CN107117253A - The anti-skidding method of braking for wheel hub motor driven Moped Scooter - Google Patents
The anti-skidding method of braking for wheel hub motor driven Moped Scooter Download PDFInfo
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- CN107117253A CN107117253A CN201710322283.5A CN201710322283A CN107117253A CN 107117253 A CN107117253 A CN 107117253A CN 201710322283 A CN201710322283 A CN 201710322283A CN 107117253 A CN107117253 A CN 107117253A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
-
- 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
- B60L15/2009—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 for braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1706—Braking or traction control means specially adapted for particular types of vehicles for single-track vehicles, e.g. motorcycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
-
- 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
- B60L2200/00—Type of vehicles
- B60L2200/46—Vehicles with auxiliary ad-on propulsions, e.g. add-on electric motor kits for bicycles
-
- 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
-
- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The present invention discloses a kind of anti-skidding method of braking for wheel hub motor driven Moped Scooter, comprises the following steps：The calculating of front and rear drive wheel power, the calculating of nominal torque value, torque value compare and adjusted.A kind of anti-skidding method of braking for wheel hub motor driven Moped Scooter of the present invention, with angular-rate sensor and wheel speed sensors, calculating by moment of torsion is with being compared, and the Moped Scooter that reaching makes Two-wheeled brakes anti-skidding purpose, has broad application prospects.
Description
Technical field
The present invention relates to a kind of anti-skidding method of the braking for Moped Scooter, and in particular to one kind is used for wheel hub motor and driven
The anti-skidding method of braking of ejector half Moped Scooter, belongs to new energy source machine electrical domain.
Background technology
Moped Scooter is travelled by power drive of Vehicular accumulator cell, with energy-saving and environmental protection, it is light the characteristics of.In recent years
Rapid growth trend is presented in China in Moped Scooter manufacture and use quantity, and the air in city is improved to a certain extent with making an uproar
Sound pollution problem.
With the development of technology, people are helped the security requirement more and more higher of Moped Scooter, the electronic of prior art
Power car mostly applies single wheel drive.And the Moped Scooter of small part application Two-wheeled, due to accurately can not control and estimate
The weight that each driving wheel is shared so that anti-sliding control effect is undesirable.Braking anti-skidding, anti-lock technology in the prior art should
During with automobile, largely it is related to the use of wheel speed sensors, cost is very high.Due to the anti-skidding anti-lock control of prior art
System processed is all applied to automobile substantially, is related to larger operand, requires also higher to hardware processor.
The content of the invention
To overcome the defect of prior art, the purpose of first aspect present invention, which is to provide one kind, is used for wheel hub motor driven
The anti-skidding method of braking of Moped Scooter, comprises the following steps：
(1) calculating of front driving wheel driving force：
The first angular-rate sensor is used, the angular speed of front driving wheel is obtainedSent by wireless communication mode to first
Data processing chip, first data processing chip calculates front driving wheel driving force F1, formula is as follows：
Wherein, T1 *For the moment of torsion of front driving wheel,For the angular speed of front driving wheel, r is radius of wheel, JwFor wheel
Rotary inertia.
The torque T of the front driving wheel1 *The first dynamic torque that as driver is exported, the first dynamic torque T1 *
For the Motor torque of Moped Scooter, provided, exported by top level control device by one or more motors, the top level control device is
One or more in accelerator pedal, brake pedal, active safety control system；The first dynamic torque T1 *By the first torque
Sensor detection is obtained, or the current of electric and other parameters measured by electric machine controller is calculated and tried to achieve.
(2) calculating of rear drive sprocket driving force：
The second angular-rate sensor is used, the angular speed of front driving wheel is obtainedSent by wireless communication mode to second
Data processing chip, second data processing chip calculates front driving wheel driving force F2, formula is as follows：
Wherein, T2 *For the dynamic torque of rear drive sprocket,For the angular speed of rear drive sprocket, r is radius of wheel, JwFor car
The rotary inertia of wheel.
Further, the dynamic torque T of the rear drive sprocket2 *Including the second dynamic torque TrAnd/or the 3rd dynamic torque
Tp。
The second dynamic torque TrFor the Motor torque of electric power vehicle using motor, provided by one or more motors, by upper
Layer controller output, the top level control device is accelerator pedal, brake pedal, one kind in active safety control system or many
Kind；The 3rd dynamic torque TpBy the 3rd torque sensor detect manpower to Moped Scooter apply moment of torsion signal and
.The 3rd dynamic torque TpBe achieved in that the moment of torsion that cyclist applies to Moped Scooter.
Further, the second dynamic torque TrObtained by the detection of the second torque sensor, or by electric machine controller
The current of electric and other parameters measured is calculated and tried to achieve.
(3) measurement of the acceleration a at barycenter：
Acceleration transducer obtains acceleration a of the Moped Scooter at barycenter, and sends data to the 3rd data
Process chip；
The acceleration transducer is arranged on electric moped storage batteries groove sidewall, and with two wheel centers in same level
On line.
(4) calculating of nominal moment of torsion：
The complete vehicle quality of Moped Scooter is M, acceleration transducer installation site (close at barycenter) and front drive wheel
The distance at center is L1, the distance with rear driving moment center is L2；Calculate the complete vehicle quality (m of forward and backward driving wheel punishment load1、
m2), calculation formula is：
Above qualitative data is stored in data storage, and the 3rd data processing chip is transferred before the data, and combination
Acceleration a is stated, the nominal torque T of forward and backward driving wheel is calculated1、T2, formula is：
Wherein, a is the acceleration at barycenter, F1For front driving wheel driving force, F2For rear drive sprocket driving force, m1For forerunner
The complete vehicle quality that driving wheel is shared, m2The complete vehicle quality shared for rear drive sprocket, M is the complete vehicle quality of Moped Scooter, and r is wheel
Radius, JwFor the rotary inertia of wheel.
(5) torque value compares and adjusted：
The nominal torque value T of front driving wheel1Absolute value should be less than or equal to driver export the first dynamic torque
T1 *Absolute value.If T1＞ T1 *, and difference is more than T1 *5%, then can be determined that wheel occur skid or locking phenomenon, be
Adjust automatically of uniting T1 *Output valve, make T1And T1 *Absolute value is close, to reach anti-skidding purpose.
Similarly, the nominal torque value T of driving wheel2Absolute value should be less than or equal to the dynamic torque of rear drive sprocket
Absolute value.IfAnd difference exceedes5%, then can be determined that wheel occur skid or locking phenomenon, be
System adjust automaticallyOutput valve, make T2WithAbsolute value is close, to reach anti-skidding purpose.
It is anti-skidding that the purpose of second aspect of the present invention is to provide a kind of braking for wheel hub motor driven Moped Scooter
Device, at least including the first angular-rate sensor, the first moment inspecting device, the first data processing chip, the second angular speed sensing
Device, the second moment inspecting device, the 3rd moment inspecting device, the second data processing chip, acceleration transducer, data storage,
Three data processing chips, Moped Scooter MCU, comparator, Gain tuning controller, motor controller.
First angular-rate sensor is used for the angular speed for obtaining front driving wheel wheel center.
The first moment inspecting device is used for the torque output for detecting front driving wheel, upper with the driver of front drive wheel
Layer controller is connected.
First angular-rate sensor, the first moment inspecting device are connected with first data processing chip.
First data processing chip is used to receive first angular-rate sensor, the number of the first moment inspecting device
According to calculating calculating front driving wheel driving force with reference to radius of wheel, and the data obtained sent to comparator.
Second angular-rate sensor is used for the angular speed for obtaining rear drive sprocket wheel center.
The second moment inspecting device, the 3rd moment inspecting device are used for the torque output for detecting rear drive sprocket, described second
Moment inspecting device is connected with the top level control device of the driver of rear driving moment, and the top level control device helps adding for car to be electronic
Speed pedal, brake pedal, motor controller；The 3rd moment inspecting device is used to detect manpower to car by torque sensor
Apply power-assisted moment of torsion signal.
Second data processing chip is used to handle from the second moment inspecting device, the 3rd moment inspecting device and the
The data that two angular-rate sensors are received, obtain Moped Scooter rear drive sprocket driving force, and the data obtained is sent out by calculating
Deliver to comparator.
The acceleration transducer is used to obtain acceleration of the Moped Scooter at barycenter, at the 3rd data
Reason chip is connected.
3rd data processing chip is used for the data for handling acceleration transducer transmission, and calls in data storage
The supplemental characteristic of Moped Scooter, calculates the nominal moment of torsion of front and rear driving wheel, and send to comparator.
The data storage is connected with Moped Scooter MCU communications, is easy to user to help car parameter to be configured to electronic.
The data storage is connected with the 3rd data processing chip and Moped Scooter MCU simultaneously.
Further, first angular-rate sensor, the model of the second angular-rate sensor：
STMicroelectronics L3GD20H。
Further, the acceleration transducer is BOSCH SMA130 acceleration transducers.
First data processing chip, the second data processing chip, the 3rd data processing chip pass through the comparator
With the Moped Scooter MCU data cube computations.
The Moped Scooter MCU is used to receive comparator, the data message of Gain tuning controller, and to electric boosted
The motor controller of car sends driving parameters, receives feedback information.
The comparator is used for the data information memory that will compare to memory, while directly sending data to electronic help
Power car MCU, makes Moped Scooter MCU calculate torque ratio in real time compared with data.
The Gain tuning controller, for being received by Moped Scooter MCU when the moment of torsion that comparator is exported needs adjustment
When data so as to Moped Scooter MCU send signal confirm torque adjustment numerical value.
Further, the vehicle Gain tuning controller and Moped Scooter MCU communication connected mode are channel radio
News connection.Further, the wireless telecommunications connect the one or more in WiFi, bluetooth, 2G/3G/4G/5G.
Braking anti-skidding method of the present invention for wheel hub motor driven Moped Scooter, using Two-wheeled,
By torque ratio compared with, adjust gain, on the premise of without using wheel speed sensors, good braking skidproof effect is reached, is reduced
Moped Scooter brakes anti-skidding cost.
The present invention combine electric boosted bassinet structure it is relatively simple, it is peripheral hardware circuit it is less, big change etc. should not be carried out
Feature, big change is carried out to hardware circuit, only increases a small amount of hardware, the Moped Scooter of Two-wheeled is reached that braking is anti-
Sliding purpose, has broad application prospects in Moped Scooter driving safety field.
Brief description of the drawings
Fig. 1 is the flow chart for the anti-skidding method of braking that embodiment 1 is used for wheel hub motor driven Moped Scooter.
Fig. 2 is the velocity profile for the anti-skidding method of Moped Scooter braking for not applying the embodiment of the present invention 1.
Fig. 3 brakes the velocity profile of anti-skidding method for the Moped Scooter of the application embodiment of the present invention 1.
Fig. 4 brakes the moment variations figure of anti-skidding method for the Moped Scooter of the application embodiment of the present invention 1.
Embodiment
Below by specific embodiment, further technical scheme is specifically described.It should be understood that below
Embodiment be intended only as illustrating, and do not limit the scope of the invention, while those skilled in the art is according to the present invention
The obvious change and modification made are also contained within the scope of the invention.
Embodiment 1
As shown in figure 1, a kind of anti-skidding method of braking for wheel hub motor driven Moped Scooter, including following step
Suddenly：
(1) calculating of front driving wheel driving force：
The first angular-rate sensor is used, the angular speed of front driving wheel is obtainedSent by wireless communication mode to first
Data processing chip, first data processing chip calculates front driving wheel driving force F1, formula is：Wherein, T1 *For the moment of torsion of front driving wheel,For the angular speed of front driving wheel, r is radius of wheel,
JwFor the rotary inertia of wheel.
The torque T of the front driving wheel1 *The first dynamic torque that as driver is exported, the first dynamic torque T1 *
For the Motor torque of electric power vehicle using motor, provided, exported by top level control device by one or more motors, the top level control device
For the one or more in accelerator pedal, brake pedal, active safety control system；The first dynamic torque T1 *By the first power
The detection of square sensor is obtained, or the current of electric and other parameters measured by electric machine controller is calculated and tried to achieve.
(2) calculating of rear drive sprocket driving force：
The second angular-rate sensor is used, the angular speed of front driving wheel is obtainedSent by wireless communication mode to second
Data processing chip, second data processing chip calculates front driving wheel driving force F2, formula is：Wherein, T2 *For the dynamic torque of rear drive sprocket,For the angular speed of rear drive sprocket, r is wheel
Radius, JwFor the rotary inertia of wheel.
The dynamic torque T of the rear drive sprocket2 *Including the second dynamic torque TrAnd/or the 3rd dynamic torque Tp。
The second dynamic torque TrFor the Motor torque of electric power vehicle using motor, provided by one or more motors, by upper
Layer controller output, the top level control device is accelerator pedal, brake pedal, one kind in active safety control system or many
Kind；The 3rd dynamic torque TpBy the 3rd torque sensor detect manpower to Moped Scooter apply moment of torsion signal and
.The 3rd dynamic torque TpBe achieved in that the moment of torsion that cyclist applies to Moped Scooter.
(3) measurement of the acceleration a at barycenter：
Acceleration transducer obtains acceleration a of the Moped Scooter at barycenter, and sends data to the 3rd data
Process chip；
The acceleration transducer is arranged on electric moped storage batteries groove sidewall, and with two wheel centers in same level
On line.
(4) calculating of nominal moment of torsion：
The complete vehicle quality of Moped Scooter is M, and acceleration transducer installation site and the distance at front drive wheel center are
L1, the distance with rear driving moment center is L2；Calculate the complete vehicle quality (m of forward and backward driving wheel punishment load1、m2), calculation formula
For：
Above qualitative data is stored in data storage, and the 3rd data processing chip is transferred before the data, and combination
Acceleration a is stated, the nominal torque T of forward and backward driving wheel is calculated1、T2, formula is：
Wherein, a is the acceleration at barycenter, F1For front driving wheel driving force, F2For rear drive sprocket driving force, m1For forerunner
The complete vehicle quality that driving wheel is shared, m2The complete vehicle quality shared for rear drive sprocket, M is the complete vehicle quality of Moped Scooter, and r is wheel
Radius, JwFor the rotary inertia of wheel.
(5) torque value compares and adjusted：
The nominal torque value T of front driving wheel1Absolute value should be less than or equal to driver export the first dynamic torque
T1 *Absolute value.If T1＞ T1 *, and difference is more than T1 *5%, then can be determined that wheel occur skid or locking phenomenon, be
Adjust automatically of uniting T1 *Output valve, make T1And T1 *Absolute value is close, to reach anti-skidding purpose.Similarly, the name of driving wheel
Adopted torque value T2Absolute value should be less than or equal to the dynamic torque of rear drive sprocketAbsolute value.IfAnd
Difference exceedes5%, then can be determined that wheel occur skid or locking phenomenon, system adjust automaticallyOutput valve, make
T2WithAbsolute value is close, to reach anti-skidding purpose.
Embodiment 2
It is anti-skidding that the purpose of second aspect of the present invention is to provide a kind of braking for wheel hub motor driven Moped Scooter
Device, at least including the first angular-rate sensor, the first moment inspecting device, the first data processing chip, the second angular speed sensing
Device, the second moment inspecting device, the 3rd moment inspecting device, the second data processing chip, acceleration transducer, data storage,
Three data processing chips, Moped Scooter MCU, comparator, Gain tuning controller, motor controller.
First angular-rate sensor is used for the angular speed for obtaining front driving wheel wheel center, installed in front driving wheel car
At the axis of wheel.The first moment inspecting device is used for the torque output for detecting front driving wheel, the driver with front drive wheel
Top level control device be connected, the top level control device is the electronic accelerator pedal, brake pedal, motor controller for helping car.
First angular-rate sensor, the first moment inspecting device are connected with first data processing chip.First data
Process chip is used to receive first angular-rate sensor, the data of the first moment inspecting device, is calculated with reference to radius of wheel
Front driving wheel driving force is calculated, and the data obtained is sent to comparator.First jiao of speed described in first data processing chip
Sensor, the communication connection of the first moment inspecting device are spent, while being connected with comparator communication.
Second angular-rate sensor is used for the acceleration for obtaining rear drive sprocket wheel center, installed in rear drive sprocket car
At the axis of wheel.The second moment inspecting device, the 3rd moment inspecting device are used for the torque output for detecting rear drive sprocket, described the
Two moment inspecting devices are connected with the top level control device of the driver of rear driving moment, and the top level control device is the electronic car that helps
Accelerator pedal, brake pedal, motor controller；Torque sensor, the electricity of the 3rd moment inspecting device and Moped Scooter
Motivation controller is connected, for detecting that manpower applies the signal of the moment of torsion of power-assisted to vehicle by torque sensor.Described second
Data processing chip is used to handle to be connect from the second moment inspecting device, the 3rd moment inspecting device and the second angular-rate sensor
The data of receipts, obtain Moped Scooter rear drive sprocket driving force, and the data obtained is sent to comparator by calculating.Described
Two data processing chips connect with the second moment inspecting device, the 3rd moment inspecting device and the communication of the second angular-rate sensor
Connect, while being connected with comparator communication.
The acceleration transducer is used to obtain acceleration of the Moped Scooter at barycenter, installed in Moped Scooter
Battery groove sidewall.The acceleration transducer is connected with the 3rd data processing chip.The 3rd data processing core
Piece is used for the data for handling acceleration transducer transmission, and calls the supplemental characteristic of Moped Scooter in data storage, calculates
Go out the nominal moment of torsion of front and rear driving wheel, and send to comparator.3rd data processing chip and the acceleration transducer,
Data storage is connected, while being connected with comparator communication.The data storage capacity is 8G, is provided with USB interface,
It is connected with Moped Scooter MCU communications, is easy to user to help car parameter to be configured to electronic.The data storage simultaneously with institute
State the 3rd data processing chip and Moped Scooter MCU connections.
First angular-rate sensor, the model of the second angular-rate sensor：STMicroelectronics
L3GD20H.The acceleration transducer is BOSCH SMA130 acceleration transducers.First data processing chip, second
Data processing chip, the 3rd data processing chip pass through the comparator and the Moped Scooter MCU data cube computations.
The Moped Scooter MCU is used to receive comparator, the data message of Gain tuning controller, and to electric boosted
The motor controller of car sends driving parameters, receives feedback information.The comparator and memory, Moped Scooter MCU numbers
According to connection, for the data information memory compared, to memory, while directly sending data to Moped Scooter MCU, to be made
Moped Scooter MCU calculates torque ratio compared with data in real time.The Gain tuning controller, is connected with Moped Scooter MCU, uses
In receiving the data when the moment of torsion that comparator is exported need to be adjusted by Moped Scooter MCU, so as to be sent out to Moped Scooter MCU
The number of delivering letters confirms torque adjustment numerical value.
The vehicle Gain tuning controller is connected with Moped Scooter MCU communication connected mode for wireless telecommunications.Institute
Moped Scooter MCU is stated for MC68HC908QT2 type single-chip microcomputers.
Embodiment 3
L-G simulation test
Simulating scenes：Vehicle entered a low friction road surface 30 meters long from 3 seconds or so.
As can be seen from Figure 4 in the case where implementing the inventive method, the output torque of Moped Scooter changes.Figure
2nd, Fig. 3 represents to utilize the anti-skidding side of braking for wheel hub motor driven Moped Scooter of Example 1 and Example 2 of the present invention
What the effect contrast figure before and after method, wherein Fig. 2 represented not apply Example 1 and Example 2 of the present invention is used for In-wheel motor driving
The result of the anti-skidding method of braking of type Moped Scooter, Fig. 3 represents to apply the electric boosted of Example 1 and Example 2 of the present invention
Car brakes the result of anti-skidding method.In the case of uncontrolled as can be seen from Figure 2, the wheel of Moped Scooter substantially skids, and
In Fig. 3, the wheel of Moped Scooter only has slight skidding.
Claims (8)
1. the anti-skidding method of braking for wheel hub motor driven Moped Scooter, it is characterised in that comprise the following steps：
(1) calculating of front driving wheel driving force：
First angular-rate sensor obtains the angular speed of front driving wheelSent by wireless communication mode to the first data processing
Chip, first data processing chip calculates front driving wheel driving force F1, formula is as follows：
<mrow>
<msub>
<mi>F</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msup>
<msub>
<mi>T</mi>
<mn>1</mn>
</msub>
<mo>*</mo>
</msup>
<mo>-</mo>
<msub>
<mi>J</mi>
<mi>w</mi>
</msub>
<mfrac>
<mrow>
<msubsup>
<mi>d&omega;</mi>
<mn>1</mn>
<mo>*</mo>
</msubsup>
</mrow>
<mrow>
<mi>d</mi>
<mi>t</mi>
</mrow>
</mfrac>
</mrow>
<mi>r</mi>
</mfrac>
</mrow>
Wherein, T1 *For the dynamic torque of front driving wheel,For the angular speed of front driving wheel, r is radius of wheel, JwFor turning for wheel
Dynamic inertia；
The dynamic torque T of the front driving wheel1 *The first dynamic torque that as driver is exported, the first dynamic torque T1 *For
The Motor torque of Moped Scooter, is provided by one or more motors, is exported by top level control device, and the top level control device is to add
One or more in speed pedal, brake pedal, active safety control system；The first dynamic torque T1 *Passed by the first torque
Sensor detection is obtained, or the current of electric and other parameters measured by electric machine controller is calculated and tried to achieve；
(2) calculating of rear drive sprocket driving force：
Second angular-rate sensor obtains the angular speed of front driving wheelSent by wireless communication mode to the second data processing
Chip, second data processing chip calculates front driving wheel driving force F2, formula is as follows：
<mrow>
<msub>
<mi>F</mi>
<mn>2</mn>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msubsup>
<mi>T</mi>
<mn>2</mn>
<mo>*</mo>
</msubsup>
<mo>-</mo>
<msub>
<mi>J</mi>
<mi>w</mi>
</msub>
<mfrac>
<mrow>
<msubsup>
<mi>d&omega;</mi>
<mn>2</mn>
<mo>*</mo>
</msubsup>
</mrow>
<mrow>
<mi>d</mi>
<mi>t</mi>
</mrow>
</mfrac>
</mrow>
<mi>r</mi>
</mfrac>
</mrow>
Wherein, T2 *For the dynamic torque of rear drive sprocket,For the angular speed of rear drive sprocket, r is radius of wheel, JwFor turning for wheel
Dynamic inertia；
(3) measurement of the acceleration a at barycenter：
Acceleration transducer obtains acceleration a of the Moped Scooter at barycenter, and sends data to the 3rd data processing
Chip；
The acceleration transducer is arranged on electric moped storage batteries groove sidewall, and with two wheel centers in same horizontal line
On；
(4) calculating of nominal moment of torsion：
The complete vehicle quality of Moped Scooter is M, and the distance at acceleration transducer installation site and front drive wheel center is L1, with
The distance at driving moment center is L afterwards2；Calculate the complete vehicle quality (m of forward and backward driving wheel punishment load1、m2), calculation formula is：
Above qualitative data is stored in data storage, and the 3rd data processing chip transfers the data, and combines foregoing add
Speed a, calculates the nominal torque T of forward and backward driving wheel1、T2, formula is：
<mrow>
<msub>
<mi>T</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<msub>
<mi>rF</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<mfrac>
<msub>
<mi>m</mi>
<mn>1</mn>
</msub>
<mi>M</mi>
</mfrac>
<msub>
<mi>J</mi>
<mi>w</mi>
</msub>
<mi>a</mi>
<mo>,</mo>
<msub>
<mi>T</mi>
<mn>2</mn>
</msub>
<mo>=</mo>
<msub>
<mi>rF</mi>
<mn>2</mn>
</msub>
<mo>+</mo>
<mfrac>
<msub>
<mi>m</mi>
<mn>2</mn>
</msub>
<mi>M</mi>
</mfrac>
<msub>
<mi>J</mi>
<mi>w</mi>
</msub>
<mi>a</mi>
</mrow>
Wherein, a is the acceleration at barycenter, F1For front driving wheel driving force, F2For rear drive sprocket driving force, m1For front driving wheel
The complete vehicle quality shared, m2The complete vehicle quality shared for rear drive sprocket, M is the complete vehicle quality of Moped Scooter, and r is wheel half
Footpath, JwFor the rotary inertia of wheel；
(5) torque value compares and adjusted：
The nominal torque value T of front driving wheel1Absolute value should be less than or equal to driver export the first dynamic torque T1 *'s
Absolute value, if T1＞ T1 *, and difference is more than T1 *5%, then can be determined that wheel occurs to skid or locking phenomenon, system is automatic
Adjust T1 *Output valve, make T1And T1 *Absolute value is close；
Similarly, the nominal torque value T of driving wheel2Absolute value should be less than or equal to the dynamic torque of rear drive sprocketIt is exhausted
To value, ifAnd difference exceedes5%, then can be determined that wheel occur skid or locking phenomenon, system from
Dynamic adjustmentOutput valve, make T2WithAbsolute value is close.
2. the braking anti-skidding method according to claim 1 for wheel hub motor driven Moped Scooter, its feature exists
In：The dynamic torque T of step (2) described rear drive sprocket2 *Including the second dynamic torque TrAnd/or the 3rd dynamic torque Tp；
The second dynamic torque TrFor the Motor torque of electric power vehicle using motor, provided by one or more motors, by top level control
Device is exported, and the top level control device is the one or more in accelerator pedal, brake pedal, active safety control system；It is described
3rd dynamic torque TpThe manpower detected by the 3rd torque sensor applies the signal of moment of torsion to Moped Scooter and obtained；Described
Three dynamic torque TpBe achieved in that the moment of torsion that cyclist applies to Moped Scooter.
3. the braking anti-skidding method according to claim 2 for wheel hub motor driven Moped Scooter, its feature exists
In：The second dynamic torque TrObtained by the detection of the second torque sensor, or the current of electric that is measured by electric machine controller and
Other parameters are calculated and tried to achieve.
4. a kind of brake ski-proof device for wheel hub motor driven Moped Scooter, it is characterised in that：Based on claim 1
Any one of~3 are used for the anti-skidding method of braking of wheel hub motor driven Moped Scooter；
Including：First angular-rate sensor, the first moment inspecting device, the first data processing chip, the second angular-rate sensor,
Two moment inspecting devices, the 3rd moment inspecting device, the second data processing chip, acceleration transducer, data storage, the 3rd data
Process chip, Moped Scooter MCU, comparator, Gain tuning controller, motor controller；
First angular-rate sensor is used for the angular speed for obtaining front driving wheel wheel center；
The first moment inspecting device is used for the torque output for detecting front driving wheel, is controlled with the upper strata of the driver of front drive wheel
Device processed is connected；
First angular-rate sensor, the first moment inspecting device are connected with first data processing chip；
First data processing chip is used to receive first angular-rate sensor, the data of the first moment inspecting device, ties
Close radius of wheel and calculate calculating front driving wheel driving force, and the data obtained is sent to comparator；
Second angular-rate sensor is used for the angular speed for obtaining rear drive sprocket wheel center；
The second moment inspecting device, the 3rd moment inspecting device are used for the torque output for detecting rear drive sprocket, second torque
Detector is connected with the top level control device of the driver of rear driving moment, and the top level control device is that the electronic acceleration for helping car is stepped on
Plate, brake pedal, motor controller；The 3rd moment inspecting device is used to detect that manpower applies vehicle by torque sensor
Plus the signal of the moment of torsion of power-assisted；
Second data processing chip is used to handle from the second moment inspecting device, the 3rd moment inspecting device and second jiao
The data that velocity sensor is received, Moped Scooter rear drive sprocket driving force is obtained by calculating, and by the data obtained send to
Comparator；
The acceleration transducer is used to obtain acceleration of the Moped Scooter at barycenter, with the 3rd data processing core
Piece is connected；
3rd data processing chip is used for the data for handling acceleration transducer transmission, and calls electronic in data storage
The supplemental characteristic of vehicle using motor, calculates the nominal moment of torsion of front and rear driving wheel, and send to comparator；
The data storage is connected with Moped Scooter MCU communications, is easy to user to help car parameter to be configured to electronic；It is described
Data storage is connected with the 3rd data processing chip and Moped Scooter MCU simultaneously；
First data processing chip, the second data processing chip, the 3rd data processing chip pass through the comparator and institute
State Moped Scooter MCU data cube computations；
The Moped Scooter MCU is used to receive comparator, the data message of Gain tuning controller, and to Moped Scooter
Motor controller sends driving parameters, receives feedback information；
The comparator is used for the data information memory that will compare to memory, while directly sending data to Moped Scooter
MCU, makes Moped Scooter MCU calculate torque ratio in real time compared with data；
The Gain tuning controller, for being received by Moped Scooter MCU when the moment of torsion that comparator is exported need to be adjusted
Data, so that sending signal to Moped Scooter MCU confirms torque adjustment numerical value.
5. a kind of brake ski-proof device for wheel hub motor driven Moped Scooter according to claim 4, it is special
Levy and be：First angular-rate sensor, the model of the second angular-rate sensor：STMicroelectronics
L3GD20H。
6. a kind of brake ski-proof device for wheel hub motor driven Moped Scooter according to claim 4, it is special
Levy and be：The acceleration transducer is BOSCH SMA130 acceleration transducers.
7. a kind of brake ski-proof device for wheel hub motor driven Moped Scooter according to claim 4, it is special
Levy and be：The vehicle Gain tuning controller is connected with Moped Scooter MCU communication connected mode for wireless telecommunications.
8. a kind of brake ski-proof device for wheel hub motor driven Moped Scooter according to claim 7, it is special
Levy and be：The wireless telecommunications connect the one or more in WiFi, bluetooth, 2G/3G/4G/5G.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111717040A (en) * | 2019-03-22 | 2020-09-29 | 长沙智能驾驶研究院有限公司 | Torque control method, device, electronic equipment and storage medium |
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| KR19980061257A (en) * | 1996-12-31 | 1998-10-07 | 박병재 | Anti-skid device |
| CN102267459A (en) * | 2011-05-17 | 2011-12-07 | 清华大学 | Driving antiskid adjustment and control method for motor-driven vehicle |
| CN105882634A (en) * | 2016-05-13 | 2016-08-24 | 南京理工大学 | High-robustness wheel anti-skid control method, high-robustness wheel anti-skid control system and vehicle |
| CN105946826A (en) * | 2016-05-10 | 2016-09-21 | 南京理工大学 | Vehicle anti-slip control method and system with no need for wheel speed information and vehicle |
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|---|---|---|---|---|
| KR19980061257A (en) * | 1996-12-31 | 1998-10-07 | 박병재 | Anti-skid device |
| CN102267459A (en) * | 2011-05-17 | 2011-12-07 | 清华大学 | Driving antiskid adjustment and control method for motor-driven vehicle |
| CN105946826A (en) * | 2016-05-10 | 2016-09-21 | 南京理工大学 | Vehicle anti-slip control method and system with no need for wheel speed information and vehicle |
| CN105882634A (en) * | 2016-05-13 | 2016-08-24 | 南京理工大学 | High-robustness wheel anti-skid control method, high-robustness wheel anti-skid control system and vehicle |
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| CN111717040A (en) * | 2019-03-22 | 2020-09-29 | 长沙智能驾驶研究院有限公司 | Torque control method, device, electronic equipment and storage medium |
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