CN203788203U - PWM double closed-loop electric bicycle speed regulation control system - Google Patents
PWM double closed-loop electric bicycle speed regulation control system Download PDFInfo
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- CN203788203U CN203788203U CN201420214079.3U CN201420214079U CN203788203U CN 203788203 U CN203788203 U CN 203788203U CN 201420214079 U CN201420214079 U CN 201420214079U CN 203788203 U CN203788203 U CN 203788203U
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Abstract
The utility model provides a PWM double closed-loop electric bicycle speed regulation control system comprising a power circuit, a rotating speed regulating circuit, a current regulating circuit, a PWM generating circuit, an isolating and driving circuit, a power amplification circuit, and a DC motor, wherein the rotating speed regulating circuit, the current regulating circuit, the PWM generating circuit, the isolating and driving circuit, the power amplification circuit, and the DC motor are connected successively. The power circuit is connected with the rotating speed regulating circuit, the current regulating circuit, the PWM generating circuit, the isolating and driving circuit, and the power amplification circuit. The rotating speed regulating circuit and the DC motor are connected with a rotating speed feedback circuit. The current regulating circuit and the power amplification circuit are connected with a current feedback circuit. The control system transforms an open-loop speed regulating system to a closed-loop speed regulating system, and corrects the dynamic performance of the speed regulating system with a rotating regulator and a current regulator so as to enable the speed regulating system to satisfy requirement of the control system for stability, accuracy, and rapidity.
Description
Technical field
The utility model belongs to industrial control technology field, relates to a kind of control system of electric-bike, particularly the two closed loop electric bicycle speed-regulating control system of a kind of PWM.
Background technology
Along with the fast development of modern social economy, people's rhythm of life accelerates, and movable scope constantly expands, and requires the time of trip to reduce as far as possible.Electric bicycle is quick and easy with it, environmental protection and energy saving, the advantage such as economical and practical meet the ordinary people short distance demand of trip fast, is subject to people's favor.But existing electric bicycle speed-regulating circuit is all that open loop is controlled, main circuit is without regenerative electric power regenerative braking function.Therefore, sort circuit system power utilance is low, and dynamic performance is poor, and this frequently has the actual conditions of the braking of having carried, stepless speed regulation very unfavorable for electric bicycle.
Summary of the invention
It is stable that the purpose of this utility model is to provide a kind of starting performance, and improving speed governing is dynamic characteristic, improves PWM rotating speed, the current double closed-loop electric bicycle speed-regulating control system of storage battery accumulate utilance.
For achieving the above object, the technical scheme that the utility model adopts is: the two closed loop electric bicycle speed-regulating control system of a kind of PWM, comprise power circuit and the two closed-loop regulator circuit, PWM circuit for generating, isolation and drive circuit, power amplification circuit and the DC motor that are connected successively; Power circuit is connected with power amplification circuit with drive circuit with two closed-loop regulator circuit, PWM circuit for generating, isolation respectively; In PWM circuit for generating, be provided with saw-tooth wave generating circuit; Two closed-loop regulator circuit are comprised of current regulating circuit, rotational speed regulation circuit, speed feedback circuit and current feedback circuit; Rotational speed regulation circuit is connected with power circuit, current regulating circuit and speed feedback circuit respectively, speed feedback circuit is connected with DC motor, current regulating circuit is also connected with power circuit, current feedback circuit and PWM circuit for generating respectively, and current feedback circuit is connected with power amplification circuit.
The two closed loop electric bicycle speed-regulating control system of the utility model PWM are broken away from the constraint of conventional open-loop control system, open loop governing system is transformed into Closed-Loop Speed Governing System, employing has the irreversible pwm converter of stalling current path, utilize speed regulator ASR, current regulator ACR to proofread and correct the dynamic property of governing system, make electric bicycle speed-regulating system meet the requirement of industrial control system to stability, accuracy, rapidity.
Accompanying drawing explanation
Fig. 1 is the utility model speed-adjusting and control system schematic diagram.
Fig. 2 is the structural representation of two closed-loop regulator circuit in the utility model control system.
Fig. 3 is the structural representation of PWM circuit for generating in the utility model control system.
Fig. 4 is isolation and the structural representation of drive circuit in the utility model control system.
Fig. 5 is the structural representation of power amplification circuit in the utility model control system.
Fig. 6 is the schematic diagram of PWM pulse-width modulation in the utility model control system.
Fig. 7 is the schematic diagram that in the utility model control system, DC motor is changed between electronic and braking two states.
In Fig. 1: 1. power circuit, 2. current regulating circuit, 3. rotational speed regulation circuit, 4. pair closed-loop regulator circuit, 5. speed feedback circuit, 6. current feedback circuit, 7.PWM circuit for generating, 8. saw-tooth wave generating circuit, 9. DC motor, 10. power amplification circuit, 11. isolation and drive circuits.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is elaborated.
As shown in Figure 1, the two closed loop electric bicycle speed-regulating control system of the utility model PWM, comprise power circuit 1 and two closed-loop regulator circuit 4, PWM circuit for generating 7, isolation and the drive circuit 11, power amplification circuit 10 and the DC motor 9 that are connected successively; Power circuit 1 is connected with power amplification circuit 10 with drive circuit 11 with two closed-loop regulator circuit 4, PWM circuit for generating 7, isolation respectively; In PWM circuit for generating 7, be provided with saw-tooth wave generating circuit 8; Two closed-loop regulator circuit 4 are comprised of current regulating circuit 2, rotational speed regulation circuit 3, speed feedback circuit 5 and current feedback circuit 6; Rotational speed regulation circuit 3 is connected with power circuit 1, current regulating circuit 2 and speed feedback circuit 5 respectively, speed feedback circuit 5 is connected with DC motor 9, current regulating circuit 2 is also connected with power circuit 1, current feedback circuit 6 and PWM circuit for generating 7 respectively, and current feedback circuit 6 is connected with power amplification circuit 10.
Rotational speed regulation circuit 3 and speed feedback circuit 5 form speed closed loop adjuster.Current feedback circuit 6 and current regulating circuit 2 form current closed-loop adjuster.
As shown in Figure 2, the two closed-loop regulator circuit 4 in the utility model speed-adjusting and control system, comprise the first chip U1, the second chip U2, the 3rd chip U3 and four-core sheet U4, and these four chips are operational amplifier; The inverting input of the first chip U1 is connected with one end of the 3rd resistance R 3 with one end of the first resistance R 1 respectively, and the other end of the first resistance R 1 is connected with DC motor 9; The normal phase input end of the first chip U1 is connected with one end of the second resistance R 2, the other end ground connection of the second resistance R 2, the output of the first chip U1 is connected with the other end of the 3rd resistance R 3 and one end of the 4th resistance R 4 respectively, and the output of the inverting input of the first chip U1, the first chip U1 and the 3rd resistance R 3 form speed feedback circuit 5; The other end of the 4th resistance R 4 joins with one end of the second capacitor C 2 and one end of the 7th resistance R 7 respectively, the other end of the 7th resistance R 7 respectively with the inverting input of the second chip U2, one end of one end of the 6th resistance R 6, the 9th resistance R 9 and the positive pole of the first voltage stabilizing didoe ZD1 be connected; The other end of the 6th resistance R 6 is connected with one end of the 5th resistance R 5 with one end of the first capacitor C 1 respectively, connect in power circuit 1+5V voltage of the other end of the 5th resistance R 5, should+5V voltage is rotational speed setup voltage.One end of anti-phase input termination the 8th resistance R 8 of the second chip U2, the other end ground connection of the 8th resistance R 8, the negative pole of the negative pole of the first voltage stabilizing didoe ZD1 and the second voltage stabilizing didoe ZD2 joins, one end of another termination the 3rd capacitor C 3 of the 9th resistance R 9, the other end of the positive pole of the second voltage stabilizing didoe ZD2, the 3rd capacitor C 3 is all connected with one end of the 13 resistance R 13 with the output of the second chip U2, the inverting input of the output of the second chip U2, the 3rd capacitor C 3, the 9th resistance R 9 and the second chip U2 forms rotational speed regulation circuit 4, the other end of the 13 resistance R 13 is connected with one end of the 15 resistance R 15 with one end of the 4th capacitor C 4 respectively, the other end ground connection of the 4th capacitor C 4, the other end of the 15 resistance R 15 respectively with one end of the 16 resistance R 16, the inverting input of four-core sheet U4, the positive pole of one end of the 17 resistance R 17 and the 3rd voltage stabilizing didoe ZD3 is connected, the negative pole of the negative pole of the 3rd voltage stabilizing didoe ZD3 and the 4th voltage stabilizing didoe ZD4 joins, the other end of the 17 resistance R 17 is connected with one end of the 6th capacitor C 6, the positive pole of the 4th voltage stabilizing didoe ZD4, the other end of the 6th capacitor C 6 is connected with the output of four-core sheet U4, its contact and PWM circuit for generating 7 join, the normal phase input end of four-core sheet U4 connects one end of the 18 resistance R 18, the other end ground connection of the 18 resistance R 18, the other end of the 16 resistance R 16 is connected with one end of the 5th capacitor C 5 with one end of the 14 resistance R 14 respectively, the other end ground connection of the 5th capacitor C 5, the other end of the 14 resistance R 14 is connected with one end of the 12 resistance R 12 with the output of the 3rd chip U3 respectively, the inverting input of the 3rd chip U3 is connected with the other end of the 12 resistance R 12 with one end of the 11 resistance R 11 respectively, the other end ground connection of the 11 resistance R 11, the normal phase input end of the 3rd chip U3 connects one end of the tenth resistance R 10, another termination power amplification circuit 10 of the tenth resistance R 10, the inverting input of the output of the 3rd chip U3, the 3rd chip U3 and the 12 resistance R 12 form current feedback circuit 6, the output of four-core sheet U4, the inverting input of four-core sheet U4, the 17 resistance R 17 and the 6th capacitor C 6 form current regulating circuit 2.
Four voltage stabilizing didoes play amplitude limit effect in two closed-loop regulator circuit 4, to guarantee that operational amplifier is operated in the range of linearity and protects all parts of governing system normally to work.
As shown in Figure 3, the PWM circuit for generating 7 in the utility model control system, comprises the 5th chip U5 and the 6th chip U6, and the 5th chip U5 and the 6th chip U6 all adopt operational amplifier, the 5th chip U5 normal phase input end respectively with one end of the 19 resistance R 19, one end of the 20 resistance R 20 is connected with one end of the 22 resistance R 22, the other end ground connection of the 20 resistance R 20, the inverting input of the 5th chip U5 respectively with the positive pole of the first diode D1, one end of the 21 resistance R 21, the inverting input of one end of the 7th capacitor C 7 and the 6th chip U6 is connected, the first negative pole of diode D1 and the other end of the 22 resistance R 22 are all connected with the output of the 5th chip U5, the output of the 5th chip U5, the normal phase input end of the 5th chip U5 and the 22 resistance R 22 form saw-tooth wave generating circuit 8, the other end of the 19 resistance R 19 and the 21 resistance R 21 another termination+15V power supplys, the normal phase input end of the 6th chip U6 is connected with one end of the 23 resistance R 23, the other end of the 23 resistance R 23 is connected with two closed-loop regulator circuit 4, the other end of the 23 resistance R 23 is connected with the contact of four-core sheet U4 output with the 4th voltage stabilizing didoe ZD4 positive pole, the 6th capacitor C 6 other ends, and the output of the 6th chip U6 is connected with drive circuit 11 with isolation.
As shown in Figure 4, the isolation in the utility model control system and drive circuit 11, comprise the 7th chip U7, and the 7th chip U7 adopts operational amplifier, the normal phase input end of the 7th chip U7 is connected with PWM circuit for generating 7, and the normal phase input end of the 7th chip U7 connects the output of the 6th chip U6, the inverting input of the 7th chip U7 is connected with one end of the 25 resistance R 25, the output of the 7th chip U7 respectively with the other end of the 25 resistance R 25, one end of the 24 resistance R 24, the base stage of the base stage of the 3rd triode T3 and the 4th triode T4 is connected, the other end of the 24 resistance R 24 is connected with the base stage of the second triode T2 with the base stage of the first triode T1 respectively, all connect+15V of the collector electrode of the collector electrode of the first triode T1 and the 3rd triode T3 power supply, the contact that the collector electrode of the emitter of the first triode T1 and the second triode T2 is connected is connected with power amplification circuit 10, the emitter of the second triode T2 is connected with power amplification circuit, the contact that the collector electrode of the emitter of the 3rd triode T3 and the 4th triode T4 joins is connected with power amplification circuit, the emitter of the 4th triode T4 is connected with power amplification circuit 10.
As shown in Figure 5, power amplification circuit 10 in the utility model control system, comprise the first field effect transistor V1, the second field effect transistor V2, the 3rd field effect transistor V3 and the 4th field effect transistor V4, these four field effect transistor all adopt IRF3710 MOSFET enhancement mode field effect transistor; The grid of the first field effect transistor V1 is connected with grid, the 3rd positive pole of diode D3, one end of one end of the 28 resistance R 28 and the 9th capacitor C 9 of the second field effect transistor V2 respectively, the 3rd negative pole of diode D3 and the other end of the 28 resistance R 28 are all connected with the contact that the 4th triode T4 collector electrode joins with the 3rd triode T3 emitter, and the 28 resistance R 28 and the 9th capacitor C 9 form a RC delay circuit; The grid of the 3rd field effect transistor V3 respectively with the 4th grid of field effect transistor V4, one end of anodal and the 8th capacitor C 8 of one end of the 27 resistance R 27 the second diode D2 is connected, the second negative pole of diode D2 and the other end of the 27 resistance R 27 are all connected with the contact of the second triode T2 collector electrode with the first triode T1 emitter; The 27 resistance R 27 and the 8th capacitor C 8 form another delay circuit; The drain electrode of the 3rd field effect transistor V3 respectively with the negative pole of the 3rd fly-wheel diode VD3, the positive pole of the negative pole of the 4th fly-wheel diode VD4 and DC power supply (48V) (this DC power supply is the part in power circuit 1) be connected; Motor M(is the DC motor 9 in Fig. 1, below identical) a binding post connect the positive pole of this DC power supply; One end ground connection of the negative pole of DC power supply and the 26 resistance R 26; The other end of the source electrode of the source electrode of the positive pole of the positive pole of the other end of the 26 resistance R 26, the first fly-wheel diode VD1, the second fly-wheel diode VD2, the second field effect transistor V2, the first field effect transistor V1 and the 9th capacitor C 9 is all connected with the emitter of the 4th triode T4; Another binding post of the positive pole of the positive pole of the negative pole of the negative pole of the drain electrode of the drain electrode of the source electrode of the source electrode of the other end of the 8th capacitor C 8, the 3rd field effect transistor V3, the 4th field effect transistor V4, the first field effect transistor V1, the second field effect transistor V2, the first fly-wheel diode VD1, the second fly-wheel diode VD2, the 3rd fly-wheel diode VD3, the 4th fly-wheel diode VD4 and DC motor 9 is all connected with the emitter of the second triode T2.
The first fly-wheel diode VD1, the second fly-wheel diode VD2, the 3rd fly-wheel diode VD3 and the 4th fly-wheel diode VD4 all adopt MBR3045 fly-wheel diode.The first field effect transistor V1 and the second field effect transistor V2 are connected in parallel, the 3rd field effect transistor V3 and the 4th field effect transistor V4 are connected in parallel, the first fly-wheel diode VD1 and the second fly-wheel diode VD2 are connected in parallel, and the 3rd fly-wheel diode VD3 and the 4th fly-wheel diode VD4 are connected in parallel; The RC delay circuit that the 27 resistance R 27 forms with the 8th capacitor C 8 is connected with the 4th field effect transistor V4 series connection with the 3rd field effect transistor V3, and the RC delay circuit that the 28 resistance R 28 forms with the 9th capacitor C 9 is connected with the second field effect transistor V2 series connection with the first field effect transistor V1.
The operation principle of rotating speed, current double closed-loop adjuster is: due to the general PI(ratio-integration that uses in Control Engineering) adjuster, generally pi regulator can meet the performance requirement of system.Pi regulator combines the advantage of ratio and two kinds of control laws of integration, can respond rapidly control and can finally eliminate steady-state error again.So two two closed-loop regulator of the rotating speed of this speed-adjusting and control system and electric current all adopt pi regulator.Because the rule of encircling Control System Design is first interior ring more, rear outer shroud.Therefore, during design, first design current closed-loop regulator, then regards whole electric current loop as a link in der Geschwindigkeitkreis as, then design speed closed-loop regulator.By the 3rd chip U3 and four-core sheet U4 and their peripheral circuit, form current closed-loop adjuster, the feedback voltage of current closed-loop adjuster is to be that the 26 resistance R 26 of 0.005 Ω obtains by being connected on the resistance of armature circuit, but directly feeding back to current closed-loop adjuster does not meet current feedback coefficient
β=0.2747, therefore to connect voltage amplifier, utilize in-phase proportion amplifier the 3rd chip U3 to realize voltage amplification.When armature supply is 20A, the 26 resistance R 26 obtains the voltage of 0.1V, so actual
βvalue is 0.1/20=0.005V/A, so the 3rd chip U3 multiplication factor should be 0.2747/0.005=54.9, the resistance of the 12 resistance R 12 is elected 120K Ω as, the resistance that calculates the 11 resistance R 11 is 2.2K Ω, in the PI type current regulating circuit 2 of the output end voltage value access of the 3rd chip U3 with given and feedback filtering, realize the closed-loop control of electric current.Simultaneously by the first chip U1 and the second chip U2 and their peripheral circuit, form speed closed loop adjuster, DC motor 9 is inputted self speed feedback the inverting input of the first chip U1, in the PI type rotational speed regulation circuit 3 of the first chip U1 output analog voltage access with given and feedback filtering, realize the closed-loop control of rotating speed.
PWM circuit for generating 7 provides the switching signal of certain frequency for four IRF3710 MOSFET enhancement mode field effect transistor in power amplification circuit 10.The 5th chip U5 produces sawtooth signal, the inverting input of the 6th chip U6 gathers this sawtooth signal, the normal phase input end of the 6th chip U6 gathers the conditioning signal of two closed-loop regulator circuit 4 outputs, the voltage swing of exporting by conditioning signal, obtain the different PWM ripple of duty ratio, and then control the rotation of electric bicycle motor different rates.It is a kind of technology that pulse-width is modulated that PWM controls, and is the all-controlling power electronics device control technology forming according to area equivalent principle.By the modulation to a series of pulse durations, thereby obtain equivalently needed waveform, shape difference but the identical narrow pulse signal of area are during by same inertial element, and the waveform of inertial element output response is basic identical, the effect of response is basic identical, area equivalent principle that Here it is.Area equivalent principle is the important theoretical foundation of PWM control technology.Fig. 6 is the schematic diagram of PWM pulse-width modulation in the utility model control system, and PWM pulse width modulation mode is that maintained switch cycle T is constant, by changing the ON time of switch
t on, the mean value of change output voltage, by controlling the size with reference to given voltage, just can adjust the duty ratio of output square wave, and then changes the mean value of output voltage.The utility model adopts PWM modulation technique to control the break-make of governing system main circuit MOSFET.
In the two closed loop electric bicycle speed-regulating control system of the utility model PWM, the main circuit of alignment circuit is Power Electronic Circuit, and control circuit is information electronic circuit, two kinds of circuit voltage class differences, and watt level is different.Main circuit voltage is tens times of control circuit voltage often, are also several times of circuit in electric bicycle.So, must between main circuit and control circuit, carry out electrical isolation, to prevent that high voltage from impacting control circuit.Because main circuit voltage in this control system and control circuit voltage phase difference are not very large, adopt the 7th chip U7 that model is LM358 to carry out the isolation between governor circuit as voltage follower circuit.Power tube in main circuit need to have enough driving powers to guarantee the reliable turn-off of switching tube, therefore, also wants design power drive circuit.Selecting model is the first triode T1 of 2N5551 NPN type and the second triode T2 composition complementary push-pull circuit that model is 2N5401 positive-negative-positive, as the power driving circuit in electric bicycle.
Power amplification circuit 10 for double closed loop speed regulation system is born by full-control type power electronic power device.The size of PWM power ratio control pipe conducting duty cycle alpha, becomes different magnitudes of voltage to control the rotating speed of DC motor 9 DC power supply voltage transformation.In order to raise the efficiency, can make motor have the function of regenerative electric power regenerative braking, power amplification circuit 10 adopts the irreversible pwm converter that has stalling current path.Motor M has electronic and two kinds of operating states of braking.Motor M armature supply opposite direction under two kinds of operating states, but motor M terminal voltage
u dpolarity constant.Motor M just can realize electric energy feedback to DC power supply when on-position, produces braking moment simultaneously, and the rotating speed of motor is declined.As shown in Figure 5, select four IRF3710 MOSFET enhancement mode field effect transistor in power amplification circuit 10, every two in parallel uses, guarantee the reliable conducting of circuit.Select four MBR3045 fly-wheel diodes, every two in parallel uses, guarantee that electric current has reliable path.Which kind of state no matter, the conducting of two groups of switching tubes is contrary with cut-off state, i.e. U
g1=-U
g2.
1) motor M is under motoring condition: 0≤
t<
t ontime,
u g1for just, the first field effect transistor V1 and the second field effect transistor V2 conducting, the 3rd field effect transistor V3 and the 4th field effect transistor V4 turn-off, and DC power supply forms loop, electric current by the first field effect transistor V1, the second field effect transistor V2, motor M
i d(just) direction as shown in Figure 5.?
t on≤
t<
ttime,
u g1for negative, the first field effect transistor V1 and the second field effect transistor V2 turn-off, armature supply
i dby the 3rd fly-wheel diode VD3, the 4th fly-wheel diode VD4 afterflow and direction is constant, simultaneously the 3rd fly-wheel diode VD3 and the 4th fly-wheel diode VD4 conducting, applies reverse voltage to the 3rd field effect transistor V3 and the 4th field effect transistor V4 and makes the 3rd field effect transistor V3 and the 4th field effect transistor V4 can not conducting.Whole motoring condition the 3rd field effect transistor V3, the 4th field effect transistor V4, the first fly-wheel diode VD1 and the second fly-wheel diode VD2 cut-off and inoperative.
2) motor M is under on-position: when control voltage reduces (or electric car descent run),
u g1positive pulse narrow down, negative pulse broadens, and makes armature voltage
u dreduce.But due to dynamo-electric inertia, rotating speed and back electromotive force can not change at once, make back electromotive force higher than motor M armature voltage, very fast armature supply
i doppositely (show opposite direction with Fig. 5).Electric current forms closed-loop path by DC power supply, the first fly-wheel diode VD1, the second fly-wheel diode VD2 and motor M, realizes electric energy feedback to DC power supply, produces dynamic braking effect.?
t on≤
t<
ttime, the 3rd field effect transistor V3 and the 4th field effect transistor V4 conducting, the first field effect transistor V1 and the second field effect transistor V2 cut-off, motor M armature supply forms loop by the 3rd field effect transistor V3 and the 4th field effect transistor V4.?
t≤
t<
t+
t ontime, the 3rd field effect transistor V3 and the 4th field effect transistor V4 turn-off, reverse current (
i d) through the first fly-wheel diode VD1 and the second fly-wheel diode VD2 afterflow, forming loop, the first fly-wheel diode VD1 and the second fly-wheel diode VD2 forward conduction make the first field effect transistor V1, the second field effect transistor V2 by clamper and can not conducting simultaneously.In motor M on-position, the 3rd field effect transistor V3 and the 4th field effect transistor V4 conducting, the first fly-wheel diode VD1 and the second fly-wheel diode VD2 turn-off, then the 3rd field effect transistor V3 and the 4th field effect transistor V4 turn-off, the first fly-wheel diode VD1 and the second fly-wheel diode VD2 conducting, in motor M on-position, the 3rd field effect transistor V3 and the 4th field effect transistor V4 turn-on and turn-off and the first fly-wheel diode VD1 and the second fly-wheel diode VD2 turn-on and turn-off are carried out in turn, and the first field effect transistor V1, the second field effect transistor V2, the 3rd fly-wheel diode VD3 and the 4th fly-wheel diode VD4 are inoperative.This situation is continued until the decline along with motor M rotating speed, the back electromotive force of motor M is reduced to lower than armature voltage, with this understanding, motor M forwards motoring condition to again by on-position, regenerative electric power feedback electric energy process finishes, and motor M is in normal motor-operated running state.
In order to prevent that the conducting simultaneously of two group powers from causing short circuit, in power amplification circuit 10, designed RC delay circuit, when guaranteeing that the first field effect transistor V1 and the second field effect transistor V2 end completely, the 3rd field effect transistor V3 and the 4th field effect transistor V4 could conductings, and vice versa.RC delay circuit is 2～9 μ s according to circuit parameter computation delay, when
u g1(
u g2) while being low level, electric capacity discharges rapidly by diode 1N14148, does not affect fet gate voltage and transfers the low level time to by high level.Resistance in RC delay circuit also has the effect that prevents fet gate self-excitation.The 29 resistance R 29 of low resistance is used for current sampling and obtains current feedback and protection value.
DC motor 9, under the effect of PWM conversion main circuit that has stalling current path, can be changed between electronic and braking two states, and transfer process can be known and see on mechanical characteristic.The schematic diagram that in the utility model control system, motor is electronic and braking is changed between two states, as shown in Figure 7, DC motor 9 is at intrinsic mechanical characteristic 1
astable operation on point, rotating speed is
n a.If prominent, armature voltage is dropped to
u 1, intrinsic mechanical property becomes the artificial mechanical characteristic 2 in Fig. 7, due to dynamo-electric inertia, rotating speed
n aand back electromotive force
ecan not suddenly change, the working point of motor M from
apoint is transitioned into rapidly mechanical property 2
cpoint on.Due to
n a>
n 01so,
e>
u d, armature supply
i doppositely (with middle armature supply shown in Fig. 5
i dopposite direction),
i d< 0, electromagnetic torque
t e=
t c< 0, contrary with rotary speed direction, becomes braking moment, and motor enters regenerative electric power braking state.In braking moment
t cand loading moment
t lunder effect, d
n/ d
t< 0, motor deceleration, along characteristic curve 2 from
cpoint arrives
dpoint changes, and arrives
dduring point,
n=
n 01,
e=
u d,
i dand
t eall drop to 0, regenerative electric power braking finishes.After this, motor M is in load torque
t leffect under continue to slow down, operating point enters I quadrant,
n<
n 01,
e<
u d,
i dand
t ejust all become, motor M reverts to again forward motoring condition, but due to
t e<
t l, rotating speed continues to decline, until
epoint,
t e=
t l, motor is with rotating speed
n estable operation.If during electric bicycle descent run, reduce armature voltage and arrive
u 1be in order to reduce the rotating speed of motor, but electric bicycle is under the effect of mechanical potential, rotating speed rises on the contrary
u a1, the operating point of motor M from
apoint fast transition arrives
bpoint, the later course of work is transitioned into reduction armature voltage
cthat puts is identical.
The utility model speed-adjusting and control system is theoretical theoretical with PWM pulse-width modulation in conjunction with double loop speed-regulating system, and a kind of PWM rotating speed, current double closed-loop electric bicycle speed-regulating control system are provided.To improve speed governing, be dynamic characteristic, improve starting performance and frequently start with load to adapt to electric bicycle, improve the utilance of storage battery institute accumulate energy, increase distance travelled.Open loop governing system is transformed into Closed-Loop Speed Governing System, utilizes speed regulator ASR, current regulator ACR to proofread and correct the dynamic property of governing system, make governing system meet the requirement of control system to stability, accuracy, rapidity.
Claims (5)
1. two closed loop electric bicycle speed-regulating control system of a PWM, it is characterized in that, comprise power circuit (1) and the two closed-loop regulator circuit (4) that are connected successively, PWM circuit for generating (7), isolation and drive circuit (11), power amplification circuit (10) and DC motor (9); Power circuit (1) is connected with power amplification circuit (10) with drive circuit (11) with two closed-loop regulator circuit (4), PWM circuit for generating (7), isolation respectively; In PWM circuit for generating (7), be provided with saw-tooth wave generating circuit (8); Two closed-loop regulator circuit (4) are comprised of current regulating circuit (2), rotational speed regulation circuit (3), speed feedback circuit (5) and current feedback circuit (6); Rotational speed regulation circuit (3) is connected with power circuit (1), current regulating circuit (2) and speed feedback circuit (5) respectively, speed feedback circuit (5) is connected with DC motor (9), current regulating circuit (2) is also connected with power circuit (1), current feedback circuit (6) and PWM circuit for generating (7) respectively, and current feedback circuit (6) is connected with power amplification circuit (10).
2. two closed loop electric bicycle speed-regulating control system of PWM according to claim 1, it is characterized in that, described two closed-loop regulator circuit (4) comprise the first chip (U1), the second chip (U2), the 3rd chip (U3) and four-core sheet (U4), and these four chips are operational amplifier, the inverting input of the first chip (U1) is connected with one end of the 3rd resistance (R3) with one end of the first resistance (R1) respectively, and the other end of the first resistance (R1) is connected with DC motor (9), the normal phase input end of the first chip (U1) is connected with one end of the second resistance (R2), the other end ground connection of the second resistance (R2), the output of the first chip (U1) is connected with the other end of the 3rd resistance (R3) and one end of the 4th resistance (R4) respectively, the other end of the 4th resistance (R4) joins with one end of the second electric capacity (C2) and one end of the 7th resistance (R7) respectively, the other end of the 7th resistance (R7) respectively with the inverting input of the second chip (U2), one end of one end of the 6th resistance (R6), the 9th resistance (R9) and the positive pole of the first voltage stabilizing didoe (ZD1) be connected, the other end of the 6th resistance (R6) is connected with one end of the 5th resistance (R5) with one end of the first electric capacity (C1) respectively, the other end of the 5th resistance (R5) is+5V voltage, one end of anti-phase input termination the 8th resistance (R8) of the second chip (U2), the other end ground connection of the 8th resistance (R8), the negative pole of the negative pole of the first voltage stabilizing didoe (ZD1) and the second voltage stabilizing didoe (ZD2) joins, one end of another termination the 3rd electric capacity (C3) of the 9th resistance (R9), the other end of the positive pole of the second voltage stabilizing didoe (ZD2), the 3rd electric capacity (C3) is all connected with one end of the 13 resistance (R13) with the output of the second chip (U2), the other end of the 13 resistance (R13) is connected with one end of the 15 resistance (R15) with one end of the 4th electric capacity (C4) respectively, the other end ground connection of the 4th electric capacity (C4), the other end of the 15 resistance (R15) respectively with one end of the 16 resistance (R16), the inverting input of four-core sheet (U4), the positive pole of one end of the 17 resistance (R17) and the 3rd voltage stabilizing didoe (ZD3) is connected, the negative pole of the negative pole of the 3rd voltage stabilizing didoe (ZD3) and the 4th voltage stabilizing didoe (ZD4) joins, the other end of the 17 resistance (R17) is connected with one end of the 6th electric capacity (C6), the 4th voltage stabilizing didoe (ZD4) positive pole, the contact of the 6th electric capacity (C6) other end and four-core sheet (U4) output is connected with PWM circuit for generating (7), the normal phase input end of four-core sheet (U4) connects one end of the 18 resistance (R18), the other end ground connection of the 18 resistance (R18), the other end of the 16 resistance (R16) is connected with one end of the 5th electric capacity (C5) with one end of the 14 resistance (R14) respectively, the other end ground connection of the 5th electric capacity (C5), the other end of the 14 resistance (R14) is connected with one end of the 12 resistance (R12) with the output of the 3rd chip (U3) respectively, the inverting input of the 3rd chip (U3) is connected with the other end of the 12 resistance (R12) with one end of the 11 resistance (R11) respectively, the other end ground connection of the 11 resistance (R11), the normal phase input end of the 3rd chip (U3) connects one end of the tenth resistance (R10), another termination power amplification circuit (10) of the tenth resistance (R10).
3. two closed loop electric bicycle speed-regulating control system of PWM according to claim 2, it is characterized in that, described PWM circuit for generating (7) comprises the 5th chip (U5) and the 6th chip (U6), and the 5th chip (U5) and the 6th chip (U6) all adopt operational amplifier, the 5th chip (U5) normal phase input end respectively with one end of the 19 resistance (R19), one end of the 20 resistance (R20) is connected with one end of the 22 resistance (R22), the other end ground connection of the 20 resistance (R20), the inverting input of the 5th chip (U5) respectively with the positive pole of the first diode (D1), one end of the 21 resistance R (21), the inverting input of one end of the 7th electric capacity (C7) and the 6th chip (U6) is connected, the negative pole of the first diode (D1) is all connected with the output of the 5th chip (U5) with the other end of the 22 resistance (R22), the output of the 5th chip (U5), the normal phase input end of the 5th chip (U5) and the 22 resistance (R22) form saw-tooth wave generating circuit (8), the other end of the 19 resistance (R19) and another termination+15V power supply of the 21 resistance (R21), the normal phase input end of the 6th chip (U6) is connected with one end of the 23 resistance (R23), the other end of the 23 resistance (R23) is anodal with the 4th voltage stabilizing didoe (ZD4), the 6th electric capacity (C6) other end is connected with the contact of four-core sheet (U4) output, and the output of the 6th chip (U6) is connected with drive circuit (11) with isolation.
4. two closed loop electric bicycle speed-regulating control system of PWM according to claim 3, is characterized in that, described isolation and drive circuit (11) comprise the 7th chip (U7), the 7th chip (U7) employing operational amplifier; The normal phase input end of the 7th chip (U7) connects the output of the 6th chip (U6); the inverting input of the 7th chip (U7) is connected with one end of the 25 resistance (R25), the output of the 7th chip (U7) respectively with the other end of the 25 resistance (R25), one end of the 24 resistance (R24), the base stage of the base stage of the 3rd triode (T3) and the 4th triode (T4) is connected, the other end of the 24 resistance (R24) is connected with the base stage of the second triode (T2) with the base stage of the first triode (T1) respectively, all connect+15V of the collector electrode power supply of the collector electrode of the first triode (T1) and the 3rd triode (T3), the contact that the collector electrode of the emitter of the first triode (T1) and the second triode (T2) is connected is connected with power amplification circuit (10), the emitter of the second triode (T2) is connected with power amplification circuit, the contact that the collector electrode of the emitter of the 3rd triode (T3) and the 4th triode (T4) joins is connected with power amplification circuit (10), the emitter of the 4th triode (T4) is connected with power amplification circuit (10).
5. according to the two closed loop electric bicycle speed-regulating control system of PWM described in claim 2 or 4, it is characterized in that, described power amplification circuit (10) comprises the first field effect transistor (V1), the second field effect transistor (V2), the 3rd field effect transistor (V3) and the 4th field effect transistor (V4), and these four field effect transistor all adopt IRF3710 MOSFET enhancement mode field effect transistor, the grid of the first field effect transistor (V1) is connected with grid, the 3rd positive pole of diode (D3), one end of one end of the 28 resistance (R28) and the 9th electric capacity (C9) of the second field effect transistor (V2) respectively, and the 3rd negative pole of diode (D3) and the other end of the 28 resistance (R28) are all connected with the contact that the 4th triode (T4) collector electrode joins with the 3rd triode (T3) emitter, the grid of the 3rd field effect transistor (V3) respectively with the grid of the 4th field effect transistor (V4), one end of anodal and the 8th electric capacity (C8) of one end second diode (D2) of the 27 resistance (R27) is connected, the negative pole of the second diode (D2) is all connected with the contact of the second triode (T2) collector electrode with the first triode (T1) emitter with the other end of the 27 resistance (R27), the drain electrode of the 3rd field effect transistor (V3) is connected with the negative pole of the 3rd fly-wheel diode (VD3), the negative pole of the 4th fly-wheel diode (VD4) and the positive pole of DC power supply respectively, a binding post of DC motor (9) connects the positive pole of this DC power supply, one end ground connection of the negative pole of DC power supply and the 26 resistance (R26), the other end of the source electrode of the source electrode of the positive pole of the positive pole of the other end of the 26 resistance (R26), the first fly-wheel diode (VD1), the second fly-wheel diode (VD2), the second field effect transistor (V2), the first field effect transistor (V1) and the 9th electric capacity (C9) is all connected with the emitter of the 4th triode (T4), the other end of the 8th electric capacity (C8), the source electrode of the 3rd field effect transistor (V3), the source electrode of the 4th field effect transistor (V4), the drain electrode of the first field effect transistor (V1), the drain electrode of the second field effect transistor (V2), the negative pole of the first fly-wheel diode (VD1), the negative pole of the second fly-wheel diode (VD2), the positive pole of the 3rd fly-wheel diode (VD3), another binding post of the positive pole of the 4th fly-wheel diode (VD4) and DC motor (9) is all connected with the emitter of the second triode (T2).
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| CN201420214079.3U CN203788203U (en) | 2014-04-29 | 2014-04-29 | PWM double closed-loop electric bicycle speed regulation control system |
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| CN201420214079.3U CN203788203U (en) | 2014-04-29 | 2014-04-29 | PWM double closed-loop electric bicycle speed regulation control system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104917422A (en) * | 2015-06-09 | 2015-09-16 | 奇瑞汽车股份有限公司 | Forward-reverse rotation control circuit for brush DC motor |
| CN105024598A (en) * | 2015-07-13 | 2015-11-04 | 青岛歌尔声学科技有限公司 | Direct-current motor drive circuit and electronic equipment having the circuit |
| CN107070349A (en) * | 2017-04-24 | 2017-08-18 | 太仓市悦博电动科技有限公司 | A kind of motor control method, motor control assembly and electric bicycle |
| CN108233798A (en) * | 2018-01-29 | 2018-06-29 | 昆明理工大学 | A kind of Double-closed loop direct-current circuit for controlling motor |
| CN108683416A (en) * | 2018-07-25 | 2018-10-19 | 上海艾为电子技术股份有限公司 | A kind of load switch control circuit |
| CN113341763A (en) * | 2021-06-07 | 2021-09-03 | 华北电力大学 | Speed regulation simulation platform of direct-current motor |
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- 2014-04-29 CN CN201420214079.3U patent/CN203788203U/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104917422A (en) * | 2015-06-09 | 2015-09-16 | 奇瑞汽车股份有限公司 | Forward-reverse rotation control circuit for brush DC motor |
| CN105024598A (en) * | 2015-07-13 | 2015-11-04 | 青岛歌尔声学科技有限公司 | Direct-current motor drive circuit and electronic equipment having the circuit |
| CN105024598B (en) * | 2015-07-13 | 2017-08-04 | 青岛歌尔声学科技有限公司 | A kind of DC motor drive circuit and the electronic equipment with the circuit |
| CN107070349A (en) * | 2017-04-24 | 2017-08-18 | 太仓市悦博电动科技有限公司 | A kind of motor control method, motor control assembly and electric bicycle |
| CN108233798A (en) * | 2018-01-29 | 2018-06-29 | 昆明理工大学 | A kind of Double-closed loop direct-current circuit for controlling motor |
| CN108233798B (en) * | 2018-01-29 | 2023-09-26 | 昆明理工大学 | Double closed-loop direct current motor control circuit |
| CN108683416A (en) * | 2018-07-25 | 2018-10-19 | 上海艾为电子技术股份有限公司 | A kind of load switch control circuit |
| CN108683416B (en) * | 2018-07-25 | 2023-09-15 | 上海艾为电子技术股份有限公司 | Load switch control circuit |
| CN113341763A (en) * | 2021-06-07 | 2021-09-03 | 华北电力大学 | Speed regulation simulation platform of direct-current motor |
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