CN112087170B

CN112087170B - Tricycle actuating system of low fault rate

Info

Publication number: CN112087170B
Application number: CN202010908097.1A
Authority: CN
Inventors: 王庆; 王伟; 花为; 卜言柱; 胡宜豹; 胡金龙; 程兴; 李升�; 周建华; 周维; 张力; 刘竹园; 李玉刚; 刘亚军
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: 2022-11-29
Anticipated expiration: 2040-09-02
Also published as: CN112087170A

Abstract

The invention discloses a tricycle driving system with low failure rate, which comprises a motor and a driver, wherein the motor is arranged on a tricycle frame, the driver is used for controlling the motor to drive and run, the motor comprises an encoder arranged on a motor shaft, the encoder is in communication connection with the driver, the encoder sends a detected rotor position signal to the driver, and the driver performs sine wave driving control on the motor based on the rotor position signal; the invention obviously reduces the failure rate and can obviously improve the driving precision.

Description

Tricycle actuating system of low fault rate

Technical Field

The invention belongs to the electric vehicle drive control technology, and particularly relates to a tricycle drive system with low failure rate.

Background

The tricycle has a large market application demand due to its specific advantages over a two-wheeled vehicle because of its good loading capacity. 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: adopt the hall sensor who installs on the winding to carry out the sensing detection of rotor position, adopt square wave control drive simultaneously, wherein, hall sensor uses the back for a long time under the winding environment that generates heat, and self structure takes place the harm easily, leads to the tricycle to have higher fault rate, and current control mode exists the acceleration performance difference simultaneously, and motor work efficiency is low, and is with high costs.

The applicant has also paid particular attention to that a tricycle generally needs to have better loading capacity, and simultaneously has the using function of a two-wheeled vehicle, and the applied load range is very wide, so when the tricycle is used, the corresponding load range is wide and uncertain, so that the required tricycle motor needs to have excellent speed-up performance when being driven, and the existing tricycle driving control scheme is relatively lagged behind the recent technical development.

Therefore, based on the fact that the research and development team of the technology 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 to improve the technical level of driving the tricycle and promote the application development of the tricycle.

Disclosure of Invention

In view of this, the present invention provides a tricycle driving system with a low failure rate, which can significantly reduce the failure rate and significantly improve the driving accuracy.

The technical scheme adopted by the invention is as follows:

a tricycle driving system with a low failure rate comprises a motor and a driver, wherein the motor is arranged on a tricycle frame, the driver is used for controlling the motor to drive and operate, the motor comprises an encoder which is installed on a motor shaft, the encoder is in communication connection with the driver, the encoder sends a detected rotor position signal to the driver, and the driver performs sine wave driving control on the motor based on the rotor position signal.

A low failure rate tricycle drive system, comprising a motor and a driver for controlling the motor drive operation, the motor including an encoder mounted on the motor shaft, the encoder being in communication with the driver, the encoder transmitting a detected rotor position signal to the driver, wherein the driver performs sine wave drive control of the motor based on the rotor position signal, the control step comprising:

s10), after the driver receives a rotor position real-time signal output by an encoder, 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 last period, and assigning a current sine wave control actual angle value ThetResult according to a deviation value comparison result;

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

Preferably, in the step 20), when the deviation value does not exceed a preset maximum deviation value, assigning a current angle value ThetViL1 to the current sine wave control actual angle value ThetResult; and when the deviation value exceeds a preset maximum deviation value, assigning a preset maximum angle value to the current sine wave control actual angle value ThetResult, and avoiding the current fluctuation of the motor.

Preferably, the motor comprises a stator assembly and a rotor assembly which are connected in an electromagnetic induction manner, and the rotor assembly and the motor are fixedly installed into a whole; the encoder adopts an inductive position encoder and comprises an encoder rotating module and an encoder stator module which are connected by electromagnetic induction, wherein,

the encoder rotating module is fixedly installed on the motor shaft, the encoder stator module is fixedly installed at one end of the stator assembly and is in communication connection with the driver, and the rotor position signal obtained through calculation is sent to the driver.

Preferably, the stator assembly is located at the periphery of the rotor assembly; the encoder rotating module is sleeved on the encoder mounting sleeve, and the encoder mounting sleeve is fixedly arranged on the motor shaft; the encoder stator module is fixedly installed on the motor end cover through the encoding installation disc.

Preferably, the encoder rotation module is provided with a rotation module printed circuit board, the rotation module printed circuit board is provided with a conductive material scale area, the encoder stator module is provided with a stator module printed circuit board, 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, the conductive material scale area is used for influencing the coupling relationship between the excitation coil and the receiving coil, and the excitation coil generates alternating electromagnetic field strength to change the induced electromotive force on the receiving coil; when the encoder rotating module rotates for one circle relative to the encoder stator module, the receiving coil obtains a plurality of periodic receiving signals, and after the receiving signals are calculated and processed through the processing chip, rotor position signals are output to the driver.

Preferably, the rotor assembly comprises permanent magnet steel, and when the permanent magnet steel rotates, the magnetic poles of the permanent magnet steel enable the conductive material scale area to generate an eddy current field for weakening the alternating electromagnetic field strength of the exciting coil.

Preferably, the processing chip cooperates with the exciting coil to generate high-frequency periodic alternating voltage and current, and the alternating current flowing through the exciting coil forms an alternating electromagnetic field in the peripheral region thereof; when the alternating electromagnetic field generated on the exciting coil passes through the receiving coil, the magnetic flux of the receiving coil is alternated, so that the alternating induced electromotive force with the same frequency is generated on each receiving coil.

Preferably, the receiving coils are distributed on the rotating module printed circuit board at intervals in a ring shape; and all the conductive materials on the conductive material scale area are distributed on the rotating module printed circuit board at intervals in an annular shape.

Preferably, the periphery of the stator assembly is provided with a heat dissipation installation cylinder, two ends of the heat dissipation installation cylinder are fixedly provided with motor end covers respectively, and a fan for motor heat dissipation is fixedly arranged on a motor shaft positioned on the outer side of the coding installation disc.

The encoder is arranged on a motor shaft, so that the failure rate is obviously reduced, in the working process, the encoder and a detected rotor position signal are sent to the driver, and the driver performs sine wave drive control on the motor based on the rotor position signal, so that the driving precision of the tricycle driving system can be obviously improved; the application further preferably provides that an inductive position encoder comprising an encoder rotation module and an encoder stator module and a control process thereof are adopted, and when the inductive position encoder works, a conductive material scale area of the encoder rotation module is used for influencing the coupling relation between an exciting coil and a receiving coil, so that induced electromotive force on the receiving coil is changed; when the encoder rotating module rotates for a circle relative to the encoder stator module, the receiving coil obtains a plurality of periodic receiving signals, the receiving signals are calculated and processed through the processing chip, and then high-precision and high-resolution coding signals are output.

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 view of the mounting structure of the encoder 2 in 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 a schematic 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 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 of 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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, 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, and 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 drive control on the motor based on the rotor position signal, so that the drive precision of the tricycle drive 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 a preset maximum angle value to the current sine wave control actual angle value ThetResult to avoid motor current fluctuation;

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, 3 and 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 and 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 assembly 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 a humid, muddy and dusty working environment;

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 the coupling relationship between the excitation coil and the receiving coil, and the excitation coil generates an alternating magnetic field strength to change the induced electromotive force on the receiving coil; 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 the embodiment, the rotor assembly 13 includes a permanent magnetic steel 13a, when the permanent magnetic steel 13a rotates, the N and S magnetic poles of the permanent magnetic steel 13a make the conductive material scale region generate an eddy current field for weakening the intensity of the alternating electromagnetic field of the exciting coil, which is 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 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 this embodiment, the stator assembly 12 is provided with a heat dissipation mounting cylinder 15 at the periphery thereof, the heat dissipation mounting cylinder 15 is cast or machined by an aluminum profile, 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 installation cylinder 15 is provided at the periphery thereof with installation grooves 15b distributed at intervals, and each installation groove 15b is used for fixedly installing the heat dissipation installation cylinder 15, the first motor end cover 14a and the second motor end cover 14b into a whole through the insertion screw fasteners 17, so that the heat dissipation installation cylinder 15 of this embodiment not only facilitates the external protection effect on the motor 1 in high-speed operation, but also cooperates with the fan 16 to achieve the rapid heat dissipation effect on 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, this embodiment 2 further provides a self-calibration control method of the encoder 2, where the encoder 2 uses an inductive position encoder to detect 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 Power on the motor 1 provided with the encoder 2, and the motor 1 is in a stable constant-speed rotation state through external force, preferably, in the step A10), the rotation speed range of the motor 1 is set 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 the present embodiment, the receiving coil serves as an induction coil, and the induced electromotive force signal serves as an original sine-cosine signal; after the encoder rotating module rotates for one 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 unified output amplitude;

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 the flux weakening control of the salient pole permanent magnet synchronous motor, and the torque of the salient pole permanent magnet synchronous motor is improved by increasing the number of turns of a coil of a single winding, wherein the speed regulation range of the salient pole permanent magnet synchronous motor in the embodiment 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 diagonal slots 31 uniformly distributed at intervals in the first inner circumferential direction thereof and a plurality of second core diagonal slots 32 uniformly distributed at intervals in the first inner circumferential direction thereof, wherein the first core diagonal slots 32 and the second core diagonal slots 32 have an included angle therebetween (in the present embodiment, the first core diagonal slots 31 respectively have a first included angle a1=37 ° and a second included angle a2=73 °); 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 this embodiment, the preferable scheme of the permanent magnetic steel unit 33 can be directly referred to the patent document of the previous application CN208539674U of the present applicant, and this 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 35a and the second baffle 35b are both circular and are concentrically installed and distributed with the rotor core 13b, respectively, while the second inner circumference is concentrically distributed with the first inner circumference, wherein the outer diameters of the first baffle 35a and the second baffle 35b are both larger than the diameter of the first inner circumference, specifically, in the present embodiment, the outer diameters of the first baffle 35a and the second baffle 35b are equal 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 overlapping grooves 37 and the inserting 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 coaxially arranged at two ends of the rotor core 13b respectively, and the insertion grooves 34 among the first baffle 35a, the rotor core 13b and the second baffle 35b are correspondingly matched respectively;

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

slots

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 section 39 serves as a connecting section between the first core chute 31 and the second core chute 32, and the center line of the inner bending type rotor core section 39 coincides with the 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 fastener 43 is respectively sleeved with a contact pad 44a and an elastic pad 44b, an output end of the other side of the MOS transistor 41 is provided with an insertion hole 41a, the fastener 43 penetrates through the insertion hole 41a and then is fastened, installed and connected with the electrical 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 fastener 43 and the electrical over-current heat dissipation aluminum block 45, and the contact pad 44a is in contact connection with the electrical 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 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 over-current heat dissipation aluminum block 45 and the bottom heat dissipation substrate 46; the bottom heat dissipation substrate 46 is provided with an aluminum block heat dissipation boss 46b corresponding to the over-current heat dissipation aluminum block 45, the circuit board 4 is provided with an aluminum block through window 48 for penetrating through the aluminum block heat dissipation boss 46b, and the aluminum block heat dissipation boss 46b penetrates through the aluminum block limiting window 48 and then is in insulation contact with the over-current heat dissipation aluminum block 45 corresponding to the aluminum block heat dissipation boss.

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 convenient for dismounting the MOS tube 41, and 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), consumption of a thick copper plate is avoided, the structure cost is low, and a good heat dissipation effect is achieved; this application further provides and installs circuit board 4 insulation on bottom heat dissipation base plate 46, and bottom heat dissipation base plate 46 and the heat conduction contact of binding a border between the electric heat dissipation aluminium pig 45 further do 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 adopts 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 gears 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 slumping in the running process;

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

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 rotating speed of the rear wheel and a gear shifting demand signal obtained by detection after the gear shifting condition is judged to be met;

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-Speed reduction gear P1 to the high-Speed reduction gear P2, and the target rotation Speed of the motor 1 _Target = current Speed of 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); after receiving the gear shifting demand signal, the driver adjusts the motor speed to the target speed within 0.6-3 seconds, and particularly preferably, the gear 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 illustrates 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 wheel is less than 5km/h, after the gear shifting condition is reached, the current rotating speed of the motor 1 is 300r/min, the reduction ratio of P2=1 is that the rotating speed of the rear wheel is 30r/min, if the speed ratio is directly switched to the low-speed gear is P1=1, the rotating speed of the rear wheel is switched to 300 ÷ 30=10r/min, compared with the 30r/min before gear shifting, the rotating speed has a large change, and the phenomenon that riding on a tricycle has obvious pause feeling and jitter is shown: 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, and _target ＝300r/min*(1/P1)/(1/P2)＝900r/min。

Example 6: the remaining technical solutions of this embodiment are the same as those of embodiments 1 to 5, and the difference is that this embodiment proposes an encoder control method for a multi-module driving system (for a specific technical solution, see CN 1092458343A); 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 or not according to the back electromotive force of the winding unit corresponding to the driver 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 using 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 uses 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 can not send back the handshake signal, judging that the driver units are not matched with the encoders, and stopping inputting the rotor position signal to each driver unit; 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-wheel vehicle or an electric three-wheel vehicle, and can also be used in other driving applications requiring high 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.

Claims

1. A tricycle driving system with low failure rate comprises a motor on a tricycle frame and a driver for controlling the driving operation of the motor, and is characterized in that the motor comprises an encoder arranged on a motor shaft, the encoder is in communication connection with the driver, the encoder sends a detected rotor position signal to the driver, and the driver performs sine wave driving control on the motor based on the rotor position signal;

the motor comprises a stator component and a rotor component which are connected through electromagnetic induction, and the rotor component and a motor shaft are fixedly installed into a whole; the encoder adopts an inductive position encoder and comprises an encoder rotating module and an encoder stator module which are connected by electromagnetic induction, wherein,

the encoder rotating module is fixedly arranged on the motor shaft, the encoder stator module is fixedly arranged at one end of the stator assembly and is in communication connection with the driver, and the rotor position signal obtained through calculation is sent to the driver;

before the motor is used, the encoder performs self-calibration control in advance; the operation steps of the self-calibration control of the encoder comprise:

a10 Power-on the motor with the encoder, and the motor is in a stable constant-speed rotation state through external force;

a20 Adjusting original sine and cosine signals of an induction coil positioned in the encoder, and adjusting the output amplitude of the encoder based on the original sine and cosine signals to enable the original sine and cosine signals of the encoder in each period to reach a uniform output amplitude;

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. The tricycle drive system of claim 1, wherein the stator assembly is located at an outer periphery of the rotor assembly; the encoder rotating module is sleeved on the encoder mounting sleeve, and the encoder mounting sleeve is fixedly arranged on the motor shaft; the encoder stator module is fixedly installed on the motor end cover through the encoding installation disc.

3. The tricycle driving system according to claim 1, wherein the encoder rotation module is provided with a rotation module printed circuit board, the rotation module printed circuit board is provided with a conductive material scale area, the encoder stator module is provided with a stator module printed circuit board, 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, the conductive material scale area is used for influencing the coupling relationship between the excitation coil and the receiving coil, and the excitation coil generates an alternating electromagnetic field strength to change the induced electromotive force on the receiving coil; when the encoder rotating module rotates for one circle relative to the encoder stator module, the receiving coil obtains a plurality of periodic receiving signals, and after the receiving signals are calculated and processed through the processing chip, rotor position signals are output to the driver.

4. The tricycle drive system of claim 3, wherein the rotor assembly includes permanent magnet steel, the poles of which cause the conductive material scale regions to generate an eddy current field for attenuating the alternating electromagnetic field strength of the excitation coil when the permanent magnet steel rotates.

5. The tricycle drive system of claim 3, wherein the processing chip cooperates with the excitation coil to generate a high frequency periodic alternating voltage and current, the alternating current flowing through the excitation coil forming an alternating electromagnetic field in a peripheral region thereof; when the alternating electromagnetic field generated on the exciting coil passes through the receiving coil, the magnetic flux of the receiving coil is alternated, so that the alternating induced electromotive force with the same frequency is generated on each receiving coil.

6. The tricycle drive system of claim 5, wherein the receiver coils are spaced apart in a ring on the rotating module printed circuit board; and all the conductive materials on the conductive material scale area are distributed on the rotating module printed circuit board at intervals in an annular shape.

7. The tricycle driving system according to claim 2, wherein a heat dissipation mounting cylinder is arranged on the periphery of the stator assembly, motor end covers are fixedly mounted at two ends of the heat dissipation mounting cylinder respectively, and a fan for dissipating heat of the motor is fixedly mounted on a motor shaft located on the outer side of the encoding mounting disc.

8. A low-failure-rate tricycle driving system comprises a motor and a driver, wherein the motor is arranged on a tricycle frame, the driver is used for controlling the driving operation of the motor, the motor comprises an encoder which is arranged on a motor shaft, the encoder is in communication connection with the driver, the encoder sends a detected rotor position signal to the driver, the driver performs sine wave driving control on the motor based on the rotor position signal, and the control step comprises the following steps:

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

a40 ) storing the output amplitude signal in the encoder.

9. The tricycle drive system according to claim 8, characterized in that in step 20) a current angle value ThetViL1 is assigned to the current sine wave control actual angle value ThetResult when the deviation value does not exceed a preset maximum deviation value; and when the deviation value exceeds a preset maximum deviation value, assigning a preset maximum angle value to the current sine wave control actual angle value ThetResult to avoid the current fluctuation of the motor.