CN112072960B

CN112072960B - Automatic speed regulation control method of tricycle driving system

Info

Publication number: CN112072960B
Application number: CN202010908068.5A
Authority: CN
Inventors: 花为; 程兴; 李升�; 张力; 刘竹园; 王伟; 王庆; 周建华; 周维; 李玉刚; 刘亚军; 胡金龙; 卜言柱; 胡宜豹
Original assignee: Wuxi Sine Power Technology Co ltd
Current assignee: Wuxi Sine Power Technology Co ltd
Priority date: 2020-09-02
Filing date: 2020-09-02
Publication date: 2023-01-17
Anticipated expiration: 2040-09-02
Also published as: CN112072960A

Abstract

The invention discloses an automatic speed regulation control method of a tricycle driving system, wherein the tricycle driving system comprises a motor on a tricycle frame and a driver for controlling the driving operation of the motor, the tricycle driving system is provided with an automatic gear shifting device in communication connection with the driver, and the output end of the automatic gear shifting device is in transmission connection with the rear wheel of a tricycle; the automatic gear shifting device is provided with a low-speed reduction ratio gear P1 and a high-speed reduction ratio gear P2, whether the automatic gear shifting device needs to shift is judged based on the driving working condition of the tricycle through the driver, and meanwhile, in the gear shifting process of the automatic gear shifting device, the driver performs smooth control on the motor and is used for avoiding the tricycle from shaking or slumping in the driving process.

Description

Automatic speed regulation control method of tricycle driving system

Technical Field

The invention belongs to the electric vehicle drive control technology, and particularly relates to an automatic speed regulation control method of a tricycle drive system.

Background

The tricycle has a large market application demand due to the fact that the tricycle has good loading capacity and has specific advantages compared with a two-wheeled vehicle. However, the driving technology adopted by the tricycle continues to use the traditional motor driving technology, and the innovative driving technology of the tricycle is hardly disclosed, particularly: the Hall sensor installed on the winding is adopted to carry out sensing detection of the position of the rotor, square wave control driving is adopted, and after the Hall sensor is used for a long time under the winding heating environment, the structure of the Hall sensor is easy to damage, so that a tricycle has high failure rate, and meanwhile, the existing control mode has poor speed-raising performance, low working efficiency of the motor and high cost.

The applicant also has noticed that since a tricycle generally needs to have a better loading capacity and a function of using a two-wheeled vehicle, and the load range of the tricycle is very wide, when the tricycle is used, the motor of the tricycle is required to have an excellent speed-up performance during driving due to the wide and uncertain corresponding load range, and the existing tricycle driving control scheme is relatively lagged behind the recent technical development.

Therefore, based on the fact that the technical development team of the applicant concentrates on research and development experience and accumulated application data experience in the field of electric vehicle driving for many years, a systematic technical scheme is expected to be searched for to improve the technical level of tricycle driving and promote the application development of tricycles.

Disclosure of Invention

In view of the above, an object of the present invention is to provide an automatic speed regulation control method for a tricycle driving system, in which a driver smoothly controls a motor during shifting of an automatic gear shifting device, so as to prevent a tricycle from shaking or jerking during driving.

The technical scheme adopted by the invention is as follows:

an automatic speed regulation control method of a tricycle driving system comprises a motor on a tricycle frame and a driver for controlling the driving operation of the motor, wherein the tricycle driving system is provided with an automatic gear shifting device in communication connection with the driver, and the output end of the automatic gear shifting device is in transmission connection with the rear wheels of a tricycle; the automatic gear shifting device is provided with a low-speed reduction ratio gear P1 and a high-speed reduction ratio gear P2, whether the automatic gear shifting device needs to shift is judged through the driver based on the running working condition of the tricycle, and meanwhile, in the gear shifting process of the automatic gear shifting device, the driver smoothly controls the motor and is used for avoiding the shaking or pause feeling of the tricycle in the running process.

Preferably, the smoothing control includes a control process of:

c10 The driver confirms the gear shifting demand signal sent by the automatic gear shifting device;

c20 The driver takes the state that the automatic gear shifting device is in a neutral gear P0 as a gear shifting condition, and controls and adjusts the rotating speed of the motor to a target rotating speed based on the detected rotating speed of the rear wheels and a gear shifting demand signal after the gear shifting condition is judged to be reached;

c30 Automatic shifting device executes a shift request.

Preferably, the shift demand includes a high speed shift demand to switch the low speed reduction gear P1 to the high speed reduction gear P2, and a low speed shift demand to switch the high speed reduction gear P2 to the low speed reduction gear P1; wherein the content of the first and second substances,

when the gear shifting requirement is a high-speed gear shifting requirement, in the step C20), looking up a table through driver software, and reducing the PWM duty ratio of a driver so as to reduce the motor speed to a target rotating speed;

when the gear shifting requirement is a low-speed gear shifting requirement, in the step C20), looking up a table through driver software, increasing the PWM duty ratio of the driver, and increasing the motor speed to a target rotating speed.

Preferably, when the shift demand is a high-Speed shift demand, the target Speed of the motor _Target = current Speed of the motor _{At present} * (1/P2)/(1/P1); when the gear shifting requirement is a low-Speed gear shifting requirement, the target rotating Speed of the motor _Target = current Speed of the motor _{At present} *(1/P1)/(1/P2)。

Preferably, the driver controls the motor speed to be adjusted to the target speed within 0.6-3 seconds after receiving the shift demand signal.

Preferably, the drive adjusts the motor speed control to the target speed within 1 second after receiving the shift demand signal.

Preferably, said P1=1:30, the P2=1:10.

preferably, the driver judges whether the running condition of the tricycle is in a climbing running state or a flat running state based on the input real-time changes of the motor speed, the motor phase line current and the bus current of the whole tricycle; when the grade climbing driving state is switched into the grade climbing driving state, the automatic gear shifting device is judged to need low-speed gear shifting, and when the grade climbing driving state is switched into the grade climbing driving state, the automatic gear shifting device is judged to need high-speed gear shifting.

Preferably, the speed of the motor is in the range of 0-2000 rpm.

Preferably, the motor adopts a salient pole permanent magnet synchronous motor beneficial to flux weakening control, and comprises a stator assembly and a rotor assembly which are connected through electromagnetic induction, wherein the stator assembly comprises a stator core and a winding, and the rotor assembly comprises a rotor core and permanent magnet steel; the speed regulation range of the salient pole permanent magnet synchronous motor is improved through field weakening control of the salient pole permanent magnet synchronous motor, and meanwhile, the torque of the salient pole permanent magnet synchronous motor is improved through increasing the number of turns of a coil of a single winding.

Compared with the prior art need the structural design of third gear reduction ratio shelves, the application has proposed the low-speed, automatic gear shifting device of high-speed reduction ratio shelves (P1, P2), judge whether need shift in real time through the driver, simultaneously at automatic gear shifting device shift in-process, the driver carries out smooth control to the motor, be used for avoiding the tricycle to take place the shake or pause and frustrate the sense in the in-process of traveling, specifically, in the smooth control in-process, after automatic gear shifting device sends the demand signal of shifting, and before the demand of shifting, after automatic gear shifting device guarantees to be in neutral gear P0 state, adjust motor speed to the target rotational speed that matches with the target reduction ratio of shifting in advance, and then realized effectual smooth control.

Drawings

FIG. 1 is a flow chart of the control steps of the tricycle driving system in the embodiment 1 of the present application;

fig. 2 is a schematic structural view of a motor in embodiment 1 of the present application;

FIG. 3 is a schematic view of the structure of FIG. 2 in another orientation;

fig. 4 is an exploded structural view of a mounting structure of the encoder 2 of fig. 2;

FIG. 5 is an exploded view of FIG. 2;

FIG. 6 is a flow chart of the self-calibration control procedure of the encoder 2 in embodiment 2 of the present application;

fig. 7 is a schematic structural view of a rotor assembly 13 in embodiment 2 of the present application;

FIG. 8 is an exploded view of FIG. 7;

fig. 9 is a schematic structural view of a rotor core in embodiment 2 of the present application;

FIG. 10 is an end view of the structure of FIG. 9;

fig. 11 is a flow chart of the assembly process steps of the combined magnetic steel in embodiment 2 of the present application;

FIG. 12 is an enlarged view of the structure at A in FIG. 10;

fig. 13 is an exploded view of the circuit board in embodiment 4 of the present application;

fig. 14 is a schematic structural diagram of a circuit board (not shown with a bottom heat dissipation substrate) in embodiment 4 of the present application;

FIG. 15 is a schematic view of the structure of FIG. 14 in another orientation;

fig. 16 is an enlarged schematic view of a mounting structure of a MOS transistor on an over-current heat dissipation aluminum block;

fig. 17 is an exploded view of the mounting structure between the MOS transistor and the contact pad and the elastic pad;

FIG. 18 is a flowchart of a smoothing control step in embodiment 5 of the present application;

FIG. 19 is a schematic view showing a communication connection between an encoder and each driver unit in embodiment 6 of the present application;

FIG. 20 is a block diagram showing a flow of a data determination control process in an encoder according to embodiment 6 of the present application;

fig. 21 is a schematic diagram of communication connection of an encoder in security management in embodiment 6 of the present application.

Detailed Description

In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1: the embodiment provides a tricycle driving system with low failure rate, which comprises a motor 1 on a tricycle frame (applying a known tricycle structure) and a driver for controlling the driving operation of the motor 1, wherein the motor 1 comprises an encoder 2 arranged on a motor shaft 11, so that the failure rate can be obviously reduced; the encoder 2 is in communication connection with the driver, the encoder 2 sends the detected rotor position signal to the driver, and the driver performs sine wave driving control on the motor based on the rotor position signal, so that the driving precision of a tricycle driving system can be remarkably improved, and fine control is realized; referring to fig. 1, the control steps of the present embodiment include:

s10), after the driver receives the rotor position real-time signal output by the encoder 2, filtering the rotor position real-time signal, and setting a current angle value ThetViL1;

s20), performing deviation value comparison on the current angle value ThetViL1 and the angle value ThetViLast of the previous period, and assigning a current sine wave control actual angle value ThetResult according to a deviation value comparison result; preferably, in this step 20), when the deviation value does not exceed a preset maximum deviation value (which may be required to specifically set the actual control accuracy), assigning the current angle value ThetViL1 to the current sine wave control actual angle value ThetResult; when the deviation value exceeds a preset maximum deviation value, assigning the preset maximum angle value to the current sine wave control actual angle value ThetResult to avoid the current fluctuation of the motor;

s30), the driver controls the actual angle value ThetResult to start and control the motor 1 according to the sine wave.

Preferably, referring to fig. 2, fig. 3 and fig. 4, in the present embodiment, the motor 1 includes a stator assembly 12 and a rotor assembly 13 connected by electromagnetic induction, and the rotor assembly 13 is fixedly integrated with the motor shaft 11; the encoder 2 adopts an inductive position encoder, which comprises an encoder rotating module 21 and an encoder stator module 22 which are connected through electromagnetic induction, wherein the encoder rotating module 21 is fixedly installed on the motor shaft 11, the encoder stator module 22 is fixedly installed at one end of the stator module 20 and is in communication connection with the driver, a rotor position signal obtained through calculation is sent to the driver, the rotor position signal has high precision and high resolution, the purposes of starting and stopping the motor 1, controlling the speed, monitoring the power density and the like can be accurately realized, and the encoder is suitable for working under various severe environmental conditions, including damp, muddy and dusty working environments;

preferably, in the present embodiment, the stator assembly 12 is located at the outer periphery of the rotor assembly 13 (i.e. an inner rotor motor), and in other embodiments, an outer rotor motor may also be used; more preferably, in this embodiment, the encoder rotation module 21 is provided with a rotation module printed circuit board (not specifically shown), the rotation module printed circuit board is provided with a conductive material scale area (a specific scale value is selected according to actual needs), the encoder stator module 22 is provided with a stator module printed circuit board (not specifically shown), the stator module printed circuit board is provided with an excitation coil for generating an electromagnetic field, a receiving coil for receiving induced electromotive force, and a processing chip, wherein the conductive material scale area is used for influencing a coupling relationship between the excitation coil and the receiving coil, and the induced electromotive force on the receiving coil is changed after the excitation coil generates an alternating electromagnetic field strength; when the encoder rotation module 21 rotates for one circle relative to the encoder stator module 22, the receiving coil obtains a plurality of periodic receiving signals, and the receiving signals are calculated by the processing chip and then output rotor position signals to the driver;

in this embodiment, the rotor assembly 13 includes a permanent magnet steel 13a, when the permanent magnet steel 13a rotates, the N and S magnetic poles of the permanent magnet steel 13a enable the conductive material scale region to generate an eddy current field for weakening the intensity of the alternating electromagnetic field of the excitation coil, which can be beneficial to the formation of the alternating electromagnetic field; the processing chip is matched with the exciting coil to generate high-frequency periodic alternating voltage and current, and alternating current flowing through the exciting coil forms an alternating electromagnetic field in the peripheral region of the alternating current; when an alternating electromagnetic field generated on an exciting coil passes through a receiving coil, the magnetic flux of the receiving coil is alternated, so that alternating induced electromotive force with the same frequency is generated on each receiving coil;

particularly preferably, in the present embodiment, the receiving coils are annularly spaced on the rotating module printed circuit board; all the conductive materials on the conductive material scale area are distributed on the rotating module printed circuit board at intervals in a ring shape;

on the basis of referring to fig. 2, fig. 3 and fig. 4, and further referring to fig. 5, this embodiment further preferably provides a convenient mounting structure for the encoder 2, in which the encoder rotating module 21 is sleeved on the encoder mounting sleeve 23, and the encoder mounting sleeve 23 is fixedly mounted on the motor shaft 11; the encoder stator module 22 is fixedly installed on the motor end cover through an encoding installation disc 24; preferably, in the present embodiment, a heat dissipation mounting cylinder 15 is disposed on the periphery of the stator assembly 12, the heat dissipation mounting cylinder 15 is made of aluminum profile by casting or machining, and is provided with a plurality of heat dissipation fins 15a; the two ends of the heat dissipation installation cylinder 15a are fixedly provided with a first motor end cover 14a and a second motor end cover 14b respectively; the coding installation disc 24 is fixedly installed on the second motor end cover 14b, and a fan 16 for motor heat dissipation is fixedly installed on the motor shaft 11 positioned on the outer side of the coding installation disc 24;

preferably, in the present embodiment, the encoder mounting sleeve 23 is mounted and connected with the motor shaft 11 through a flat key or an interference fit or a shrink fit or a spline; meanwhile, the encoder stator module 22 is provided with a guide mounting hole 22a, and the outer periphery of the encoder mounting sleeve 23 is inserted in the guide mounting hole 22a in a clearance manner;

preferably, in the present embodiment, the encoder mounting plate 24 is relatively selectively sleeved on the motor shaft 11 through a bearing 25, and the encoder stator module 22 is installed between the second motor end cover 14b and the encoder mounting plate 24; the encoder stator module 22 is fixedly mounted on the encoding mounting disc 24 through a screw fastener, and the encoding mounting disc 24 is fixedly mounted on the second motor end cover 14b through a screw fastener;

preferably, in this embodiment, the heat dissipation mounting cylinder 15 is provided at the periphery thereof with mounting grooves 15b spaced apart from each other, and each mounting groove 15b is used for fixing and mounting the heat dissipation mounting cylinder 15, the first motor end cap 14a and the second motor end cap 14b into a whole by inserting a screw fastener 17, so that the heat dissipation mounting cylinder 15 of this embodiment is not only beneficial to the external protection effect of the motor 1 in high-speed operation, but also can be matched with the fan 16 to work, thereby achieving the rapid heat dissipation effect of the motor 1.

On one hand, the encoder rotating module 21 is sleeved on the encoder mounting sleeve 23, and is quickly and fixedly arranged on the motor shaft 11 through the encoder mounting sleeve 23; on the other hand, encoder stator module 22 passes through the fixed installation of code mounting disc 24 on second motor end cover 14b, and encoder stator module 22 is located between code mounting disc 24 and second motor end cover 14b, and the installation is firm reliable, is difficult for receiving external force and damages, avoids breaking down.

Example 2: on the basis of the tricycle driving system provided in embodiment 1, embodiment 2 further provides a self-calibration control method for the encoder 2, wherein the encoder 2 adopts an inductive position encoder for detecting a rotor position signal in real time; before the motor 1 is used, the encoder 2 performs a self-calibration control in advance, wherein, referring to fig. 6, the self-calibration control includes the following operation steps:

a10 Electrifying the motor 1 provided with the encoder 2, and enabling the motor 1 to be in a stable constant-speed rotation state through external force, preferably, in the step A10), setting the rotation speed range of the motor 1 to be 20-80% of the rated rotation speed when the motor is normally driven;

a20 Adjusting the original sine and cosine signals of an induction coil in the encoder 2, and adjusting the output amplitude of the encoder based on the original sine and cosine signals, so that the original sine and cosine signals of the encoder 2 in each period (the calculation period can be usually set to microsecond level, for example, 50-100 microseconds) reach a uniform output amplitude; preferably, in this embodiment, the receiving coil is used as an induction coil, and the induced electromotive force signal is used as an original sine and cosine signal; when the encoder rotating module rotates for a circle relative to the encoder stator module, the receiving coil obtains original sine and cosine signals of a plurality of periods, and the original sine and cosine signals are calculated, processed and adjusted through the processing chip, so that the original sine and cosine signals of the encoder in each period reach a uniform output amplitude value;

a30 Processing and calculating the output amplitude signal, and sending the output amplitude signal to a driver as a zero calibration signal of the rotor position.

A40 Stores the output amplitude signal in the encoder 2; particularly preferably, in the present step a 40), the encoder 2 is provided with a self-calibration key, and by pressing the self-calibration key, the self-calibration key is used for sending an instruction for storing the output amplitude signal to the encoder 2.

Through the encoder self-calibration control scheme provided by the embodiment, the rotor real-time position can be accurately detected, and the accurate driving effect of the tricycle driving system can be finally ensured.

Example 3: on the basis of the

embodiments

1 and 2, the embodiment further provides a high-efficiency tricycle driving system, the motor 1 adopts a salient pole permanent magnet synchronous motor beneficial to flux weakening control, the stator assembly 12 includes a stator core (not shown) and a winding (not shown), the rotor assembly 13 includes a rotor core 13b and permanent magnet steel 13a; the speed regulation range of the salient pole permanent magnet synchronous motor is improved by carrying out field weakening control on the salient pole permanent magnet synchronous motor, and the torque of the salient pole permanent magnet synchronous motor is improved by improving the number of turns of a coil of a single winding, wherein the speed regulation range of the salient pole permanent magnet synchronous motor is 0-2000 rpm;

preferably, in the present embodiment, referring to fig. 7, 8, 9 and 10, the rotor core 13b is provided with a plurality of first core chutes 31 uniformly spaced in the first inner circumferential direction thereof and a plurality of second core chutes 32 uniformly spaced in the first inner circumferential direction thereof, wherein the first core chutes 32 and the second core chutes 32 have an included angle therebetween (in the present embodiment, the first core chutes 31 respectively have a first included angle a1=37 ° and a second included angle a2=73 ° with the adjacent second core chutes 32); the first inner circumference is distributed alternately, and the permanent magnet steel 13b is embedded in the first iron core chute 31 and the second iron core chute 32 respectively, so that high-power weak magnetic control is facilitated, and demagnetization is not easy to occur;

preferably, the embodiment provides a combined magnetic steel of a tricycle driving motor, the permanent magnetic steel 13b positioned in each

iron core chute

31, 32 adopts a plurality of permanent magnetic steel units 33 which are stacked and combined in parallel and in a segmented manner, the stacking number of the permanent magnetic steel units 33 is selected according to the length of the

iron core chute

31, 32 where the permanent magnetic steel units are positioned, and the same magnetic poles between the adjacent permanent magnetic steel units 33 in the single

iron core chute

31, 32 are stacked in a contact manner; the thickness and the width of each permanent magnetic steel unit 33 in the single

iron core chute

31, 32 are equal, and the length of each permanent magnetic steel unit 33 is equal or unequal;

preferably, in the present embodiment, the length-diameter ratio of permanent magnetic steel unit 33 ranges from 0.18 to 0.2, the thickness of permanent magnetic steel unit 33 ranges from 1.1 to 2mm, and permanent magnetic steel unit 33 is made of neodymium iron boron; in the present embodiment, the preferable scheme of the permanent magnetic steel unit 33 can be directly referred to the patent document of the prior application CN208539674U of the present applicant, and the present embodiment is not specifically described; further preferably, in the present embodiment, the lengths of the permanent magnetic steel units 33 are equal, the length range is 10-30mm, 3-6 permanent magnetic steel units 33 are embedded in the single

iron core chutes

31 and 32, specifically, the length L of the

iron core chutes

31 and 32 is about 87-90mm, and 5 permanent magnetic steel units 33 with equal lengths are embedded in the

iron core chutes

31 and 32, respectively;

further preferably, in the present embodiment, the rotor core 13b is provided with a plurality of insertion slots 34 uniformly distributed at intervals in the second inner circumferential direction, both ends of the rotor core 13b are respectively provided with a first baffle 35a and a second baffle 35b, and each insertion slot 34 locks and installs the rotor core 13b with the first baffle 35a and the second baffle 35b into a whole through an insertion locking member 36; wherein, the first baffle 35a and the second baffle 35b contact at least the surface area covering part of the iron core chutes 31 and 32, and are used for preventing the permanent magnetic steel units 33 in the iron core chutes 31 and 32 from being ejected due to the repulsion of like poles; specifically, in the present embodiment, the outer circumferences of the first baffle plate 35a and the second baffle plate 35b are both circular, and are concentrically arranged with the rotor core 13b, while the second inner circumference is concentrically arranged with the first inner circumference, wherein the outer diameters of the first baffle plate 35a and the second baffle plate 35b are both larger than the diameter of the first inner circumference, specifically, in the present embodiment, the outer diameters of the first baffle plate 35a and the second baffle plate 35b are both equal to each other, and are both about 70mm, and the diameter of the first inner circumference is about 58mm.

Preferably, in the present embodiment, the rotor core 13b includes a plurality of rotor core stamped sheets, wherein each rotor core stamped sheet is provided with laminated slots 37 uniformly distributed at intervals in a third inner circumferential direction, and the rotor core stamped sheets are locked and laminated into a whole through the insertion and matching of the fasteners 37a and the laminated slots 37; the laminated grooves 37 and the insertion grooves 34 are alternately distributed in the inner circumferential direction, and specifically, the outer diameter of the third inner circumference is about 56mm;

as shown in fig. 11, the present embodiment further provides an assembling process of the combined magnetic steel, including the following steps:

b10 The required number of permanent magnet steel units are sequentially inserted into the iron core slots according to the lengths of the

iron core chutes

31 and 32, each permanent magnet steel unit is in a parallel segmented stacking combined structure in the

iron core chutes

31 and 32, and the same magnetic poles between the adjacent permanent magnet steel units 33 in the single

iron core slots

31 and 32 are in a contact stacking shape;

b20 A first baffle 35a and a second baffle 35b are respectively coaxially arranged at two ends of the rotor core 13b, and the insertion grooves 34 among the first baffle 35a, the rotor core 13b and the second baffle 35b are respectively correspondingly matched;

b30 Through the insertion and matching of the locking piece 36 and each insertion slot 34, the first baffle 35a, the rotor core 13b and the second baffle 35b are locked into a whole, and the permanent magnet steel units 33 in the

single core chutes

31 and 32 can be prevented from being ejected due to the repulsion of like poles.

Preferably, in the present embodiment, please further refer to fig. 12, the rotor core 13b includes a plurality of main arc-shaped rotor core segments 38 and a plurality of inner curved rotor core segments 39, and the main arc-shaped rotor core segments 38 and the inner curved rotor core segments 39 are alternately integrated or separately connected to form a closed arc shape, which is beneficial to the field weakening effect of the motor 1; particularly preferably, in the present embodiment, the inner bending type rotor core segment 39 serves as a connecting segment between the first core chute 31 and the second core chute 32, and a center line of the inner bending type rotor core segment 39 coincides with a center line between the first core chute 31 and the second core chute 32.

Example 4: the drivers of the tricycle driving systems in the

embodiments

1, 2 and 3 respectively comprise a circuit board 4 provided with a plurality of MOS tubes 41; the specific number and distribution of the MOS transistors 41 on the circuit board, and the arrangement of the plurality of capacitor devices 42 on the circuit board 4 according to actual needs in this embodiment are all common knowledge and conventional technical means in the field of drive control, and therefore, for the specific hardware structure design of the circuit board 4, the detailed description of this embodiment is not further provided;

referring to fig. 13, 14, 15, 16 and 17, in this embodiment 4, a circuit board 4 with a high heat dissipation effect is provided, one side of each of the pins of the MOS transistor 41 is welded on the circuit board 4, and meanwhile, the output end of the other side of the MOS transistor 41 is fixedly mounted on an over-current heat dissipation aluminum block 45 (which may be a strip, a block or another special shape, but is not particularly limited in this embodiment) through a fastener 43 sleeved with an elastic gasket and is electrically connected to the over-current heat dissipation aluminum block 45, and the over-current heat dissipation aluminum block 45 is fixedly mounted on the circuit board 4 and is in insulation contact with the outside; preferably, in the present embodiment, the fastening piece 43 is respectively sleeved with a contact pad 44a and an elastic pad 44b, the output end of the other side of the MOS transistor 41 is provided with an insertion hole 41a, the fastening piece 43 penetrates through the insertion hole 41a and then is fastened, installed and connected with the over-current heat dissipation aluminum block 45, wherein the elastic pad 44b and the contact pad 44a are sequentially arranged between the end of the fastening piece 43 and the over-current heat dissipation aluminum block 45, and the contact pad 44a is in contact connection with the over-current heat dissipation aluminum block 45; particularly preferably, in the present embodiment, the gate pin 41b and the source pin 41c of the MOS transistor 41 are respectively soldered on the circuit board 4, and the output terminal on the other side of the MOS transistor 41 is a MOS transistor drain, and the MOS transistor drain 41d is provided with an insertion hole 41a;

preferably, in the present embodiment, the circuit board 4 is mounted on a bottom heat dissipation substrate 46 having a plurality of heat dissipation fins 46a in an insulating manner, the electrical over-current heat dissipation aluminum block 45 is integrally mounted and connected with the bottom heat dissipation substrate 46 through an insulating fastening kit 47, and an insulating adhesive layer (not shown) is disposed between the electrical over-current heat dissipation aluminum block 45 and the bottom heat dissipation substrate 46; an aluminum block heat dissipation boss 46b corresponding to the over-current heat dissipation aluminum block 45 is arranged on the bottom heat dissipation substrate 46, an aluminum block through window 48 for penetrating through the aluminum block heat dissipation boss 46b is arranged on the circuit board 4, and the aluminum block heat dissipation boss 46b penetrates through the aluminum block limiting window 48 and then is in insulation contact with the corresponding over-current heat dissipation aluminum block 45.

Preferably, in the present embodiment, the over-current heat dissipation aluminum block 45 is fixedly mounted on the circuit board 4 and the bottom heat dissipation substrate 46 by fasteners distributed in a triangular shape, and particularly preferably, in the present embodiment, the fasteners include insulating fastening kits 47 (screw fasteners sleeved with insulating sleeves), and in order to ensure the fastening mounting effect, some of the fasteners further include insulating mounting gaskets 47a in fastening fit with the corresponding fasteners.

Preferably, in the present embodiment, the height of the over-current heat dissipation aluminum block 45 is 15-25mm, and the maximum thickness of the bottom heat dissipation substrate 46 (including the heat dissipation reinforcing rib 31) is 25-35mm; the circuit board 4 adopts a PCB, and the bottom radiating substrate 46 adopts an aluminum radiating substrate, so that the quick radiating effect is facilitated;

preferably, in the present embodiment, the bottom heat dissipation substrate 46 is provided with a limiting groove 46c for limiting and placing the circuit board 4, and an insulating silica gel ring 49 is clamped on the periphery of the limiting groove 46 c.

The integral installation structure of the embodiment is simple and is convenient for the disassembly and assembly of the MOS tube 41, meanwhile, the over-current heat dissipation aluminum block 45 is not only used as a power-running installation device of the MOS tube 41, but also used as a rapid heat dissipation contact structure of the MOS tube 41, so that on the basis of realizing large-current connection of the MOS tube 41 (about 75A), the consumption of a thick copper plate is avoided, the structure cost is low, and meanwhile, a good heat dissipation effect is achieved; this application further proposes to install circuit board 4 on bottom heat dissipation base plate 46 with insulating, and the heat conduction contact is cut at the border between bottom heat dissipation base plate 46 and the electricity mistake heat dissipation aluminium pig 45, further does benefit to circuit board 4's radiating effect.

The embodiment also provides a tricycle which is driven to operate by the tricycle driving system, and the circuit board of the tricycle driving system is the circuit board 4.

Example 5: the other technical solutions of this embodiment are the same as those of embodiments 1 to 4, except that this embodiment proposes an automatic speed regulation control method of a tricycle driving system, where the tricycle driving system includes a motor (whose speed regulation range is 0 to 2000 rpm) on a tricycle frame and a driver for controlling the driving operation of the motor 1, the tricycle driving system is provided with an automatic gear shifting device in communication connection with the driver, and an output end of the automatic gear shifting device is in transmission connection with rear wheels of a tricycle; the automatic gear shifting device is provided with a low-speed reduction ratio gear P1 and a high-speed reduction ratio gear P2, whether the automatic gear shifting device needs to shift is judged through a driver based on the running condition of the tricycle, and meanwhile, the driver smoothly controls the motor 1 in the gear shifting process of the automatic gear shifting device, so that the tricycle can be prevented from shaking or bruising in the running process;

preferably, in the present embodiment, please refer to fig. 18, the smoothing control includes the following control procedures:

c30 Automatic shifting devices execute a shift request.

In the present embodiment, the shift demand includes a high-Speed shift demand for shifting the low reduction gear P1 to the high reduction gear P2, and the target rotation Speed of the motor 1 _Target = current Speed of the motor _{At present} * (1/P2)/(1/P1), and a low-Speed-shift request to shift the high-Speed reduction gear P2 to the low-Speed reduction gear P1, a target rotational Speed of the motor _Target = current Speed of motor _{At present} * (1/P1)/(1/P2); the driver controls and adjusts the rotating speed of the motor within 0.6-3 seconds after receiving the gear shifting demand signalThe target rotating speed is adjusted, and particularly preferably, the shifting time is controlled to be completed within 1 second;

preferably, in the present embodiment, the driver determines whether the driving condition of the tricycle is in a climbing driving state or a flat driving state based on the input real-time changes of the motor speed, the motor phase line current and the vehicle bus current; when the grade climbing driving state is switched into the grade climbing driving state, the automatic gear shifting device is judged to need low-speed gear shifting, and when the grade climbing driving state is switched into the grade climbing driving state, the automatic gear shifting device is judged to need high-speed gear shifting;

specifically, the present embodiment further describes a specific automatic shift process:

in the present embodiment, P1=1:30 P2=1:10; the driver receives a rear wheel rotating speed signal from the automatic speed changing device, the driver outputs a judgment signal needing gear shifting to a relay switch of the automatic gear shifting device, and the automatic gear shifting device is switched into a neutral gear P0 state after receiving the judgment signal needing gear shifting and sends a gear shifting demand signal to the driver:

when the gear shifting requirement is a high-speed gear shifting requirement, and detection shows that the rotating speed of the rear wheels is greater than 10km/h, after the gear shifting condition is met, the current rotating speed of the motor 1 is 600r/min, the reduction ratio of P1=1 is that the rotating speed of the rear wheels is 20r/min, if the speed reduction ratio is directly switched to a high-speed gear P2=1, the rotating speed of the rear wheels is switched to 600 ÷ 10=60r/min, compared with 20r/min before gear shifting, the rotating speed has large change, and the fact that the tricycle has obvious pause and shake during riding is reflected: therefore, the smoothing control process as described above is implemented, wherein in step C20), the PWM duty ratio of the driver is reduced (the period of the open/close pipe can be driven according to different rotation speeds) by looking up the table through the driver software, so that the motor Speed is reduced to the target rotation Speed _Target ＝600r/min*(1/P2)/(1/P1)＝200r/min；

When the gear shifting requirement is a low-speed gear shifting requirement, and detection shows that the rotating speed of the rear wheels is less than 5km/h, after the gear shifting condition is met, the current rotating speed of the motor 1 is 300r/min, and the reduction ratio of P2=1 shows that the rotating speed of the rear wheels is 30rIf the direct shift is carried out to the low-speed gear with the speed reduction ratio of P1=1:30, the rotating speed of the rear wheel is switched to 300 ÷ 30=10r/min, and compared with the rotating speed of 30r/min before the shift, the rotating speed has larger change, which shows that the tricycle has obvious suspension feeling and jitter when riding on the whole vehicle: therefore, a smoothing control process as described above is implemented, wherein in step C20), the motor Speed is increased to the target rotational Speed by looking up a table by the driver software, increasing the PWM duty ratio of the driver according to a time function by looking up a table by the driver software _Target ＝300r/min*(1/P1)/(1/P2)＝900r/min。

Example 6: the other technical solutions of this embodiment are the same as those of embodiments 1-5, except that this embodiment proposes an encoder control method of a multi-module driving system (see CN 10924343A for a specific technical solution); referring to fig. 19, the multi-module driving system includes a three-phase ac motor having a plurality of winding units, and a plurality of driver units (including a first driver unit, a second driver unit \8230; 8230; an nth driver unit, each driver unit being communicatively connected to each other), each driver unit being configured to control an operation of a corresponding winding unit, the three-phase ac motor (also, a salient pole permanent magnet synchronous motor) including an encoder mounted on a motor shaft; the encoder control method includes: the first driver unit is used as a bidirectional communication data connection between a main driver and an encoder, the main driver sends a starting and/or stopping signal to the encoder, and the encoder sends a rotor position signal to the main driver; the other driver units are in one-way communication data connection with the encoder and used for receiving rotor position signals output by the encoder; the failure rate is low, and the data communication management correspondingly applied to the multi-module driving system is realized;

preferably, in this embodiment, the communication data connection mode adopts a wired communication mode (e.g., uart or can) and/or a wireless communication mode (e.g., bluetooth, GPRS, WIFI).

In view of compatible use with a multi-module driving system with hall assemblies installed, preferably, in the present embodiment, part or all of the winding units are provided with hall assemblies, and the hall assemblies are in data communication connection with their corresponding driver units; the driver unit is respectively provided with an encoder interface for accessing a first rotor position signal and an HALL interface (for accessing a Hall assembly signal of a corresponding winding unit) for accessing a second rotor position signal; referring to fig. 20, the encoder control method of the present embodiment further includes the following data determination control process:

d10 When the driver unit receives the first rotor position signal output by the encoder and/or the second rotor position signal output by the Hall assembly;

d20 The driver unit judges whether the first rotor position signal data are matched according to the back electromotive force of the corresponding winding unit, if the judgment result is matched, the step D30 is carried out, and if the judgment result is not matched, the step D40 is carried out);

d30 The driver unit controls the operation of the corresponding winding unit based on the first rotor position signal;

d40 Judging whether the driver unit judges whether the second rotor position signal data are matched according to the back electromotive force of the winding unit corresponding to the driver unit, if so, entering a step D50), and if not, judging that the multi-module driving system has a fault;

d50 And the driver unit performs operation control of the winding unit corresponding thereto based on the second rotor position signal.

According to the embodiment, through the data judgment control process, the universality of the multi-module driving system is good, and the fault occurrence rate of the multi-module driving system can be further reduced.

Considering that the multi-module driving system of the present embodiment has a plurality of driver units, in order to avoid many potential safety hazards caused by manual non-compliance procedures or illegal disassembly and assembly, and to improve the anti-theft performance, preferably, on the basis of the above-mentioned encoder control method, please refer to fig. 21, the present embodiment further provides an encoder safety management method for a multi-module driving system, where the encoder adopts handshake identification safety management, including: before the multi-module driving system is started, one-way handshake signals are sent to a main driver in advance, and after the main driver identifies the one-way handshake signals and sends the handshake signals back to an encoder, it is judged that each driver unit can enter the starting work; when the main driver cannot send back the handshake signals, judging that the driver units are not matched with the encoder, and stopping inputting the rotor position signals into the driver units; through this signal management of shaking hands, can carry out quick verification to the encoder before the motor starts with the matching of each driver unit, can start through verifying the rear, has promoted this embodiment multimode actuating system's safety management level effectively.

It should be noted that the multi-module driving system encoder control method and the safety management method thereof proposed in embodiment 6 can be used as a driving system of an electric two-wheeled vehicle or an electric three-wheeled vehicle, and can also be used in other driving applications requiring large power (the output power range of a three-phase ac motor is 500W-20 KW), and the embodiment is not particularly limited.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The tricycle driving system is characterized in that the tricycle driving system is provided with an automatic gear shifting device in communication connection with the driver, and the output end of the automatic gear shifting device is in transmission connection with the rear wheel of a tricycle; the automatic gear shifting device is provided with a low-speed reduction ratio gear P1 and a high-speed reduction ratio gear P2, whether the automatic gear shifting device needs to shift gears is judged through the driver based on the running working condition of the tricycle, and meanwhile, the driver smoothly controls the motor in the gear shifting process of the automatic gear shifting device and is used for avoiding the shaking or pause feeling of the tricycle in the running process;

the smoothing control includes the following control processes:

c10 The driver confirming a shift demand signal transmitted from the automatic shifting apparatus;

c30 Automatic shifting device executes a shift request;

the shift demand includes a high-speed shift demand to switch the low-speed reduction ratio gear P1 to the high-speed reduction ratio gear P2, and a low-speed shift demand to switch the high-speed reduction ratio gear P2 to the low-speed reduction ratio gear P1; wherein the content of the first and second substances,

2. The automatic Speed-regulation control method according to claim 1, wherein when the shift demand is a high-Speed shift demand, a target rotation Speed of the motor _Target = current Speed of motor _{At present} * (1/P2)/(1/P1); when the gear shifting requirement is a low-Speed gear shifting requirement, the target rotating Speed of the motor _Target = current Speed of motor _{At present} *(1/P1)/(1/P2)。

3. The automatic speed control method according to claim 1, wherein the driver controls the motor speed to be adjusted to the target speed within 0.6-3 seconds after receiving the shift demand signal.

4. The automatic speed control method according to claim 3, wherein the driver controls the motor speed to be adjusted to the target speed within 1 second after receiving the shift demand signal.

5. The automatic speed regulation control method according to claim 1, wherein the P1=1:30, the P2=1:10.

6. the automatic speed regulation control method according to claim 1, characterized in that the driver is used for judging whether the running condition of the tricycle is in a climbing running state or a flat running state based on the input real-time changes of the motor speed, the motor phase line current and the finished vehicle bus current; when the grade climbing driving state is switched into the grade climbing driving state, the automatic gear shifting device is judged to need low-speed gear shifting, and when the grade climbing driving state is switched into the grade climbing driving state, the automatic gear shifting device is judged to need high-speed gear shifting.

7. The automatic speed regulation control method of claim 1, wherein the speed regulation range of the motor is 0-2000 rpm.

8. The automatic speed regulation control method according to claim 1, wherein the motor is a salient pole permanent magnet synchronous motor facilitating weak magnetic control, and comprises a stator assembly and a rotor assembly which are connected through electromagnetic induction, the stator assembly comprises a stator core and windings, and the rotor assembly comprises a rotor core and permanent magnet steel; the speed regulation range of the salient pole permanent magnet synchronous motor is improved through field weakening control of the salient pole permanent magnet synchronous motor, and meanwhile, the torque of the salient pole permanent magnet synchronous motor is improved through increasing the number of turns of a coil of a single winding.