CN110182065A - Parking control system and its motor speed evaluation method for scooter - Google Patents
Parking control system and its motor speed evaluation method for scooter Download PDFInfo
- Publication number
- CN110182065A CN110182065A CN201910493901.1A CN201910493901A CN110182065A CN 110182065 A CN110182065 A CN 110182065A CN 201910493901 A CN201910493901 A CN 201910493901A CN 110182065 A CN110182065 A CN 110182065A
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- Prior art keywords
- motor
- module
- scooter
- motor speed
- processing module
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- 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
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- 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
Abstract
The invention discloses the parking control systems and its motor speed evaluation method for scooter, are related to scooter technical field.The present invention includes processing module, motor control module, motor, motor speed feedback module, vehicle balance monitoring modular and brake, throttle monitoring module, and processing module is electrically connected with motor control module, motor speed feedback module, vehicle balance monitoring modular and brake, throttle monitoring module respectively；The speed revolution value of motor is transferred to processing module by motor speed feedback module, and processing module controls motor by motor control module.The present invention monitors motor speed in real time by motor speed feedback module, and the equilibrium state of vehicle is judged according to vehicle balance detection module and brake, the mutual cooperation of throttle monitoring module, achieve the purpose that steady climb and fall further according to the power of the revolving speed of equilibrium state and motor control motor, landslide phenomenon of the vehicle in climb and fall can be prevented, that improves driver uses Che Anquan.
Description
Technical field
The invention belongs to scooter technical fields, more particularly to the parking control system and its motor turn for scooter
Fast evaluation method.
Background technique
With the aging of China's population and the continuous improvement of living standards of the people, the elderly is for scooter
Demand it is also more and more.Common scooter needs to carry out motor real-time measurement revolving speed in parking, but is dependent on greatly more
The cooperation of kind detector, and computational algorithm is complex, operation time is longer, it is difficult to protect to the personal safety of the elderly
Barrier.
Summary of the invention
The purpose of the present invention is to provide the parking control systems and its motor speed evaluation method for scooter, solve
The problem that existing scooter climb and fall parking is unstable and measuring methods for rotary speed of electromotor is complicated.
In order to solve the above technical problems, the present invention is achieved by the following technical solutions:
The present invention is the parking control system for scooter, including processing module, motor speed feedback module, motor control mould
Block, brake, throttle monitoring module, vehicle balance monitoring modular and motor, the motor speed feedback module respectively with motor with
And processing module is electrically connected, the motor speed feedback module is by the speed feedback of motor to processing module, the processing mould
Block is electrically connected with vehicle balance monitoring modular, brake, throttle monitoring module and motor control module respectively；The vehicle is flat
Balancing information locating for scooter is sent to processing module by weighing apparatus monitoring modular, and the processing module is by the control signal to motor
It is transferred to motor control module；The motor control module and electrical connection of motor, the motor control module is according to receiving
Motor control signal control motor speed.
Preferably, the processing module includes microprocessor；The vehicle balance monitoring modular includes electronic gyroscope；Institute
It states electronic gyroscope and microprocessor is electrically connected.
Preferably, the brake, throttle monitoring module include brake monitoring module and throttle monitoring module；The brake prison
It controls module and throttle monitoring module to be electrically connected with processing module, the brake monitoring module sends scooter to processing module
Whether braking state information is in, and the throttle monitoring modular sends whether scooter is in throttle acceleration mode to processing module
Information.
Preferably, the motor speed feedback module includes single-chip microcontroller, current sampling module and memory module；The monolithic
Machine is electrically connected with current sampling module and memory module respectively；The current sampling module includes analog-digital converter, described
Analog-digital converter and single-chip microcontroller are electrically connected, and the analog-digital converter sends the current values converted to single-chip microcontroller；The list
Piece machine estimates motor speed by current values, and estimation result is sent to processing module.
The motor speed evaluation method of parking control system for scooter, comprising the following steps:
SS01: first the value of the internal resistance of motor is input in motor speed feedback module；
SS02: the bus terminal voltage value of motor, the revolving speed of current value and motor are measured；
SS03: the value of the induced electromotive force of motor is calculated；
SS04: the linear relationship between induced electromotive force and motor speed is established, is denoted as, and is stored in memory module；
SS05: the motor speed feedback module calculates motor according to current value by detecting the current value at motor both ends
Real-time induced electromotive force size；
SS06: corresponding tachometer value is determined according to the size of induced electromotive force, and tachometer value is transferred to processing module.
Preferably, which is characterized in that the calculation formula of the SS03 step are as follows:.
The invention has the following advantages:
1, the present invention monitors motor speed in real time by motor speed feedback module, and according to vehicle balance detection module and stops
The mutual cooperation of vehicle, throttle monitoring module judges the equilibrium state of vehicle, controls electricity further according to the revolving speed of equilibrium state and motor
The power of machine achievees the purpose that steady climb and fall, and in climb and fall, can prevent brake unclamp and caused by come down phenomenon, mention
High driver's uses Che Anquan.
2, the present invention estimates the revolving speed of motor by algorithm by the current monitoring passed through to motor, can be greatly
Reduce motor speed measurement cost.
3, the present invention is succinctly easy to operate for the measuring method of motor speed, applied widely.
Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will be described below to embodiment required
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the annexation figure of the parking control system for scooter of the invention；
Fig. 2 is the motor speed evaluation method flow chart of the parking control system for scooter of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
Refering to Figure 1, the present invention is the parking control system for scooter, including processing module, motor speed
Feedback module, motor control module, brake, throttle monitoring module, vehicle balance monitoring modular and motor, motor speed feed back mould
Block is electrically connected with motor and processing module respectively, motor speed feedback module by the speed feedback of motor to processing module,
Processing module is electrically connected with vehicle balance monitoring modular, brake, throttle monitoring module and motor control module respectively；Vehicle
Balancing information locating for scooter is sent to processing module by balance monitoring module, and processing module passes the control signal to motor
It is defeated by motor control module；Motor control module and electrical connection of motor, motor control module is according to the motor control received
Signal control motor revolving speed.
Wherein, processing module includes microprocessor；Vehicle balance monitoring modular includes electronic gyroscope；Electronic gyroscope with
Microprocessor is electrically connected.
Wherein, brake, throttle monitoring module include brake monitoring module and throttle monitoring module；Brake monitoring module and oil
Door monitoring module is electrically connected with processing module, and brake monitoring module sends whether scooter is in brake shape to processing module
State information, throttle monitoring modular send whether scooter is in throttle acceleration mode information to processing module.
Wherein, motor speed feedback module includes single-chip microcontroller, current sampling module and memory module；Single-chip microcontroller respectively with electricity
It flows sampling module and memory module is electrically connected；Current sampling module includes analog-digital converter, analog-digital converter and single-chip microcontroller
It is electrically connected, analog-digital converter sends the current values converted to single-chip microcontroller；Single-chip microcontroller is by current values to motor speed
It is estimated, and estimation result is sent to processing module.
It please refers to shown in Fig. 2, the motor speed evaluation method of the parking control system for scooter, including following step
It is rapid:
SS01: first the value of the internal resistance of motor is input in motor speed feedback module；
SS02: the bus terminal voltage value of motor, the revolving speed of current value and motor are measured；
SS03: the value of the induced electromotive force of motor is calculated；
SS04: the linear relationship between induced electromotive force and motor speed is established, is denoted as, and is stored in memory module；
SS05: motor speed feedback module passes through the current value at detection motor both ends, and the reality of motor is calculated according to current value
When induced electromotive force size；
SS06: the value of corresponding revolving speed is determined according to the size of induced electromotive force, and the value of revolving speed is transferred to processing module.
Wherein, the calculation formula of SS03 step are as follows:.
The present invention is the parking control system for scooter, control method and working principle are as follows: vehicle balance monitoring
Module and brake, throttle monitoring module cooperate, and send monitoring data, processing module overall balance prison to processing module in real time
Survey module and brake, the vehicle of traveling of the information to vehicle in upward slope, descending or flat road surface of throttle monitoring module is believed
Breath is judged, when vehicle balance monitoring module monitors to vehicle are in nonequilibrium condition and throttle increases, then determines vehicle
At this time be upward slope state, when vehicle balance monitoring module monitors to vehicle are in nonequilibrium condition, and vehicle accelerator release and stop
When vehicle is run, then determining vehicle at this time is descending state, otherwise determines that vehicle is equilibrium state；When vehicle be in go up a slope or under
When ramp shaped state, the revolving speed of motor speed feedback module real-time monitoring motor, and rotary speed information is transferred to processing module, handle mould
Motor speed information calculates the real-time speed of vehicle to block based on the received, and is adjusted according to real-time speed to motor, by motor
Adjusting parameter be input to motor control module, motor control module adjusts motor speed according to adjusting parameter；When going up a slope, by
More tractive force are needed in vehicle climbing, motor load increases, and in the case where power is constant, motor speed is slack-off, at this time
It then needs to control motor and increases power to reach the stable rate of climb, in descending, due to the addition of gravitional force, motor turns
Speed increases, and needs to control motor at this time and reduces power or even need to be reversely connected motor, to balance speed, reaches stable descending
Effect.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
Particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one implementation of the invention
In example or example.In the present specification, schematic expression of the above terms may not refer to the same embodiment or example.
Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples to close
Suitable mode combines.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present invention
Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only
It is limited by claims and its full scope and equivalent.
Claims (6)
1. being used for the parking control system of scooter, including processing module, motor speed feedback module, motor control module, brake
Vehicle, throttle monitoring module, vehicle balance monitoring modular and motor, it is characterised in that: the motor speed feedback module respectively with
Motor and processing module are electrically connected, the motor speed feedback module by the speed feedback of motor to processing module, it is described
Processing module is electrically connected with vehicle balance monitoring modular, brake, throttle monitoring module and motor control module respectively；It is described
Balancing information locating for scooter is sent to processing module by vehicle balance monitoring modular, and the processing module is by the control to motor
Signal processed is transferred to motor control module；The motor control module and electrical connection of motor, the motor control module according to
The motor control signal control motor speed received.
2. the parking control system according to claim 1 for scooter, which is characterized in that the processing module includes
Microprocessor；The vehicle balance monitoring modular includes electronic gyroscope；The electronic gyroscope and microprocessor are electrically connected.
3. the parking control system according to claim 1 for scooter, which is characterized in that the brake, throttle prison
Controlling module includes brake monitoring module and throttle monitoring module；The brake monitoring module and throttle monitoring module with processing mould
Block is electrically connected, and the brake monitoring module sends whether scooter is in braking state information, the throttle to processing module
Monitoring modular sends whether scooter is in throttle acceleration mode information to processing module.
4. the parking control system according to claim 1 for scooter, which is characterized in that the motor speed feedback
Module includes single-chip microcontroller, current sampling module and memory module；The single-chip microcontroller respectively with current sampling module and storage mould
Block is electrically connected；The current sampling module includes analog-digital converter, and the analog-digital converter and single-chip microcontroller are electrically connected, described
Analog-digital converter sends the current values converted to single-chip microcontroller；The single-chip microcontroller estimates motor speed by current values
It calculates, and estimation result is sent to processing module.
5. the motor speed evaluation method of the parking control system for scooter as described in claim 1-4 is any, special
Sign is, comprising the following steps:
SS01: first the value of the internal resistance of motor is input in motor speed feedback module；
SS02: the bus terminal voltage value of motor, the revolving speed of current value and motor are measured；
SS03: the value of the induced electromotive force of motor is calculated；
SS04: the linear relationship between induced electromotive force and motor speed is established, is denoted as, and is stored in memory module；
SS05: the motor speed feedback module calculates motor according to current value by detecting the current value at motor both ends
Real-time induced electromotive force size；
SS06: corresponding tachometer value is determined according to the size of induced electromotive force, and tachometer value is transferred to processing module.
6. the motor speed evaluation method of the parking control system according to claim 5 for scooter, feature exist
In the calculation formula of the SS03 step are as follows:.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910493901.1A CN110182065A (en) | 2019-06-07 | 2019-06-07 | Parking control system and its motor speed evaluation method for scooter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910493901.1A CN110182065A (en) | 2019-06-07 | 2019-06-07 | Parking control system and its motor speed evaluation method for scooter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110182065A true CN110182065A (en) | 2019-08-30 |
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ID=67720927
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910493901.1A Pending CN110182065A (en) | 2019-06-07 | 2019-06-07 | Parking control system and its motor speed evaluation method for scooter |
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Citations (6)
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| CN102826088A (en) * | 2012-09-12 | 2012-12-19 | 浙江吉利汽车研究院有限公司杭州分公司 | Hill-start assist device and hill-start assist method |
| CN103182955A (en) * | 2013-01-03 | 2013-07-03 | 芜湖宏宇汽车电子有限责任公司 | Anti-sliding control system for electric automobile |
| CN104483502A (en) * | 2014-12-23 | 2015-04-01 | 三明学院 | SCM (single-chip microcomputer)-based wide-range accurate measuring method for real-time rotating speed of motor |
| CN107187336A (en) * | 2017-04-10 | 2017-09-22 | 深圳市沃特玛电池有限公司 | A kind of electric automobile ramp accessory system and control method based on gyroscope |
| CN107284290A (en) * | 2017-06-20 | 2017-10-24 | 清华大学苏州汽车研究院（吴江） | Pure electric automobile ramp auxiliary starting control method |
| CN207664904U (en) * | 2017-11-09 | 2018-07-27 | 苏州工业园区艾思科技有限公司 | A kind of circuit for stablizing brush motor rotary speed |
-
2019
- 2019-06-07 CN CN201910493901.1A patent/CN110182065A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102826088A (en) * | 2012-09-12 | 2012-12-19 | 浙江吉利汽车研究院有限公司杭州分公司 | Hill-start assist device and hill-start assist method |
| CN103182955A (en) * | 2013-01-03 | 2013-07-03 | 芜湖宏宇汽车电子有限责任公司 | Anti-sliding control system for electric automobile |
| CN104483502A (en) * | 2014-12-23 | 2015-04-01 | 三明学院 | SCM (single-chip microcomputer)-based wide-range accurate measuring method for real-time rotating speed of motor |
| CN107187336A (en) * | 2017-04-10 | 2017-09-22 | 深圳市沃特玛电池有限公司 | A kind of electric automobile ramp accessory system and control method based on gyroscope |
| CN107284290A (en) * | 2017-06-20 | 2017-10-24 | 清华大学苏州汽车研究院（吴江） | Pure electric automobile ramp auxiliary starting control method |
| CN207664904U (en) * | 2017-11-09 | 2018-07-27 | 苏州工业园区艾思科技有限公司 | A kind of circuit for stablizing brush motor rotary speed |
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