (en) | 2016-07-25 | 2016-07-25 | A kind of driving motor is the electric bicycle current mode vehicle speed measurement method and measuring device of permanent magnet synchronous motor |
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Citations (11)
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| JPH08113184A (en) * | 1994-10-14 | 1996-05-07 | Sanyo Electric Co Ltd | Motor driven bicycle |
| DE102007034311A1 (en) * | 2006-07-28 | 2008-01-31 | Salomon S.A. | Vehicle i.e. two-wheel bicycle, speed measuring device, has counter that is installed on frame, and has unit for transferring data to computer, where unit for data transfer consists of universal serial bus pin integrated into counter |
| CN101881630A (en) * | 2010-06-07 | 2010-11-10 | 河南理工大学 | Method and device for measuring running distance and speed of long-stroke permanent magnet liner synchronous motor |
| CN101975868A (en) * | 2010-08-23 | 2011-02-16 | 大连交通大学 | Velocity measurement system of track bicycle |
| CN102087297A (en) * | 2009-12-02 | 2011-06-08 | 帆宣系统科技股份有限公司 | Bicycle speed measuring system |
| CN103592455A (en) * | 2013-10-30 | 2014-02-19 | 江苏科技大学 | Digital detection device and method for speed of electric bicycle |
| CN103600666A (en) * | 2013-11-13 | 2014-02-26 | 苏州天擎电子通讯有限公司 | Automatic cruising device used for electric bicycle |
| CN204255973U (en) * | 2014-12-08 | 2015-04-08 | 天津杰明车业有限公司 | A kind of electric bicycle velocity-measuring system |
| CN204302304U (en) * | 2014-12-18 | 2015-04-29 | 南通恒鼎重型机床有限公司 | SCM Based bicycle speed measuring system |
| CN105067007A (en) * | 2015-07-24 | 2015-11-18 | 湖北文理学院 | Bicycle speed measurement apparatus |
| GB2530380A (en) * | 2014-07-17 | 2016-03-23 | Bosch Gmbh Robert | Device and method for generating a speed value |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2433097B1 (en) * | 2010-10-15 | 2013-04-03 | AR Innovation AG | Sensor apparatus and method for determining pedalling cadence and travelling speed of a bicycle |
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2016
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|---|---|---|---|---|
| JPH08113184A (en) * | 1994-10-14 | 1996-05-07 | Sanyo Electric Co Ltd | Motor driven bicycle |
| DE102007034311A1 (en) * | 2006-07-28 | 2008-01-31 | Salomon S.A. | Vehicle i.e. two-wheel bicycle, speed measuring device, has counter that is installed on frame, and has unit for transferring data to computer, where unit for data transfer consists of universal serial bus pin integrated into counter |
| CN102087297A (en) * | 2009-12-02 | 2011-06-08 | 帆宣系统科技股份有限公司 | Bicycle speed measuring system |
| CN101881630A (en) * | 2010-06-07 | 2010-11-10 | 河南理工大学 | Method and device for measuring running distance and speed of long-stroke permanent magnet liner synchronous motor |
| CN101975868A (en) * | 2010-08-23 | 2011-02-16 | 大连交通大学 | Velocity measurement system of track bicycle |
| CN103592455A (en) * | 2013-10-30 | 2014-02-19 | 江苏科技大学 | Digital detection device and method for speed of electric bicycle |
| CN103600666A (en) * | 2013-11-13 | 2014-02-26 | 苏州天擎电子通讯有限公司 | Automatic cruising device used for electric bicycle |
| GB2530380A (en) * | 2014-07-17 | 2016-03-23 | Bosch Gmbh Robert | Device and method for generating a speed value |
| CN204255973U (en) * | 2014-12-08 | 2015-04-08 | 天津杰明车业有限公司 | A kind of electric bicycle velocity-measuring system |
| CN204302304U (en) * | 2014-12-18 | 2015-04-29 | 南通恒鼎重型机床有限公司 | SCM Based bicycle speed measuring system |
| CN105067007A (en) * | 2015-07-24 | 2015-11-18 | 湖北文理学院 | Bicycle speed measurement apparatus |
Non-Patent Citations (1)
| Title |
|---|
| 《电动车测速报警系统》;范爱华;《微计算机应用》;20110531;第32卷(第5期);全文 |
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| CN106248984A (en) | 2016-12-21 |
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