CN114834585A - Electric vehicle cart mode vehicle speed control method and device - Google Patents
Electric vehicle cart mode vehicle speed control method and device 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
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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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Abstract
The embodiment of the invention discloses a method and a device for controlling the cart-mode vehicle speed of an electric vehicle. The electric vehicle cart mode vehicle speed control method comprises the following steps: determining a rotation speed estimated value of the middle motor and a rotation speed compensation value of the middle motor according to the target mechanical gear and the speed of the rear wheel vehicle; determining a target rotating speed value of the middle-placed motor according to the rotating speed estimation value and the rotating speed compensation value; determining a motor target driving torque value of the middle-placed motor according to the target rotating speed value and the actual rotating speed of the middle-placed motor; and gradually adjusting the motor driving torque value of the middle motor to a motor target driving torque value within a preset time. The scheme can convert the adjustment of the vehicle speed into the adjustment of the target rotating speed value of the middle motor, thereby improving the control precision of low vehicle speed.
Description
Technical Field
The embodiment of the invention relates to the technical field of electric vehicle control, in particular to a method and a device for controlling the cart-mode vehicle speed of an electric vehicle.
Background
Along with the gradual increase of global warming effect, people have stronger and stronger demands on environment protection, wherein the tail gas emission of the fuel vehicle is an important reason causing the global warming effect, and in order to respond to the concept of green and environment protection, the electric bicycle is increasingly favored by people with the advantages of environmental protection and energy conservation.
The stroller walking mode is one of the important functions of the electric bicycle, and in the stroller walking mode, the electric bicycle needs to provide auxiliary driving force to a user so that the user can walk with the bicycle more easily. Therefore, the speed of the electric bicycle is required to be maintained at 6km/h in the cart walking mode.
At present, in order to reduce the manufacturing cost and the structural complexity of manufacturing of the electric bicycle, the electric bicycle mainly adopts a low-precision wheel speed sensor to detect the speed of the vehicle in real time, so that the low-speed control of the electric bicycle is realized. However, the low speed of the electric bicycle controlled by the low-precision wheel speed sensor has the problem of slow reaction speed, so that the constant speed control of the electric bicycle is delayed, the speed limit of the electric bicycle is delayed, and huge potential safety hazards exist. In addition, the traditional constant rotating speed control of the electric bicycle cart mode has the problem that the user experience feeling is poor, and the traditional speed closed-loop control enables people to have the feeling of being dragged away by a cart in order to enable the vehicle speed to reach the target vehicle speed.
Disclosure of Invention
The embodiment of the invention provides a method and a device for controlling the speed of an electric vehicle in a cart mode, which can improve the control precision of low speed and improve the comfort of user experience on the premise of adopting a low-precision wheel speed sensor.
In a first aspect, an embodiment of the present invention provides a method for controlling a vehicle speed in a cart mode of an electric vehicle, including:
determining a rotation speed estimated value of the middle motor and a rotation speed compensation value of the middle motor according to the target mechanical gear and the speed of the rear wheel vehicle;
determining a target rotating speed value of the middle-placed motor according to the rotating speed estimation value and the rotating speed compensation value;
determining a motor target driving torque value of the middle-placed motor according to the target rotating speed value and the actual rotating speed of the middle-placed motor;
and gradually adjusting the motor driving torque value of the middle motor to a motor target driving torque value within a preset time.
Optionally, the method for determining the estimated value of the rotation speed of the mid-set motor comprises the following steps:
acquiring a target chain wheel ratio of a middle motor according to a target mechanical gear;
and determining a rotating speed estimated value according to the speed of the rear wheel, the target chain wheel ratio and the transmission ratio of the middle motor.
Optionally, after determining the target rotation speed value of the mid-set motor and before determining the target motor driving torque value of the mid-set motor, the method further includes:
determining the rotating speed range of the middle-placed motor according to the target vehicle speed, the maximum mechanical gear, the minimum mechanical gear and the transmission ratio of the middle-placed motor;
judging whether the target rotating speed value is in a rotating speed range;
if not, the target rotating speed value is reset according to the rotating speed range.
Optionally, the method for determining the rotation speed range of the mid-set motor comprises the following steps:
acquiring a first chain wheel ratio according to the maximum mechanical gear;
determining the maximum rotating speed value of the rotating speed of the middle motor according to the target speed, the transmission ratio and the first chain wheel ratio;
acquiring a second chain wheel ratio according to the minimum mechanical gear;
and determining the minimum rotating speed value of the rotating speed of the middle motor according to the target vehicle speed, the transmission ratio and the second chain wheel.
Optionally, the method of determining the motor target driving torque value of the mid-set motor comprises:
acquiring the actual rotating speed of the mid-set motor;
obtaining a target difference value according to the target rotating speed value and the actual rotating speed of the middle-placed motor;
and determining a target driving torque value of the motor according to the target difference value.
Optionally, the method for obtaining the actual rotation speed of the mid-set motor includes:
acquiring a mechanical angle of a current sampling period of a middle-placed motor, a mechanical angle of a last sampling period of the middle-placed motor and sampling frequency of the mechanical angle of the middle-placed motor;
and calculating the actual rotating speed of the middle-placed motor according to the mechanical angle of the current sampling period of the middle-placed motor, the mechanical angle of the last sampling period of the middle-placed motor and the sampling frequency of the mechanical angle of the middle-placed motor.
Optionally, the method for gradually adjusting the motor driving torque value of the mid-set motor to the motor target driving torque value comprises the following steps:
acquiring a maximum driving torque value of a motor according to the speed of a rear wheel;
in the process of gradually adjusting the motor driving torque value to the motor target driving torque value, judging whether the motor driving torque value after each adjustment is larger than the maximum motor driving torque value or not in real time;
if so, outputting a maximum driving torque value;
otherwise, outputting the motor driving torque value.
Alternatively, the motor driving torque value varies linearly within a preset time until it is equal to the motor target driving torque value.
Optionally, the method for obtaining the maximum driving torque value of the motor comprises the following steps:
acquiring a relation curve of the speed of the rear wheel vehicle and the maximum driving torque value of the motor;
and acquiring the maximum driving torque value of the motor according to the relationship curve of the speed of the rear wheel vehicle and the maximum driving torque value of the motor and the speed of the rear wheel vehicle.
In a second aspect, an embodiment of the present invention further provides an electric vehicle push mode vehicle speed control apparatus, including:
the first determining module is used for determining a rotating speed estimation value of the middle motor and a rotating speed compensation value of the middle motor according to a target mechanical gear and the speed of the rear wheel vehicle;
the second determining module is used for determining a target rotating speed value of the middle-placed motor according to the rotating speed estimation value and the rotating speed compensation value;
the third determining module is used for determining a motor target driving torque value of the middle motor according to the rotating speed target value and the actual rotating speed of the middle motor;
and the adjusting module is used for gradually adjusting the motor driving torque value of the middle motor to the motor target driving torque value in the preset time.
According to the embodiment of the invention, the rotation speed estimation value of the middle motor and the rotation speed compensation value of the middle motor are determined according to the target mechanical gear and the speed of the rear wheel, so that the subsequent adjustment can be conveniently carried out on the basis of the rotation speed estimation value of the middle motor. And determining the target rotation speed value of the middle motor according to the estimated rotation speed value and the rotation speed compensation value, and indirectly obtaining the target rotation speed value of the middle motor under the condition of not knowing the sprocket ratio. And determining a motor target driving torque value of the middle motor according to the target rotating speed value and the actual rotating speed of the middle motor. In the preset time, the motor driving torque value of the middle motor is gradually adjusted to the motor target driving torque value, so that the user does not have obvious dragging feeling in a cart mode, and the comfort of user experience is improved. In conclusion, the scheme can convert the adjustment of the vehicle speed into the adjustment of the target rotating speed value of the middle motor, thereby improving the control precision of low vehicle speed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for controlling a cart-mode vehicle speed of an electric cart according to an embodiment of the present invention;
FIG. 2 is a graph showing a relationship between a rear wheel vehicle speed and a rotational speed compensation value according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a method for determining an estimated value of a rotation speed of a mid-motor according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of a method for determining a target rotation speed value of the mid-motor according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating another exemplary method for controlling the speed of an electric vehicle in a push mode according to an embodiment of the present invention;
fig. 6 is a schematic flowchart of a method for determining a rotation speed range of a mid-motor according to an embodiment of the present invention;
fig. 7 is a flowchart illustrating a method for determining a motor target driving torque value of a mid-motor according to an embodiment of the present invention;
fig. 8 is a schematic flowchart of a method for obtaining an actual rotation speed of a mid-motor according to an embodiment of the present invention;
fig. 9 is a flowchart illustrating a method for gradually adjusting a motor driving torque value of a mid-set motor to a motor target driving torque value according to an embodiment of the present invention;
FIG. 10 is a graph illustrating a relationship between a rear wheel vehicle speed and a maximum driving torque value of a motor according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a loop control circuit according to an embodiment of the present invention;
fig. 12 is a schematic diagram illustrating the result of the electric cart mode vehicle speed control apparatus according to the embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, 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.
It should be noted that the terms "object," "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a flowchart illustrating an electric vehicle pushing mode vehicle speed control method according to an embodiment of the present invention, where the present embodiment is applicable to low speed control in an electric bicycle pushing mode, and the method may be implemented by an electric vehicle pushing mode vehicle speed control device, which may be implemented in a hardware and/or software manner. The method specifically comprises the following steps:
and S110, determining a rotation speed estimation value of the middle motor and a rotation speed compensation value of the middle motor according to the target mechanical gear and the speed of the rear wheel vehicle.
Specifically, the center motor refers to a drive motor installed at a middle position (pedal position) of a body of the electric bicycle. The middle motor is connected with the body of the electric bicycle and connected with the rear wheel through a plurality of chains, so that power transmission from the driving motor to the rear wheel is realized. The middle motor comprises a plurality of mechanical gears, each different mechanical gear corresponds to a different chain connected with the rear wheel, and one mechanical gear can be selected as a target mechanical gear. For example, an intermediate gear of the electric bicycle may be selected as the target mechanical gear. The speed of the rear wheel can be collected by a low-precision wheel speed sensor, and it should be noted that the speed of the rear wheel collected by the low-precision wheel speed sensor is not accurate.
Because the specific gear and the actual speed of the current electric bicycle are not accurate values, the rotating speed estimated value of the middle motor calculated according to the target mechanical gear and the current speed is not the actual rotating speed of the current middle motor, and is a pre-estimated value of the rotating speed of the middle motor, so that the subsequent adjustment is convenient on the basis of the rotating speed estimated value of the middle motor.
The rotation speed compensation value of the middle motor can be obtained by searching a corresponding table of the relationship between the speed of the rear wheel vehicle and the rotation speed compensation value or a curve chart of the relationship between the speed of the rear wheel vehicle and the rotation speed compensation value according to the speed of the rear wheel vehicle. The relation corresponding table of the rear wheel speed and the rotating speed compensation value or the relation curve chart of the rear wheel speed and the rotating speed compensation value which are consulted according to the rear wheel speed are preset by a designer. Fig. 2 is a graph illustrating a relationship between a speed of a rear wheel and a rotation speed compensation value according to an embodiment of the present invention, where an abscissa represents the speed of the rear wheel and an ordinate represents the rotation speed compensation value. Fig. 2 includes three curves of relationship between the rear wheel speed and the rotational speed compensation value, i.e., a curve 210, a curve 220, and a curve 230, where the rotational speed compensation values corresponding to the curve 210, the curve 220, and the curve 230 are the same when the rear wheel speed is too high or too low, and the rotational speed compensation values of the curve 210, the curve 220, and the curve 230 are all 0 when the rear wheel speed is 6.
It should be noted that, when the designer sets the relationship curve between the speed of the rear wheel and the rotation speed compensation value in advance, the relationship curve between the speed of the rear wheel and the rotation speed compensation value is also stepped due to the fact that the speed of the rear wheel acquired by the low-precision wheel speed sensor is stepped, and at the moment, the filter needs to be designed by combining the motor rotation speed estimation filter coefficient, so that the transition of the relationship curve between the speed of the rear wheel and the rotation speed compensation value is more stable, the rotation speed compensation values corresponding to different rear wheel speeds are more stable, and the designed rotation speed compensation value is smoother along with the curve of the speed of the rear wheel.
And S120, determining a target rotating speed value of the middle-placed motor according to the rotating speed estimation value and the rotating speed compensation value.
Specifically, each time the rear wheel rotates for one circle, a rising edge appears on the wheel speed signal, the speed of the rear wheel is updated when the rising edge is detected, then a rotating speed compensation value is obtained through an updated relation curve of the speed of the rear wheel and the rotating speed compensation value, and the rotating speed target value of the middle motor is determined according to the rotating speed estimation value and the rotating speed estimation value, namely the rotating speed target value of the middle motor is equal to the sum of the rotating speed estimation value and the rotating speed compensation value. Therefore, the process can indirectly obtain the target rotating speed value of the middle-mounted motor under the condition of not knowing the chain wheel ratio.
It should be noted that: the electric bicycle is driven by the rear wheel to run, so that the speed of the rear wheel of the electric bicycle is equal to the speed of the electric bicycle.
And S130, determining a motor target driving torque value of the middle motor according to the rotating speed target value and the actual rotating speed of the middle motor.
The torque output by the motor is related to the rotating speed of the middle motor, so that the difference value between the target rotating speed value and the actual rotating speed of the middle motor can be calculated according to the target rotating speed value and the actual rotating speed of the middle motor, and the target driving torque value of the middle motor can be determined according to the difference value between the target rotating speed value and the actual rotating speed of the middle motor.
And S140, gradually adjusting the motor driving torque value of the middle motor to the motor target driving torque value within preset time.
Specifically, in order to enhance the comfort level of a user in a cart mode and avoid obvious dragging feeling caused by the fact that the rotating speed of the middle-placed motor timely follows the target driving torque value of the motor under the closed-loop control of the rotating speed of the motor, the rotating speed of the middle-placed motor can be gradually adjusted to the target driving torque value of the motor within the preset time, so that the rotating speed of the middle-placed motor is gradually adjusted, the rotating speed of a rear wheel is adjusted, and the vehicle speed is adjusted.
According to the embodiment of the invention, the rotation speed estimation value of the middle motor and the rotation speed compensation value of the middle motor are determined according to the target mechanical gear and the speed of the rear wheel, so that the subsequent adjustment can be conveniently carried out on the basis of the rotation speed estimation value of the middle motor. And determining the target rotation speed value of the middle motor according to the estimated rotation speed value and the rotation speed compensation value, and indirectly obtaining the target rotation speed value of the middle motor under the condition of not knowing the sprocket ratio. And determining a motor target driving torque value of the middle motor according to the target rotating speed value and the actual rotating speed of the middle motor. In the preset time, the motor driving torque value of the middle motor is gradually adjusted to the motor target driving torque value, so that the user does not have obvious dragging feeling in a cart mode, and the comfort of user experience is improved. In conclusion, the scheme can convert the adjustment of the vehicle speed into the adjustment of the target rotating speed value of the middle motor, thereby improving the control precision of low vehicle speed.
Fig. 3 is a schematic flow chart of a method for determining an estimated value of a rotation speed of a mid-located motor according to an embodiment of the present invention, and the method for determining an estimated value of a rotation speed of a mid-located motor is further detailed on the basis of the above-mentioned embodiment:
and S310, acquiring a target sprocket ratio of the middle motor according to the target mechanical gear.
The chain wheel ratio is the rotation ratio between the chain of the rear wheel driven by the middle motor and the rear wheel. For example, if the middle motor drives the chain of the rear wheel to rotate for one circle, and the rear wheel also rotates for one circle, the ratio of the chain wheels at this time is 1: 1. Each different mechanical gear of the mid-set motor corresponds to different chains to be connected with the rear wheel, so that the chain driven by the mid-set motor to rotate with the rear wheel can be determined according to the selected target mechanical gear, and the target sprocket ratio is determined.
And S320, determining a rotating speed estimated value according to the speed of the rear wheel, the target chain wheel ratio and the transmission ratio of the middle motor.
Specifically, the transmission ratio of the mid-motor refers to the angular velocity ratio between the mechanical gears meshed with each other inside the motor. The estimated rotation speed is the speed of the rear wheel vehicle, the target sprocket ratio and the transmission ratio of the centrally-mounted motor.
In conclusion, the rotation speed estimation value can be estimated in advance by using the method, so that the subsequent adjustment is conveniently carried out on the basis of the rotation speed estimation value of the middle-placed motor, and the rotation speed target value meeting the requirement is obtained.
Exemplarily, fig. 4 is a schematic flow chart of a method for determining a target rotation speed value of the mid-range motor according to an embodiment of the present invention, and the determination of the target rotation speed value of the mid-range motor is further detailed on the basis of the above embodiment:
and S410, judging whether the rising edge of the wheel speed signal is detected or not. If yes, go to step S420; otherwise, re-executing S410.
And S420, determining a rotation speed compensation value of the middle motor according to the speed of the rear wheel vehicle.
And S430, determining a target rotating speed value of the middle motor according to the rotating speed estimation value and the rotating speed compensation value.
And S440, determining the rotating speed range of the middle-placed motor according to the target vehicle speed, the maximum mechanical gear, the minimum mechanical gear and the transmission ratio of the middle-placed motor.
S450, judging whether the target rotating speed value is in the rotating speed range. If yes, go to step S470; if not, go to S460.
And S460, resetting the target rotating speed value according to the rotating speed range.
And S470, outputting the target rotating speed value.
In conclusion, after the target rotating speed value of the motor is determined, the rotating speed range of the middle motor is determined, and whether the estimated target rotating speed value is reasonable or not can be judged, so that the reasonability of the subsequent steps is ensured.
Fig. 5 is a schematic flow chart of another method for controlling vehicle speed in a cart mode of an electric vehicle according to an embodiment of the present invention, where the method specifically includes the following steps:
and S510, determining a rotation speed estimation value of the middle motor and a rotation speed compensation value of the middle motor according to the target mechanical gear and the speed of the rear wheel vehicle.
And S520, determining a target rotating speed value of the middle-placed motor according to the rotating speed estimation value and the rotating speed compensation value.
And S530, determining the rotating speed range of the middle-placed motor according to the target vehicle speed, the maximum mechanical gear, the minimum mechanical gear and the transmission ratio of the middle-placed motor.
The target vehicle speed is a speed to which the rear wheel vehicle speed needs to be adjusted. Because the maximum mechanical gear, the minimum mechanical gear and the transmission ratio of the middle motor of the electric bicycle are known, the rotating speed range of the middle motor can be accurately obtained, and whether the estimated rotating speed estimation value is reasonable or not can be confirmed according to the rotating speed range of the middle motor.
And S540, judging whether the target rotating speed value is in the rotating speed range.
And S550, if not, resetting the target rotating speed value according to the rotating speed range.
It should be noted that: resetting the target value of the rotational speed requires taking values within the rotational speed range.
And S560, determining a motor target driving torque value of the middle motor according to the rotating speed target value and the actual rotating speed of the middle motor.
And S570, gradually adjusting the motor driving torque value of the middle motor to the motor target driving torque value within the preset time.
In conclusion, the scheme can convert the adjustment of the vehicle speed into the adjustment of the target rotating speed value of the middle motor, thereby improving the control precision of low vehicle speed.
Exemplarily, fig. 6 is a schematic flowchart of a method for determining a rotation speed range of a mid-range motor according to an embodiment of the present invention, and the method for determining the rotation speed range of the mid-range motor is further described in detail on the basis of the above embodiment:
and S610, acquiring a first sprocket ratio according to the maximum mechanical gear.
And S620, determining the maximum rotating speed value of the rotating speed of the middle motor according to the target vehicle speed, the transmission ratio and the first chain wheel ratio.
The target vehicle speed is a rear wheel vehicle speed to which adjustment is currently required. And the maximum rotating speed value of the rotating speed of the middle-placed motor is equal to the target vehicle speed and the transmission ratio and the first sprocket ratio.
And S630, acquiring a second sprocket ratio according to the minimum mechanical gear.
And S640, determining the minimum rotating speed value of the rotating speed of the middle motor according to the target vehicle speed, the transmission ratio and the second chain wheel.
And the minimum rotating speed value of the rotating speed of the middle-placed motor is the target vehicle speed and the transmission ratio and the second sprocket ratio.
In conclusion, the scheme can accurately determine the rotating speed range of the mid-set motor, so that whether the estimated rotating speed estimation value is reasonable or not is judged, and the rationality of the subsequent steps is ensured.
Exemplarily, fig. 7 is a flowchart illustrating a method for determining a motor target driving torque value of a mid-set motor according to an embodiment of the present invention, where the method for determining a motor target driving torque value of a mid-set motor is further described in detail on the basis of the above embodiment:
and S710, acquiring the actual rotating speed of the middle motor.
And S720, obtaining a target difference value according to the target rotating speed value and the actual rotating speed of the middle-placed motor.
The difference between the target rotating speed value and the actual rotating speed of the mid-set motor is used for obtaining the difference value between the actual rotating speed of the mid-set motor and the target rotating speed value to be reached, namely the target difference value, so that the speed difference of the actual rotating speed of the mid-set motor, which needs to be adjusted, can be definitely obtained.
And S730, determining a target driving torque value of the motor according to the target difference value.
After the target difference value is obtained, the target difference value can be converted into a motor driving torque value which needs to be adjusted, so that the current motor driving torque value of the motor can be adjusted to the motor target driving torque value, and the actual rotating speed of the middle motor can be adjusted to the rotating speed target value of the middle motor.
In summary, the above scheme exemplarily shows a manner of adjusting the rotation speed of the mid-set motor, and designers may also implement the adjustment of the rotation speed of the mid-set motor by other technical means, and the scheme is not particularly limited.
Exemplarily, fig. 8 is a schematic flowchart of a method for obtaining an actual rotation speed of a mid-mounted motor according to an embodiment of the present invention, and on the basis of the foregoing embodiment, the method for obtaining the actual rotation speed of the mid-mounted motor is further described in detail:
s810, acquiring the mechanical angle of the current sampling period of the middle motor, the mechanical angle of the last sampling period of the middle motor and the sampling frequency of the mechanical angle of the middle motor.
Specifically, the mechanical angle of the current sampling period of the middle-placed motor and the mechanical angle of the last sampling period of the middle-placed motor can be obtained through detection of the motor angle detection module. The sampling frequency of the mechanical angle of the middle-placed motor is the frequency of the mechanical angle of the middle-placed motor sampled by the motor angle detection module in unit time.
And S820, calculating the actual rotating speed of the middle-placed motor according to the mechanical angle of the current sampling period of the middle-placed motor, the mechanical angle of the last sampling period of the middle-placed motor and the sampling frequency of the mechanical angle of the middle-placed motor.
For example, if the mechanical angle of the middle motor in the current sampling period is X1, the mechanical angle of the middle motor in the last sampling period is X2, and the sampling frequency of the mechanical angle of the middle motor is f1, the actual rotation speed n of the middle motor is:
in summary, the above scheme exemplarily shows a way of calculating the actual rotation speed of the mid-set motor, and a designer may also obtain the actual rotation speed of the mid-set motor by other technical means, which is not specifically limited in this scheme.
Fig. 9 is a schematic flowchart of a method for gradually adjusting a motor driving torque value of a mid-set motor to a motor target driving torque value according to an embodiment of the present invention, and on the basis of the foregoing embodiment, the method for gradually adjusting a motor driving torque value of a mid-set motor to a motor target driving torque value is further described in detail:
and S910, acquiring a maximum driving torque value of the motor according to the speed of the rear wheel.
Specifically, the maximum driving torque value of the motor can be obtained by searching a corresponding table of the relationship between the speed of the rear wheel and the maximum driving torque value of the motor or a curve chart of the relationship between the speed of the rear wheel and the maximum driving torque value of the motor according to the speed of the rear wheel. The relation corresponding table of the rear wheel speed and the maximum driving torque value of the motor or the relation curve chart of the rear wheel speed and the maximum driving torque value of the motor, which is consulted according to the rear wheel speed, is preset by a designer.
And S920, in the process of gradually adjusting the motor driving torque value to the motor target driving torque value, judging whether the motor driving torque value after each adjustment is larger than the maximum motor driving torque value in real time.
And S930, if so, outputting the maximum driving torque value.
And S940, otherwise, outputting a motor driving torque value.
The method comprises the steps of gradually adjusting a motor driving torque value to a motor target driving torque value, wherein the motor driving torque value cannot be directly adjusted to the motor target driving torque value in the process of gradually adjusting the motor driving torque value to avoid obvious dragging feeling of a user in the process of pushing a cart, so that the user can naturally and comfortably walk with the cart, and the experience feeling and the comfort level of the user cart are improved.
In conclusion, the scheme realizes the control of the starting force of the electric self-phase vehicle by controlling the output driving torque value of the electric bicycle.
Alternatively, there are various ways to gradually adjust the motor driving torque value to the motor target driving torque value, and for example, the motor driving torque value changes linearly within a preset time until it is equal to the motor target driving torque value.
Specifically, the preset motor driving torque value is a function which changes linearly in the preset time, and the function is as follows:
wherein the content of the first and second substances,
is a motor drive torque value, T ecmd And K is a step coefficient of the motor driving torque value changing along with time, and t is time.
Exemplarily, fig. 10 is a schematic flowchart of a method for obtaining a maximum driving torque value of a motor according to an embodiment of the present invention, and the method for obtaining the maximum driving torque value of the motor is further described in detail on the basis of the above embodiment:
s910, obtaining a relation curve of the speed of the rear wheel vehicle and the maximum driving torque value of the motor.
For example, fig. 10 is a graph of a relationship between a rear wheel vehicle speed and a maximum driving torque value of a motor according to an embodiment of the present invention. The abscissa is the speed of the rear wheel, and the ordinate is the maximum driving torque value of the motor. When the speed of the rear wheel is 0, the maximum driving torque value of the output motor is 50; when the speed of the rear wheel vehicle is more than or equal to 6, the maximum driving torque value of the output motor is 0.
And S920, acquiring a maximum driving torque value of the motor according to a relationship curve of the speed of the rear wheel vehicle and the maximum driving torque value of the motor and the speed of the rear wheel vehicle.
It should be noted that: when a relation curve between the speed of the rear wheel and the maximum driving torque value of the motor is preset by a designer, the process of starting the electric bicycle on a steep slope needs to be considered, so that the maximum driving torque value of the motor corresponding to the rear wheel designed by the designer when the speed of the rear wheel is low is not too small for starting the electric bicycle on the steep slope. Therefore, it is necessary to follow a criterion that the lower the rear wheel vehicle speed, the larger the maximum allowable torque is, and the smaller the maximum allowable torque when the rear wheel vehicle speed approaches the target vehicle speed is.
In conclusion, the scheme can limit the starting force of the electric bicycle by acquiring the maximum driving torque value of the motor.
Fig. 11 is a schematic structural diagram of a loop control circuit according to an embodiment of the present invention, and as shown in fig. 11, specifically, the rear wheel speed input correction circuit 001 may output a rotation speed compensation value of the mid-motor. The rotation speed compensation value of the middle motor and the rotation speed estimation value of the middle motor are input into the summing circuit 002, and the rotation speed target value of the middle motor can be output. The rotation speed target value of the middle motor is input into the rotation speed amplitude limiting circuit 003 to judge whether the rotation speed target value of the middle motor is within the rotation speed range, and the rotation speed target value of the middle motor within the rotation speed range is output. The target rotating speed value of the middle motor and the actual rotating speed of the middle motor are input into the difference calculating circuit 004, and a target difference value can be output. The target difference input PI circuit may convert the target difference into a motor target driving torque value and output the motor target driving torque value. The motor target driving torque value input adjusting circuit 006 may gradually adjust the motor driving torque value of the mid-set motor to the motor target driving torque value within a preset time. Each time the output motor driving torque value is adjusted, the output motor driving torque value is input to the torque limiter circuit 007, and the final output motor driving torque value can be determined.
Fig. 12 is a schematic diagram showing the result of an electric-vehicle-pushing-mode vehicle speed control apparatus according to an embodiment of the present invention, the electric-vehicle-pushing-mode vehicle speed control apparatus including:
the first determining module 01 is used for determining a rotating speed estimated value of the middle motor and a rotating speed compensation value of the middle motor according to a target mechanical gear and the speed of the rear wheel vehicle;
the second determining module 02 is used for determining a target rotating speed value of the mid-set motor according to the rotating speed estimated value and the rotating speed compensation value;
the third determining module 03 is configured to determine a motor target driving torque value of the mid-range motor according to the target rotation speed value and the actual rotation speed of the mid-range motor;
and the adjusting module 04 is used for gradually adjusting the motor driving torque value of the middle motor to the motor target driving torque value within the preset time.
According to the embodiment of the invention, the first determining module is used for determining the rotating speed estimated value of the middle motor and the rotating speed compensation value of the middle motor according to the target mechanical gear and the rear wheel speed, so that the subsequent adjustment can be conveniently carried out on the basis of the rotating speed estimated value of the middle motor. The second determining module determines a target rotation speed value of the middle motor according to the rotation speed estimated value and the rotation speed compensation value, and the target rotation speed value of the middle motor can be indirectly obtained under the condition that the sprocket ratio is not known. The third determination module determines a motor target driving torque value of the middle motor according to the rotating speed target value and the actual rotating speed of the middle motor. The adjusting module gradually adjusts the motor driving torque value of the middle motor to the motor target driving torque value within the preset time, so that a user does not have obvious dragging feeling in a cart mode, and the comfort of user experience is improved. In conclusion, the scheme can convert the adjustment of the vehicle speed into the adjustment of the target rotating speed value of the middle motor, thereby improving the control precision of low vehicle speed.
Optionally, the first determining module includes:
the target chain wheel ratio obtaining unit is used for obtaining a target chain wheel ratio of the middle motor according to a target mechanical gear;
and the rotating speed estimated value determining unit is used for determining a rotating speed estimated value according to the speed of the rear wheel vehicle, the target chain wheel ratio and the transmission ratio of the middle motor.
Optionally, the electric cart mode vehicle speed control apparatus further includes: a determination module, comprising:
the rotating speed range determining unit is used for determining the rotating speed range of the middle motor according to the target vehicle speed, the maximum mechanical gear, the minimum mechanical gear and the transmission ratio of the middle motor;
a first judgment unit for judging whether the target value of the rotation speed is within the rotation speed range;
and the setting unit is used for resetting the target rotating speed value according to the rotating speed range if the target rotating speed value is not in the rotating speed range.
Optionally, the rotation speed range determination unit comprises:
the first acquiring subunit is used for acquiring a first chain wheel ratio according to the maximum mechanical gear;
the maximum rotating speed value determining subunit is used for determining the maximum rotating speed value of the rotating speed of the middle-placed motor according to the target vehicle speed, the transmission ratio and the first chain wheel ratio;
a second acquiring subunit, configured to acquire a second sprocket ratio according to the minimum mechanical gear;
and the minimum rotating speed value determining subunit is used for determining the minimum rotating speed value of the rotating speed of the middle-placed motor according to the target vehicle speed, the transmission ratio and the second chain wheel.
Optionally, the third determining module includes:
the actual rotating speed obtaining unit is used for obtaining the actual rotating speed of the middle-placed motor;
a target difference obtaining unit for obtaining a target difference according to the target rotating speed value and the actual rotating speed of the mid-set motor;
and the motor target driving torque value determining unit is used for determining a motor target driving torque value according to the target difference value.
Optionally, the actual rotation speed obtaining unit includes:
the parameter acquisition subunit is used for acquiring the mechanical angle of the current sampling period of the middle-placed motor, the mechanical angle of the last sampling period of the middle-placed motor and the sampling frequency of the mechanical angle of the middle-placed motor;
and the actual rotating speed calculating subunit is used for calculating the actual rotating speed of the middle-placed motor according to the mechanical angle of the current sampling period of the middle-placed motor, the mechanical angle of the last sampling period of the middle-placed motor and the sampling frequency of the mechanical angle of the middle-placed motor.
Optionally, the adjusting module comprises:
the motor maximum driving torque value acquisition unit is used for acquiring a motor maximum driving torque value according to the speed of the rear wheel vehicle;
the second judgment unit is used for judging whether the motor driving torque value after each adjustment is larger than the maximum motor driving torque value in real time in the process of gradually adjusting the motor driving torque value to the motor target driving torque value;
if so, outputting a maximum driving torque value;
otherwise, outputting the motor driving torque value.
Alternatively, the motor driving torque value varies linearly within a preset time until it is equal to the motor target driving torque value.
Alternatively, the motor maximum driving torque value acquisition unit includes:
the calling subunit is used for acquiring a relation curve of the rear wheel vehicle speed and the maximum driving torque value of the motor;
and the motor maximum driving torque value obtaining subunit is used for obtaining the motor maximum driving torque value according to the relationship curve of the rear wheel vehicle speed and the motor maximum driving torque value and the rear wheel vehicle speed.
The electric vehicle pushing mode vehicle speed control device provided by the embodiment of the invention can execute the electric vehicle pushing mode vehicle speed control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An electric vehicle cart mode vehicle speed control method, comprising:
determining a rotation speed estimated value of the middle motor and a rotation speed compensation value of the middle motor according to the target mechanical gear and the speed of the rear wheel vehicle;
determining a target rotating speed value of the middle-placed motor according to the estimated rotating speed value and the rotating speed compensation value;
determining a motor target driving torque value of the mid-set motor according to the rotating speed target value and the actual rotating speed of the mid-set motor;
and gradually adjusting the motor driving torque value of the middle motor to the motor target driving torque value within a preset time.
2. The electric cart mode vehicle speed control method of claim 1, wherein the method of determining an estimate of the speed of the mid-set motor comprises:
acquiring a target chain wheel ratio of the middle motor according to the target mechanical gear;
and determining the rotating speed estimated value according to the rear wheel speed, the target chain wheel ratio and the transmission ratio of the middle motor.
3. The electric-vehicle-pushing-mode vehicle speed control method as claimed in claim 1, further comprising, after determining the target rotation speed value of the center motor and before determining the target motor drive torque value of the center motor:
determining the rotating speed range of the middle-placed motor according to the target vehicle speed, the maximum mechanical gear, the minimum mechanical gear and the transmission ratio of the middle-placed motor;
judging whether the target rotating speed value is in the rotating speed range;
if not, the target rotating speed value is reset according to the rotating speed range.
4. The electric cart mode vehicle speed control method of claim 3, wherein the method of determining the range of rotation speeds of the mid-motor comprises:
acquiring a first chain wheel ratio according to the maximum mechanical gear;
determining the maximum rotating speed value of the rotating speed of the middle-placed motor according to the target vehicle speed, the transmission ratio and the first chain wheel ratio;
acquiring a second chain wheel ratio according to the minimum mechanical gear;
and determining the minimum rotating speed value of the rotating speed of the mid-set motor according to the target vehicle speed, the transmission ratio and the second chain wheel.
5. The electric-vehicle-pushing-mode vehicle speed control method as claimed in claim 1, wherein the method of determining the motor target driving torque value of the center motor includes:
acquiring the actual rotating speed of the mid-set motor;
obtaining a target difference value according to the target rotating speed value and the actual rotating speed of the mid-set motor;
and determining a target driving torque value of the motor according to the target difference value.
6. The electric-vehicle-pushing-mode vehicle speed control method as claimed in claim 5, wherein the method of obtaining the actual rotation speed of the center motor includes:
acquiring a mechanical angle of the current sampling period of the middle-placed motor, a mechanical angle of a last sampling period of the middle-placed motor and sampling frequency of the mechanical angle of the middle-placed motor;
and calculating the actual rotating speed of the middle-placed motor according to the mechanical angle of the current sampling period of the middle-placed motor, the mechanical angle of the last sampling period of the middle-placed motor and the sampling frequency of the mechanical angle of the middle-placed motor.
7. The electric-vehicle-pushing-mode vehicle speed control method as claimed in claim 1, wherein the method of gradually adjusting the motor drive torque value of the center motor to the motor target drive torque value comprises:
acquiring a maximum driving torque value of a motor according to the speed of the rear wheel;
in the process of gradually adjusting the motor driving torque value to the motor target driving torque value, judging whether the motor driving torque value after each adjustment is larger than the maximum motor driving torque value or not in real time;
if so, outputting the maximum driving torque value;
otherwise, outputting the motor driving torque value.
8. The electric cart mode vehicle speed control method of claim 1, wherein the motor drive torque value varies linearly over the preset time until it equals the motor target drive torque value.
9. The electric cart mode vehicle speed control method of claim 7, wherein the method of obtaining a motor maximum drive torque value comprises:
acquiring a relation curve of the speed of the rear wheel vehicle and the maximum driving torque value of the motor;
and acquiring the maximum driving torque value of the motor according to the relationship curve of the speed of the rear wheel and the maximum driving torque value of the motor and the speed of the rear wheel.
10. An electric cart mode vehicle speed control device, comprising:
the first determining module is used for determining a rotating speed estimation value of the middle motor and a rotating speed compensation value of the middle motor according to a target mechanical gear and the speed of the rear wheel vehicle;
the second determining module is used for determining a target rotating speed value of the middle-placed motor according to the estimated rotating speed value and the rotating speed compensation value;
the third determining module is used for determining a motor target driving torque value of the mid-set motor according to the rotating speed target value and the actual rotating speed of the mid-set motor;
and the adjusting module is used for gradually adjusting the motor driving torque value of the middle motor to the motor target driving torque value within the preset time.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210625647.8A CN114834585B (en) | 2022-06-02 | 2022-06-02 | Electric vehicle cart mode vehicle speed control method and device |
| DE112022002517.4T DE112022002517T5 (en) | 2022-06-02 | 2022-06-30 | Method and device for controlling the speed in push mode of an electric bicycle |
| PCT/CN2022/102730 WO2023231128A1 (en) | 2022-06-02 | 2022-06-30 | Speed control method and device for use in electric bicycle pushing mode |
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| CN202210625647.8A CN114834585B (en) | 2022-06-02 | 2022-06-02 | Electric vehicle cart mode vehicle speed control method and device |
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| CN114834585A true CN114834585A (en) | 2022-08-02 |
| CN114834585B CN114834585B (en) | 2023-05-12 |
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| CN (1) | CN114834585B (en) |
| DE (1) | DE112022002517T5 (en) |
| WO (1) | WO2023231128A1 (en) |
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2022
- 2022-06-02 CN CN202210625647.8A patent/CN114834585B/en active Active
- 2022-06-30 DE DE112022002517.4T patent/DE112022002517T5/en active Pending
- 2022-06-30 WO PCT/CN2022/102730 patent/WO2023231128A1/en active Application Filing
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| JP2012030767A (en) * | 2010-07-29 | 2012-02-16 | Aida Yukio | Power-assisted bicycle |
| JP2016203813A (en) * | 2015-04-23 | 2016-12-08 | ヤマハ発動機株式会社 | Motor-assisted bicycle |
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Also Published As
| Publication number | Publication date |
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| DE112022002517T5 (en) | 2024-04-04 |
| WO2023231128A1 (en) | 2023-12-07 |
| CN114834585B (en) | 2023-05-12 |
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