CN1665123A - Brushless motor controller energy feedback for electric bicycle and deceleration method thereof - Google Patents
Brushless motor controller energy feedback for electric bicycle and deceleration method thereof Download PDFInfo
- Publication number
- CN1665123A CN1665123A CN 200510024343 CN200510024343A CN1665123A CN 1665123 A CN1665123 A CN 1665123A CN 200510024343 CN200510024343 CN 200510024343 CN 200510024343 A CN200510024343 A CN 200510024343A CN 1665123 A CN1665123 A CN 1665123A
- Authority
- CN
- China
- Prior art keywords
- signal
- braking
- brake
- pulse
- torque
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention arranges a control program in MCU in brushless motor controller for an electric bicycle, makes delay sampling of the current in DC bus line by a current sampling delay subprogram, obtains phase current signal outputted by a power circuit, makes closed-loop torque control according to torque instruction and feedback signal of output phase current, regulates the duty factor of PWM signal, and as the MCU receives braking instruction, and outputs braking logic signal that makes AND operation with the PWM signal at the front stage driving part to form braking gate control signal, which controls power amplifying circuit to produce braking torque in the driven motor. And the invention controls the power amplifying circuit to charge the battery, realizing energy feedback, thus improving braking reliability and effectively raising the continuously running mileage index of the whole bicycle for once charging.
Description
Technical field
The present invention relates to brushless motor controller energy feedback for electric bicycle and braking method.
Background technology
When having the electric bicycle skidding now, drive and do not produce brake torque with brushless motor controller, electric bicycle relies on mechanical braking device to realize skidding fully, will badly influence the useful life of mechanical braking device like this; On the other hand, existing electric bicycle does not have energy feedback function, mechanical energy before the bicycle brake can only be converted into heat energy and lose by the frictional heating of mechanical braking device and wheel, can't change into electrical power storage to storage battery with the raising car load continual mileage index of once charging.
Summary of the invention
The purpose of this invention is to provide energy feedback and braking method in a kind of brushless motor controller for electric bicycle, this method is in the chip microprocessor MCU of control section a control program to be set, comprise main program and several subprogram, do-nothing operation is carried out in the main program circulation of this program, during each pulse-width modulation PWM end cycle, the application pulse-width modulation PWM interrupts, after the interrupt response, carry out the pulse-width modulation PWM interruption subroutine, the job step of pulse-width modulation PWM interruption subroutine is:
A), calculate the current rotating speed of motor according to hall signal;
B) simulation torque instruction sampling;
C) differentiate whether brake signal is arranged, if no delivery is intended the torque instruction sampled value as the given instruction of torque;
D) if brake signal is arranged, determine torque instruction according to the current rotating speed of motor;
E) read current feedback signal, according to torque instruction and current feedback signal data, operation ratio integral PI;
F), regulate the duty ratio of pulse-width signal according to proportional integral PI value;
G) whether differentiate in on-position, if not the driving gate logic of then output correspondence;
H) if in on-position, the brake logic signal when exporting corresponding Hall state.
By the current sample time delay subroutine to the dc bus current sampling of delaying time, obtain power circuit three-phase output current signal, feedback signal according to torque instruction and three-phase output current is carried out the torque closed-loop control, regulate the duty ratio of pulse-width modulation PWM signal, when chip microprocessor MCU receives braking instruction, output brake logic signal, under half-bridge copped wave state, the brake logic signal of three power tubes of last brachium pontis is complete cut-off signals, the brake logic signal of three power tubes of following brachium pontis is the logical signal of brachium pontis under the corresponding Hall state of reverse drive, under full-bridge copped wave state, on, the brake logic signal of six power tubes of following brachium pontis is the logical signal under the corresponding Hall state of reverse drive.
The brake logic signal of chip microprocessor MCU output controller prime drive part and pulse-width signal with, form the braking gate-control signal, the power controlling amplifying circuit produces brake torque in being driven motor, and pass through the power controlling amplifying circuit and charge to the battery feedback, realize energy feedback function, the size of brake torque and the energy feedback degree of depth are set according to motor actual speed inside by the MCU program.
Advantage of the present invention is, because the power controlling amplifying circuit has produced the electromagnetic braking torque in being driven motor, the Aided Machine brake gear is realized the skidding function effectively, and the life cycle of mechanical braking device is prolonged, and has improved the reliability of braking.Simultaneously, owing to by the power controlling amplifying circuit, battery is carried out the feedback charging, will effectively improve the car load continual mileage index of once charging.
Description of drawings
Fig. 1 is existing brushless motor controller for electric bicycle block diagram.
Fig. 2 is a dc bus current analog sampling circuit in accompanying drawing 1 power amplification circuit.
Fig. 3 is a main program block diagram of the present invention.
Fig. 4 interrupts inlet for the present invention and distributes block diagram
Fig. 5 is AD sampling subprogram block diagram of the present invention
Fig. 6 is a current sample time delay subroutine block diagram of the present invention
Fig. 7 is a pulse modulation interruption subroutine flow chart of the present invention.
Fig. 8 is T
4Conducting C opposite potential was greater than 0 o'clock system state diagram.
Fig. 9 is T
4Conducting C opposite potential was less than 0 o'clock system state diagram.
System block diagram when Figure 10 charges for half-bridge copped wave.
Figure 11 is T
3, T
4System state diagram when opening.
Figure 12 is T
3, T
4System state diagram during shutoff.
Embodiment
See also shown in the accompanying drawing 1, existing brushless motor controller for electric bicycle functional block diagram, there are Hall element letter and current feedback signal to input to controller among the figure, accompanying drawing 2 is a dc bus current analog sampling circuit, dc bus IF is connected in series a resistance R 7 in power amplification circuit, IF is delivered to controller as the current analog sampled signal, mainly implements control by a chip microprocessor MCU in the controller.
Accompanying drawing 3 is a chip microprocessor MCU main program block diagram, carry out initialization design earlier, do-nothing operation is carried out in unconditional subsequently circulation, wait for interrupt response, interruption comprises the pulse-width modulation interruption, AD interrupts and the time-delay of timer current sample is interrupted, interrupting inlet distributes block diagram to see accompanying drawing 4, accompanying drawing 5 is AD sampling subprogram block diagram, after AD sampling interrupt response, carry out the analogue data sampling, accompanying drawing 6 is a current sample time delay subroutine block diagram, utilize timer to carry out the time-delay of current sample, obtain the output current phase signal of power amplification circuit, accompanying drawing 7 is pulse-width modulation PWM interruption subroutine flow charts, by periodically carrying out above interruption subroutine with interrupt mode, on-position, brake logic signal when exporting corresponding Hall state, this brake logic signal is at controller prime drive part and pulse-width modulation PWM signal and formation braking gate-control signal, the power controlling amplifying circuit produces brake torque in being driven motor, and pass through the power controlling amplifying circuit to battery feedback charging, realize energy feedback function.
Under half-bridge copped wave state, three power tube (T of last brachium pontis
1, T
3, T
5) the brake logic signal be complete cut-off signals, three power tube (T of following brachium pontis
2, T
4, T
6) the brake logic signal be the logical signal of brachium pontis under the corresponding Hall state of reverse drive; Under full-bridge copped wave state, the brake logic signal of six power tubes of upper and lower brachium pontis is the logical signal under the corresponding Hall state of reverse drive.
In half-bridge copped wave when braking,, Hall state and the corresponding relation of opening power tube see also table one, and accompanying drawing 8, accompanying drawing 9, accompanying drawing 10 are 101 to be example with the Hall state, and half-bridge copped wave braking and energy feedback principle are described, press table one, corresponding current Hall state T
4Receive the pwm signal action and realize braking, accompanying drawing 8, accompanying drawing 9 are T
4System state diagram during conducting, at this moment, a kinetic energy part that is driven motor with the form consumption of heat on resistance, another part is stored in the winding inductance with the form of magnetic field energy, system block diagram when accompanying drawing 10 charges for half-bridge copped wave, at this moment, because the afterflow effect of electric current in the inductance, make the induced potential of inductance and back-emf sum greater than battery tension, thereby be charge in batteries.
Table one
| The Hall state | ??110 | ??100 | ??101 | ??001 | ??011 | ??010 |
| The conducting power tube | ??T 2 | ??T 2 | ??T 4 | ??T 4 | ??T 6 | ??T 6 |
Full-bridge copped wave when braking Hall state sees also table two with the corresponding relation of opening power tube, and accompanying drawing 11, accompanying drawing 12 are 101 to be example with the Hall state, and full-bridge copped wave braking and energy feedback principle are described, press table two, corresponding current Hall state T
3, T
4Receive the pwm signal action and realize braking, accompanying drawing 11 is T
3, T
4System state diagram when opening, at this moment, the power output of storage battery is converted into magnetic field energy jointly with the kinetic energy that is driven motor and is stored in the winding inductance, wherein have portion of energy with the form consumption of heat in the winding impedance of motor, accompanying drawing 12 is T
3, T
4System state diagram during shutoff at this moment, is charged state, and is in full accord with the charged state of half-bridge copped wave.
Table two
| The HALL state | ??110 | ??100 | ??101 | ??001 | ??011 | ??010 |
| The conducting power tube | ??T 1T 2 | ??T 2T 3 | ??T 3T 4 | ??T 4T 5 | ??T 5T 6 | ??T 6T 1 |
Claims (2)
1, energy feedback and braking method in a kind of brushless motor controller for electric bicycle, it is characterized in that: in the chip microprocessor MCU of controller, a control program is set, comprise a main program and several subprogram, do-nothing operation is carried out in the main program circulation of this program, during each pulse-width modulation PWM end cycle, the application pulse-width modulation PWM interrupts, after the interrupt response, carry out the pulse-width modulation PWM interruption subroutine, the job step of pulse-width modulation PWM interruption subroutine is:
A), calculate the current rotating speed of motor according to hall signal;
B) simulation torque instruction sampling;
C) differentiate whether brake signal is arranged, if no delivery is intended the torque instruction sampled value as the given instruction of torque;
D) if brake signal is arranged, determine torque instruction according to the current rotating speed of motor;
E) read current feedback signal, according to torque instruction and current feedback signal data, operation ratio integral PI;
F), regulate the duty ratio of pulse-width signal according to proportional integral PI value;
G) whether differentiate in on-position, if not the driving gate logic of then output correspondence;
H) if in on-position, the brake logic signal during the corresponding state suddenly of output.
2. as energy feedback and braking method in claims 1 described brushless motor controller for electric bicycle, it is characterized in that: the brake logic signal of described output, under half-bridge copped wave state, the brake logic signal of three power tubes of last brachium pontis is complete cut-off signals, and the brake logic signal of three power tubes of following brachium pontis is the logical signal of brachium pontis under the corresponding Hall state of reverse drive; Under full-bridge copped wave state, the brake logic signal of six power tubes of upper and lower brachium pontis is the logical signal under the corresponding Hall state of reverse drive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510024343 CN1665123A (en) | 2005-03-11 | 2005-03-11 | Brushless motor controller energy feedback for electric bicycle and deceleration method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510024343 CN1665123A (en) | 2005-03-11 | 2005-03-11 | Brushless motor controller energy feedback for electric bicycle and deceleration method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1665123A true CN1665123A (en) | 2005-09-07 |
Family
ID=35036053
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200510024343 Pending CN1665123A (en) | 2005-03-11 | 2005-03-11 | Brushless motor controller energy feedback for electric bicycle and deceleration method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1665123A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101895253A (en) * | 2010-06-18 | 2010-11-24 | 中国航天科技集团公司第五研究院第五一三研究所 | Refrigeration control method realized by sinusoidal pulse width modulation |
| CN101267181B (en) * | 2007-03-13 | 2011-03-16 | 伊东电机株式会社 | Controllable brushless motor |
| CN101494432B (en) * | 2008-01-24 | 2011-05-11 | 中国科学院自动化研究所 | Inverse charging type electronic braking method for brushless DC motor |
| CN1983795B (en) * | 2005-09-22 | 2011-12-14 | 株式会社捷太格特 | Steering device for vehicle |
| CN101700742B (en) * | 2009-10-28 | 2012-06-13 | 洛阳乾禾仪器有限公司 | Vehicle body braking electrical power generating system |
| CN102687381A (en) * | 2009-12-24 | 2012-09-19 | 斗山英维高株式会社 | Method for controlling an inverter for driving a swing motor |
| CN103078574A (en) * | 2011-10-25 | 2013-05-01 | 深圳万讯自控股份有限公司 | Active brake control method and system of direct-current brushless motor |
| CN103248295A (en) * | 2012-02-09 | 2013-08-14 | 美蓓亚株式会社 | Driving control device of brushless motor |
| CN105799521A (en) * | 2016-05-25 | 2016-07-27 | 成都市宏山科技有限公司 | Energy recovery and auxiliary braking system of electric motorcycle |
| CN107356799A (en) * | 2017-06-06 | 2017-11-17 | 惠州市蓝微新源技术有限公司 | A kind of electric current delay method of sampling |
| CN108258951A (en) * | 2018-02-09 | 2018-07-06 | 南京航空航天大学 | Permanent-magnet brushless DC electric machine All Speed Range quasi-stationary current regenerative braking method |
| CN110011574A (en) * | 2019-04-12 | 2019-07-12 | 无锡同方聚能控制科技有限公司 | A kind of motor of dust collector retarding method |
| CN111959279A (en) * | 2020-07-24 | 2020-11-20 | 苏州汇川联合动力系统有限公司 | Motor controller bus current control method, motor controller and storage medium |
-
2005
- 2005-03-11 CN CN 200510024343 patent/CN1665123A/en active Pending
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1983795B (en) * | 2005-09-22 | 2011-12-14 | 株式会社捷太格特 | Steering device for vehicle |
| CN101267181B (en) * | 2007-03-13 | 2011-03-16 | 伊东电机株式会社 | Controllable brushless motor |
| CN101494432B (en) * | 2008-01-24 | 2011-05-11 | 中国科学院自动化研究所 | Inverse charging type electronic braking method for brushless DC motor |
| CN101700742B (en) * | 2009-10-28 | 2012-06-13 | 洛阳乾禾仪器有限公司 | Vehicle body braking electrical power generating system |
| US9007003B2 (en) | 2009-12-24 | 2015-04-14 | Doosan Infracore Co., Ltd. | Method for controlling an inverter for driving a swing motor |
| CN102687381A (en) * | 2009-12-24 | 2012-09-19 | 斗山英维高株式会社 | Method for controlling an inverter for driving a swing motor |
| CN102687381B (en) * | 2009-12-24 | 2015-11-25 | 斗山英维高株式会社 | For the inverter control method that the slewing motor of hybrid excavator drives |
| CN101895253A (en) * | 2010-06-18 | 2010-11-24 | 中国航天科技集团公司第五研究院第五一三研究所 | Refrigeration control method realized by sinusoidal pulse width modulation |
| CN103078574A (en) * | 2011-10-25 | 2013-05-01 | 深圳万讯自控股份有限公司 | Active brake control method and system of direct-current brushless motor |
| CN103078574B (en) * | 2011-10-25 | 2015-04-15 | 深圳万讯自控股份有限公司 | Active brake control method and system of direct-current brushless motor |
| CN103248295A (en) * | 2012-02-09 | 2013-08-14 | 美蓓亚株式会社 | Driving control device of brushless motor |
| CN103248295B (en) * | 2012-02-09 | 2017-04-26 | 美蓓亚株式会社 | Driving control device of brushless motor |
| CN105799521A (en) * | 2016-05-25 | 2016-07-27 | 成都市宏山科技有限公司 | Energy recovery and auxiliary braking system of electric motorcycle |
| CN107356799A (en) * | 2017-06-06 | 2017-11-17 | 惠州市蓝微新源技术有限公司 | A kind of electric current delay method of sampling |
| CN108258951A (en) * | 2018-02-09 | 2018-07-06 | 南京航空航天大学 | Permanent-magnet brushless DC electric machine All Speed Range quasi-stationary current regenerative braking method |
| CN110011574A (en) * | 2019-04-12 | 2019-07-12 | 无锡同方聚能控制科技有限公司 | A kind of motor of dust collector retarding method |
| CN111959279A (en) * | 2020-07-24 | 2020-11-20 | 苏州汇川联合动力系统有限公司 | Motor controller bus current control method, motor controller and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1665123A (en) | Brushless motor controller energy feedback for electric bicycle and deceleration method thereof | |
| CN101200170B (en) | Electric automobile accelerating device and method | |
| CN105007019B (en) | DC-to-AC converter | |
| CN102946219B (en) | Motor drive system and energy feedback brake control method of motor drive system | |
| CN102045014A (en) | Brushless DC motor controller for four-wheel independently driven electric automobile and control method thereof | |
| CN103987569A (en) | Electric vehicle control device | |
| CN101926086A (en) | Rotating electric device control system and vehicle drive system | |
| CN102756667A (en) | Torque control method of electric vehicle | |
| CN101926087B (en) | Rotating electric device control system and vehicle drive system | |
| CN108275033B (en) | The anti-control method for slipping by slope control device of pure electric automobile | |
| CN104859461B (en) | Method for recovering brake energy used for electric vehicle | |
| Chuanwei et al. | Study on regenerative braking of electric vehicle | |
| CN103552483B (en) | Based on drive system and the driving method thereof of the electronlmobil of cascade machine | |
| CN202424611U (en) | Electric vehicle controller for switching of double-winding motor | |
| CN203172455U (en) | Controller used for driving hub-type micro blade electric vehicle | |
| CN103117696B (en) | For the controller that the series machine of series excitation electric motor car commutates | |
| CN101659219B (en) | System and method for controlling output torque of motor in ascent state of vehicle | |
| CN107499121A (en) | A kind of four-wheel driving electric vehicle transmission system | |
| CN2734550Y (en) | Speed limiting control device for electric bicycle or electric motorcycle | |
| CN207274416U (en) | A kind of four-wheel driving electric vehicle transmission system | |
| CN200960919Y (en) | Modified hybrid power automobile braking device based on traditional hydraulic braking system | |
| CN110481341A (en) | A kind of electric car dual-motor drive system and its control method | |
| CN2694613Y (en) | Electric vortex slow speed device controlling apparatus | |
| CN108068661A (en) | Electric vehicle aids in excitatory switched reluctance machines trailer system and control method | |
| CN1652450A (en) | Weak magnetic control function controlling method in brushless motor controller for electric bicycle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |