CN203283049U - Electro-vehicle drive control device - Google Patents
Electro-vehicle drive control device Download PDFInfo
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- CN203283049U CN203283049U CN2013203651147U CN201320365114U CN203283049U CN 203283049 U CN203283049 U CN 203283049U CN 2013203651147 U CN2013203651147 U CN 2013203651147U CN 201320365114 U CN201320365114 U CN 201320365114U CN 203283049 U CN203283049 U CN 203283049U
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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 discloses an electro-vehicle drive control device which comprises a brushless motor, an H-bridge main circuit, a power circuit, a temperature detection circuit, a slave single chip microcomputer, a position detection circuit, a current detection circuit, a voltage detection circuit and a drive circuit. The input end of the position detection circuit is connected with the brushless motor, and the output end of the position detection circuit is connected with a main single chip microcomputer. The input end of the current detection circuit is connected with the H-bridge main circuit, and the output end of the current detection circuit is connected with the main single chip microcomputer. The input end of the voltage detection circuit is connected with a power circuit, and the output end of the voltage detection circuit is connected with the main single chip microcomputer. The input end of the drive circuit is connected with the main single chip microcomputer, and the output end of the drive circuit is connected with the H-bridge main circuit. A simple sine wave drive control mode is used in the electromobile drive control device, the electromagnetic torque pulse can be greatly lowered, and control performance is more superior; compared with the vector control mode of a synchronous motor, an expensive rotor position sensor is removed, design is simple, cost is low, the performance can completely meet the requirement in the current market, and thus market competitiveness is achieved.
Description
Technical field
The utility model belongs to the vehicle technology field, more specifically, relates to a kind of motor car drive control apparatus.
Background technology
The battery-driven car that drives based on brushless direct current motor, due to cheap, for ease of maintenaince, the plurality of advantages such as easy to use, be popular with the masses of users.For its control core electric machine controller, in the market, general what adopt is the square wave type of drive, is characterized in low price but torque pulsation is large, control accuracy is low, thereby technical the needs improves; And adopt common sine wave drive mode, and, although can reduce torque pulsation, needing high-resolution rotor position sensing, the rising that brings thus manufacturing cost, often be difficult for being accepted by vast low end subscriber.
The utility model content
For the defect of prior art, the purpose of this utility model is to provide a kind of motor car drive control apparatus that adopts the sine wave drive mode for the demand of the low end subscriber in market to battery-driven car.
The utility model provides a kind of motor car drive control apparatus, comprise brushless motor, H bridge power circuit, power circuit and temperature sensing circuit, also comprise: from micro controller system, respectively with described host scm, relay, speed digital display module, the temperature digital display module that is connected from micro controller system, the radiator fan that is connected with described relay; The state indicating module, E-gas, status control module and the braking circuit that are connected with described host scm respectively; The position detecting circuit that input end is connected with described brushless motor and mouth is connected with described host scm; Input end and the current detection circuit that described H bridge power circuit is connected and mouth is connected with described host scm; The voltage detecting circuit that input end is connected with described power circuit and mouth is connected with described host scm; The driving circuit that input end is connected with described host scm and mouth is connected with described H bridge power circuit.
further, described driving circuit is three-phase drive circuit, and wherein a phase driving circuit comprises aerotron Q8, aerotron Q17, aerotron Q18, aerotron Q19, aerotron Q20, aerotron Q2, aerotron Q9, aerotron Q21, metal-oxide-semiconductor MB1, metal-oxide-semiconductor MB15, diode D14, diode D13, resistance R 90, resistance R 60, resistance R 61, resistance R 89, resistance R b1, resistance R bf1, resistance R 96, resistance R b5, resistance R bf5, resistance R 93, resistance R 95, resistance R 62, resistance R 94, resistance R 3, capacitor C 10, capacitor C 6, capacitor C 7 and capacitor C b5, the base stage of described aerotron Q8 connects the I/O pin BH of host scm by described resistance R 60, the emitter of described aerotron Q8 is by described resistance R 61 ground connection, the base stage of described aerotron Q17 is connected to the collecting electrode of described aerotron Q8, the emitter of described aerotron Q17 is connected to the negative electrode of described diode D14, the anodic bonding 15V voltage of described diode D14, an end ground connection other end of described capacitor C 10 is connected to 15V voltage, one end of described resistance R 90 is connected to the collecting electrode of described aerotron Q8, and the other end of described resistance R 90 is connected to the emitter of aerotron Q17, the grid of described metal-oxide-semiconductor MB1 is connected to the negative electrode of described diode D13 by described resistance R b1, the anodic bonding of described diode D13 is to the collecting electrode of described aerotron Q17, the drain electrode of described metal-oxide-semiconductor MB1 connects 72V voltage, the base stage of described aerotron Q18 is connected to the collecting electrode of described aerotron Q17, the emitter of described aerotron Q18 is by described resistance R bf1 and the described capacitor C b1 source electrode that is connected to described metal-oxide-semiconductor MB1 of series connection successively, described resistance R bf1 be connected the end that is connected in series of capacitor C b1 and also with the grid of described metal-oxide-semiconductor MB1, be connected, one end of described resistance R 89 is connected to the base stage of described aerotron Q18, the other end of described resistance R 89 is connected to the collecting electrode of the aerotron Q18 of described resistance R 89, described capacitor C 6 and described inductance L 1 are connected in series between the collecting electrode of 15V voltage and described aerotron Q18 successively, the base stage of described aerotron Q19 is connected to the base stage of described aerotron Q20, the collecting electrode of described aerotron Q19 is connected to 15V voltage, the emitter of described aerotron Q19 is connected to 15V voltage, one end of described resistance R 93 is connected to 15V, the other end of described resistance R 93 is connected to the base stage of described aerotron Q19, the base stage of described aerotron Q21 is connected to BH by described resistance R 95, the grounded emitter of described aerotron Q21, the collecting electrode of described aerotron Q21 is connected to the base stage of described aerotron Q19, the base stage of described aerotron Q9 is connected to the collecting electrode of described aerotron Q2 by described resistance R 62, the grounded emitter of described aerotron Q9, the collecting electrode of described aerotron Q9 is connected to the collecting electrode of described aerotron Q21, the base stage of described aerotron Q2 is connected to the I/O pin BL of host scm by described resistance R 3, the grounded emitter of described aerotron Q2, the collecting electrode of described aerotron Q20 is connected to the collecting electrode of described aerotron Q2, the source electrode that the emitter of described aerotron Q20 is connected to described metal-oxide-semiconductor MB15 by the described resistance R bf5 that is connected in series successively and described capacitor C b5, one end of described resistance R 94 connects power supply VCC, and the other end is connected to the collecting electrode of described aerotron Q20, described resistance R b5 and described resistance R 96 ground connection of the grid of described metal-oxide-semiconductor MB15 by being connected in series successively, the end that is connected in series of described resistance R b5 and described resistance R 96 is connected to 15V voltage, the grid of described metal-oxide-semiconductor MB15 also is connected to the end that is connected in series of described resistance R bf5 and described capacitor C b5, and the drain electrode of described metal-oxide-semiconductor MB15 is connected to the source electrode of described metal-oxide-semiconductor MB1, one end of described capacitor C 7 is connected to the drain electrode of described metal-oxide-semiconductor MB1, and the other end is connected to the source electrode of described metal-oxide-semiconductor MB15.
Further, described current detection circuit comprises: the first comparator IC6, the second comparator IC7, the 3rd comparator IC8, diode D6, resistance R 12, resistance R 13, resistance R 14, resistance R 15, resistance R 16, resistance R 17, resistance R 18, resistance R 19, resistance R 20, resistance R 21, resistance R 22, resistance R 23, resistance R 24, capacitor C 8, capacitor C 9, capacitor C 10 and capacitor C 11; Described resistance R 13 and described resistance R 14 are connected in series between 5V voltage and ground successively, the end that is connected in series of described resistance R 13 and described resistance R 14 is connected to the inverting input of described the first comparator IC6, the normal phase input end of described the first comparator IC6 is connected to the anode of described diode D6, and the negative electrode of described diode D6 is used for the connection location sampled signal; The normal phase input end of described the first comparator IC6 is also by described capacitor C 8 ground connection, and described resistance R 12 is connected in the two ends of described diode D6 in parallel; Described resistance R 19 and described resistance R 20 are connected in series between 5V voltage and ground successively, the end that is connected in series of described resistance R 19 and described resistance R 20 is connected to the inverting input of described the second comparator IC7, the normal phase input end of described the second comparator IC7 is connected to the mouth of described the first comparator IC6 by described resistance R 18, the normal phase input end of described the second comparator IC7 is described resistance R 16 and described resistance R 15 ground connection by being connected in series successively also, described resistance R 16 be connected the end that is connected in series of resistance R 15 and be used for connect current sampling signal; One end of described resistance R 17 is connected to the normal phase input end of described the second comparator IC7, the other end ground connection of described resistance R 17; The mouth of described the second comparator IC7 is connected with described host scm I/0 mouth as the overcurrent protection signal pins; One end of described resistance R 21 is used for connecting current sampling signal, the other end of described resistance R 21 is connected to the normal phase input end of described the 3rd comparator IC8, the inverting input of described the 3rd comparator IC8 is by described resistance R 22 ground connection, described resistance R 24 and described capacitor C 11 ground connection of the mouth of described the 3rd comparator IC8 by being connected in series successively, the end that is connected in series of described resistance R 24 and described capacitor C 11 is connected with the I/0 mouth of host scm as the current detecting leads ends; One end of described resistance R 23 is connected to the mouth of described the 3rd comparator IC8, and the other end of described resistance R 23 is connected to the inverting input of described the 3rd comparator IC8; One end of described capacitor C 9 is connected to an end of described resistance R 21, the other end ground connection of described capacitor C 9; One end of described capacitor C 10 is connected to the other end of described resistance R 21, the other end ground connection of described capacitor C 10.
Further, described braking circuit comprises aerotron Q23, resistance R 23, resistance R 95, resistance R 7, diode D3, capacitor C 50 and capacitor C 3; The negative electrode of described diode D3 is used for connecting the low level brake signal, and the anode of described diode D3 is connected to the collecting electrode of described aerotron Q23 by described resistance R 23, and the collecting electrode of described aerotron Q23 also is connected to the I/O pin of described host scm; The grounded emitter of described aerotron Q23, the base stage of described aerotron Q23 is connected to 5V voltage by described resistance R 7; One end of described resistance R 95 is connected to the base stage of described aerotron Q23, the other end ground connection of described resistance R 95; One end of described capacitor C 3 is connected to the base stage of described aerotron Q23, the other end ground connection of described capacitor C 3; One end of described capacitor C 50 is connected to the I/O pin of described machine micro controller system, the other end ground connection of described capacitor C 50.
Further, described position detecting circuit is Hall element.
The utility model for the low end subscriber in market to the characteristics of battery-driven car demand (price request is cheap, the road conditions of travelling are poor, hill climbing ability be eager to excel, for ease of maintenaince wait), adopted easy sine wave drive mode, this compares with mode ripple mode, cost is more or less the same, but owing to reducing significantly electromagnetic torque pulsation, thereby controller performance wants superior many; This mode is compared with the vector control mode of synchronous dynamo, has saved the comparatively expensive rotor-position sensor of price, simplicity of design, and cost is low, and performance also can meet the demand of Vehicles Collected from Market fully, thereby the market competitiveness arranged very much.
Description of drawings
Fig. 1 is the structural principle block diagram of the motor car drive control apparatus that provides of the utility model;
Fig. 2 is the physical circuit figure of B phase MOSFET driving circuit in the motor car drive control apparatus that provides of the utility model;
Fig. 3 is the physical circuit figure of current detection circuit in the motor car drive control apparatus that provides of the utility model;
Fig. 4 is the physical circuit figure of braking circuit in the motor car drive control apparatus that provides of the utility model;
Fig. 5 is the physical circuit figure of power module in the motor car drive control apparatus that provides of the utility model.
The specific embodiment
, in order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
The motor car drive control apparatus that the utility model provides can be widely used in the electric patrol car of all kinds of middle-size and small-size power, electric golf cart, and electronic beach buggy is first-class.Fig. 1 shows the structure of the motor car drive control apparatus that the utility model provides, and for convenience of explanation, only shows the part relevant to the utility model, and details are as follows:
motor car drive control apparatus comprises: host scm 10, from micro controller system 20, H bridge power circuit 30, brushless motor 40, driving circuit 11, current detection circuit 12, position detecting circuit 13, voltage detecting circuit 14, state indicating module 15, E-gas 16, status control module 17, braking circuit 18, relay 21, radiator fan 22, speed digital display module 23, temperature digital display module 24, temperature sensing circuit 31 and power circuit 32, wherein the input end of brushless motor 40 is connected to the mouth of H bridge power circuit 30, the mouth of brushless motor 40 is used for connecting battery-driven car 50, the input end of position detecting circuit 13 is connected to the position feedback end of brushless motor 40, the mouth of position detecting circuit 13 is connected with host scm 10, the first input end of temperature sensing circuit 31 is connected to the temperature feedback end of brushless motor 40, the second input end of temperature sensing circuit 31 is connected to the temperature feedback end of H bridge power circuit 30, the mouth of temperature sensing circuit 31 is connected to from micro controller system 20, the input end of voltage detecting circuit 14 is connected to the first mouth of power circuit 32, the mouth of voltage detecting circuit 14 is connected to host scm 10, the second mouth of power circuit 32 is connected to the power end of H bridge power circuit 30, the input end of driving circuit 11 is connected to host scm 10, the mouth of driving circuit 11 is connected to the input end of H bridge power circuit 30, the input end of current detection circuit 12 is connected to the current feedback terminal of H bridge power circuit 30, the mouth of current detection circuit 12 is connected to host scm 10, state indicating module 15, E-gas 16, status control module 17 is connected with braking circuit and is connected with host scm 10 respectively, relay 21, speed digital display module 23 is connected and is connected respectively with from micro controller system 20 with the temperature digital display module, radiator fan 22 is connected with relay 21.
In the utility model, the motor car drive control apparatus radical function comprises: the startup of battery-driven car; The acceleration and deceleration operation of E-gas; The high and low level braking of braking circuit; Battery-driven car retreats and travels; Soft start; Cruise travels; Electronic overall height, the operation of middling speed constant speed; Bus current detects and protection; The temperature detection of driving circuit radiator, motor internal, the demonstration of temperature value and overheating protection; Real-time demonstration and the overspeed protection of the detection of battery-driven car speed, velocity amplitude; Battery tension detection and overvoltage, under-voltage protection; The indication of battery-driven car mode of operation, the unlatching of actuator radiator fan, close; The open and close of motor internal radiator fan etc.
In the utility model, position detecting circuit 13 can adopt Hall element.The space vector rotating speed of stator is subject to the control of rotor Hall element all the time, thereby the rotating speed of stator rotating field synchronizes with rotor speed all the time, thereby has overcome, and because of the change of stator and rotor angle, and the torque pulsation that brings has improved motor performance.
In the utility model, motor car drive control apparatus adopts principal and subordinate's micro controller system double-core control form, host scm is mainly completed the computing of SVPWM control algorithm and the detection of hall position sensor position signal, the battery-driven car on off control, the control that the requirement of real-times such as the detection of current detecting and protection, storage battery power supply power line voltage and overvoltage, under-voltage protection are higher or to the comparatively control of crucial power line voltage of device operation; The charactron circulation of completing measurement, overheating protection and the temperature value of actuator radiator, motor internal temperature from micro controller system shows; The unlatching of actuator radiator fan and motor radiating fan, closure; The real-times such as real-time demonstration of the speed of battery-driven car are not high, or the not strong auxiliary control of importance.Control setup adopts the double-core control form, has made up the deficiency of single singlechip chip I/O mouth, has alleviated the work load of host scm in carrying out the SVPWM control algorithm; The reliability and stability of device have been improved; And leave interface, be convenient to the expansion of apparatus function from now on.
In the utility model, host scm 10 and the control chip DSC family chip with DSP kernel that from micro controller system 20, can adopt MICROCHIP company to produce.It obtains the periodic quantity of interval value and the motor sine-wave current of current rotor by Hall element, and periodic quantity calculates the rotating speed of motor and current PWM in the cycle thus, the incremental angular of rotor phasor.The E-gas signal after the A/D conversion, produces speed preset, and this speed preset is poor with the actual speed value that calculates,, by the PID computing, needing can obtain the sinusoidal waveform amplitude that produces.In the PWM interrupt procedure, rotor phase adds upper rotor part phasor incremental angular, obtains new rotor position angle, utilize new rotor position angle and sinusoidal waveform amplitude, by real-time calculating with table look-up and can produce the SVPWM ripple, the SVPWM ripple, through driving circuit, is controlled the electric machine speed regulation operation.
Battery-driven car 50 adopts the four-wheel structure, and before car, two-wheeled is wheel flutter, works the effect that turns to, and rear two-wheeled is drive wheel, after being slowed down by rear bridge mechanism by brushless motor, drives operation.The form that this device braking adopts mechanical braking mode and motor electromagnetic braking to combine.The DSPIC family chip that control setup adopts two MICROCHIP companies to produce, respectively as being master and slave double-core control.Wherein, it is as follows that master control DSPIC chip is mainly completed function: (1) receives the speed-regulating signal that navigating mate sends by E-gas, adopts SVPWM speed control algorithm, and battery-driven car is carried out speed control.(2) carry out the detection of power circuit bus current and overcurrent protection, when the electric current that detects surpasses setting value, cut off the electricity supply, make motor quit work, in order to device is carried out overcurrent protection.When detecting, during motor generation stall, cut off the electricity supply, make motor quit work, in order to motor is carried out the motor rotation blockage protection.(3) battery of electric power of the power supply of subtend battery-driven car carries out voltage detecting and carries out overvoltage and under-voltage protection., when the voltage source that storage battery detected surpasses or, lower than setting value, cuts off the electricity supply respectively, make motor quit work, in order to whole device is carried out overvoltage or under-voltage protection.(4) utilize Hall element, motor speed is detected, and regularly speed pulse signal,, by corresponding I/O mouth (corresponding in Fig. 1, the speed signal mouth), send auxiliary DSP IC control chip to.(5) receive the control commands such as startup that navigating mate sends, braking, counter-rotating, cruise, soft start, and carry out the relevant control functions such as startup, braking, counter-rotating, cruise, soft start.
Auxiliary DSP IC control chip is as the expansion of master control DSPIC chip functions and supplement, and, to alleviate the work capacity of host scm DSPIC, completes the ancillary control function of battery-driven car, leaves simultaneously interface, can be used for the expansion of this apparatus function.Radical function is as follows: (1) receives the speed pulse signal that master control DSPIC chip transmits, and after parsing, controls charactron and shows in real time the present speed value; Surpass and set maximum speed as present speed; by the I/O mouth, to master control DSPIC chip, send braking low level signal (signal pins of overrunning in corresponding diagram 1); master control DSPIC chip detection is after the low level information of corresponding I/O mouth (signal pins of namely overrunning); namely send brake command; make battery-driven car shut down and cut off the electricity supply, so that battery-driven car is carried out overspeed protection.(2) adopt the bus type digital temperature sensor DS18B20, 2 sampling point (power circuit radiatores to motor car drive control apparatus, the motor internal temperature) carry out cycle detection and the numerical value demonstration of temperature, and according to temperature conditions, the fan of opening and closing in good time Hot-air fan (power circuit radiator heat-dissipation fan and motor internal radiator fan), fan heat, as detection site (power circuit radiator, motor internal) in, there is place's temperature to surpass setting value, auxiliary DSP IC chip sends the braking low level signal by corresponding I/O mouth pin (the heat alarm pin in corresponding diagram 1) to master control DSPIC chip, after master control DSPIC detects the low level information of corresponding I/O mouth, namely send brake command, make electric vehicle parking, outage, to carry out overheating protection.
Wherein, for simplified design, reduce costs, improve the reliability of communication, universaling I/O port, transmission of information are adopted in the communication between master control DSPIC chip and auxiliary DSP IC chip.Master control DSPIC chip; at regular intervals, by I/O mouth pin, the speed signal that Hall element is transmitted; Negotiation speed pin (see figure 1) is issued auxiliary DSP IC chip; after auxiliary DSP IC chip is received signal, resolve, then on charactron; real-time display speed value. as occur overrunning;, by the pin of overrunning of the I/O mouth that is connected with host scm, to master control DSPIC chip, send the overspeed protection signal, order about electric vehicle parking, outage.Auxiliary control DSIC chip is when detecting equipment overheat, and another I/O mouth pin (the heat alarm pin in corresponding diagram 1) by with host scm, being connected, send the overheating protection low level signal to host scm, orders about electric vehicle parking, outage.
In the utility model, driving control device adopts the back-wheel drive form, and motor, by back axle, transmits torque to trailing wheel, drives.The power circuit of the drive system of this device adopts H bridge form, and motor body adopts three-phase Y type to connect.Due to the characteristics of this device for the low-voltage, high-current power supply, maximum power can be 5KW, therefore each switching power tube on power circuit adopts the N raceway groove insulated-gate type power MOS tube parallel mode of a plurality of same specifications, and unified being fixed on a heat sink strip, with problems such as the parasitic inductance that reduces the pin that large electric current brings and distributed inductance, parasitic capacitance, device heatings.
the effect of driving circuit 11 is the control signal that the DSPIC control chip sends is driven and amplify, and driving circuit 11 is A, B, the C three-phase drive circuit, the structure of three-phase drive circuit is identical, and wherein as shown in Figure 2, B phase driving circuit comprises the driving circuit of B circuitry phase: aerotron Q8, aerotron Q17, aerotron Q18, aerotron Q19, aerotron Q20, aerotron Q2, aerotron Q9, aerotron Q21, metal-oxide-semiconductor MB1, metal-oxide-semiconductor MB15, diode D14, diode D13, resistance R 90, resistance R 60, resistance R 61, resistance R 89, resistance R b1, resistance R bf1, resistance R 96, resistance R b5, resistance R bf5, resistance R 93, resistance R 95, resistance R 62, resistance R 94, resistance R 3, capacitor C 10, capacitor C 6, capacitor C 7, capacitor C b5, the base stage of aerotron Q8 connects BH by resistance R 60, the emitter of aerotron Q8 is by resistance R 61 ground connection, the base stage of aerotron Q17 is connected to the collecting electrode of aerotron Q8, the emitter of aerotron Q17 is connected to the negative electrode of diode D14, the anodic bonding 15V voltage of diode D14, the one end ground connection other end of capacitor C 10 is connected to 15V voltage, and an end of resistance R 90 is connected to the collecting electrode of Q8, and the other end is connected to the emitter of aerotron Q17, the grid of metal-oxide-semiconductor MB1 is connected to the negative electrode of diode D13 by resistance R b1, the anodic bonding of diode D13 is to the collecting electrode of aerotron Q17, the drain electrode of metal-oxide-semiconductor MB1 connects 72V voltage, the base stage of aerotron Q18 is connected to the collecting electrode of aerotron Q17, the emitter of aerotron Q18 is by resistance R bf1 and the capacitor C b1 source electrode that is connected to metal-oxide-semiconductor MB1 of series connection successively, resistance R bf1 is connected with capacitor C b1 and is connected in series end and also with the grid of metal-oxide-semiconductor MB1, is connected, one end of resistance R 89 is connected to the base stage of aerotron Q18, and the other end is connected to the collecting electrode of aerotron Q18, capacitor C 6 and inductance L 1 are connected in series between the collecting electrode of 15V voltage and aerotron Q18 successively, the base stage of aerotron Q19 is connected to the base stage of aerotron Q20, the collecting electrode of aerotron Q19 is connected to 15V voltage, the emitter of aerotron Q19 is connected to 15V voltage, one end of resistance R 93 is connected to 15V, the other end of resistance R 93 is connected to the base stage of aerotron Q19, the base stage of aerotron Q21 is connected to BH by resistance R 95, the grounded emitter of aerotron Q21, the collecting electrode of aerotron Q21 is connected to the base stage of aerotron Q19, the base stage of aerotron Q9 is connected to the collecting electrode of aerotron Q2 by resistance R 62, the grounded emitter of aerotron Q9, the collecting electrode of aerotron Q9 is connected to the collecting electrode of aerotron Q21, the base stage of aerotron Q2 is connected to BL by resistance R 3, the grounded emitter of aerotron Q2, the collecting electrode of aerotron Q20 is connected to the collecting electrode of aerotron Q2, the source electrode that the emitter of aerotron Q20 is connected to metal-oxide-semiconductor MB15 by the resistance R bf5 that is connected in series successively and capacitor C b5, one end of resistance R 94 connects power supply VCC, and the other end is connected to the collecting electrode of aerotron Q20, resistance R b5 and resistance R 96 ground connection of the grid of metal-oxide-semiconductor MB15 by being connected in series successively, the end that is connected in series of resistance R b5 and resistance R 96 is connected to 15V voltage, the grid of metal-oxide-semiconductor MB15 also is connected to the end that is connected in series of resistance R bf5 and capacitor C b5, and the drain electrode of metal-oxide-semiconductor MB15 is connected to the source electrode of metal-oxide-semiconductor MB1, one end of capacitor C 7 is connected to the drain electrode of metal-oxide-semiconductor MB1, and the other end is connected to the source electrode of metal-oxide-semiconductor MB15.
Wherein, a pin BH of host scm can carry out the chip initiation setting by program, can produce the adjustable pwm signal of dutycycle, generally is used for driving the upper pipe of power circuit B phase power tube, sends pwm signal for upper pipe.A pin BL of host scm can carry out the chip initiation setting by program, can produce the adjustable pwm signal of dutycycle, generally is used for driving the lower pipe of power circuit B phase power tube, sends pwm signal for lower pipe.
Take B mutually as example, its principle of work is as follows: upper metal-oxide-semiconductor MB1 working process is as follows: when upper pipe driving signal BH is high level, triode Q8, the Q17 conducting, driving voltage VCC1(15V) add supreme metal-oxide-semiconductor MB1 grid, make its conducting, after conducting, the source voltage of MB1 is raised to 72V, owing to charging before capacitor C 6, and be 15V, so the MB1 grid voltage also is elevated thereupon, MB1 continues conducting, as long as capacitor C 7 is when design, value is suitable, can guarantee that the driving voltage of MB1 is in suitable scope; When the BH signal is low level, Q8, Q17 cut-off, the Q18 conducting, MB1 grid stored charge discharges rapidly through Q18, in time cut-off.Lower metal-oxide-semiconductor MB15 working process is as follows: when lower pipe driving signal BL is high level, and aerotron Q2, Q19 conducting, Q9 cut-off, the grid that driving voltage VCC1 adds to metal-oxide-semiconductor MB15 makes its conducting.When BL is low level, the Q2 cut-off, Q9, Q20 conducting, MB15 grid stored charge discharges rapidly through Q20, Q9, makes its timely cut-off.This circuit has hardware dead zone protection function, while as when upper pipe, driving signal BH, being high level, and upper pipe conducting; In lower tube drive circuit, Q21, the Q20 conducting, lower pipe MB15 is cut off, and realizes the hardware interlock of up and down metal-oxide-semiconductor, can prevent that the H bridge is managed straight-through up and down, destroying device when the software-driven logical mistake.
in the utility model, as shown in Figure 3, current detection circuit 12 comprises: the first comparator IC6, the second comparator IC7, the 3rd comparator IC8, diode D6, resistance R 12, resistance R 13, resistance R 14, resistance R 15, resistance R 16, resistance R 17, resistance R 18, resistance R 19, resistance R 20, resistance R 21, resistance R 22, resistance R 23, resistance R 24, capacitor C 8, capacitor C 9, capacitor C 10, capacitor C 11, resistance R 13 and resistance R 14 are connected in series between 5V voltage and ground successively, the end that is connected in series of resistance R 13 and resistance R 14 is connected to the inverting input of the first comparator IC6, the normal phase input end of the first comparator IC6 is connected to the anode of diode D6, the negative electrode of diode D6 is used for the connection location sampled signal, the normal phase input end of the first comparator IC6 is also by capacitor C 8 ground connection, and resistance R 12 is connected in the two ends of diode D6 in parallel, resistance R 19 and resistance R 20 are connected in series between 5V voltage and ground successively, the end that is connected in series of resistance R 19 and resistance R 20 is connected to the inverting input of the second comparator IC7, the normal phase input end of the second comparator IC7 is connected to the mouth of the first comparator IC6 by resistance R 18, the normal phase input end of the second comparator IC7 is resistance R 16 and resistance R 15 ground connection by being connected in series successively also, and the end that is connected in series that resistance R 16 is connected with resistance R is used for connecting current sampling signal, one end of resistance R 17 is connected to the normal phase input end of the second comparator IC7, the other end ground connection of resistance R 17, the mouth of the second comparator IC7 is as device overcurrent protection signal pins, it is connected with an I/0 mouth of host scm, after host scm detects this I/O mouth signal and the positive rise signal occurs, namely think device generation overcurrent, namely send the overcurrent protection order, the shutoff power circuit drives, the overcurrent protection of implement device, one end of resistance R 21 is used for connecting current sampling signal, the other end of resistance R 21 is connected to the normal phase input end of the 3rd comparator IC8, the inverting input of the 3rd comparator IC8 is by resistance R 22 ground connection, resistance R 24 and capacitor C 11 ground connection of the mouth of the 3rd comparator IC8 by being connected in series successively, being connected in series of resistance R 24 and capacitor C 11 held as device current detecting leads ends, be connected with an I/O mouth of host scm, the voltage of this current detecting leads ends of host scm time sampling, host scm is according to the size of this terminal voltage, through calculating, can learn the size of current device power circuit bus current, then according to program, complete corresponding control.One end of resistance R 23 is connected to the mouth of the 3rd comparator IC8, and the other end of resistance R 23 is connected to the inverting input of the 3rd comparator IC8; One end of capacitor C 9 is connected to an end of resistance R 21, the other end ground connection of capacitor C 9; One end of capacitor C 10 is connected to the other end of resistance R 21, the other end ground connection of capacitor C 10.
Battery-driven car when starting or go up a slope, need to have larger electric current to produce large moment, with lifting, exerts oneself; When motor occurs abnormal and during overcurrent (such as stall), needs to protect immediately shutdown, the limit of the overcurrent protection of battery-driven car hardware in the past is generally according to above two kinds of situations, takes a compromise value to set, and effect is not satisfactory.The cut-off current when cut-off current when the design moves motor in conjunction with actual conditions and stall are abnormal, set respectively, and hardware system is according to the real work situation, and selected overcurrent protection is limit automatically, thereby improved the effect of device.
The principle of work of current detection circuit 12 is as follows: when motor normally moves, Hall element output continuous impulse, according to parameter designing, capacitor C 8 velocities of discharge are much larger than the speed of its charging, thereby the voltage on capacitor C 8 is lower, comparator IC6 output low level, on the protection limit nothing impact of IC7 current-limiting circuit, its cut-off current is normal operation cut-off current; But when motor rotation blockage; capacitor C 8 is overcharged; its magnitude of voltage increases many; comparator IC6 exports high level; raised the voltage of IC7 anode; because IC7 negative terminal current protection limit value is constant, at this moment the locked rotor current of less will draw IC7 output overcurrent signal, thereby has indirectly reduced the overcurrent protection limit when abnormal such as stall.What consider this device employing is the PWM mode, a large amount of high fdrequency components can superpose in current sampling signal, (current sampling signal is identical with the pwm pulse frequency, certain hour lags behind on phase place), so in the IC8 current sampling circuit, designed the first-order filtering link that is formed by R24 and C11., in order to improve filter effect, during design, adopted lower cutoff frequency.
In the utility model, this device is provided with high and low level brake modes, circuit such as Fig. 4, braking circuit 18 comprises: aerotron Q23, resistance R 23, resistance R 95, resistance R 7, diode D3, capacitor C 50, capacitor C 3, the negative electrode of diode D3 is used for connecting the low level brake signal, the anode of diode D3 is connected to the collecting electrode of aerotron Q23 by resistance R 23, the collecting electrode of aerotron Q23 also is connected to RC2, wherein RC2 is an I/O pin of host scm,, if it is low level that host scm detects this pin, namely make braking commands; The grounded emitter of aerotron Q23, the base stage of aerotron Q23 is connected to 5V voltage by resistance R 7; One end of resistance R 95 is connected to the base stage of aerotron Q23, the other end ground connection of resistance R 95; One end of capacitor C 3 is connected to the base stage of aerotron Q23, the other end ground connection of capacitor C 3; One end of capacitor C 50 is connected to RC2, the other end ground connection of capacitor C 50.Wherein, the given signal of high and low level brake of 1 or 2 ends, all can make the RC2 end pin of DSC obtain the low level brake signal, triggers brake.
In the utility model, this actuating device adopts 4 kinds of Power supplies, is respectively 72V, 15V, 5V, 3.3V, and wherein the power circuit power supply adopts the power supply of 72V lead-acid storage battery; The driving circuit of the power MOS pipe of power circuit, adopt 15V voltage to drive; Current sample and protective circuit, Hall element feed circuit, high level braking circuit power supply voltage all adopt the 5V voltage fed, and the DSPIC single-chip minimum system adopts the 3.3V power voltage supply.As shown in Figure 5, power circuit 32 comprises: power supply chip LM117, power supply chip 78105, power supply chip VIPER12A and peripheral circuit thereof; The 1st pin of power supply chip VIPER12A is connected to the negative electrode of diode D4, the plus earth of diode D4; One end of capacitor C 14 is connected to the 1st pin of power supply chip VIPER12A, and the other end of capacitor C 14 is connected to the 2nd pin of power supply chip VIPER12A; The negative electrode of diode D5 is connected to the 2nd pin of power supply chip VIPER12A, the negative electrode of diode D5 also is connected to the 3rd pin of power supply chip VIPER12A by resistance R 5, the anodic bonding of diode D5 is to the anode of diode D3, and the negative electrode of diode D3 is connected to the 4th pin of power supply chip VIPER12A; One end of capacitor C 15 is connected to the 2nd pin of power supply chip VIPER12A, and the other end of capacitor C 15 is connected to the 4th pin of power supply chip VIPER12A; The negative electrode of diode D6 is connected to power supply VCC by resistance R 8, and the anode of diode D6 is used for connecting electric door lock; The 5th pin of power supply chip VIPER12A, the 6th pin, the 7th pin and the 8th pin all are connected to the coupling end of resistance R 8 and diode D6; The negative electrode of diode D2 is connected to the 2nd pin of power supply chip VIPER12A by electric capacity, the anodic bonding of diode D2 is to the 1st pin of power supply chip 78105; One end of inductance L 6 is connected to the 2nd pin of power supply chip VIPER12A, and the other end of inductance L 6 is connected to the 1st pin of power supply chip 78105; The negative electrode of diode D1 is connected to the 1st pin of power supply chip 78105, the plus earth of diode D1; One end of capacitor C 20 is connected to the 1st pin of power supply chip 78105, the other end ground connection of capacitor C 20; One end of capacitor C 21 is connected to the 1st pin of power supply chip 78105, the other end ground connection of capacitor C 21; The 2nd pin ground connection of power supply chip 78105, the 3rd pin of power supply chip 78105 connect+5V voltage after being connected to the 3rd pin of power supply chip LM117 again; One end of capacitor C 16 is connected to the 3rd pin of power supply chip LM117, the other end ground connection of capacitor C 16; One end of capacitor C 17 is connected to the 3rd pin of power supply chip LM117, the other end ground connection of capacitor C 17; The 1st pin ground connection of power supply chip LM117, the 2nd pin of power supply chip LM117 with connect again 3.3V voltage after the 0th pin is connected, an end of capacitor C 18 is connected to the 2nd pin of power supply chip LM117, the other end ground connection of capacitor C 18; One end of capacitor C 19 is connected to the 2nd pin of power supply chip LM117, the other end ground connection of capacitor C 19.
In the utility model, the monolithic small-power switching power-supply VIPER12A that control setup adopts Yi Fa company to release, 72V is converted to 15V, thereafter adopting power supply chip 78L05 is 5V voltage with the 15V voltage transitions, then, adopt power supply chip LM117,5V is converted to 3.3V, respectively for the different circuit of device.When electric door lock was plugged, 5,6,7,8 pins of power supply chip Viper12A were forced to become low level, 15V, and 5V, the 3.3V power cut-off, the device outage, quit work.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all any modifications of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., within all should being included in protection domain of the present utility model.
Claims (5)
1. a motor car drive control apparatus, comprise brushless motor, H bridge power circuit, power circuit and temperature sensing circuit, it is characterized in that, also comprises:
From micro controller system, respectively with described host scm, relay, speed digital display module, the temperature digital display module that is connected from micro controller system, the radiator fan that is connected with described relay; The state indicating module, E-gas, status control module and the braking circuit that are connected with described host scm respectively; The position detecting circuit that input end is connected with described brushless motor and mouth is connected with described host scm; Input end and the current detection circuit that described H bridge power circuit is connected and mouth is connected with described host scm; The voltage detecting circuit that input end is connected with described power circuit and mouth is connected with described host scm; The driving circuit that input end is connected with described host scm and mouth is connected with described H bridge power circuit.
2. motor car drive control apparatus as claimed in claim 1, it is characterized in that, described driving circuit is three-phase drive circuit, wherein a phase driving circuit comprises aerotron Q8, aerotron Q17, aerotron Q18, aerotron Q19, aerotron Q20, aerotron Q2, aerotron Q9, aerotron Q21, metal-oxide-semiconductor MB1, metal-oxide-semiconductor MB15, diode D14, diode D13, resistance R 90, resistance R 60, resistance R 61, resistance R 89, resistance R b1, resistance R bf1, resistance R 96, resistance R b5, resistance R bf5, resistance R 93, resistance R 95, resistance R 62, resistance R 94, resistance R 3, capacitor C 10, capacitor C 6, capacitor C 7 and capacitor C b5,
the base stage of described aerotron Q8 connects BH by described resistance R 60, the emitter of described aerotron Q8 is by described resistance R 61 ground connection, the base stage of described aerotron Q17 is connected to the collecting electrode of described aerotron Q8, the emitter of described aerotron Q17 is connected to the negative electrode of described diode D14, the anodic bonding 15V voltage of described diode D14, an end ground connection other end of described capacitor C 10 is connected to 15V voltage, one end of described resistance R 90 is connected to the collecting electrode of described aerotron Q8, and the other end of described resistance R 90 is connected to the emitter of aerotron Q17, the grid of described metal-oxide-semiconductor MB1 is connected to the negative electrode of described diode D13 by described resistance R b1, the anodic bonding of described diode D13 is to the collecting electrode of described aerotron Q17, the drain electrode of described metal-oxide-semiconductor MB1 connects 72V voltage, the base stage of described aerotron Q18 is connected to the collecting electrode of described aerotron Q17, the emitter of described aerotron Q18 is by described resistance R bf1 and the described capacitor C b1 source electrode that is connected to described metal-oxide-semiconductor MB1 of series connection successively, described resistance R bf1 be connected the end that is connected in series of capacitor C b1 and also with the grid of described metal-oxide-semiconductor MB1, be connected, one end of described resistance R 89 is connected to the base stage of described aerotron Q18, the other end of described resistance R 89 is connected to the collecting electrode of the aerotron Q18 of described resistance R 89, described capacitor C 6 and described inductance L 1 are connected in series between the collecting electrode of 15V voltage and described aerotron Q18 successively, the base stage of described aerotron Q19 is connected to the base stage of described aerotron Q20, the collecting electrode of described aerotron Q19 is connected to 15V voltage, the emitter of described aerotron Q19 is connected to 15V voltage, one end of described resistance R 93 is connected to 15V, the other end of described resistance R 93 is connected to the base stage of described aerotron Q19, and the base stage of described aerotron Q21 is connected to the I/O pin of described host scm by described resistance R 95, the grounded emitter of described aerotron Q21, the collecting electrode of described aerotron Q21 is connected to the base stage of described aerotron Q19, the base stage of described aerotron Q9 is connected to the collecting electrode of described aerotron Q2 by described resistance R 62, the grounded emitter of described aerotron Q9, the collecting electrode of described aerotron Q9 is connected to the collecting electrode of described aerotron Q21, and the base stage of described aerotron Q2 is connected to the I/O pin of described host scm by described resistance R 3, the grounded emitter of described aerotron Q2, the collecting electrode of described aerotron Q20 is connected to the collecting electrode of described aerotron Q2, the source electrode that the emitter of described aerotron Q20 is connected to described metal-oxide-semiconductor MB15 by the described resistance R bf5 that is connected in series successively and described capacitor C b5, one end of described resistance R 94 connects power supply VCC, and the other end is connected to the collecting electrode of described aerotron Q20, described resistance R b5 and described resistance R 96 ground connection of the grid of described metal-oxide-semiconductor MB15 by being connected in series successively, the end that is connected in series of described resistance R b5 and described resistance R 96 is connected to 15V voltage, the grid of described metal-oxide-semiconductor MB15 also is connected to the end that is connected in series of described resistance R bf5 and described capacitor C b5, and the drain electrode of described metal-oxide-semiconductor MB15 is connected to the source electrode of described metal-oxide-semiconductor MB1, one end of described capacitor C 7 is connected to the drain electrode of described metal-oxide-semiconductor MB1, and the other end is connected to the source electrode of described metal-oxide-semiconductor MB15.
3. motor car drive control apparatus as claimed in claim 1, it is characterized in that, described current detection circuit comprises: the first comparator IC6, the second comparator IC7, the 3rd comparator IC8, diode D6, resistance R 12, resistance R 13, resistance R 14, resistance R 15, resistance R 16, resistance R 17, resistance R 18, resistance R 19, resistance R 20, resistance R 21, resistance R 22, resistance R 23, resistance R 24, capacitor C 8, capacitor C 9, capacitor C 10 and capacitor C 11;
Described resistance R 13 and described resistance R 14 are connected in series between 5V voltage and ground successively, the end that is connected in series of described resistance R 13 and described resistance R 14 is connected to the inverting input of described the first comparator IC6, the normal phase input end of described the first comparator IC6 is connected to the anode of described diode D6, and the negative electrode of described diode D6 is used for the connection location sampled signal; The normal phase input end of described the first comparator IC6 is also by described capacitor C 8 ground connection, and described resistance R 12 is connected in the two ends of described diode D6 in parallel; Described resistance R 19 and described resistance R 20 are connected in series between 5V voltage and ground successively, the end that is connected in series of described resistance R 19 and described resistance R 20 is connected to the inverting input of described the second comparator IC7, the normal phase input end of described the second comparator IC7 is connected to the mouth of described the first comparator IC6 by described resistance R 18, the normal phase input end of described the second comparator IC7 is described resistance R 16 and described resistance R 15 ground connection by being connected in series successively also, described resistance R 16 be connected the end that is connected in series of resistance R 15 and be used for connect current sampling signal; One end of described resistance R 17 is connected to the normal phase input end of described the second comparator IC7, the other end ground connection of described resistance R 17; The mouth of described the second comparator IC7 is connected with described host scm I/0 mouth as the overcurrent protection signal pins; One end of described resistance R 21 is used for connecting current sampling signal, the other end of described resistance R 21 is connected to the normal phase input end of described the 3rd comparator IC8, the inverting input of described the 3rd comparator IC8 is by described resistance R 22 ground connection, described resistance R 24 and described capacitor C 11 ground connection of the mouth of described the 3rd comparator IC8 by being connected in series successively, the end that is connected in series of described resistance R 24 and described capacitor C 11 is connected with the I/0 mouth of host scm as the current detecting leads ends; One end of described resistance R 23 is connected to the mouth of described the 3rd comparator IC8, and the other end of described resistance R 23 is connected to the inverting input of described the 3rd comparator IC8; One end of described capacitor C 9 is connected to an end of described resistance R 21, the other end ground connection of described capacitor C 9; One end of described capacitor C 10 is connected to the other end of described resistance R 21, the other end ground connection of described capacitor C 10.
4. motor car drive control apparatus as claimed in claim 1, is characterized in that, described braking circuit comprises aerotron Q23, resistance R 23, resistance R 95, resistance R 7, diode D3, capacitor C 50 and capacitor C 3;
The negative electrode of described diode D3 is used for connecting the low level brake signal, and the anode of described diode D3 is connected to the collecting electrode of described aerotron Q23 by described resistance R 23, and the collecting electrode of described aerotron Q23 also is connected to the I/O pin of described host scm; The grounded emitter of described aerotron Q23, the base stage of described aerotron Q23 is connected to 5V voltage by described resistance R 7; One end of described resistance R 95 is connected to the base stage of described aerotron Q23, the other end ground connection of described resistance R 95; One end of described capacitor C 3 is connected to the base stage of described aerotron Q23, the other end ground connection of described capacitor C 3; One end of described capacitor C 50 is connected to the I/O pin of described machine micro controller system, the other end ground connection of described capacitor C 50.
5. motor car drive control apparatus as claimed in claim 1, is characterized in that, described position detecting circuit is Hall element.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106406372A (en) * | 2016-04-13 | 2017-02-15 | 上海物景智能科技有限公司 | Multi-motor controller used for unmanned cleaning vehicle |
| CN107508504A (en) * | 2016-09-30 | 2017-12-22 | 宁波精控电子科技有限公司 | Control circuit and signal transfer control method and the motor with control circuit |
| CN109538025A (en) * | 2018-11-15 | 2019-03-29 | 湖南金杯新能源发展有限公司 | Electronic lock control device and electronic lock |
| CN110299831A (en) * | 2019-07-08 | 2019-10-01 | 珠海格力电器股份有限公司 | PWM wave adaptive generation circuit and inverter circuit and air conditioner |
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2013
- 2013-06-25 CN CN2013203651147U patent/CN203283049U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106406372A (en) * | 2016-04-13 | 2017-02-15 | 上海物景智能科技有限公司 | Multi-motor controller used for unmanned cleaning vehicle |
| CN107508504A (en) * | 2016-09-30 | 2017-12-22 | 宁波精控电子科技有限公司 | Control circuit and signal transfer control method and the motor with control circuit |
| CN107508504B (en) * | 2016-09-30 | 2024-04-16 | 宁波精控电子科技有限公司 | Control circuit, signal transmission control method and motor with control circuit |
| CN109538025A (en) * | 2018-11-15 | 2019-03-29 | 湖南金杯新能源发展有限公司 | Electronic lock control device and electronic lock |
| CN110299831A (en) * | 2019-07-08 | 2019-10-01 | 珠海格力电器股份有限公司 | PWM wave adaptive generation circuit and inverter circuit and air conditioner |
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