CN201980094U - Driving control system of electric vehicle based on stacked permanent magnet motors - Google Patents
Driving control system of electric vehicle based on stacked permanent magnet motors Download PDFInfo
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- CN201980094U CN201980094U CN2010206198846U CN201020619884U CN201980094U CN 201980094 U CN201980094 U CN 201980094U CN 2010206198846 U CN2010206198846 U CN 2010206198846U CN 201020619884 U CN201020619884 U CN 201020619884U CN 201980094 U CN201980094 U CN 201980094U
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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
- Y02T10/64—Electric machine technologies in electromobility
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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
Abstract
The utility model relates to a driving control system of an electric vehicle based on stacked permanent magnet motors, which comprises a brake pedal of the electric vehicle, an accelerator pedal, stacked permanent magnet motors with at least two-phase windings, a driving module used for driving the electric vehicle to operate, a power module, a control module, a power conversion module, an angle sensor of the brake pedal, an angle sensor of the accelerator pedal, a current sensor used for detecting the phase winding current, a position sensor used for detecting the position of a motor rotor and a speed sensor used for detecting the speed of the motor, wherein the driving signal output end of the control module is connected with the input end of the power conversion module; the power conversion module is connected with each phase winding of the motor; the signal output ends of the current and speed sensors are respectively connected with the corresponding signal input end of the control module; and the angle sensor of the brake pedal and the angle sensor of the accelerator pedal are respectively connected with the corresponding input ends of a controller through a bus. The driving control system has high electrical braking torque, flexible braking modes and high feedback efficiency of regenerative energy.
Description
Technical field
The utility model belongs to the driving control system field, is specially a kind of battery-driven car driving control system based on the superposing type magneto-electric machine.
Background technology
Battery-driven car is a kind of Personal Transporter easily, institute's distribution motivation was the brushless, permanently synchronous dynamo in the past, existing distribution motivation is that the high specific energy stacking permanent-magnetic of a kind of high efficiency does not have the iron core brushless motor, that this electrical motor has is simple in structure, reliable, volume is little, the shape and size of light weight, efficient height, motor can be flexile etc. remarkable advantage, its rotor gasket ring, stator winding disc, stator coil pig-tail wire, power-supply controller of electric by the magnet conductivity of the permanent magnetism disc in rotating shaft, the rotating shaft, permanent magnetism disc axially spaced-apart is formed.Have a plurality of relative N utmost points and the S utmost point between two permanent magnetism discs, the rotor gasket ring of the magnet conductivity in rotating shaft forms the magnet with the horse-shoe magnet equivalence, the axial magnetic flux of its formation is a uneven distribution, the position is more near cylindrical, density of line of magnetic force is closeer, and because the linear velocity of disc each point increases with radius, the local magnetic line of force that linear velocity is big more is close more, thereby makes electrical motor produce higher power under same size and speed conditions.This electrical motor had both had the advantage of permanent-magnet disk brushless motor, had alleviated the dynamic equilibrium problems in the high-speed cruising again, had also improved the degree of utilization of magnetic energy greatly.High efficiency, high specific energy have been accomplished.The prime power that can be used as elec. vehicle and other machines.Its correlation technique, also can be used for high efficiency, high specific energy generator system and energy accumulation device for fly wheel.Existing problem is traditional elec. vehicle control brake system, the mode that generally adopts regenerative brake and mechanical braking to combine.And regenerative brake has following shortcoming: the B.P. and the braking force that can provide are limited.Because the maximum that is subjected to Vehicular accumulator cell allows the restriction of charging current and charge power, the lock torque and the B.P. of regenerative brake are smaller, and the occasion of application has been received very big restriction.Regenerative brake performance dynamic fluctuation is bigger, and lock torque changes with the speed of a motor vehicle, and the maximum braking force and the speed of a motor vehicle of allowing is inversely proportional to.And when the speed of a motor vehicle is relatively lower, can answers electro-motive force because of the dislike that produces on the motor and cross the low regenerative brake disabler that causes.Energy-storage travelling wave tube and motor have the dynamic change of off status, as charging saturation conditions, the temperature of energy-storage travelling wave tube, and the variation of the temperature of motor and efficient etc., meeting directly influence the performance of regenerative brake, causes its corresponding dynamic to change.Therefore, a kind of driving motor of electric vehicle control system of design based on the superposing type magneto-electric machine be necessary also be feasible.
Summary of the invention
For overcoming above-mentioned defective, the utility model provides that a kind of to have electric braking moment big, and brake mode is flexible, and the battery-driven car driving control system based on the superposing type magneto-electric machine that Way of Regenerating Energy Feedback efficient is high has solved problems such as regenerative brake disabler.
For achieving the above object, the technical solution of the utility model is: a kind of battery-driven car driving control system based on the superposing type magneto-electric machine, the brake pedal that comprises battery-driven car, acceleration pedal, at least the stacking permanent-magnetic electrical motor that has two phase windings, be used to drive the driver module of battery-driven car operation, also comprise power module, control module, the Power Conversion module, the brake pedal angular transducer, the accelerator angle sensor, be used to detect the current sensor of phase winding electric current, be used to detect the position transduser of motor rotor position, be used to detect the speed sensor of electromotor velocity, the drive signal mouth of described control module links to each other with the input end of Power Conversion module, and described Power Conversion module is connected with each phase winding of electrical motor; The signal output part of each current sensor and speed sensor links to each other with the cooresponding signal input part of control module respectively; Brake pedal angular transducer and accelerator angle sensor are connected to the corresponding input end of controller by bus.
Described control module comprises signal processor and is used for the static memory of storage signal processor calculating data that both link to each other by bus.
As further improvement of the utility model: be provided with the strong and weak electricity isolation module between described control module and the Power Conversion module.
Described Power Conversion module comprises the power change unit identical with phase winding quantity in the electrical motor, described strong and weak electricity isolation module comprises and the cooresponding strong and weak electricity isolated location of power change unit quantity, described control module links to each other with power power change unit by the strong and weak electricity isolated location respectively, and described Power Conversion module is connected with the phase winding of a winding disc in the electrical motor by its power change unit.
When the utility model changes mode of operation when brake pedal, sensor and the digital signal processor on the controller on the brake pedal carry out communication, digital signal processor calculates the state of present brake pedal, controls the mode of operation of each winding disc in the motor again according to this state.Control system each winding in both can the control motor all is operated in the state of regenerative brake, certain the several winding that can control again wherein are operated in the regenerative brake state, remaining several excitation winding are operated in the reversing braking state, the electric braking and the mechanical braking one that can also be battery-driven car work, it is big to have realized that the driving motor of electric vehicle controller system has electric braking moment, brake mode is flexible, the advantage that Way of Regenerating Energy Feedback efficient is high.Lock torque and B.P. were little when it had solved battery-driven car electric braking employing regenerative brake, and the deceleration and stopping performance fluctuation is big, the shortcoming that the application scenario is few, and have energy feedback efficiently.
Description of drawings
Fig. 1 is the control principle block diagram of the utility model driving control system;
Fig. 2 is the structure diagram of the stacking permanent-magnetic electrical motor that relates in the present embodiment;
Fig. 3 is the circuit structure sketch of control module in the present embodiment;
Fig. 4 is the circuit connection structure sketch of strong and weak electricity isolated location in the present embodiment;
Fig. 5 is the circuit connection structure sketch of power change unit in the present embodiment;
Fig. 6 is the circuit connection structure sketch of brake pedal sensor in the present embodiment;
Fig. 7 is the circuit connection structure sketch of current sensor in the present embodiment;
Fig. 8 is the circuit connection structure sketch of position transduser and speed sensor in the present embodiment;
Fig. 9 is a control flow scheme drawing of the present utility model.
Wherein: power module 1, control module 2, stacking permanent-magnetic electrical motor 3, strong and weak electricity isolation module 4, strong and weak electricity isolated location 41, Power Conversion module 5, power change unit 51, brake pedal angular transducer 6, accelerator angle sensor 7, current sensor 8, position transduser 9, speed sensor 10.
The specific embodiment
Below in conjunction with drawings and Examples the utility model is further described.
Embodiment: as shown in Figure 1, the utility model relates to a kind of based on superposing type magneto-electric machine battery-driven car driving control system: the brake pedal that comprises battery-driven car, acceleration pedal, stacking permanent-magnetic electrical motor 3 with three phase windings, be used to drive the driver module of battery-driven car operation, power module 1 with charge function, control module 2, strong and weak electricity isolation module 4, Power Conversion module 5, be installed in the brake pedal angular transducer 6 on the brake pedal, be installed in the accelerator angle sensor 7 on the acceleration pedal, be used to detect three current sensors 8 of phase winding electric current, be used to detect three position transdusers 9 of motor rotor position, be used to detect the speed sensor 10 of electromotor velocity, wherein, control module comprises signal processor U1 and is used for the static memory U13 of storage signal processor calculating data that both link to each other by bus; The signal output part of each position transduser 9, current sensor 8 and speed sensor 10 links to each other with the cooresponding signal input part of signal processor U1 respectively; Brake pedal angular transducer 6 and accelerator angle sensor 7 are connected to the corresponding input end of signal processor U1 by bus; Strong and weak electricity isolation module 4 comprises three strong and weak electricity isolated locations 41, and Power Conversion module 5 comprises three power change unit 51, and the phase winding of a winding disc is connected successively in described strong and weak electricity isolated location 41, power change unit 51 and the electrical motor; Described signal processor U1 exports to the control of the drive signal realization of each power change unit 51 to the mode of operation of each winding disc in the electrical motor by control.Signal processor U1 is that TIX produces, and model is TMS320F2812.
As Fig. 2, this figure relates to a kind of stacking permanent-magnetic electric motor structure sketch, comprising motor shaft 3-1, motor casing 3-3, permanent magnetism disc 3-2, three winding disc 3-4, three position transdusers; Described winding disc 3-4 and the folding of permanent magnetism disc 3-2 spacing sleeve are added on the motor shaft 3-1, and three position transdusers are separately fixed on each winding disc; The phase winding of each winding disc 3-4 and the output signal end of position transduser are drawn with signal processor U1 by the assembling connection terminal and are linked to each other.
As shown in Figure 3, this figure is the circuit structure sketch of control module in the utility model, in this circuit, comprises signal processor U1 and static memory U13, the static memory model is IS61LV51216, is used for the data of storage signal treater U1 in calculating process.It links to each other with signal processor U1 with data bus by address bus.X1 is the passive crystal oscillator of 30M, and U1 provides clock reference for signal processor.
As shown in Figure 4, this figure is the circuit connection structure sketch of strong and weak electricity isolated location in the utility model, in this circuit, the task manager unit output PWM drive signal of signal processor U1 is given optic coupler U22, U25, U28 respectively, and output signal A1PWM1, the A1PWM2 of three optic couplers, B1PWM1, B1PWM2, C1PWM1, C1PWM2 remove the driving power changer.Optic coupler has played the effect that strong and weak electricity is isolated.Be the circuit connection structure figure of a strong and weak electricity isolated location among the figure, other 2 strong and weak electricity isolated location connection structures are identical therewith.
As shown in Figure 5; this figure is the circuit connection structure sketch of power change unit in the utility model; in this circuit; U200 has adopted the IR2136 of Int Rectifier Corp; it is a three-phase simulation actuator and protection integrated circuit; integrated three semi-bridge inversion gate drivers of the built-in bootstrap diode of 600V independently, its operating voltage is 15V.The output signal A1PWM1 of three optic couplers, A1PWM2, B1PWM1, B1PWM2, C1PWM1, C1PWM2 are the PWM drive signal that control module outputs to 6 road winding discs of power conversion circuit unit, A1PWM1, B1PWM1, C1PWM1 go up three high-side power switch pipes of half-bridge by HIN1, HIN2, the HIN3 input of U200 in HO1, HO2, the HO3 pin output control circuit.A1PWM2, B1PWM2, C1PWM2 is by LIN1, LIN2, the LIN3 input of U200, three high-side power switch pipes of following half-bridge in LO1, LO2, the LO3 pin output control circuit.C200 to C202 is a bootstrap capacitor, and the analog line driver that drives the high-side power switch pipe for U200 in-to-in three road provides suspended power supply, and D200 to D202 connects with bootstrap capacitor respectively, prevents the discharge of bootstrap capacitor both end voltage.R210 to R215 is a resistance, and it can regulate the switching speed of power switch pipe, and the ringing that barrier grid occurs reduces EMI, also the metering function that can discharge and recharge grid capacitance.Q201 to Q206 is IGBT (an Insulated Gate Bipolar Transistor insulated gate bipolar transistor), it is by the compound full-control type voltage driven type power semiconductor that BJT (double pole triode) and MOS (insulating gate type field effect tube) form, and has little and the advantage that saturation pressure reduces of driving power.The phase winding of a winding disc of stacking permanent-magnetic electrical motor is linked in the output of this power change unit.
As shown in Figure 6, this figure is that the brake pedal sensor circuit connects sketch in the utility model, and in this circuit, U31 is the reluctance type angular transducer, and it is converted to electric signal with angle signal, and its model is KMZ41.U32 is the signal condition chip, and it is converted into digital signal with the two-way sinusoidal signal of U31 input, and by spi bus, is transferred to signal processor U1.The circuit catenation principle of accelerator pedal sensor is identical with the foregoing circuit principle.
As shown in Figure 7, this figure is the circuit connection structure sketch of current sensor in the present embodiment; U12 is a current sensor, and model is CSM040A, and it is converted into voltage signal with current signal, and its output enters the voltage follower of being made up of amplifier U5 through the dividing potential drop of R22, R23, inputs to the AD conversion input pin ADCINA0 of controller processor U1 again.The input impedance infinity of voltage follower can make current detecting not be subjected to the influence of subsequent conditioning circuit.The current detecting feedback of other each disc phase winding is identical therewith.
As shown in Figure 8, this figure is the circuit connection structure sketch of position transduser and speed sensor in the present embodiment; In this circuit, J5 is an adaptor union, and wherein pin 5 provides 5V operating voltage for position transduser, and pin 2,3,4 is the connecting interface of the position pulse signal mouth of position transduser in the stacking permanent-magnetic electrical motor.Resistance R 151 to R153 is a pull-up resistor, improves the power-handling capability of the position sensor signal of input.R154 to R156 is a suppressor resistor, in case produce vibration in this circuit, capacitor C 178 to C180 is a filter capacitor.U29 is a level transferring chip, and the impulse singla that its amplitude with position transduser is 5V is converted to the impulse singla that amplitude is 3.3V, and is transferred to the capturing unit of signal processor U1.J13 is the speed sensor input interface, and the impulse singla of its input is input to the capturing unit of digital signal processor U1 after the U29 conversion.J14 and J15 are respectively accelerator angle sensor and brake pedal angular transducer spi bus interface.
As shown in Figure 9: described the various algorithms that adopt in different occasions in the battery-driven car operational process.The signal that controller transmits according to acceleration pedal drives battery-driven car and travels according to certain speed.The signal that controller transmits according to brake pedal again, the braking of just getting different stage, be system more actv. brake with ability and reclaim.
The cardinal principle of the utility model control system and process are: when battery-driven car normally moved, signal processor was constantly accepted the various data that each sensor acquisition is come, and according to gathering the data of coming, adopted different control policies:
1), when battery-driven car quickens, acceleration pedal is operated, signal processor receives accelerator pedal sensor by the data that spi bus sends, and calculates the speed that current battery-driven car will be set.Speed sensor feedback pulse signal is given signal processor, and controller calculates the current speed of battery-driven car according to the impulse singla that receives.Each phase current is converted into voltage signal on current sensor general winding disc this moment, feeds back to signal processor.The position signal sensor of stacking permanent-magnetic motor internal sends to signal processor with motor rotor position; These signals that signal processor collects are exported corresponding pulse drive signal and are given the power change unit, and driving motor 3 reaches the speed that will reach.
2), when battery-driven car slows down, acceleration pedal is released, brake pedal is operated, signal processor receives the data that brake pedal sensor sends over, and calculates the angle that current brake pedal is operated, and selects suitable control policy;
Released at acceleration pedal, when brake pedal is not operated, signal processor is gathered the feedback signal that each external circuit collection is come, according to these feedback signals, output corresponding driving signal, make 3 winding discs of stacking permanent-magnetic electrical motor all be operated in the regenerative brake state, consequent induced electric motive force can produce lock torque, and battery-driven car is slowed down.The stacking permanent-magnetic electrical motor is in generating state simultaneously, and power module is carried out the energy feedback.When the required lock torque of battery-driven car is little, such control policy of can sampling, for example less long descending of the gradient.
Released at acceleration pedal, when brake pedal is operated, signal processor is according to gathering the signal of coming, calculating the required lock torque of battery-driven car depends merely on regenerative brake and can not provide, at this moment, signal processor makes a winding disc of stacking permanent-magnetic electrical motor work in the reversing braking state, two other winding disc is operated in the regenerative brake state, one winding disc provides braking required moment, and two other winding disc provides auxiliary lock torque, and the kinetic energy of battery-driven car is converted to electric energy feeds back to power module.Be operated in the angle decision that the quantity of the winding disc of reversing braking is stepped on by brake pedal.When the angle that is operated when brake pedal strengthens, increase the quantity that is operated in reversing braking winding disc, remaining winding disc is operated in the regenerative brake state, and the kinetic energy of battery-driven car is converted into electric energy.When battery-driven car needs certain lock torque, can adopt this kind control policy, for example when the bigger long descending of the gradient, depend regenerative brake alone and can not provide enough lock torques, and the employing mechanical braking, braking can produce the braking heat decay for a long time, influences deceleration and stopping performance.Adopt this control policy can solve top problem this moment.
3), when the battery-driven car emergency braking, for security consideration, this moment should be based on mechanical braking, electric braking is auxilliary.Signal processor can be divided into moderating process and stopped process in the mild or moderate braking procedure, the electric braking of battery-driven car mainly is responsible for moderating process, and mechanical braking is responsible for stopped process.
The stacking permanent-magnetic electrical motor can be operated in reversing braking and regenerative brake pattern simultaneously in this control system, and brake mode is flexible, and it is wider that electric braking is used, and the energy back efficient height of regenerative brake can reach obvious energy-saving effect simultaneously.
Above content be in conjunction with concrete preferred implementation to further describing that control system of the present utility model is done, can not assert that concrete enforcement of the present utility model is confined to these explanations.For the native system person of an ordinary skill in the technical field, under the prerequisite that does not break away from the utility model design, can also make some simple deduction or replace, all should be considered as belonging to protection domain of the present utility model.
Claims (9)
1. battery-driven car driving control system based on the superposing type magneto-electric machine, the brake pedal that comprises battery-driven car, acceleration pedal, at least the stacking permanent-magnetic electrical motor that has two phase windings, be used to drive the driver module of battery-driven car operation, it is characterized in that: also comprise power module, control module, the Power Conversion module, the brake pedal angular transducer, the accelerator angle sensor, be used to detect the current sensor of phase winding electric current, be used to detect the position transduser of motor rotor position, be used to detect the speed sensor of electromotor velocity, the drive signal mouth of described control module links to each other with the input end of Power Conversion module, and described Power Conversion module is connected with each phase winding of electrical motor; The signal output part of each current sensor and speed sensor links to each other with the cooresponding signal input part of control module respectively; Brake pedal angular transducer and accelerator angle sensor are connected to the corresponding input end of controller by bus.
2. the battery-driven car driving control system based on the superposing type magneto-electric machine according to claim 1 is characterized in that: described control module comprises signal processor and is used for the static memory of storage signal processor calculating data that both link to each other by bus.
3. the battery-driven car driving control system based on the superposing type magneto-electric machine according to claim 2, it is characterized in that: described braking/accelerator pedal sensor is chosen as the reluctance type angular transducer, its support circuit also comprises the signal condition chip that sinusoidal signal is converted into digital signal, and the sensor links to each other with signal processor by the signal condition chip.
4. the battery-driven car driving control system based on the superposing type magneto-electric machine according to claim 2, it is characterized in that: described current sensor quantity is identical with phase winding quantity in the electrical motor, its support circuit also comprises successively the bleeder circuit that links to each other, by the voltage follower that amplifier is formed, described current sensor is changed input pin by above-mentioned support circuit with AD in the signal processor and is linked to each other.
5. the battery-driven car driving control system based on the superposing type magneto-electric machine according to claim 2 is characterized in that: described position transduser links to each other with the signal input part of signal processor with level transferring chip by antihunt circuit, filter circuit.
6. the battery-driven car driving control system based on the superposing type magneto-electric machine according to claim 2 is characterized in that: be provided with level transferring chip between the signal processor in described speed sensor and the control module.
7. the battery-driven car driving control system based on the superposing type magneto-electric machine according to claim 1 is characterized in that: be provided with the strong and weak electricity isolation module between described control module and the Power Conversion module.
8. the battery-driven car driving control system based on the superposing type magneto-electric machine according to claim 7, it is characterized in that: described Power Conversion module comprises the power change unit identical with phase winding quantity in the electrical motor, described strong and weak electricity isolation module comprises and the cooresponding strong and weak electricity isolated location of power change unit quantity, described control module links to each other with power power change unit by the strong and weak electricity isolated location respectively, and described Power Conversion module is connected with the phase winding of a winding disc in the electrical motor by its power change unit.
9. the battery-driven car driving control system based on the superposing type magneto-electric machine according to claim 8 is characterized in that: described power change unit comprises IR2136 three-phase inverter driver IC and peripheral supporting protective circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2010206198846U CN201980094U (en) | 2010-11-23 | 2010-11-23 | Driving control system of electric vehicle based on stacked permanent magnet motors |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010206198846U CN201980094U (en) | 2010-11-23 | 2010-11-23 | Driving control system of electric vehicle based on stacked permanent magnet motors |
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| CN201980094U true CN201980094U (en) | 2011-09-21 |
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| CN2010206198846U Expired - Fee Related CN201980094U (en) | 2010-11-23 | 2010-11-23 | Driving control system of electric vehicle based on stacked permanent magnet motors |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149636A (en) * | 2014-08-01 | 2014-11-19 | 青岛盛嘉信息科技有限公司 | DSP (digital signal processor) based electromagnetic braking method |
| CN106427663A (en) * | 2016-07-27 | 2017-02-22 | 北京新能源汽车股份有限公司 | Electric automobile traction control method and device |
-
2010
- 2010-11-23 CN CN2010206198846U patent/CN201980094U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149636A (en) * | 2014-08-01 | 2014-11-19 | 青岛盛嘉信息科技有限公司 | DSP (digital signal processor) based electromagnetic braking method |
| CN106427663A (en) * | 2016-07-27 | 2017-02-22 | 北京新能源汽车股份有限公司 | Electric automobile traction control method and device |
| CN106427663B (en) * | 2016-07-27 | 2019-01-29 | 北京新能源汽车股份有限公司 | Method for controlling traction of electric vehicle and device |
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Granted publication date: 20110921 Termination date: 20131123 |