CN116388469A - Driving device and driving method thereof - Google Patents
Driving device and driving method thereof Download PDFInfo
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- CN116388469A CN116388469A CN202310357045.3A CN202310357045A CN116388469A CN 116388469 A CN116388469 A CN 116388469A CN 202310357045 A CN202310357045 A CN 202310357045A CN 116388469 A CN116388469 A CN 116388469A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/0094—Structural association with other electrical or electronic devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/27—Devices for sensing current, or actuated thereby
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Embodiments of the present specification provide a driving apparatus and a driving method thereof, the driving apparatus including: the device comprises a motor, a shifting block, a controller, a control magnetic block and at least one Hall sensor; the motor is used for providing driving force and responding to the received switching signal to drive the shifting block to rotate; the shifting block is used for driving an external mechanism to execute switching operation; the control magnetic block and the shifting block move together; the at least one Hall sensor is used for sensing that the control magnetic block reaches a corresponding position and transmitting a first in-place signal to the controller; the controller is used for responding to the received switching signal and controlling the motor to rotate so as to drive the shifting block; and responding to the first in-place signal, controlling the motor to stop driving the shifting block.
Description
Technical Field
The present disclosure relates to the field of driving motors, and in particular, to a driving device and a driving method thereof.
Background
In the process of climbing a mountain, etc., a motorcycle or an off-road pickup truck has a vehicle gear shifting condition such as switching from two-wheel drive to four-wheel drive. The motor is used for assisting pushing out and pushing in gear shifting when the vehicle shifts gears. Current motors are typically controlled by copper bar contacts and external relays to turn the motor on and off. However, conditions such as rusting of copper bars, entering of foreign matters in the motor and the like may occur in the use process of the motor, and these conditions may affect the stability of contact of the copper bars, and even may directly affect the service life of the motor in some cases, such as burning damage of the motor. Meanwhile, if the relay is in fault, short circuit and other conditions, the service life of the motor is directly influenced.
Accordingly, it is desirable to provide a driving apparatus and a driving method thereof, which effectively improve the service life and the use safety of a motor.
Disclosure of Invention
One of the embodiments of the present specification provides a driving apparatus including: the device comprises a motor, a shifting block, a controller, a control magnetic block and at least one Hall sensor, wherein the motor is used for providing driving force and responding to receiving a switching signal to drive the shifting block to rotate; the shifting block is used for driving an external mechanism to execute switching operation; the control magnetic block and the shifting block move together; the at least one Hall sensor is used for sensing that the control magnetic block reaches a corresponding position and transmitting a first in-place signal to the controller; the controller is used for responding to the received switching signal and controlling the motor to rotate so as to drive the shifting block to rotate; and controlling the motor to stop moving the shifting block in response to the first in-place signal.
In some embodiments, the driving apparatus further includes a controller area network interface, the controller area network interface for the controller to obtain the switching signal, and the controller to feed back a switching completion signal.
In some embodiments, the controller is disposed inside a housing of the drive device.
In some embodiments, the driving device further comprises an external sensing device, and the external sensing device is used for acquiring a second in-place signal and feeding back the second in-place signal to the controller; the controller is further configured to feed back a handover complete signal in response to receiving the first in-place signal and the second in-place signal.
In some embodiments, the driving device further includes a detection magnet for detecting the at least one hall sensor to determine whether an abnormality occurs in the at least one hall sensor.
One of the embodiments of the present specification provides a driving method implemented based on the driving apparatus including a motor, a dial, a controller, a control magnet, and at least one hall sensor, the method being performed by the controller; the method comprises the following steps: acquiring a switching signal; based on the switching signal, controlling the motor to rotate so as to drive the shifting block to rotate; and when the control magnetic block rotates to the corresponding position of the at least one Hall sensor, receiving a first in-place signal and controlling the motor to stop moving the shifting block.
In some embodiments, the method further comprises: controlling the motor to rotate based on the current change; wherein the current variation is based on a field effect transistor within the controller.
In some embodiments, the method further comprises: determining whether a locked-rotor of the motor occurs based on the first in-place signal and a working state of the motor; and controlling the motor to stop working and/or sending out fault signals in response to the occurrence of locked-rotor of the motor.
In some embodiments, the drive device further comprises an external sensing device; the method further comprises the steps of: acquiring a second in-place signal based on the external sensing device; and feeding back a switching completion signal based on the first in-place signal and the second in-place signal.
In some embodiments, the drive device further comprises a detection magnet; the method further comprises the steps of: acquiring a detection signal based on the detection magnetic block; based on the detection signal, it is determined whether an abnormality occurs in the at least one hall sensor.
Drawings
The present specification will be further elucidated by way of example embodiments, which will be described in detail by means of the accompanying drawings. The embodiments are not limiting, in which like numerals represent like structures, wherein:
FIGS. 1A and 1B are schematic mechanical diagrams of a driving device according to some embodiments of the present disclosure;
fig. 2 is a schematic circuit configuration diagram of a driving device according to some embodiments of the present specification;
FIG. 3 is a schematic diagram of a detection magnet according to some embodiments of the present disclosure;
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is apparent that the drawings in the following description are only some examples or embodiments of the present specification, and it is possible for those of ordinary skill in the art to apply the present specification to other similar situations according to the drawings without inventive effort. Unless otherwise apparent from the context of the language or otherwise specified, like reference numerals in the figures refer to like structures or operations.
It will be appreciated that "system," "apparatus," "unit" and/or "module" as used herein is one method for distinguishing between different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.
As used in this specification and the claims, the terms "a," "an," "the," and/or "the" are not specific to a singular, but may include a plurality, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus.
A flowchart is used in this specification to describe the operations performed by the system according to embodiments of the present specification. It should be appreciated that the preceding or following operations are not necessarily performed in order precisely. Rather, the steps may be processed in reverse order or simultaneously. Also, other operations may be added to or removed from these processes.
In some embodiments, the drive means may comprise a motor, a dial, a controller, a control magnet and at least one hall sensor.
An electric motor refers to a device that converts electrical energy into mechanical energy.
In some embodiments, an electric motor may be used to provide the driving force. In response to receiving the switching signal, the motor may rotate the dial.
The switching signal is a signal for controlling each component in the driving device to switch gears. The gears may include a two-drive gear, a four-drive lock stop (in which the power distributed to the four wheels is the same, and there is no rotational speed difference between the four wheels), and the like. For example, the shift signal may be a shift from a two-drive gear to a four-drive gear, a shift from a four-drive gear to a two-drive gear, a shift from a four-drive gear to a four-drive lock stop, a shift from a four-drive lock stop to a four-drive gear, and so on. For more explanation of the switching signal, see the following related description.
In some embodiments, the dial may be fixedly connected to a first carrier, where the first carrier is a structure that fixes and drives the dial to rotate.
The dial may be driven by the motor in a number of ways. In some embodiments, the motor may drive the first carrier to rotate through a transmission structure (e.g., a gear set structure, a belt structure, a worm gear structure, etc.), thereby driving the dial block to rotate. The content of the transmission structure is merely an exemplary illustration, and does not limit the embodiment.
In some embodiments, the shifting block may be driven by the motor in other manners, for example, the first bearing member may be connected to the rotating shaft, and the motor may control the rotating shaft to rotate to drive the first bearing member to rotate, so as to drive the shifting block to rotate.
The dial means a structure for performing a switching operation. The structural shape of the shifting block is not limited, and can be a sector, a rectangle and the like, and the shifting block can be adaptively designed based on actual requirements.
In some embodiments, the dial may be disposed outside of the housing of the drive device, fixedly coupled to the housing of the drive device. The manner of fixing connection may include detachable connection (such as screw connection, key connection, etc.) and non-detachable connection (such as welding, riveting, etc.).
In some embodiments, a dial may be used to drive an external mechanism to perform a switching operation.
The external mechanism means a mechanism provided outside the housing of the driving device for performing a switching operation. In some embodiments, the external mechanism may include a spring or like structure.
The shift operation is an operation performed when shifting the gear. For example, an operation to shift from the two-drive range to the four-drive range, an operation to shift from the four-drive range to the two-drive range, or the like.
In some embodiments, the dial may include a pointer structure. The pointer structure may take many forms. For example, needle-like structures, rod-like structures, and the like. For another example, the material of the pointer structure may be copper or the like. The shape and material of the pointer structure may also be varied in a variety of other ways.
In some embodiments, the pointer structure is for contacting a contact structure located outside the housing of the drive device. In response to receiving the switch signal, the motor may control the dial to rotate, indicating that the dial is in place when the pointer structure is in contact with a designated contact of the contact structures. Wherein, the contact structure refers to a structure composed of one or more contacts. In some embodiments, the contact structure may include a two-drive contact (corresponding to the dial having been switched to the two-drive gear when the pointer structure is in contact with the contact), a four-drive contact (corresponding to the dial having been switched to the four-drive gear when the pointer structure is in contact with the contact), and a four-drive lock contact (corresponding to the dial having been switched to the four-drive lock stop when the pointer structure is in contact with the contact). The designated contact may be determined from the switching signal. For example, when the switching signal is "switch from the two-drive gear to the four-drive gear", the designated contact may be a four-drive contact.
In some embodiments, the contact structure may be connected to the exterior of the housing of the driving device by way of a plug-in assembly, and secured by way of a sealant or the like. The contact structure is arranged in a plugging and assembling mode, so that the manufacturing difficulty of a die, the welding spot requirement and the process requirement can be reduced, and the stability of a product can be improved.
In some embodiments, the contact structure may also be fixedly connected to the housing exterior of the drive device by other means. For example, the contact arrangement can be fixedly connected to the housing exterior of the drive device by means of integral injection molding.
In some embodiments, when the motor is stopped and the dial does not reach the designated contact position, the dial may be driven by a spring to continue rotating to bring the pointer structure to the designated contact position.
The control magnet refers to an element with magnetism. The magnetic field of at least one Hall sensor arranged in the driving device can act when the magnetic block is controlled to rotate.
In some embodiments, the number of control magnets may include one or more. The number of the control magnetic blocks is related to the gear number, the arrangement mode of the control magnetic blocks, and the like, and more description can be found in the following related description.
In some embodiments, the control magnet may be fixedly connected to the second carrier. The second bearing piece is a structure for fixing and driving the control magnetic block to rotate.
The control magnet may be driven by the motor in a variety of ways. In some embodiments, the motor may drive the second carrier through the transmission structure, and further drive the control magnet to rotate.
In some embodiments, the control magnetic block may be further driven by an electric motor, for example, the second bearing member may be connected to the rotating shaft, and the electric motor may rotate through the control rotating shaft to drive the second bearing member to rotate, thereby driving the control magnetic block to rotate.
In some embodiments, the control magnet and the dial may move together.
The co-movement may be achieved in a number of ways. In some embodiments, the motor can drive the first bearing piece and the second bearing piece simultaneously, so that the control magnetic block and the shifting block are driven to move together. In some embodiments, the first carrier and the second carrier may be the same carrier.
In some embodiments, the motor may move the control magnet together with the dial in other ways. For example, the control magnetic block and the shifting block can be connected on the rotating shaft in a staggered manner, and the motor can rotate through the control rotating shaft so as to drive the control magnetic block and the shifting block to move together, which is not limited in the specification.
In some embodiments, the controller may control the motor to stop when the control magnet rotates to the vicinity of one of the hall sensors to be sensed by the hall sensor, and then control the magnet to gradually stop rotating.
In some embodiments, the control magnet may also be fixedly disposed inside the housing of the drive device. For example, the control magnet may be fixed inside the casing of the driving device by welding, snap connection, or the like.
Hall sensors are elements for sensing a change in a magnetic field and converting the change in the magnetic field into a change in an output voltage.
In some embodiments, at least one hall sensor may be used to sense the arrival of the control magnet at the corresponding position, and to transmit a first in-place signal to the controller.
The corresponding position refers to any one of the positions associated with the hall sensor. The corresponding positions of the different hall sensors may be different. For example, the corresponding position may be a position where a center point of the hall sensor is located. As another example, the corresponding location may be a certain location point around the hall sensor. The content regarding the corresponding positions is merely an exemplary illustration, and does not constitute a limitation of the embodiments.
In some embodiments, when the control magnetic block reaches a corresponding position of a certain hall sensor, the hall sensor can sense a magnetic field change with a specific amplitude, and whether the control magnetic block reaches the corresponding position can be determined based on the magnetic field change with the specific amplitude. In one embodiment, when the hall sensor senses a magnetic field change of a specific magnitude, it may be determined that the control magnet has reached a corresponding position of the hall sensor. The correspondence between the distance between the corresponding position and the hall sensor and the magnetic field variation amplitude can be determined based on experiments, simulation, statistical analysis of historical data, and the like.
The first in-place signal is a feedback signal for indicating that the control magnet reaches a corresponding position of a certain hall sensor. When the control magnet reaches the corresponding position, the corresponding hall sensor can transmit a first in-place signal to the controller.
The first in-place signal may be transmitted to the controller based on a variety of means. In some embodiments, the first in-place signal may be directly transmitted to the controller, e.g., the hall sensor is integrally disposed on a circuit board of the controller, and the controller may directly obtain the first in-place signal. In some embodiments, the first in-place signal may be indirectly transmitted to the controller, such as by way of a data line or the like, to enable transmission of the first in-place signal between the hall sensor and the controller. In some embodiments, the drive apparatus further comprises a controller area network interface (Controller Area Network, CAN) through which the hall sensor CAN communicate the first in-place signal to the controller. For more description of the controller area network interface, see the related description below.
In some embodiments, when the control magnetic block reaches a corresponding position of a certain hall sensor, the hall sensor can determine that the control magnetic block has reached the corresponding position based on a magnetic field change with a specific amplitude, and then transmit a first in-place signal to the controller.
In some embodiments, the at least one hall sensor may be fixedly disposed inside the housing of the drive device. For example, the at least one hall sensor may be fixedly disposed inside the housing of the driving device by welding, bonding, or the like.
In some embodiments, the at least one hall sensor may also be rotatably disposed inside the housing of the drive device. For example, the at least one hall sensor can be arranged on a rotary structure inside the housing of the drive. The rotating structure can rotate under the drive of the motor, so that at least one Hall sensor is driven to rotate in the shell of the driving device. Exemplary rotational structures may include, but are not limited to, turntable, turning bar, and the like.
In some embodiments, the number of control magnets and hall sensors may be determined according to the number of gears, the arrangement of the control magnets, and the arrangement of the hall sensors. In some embodiments, when the control magnetic blocks are rotatably disposed inside the housing of the driving device (such as the housing of the driving device is rotatably disposed inside the housing of the driving device by a transmission structure or a rotating shaft as described above), and the hall sensors are fixedly disposed inside the housing of the driving device, the number of the control magnetic blocks can be determined to be one, and the number of the hall sensors is the same as the gear number. In some embodiments, when the control magnetic blocks are fixedly disposed in the casing of the driving device and the hall sensors are rotatably disposed in the casing of the driving device, the number of the control magnetic blocks and the number of the gears can be determined to be the same, and the number of the hall sensors is one.
Some of the examples described below may be understood with reference to fig. 1A, 1B, but the drawings are merely illustrative of some of the embodiments thereof and are not limiting of the embodiments.
As shown in fig. 1A and 1B, 100 is a driving device, 101 is an upper casing of the driving device, 102 is a lower casing of the driving device, 110 is a dial, 111 is a pointer structure, 112 is a contact structure, 120 is a control magnet, 131, 132, and 133 are hall sensors, and 140 is a motor.
In some embodiments, the upper housing 101 and the lower housing 102 of the driving device 100 form a housing interior space, the dial 110 is located outside the housing, and the control magnet 120, the hall sensors 131-133, and the motor 140 are located inside the housing.
In some embodiments, the motor 140 may rotate the dial 110 and the control magnet 120. The shift block 110 and the control magnet 120 can move together.
In some embodiments, when the dial 110 is rotated, the pointer structure 111 is rotated, indicating that the dial 110 is in place when the pointer structure 111 contacts a designated contact in the contact structure 112. The contact structure 112 may be fixedly disposed on the upper housing 101.
In some embodiments, as the control magnet 120 rotates within the housing, one of the hall sensors 131-133 may sense whether the control magnet has reached its corresponding position, and in response to reaching the corresponding position, the hall sensor may transmit a first in-place signal to a controller (not shown in fig. 1A, 1B).
The controller is an element for controlling one or more components in the drive device. For example, the controller may be a combinational logic controller, a CPU controller, or the like. In some embodiments, the controller may be a microcontroller (Microcontroller Unit, MCU).
In some embodiments, the controller may be disposed inside a housing of the driving device to control other components of the driving device. Exemplary arrangements may include, but are not limited to, snap-fit connections, welding, adhesive, etc.
In some embodiments, the controller may be configured to control the motor to rotate in response to receiving the switching signal to rotate the dial; and controlling the motor to stop moving the dial in response to the first in-place signal.
In some embodiments, the controller may be used to perform a driving method of the driving apparatus, which may be implemented based on the driving apparatus. In some embodiments, the driving method may be implemented by the following steps S1 to S3:
s1, acquiring a switching signal.
In some embodiments, the controller may obtain the switching signal based on a variety of ways. For example, the controller may acquire the switching signal based on an ethernet bus, flexRay bus, or the like.
In some embodiments, the drive apparatus may further comprise a controller area network interface.
In some embodiments, the controller area network interface may enable communication between the controller area network bus and the controller based on an information transfer protocol.
In some embodiments, the controller area network interface may be used for the controller to acquire the handover signal and for the controller to feedback the handover complete signal. For example, the controller may obtain the handover signal from the controller area network bus through the controller area network interface and feedback the handover complete signal to the controller area network bus through the controller area network interface. For more description of feedback switch complete signals see fig. 2 and its associated description.
The switching signal is acquired through the controller local area network interface, so that the cost is low, and the reliability of signal transmission can be ensured to a certain extent; meanwhile, CAN communication is adopted, so that diagnosis, downloading function and the like CAN be realized.
And S2, controlling the motor to rotate based on the switching signal so as to drive the shifting block to rotate.
In some embodiments, the controller may utilize a relay to control the motor to rotate based on the switching signal to rotate the dial. Wherein, the relay can control the rotation of the motor by controlling the current on-off between the motor and the controller.
In some embodiments, the controller may also control the motor to rotate based on the current change. The current change can be realized based on a field effect transistor inside the controller.
The current change may refer to a transition of high and low levels.
A field effect transistor is a semiconductor device that controls the output loop current using the electric field effect of the input loop. The field effect transistor may be an insulated gate field effect transistor, such as an N-channel enhancement mode field effect transistor and a P-channel enhancement mode field effect transistor.
For the N-channel enhanced field effect transistor, when the grid electrode is at a high level, any one of the source electrode and the drain electrode is at a high level, the field effect transistor is conducted; when the gate is at a low level and any one of the source and the drain is at a high level, the FET is turned off. For the P-channel enhancement type field effect transistor, when the grid is in a low level and any one of the source electrode and the drain electrode is in a high level, the field effect transistor is conducted; when the grid electrode is at a high level, any one of the source electrode and the drain electrode is at a very high level, the field effect transistor is disconnected. When the field effect tube is conducted, the motor starts to rotate, and then the shifting block and the control magnetic block are driven to rotate.
In some embodiments, the field effect transistor can be turned on or off based on the current change, so that the current between the controller and the motor is controlled to be turned on or off, and the controller can control the motor. In some embodiments, the current direction of the field effect transistor can be changed based on the current change, so as to control the motor to rotate reversely.
In some embodiments of the specification, on-off between the controller and the motor is realized based on-off of the field effect transistor, so that the controller can control the motor, damage to the motor caused by overlarge current can be avoided, stability and effectiveness of a control process are guaranteed, and cost is saved.
And S3, when the control magnetic block rotates to the corresponding position of at least one Hall sensor, receiving a first in-place signal and controlling the motor to stop moving the shifting block.
In some embodiments, when the control magnet reaches a corresponding position of a certain hall sensor of the at least one hall sensor, the hall sensor may sense the control magnet, and further transmit a first in-place signal to the controller. When the controller receives the first in-place signal, the motor can be stopped rotating by controlling the field effect transistor to be disconnected.
In some embodiments of the present disclosure, the motor is controlled to start or stop based on the position of the hall sensor sensing control magnetic block, so as to drive the shifting block to complete the switching operation, so that the stability and the effectiveness of the control process can be improved while the gear switching can be realized by the driving device. The controller and the like are integrated in the driving device, so that the switch wire harness structure can be effectively simplified; meanwhile, the structure can realize the self-protection function of the driving device when the motor generates large current or stalls, thereby solving the problem of burning the driving device.
In some embodiments, the controller may further determine whether a stall has occurred in the motor based on the first in-place signal and an operating state of the motor; and controlling the motor to stop working and/or sending out fault signals in response to the occurrence of locked-rotor of the motor.
The locked-rotor refers to a case where the motor still outputs torque at the rotation speed of 0. The operating state of the motor may include a current on state, a current off state, and the like.
In some embodiments, the controller may determine whether a locked-rotor has occurred in the motor in a number of ways. In some embodiments, a stall may be considered to occur when the feedback time of the first in-place signal exceeds a time threshold and the motor is always in a current conducting state. The feedback time may be a time interval between a time point when the hall sensor transmits the first-in-place signal and a current time point. The time threshold may be a predetermined time value, which may be determined based on analog simulation, experimentation, or the like.
The fault signal may be an alert signal for alerting a user that the motor is faulty (locked rotor). For example, the fault signal may be a warning light (e.g., red light flashing), a warning sound (e.g., alarm sound), etc.
In some embodiments, the controller may control the motor to stop operating by controlling the fet to open in response to a stalling of the motor.
In some embodiments, the controller may signal a fault by controlling the alarm device (e.g., alarm, etc.) to turn on in response to a motor stall.
In some embodiments of the present disclosure, based on the first in-place signal and the working state of the motor, it is determined whether the motor is locked, and in response to the motor being locked, the motor is controlled to stop working and/or to send out a fault signal, so that damage to the motor caused by too long locked time of the motor can be effectively avoided, and thus, the service life of the motor and even the driving device can be improved.
Fig. 2 is a schematic circuit configuration diagram of a driving device according to some embodiments of the present specification.
In some embodiments, the drive means may further comprise external sensing means.
The external sensing means refers to means for determining whether the dial is in place. In some embodiments, the external sensing device may be disposed outside of the housing of the drive device.
In some embodiments, an external sensing device may be used to acquire the second in-place signal and feed it back to the controller.
The second in-place signal refers to a feedback signal indicating that the dial is in place. For more description of the positioning of the dials, see the relevant description above.
In some embodiments, when the pointer structure on the dial contacts a designated contact, the controller, the pointer structure, and the contact form a closed loop, the external sensing device may acquire a second in-place signal and feed back to the controller.
In some embodiments, the external sensing device may feed back the second in-place signal based on the controller lan, so as to implement real-time transmission and diagnosis of the second in-place signal, and ensure reliability during data transmission.
In some embodiments, the external sensing device may also display the second in-place signal based on a display device (e.g., a flashing light). Illustratively, the connection loops of the controller, the pointer structure, the two-drive contact, the four-drive contact and the four-drive locking contact are respectively provided with a flashing lamp 1, a flashing lamp 2 and a flashing lamp 3, when the pointer structure moves to the four-drive contact and contacts with the four-drive contact, the controller, the pointer structure and the four-drive contact form a closed loop, and at the moment, the flashing lamp 2 is on; when the pointer structure moves to and contacts the four-wheel drive locking contact, a closed loop is formed among the controller, the pointer structure and the four-wheel drive locking contact, and the flashing lamp 3 is turned on. Through display device, can know the contact condition of pointer structure and contact structure clearly to in time discover the problem and solve.
In some embodiments, the controller may acquire the second in-place signal based on the external sensing device, and based on the first in-place signal and the second in-place signal, the controller feeds back the switching completion signal.
The switching completion signal refers to a feedback signal when the switching operation is completed. For example, the switching signal is a switching from the two-drive gear to the four-drive gear, and when the control magnetic block moves to the hall sensor corresponding to the position defined by the switching signal and the pointer structure on the dial block moves to and contacts the designated contact (i.e., the four-drive contact), the switching operation is considered to be completed, and the feedback signal generated at this time is a switching completion signal.
In some embodiments, after the controller receives the first in-place signal and the second in-place signal, a switch completion signal may be fed back to the controller area network bus.
In some embodiments, the controller may implement feedback of the handoff completion signal based on the controller area network interface. For more on the controller area network interface, see fig. 2 and its associated description.
In some embodiments of the present disclosure, the second in-place signal is obtained based on the external sensing device, and after the controller receives the first in-place signal and the second in-place signal, the switching completion signal is fed back to the controller lan bus, so that the action of executing the switching operation between the inside of the driving device and the outside of the driving device can be detected, thereby ensuring the stability and reliability when the driving device executes the switching operation.
Some of the examples described below may be understood with reference to fig. 2, which is merely illustrative of some of the embodiments thereof and not limiting of the embodiments.
As shown in fig. 2, the controller acquires a switching signal transmitted by the controller area network bus through the controller area network interface; when the controller receives the switching signal, the motor starts to rotate by controlling the field effect transistor to be conducted, and the motor further drives the shifting block and the control magnetic block to rotate together; when the control magnetic block rotates to the corresponding position of the Hall sensor designated by the switching signal, the Hall sensor senses the control magnetic block, conducts a circuit between the control magnetic block and the controller, and feeds back a first in-place signal to the controller through the controller local area network; when the controller receives the first in-place signal, the controller stops the rotation of the motor by controlling the field effect tube to be disconnected, so that the shifting block stops rotating. Meanwhile, the controller can judge whether the pointer structure on the shifting block is contacted with a contact appointed by a switching signal or not based on the external induction device, when the pointer structure on the shifting block is contacted with the appointed contact, a closed loop is formed among the controller, the pointer structure and the contact, and the external induction device feeds back a second in-place signal to the controller through a controller local area network; after the controller receives the first in-place signal and the second in-place signal, a switching completion signal is generated and fed back to the controller area network bus through the controller area network interface so as to indicate that the driving device has completed switching operation.
In some embodiments, the drive device may further include a detection magnet.
The detection magnet is a magnetic element. The position of at least one Hall sensor arranged in the driving device can be detected when the magnetic block rotates.
In some embodiments, the detection magnet may be used to detect at least one hall sensor inside a housing of the drive device to determine whether an anomaly has occurred in the at least one hall sensor.
In some embodiments, the detection magnet may be fixedly connected to the third carrier.
The third bearing piece is a structure for fixing and driving the detection magnetic block to rotate. The motor can drive the detection magnet to rotate based on various modes. In some embodiments, the motor may drive the third carrier through the transmission structure, and further drive the detection magnet to rotate.
In some embodiments, the transmission structure corresponding to the third carrier may include an internal gear or a differential gear set, so as to implement that the rotational speed of the third carrier is greater than the rotational speed of the first carrier and/or the second carrier, and a large rotational speed difference exists between the detecting magnet and the shifting block and/or the control magnet (for example, the rotational speed of the detecting magnet may reach ten times the rotational speed of the shifting block). In some embodiments, the rotational speed difference may be greater than a differential threshold. The differential threshold may be an empirical value, a calculated value, a test value, or the like, or any combination thereof, and may be set according to actual requirements, which is not limited in this specification. When the shifting block rotates a little angle, the detection magnetic block can pass through each Hall sensor to obtain detection signals. For more description of the detection signal see the relevant description below.
Some of the examples described below may be understood with reference to fig. 3, which is merely illustrative of some of the embodiments thereof and not limiting of the embodiments.
In fig. 3, 310 is a motor, 320 is a transmission structure, 330 is a detection magnet, 340 is a third carrier, 351, 352, and 353 are hall sensors.
In some embodiments, the detection magnet 330 may be fixedly connected with the third carrier 340.
In some embodiments, the motor 310 may drive the third carrier 340 through the transmission structure 320, and further drive the detecting magnet 330 to rotate. The detection magnet 330 may pass through the positions of the hall sensor 351, the hall sensor 352, and the hall sensor 353 when rotating.
The controller can control the detection magnet to detect the at least one hall sensor in a plurality of modes. In some embodiments, the controller may control the detection magnetic block to detect the at least one hall sensor in advance when receiving the switching signal. In some embodiments, the controller may control the detection magnet to detect the at least one hall sensor when receiving the detection instruction. The detection instruction may be input by a user through a user terminal, transmitted to the controller through a controller area network or other modes.
In some embodiments, the controller may acquire the detection signal based on the detection magnet; and determining whether an abnormality occurs in at least one hall sensor based on the detection signal.
The detection signal refers to a feedback signal when the Hall sensor senses the detection magnetic block. Different hall sensors may correspond to different classes of detection signals. The corresponding relation between the category of the detection signal and the Hall sensor can be preset by a system or by people. By classifying the detection signals, the specific hall sensor with abnormality is convenient to determine.
In some embodiments, the controller may acquire the detection signal based on the detection magnet. The controller may drive the third carrier to rotate by controlling the motor to rotate, and further drive the detection magnet to rotate, and when the detection magnet rotates to a position corresponding to a certain hall sensor, the hall sensor may sense the detection magnet, and further transmit a detection signal to the controller.
When the driving device works, the specific working condition inside the shell is invisible, and the control magnetic block and the detection magnetic block can enable the Hall sensor to feed back signals. Accordingly, the controller may determine whether the received signal is a detection signal. In some embodiments, the controller may determine whether the feedback signal is a detection signal based on a time difference between two times of receiving the feedback signal from the hall sensor. When the time difference between the signals fed back by the Hall sensor and the signals fed back by the Hall sensor is smaller than a time difference threshold value, the signals fed back by the Hall sensor can be determined to be detection signals. The time difference threshold is a threshold condition related to the time difference between the two received signals. The time difference threshold may be an empirical value, a test value, a calculated value, or any combination thereof, and may be set according to actual requirements, which is not limited in this specification.
In some embodiments, the hall sensor abnormality may include, but is not limited to, the hall sensor failing to normally sense a magnetic field change, the hall sensor failing to normally convert a magnetic field change to an output voltage, etc.
In some embodiments, the controller may determine whether an abnormality occurs in at least one hall sensor based on the detection signal in various ways. In some embodiments, the controller may compare the detection signal with the standard signal, and may determine that the corresponding hall sensor is abnormal when the deviation of the two exceeds the deviation threshold. The bias may be various forms such as magnetic field variation bias, magnetic field intensity bias, and current bias. The deviation threshold may be a system default value, an empirical value, an artificial preset value, or any combination thereof, and may be set according to actual requirements, which is not limited in this specification.
In some embodiments, the controller may detect each of the at least one hall sensor multiple times by detecting the magnet to obtain multiple detection signals. Further, the controller may determine whether an abnormality occurs in at least one hall sensor based on the plurality of detection signals and the detection threshold.
The manner of performing the multiple detections with the detection magnet may include a variety of ways. In some embodiments, the controller may make the detecting magnet block perform multiple detections on each of the at least one hall sensor by driving the third carrier to rotate for multiple turns inside the housing of the driving device. In some embodiments, multiple detections may also be performed by providing multiple detection magnets. The plurality of detection magnets may be disposed on one or more third carriers. When the controller drives one or more third bearing pieces to rotate for one circle in the shell of the driving device, each detection magnetic block can detect each Hall sensor in at least one Hall sensor once, and a plurality of detection magnetic blocks can detect for a plurality of times. When a plurality of third carriers are provided, the rotational speeds between the plurality of third carriers may be the same or different. It should be noted that, when the rotation speeds of the plurality of third carriers are different, the plurality of third carriers may be staggered inside the housing of the driving device. For a description of the controller rotating the third carrier, reference is made to the description above.
The detection threshold is a threshold condition related to the number of times the detection result is abnormal among the plurality of times of detection.
The detection threshold may be determined in a number of ways. In some embodiments, the detection threshold may be determined based on the number of detections. For example, the detection threshold may be determined based on the number of detections multiplied by a preset threshold coefficient, where the threshold coefficient is a value between 0 and 1, and the threshold coefficient may be an empirical value, a test value, a calculated value, or any combination thereof, and may be set according to actual requirements, which is not limited in this specification. In some embodiments, the detection threshold values may be the same or different for different types of detection signals, and may be based on actual requirements.
In some embodiments, the detection threshold may also be obtained based on the controller area network interface.
In some embodiments, the detection threshold may also be obtained from the user terminal based on the controller area network interface. For example, the number of detections and the corresponding detection threshold (or threshold coefficient) may be entered by a user through a user terminal and communicated to the controller via the controller area network interface.
In some embodiments, the detection threshold may also be determined based on vehicle conditions. For example, when the vehicle condition is good, the detection threshold is increased; and when the vehicle condition is poor, the detection threshold value is lowered. In some embodiments, the controller may determine the number of detections and the corresponding detection threshold value by a preset lookup table based on the current vehicle condition. In some embodiments, the preset reference table includes a plurality of different correspondence relationships between the reference vehicle condition and the reference detection times and the reference detection threshold. In some embodiments, a plurality of different correspondence relationships between the reference vehicle condition and the reference detection times and the reference detection threshold may be constructed according to priori knowledge or historical data (for example, historical detection data for detecting whether the hall sensor is abnormal), so as to obtain a preset comparison table. In some embodiments, the controller may search in a preset lookup table based on the current vehicle condition, determine a reference vehicle condition similar to the current vehicle condition, and further determine the reference detection times and the reference detection threshold corresponding to the reference vehicle condition as the detection times and the detection threshold under the current vehicle condition.
In some embodiments of the present disclosure, detection is performed for multiple times based on the detection magnetic block, and whether at least one hall sensor is abnormal or not is determined based on multiple detection signals and detection thresholds, so that reliability of detection can be ensured to a certain extent; in addition, the detection threshold is related to the vehicle condition, and a user inputs the detection threshold through the user terminal, so that the detection threshold can be adjusted according to the actual condition, and the judgment of whether the Hall sensor is abnormal or not by the controller can be more in line with the actual requirement.
In some embodiments, when the number of times that the corresponding hall sensor is abnormal is determined to exceed the detection threshold according to a detection signal of a certain class of the plurality of detection signals, it may be determined that the hall sensor is abnormal. For example, if m detection results of the plurality of detections are abnormal hall sensor 1 and m is greater than the detection threshold, hall sensor 1 may be considered abnormal.
In some embodiments of the present disclosure, the detection magnet is used to detect the hall sensor in the driving device, so as to determine whether the hall sensor is abnormal, which is favorable for a user to find and solve the problem in time, so as to avoid causing more serious loss, affecting the use of the driving device, and saving the use cost.
While the basic concepts have been described above, it will be apparent to those skilled in the art that the foregoing detailed disclosure is by way of example only and is not intended to be limiting. Although not explicitly described herein, various modifications, improvements, and adaptations to the present disclosure may occur to one skilled in the art. Such modifications, improvements, and modifications are intended to be suggested within this specification, and therefore, such modifications, improvements, and modifications are intended to be included within the spirit and scope of the exemplary embodiments of the present invention.
Meanwhile, the specification uses specific words to describe the embodiments of the specification. Reference to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic is associated with at least one embodiment of the present description. Thus, it should be emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various positions in this specification are not necessarily referring to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of the present description may be combined as suitable.
Furthermore, the order in which the elements and sequences are processed, the use of numerical letters, or other designations in the description are not intended to limit the order in which the processes and methods of the description are performed unless explicitly recited in the claims. While certain presently useful inventive embodiments have been discussed in the foregoing disclosure, by way of various examples, it is to be understood that such details are merely illustrative and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements included within the spirit and scope of the embodiments of the present disclosure. For example, while the system components described above may be implemented by hardware devices, they may also be implemented solely by software solutions, such as installing the described system on an existing server or mobile device.
Likewise, it should be noted that in order to simplify the presentation disclosed in this specification and thereby aid in understanding one or more inventive embodiments, various features are sometimes grouped together in a single embodiment, figure, or description thereof. This method of disclosure, however, is not intended to imply that more features than are presented in the claims are required for the present description. Indeed, less than all of the features of a single embodiment disclosed above.
In some embodiments, numbers describing the components, number of attributes are used, it being understood that such numbers being used in the description of embodiments are modified in some examples by the modifier "about," approximately, "or" substantially. Unless otherwise indicated, "about," "approximately," or "substantially" indicate that the number allows for a 20% variation. Accordingly, in some embodiments, numerical parameters set forth in the specification and claims are approximations that may vary depending upon the desired properties sought to be obtained by the individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and employ a method for preserving the general number of digits. Although the numerical ranges and parameters set forth herein are approximations that may be employed in some embodiments to confirm the breadth of the range, in particular embodiments, the setting of such numerical values is as precise as possible.
Each patent, patent application publication, and other material, such as articles, books, specifications, publications, documents, etc., referred to in this specification is incorporated herein by reference in its entirety. Except for application history documents that are inconsistent or conflicting with the content of this specification, documents that are currently or later attached to this specification in which the broadest scope of the claims to this specification is limited are also. It is noted that, if the description, definition, and/or use of a term in an attached material in this specification does not conform to or conflict with what is described in this specification, the description, definition, and/or use of the term in this specification controls.
Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments of this specification. Other variations are possible within the scope of this description. Thus, by way of example, and not limitation, alternative configurations of embodiments of the present specification may be considered as consistent with the teachings of the present specification. Accordingly, the embodiments of the present specification are not limited to only the embodiments explicitly described and depicted in the present specification.
Claims (10)
1. A driving device, characterized by comprising: the motor, the shifting block, the controller, the control magnetic block and at least one Hall sensor,
The motor is used for providing driving force and responding to the received switching signal to drive the shifting block to rotate;
the shifting block is used for driving an external mechanism to execute switching operation;
the control magnetic block and the shifting block move together;
the at least one Hall sensor is used for sensing that the control magnetic block reaches a corresponding position and transmitting a first in-place signal to the controller;
the controller is used for
Controlling the motor to rotate in response to the switching signal so as to drive the shifting block to rotate;
and controlling the motor to stop moving the shifting block in response to the first in-place signal.
2. The drive of claim 1, further comprising a controller area network interface,
the controller LAN interface is used for the controller to acquire the switching signal and the controller to feed back the switching completion signal.
3. The drive of claim 1, wherein the controller is disposed within a housing of the drive.
4. The driving device according to claim 1, wherein the driving device further comprises an external sensing device,
The external sensing device is used for acquiring a second in-place signal and feeding the second in-place signal back to the controller;
the controller is further configured to feed back a handover complete signal in response to receiving the first in-place signal and the second in-place signal.
5. The driving device according to claim 1, further comprising a detection magnet,
the detection magnetic block is used for detecting the at least one Hall sensor to determine whether the at least one Hall sensor is abnormal or not.
6. A driving method of a driving device, characterized in that the method is implemented based on the driving device, the driving device comprising a motor, a dial, a controller, a control magnet and at least one hall sensor, the method being performed by the controller; the method comprises the following steps:
acquiring a switching signal;
based on the switching signal, controlling the motor to rotate so as to drive the shifting block to rotate;
and when the control magnetic block rotates to the corresponding position of the at least one Hall sensor, receiving a first in-place signal and controlling the motor to stop moving the shifting block.
7. The driving method according to claim 6, characterized in that the method further comprises: controlling the motor to rotate based on the current change; wherein the current variation is based on a field effect transistor within the controller.
8. The driving method according to claim 6, characterized in that the method further comprises:
determining whether a locked-rotor of the motor occurs based on the first in-place signal and a working state of the motor;
and controlling the motor to stop working and/or sending out fault signals in response to the occurrence of locked-rotor of the motor.
9. The driving method according to claim 6, wherein the driving device further comprises an external sensing device; the method further comprises the steps of:
acquiring a second in-place signal based on the external sensing device;
and feeding back a switching completion signal based on the first in-place signal and the second in-place signal.
10. The driving method according to claim 6, wherein the driving device further comprises a detection magnet; the method further comprises the steps of:
acquiring a detection signal based on the detection magnetic block;
based on the detection signal, it is determined whether an abnormality occurs in the at least one hall sensor.
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