CN112265601A - Two-wheeled electric vehicle auxiliary climbing control method and climbing auxiliary system - Google Patents
Two-wheeled electric vehicle auxiliary climbing control method and climbing auxiliary system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
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Abstract
The invention discloses an auxiliary climbing control method and an auxiliary climbing system for a two-wheeled electric vehicle, wherein the method comprises the steps of detecting the inclination by two inclination angle sensors, calculating the theoretical torque according to the opening degree of a rotating handle, and detecting the pressure born by a rear wheel by a pressure sensor; then calculating the load of the rear wheel and the theoretical rotating speed; detecting the actual rotating speed of the rear wheel through a rotating speed sensor, judging whether to start a climbing auxiliary function or not by comparing the actual rotating speed with the theoretical rotating speed, and finally calculating an auxiliary torque through an ECU controller and controlling an auxiliary motor to provide the auxiliary torque; the climbing auxiliary system comprises an ECU controller and a display instrument panel, wherein the ECU controller is connected with a first inclination angle sensor, a second inclination angle sensor, a pressure sensor and a rotating speed sensor; the rear wheel of the electric vehicle is internally connected with a hub motor, and the hub motor is connected with an auxiliary motor through a belt wheel and a synchronous belt. The invention is used in the two-wheeled electric vehicle, can improve the driving feeling when climbing, and has the advantages of good driving safety and convenient use.
Description
Technical Field
The invention relates to an auxiliary climbing control method and an auxiliary climbing system, in particular to an auxiliary climbing control method and an auxiliary climbing system for a two-wheeled electric vehicle.
Background
Two-wheeled electric vehicles are very common in the life as short-distance vehicles, and generally, the two-wheeled electric vehicles drive rear wheels to rotate through hub motors so as to push the whole body to advance; the general two-wheeled electric vehicle comprises a front wheel, a front wheel suspension (front fork), a rear wheel suspension, a handlebar, a rotating handle, a hub motor, a battery jar (power supply), a vehicle body, a display, an ECU controller and the like; when the electric vehicle is driven, the rotating handle is rotated, the output torque of the hub motor is controlled according to the opening degree of the rotating handle and the Hall principle, and then the driving speed and the driving acceleration of the two paths of electric vehicles are controlled. However, when the two-wheeled electric vehicle runs to an upslope, the speed and acceleration response caused by the rotation of the rotating handle of the two-wheeled electric vehicle are not timely enough, so that the feeling of climbing driving is not ideal; even when the two-wheeled electric vehicle is overloaded or the slope of an uphill is large, the problems of insufficient power and the like are easy to occur, and the driving safety is not ideal. Therefore, the conventional two-wheeled electric vehicle has the problems of unsatisfactory driving feeling and unsatisfactory driving safety when climbing a slope.
Disclosure of Invention
The invention aims to provide an auxiliary climbing control method and an auxiliary climbing system for a two-wheeled electric vehicle. The invention is used in the two-wheeled electric vehicle, can improve the driving feeling when climbing, and has the advantage of good driving safety.
The technical scheme of the invention is as follows: the two-wheeled electric vehicle auxiliary climbing control method comprises the following steps;
s1, respectively detecting the inclination of the front and rear parts of the two-wheeled electric vehicle by installing a first inclination angle sensor on the front fork of the two-wheeled electric vehicle and installing a second inclination angle sensor on the rear wheel suspension of the electric vehicle; the first inclination angle sensor measures inclination theta1The second inclination angle sensor measures the inclination theta2；
S2, calculating and obtaining the theoretical torque T according to the handle opening of the two-wheeled electric vehicle1；
S3, detecting the rear wheel bearing pressure F by installing a pressure sensor on the rear wheel suspension, and then calculating the rear wheel load MCarrier，MCarrier=F/（g×cosθ2) (ii) a Wherein F is the pressure value detected by the pressure sensor, g is the standard gravity acceleration, and theta2Measuring a tilt for the second tilt angle sensor;
s4, calculating the theoretical torque T according to the calculation formula of the torque and the rotating speed1Corresponding theoretical rotational speed n1The calculation formula is T1=JGeneral assemblyΔω/Δt=（MCarrierR2+MWheelR2/2）×2πΔn1A,/Δ t; wherein JGeneral assemblyFor the total moment of inertia of the rear wheels under load, MCarrierFor rear wheel load, MWheelThe self weight of the rear wheel, R is the radius of the rear wheel, omega is the rotating angular speed of the rear wheel, t is time, and delta omega/delta t is the rotating angular acceleration of the rear wheel;
s5, detecting the actual rotating speed n of the rear wheel by installing a rotating speed sensor at the rear wheel2；
S6, comparing the actual rotation speed with the theoretical rotation speed by the ECU controller to judge whether the climbing auxiliary function is started, setting a rotation speed difference threshold value a, and when n is the difference threshold value1-n2When the value is more than or equal to a, starting the climbing auxiliary function, and when n is greater than or equal to a1-n2<When a, closing the climbing auxiliary function;
s7, after the climbing assisting function is started, the ECU controller calculates the assisting torque T which needs to be provided2According to the formula T2=T1n1/n2-T1Calculating an assist torque T2Wherein T is1Is theoretical torque, n1Is a theory ofRotational speed, n2Is the actual rotation speed;
s8, placing an auxiliary motor in the two-wheeled electric vehicle, starting the auxiliary motor, driving the rear wheel by the auxiliary motor through a synchronous belt, and providing an auxiliary torque T for the rear wheel2Thereby realizing accurate climbing assistance.
In the above-mentioned two-wheeled electric vehicle climbing assistance control method, in step S6, the ECU controller compares the actual rotation speed with the theoretical rotation speed, and combines the inclination θ1And an inclination θ2The value of (a) is to judge whether to start the climbing assistance function, and a rotation speed difference threshold value a is set when n is1-n2A and theta1And theta2When all are greater than zero, starting the climbing auxiliary function, and when n is greater than zero1-n2<a or theta1Equal to zero or theta2When the value is equal to zero, the climbing auxiliary function is closed.
In the above-mentioned two-wheeled electric vehicle assisted hill climbing control method, in step S7, after the hill climbing assistance function is started, the ECU controller calculates the assistance torque T to be provided2According to the formula T2=T1n1/n2+T3-T1Calculating an assist torque T2Wherein T is1Is theoretical torque, n1Is a theoretical rotational speed, n2Is the actual rotational speed, T3Adding resistance torque to the steering of the electric vehicle handlebar; the turning angle sensor is arranged on the handlebar of the electric vehicle to detect the turning angle theta of the corresponding vehicle body of the handlebar3When theta is3When the angle is less than or equal to 30 degrees, the angle passes through T3=f（θ3) Calculating additional steering resistance torque, f (theta)3) Is theta3When theta is a monotonically increasing function of3Greater than 30 degrees, T3=0；f（θ3) The formula model of (2) is obtained through a plurality of experiments.
The climbing assisting system constructed according to the two-wheeled electric vehicle assisting climbing control method comprises an ECU controller and a display instrument panel, wherein the ECU controller is connected with a first inclination angle sensor positioned at the front fork of an electric vehicle and a second inclination angle sensor positioned at the rear wheel suspension of the electric vehicle through wireless communication; the ECU controller is also connected with a pressure sensor positioned on a rear wheel suspension of the electric vehicle and a rotating speed sensor arranged at the rear wheel through wireless communication; the ECU controller is connected with a display instrument panel, a hub motor is connected in the rear wheel of the electric vehicle, and one side of the hub motor is connected with a belt wheel; the belt wheel is connected with an auxiliary motor through a synchronous belt, and the auxiliary motor is arranged on the electric vehicle; and the auxiliary motor is connected with an auxiliary power supply, and the auxiliary motor and the auxiliary power supply are both connected with the ECU controller.
In the climbing auxiliary system, the ECU controller is connected with a rotation angle sensor through a wireless connection, and the rotation angle sensor is located on a handlebar of the electric vehicle.
In the climbing assistance system, the first inclination angle sensor is used for detecting an inclination angle of an operation posture at a front wheel position of the electric vehicle, and the second inclination angle sensor is used for detecting an inclination angle of an operation posture at a rear wheel position of the electric vehicle.
In the climbing auxiliary system, the pressure sensor is an annular pressure sensor, and the annular pressure sensor is sleeved between the rear wheel suspension and the bearing.
In the climbing assistance system, the hub motor and the belt wheel are connected through an electronic clutch.
Compared with the prior art, the invention designs an auxiliary climbing control method and an auxiliary climbing system for a two-wheeled electric vehicle, the first inclination angle sensor and the second inclination angle sensor are arranged to detect the inclination of the front part and the rear part of the two-wheeled electric vehicle, the two-wheeled electric vehicle can be generally arranged on a front wheel suspension and a rear wheel suspension to detect, and whether the electric vehicle is in an inclined state or not is judged according to two inclination data; the load of the rear wheel is calculated by combining the pressure of the rear wheel detected by the pressure sensor, the theoretical rotating speed is further calculated according to the theoretical torque, the inclination and load parameters are introduced when the theoretical rotating speed is calculated, the calculation result can be adapted to the inclination and the load, the actual rotating speed of the rear wheel is detected by the rotating speed sensor, whether the two-wheeled electric vehicle is in a climbing state or not and whether climbing assistance is started or not are judged by combining the comparison of the theoretical rotating speed and the actual rotating speed, the allowable error between the theoretical rotating speed and the actual rotating speed is realized by setting the rotating speed difference threshold value a, the climbing assistance is prevented from being started by mistake, the auxiliary motor can accurately provide the auxiliary torque through the calculation of the auxiliary torque, therefore, the auxiliary torque output of self-adaptive load and gradient is realized, the speed and acceleration regulation response can be improved under the conditions of different loads and different uphill gradients, and the driving feeling and the driving safety during climbing are improved. In addition, the invention is also provided with a rotation angle sensor which is used for detecting the rotation angle of the handlebar of the two-wheeled electric vehicle, and can offset the resistance of the front wheel caused by the turning or rotation of the head of the vehicle by additionally providing auxiliary torque through the auxiliary motor, thereby further improving the driving feeling and the driving safety during climbing; the pressure applied to the rear wheel by the rear wheel suspension can be accurately and conveniently detected by arranging the annular pressure sensor, and the load and the auxiliary torque of the rear wheel can be conveniently and accurately calculated; through setting up electronic clutch can break off the connection between band pulley and the in-wheel motor when not needing the climbing assistance, can avoid band pulley rotation and increase the energy consumption when normally traveling (non-climbing), facilitate the use. Therefore, the invention is used in the two-wheeled electric vehicle, can improve the driving feeling during climbing, and has the advantages of good driving safety and convenient use.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic view of a connection structure of an auxiliary motor;
fig. 3 is a schematic view of a connection structure at the pressure sensor.
The labels in the figures are: 1-ECU controller, 2-display instrument panel, 3-first inclination angle sensor, 4-second inclination angle sensor, 5-pressure sensor, 6-rotating speed sensor, 7-hub motor, 8-belt wheel, 9-synchronous belt, 10-auxiliary motor, 11-auxiliary power supply, 12-rotation angle sensor, 13-electronic clutch, 14-rear wheel, 15-rear wheel suspension and 16-bearing.
Detailed Description
The present invention is further illustrated by the following examples, which are not to be construed as limiting the invention.
Examples are given. The auxiliary climbing control method for the two-wheeled electric vehicle has the structure shown in figures 1 to 3 and comprises the following steps:
s1, respectively detecting the inclination of the front and rear parts of the two-wheeled electric vehicle by installing a first inclination angle sensor 3 on the front fork of the two-wheeled electric vehicle and installing a second inclination angle sensor 4 on the rear wheel suspension of the electric vehicle; the first inclination angle sensor measures inclination theta1The second inclination angle sensor measures the inclination theta2；
S2, calculating and obtaining the theoretical torque T according to the handle opening of the two-wheeled electric vehicle1；
S3, the rear wheel load M is calculated by detecting the rear wheel load F by attaching the pressure sensor 5 to the rear wheel suspension 15Carrier，MCarrier=F/（g×cosθ2) (ii) a Wherein F is the pressure value detected by the pressure sensor 5, g is the standard gravity acceleration, and theta2Measuring a tilt for the second tilt angle sensor;
s4, calculating the theoretical torque T according to the calculation formula of the torque and the rotating speed1Corresponding theoretical rotational speed n1The calculation formula is T1=JGeneral assemblyΔω/Δt=（MCarrierR2+MWheelR2/2）×2πΔn1A,/Δ t; wherein JGeneral assemblyFor the total moment of inertia of the rear wheels 14 under load, MCarrierFor rear wheel load, MWheelThe self weight of the rear wheel, R is the radius of the rear wheel, omega is the rotating angular speed of the rear wheel, t is time, and delta omega/delta t is the rotating angular acceleration of the rear wheel;
s5, detecting the actual speed n of the rear wheel by installing the speed sensor 6 on the rear wheel 142；
S6, comparing the actual rotation speed with the theoretical rotation speed by the ECU controller 1 to judge whether the climbing auxiliary function is started, setting a rotation speed difference threshold value a, and when n is the difference, judging whether the climbing auxiliary function is started1-n2When the value is more than or equal to a, starting the climbing auxiliary function, and when n is greater than or equal to a1-n2<When a, closing the climbing auxiliary function;
s7, after the hill climbing assistance function is started, the ECU controller 1 calculates the assistance torque T to be provided2According to the formula T2=T1n1/n2-T1Calculating an assist torque T2Wherein T is1Is theoretical torque, n1Is a theoretical rotational speed, n2Is the actual rotation speed;
s8, placing an auxiliary motor 11 in the two-wheeled electric vehicle, starting the auxiliary motor 11, driving the rear wheel 14 by the auxiliary motor 11 through a synchronous belt 9, and providing an auxiliary torque T for the rear wheel 142Thereby realizing accurate climbing assistance.
In step S6, the ECU controller 1 compares the actual rotation speed with the theoretical rotation speed, and combines the inclination θ1And an inclination θ2The value of (a) is to judge whether to start the climbing assistance function, and a rotation speed difference threshold value a is set when n is1-n2A and theta1And theta2When all are greater than zero, starting the climbing auxiliary function, and when n is greater than zero1-n2<a or theta1Equal to zero or theta2When the value is equal to zero, the climbing auxiliary function is closed. In step S7, after the hill climbing assistance function is started, the ECU controller 1 calculates the assistance torque T to be provided2According to the formula T2=T1n1/n2+T3-T1Calculating an assist torque T2Wherein T is1Is theoretical torque, n1Is a theoretical rotational speed, n2Is the actual rotational speed, T3Adding resistance torque to the steering of the electric vehicle handlebar; a turning angle sensor 12 is arranged on a handlebar of the electric vehicle to detect the turning angle theta of the corresponding vehicle body of the handlebar3When theta is3When the angle is less than or equal to 30 degrees, the angle passes through T3=f（θ3) Calculating additional steering resistance torque, f (theta)3) Is theta3May be constructed by setting the relevant parameter values after a number of trials, or by constructing different theta values3The corresponding resistance torque T in the case of3Making theta3And T3Then by the detected theta3Looking up table to obtain T3Value of) when θ3Greater than 30 degrees, T3=0。
The climbing assistance system constructed according to the two-wheeled electric vehicle assisted climbing control method comprises an ECU controller 1 and a display instrument panel 2, wherein the ECU controller 1 is connected with a first inclination angle sensor 3 positioned at the front fork of an electric vehicle and a second inclination angle sensor 4 positioned at the rear wheel suspension of the electric vehicle through wireless communication; the ECU controller 1 is also connected with a pressure sensor 5 positioned on a rear wheel suspension of the electric vehicle and a rotating speed sensor 6 arranged at the rear wheel through wireless communication; the ECU controller 1 is connected with a display instrument panel 2, a hub motor 7 is connected in the rear wheel of the electric vehicle, and one side of the hub motor 7 is connected with a belt wheel 8; the belt wheel 8 is connected with an auxiliary motor 10 through a synchronous belt 9, and the auxiliary motor 10 is arranged on the electric vehicle in the middle; the auxiliary motor 10 is connected with an auxiliary power supply 11, and both the auxiliary motor 10 and the auxiliary power supply 11 are connected with the ECU controller 1.
The ECU controller 1 is wirelessly connected with a rotation angle sensor 12, and the rotation angle sensor 12 is positioned on a handlebar of the electric vehicle; the first inclination angle sensor 3 is used for detecting the inclination angle of the running posture at the position of the front wheel of the electric vehicle, and the second inclination angle sensor 4 is used for detecting the inclination angle of the running posture at the position of the rear wheel of the electric vehicle; the pressure sensor 5 is an annular pressure sensor which is sleeved between the rear wheel suspension and the bearing; the hub motor 7 and the belt wheel 8 are connected through an electronic clutch 13.
Claims (8)
1. The auxiliary climbing control method of the two-wheeled electric vehicle is characterized by comprising the following steps:
s1, respectively detecting the inclination of the front and rear parts of the two-wheeled electric vehicle by installing a first inclination angle sensor on the front fork of the two-wheeled electric vehicle and installing a second inclination angle sensor on the rear wheel suspension of the electric vehicle; the first inclination angle sensor measures inclination theta1The second inclination angle sensor measures the inclination theta2；
S2, calculating and obtaining the theoretical torque T according to the handle opening of the two-wheeled electric vehicle1；
S3, detecting the rear wheel bearing pressure F by installing a pressure sensor on the rear wheel suspension, and then calculating the rear wheel load MCarrier，MCarrier=F/（g×cosθ2) (ii) a Wherein F is the pressure value detected by the pressure sensor, g is the standard gravity acceleration, and theta2Measuring a tilt for the second tilt angle sensor;
s4 rootAccording to the calculation formula of torque and rotating speed, the theoretical torque T is calculated1Corresponding theoretical rotational speed n1The calculation formula is T1=JGeneral assemblyΔω/Δt=（MCarrierR2+MWheelR2/2）×2πΔn1A,/Δ t; wherein JGeneral assemblyFor the total moment of inertia of the rear wheels under load, MCarrierFor rear wheel load, MWheelThe self weight of the rear wheel, R is the radius of the rear wheel, omega is the rotating angular speed of the rear wheel, t is time, and delta omega/delta t is the rotating angular acceleration of the rear wheel;
s5, detecting the actual rotating speed n of the rear wheel by installing a rotating speed sensor at the rear wheel2；
S6, comparing the actual rotation speed with the theoretical rotation speed by the ECU controller to judge whether the climbing auxiliary function is started, setting a rotation speed difference threshold value a, and when n is the difference threshold value1-n2When the value is more than or equal to a, starting the climbing auxiliary function, and when n is greater than or equal to a1-n2<When a, closing the climbing auxiliary function;
s7, after the climbing assisting function is started, the ECU controller calculates the assisting torque T which needs to be provided2According to the formula T2=T1n1/n2-T1Calculating an assist torque T2Wherein T is1Is theoretical torque, n1Is a theoretical rotational speed, n2Is the actual rotation speed;
s8, placing an auxiliary motor in the two-wheeled electric vehicle, starting the auxiliary motor, driving the rear wheel by the auxiliary motor through a synchronous belt, and providing an auxiliary torque T for the rear wheel2Thereby realizing accurate climbing assistance.
2. The two-wheeled electric vehicle assisting climbing control method according to claim 1, characterized in that: step S6 is that the ECU controller compares the actual rotating speed with the theoretical rotating speed and combines the inclination theta1And an inclination θ2The value of (a) is to judge whether to start the climbing assistance function, and a rotation speed difference threshold value a is set when n is1-n2A and theta1And theta2When all are greater than zero, starting the climbing auxiliary function, and when n is greater than zero1-n2<a or theta1Equal to zero or theta2When the value is equal to zero, the climbing auxiliary function is closed.
3. The two-wheeled electric vehicle assisting climbing control method according to claim 1, characterized in that: in step S7, after the hill climbing assistance function is started, the ECU controller calculates an assistance torque T to be provided2According to the formula T2=T1n1/n2+T3-T1Calculating an assist torque T2Wherein T is1Is theoretical torque, n1Is a theoretical rotational speed, n2Is the actual rotational speed, T3Adding resistance torque to the steering of the electric vehicle handlebar; the turning angle sensor is arranged on the handlebar of the electric vehicle to detect the turning angle theta of the corresponding vehicle body of the handlebar3When theta is3When the angle is less than or equal to 30 degrees, the angle passes through T3=f（θ3) Calculating additional steering resistance torque, f (theta)3) Is theta3When theta is a monotonically increasing function of3Greater than 30 degrees, T3=0。
4. A climbing assistance system constructed by the two-wheeled electric vehicle assisting climbing control method according to claim 1, 2, or 3, characterized in that: the device comprises an ECU controller (1) and a display instrument panel (2), wherein the ECU controller (1) is connected with a first inclination angle sensor (3) positioned at the front fork of the electric vehicle and a second inclination angle sensor (4) positioned at the rear wheel suspension of the electric vehicle through wireless communication; the ECU controller (1) is also connected with a pressure sensor (5) positioned on the rear wheel suspension of the electric vehicle and a rotating speed sensor (6) arranged at the rear wheel through wireless communication; the ECU controller (1) is connected with a display instrument panel (2), a hub motor (7) is connected in the rear wheel of the electric vehicle, and one side of the hub motor (7) is connected with a belt wheel (8); the belt wheel (8) is connected with an auxiliary motor (10) through a synchronous belt (9), and the auxiliary motor (10) is arranged in the electric vehicle; an auxiliary power supply (11) is connected to the auxiliary motor (10), and the auxiliary motor (10) and the auxiliary power supply (11) are both connected with the ECU controller (1).
5. The hill climbing assistance system according to claim 4, wherein: the ECU controller (1) is connected with a rotation angle sensor (12) through a wireless mode, and the rotation angle sensor (12) is located on a handlebar of the electric vehicle.
6. The hill climbing assistance system according to claim 4, wherein: the first inclination angle sensor (3) is used for detecting the inclination angle of the running posture at the position of the front wheel of the electric vehicle, and the second inclination angle sensor (4) is used for detecting the inclination angle of the running posture at the position of the rear wheel of the electric vehicle.
7. The hill climbing assistance system according to claim 4, wherein: the pressure sensor (5) is an annular pressure sensor which is sleeved between the rear wheel suspension and the bearing.
8. The hill climbing assistance system according to any one of claims 4 to 7, wherein: the hub motor (7) and the belt wheel (8) are connected through an electronic clutch (13).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113120138A (en) * | 2021-05-18 | 2021-07-16 | 湖南山地电动车有限公司 | Energy-saving mountain electric vehicle with reinforcement climbing function |
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