CN201113873Y - Electric bicycle control system - Google Patents
Electric bicycle control system Download PDFInfo
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- CN201113873Y CN201113873Y CNU2007200709507U CN200720070950U CN201113873Y CN 201113873 Y CN201113873 Y CN 201113873Y CN U2007200709507 U CNU2007200709507 U CN U2007200709507U CN 200720070950 U CN200720070950 U CN 200720070950U CN 201113873 Y CN201113873 Y CN 201113873Y
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Abstract
The utility model relates to an electric bicycle control system. A Hall signal, a braking signal, an electronic assisted braking system (EABS) signal, an overcurrent signal and a feedback signal of a pre-driving circuit are input into a single-chip microcomputer, the single-chip microcomputer outputs the signals to the pre-driving circuit which converts the signals into a control signal to control a three-phase brushless motor to change phases, change speed and stop through a driving circuit. The electric bicycle control system has simple circuits and low price, possesses the functions such as stepless speed change, locked-rotor cutout, undervoltage and overcurrent protection, electronic assisted braking system (EABS), cruise constant speed, 60/120 DEG electric angle intelligent selection and so on, and realizes the requirements of low cost and high performance of the electric bicycle.
Description
Technical field
The present invention relates to a kind of control system, particularly relate to a kind of electric machine control system that is used on the electric bicycle.
Background technology
Electric bicycle is because of little, in light weight, the emission-free discharging of the volume that it has, low noise, and characteristics such as convenient, fast, durable, low price had become the running vehicle with wide market prospects already.In the electric bicycle that appears on the market at present, drive motors has mainly adopted brush high-speed electric expreess locomotive, brushless electric machine and three types of brush slowspeed machines has been arranged, and former two types of motors are comparatively common.Compare with brush motor, the control of brushless electric machine is relatively complicated, the general application-specific integrated circuit (ASIC) controlling schemes such as MC33035, LB11690, LM621 that adopt, for production firm, this type of scheme relative cost is higher, the resource-constrained of nonshared control unit, control ratio is than unification, some Based Intelligent Control can not be provided: (1) is when 60 ° of drivings and two kinds of different model motors of 120 ° of electrical degrees, must adopt different hardware design circuit to realize, bring the cost increase and must increase the puzzlement that product type just can address the above problem to the manufacturer; (2) controlling less than the running of 10%PWM duty ratio drive motors, special chip can't solve the discontinuous problem of motor rotation; When (3) stall occurring, the special chip controlling schemes can't be discerned the stall state.(4) can't realize electronics auxiliary braking EABS (ElectronicAir Brake System).
Summary of the invention
The present invention be directed to present electric bicycle controls cost higher, the resource-constrained of nonshared control unit, control ratio is than unification, some Based Intelligent Control can not be provided, and provide a kind of electric bicycle control system, under the prerequisite that guarantees the stable and performance of product, strive realizing the upgrading of its function with minimum cost.
Technical scheme of the present invention is: a kind of electric bicycle control system is characterized in that it comprises three-phase brushless motor, single-chip microcomputer, predrive circuit, drive circuit; The input of single-chip microcomputer is connected with hall signal, brake signal, EABS signal, over-current signal, under-voltage signal and predrive circuit feedback signal respectively; The single-chip microcomputer output connects predrive circuit, predrive circuit is connected with the drive circuit of being made up of 6 field effect transistor of series connection in twos, and the series connection intermediate point of two field effect transistor connects three-phase brushless motor three-phase A, B, C respectively to control three-phase brushless motor commutation, speed change, to stop.Single-chip microcomputer adopts the MCU (upd78F9222) of 20 pins as main control chip, is used for the solution of electric bicycle control.
The beneficial effects of the utility model are: present design is primarily aimed at dc brushless motor; circuit is simple; cheap, have the cutout of electrodeless variable-speed, stall, under-voltage and overcurrent protection, electronics auxiliary braking (EABS), the constant speed of cruising, 60 °/120 ° functions such as electrical degree Intelligence Selection.Comprehensive parameters is measured and is shown: change apart from reaching about 80% in efficiency of motor between 4.5～10.5.The linearity of current curve is good, and power rises with changeing apart from linear.Reach relevant national standard fully.The low cost of electric bicycle, high performance requirement have been realized.
Description of drawings
Fig. 1 is a dc brushless motor control system schematic diagram of the present invention;
Fig. 2 is the control timing figure of 60 ° of electrical degrees of motor of the present invention;
Fig. 3 is the control timing figure of 120 ° of electrical degrees of motor of the present invention;
Fig. 4 is the Intelligence Selection program flow diagram of 60 ° and 120 ° electrical degrees of motor of the present invention.
Embodiment
Below in conjunction with specific embodiment, further set forth the utility model.Should be understood that these embodiment only to be used to the present invention is described and be not used in and limit the scope of the invention.Should be understood that in addition those skilled in the art can make various changes or modifications the present invention after the content of having read the present invention's instruction, these equivalent form of values fall within the application's appended claims institute restricted portion equally.
System diagram as shown in Figure 1, a kind of electric bicycle control system is characterized in, it comprises three-phase brushless motor 9, single-chip microcomputer 6, predrive circuit 7, drive circuit 8; The input of single-chip microcomputer 6 is connected with hall signal 1, brake signal 2, EABS signal 3, over-current signal 4, under-voltage signal 5 and predrive circuit 7 feedback signals respectively; Single-chip microcomputer 6 outputs connect predrive circuit 7, predrive circuit 7 is connected with the drive circuit of being made up of 6 field effect transistor of series connection in twos 8, the series connection intermediate point of two field effect transistor connects three-phase brushless motor 9 three-phase A, B, C respectively, to control three-phase brushless motor 9 commutations, speed change, to stop.System selects for use singlechip control chip 6 to be upd78F9222, and we are called MCU, and predrive circuit 7 adopts discrete device to realize, constitutes Shang Qiao and the following bridge control signal AH of three-phase brushless motor 9 three-phase A, B, C, AL, BH, BL, CH, CL.(H1, H2 H3) 1 import the pin of single-chip microcomputer 6 respectively (P121, P122 P123), obtain the hall signal value by computed in software, find the conducting phase of current correspondence again according to the commutation computing of commutation table, according to the current phase of commutation control timing figure conducting hall signal.The drive circuit 8 of motor 9 adopts 6 metal-oxide-semiconductors 10, be respectively (Q1～Q6), series connection in twos, the series connection intermediate point meets three-phase brushless motor 9 three-phase A, B, C respectively.MCU goes out corresponding PWM value by inner AD sample rate handle (by the input of ANIO pin) by computed in software, produces pwm signal by timer internal H1, and motor 9 is carried out speed regulating control.Brake signal 2, EABS signal 3, over-current signal 4 are imported MCU respectively, by the state of these signals of software detection, carry out various controls according to current state again.The formation of under-voltage signal 5 is by two dividing potential drop electronics 36V voltage to be reduced in the 5V, sends into the AD input pin (ANI1) of MCU, carries out AD sampling by software, know current whether under-voltage, if under-voltagely enter under-voltage tupe.The adaptive control of 60 ° and 120 ° realizes by software, promptly sets up 2 commutation tables in internal memory, does not consider the electrical degree of motor 9 when carrying out commutation control, and only according to the state of Hall, the phase of conducting is wanted in decision.The realization of stall also is to realize by software, and with the tally function of timer, the exchange phase time counts, and when counter arrived 5s, the expression stall took place, and gives primary control program with the stall status report, further handles.Ruiss Controll also need not peripheral hardware, but employing software processes, 2s inner handle speed no change promptly enters the constant speed pattern of cruising, motor 9 rotates with certain speed, handle can be got back to zero-bit, alleviate the fatigue of long-time rotary handle, the constant speed pattern of cruising is withdrawed from the increasing of handle speed, brake, the input of EABS signal.Below table 1 be the I/O pin of upd78f9222 singlechip control chip and the corresponding form of function, table 2 is the mapping table of function and MCU control signal.
Table 1
| Pin number | Pin name | I/ | Function | Level | |
| 1 | VSS | - | GND guarantees quiet earth | - | |
| 2 | BH(P121/X1) | O | H3(SC) | H | |
| 3 | NC(P122/X2) | - | H2(SB) | - | |
| 4 | H3(P123) | I | H1(SA) | - | |
| 5 | VDD | - | VDD(2.0～5.5V) | - | |
| 6 | /RESET/P34 | - | The over-current detection input port of resetting during programming/when moving | L | |
| 7 | P31/TI010/TO00/INTP2 | I | Report to the police and export | - | |
| 8 | PWM imports (P30/TI000/INTP0) | I | The pwm signal input | - | |
| 9 | AH(P40) | O | A goes up bridge mutually and drives, the initialization output low level | H | |
| 10 | AL(P41/INTP3) | O | A descends bridge to drive mutually, initialization output high level | L | |
| 11 | PWM exports (P42/TOH1) | O | PWM output is connected to the interrupt source of 8 pin as INTP0 | - | |
| 12 | BL(P43/TxD6/INTP1) | O | B descends bridge to drive mutually, initialization output high level | L | |
| 13 | CH(P44/RxD6) | O | C goes up bridge mutually and drives, the initialization output low level | H | |
| 14 | CL(P45) | O | C descends bridge to drive mutually, initialization output high level | L | |
| 15 | FLT(P130) | O | B goes up bridge mutually and drives, initialization output high level | H | |
| 16 | H2(P23/ANI3) | I | The input of EABS brake signal | - | |
| 17 | H3(P22/ANI2) | I | BRK (braking) | - | |
| 18 | A/D(P21/ANI1) | I | The battery voltage signal detection port | - | |
| 19 | Handle speed (P20/ANI0) | I | Handle voltage signal detection port | - | |
| 20 | AVREF | - | The analog signal power port | - |
Table 2
| Project | The operation function | Firing event | The operation style | |
| 1 | Idle pulley | Handle speed is 0, the motor stall. | 1, electrification reset.2, during normal mode, handle and motor actual speed are at 0 o'clock, enter idle pulley.3, when other patterns withdraw from, detect no commutation. | No commutation signal pin no-output.PWM stops. |
| 2 | Start-up mode | Electric motor starting | 1, electric motor starting: under idle pulley, detecting handle speed is not 0.2, detect commutation signal, detected commutation, simultaneously, speed is not 0, enters normal mode | Normal commutation. |
| 3 | Normal speed-regulating mode | Handle speed is not 0, and commutation signal is normal. | 1, under the start-up mode, detects commutation signal.2, under the idle pulley, the speed that detects is not 0, detects commutation signal simultaneously.3, detect commutation signal.4, according to speed handle modulation (PWM). | Normal commutation. |
| 4 | Overcurrent, under- |
1, feedback current reaches 15A 2, voltage is lower than 33V and is higher than 31.5V, perhaps is lower than 31.5V. | Overcurrent: 1, blockade speed handle, speed reduce to 0.2, speed is 0 o'clock, blocks PWM output.Under-voltage: as 1, during 31.5V＜voltage＜33V,, to modulate with 15% duty ratio PWM if handle speed is not 0.Otherwise, when closing PWM 2, voltage＜31.5V, close PWM | Normal commutation. |
| 5 | The constant speed of cruising | The handle change in voltage enters cruising condition automatically less than 10% in 5 seconds, | Get current velocity amplitude.Braking or under-voltage or handle change in voltage are greater than 10%, and releasing is cruised. | Normal commutation |
| 6 | Stall | Detect less than hall signal in the 5s | If 1 overcurrent, blockade speed handle, speed reduce to 0.If 2 overcurrents are not handled. | Normal commutation. |
Below the monolithic processor controlled specific implementation of MCU is done to set forth one by one.
1, motor commutation control:
The conducting of bridge up and down by commutation correspondence table table 3 control inverter.
Table 3
Regularly read in the state of H1, H2, H3 on the software, according to the variation of state, the output of control ABC three-phase, two MOSFET pipes of each conducting.The control timing figure of the control timing figure of 60 ° of electrical degrees and 120 ° of electrical degrees shown in Figure 3 as shown in Figure 2.
2,60 ° and 120 ° of electrical degree Intelligence Selection:
Concrete control does not need any hardware resource, can realize 60 ° and 120 ° of electrical degree Intelligence Selection of motor by the control of software.As program circuit Fig. 4.
3, speed control:
By changing the duty ratio of PWM, following bridge output voltage is carried out copped wave, thereby realize speed regulating control.
Generation for pwm signal is to utilize 8 bit timing device H1 of upd78F9222 inside to produce.
8 bit timing device H1 are operated in the PWM output mode; Between the PWM period of output, EDM Generator of Adjustable Duty Ratio.
(1) PWM frequency: 12KHz; Duty ratio: 0～100%;
(2) PWM operation:
The cycle of PWM is provided with: in the cycle of 8 bit timing device comparand register 01 (CMP01) control timers output, cannot rewrite CMP01 during timer operation;
The duty ratio setting of PWM: the duty ratio of 8 bit timing device comparand register 11 (CMP11) control timers output can rewrite CMP11 during timer operation.
Mechanism: the controlling value N of write cycle in CMP01; In CMP11, write the controlling value M of duty ratio.The frequency of counting clock is f
CNTThen the cycle of PWM and duty ratio are as follows:
The pwm pulse cycle of exporting=(N+1)/f
CNT
The overall width of duty ratio=enliven level width: PWM=(M+1): (N+1)
And: 00H≤CMP11 (M)＜CMP01 (N)≤FFH
After timer started, when the value of numerical value among the counter H1 of timer and CMP01 was mated, the output of timer became active high level, and H1 is by clear 0 simultaneously; Afterwards, H1 is since 0 counting, and when the value of count value and CMP11 was mated, the output of timer became low level.(TOLEV1=0 is set, and it is effective to be defaulted as low level, and TOEN1=1 allows output)
Timer-H1 count frequency f
CNTDetermine:
Analyze: the modulating frequency of inversion motor is made as 12KHZ; Then cycle=1/12KHZ is provided with f
CNT=2.5MHZ, CMP01 value N=167 then, CMP11 value M=166.
The selection of PWM pattern: the TMMD11:TMMD10=10 in the TMHMD1 register.
The startup of PWM output and stop control:
Start: the TMHE1=1 of register TMHMD1, before the startup, determine that CMP11 is by assignment.
Stop: the TMHE1=0 of register TMHMD1, after stopping, determining to be provided with again the value of CMP11.
The form of PWM pattern control register is as follows:
(3) acquisition of minimum and maximum duty cycle
Minimum duty cycle: remove TMHE1, stop PWM and produce, make down bridge be output as high level (closing)
Maximum duty cycle: remove TMHE1, stop PWM and produce, make down bridge be output as low level (all opening)
The rate signal of handle is the voltage signal of 0～5V, sends into 19 pin AIN0 of microprocessor, the input of A/D, on the software every the 10ms once sampling.Effectively voltage range is taken as: 1.4V～4V, corresponding speed value 0～20km/h.The duty cycle range of corresponding PWM is 0～100%.
Corresponding relation is as follows:
Voltage value: 1.4～4V
Corresponding A/D value: 71～204; By software it is modified to: 0～133
Speed value: 01234 ... 131 132 133
Value of setting of CMP11: 01.25 1.5 1.752 ... 163.75 165166.25
Obtain the duty ratio modulation of PWM by the value that CMP11 is set.
4,, brake control:
Brake signal 2 behind brake signal, is progressively turned down current speed by software detection by the 17 pins input of single-chip microcomputer, until being 0.
5, overcurrent protection:
Overcurrent protection realizes by hardware mode.The feedback current of motor is through current foldback circuit, and output overcurrent signal 4 connects the P34 pin, by software detection P34 pin state, is low level, then enters the overcurrent protection state.Close PWM output, speed progressively reduces until overcurrent to be removed.
6, under-voltage protection: under-voltage protection is by receiving under-voltage signal 5, the successively decreasing of control rate, and then disable motor.
7, EABS function: EABS signal 3 is input to MCU by 16 pins, and MCU detects after the EABS signal 3, oppositely controls metal-oxide-semiconductor with 50% of present speed, makes motor 9 reversings, when PWM is reduced to 15% duty ratio, turn-offs PWM.
8, stall detects
Adopt the timer of MCU inside that commutation signal is detected, whether the input that promptly detects hall signal 1 changes, if change, commutation signal has been described, removes the count value of counter.If do not change, continue counting at this counter, when counting down to 5s, illustrate that MCU does not detect commutation signal in the 5s.Then stall takes place, and this signal is reported to main control software handle.
9, the constant speed of cruising:
2s inner handle speed no change promptly enters the constant speed pattern of cruising, and motor 9 rotates with certain speed, and handle can be got back to zero-bit, alleviates the fatigue of long-time rotary handle, and the constant speed pattern of cruising is withdrawed from the increasing of handle speed, brake signal 2,3 inputs of EABS signal.
Claims (1)
1. an electric bicycle control system is characterized in that, it comprises three-phase brushless motor (9), single-chip microcomputer (6), predrive circuit (7), drive circuit (8); The input of single-chip microcomputer (6) is connected with hall signal (1), brake signal (2), EABS signal (3), over-current signal (4), under-voltage signal (5) and predrive circuit (7) feedback signal respectively; Single-chip microcomputer (6) output connects predrive circuit (7), predrive circuit (7) is connected with the drive circuit of being made up of 6 field effect transistor of series connection in twos (8), and the series connection intermediate point of two field effect transistor connects three-phase brushless motor (9) three-phase A, B, C respectively to control three-phase brushless motor (9) commutation, speed change, to stop.
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| CNU2007200709507U CN201113873Y (en) | 2007-06-12 | 2007-06-12 | Electric bicycle control system |
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| CNU2007200709507U CN201113873Y (en) | 2007-06-12 | 2007-06-12 | Electric bicycle control system |
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| CN107415771A (en) * | 2017-04-21 | 2017-12-01 | 韩燊睿 | A kind of electric bicycle speed-regulating control system and method |
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| CN101982208B (en) * | 2010-09-03 | 2012-08-29 | 杭州电子科技大学 | Method for anti-skidding slope of golf trolley |
| CN101982208A (en) * | 2010-09-03 | 2011-03-02 | 杭州电子科技大学 | Method for anti-skidding slope of golf trolley |
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| CN104149633A (en) * | 2014-08-04 | 2014-11-19 | 天津雅迪实业有限公司 | Electrical braking system of electric vehicle and braking method |
| CN104149633B (en) * | 2014-08-04 | 2017-07-21 | 天津雅迪实业有限公司 | A kind of electric car electric braking system and braking method |
| CN107415771A (en) * | 2017-04-21 | 2017-12-01 | 韩燊睿 | A kind of electric bicycle speed-regulating control system and method |
| CN107415771B (en) * | 2017-04-21 | 2019-12-13 | 韩燊睿 | electric bicycle speed regulation control system and method |
| CN109645856A (en) * | 2018-12-27 | 2019-04-19 | 峰岧科技(上海)有限公司 | Control method, cooking machine and the storage medium of brshless DC motor |
| CN112821845A (en) * | 2019-11-18 | 2021-05-18 | 南京德朔实业有限公司 | Electric tool control method and electric tool |
| CN112821845B (en) * | 2019-11-18 | 2024-02-23 | 南京泉峰科技有限公司 | Electric tool control method and electric tool |
| CN112874319A (en) * | 2021-02-02 | 2021-06-01 | 成都金洹科科技有限公司 | Control method of electric vehicle controller |
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Granted publication date: 20080910 |