CN107592058A - The hub motor control system and its control method of human-computer interaction body-sensing car - Google Patents
The hub motor control system and its control method of human-computer interaction body-sensing car Download PDFInfo
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Abstract
The present invention provides a kind of hub motor control system of human-computer interaction body-sensing car, including wheel hub motor, for the sampling apparatus and control device of the attitude information for gathering car body, control device is used to control the power output of wheel hub motor according to the attitude information of car body so that the car body of human-computer interaction body-sensing car tends to be horizontal, sampling apparatus is additionally operable to gather the electric current of wheel hub motor, control device is additionally operable to when the electric current that sampling apparatus collects is more than default threshold electric current, the power output of wheel hub motor is reduced to predetermined threshold power or is reduced to below predetermined threshold power, threshold power is the power output of wheel hub motor when the electric current of wheel hub motor is threshold current.The hub motor control system of the human-computer interaction body-sensing car of the present invention, maintains high-power output state in wheel hub motor, reduces the power output of wheel hub motor, reduce the caloric value of wheel hub motor always.The invention further relates to a kind of control method of the hub motor control system of human-computer interaction body-sensing car.
Description
Technical field
The invention belongs to human-computer interaction body-sensing car technical field, is related to a kind of hub motor control of human-computer interaction body-sensing car
System and its control method.
Background technology
It is quick with association areas such as computer technology, software engineering, microelectric technique, the communication technology, material technologies
Development, and science and technology and people's living standard continuous progressive and improve, the modern vehicles just towards it is intelligent,
Small-sized, energy-saving and environmental protection trend developments.In recent years, deepening continuously with the research of human-computer interaction body-sensing car, its neck applied
Domain is more extensive, and the environment and task faced also becomes increasingly complex.
Human-computer interaction body-sensing car of the prior art, its operation principles are mainly built upon one kind and are referred to as " dynamic stability "
General principle on, using the gyroscope and acceleration transducer of vehicle body, to detect the change of human body attitude, and utilize control
Accurately drive hub motor is adjusted correspondingly device processed such as microprocessor, to keep the balance of system.That is,
The power output of wheel hub motor of the prior art can only adjust in real time according to the change of human body attitude, when human body attitude always
Maintain when the wheel hub motor is constantly in the state of high-output power, wheel hub motor will produce substantial amounts of heat, in inflammation
Heat caused by the summer wheel hub motor of heat is difficult to be distributed in time, to cause wheel hub motor to be burnt because fuselage is too warm
Ruin.Once this occurs, people will not only bear economic loss, more it is essential that wheel hub motor is burned out, human-computer interaction
Body-sensing car will not keep balancing, and user is easy to throw to cause personal injury on car body.
The content of the invention
The goal of the invention of the present invention is a kind of hub motor control system of human-computer interaction body-sensing car, with wheel hub motor one
High-power output state directly is maintained, the power output of wheel hub motor is reduced, reduces the caloric value of wheel hub motor.
The present invention provides a kind of hub motor control system of human-computer interaction body-sensing car, including the wheel hub that driving moment rotates
The sampling apparatus and control device of motor, attitude information for gathering car body, the control device are used for according to the car body
Attitude information control the power output of the wheel hub motor so that the car body of human-computer interaction body-sensing car tends to be horizontal, the sampling
Device is additionally operable to gather the electric current of the wheel hub motor, and the control device is additionally operable to the electric current collected in the sampling apparatus
During more than default threshold current, the power output of the wheel hub motor is reduced to predetermined threshold power or is reduced to predetermined
Threshold power below, the predetermined threshold power be when the electric current of wheel hub motor is the default threshold current wheel hub electricity
The power output of machine.
Further, the sampling apparatus is additionally operable to gather the temperature of the wheel hub motor, and the control device is additionally operable to
When the temperature that the sampling apparatus collects is more than or equal to default temperature threshold, the wheel hub motor is controlled to reduce output work
Rate.
Further, the sampling apparatus is additionally operable to gather the temperature of the wheel hub motor, and the control device is additionally operable to
Described threshold current is reduced when the temperature that the sampling apparatus collects is more than or equal to default temperature threshold so that described
Wheel hub motor reduces power output.
Further, the wheel hub motor is PWM bunchers, and the control device collects according to the sampling apparatus
Information generation pwm control signal, and send to the wheel hub motor, the wheel hub motor and adjusted according to the pwm control signal
Whole power output, and when the temperature that the sampling apparatus collects is more than or equal to default temperature threshold, the control device
The pwm control signal of generation can make the wheel hub motor reduce power output.
Further, the wheel hub motor includes PWM speed adjusting modules and the power output being connected with the PWM speed adjusting modules
Module, the PWM speed adjusting modules adjust the power output of the power output module according to the pwm control signal received.
Further, the control device includes being used for the PWM controller for generating pwm control signal, for storing car body
Attitude information and power output mapping relations, default threshold current and default temperature threshold memory, for receiving
Attitude information, current information and temperature information simultaneously compared with the information of the memory memory storage and/or convert them
Comparator, and control the PWM controller generation corresponding for the comparison according to the comparator and/or scaling results
The microprocessor of pwm control signal.
Further, when the temperature that the sampling apparatus collects is more than or equal to default temperature threshold, the control dress
The dutycycle for putting the pwm control signal of generation is less than the dutycycle of previous pwm control signal.
Further, the sampling apparatus includes the temperature sensor for being used to gather the temperature of the wheel hub motor, described
The quantity of temperature sensor is multiple and is uniformly distributed.
The present invention also provides a kind of control method of the hub motor control system of human-computer interaction body-sensing car, including following step
Suddenly：
Gather the current information of wheel hub motor；
Judge whether the current information is more than default threshold current；And
When being, to control the power output of wheel hub motor to be less than or equal in the electric current of wheel hub motor it is institute when judged result
The power output of wheel hub motor when stating threshold current.
Further, it is further comprising the steps of：
Gather the temperature information of wheel hub motor；
Whether the temperature information for judging to collect is more than or equal to temperature threshold；And
When judged result for when being, control wheel hub motor reduces power output；
Wherein, it is more than according to the priority of temperature information control wheel output power of motor and wheel hub electricity is controlled according to current information
The priority of machine.
Due to the utilization of above-mentioned technical proposal, the present invention possesses advantages below：
The hub motor control system and its control method of the human-computer interaction body-sensing car of the present invention, are gathered by sampling apparatus
The electric current of wheel hub motor, when control device judges that the current information that sampling apparatus collects is more than threshold current, control wheel hub
Motor reduces power output, reduces the caloric value of wheel hub motor, makes the temperature of wheel hub motor reduce, to avoid wheel hub motor because of temperature
Spend height be burned to user bring the person and property loss.
Brief description of the drawings
Fig. 1 is the theory diagram of the wheel hub motor output power system of the embodiment of the present invention.
Fig. 2 is the flow chart of the control method of the wheel hub motor output power system of the embodiment of the present invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is further described.
Referring to Fig. 1, the hub motor control system of human-computer interaction body-sensing car provided in an embodiment of the present invention, including wheel hub
Motor 1, control device 2, sampling apparatus 3 and power supply 4.Power supply 4 is connected with wheel hub motor 1, control device 2 and sampling apparatus 3, is
Wheel hub motor 1, control device 2 and sampling apparatus 3 provide electric energy.Sampling apparatus 3 is connected with control device 2, man-machine for gathering
The attitude information of the car body of interactive body-sensing car simultaneously sends attitude information to control device 2, and control device 2 is for example including microprocessor
Device, control device 2 are used to control the power output of wheel hub motor 1 so that human-computer interaction body-sensing car according to the attitude information of car body
Car body tends to be horizontal.
Specifically, sampling apparatus 3 includes attitude transducer, and attitude transducer is used for the attitude information for gathering car body, posture
Sensor includes the sensor that gyroscope 302, acceleration transducer 303 etc. are used to gather human body attitude information, control device 2
The human body attitude information control wheel hub motor collected according to attitude transducer exports corresponding power output and maintains car body balance, together
When driving moment rotate, band motor vehicles bodies advance, retreat and turned to, and these technologies will not be repeated here for prior art.
It is understood that the running of human-computer interaction body-sensing car is a time-continuing process, and in the running, electricity
Machine temperature can rise, and the immediate cause that temperature rises is that the output current of motor is lasting excessive, therefore, in motor operation course
The maximum output current (i.e. threshold current) of motor can be directly limited, car is ensured by level control loops section and current control link
Body tends to be horizontal and motor temperature is not too high.It should be noted that the threshold current of motor is preset by control device 2
(as described below), default threshold current need to ensure that under normal circumstances, car body can carry out level road walking of climbing.Need into
One step illustrates that normal condition refers to that car body can maintain to balance, and the temperature of wheel hub motor 1 is not over temperature threshold
Value, the temperature threshold are the maximum temperature value for not influenceing the normal work of wheel hub motor 1.
Illustrated by taking the climbing of human-computer interaction body-sensing car as an example.During climbing, in level control loops section, in order to ensure that car body becomes
In level, it is necessary to increase the power output of wheel hub motor, and increase the output current that power output inevitably results in wheel hub motor
Increase.Now, it is likely that occur that output current exceedes the situation of default threshold current.In current control link, due to
The output current of wheel hub motor is more than default threshold current, it is necessary to reduce output power of motor so that motor output current reduces
To threshold current, so prevent that motor temperature is too high.So, because power output reduces, car body is not horizontal, in order that car
Body tends to be horizontal, can increase power output again in level control loops section, default so as to cause output current to be more than again
Threshold current, the regulation by current control link is needed in turn.It can thus be seen that in this time-continuing process of climbing,
The output current and power output of motor are essentially all a dynamic changing process, and output current is on the basis of threshold current
Fluctuate up and down, and then complete climbing.
Correspondingly, in the present invention, sampling apparatus 3 is additionally operable to gather the electric current of wheel hub motor 1, the memory storage of control device 2
There is the value of threshold current, the value of the threshold current can ensure under normal circumstances, and car body can carry out level road row of climbing
Walk, it can be understood as the initial value of threshold current, in normal state, control device 2 are preset to the threshold current of wheel hub motor 1
When, default threshold current is equal to the value of the threshold current of the memory storage of control device 2, in other words, that is, control device 2
Default threshold current is stored, the default threshold current can ensure under normal circumstances, and car body can carry out climbing level road
Walking, it is understood that into initial default threshold current.Control device 2 is in the electric current for receiving sampling apparatus 3 and collecting
During more than default threshold current, the power output of wheel hub motor 1 is reduced to predetermined threshold power or is reduced to predetermined
Below threshold power, predetermined threshold power is the output of wheel hub motor 1 when the electric current of wheel hub motor 1 is predetermined threshold current
Power.It is understood that it can ensure wheel hub motor when the power output of wheel hub motor 1 is near predetermined threshold power
1 caloric value too high (but except working long hours, such as will not normally be ridden 1 hour time, but user does not stop
Ride 2 hours in ground), when the power output of wheel hub motor 1 has been significantly greater than predetermined threshold power namely not predetermined
Threshold power near when, control device 2 control wheel hub motor 1 make wheel hub motor 1 power output be equal to be less than predetermined threshold
It is worth power, can so avoids wheel hub motor 1 from maintaining the defeated of high power (i.e. power output is more than predetermined threshold power) always
Do well, the problem of caused temperature of wheel hub motor 1 is too high.
Further, sampling apparatus 3 includes the current sampler 300 for being used to gather the electric current of wheel hub motor 1, current sample
Device 300 is connected with control device 2, and the electricity of the wheel hub motor 1 collected is streamed into control device 2.It is understood that
Control device 2 adjusts the priority of the power output of wheel hub motor 1 according to electric current, and wheel hub is adjusted more than according to human body attitude information
The priority of the power output of motor 1, i.e., when the electric current of wheel hub motor 1 is more than default threshold current, current human body appearance
State information is represented as making car body to tend to be horizontal, when wheel hub motor 1 needs the power output to be more than current power output, control device
2 still control wheel hub motors 1 make the power output of wheel hub motor 1 predetermined threshold value power output, the Ran Houzai such as decrease below
The power output of wheel hub motor 1 is adjusted according to human body attitude information.
It should be noted that human-computer interaction body-sensing car is ensureing that car body becomes by level control loops section and current control link
During horizontal and motor temperature is not too high, once there is high current (close to default threshold current) in certain period of time
When the interior cumulative time is long, the situation that the temperature of wheel hub motor is too high still occurs.Motor temperature is too high two kinds of situations,
One kind is to continue climbing or intermittent constantly brake, and now the duration of high current is longer；It is another prolonged fast
Speed is ridden, and wheel hub motor is worked long hours with power output near threshold power always to cause motor temperature to raise.
To improve reliability, it is necessary to temperature detection further be carried out to wheel hub motor, when detecting that temperature is too high, it is necessary to further drop
The power output of low wheel hub motor.Electricity can be gradually reduced using by pwm control signal by reducing the power output of wheel hub motor
The mode (as described below) of the power output of machine, naturally it is also possible to reduce the defeated of motor by the way of threshold current is directly reduced
Go out power.Reduce threshold current to refer to directly reducing default threshold current, particular by control device 2 again to threshold
It is worth electric current assignment, the value of threshold current is reduced.Under normal circumstances, (this is first to threshold current imparting initial value for control device 2
Initial value is default threshold current i.e. the value of the threshold current of above-mentioned control device 2 storage), it is more than in temperature pre-
If temperature threshold when, reduce threshold current, can be again to the threshold current assignment during specific implementation, and the value assigned again
Less than the value of current threshold current, the value that threshold current assigns again is temporarily stored in control device 2, i.e. control device 2
The middle value for having cached new threshold current, namely new default threshold current has been cached in control device 2, then next
In individual current control link, so-called default threshold current is the new default threshold current.It is less than when temperature returns to
During temperature threshold, current threshold is entered as initial value again.
For example, under normal circumstances, ensure that car body can carry out the value of the threshold current of climbing level road walking (i.e. initially
Value) be such as 20A, it is electric after current control link or when the transient current of current time motor is less than threshold current
The temperature of machine is still too high, and this timed unit 2 presets the threshold current of wheel hub motor 1 again, by the threshold value electricity of wheel hub motor 1
Stream is arranged to 5A.Benefit by the way of threshold current is reduced is significantly can to reduce the power output of motor,
After reducing threshold current, the threshold value power output of motor reduces, and the current value in motor is significantly larger than threshold current, now needs
The dutycycle that pwm control signal is greatly lowered realizes the effect for the power output for significantly reducing motor, can quickly have
The realization cooling of effect.In addition, reducing power output indirectly by reducing threshold current can ensure to be no more than normal model in electric current
When enclosing, body-sensing car being capable of normal work.In the present embodiment, when the temperature of wheel hub motor 1 is too high, using reduction threshold value
The mode of electric current reduces the power output of wheel hub motor 1, realizes cooling.
Being illustrated by taking climbing as an example, which reduces threshold current, reduces the process of power output.If the gradient is larger but distance compared with
Short, now the electric current (transient current) of motor exceedes the initial value of threshold current, directly by current control link, passes through regulation
The dutycycle of pwm signal is reduced and outputed current to below threshold current.If but distance smaller in the gradient, so due to slope
Degree is little, and the transient current of motor can larger, but not more than the initial value of threshold current, but due to distance, persistently when
Between it is long, motor temperature can also rise, such motor temperature also for rise, now current control link fail, therefore, directly regulation
Threshold current, and the value of the threshold current is necessarily less than the current electric current of motor (i.e. transient current).
It should be noted that so finally making car body slowly stop by continuously reducing the value of threshold current, can keep away
Exempt from the safety problem that all standing triggers suddenly.If during the regulation, motor temperature has been restored to normal temperature, now directly
Threshold current is returned into initial value, car body recovers normal operation.
Correspondingly, sampling apparatus 3 is additionally operable to gather the temperature of the wheel hub motor 1, and the control device 2 is additionally operable in institute
When stating the temperature that sampling apparatus 3 collects and being more than or equal to default temperature threshold, the wheel hub motor 1 is controlled to reduce output work
Rate.Specific sampling apparatus 3 also includes temperature sensor 301, and temperature sensor 301 is connected to gather wheel hub with control device 2
The temperature (temperature of rotor for being specifically as follows wheel hub motor 1) of motor 1, and temperature information will be collected and become by A/D conversions
Digital information is sent to the device of control device 2.The internal memory of control device 2 contains default temperature threshold, and the temperature threshold is not shadow
The maximum temperature value of the normal work of wheel hub motor 1 is rung, the temperature threshold can be obtained by experiment test, and control device 2 receives
Temperature information that temperature sensor 301 collects simultaneously judges whether the information is more than or equal to temperature threshold, when judged result is yes
When, control device 2 controls wheel hub motor 1 to reduce power output, can so reduce the caloric value of wheel hub motor 1, to reduce wheel
The temperature of hub motor 1.
In the present embodiment, wheel hub motor 1 is PWM bunchers, the letter that control device 2 collects according to sampling apparatus 3
Breath generation pwm control signal is simultaneously sent to wheel hub motor 1 to adjust the power output of wheel hub motor 1, and in temperature sensor
301 collect temperature information when being more than or equal to temperature threshold, the pwm control signal control wheel hub motor 1 that control device 2 generates
Reduce the power output of output.Wheel hub motor 1 reduces and/or improved the principle of the power output of output according to pwm control signal
It is as described below.
Wheel hub motor 1 includes PWM speed adjusting modules 101 and the power output module 102 being connected with PWM speed adjusting modules 101,
PWM speed adjusting modules 101 can adjust the power output of power output module 102 according to the pwm control signal received, that is, adjust
The rotating speed of whole wheel hub motor 1.For example, when temperature sensor 301 collects temperature information and is less than temperature threshold, for gathering people
The attitude information that the sensor of the attitude information of machine interaction body-sensing car collects is that human-computer interaction body-sensing car angle of inclination becomes big, should
Message reflection goes out user and wants to improve the translational speed of human-computer interaction body-sensing car, now, the PWM controls that control device 2 is currently generated
The dutycycle of signal processed becomes big relative to the dutycycle of previous pwm control signal, such as the duty of previous pwm control signal
Than for 43%, the dutycycle for the pwm control signal being currently generated is 46%, and the dutycycle of such PWM speed adjusting modules 101 improves,
PWM speed adjusting modules 101 improve the power output that power output module 102 exports, that is, improve the rotating speed of wheel hub motor 1.
PWM speed adjusting modules 101 reduce the power output that power output module 102 exports, that is, reduce wheel hub motor 1
The principle of rotating speed is specially：When temperature sensor 301 collects temperature information and is less than temperature threshold, for gathering human-computer interaction
The attitude information that the sensor of the attitude information of body-sensing car collects is that human-computer interaction body-sensing car angle of inclination diminishes, and the information is anti-
User is mirrored to want to reduce the translational speed of human-computer interaction body-sensing car, now, the pwm control signal that control device 2 is currently generated
Dutycycle diminish relative to the dutycycle of previous pwm control signal, such as the dutycycle of previous pwm control signal is
46%, the dutycycle for the pwm control signal being currently generated is 43%, and the dutycycle of such PWM speed adjusting modules 101 is reduced, and PWM is adjusted
Fast module 101 reduces the power output that power output module 102 exports, that is, reduces the rotating speed of wheel hub motor 1.It is appreciated that
It is that the dutycycle for gradually reducing pwm control signal can be gradually reduced with the power output of wheel hub motor 1, threshold current changes will
The dutycycle of pwm control signal can be caused to significantly alter, when the dutycycle of pwm control signal is greatly lowered, motor output
Power is greatly lowered.
It should be noted that in the case where the temperature of wheel hub motor 1 is less than temperature threshold, the duty of pwm control signal
Determined than the angle of inclination generally according to human-computer interaction body-sensing car, and each angle of inclination can correspond to a dutycycle
Certain pwm control signal, the corresponding relation exist in control device 2 after can determining and set according to experiment, that is,
Say, now pwm control signal is only relevant with human body attitude.It is more than or equal to the situation of temperature threshold in the temperature of wheel hub motor 1
Under, and control device 2 can reduce threshold current, dutycycle is big for control device 2 can export relatively previous pwm control signal
The pwm control signal of amplitude reduction.
In the present embodiment, control device 2 for example including microprocessor 201, PWM controller 202, comparator 203 and is deposited
Reservoir 204.Memory 204 is used to be stored with reflecting for temperature threshold, default threshold current and attitude information and power output
Penetrate relation.Comparator 203 is connected with attitude transducer, current sampler 300, temperature sensor 301 and memory 204.Compare
Device 203 is used to receive posture, temperature and electric current letter that attitude transducer, current sampler 300, temperature sensor 301 collect
Breath, and they compared with the information of the memory storage of memory 204 and/or are converted, to judge to receive information and memory
Whether whether the relation between the information of 204 memory storages, the temperature information specially received are more than temperature threshold, current information
More than default threshold current, corresponding to the attitude information received to be swapped out according to attitude information and power output mapping relations
Power output, comparator 203 also sends the result for comparing and/or converting to microprocessor 201, the basis of microprocessor 201
The comparison of comparator 203 and/or scaling results control PWM controller 202 generate corresponding pwm control signal.Need what is illustrated
It is each attitude information of car body, wheel hub motor 1 is intended to one corresponding power output of output and corresponded to for it, to ensure car body
Balance, the corresponding relation can be according to by being calculated, i.e., attitude information refers to human body appearance with power output mapping relations
Conversion relation between state and the power output of wheel hub motor 1.It is understood that microprocessor 201 connects with memory 204
Connect, in order to temperature threshold, threshold current and attitude information and power output mapping relations are stored in memory 204 or
To the attitude information in memory 204 and power output mapping relations, temperature threshold and default threshold current are modified.
It should be noted that it is not merely to threshold that microprocessor 201 is modified to the default threshold current of the memory storage of memory 204
The initial value of value electric current is modified, and can also will be temporarily stored in processor 204 to the assignment of threshold current again when motor works
It is interior, to form new default threshold current, reach the purpose to the direct adjustment of threshold current.
In the present embodiment, the quantity of temperature sensor 301 is multiple and is uniformly distributed, accurately to obtain wheel hub motor 1
Temperature, and when the temperature information that any one temperature sensor 301 collects is more than or equal to temperature threshold, control device
2 can control wheel hub motor 1 to reduce the power output exported, that is to say, that the temperature of any one position in surface of wheel hub motor 1
During higher than temperature threshold, wheel hub motor 1 can reduce power output, so as to greatly improve the human-computer interaction body-sensing car of the present invention
Security information.
In the present embodiment, temperature sensor 301 is contact type temperature sensor, is for example, attached to (example on wheel hub motor 1
Such as be attached on the rotor of wheel hub motor 1) temp probe, contact type temperature sensor acquisition precision is high, human-computer interaction body-sensing car
Security performance it is higher.In other embodiments, temperature sensor 301 can also be contactless temperature sensor, be placed in
In the environment that wheel hub motor 1 works and close to wheel hub motor 1, to be obtained by obtaining the environment temperature of the work of wheel hub motor 1
Acquisition Error occurs in the surface temperature of wheel hub motor 1, non-contact temperature sensor, influences the peace of human-computer interaction body-sensing car
Full performance.
Control device 2 generates correspondingly pwm control signal according to the electric current of wheel hub motor 1, sends to wheel hub motor 1 and adjusts
The principle of the power output of wheel hub motor 1, with the above-mentioned power output that wheel hub motor 1 is adjusted according to the temperature of wheel hub motor 1
Principle is essentially identical, and it the difference is that only, the reference parameter adjusted according to electric current is electric current and threshold current in motor
Between relation, and when the electric current in motor is more than threshold current, control device 2 reduces the dutycycle of pwm control signal, makes
The dutycycle of pwm control signal is less than dutycycle when wheel hub motor 1 exports threshold power.Control device 2 adjusts according to temperature
The priority of the power output of wheel hub motor 1, more than the priority for the power output that wheel hub motor 1 is adjusted according to electric current, that is, work as
The temperature of wheel hub motor 1 is higher than temperature threshold, and when electric current is less than or equal to threshold current, control device 2 still controls wheel hub motor 1
Make the power output of wheel hub motor 1 reduce.
Preferably, when controlling wheel hub motor 1 to reduce power output, staged can be carried out gradually reduce (can not drop
It is zero).
Referring to Fig. 2, the present invention again provides a kind of control method of the wheel hub motor of human-computer interaction body-sensing car, including
Following steps：
Step S1：The status information of collection vehicle, the status information of vehicle include temperature information, attitude information and wheel hub electricity
The current information of machine；
Step S2：Whether the temperature information for judging to collect is more than or equal to temperature threshold；
Step S3：When result is to be, the power output of wheel hub motor is reduced, such as reduction threshold current side can be used
Formula, the dutycycle of pwm control signal is greatly lowered, realizes the power output for reducing wheel hub motor；
Step S4：When result is no, judge whether current information is more than threshold current；
Step S5：When result when being, to reduce the power output of wheel hub motor, specially using reduction pwm control signal
Dutycycle mode, realize reduce wheel hub motor power output；
Step S6：When result is no, the power output of wheel hub motor is controlled according to attitude information.
The hub motor control system and its control method of the human-computer interaction body-sensing car of the present invention, are adopted by sampling apparatus 3
Collect the electric current of wheel hub motor 1, when control device 2 judges that the current information that sampling apparatus 3 collects is more than threshold current, control
Wheel hub motor 1 reduces power output, reduces the caloric value of wheel hub motor 1, makes the temperature of wheel hub motor 1 reduce, to avoid wheel hub
Motor 1 is burned because temperature is too high brings the person and property loss to user.
Although the present invention is disclosed above by preferred embodiment, but is not limited to the present invention, this any known skill
Skill person, without departing from the spirit and scope of the present invention, a little change and retouching can be made, therefore protection scope of the present invention is worked as
It is defined depending on claims scope claimed.
Claims (10)
1. a kind of hub motor control system of human-computer interaction body-sensing car, including driving moment rotate wheel hub motor, for adopting
Collect the sampling apparatus and control device of the attitude information of car body, the control device is used for the attitude information control according to the car body
The power output of the wheel hub motor is made so that the car body of human-computer interaction body-sensing car tends to be horizontal, it is characterised in that the sampling
Device is additionally operable to gather the electric current of the wheel hub motor, and the control device is additionally operable to the electric current collected in the sampling apparatus
During more than default threshold current, the power output of the wheel hub motor is reduced to predetermined threshold power or is reduced to predetermined
Threshold power below, the predetermined threshold power be when the electric current of wheel hub motor is the default threshold current wheel hub electricity
The power output of machine.
2. the hub motor control system of human-computer interaction body-sensing car according to claim 1, it is characterised in that the sampling
Device is additionally operable to gather the temperature of the wheel hub motor, and the control device is additionally operable to the temperature collected in the sampling apparatus
During more than or equal to default temperature threshold, the wheel hub motor is controlled to reduce power output.
3. the hub motor control system of human-computer interaction body-sensing car according to claim 2, it is characterised in that the sampling
Device is additionally operable to gather the temperature of the wheel hub motor, and the control device is additionally operable to the temperature collected in the sampling apparatus
The default threshold current is reduced during more than or equal to default temperature threshold so that the wheel hub motor reduces power output.
4. the hub motor control system of the human-computer interaction body-sensing car according to Claims 2 or 3, it is characterised in that described
Wheel hub motor is PWM bunchers, and the information generation PWM controls that the control device collects according to the sampling apparatus are believed
Number, and send to the wheel hub motor, the wheel hub motor and power output is adjusted according to the pwm control signal, and described
When the temperature that sampling apparatus collects is more than or equal to default temperature threshold, the pwm control signal of the control device generation
The wheel hub motor can be made to reduce power output.
5. the hub motor control system of human-computer interaction body-sensing car according to claim 4, it is characterised in that the wheel hub
Motor includes PWM speed adjusting modules and the power output module that is connected with the PWM speed adjusting modules, the PWM speed adjusting modules according to
The pwm control signal received adjusts the power output of the power output module.
6. the hub motor control system of human-computer interaction body-sensing car according to claim 4, it is characterised in that the control
Device includes being used for the PWM controller for generating pwm control signal, and the attitude information for storing car body closes with power output mapping
The memory of system, default threshold current and default temperature threshold, for receiving attitude information, current information and temperature information
And by them compared with the information of the memory memory storage and/or conversion comparator, and for according to the ratio
Comparison and/or scaling results compared with device control the microprocessor of the corresponding pwm control signal of the PWM controller generation.
7. the hub motor control system of human-computer interaction body-sensing car according to claim 5, it is characterised in that the sampling
When the temperature that device collects is more than or equal to default temperature threshold, the pwm control signal of the control device generation accounts for
The empty dutycycle than less than previous pwm control signal.
8. the hub motor control system of the human-computer interaction body-sensing car according to Claims 2 or 3, it is characterised in that described
Sampling apparatus includes the temperature sensor for being used to gather the temperature of the wheel hub motor, and the quantity of the temperature sensor is multiple
And it is uniformly distributed.
9. a kind of control method of the hub motor control system of human-computer interaction body-sensing car, it is characterised in that comprise the following steps：
Gather the current information of wheel hub motor；
Judge whether the current information is more than default threshold current；And
When judged result when being, to control the power output of wheel hub motor to be less than or equal to the electric current in wheel hub motor to be described pre-
If threshold current when wheel hub motor power output.
10. the control method of the hub motor control system of the human-computer interaction body-sensing car described in claim 9, it is characterised in that
It is further comprising the steps of：
Gather the temperature information of wheel hub motor；
Whether the temperature information for judging to collect is more than or equal to temperature threshold；And
When judged result for when being, control wheel hub motor reduces power output；
Wherein, it is more than according to the priority of temperature information control wheel output power of motor and wheel hub motor is controlled according to current information
Priority.
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| CN107592058B (en) | 2024-04-09 |
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Effective date of registration: 20240415 Address after: 321000 west side of 3 / F, 1 plant, No. 468, Xinji Road, qiubin street, Wucheng District, Jinhua City, Zhejiang Province (self declaration) Patentee after: Zhejiang Qike Robot Technology Co.,Ltd. Country or region after: China Address before: 311100 Building 9, Qixianqiao Village, Liangzhu Street, Yuhang District, Hangzhou City, Zhejiang Province (1st and 3rd floors of the South Building and 3-4 floors of the North Building) Patentee before: HANGZHOU CHIC INTELLIGENT TECHNOLOGY Co.,Ltd. Country or region before: China |