CN203180813U - A motor controller for a self-balance double-wheel electric bicycle, and the self-balance double-wheel electric bicycle - Google Patents
A motor controller for a self-balance double-wheel electric bicycle, and the self-balance double-wheel electric bicycle Download PDFInfo
- Publication number
- CN203180813U CN203180813U CN2012205987054U CN201220598705U CN203180813U CN 203180813 U CN203180813 U CN 203180813U CN 2012205987054 U CN2012205987054 U CN 2012205987054U CN 201220598705 U CN201220598705 U CN 201220598705U CN 203180813 U CN203180813 U CN 203180813U
- Authority
- CN
- China
- Prior art keywords
- motor
- module
- self
- control unit
- current detection
- 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.)
- Expired - Lifetime
Links
Images
Classifications
-
- 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
-
- 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
Landscapes
- Control Of Multiple Motors (AREA)
Abstract
The utility model discloses a motor controller for a self-balance double-wheel electric bicycle, and the self-balance double-wheel electric bicycle. The controller comprises a circuit board; integrated elements on the circuit board comprises a control unit, a first drive module, a first motor, a first current detection module, a first sensor detecting current and angle, a first operation amplifier analog-to-digital conversion module, a second drive module, a second motor, a second current detection module, a second sensor detecting current and angle, and a second operation amplifier analog-to-digital conversion module; an input terminal of the first current detection module (4) is connected with connecting lines between the first drive module (2) and the first motor (3), and an output terminal of the first current detection module is connected with the control unit(1); and an input terminal of the second current detection module (44) is connected with connecting lines between the second drive module (22) and the second motor (33), and an output terminal of the second current detection module is connected with the control unit (1). The utility model also provides the self-balance double-wheel electric bicycle.
Description
Technical field
The utility model relates to Motor Control Field, particularly, relates to a kind of electric machine controller of electric motor car, and in addition, the utility model also relates to a kind of self-balancing two-wheeled electrocar.
Background technology
Along with the development of society, balanced car with two wheels has appearred on the market.Only need control a brushless electric machine with common electric motor car and compare, the self-balancing two-wheeled electrocar need be controlled two brushless servo motors simultaneously with the dynamic equilibrium of realization vehicle, and the requirement of its reliability and control precision will be far above the common electrical motor-car.Balanced car with two wheels in the market all is that controller is estimated current value by the voltage of motor mostly, and then estimation rotating speed of motor and position, thereby the work of motor is controlled.This kind mode control precision is low.
The utility model content
A technical problem to be solved in the utility model provides a kind of electric machine controller for the self-balancing two-wheeled electrocar, and this electric machine controller can improve the control precision of motor.
In addition, another technical problem to be solved in the utility model provides the self-balancing two-wheeled electrocar, and this self-balancing two-wheeled electrocar has improved the precision of work.
To achieve these goals, a kind of electric machine controller for the self-balancing two-wheeled electrocar, described controller comprises, a circuit board, on described circuit board, comprise control unit in the integrated component, first driver module, first motor, first current detection module, detect the first sensor of electric current and angle, the first amplifier analog-to-digital conversion module, second driver module, second motor, second current detection module, detect second transducer and the second amplifier analog-to-digital conversion module of electric current and angle, described control unit is connected with described first driver module, described first driver module is connected with described first motor, the input of described first current detection module is connected with connection line between described first driver module and described first motor, output is connected with described control unit, described first motor is connected with described first sensor, described first sensor is connected with the described first amplifier analog-to-digital conversion module, the described first amplifier analog-to-digital conversion module is connected with described control unit, described control unit is connected with described second driver module, described second driver module is connected with described second motor, the input of described second current detection module is connected with connection line between described second driver module and described second motor, output is connected with described control unit, described second motor is connected with described second transducer, described second transducer is connected with the described second amplifier analog-to-digital conversion module, and the described second amplifier analog-to-digital conversion module is connected with described control unit.
Preferably, also comprise fault detect and protection module in the integrated component on described circuit board, described fault detect and protection module are connected with described control unit.
Preferably, also comprise communication module in the integrated component on described circuit board, described communication module is connected with described control unit.
Preferably, described first sensor and second transducer are linear hall sensor.
On the basis of technique scheme, the utility model also provides a kind of self-balancing two-wheeled electrocar, and this self-balancing two-wheeled electrocar comprises any described a kind of electric machine controller for the self-balancing two-wheeled electrocar described in the technique scheme.
By above technical scheme as can be seen, a kind of electric machine controller for the self-balancing two-wheeled electrocar that the utility model provides, first current detection module and second current detection module are provided, the input of described first current detection module is connected with connection line between described first driver module and described first motor, output is connected with described control unit, the input of described second current detection module is connected with connection line between described second driver module and described second motor, output is connected with described control unit, as can be seen, first current detection module and second current detection module are respectively by directly detecting first motor and second electric machine phase current, can realize the precise current closed-loop control, thereby realize the accurate control of motor output torque.
Other feature and advantage of the present utility model will partly be described in detail in embodiment subsequently.
Description of drawings
Accompanying drawing is to be used to provide further understanding of the present utility model, and constitutes the part of specification, is used from explanation the utility model with following embodiment one, but does not constitute restriction of the present utility model.In the accompanying drawings:
Fig. 1 is circuit diagram of the present utility model;
Embodiment
Below in conjunction with accompanying drawing embodiment of the present utility model is elaborated.Should be understood that embodiment described herein only is used for description and interpretation the utility model, is not limited to the utility model.
Fig. 1 is circuit diagram of the present utility model; Fig. 2 is the control schematic diagram of each road motor of the present utility model;
A kind of electric machine controller for the self-balancing two-wheeled electrocar that the utility model provides, as shown in Figure 1, controller comprises, a circuit board, on circuit board, comprise control unit 1 in the integrated component, first driver module 2, first motor 3, first current detection module 4, detect the first sensor 5 of electric current and angle, the first amplifier analog-to-digital conversion module 6, second driver module 22, second motor 33, second current detection module 44, detect second transducer 55 and the second amplifier analog-to-digital conversion module 66 of electric current and angle, control unit 1 is connected with first driver module 2, first driver module 2 is connected with first motor 3, the input of first current detection module 4 is connected with connection line between first driver module 2 and first motor 3, output is connected with control unit 1, first motor 3 is connected with first sensor 5, first sensor 5 is connected with the first amplifier analog-to-digital conversion module 6, the first amplifier analog-to-digital conversion module 6 is connected with control unit 1, control unit 1 is connected with second driver module 22, second driver module 22 is connected with second motor 33, the input of second current detection module 44 is connected with connection line between second driver module 22 and second motor 33, output is connected with control unit 1, second motor 33 is connected with second transducer 55, second transducer 55 is connected with the second amplifier analog-to-digital conversion module 66, and the second amplifier analog-to-digital conversion module 66 is connected with control unit 1.
And control unit 1 is controlled simultaneously to first motor 3 and second motor 33, owing to have only a control unit, the synchronous communication that has produced when having avoided adopting two control units and communication, control latency issue can guarantee the needs of two-wheel self-balancing vehicle to first motor 3 and second motor, 33 Synchronization Control to the full extent.
Control unit is identical with the control mode of second motor 33 to first motor 3, be that embodiment describes with first motor 3 earlier, first motor is when work, first current detection module 4 comprises current sample and amplifier section, first current detection module 4 is sampled to first motor, 3 line currents simultaneously when 3 work of first motor, used sampling element is the high-precision current sampling resistor, to guarantee the sampling with high precision of electric current, employing two-phase line current sample mode carries out current sample and the calculating to first motor 3, directly obtain electric machine phase current, thereby control first driver module 6, controlling first driver module 6 is used for thereby the light current driving signal of controller 1 output is converted to the realization of forceful electric power signal to the driving of first motor 3, precise current closed-loop control, thereby the accurate control of realization motor output torque.Electric current and the angle of 5 pairs of first motors 3 of first sensor detect simultaneously, this moment, detected signal was sinusoidal wave analog signals, carrying out after filtering and the shaping (analog-to-digital conversion) through amplifier analog-to-digital conversion module 6 then is converted to digital signal and offers controller 1 and carry out the calculating of position and speed, thereby control first driver module 6, be used for the light current driving signal of controller 1 output is converted to the realization of forceful electric power signal to the driving of first motor 3 thereby control first driver module 6.Thereby the two closed loop feedback that realized 1 pair of first motor 3 of control unit are calculated, thereby more accurate to the control of first motor 3 more.
Also comprise fault detect and protection module 7 in the integrated component on the preferred circuit board, fault detect and protection module 7 are connected with control unit 1.Fault detect and protection module 7 is used for detecting in real time the abnormal conditions (excess temperature, overcurrent, overvoltage, under-voltage etc.) of Electric Machine Control process and implements necessary safeguard measure, prevents that controller or motor from damaging.
Also comprise communication module 8 in the integrated component on the preferred circuit board, communication module 8 is connected with control unit 1.Communication module 8 is used for the both-way communication of realization control unit 1 and outside, receives outside control command and also returns the status data that control unit 1 is correlated with, thereby first motor 3 and second motor 33 are controlled more accurately.
Preferred first sensor 5 and second transducer 55 are linear hall sensor.Namely can reduce cost, also can be more accurately first motor 3 and second motor, 33 electric currents and angle be controlled, thereby the accuracy of controller is provided.
On the basis of technique scheme, the utility model also provides a kind of self-balancing two-wheeled electrocar, and this self-balancing two-wheeled electrocar comprises any one electric machine controller for the self-balancing two-wheeled electrocar of technique scheme.Used any one electric machine controller for the self-balancing two-wheeled electrocar of technique scheme at the self-balancing two-wheeled electrocar, because above-mentioned electric machine controller has improved operating accuracy in control procedure, thereby make the self-balancing two-wheeled electrocar also improve the precision of work in the course of the work.
Below describe preferred implementation of the present utility model by reference to the accompanying drawings in detail; but; the utility model is not limited to the detail in the above-mentioned execution mode; in technical conceive scope of the present utility model; can carry out multiple simple variant to the technical solution of the utility model, these simple variant all belong to protection range of the present utility model.Need to prove in addition, each concrete technical characterictic described in above-mentioned embodiment under reconcilable situation, can make up by any suitable manner, for fear of unnecessary repetition, the utility model is to the explanation no longer separately of various possible compound modes.In addition, also can carry out combination in any between the various execution mode of the present utility model, as long as it is without prejudice to thought of the present utility model, it should be considered as content disclosed in the utility model equally.
Claims (5)
1. electric machine controller that is used for the self-balancing two-wheeled electrocar, it is characterized in that, described controller comprises, a circuit board, on described circuit board, comprise control unit (1) in the integrated component, first driver module (2), first motor (3), first current detection module (4), detect the first sensor (5) of electric current and angle, the first amplifier analog-to-digital conversion module (6), second driver module (22), second motor (33), second current detection module (44), detect second transducer (55) and the second amplifier analog-to-digital conversion module (66) of electric current and angle, described control unit (1) is connected with described first driver module (2), described first driver module (2) is connected with described first motor (3), the input of described first current detection module (4) is connected with connection line between described first driver module (2) and described first motor (3), output is connected with described control unit (1), described first motor (3) is connected with described first sensor (5), described first sensor (5) is connected with the described first amplifier analog-to-digital conversion module (6), the described first amplifier analog-to-digital conversion module (6) is connected with described control unit (1), described control unit (1) is connected with described second driver module (22), described second driver module (22) is connected with described second motor (33), the input of described second current detection module (44) is connected with connection line between described second driver module (22) and described second motor (33), output is connected with described control unit (1), described second motor (33) is connected with described second transducer (55), described second transducer (55) is connected with the described second amplifier analog-to-digital conversion module (66), and the described second amplifier analog-to-digital conversion module (66) is connected with described control unit (1).
2. a kind of electric machine controller for the self-balancing two-wheeled electrocar as claimed in claim 1; it is characterized in that; also comprise fault detect and protection module (7) on described circuit board in the integrated component, described fault detect and protection module (7) are connected with described control unit (1).
3. a kind of electric machine controller for the self-balancing two-wheeled electrocar as claimed in claim 1 or 2 is characterized in that, also comprises communication module (8) on described circuit board in the integrated component, and described communication module (8) is connected with described control unit (1).
4. a kind of electric machine controller for the self-balancing two-wheeled electrocar as claimed in claim 3 is characterized in that, described first sensor (5) and second transducer (55) are linear hall sensor.
5. a self-balancing two-wheeled electrocar is characterized in that, described electric motor car comprises any described a kind of electric machine controller for the self-balancing two-wheeled electrocar of claim 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012205987054U CN203180813U (en) | 2012-11-14 | 2012-11-14 | A motor controller for a self-balance double-wheel electric bicycle, and the self-balance double-wheel electric bicycle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012205987054U CN203180813U (en) | 2012-11-14 | 2012-11-14 | A motor controller for a self-balance double-wheel electric bicycle, and the self-balance double-wheel electric bicycle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203180813U true CN203180813U (en) | 2013-09-04 |
Family
ID=49077468
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012205987054U Expired - Lifetime CN203180813U (en) | 2012-11-14 | 2012-11-14 | A motor controller for a self-balance double-wheel electric bicycle, and the self-balance double-wheel electric bicycle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203180813U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103795300A (en) * | 2014-03-11 | 2014-05-14 | 任金瑞 | Double-motor control method of electric car |
| CN104935226A (en) * | 2015-05-12 | 2015-09-23 | 合肥工业大学 | Control system of electric self-balance wheelbarrow and control method thereof |
| CN105539662A (en) * | 2016-01-18 | 2016-05-04 | 常州涛涛智能科技有限公司 | Control system for double-wheel balance vehicle |
| US9393483B2 (en) | 2014-09-05 | 2016-07-19 | Dynamic Labs, Llc | Motorized vehicle |
| CN110233587A (en) * | 2019-07-10 | 2019-09-13 | 广州思智科技有限公司 | A kind of electric wheelchair brushless motor control system and method |
| WO2022213674A1 (en) * | 2021-04-08 | 2022-10-13 | 中国第一汽车股份有限公司 | Dual-motor control system and method |
-
2012
- 2012-11-14 CN CN2012205987054U patent/CN203180813U/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103795300A (en) * | 2014-03-11 | 2014-05-14 | 任金瑞 | Double-motor control method of electric car |
| CN103795300B (en) * | 2014-03-11 | 2016-08-17 | 张玉清 | Motor vehicle dual-motor control method |
| CN105978411A (en) * | 2014-03-11 | 2016-09-28 | 朱海燕 | Dual-motor control method of electric vehicle |
| CN106080260A (en) * | 2014-03-11 | 2016-11-09 | 朱海燕 | Motor is made to obtain the motor vehicle dual-motor control method of higher service efficiency |
| CN106080259A (en) * | 2014-03-11 | 2016-11-09 | 朱海燕 | A kind of motor vehicle dual-motor control method |
| US9393483B2 (en) | 2014-09-05 | 2016-07-19 | Dynamic Labs, Llc | Motorized vehicle |
| CN104935226A (en) * | 2015-05-12 | 2015-09-23 | 合肥工业大学 | Control system of electric self-balance wheelbarrow and control method thereof |
| CN105539662A (en) * | 2016-01-18 | 2016-05-04 | 常州涛涛智能科技有限公司 | Control system for double-wheel balance vehicle |
| CN110233587A (en) * | 2019-07-10 | 2019-09-13 | 广州思智科技有限公司 | A kind of electric wheelchair brushless motor control system and method |
| WO2022213674A1 (en) * | 2021-04-08 | 2022-10-13 | 中国第一汽车股份有限公司 | Dual-motor control system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203180813U (en) | A motor controller for a self-balance double-wheel electric bicycle, and the self-balance double-wheel electric bicycle | |
| CN105790676B (en) | Rotary electric machine controller | |
| CN201490697U (en) | Three-phase current detection and protection circuit | |
| CN103457536B (en) | Alternating current servo driver based on current detection and position feedback structure | |
| CN110441643B (en) | Inverter power tube open circuit fault diagnosis method in permanent magnet synchronous motor control system | |
| CN107222135B (en) | A kind of D-C brushless electric machine no-position sensor control system phase change control method | |
| CN102545749B (en) | Wide-speed-regulation-range brushless direct current motor position sensorless control device and method | |
| US8866433B2 (en) | Switched reluctance initial rotor position estimation | |
| CN101977012A (en) | Method and device for directionally controlling wheels in sensorless magnetic field | |
| CN201928224U (en) | Direct-current brush motor servo driver | |
| CN104579045A (en) | Angle sensor based phase change method of brushless DC (direct current) motor | |
| CN102594231B (en) | Brushless motor rotor position signal decoding module for automobile electric power steering system | |
| CN109752652B (en) | Phase current sampling method for permanent magnet synchronous motor | |
| CN102522930A (en) | Torque control method for motor of pure electric vehicle | |
| CN109347064B (en) | Three-phase current sampling and overcurrent protection circuit | |
| CN103368476A (en) | Motor driving method and detection circuit for electric means of transportation | |
| CN213633738U (en) | Digital AC servo driver with three-phase motor open-phase detection | |
| CN102368674B (en) | Method and system for resolving position of switched reluctance motor rotor | |
| JP2016096608A (en) | Motor control device, electric power steering device using the same, and vehicle | |
| CN111817618A (en) | Brushless motor position sensorless commutation error compensation system and method | |
| CN203734462U (en) | Intelligent control device for electric vehicle-used motor | |
| CN202550953U (en) | Automotive PMSM (Permanent Magnet Synchronous Motor) control system based on GMR (Giant Magneto Resistive) sensor | |
| CN203398765U (en) | Combined velocity measuring system | |
| CN105391350A (en) | Detection device and method for phase counterelectromotive forces of permanent magnet synchronous motor (PMSM) | |
| CN111175564A (en) | Three-phase current detection circuit of brushless direct current motor driver |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: NINEBOT (TIANJIN) TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: WANG YE Effective date: 20140813 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 100102 CHAOYANG, BEIJING TO: 301700 WUQING, TIANJIN |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20140813 Address after: 301700 Tianjin District of Wuqing City Auto Parts Industrial Park Road on the north side of cloud office building 507-16 (central office) Patentee after: NINEBOT (TIANJIN) TECH Co.,Ltd. Address before: 100102 Beijing City, Chaoyang District Guangshun Beidajie 19 600 the 02 layer A09 Patentee before: Wang Ye |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220222 Address after: 213100 Floor 16 and 17, Block A, Building 3, Chuangyan Port, Changzhou Science and Education City, 18 Changwuzhong Road, Wujin District, Changzhou City, Jiangsu Province Patentee after: NINEBOT (CHANGZHOU) TECH Co.,Ltd. Address before: 301700 comprehensive office building 507-16 on the north of Yunjing Road, auto parts Industrial Park, Wuqing District, Tianjin (centralized office area) Patentee before: NINEBOT (TIANJIN) TECH Co.,Ltd. |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130904 |