CN206211890U - Moped speed regulation controller based on STM32 single-chip microcomputers - Google Patents
Moped speed regulation controller based on STM32 single-chip microcomputers Download PDFInfo
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- CN206211890U CN206211890U CN201621141461.1U CN201621141461U CN206211890U CN 206211890 U CN206211890 U CN 206211890U CN 201621141461 U CN201621141461 U CN 201621141461U CN 206211890 U CN206211890 U CN 206211890U
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Abstract
Controller is adjusted the utility model discloses a kind of moped speed based on STM32 single-chip microcomputers, is related to moped technical field, it is characterised in that：At least include the single-chip microcomputer of STM32 series；Current of electric detection module for detecting motor current signal；For the motor drive module of motor working condition；MOS drive modules；Inverse electromotive force detection module；And power module；Wherein：The I/O ports of the single-chip microcomputer electrically connect with current of electric detection module, motor drive module, MOS drive modules, inverse electromotive force detection module respectively；The power module is electrically connected with the power supply terminal of single-chip microcomputer.By using above-mentioned technical proposal, should be based on the moped speed regulation controller of STM32 single-chip microcomputers can improve the stability of moped speed；Improve the experience of riding of bicyclist.
Description
Technical field
The utility model is related to moped technical field, more particularly to a kind of power-assisted based on STM32 single-chip microcomputers
Bicycle speed adjusts controller.
Background technology
At present, electric assisted bicycle from mounting position of motor be divided into it is preposition, in put and rearmounted three kinds of frame modes.Power-assisted
Pattern is divided into step on frequency assistant mode and moment of torsion assistant mode.Frequency pattern is stepped on upward slope road surface because resistance increases, bicyclist steps on
Frequency is reduced causes output power of motor also to decrease, and slope road is ridden difficulty；Torque mode overcomes the problem that slope road is ridden, but
In normal ride, due to step on frequency during torque ripple cause riding speed therewith into slight sinusoidal curve shake, ride
Can feel sometimes fast and sometimes slow in row experience of the process, speed is not sufficiently stable, therefore, design and develop a kind of more stable base of speed
Seem it is particularly important in the moped speed regulation controller of STM32 single-chip microcomputers.
Utility model content
The technical problems to be solved in the utility model is：A kind of moped speed based on STM32 single-chip microcomputers is provided
Regulation controller, the moped speed regulation controller that should be based on STM32 single-chip microcomputers can improve moped speed
Stability.
The utility model is adopted the technical scheme that to solve technical problem present in known technology：One kind is based on
The moped speed regulation controller of STM32 single-chip microcomputers, at least includes：
The single-chip microcomputer of STM32 series；
Current of electric detection module for detecting motor current signal；
For the motor drive module of motor working condition；
MOS drive modules；
Inverse electromotive force detection module；
And power module；Wherein：
The I/O ports of the single-chip microcomputer respectively with current of electric detection module, motor drive module, MOS drive modules, anti-
Electrically connected to electromotive force detection module；The power module is electrically connected with the power supply terminal of single-chip microcomputer.
Preferably, the utility model additionally uses following additional technical feature：
Further：The model STM32F103RBT6 of the single-chip microcomputer；The current of electric detection module is put including first
Big device, the second amplifier, the 3rd amplifier；First amplifier, the second amplifier, the model of the 3rd amplifier
TS912A；The motor drive module include the first metal-oxide-semiconductor, the second metal-oxide-semiconductor, the 3rd metal-oxide-semiconductor, the 4th metal-oxide-semiconductor, the 5th metal-oxide-semiconductor,
6th metal-oxide-semiconductor；First metal-oxide-semiconductor, the 3rd metal-oxide-semiconductor, the source electrode of the 5th metal-oxide-semiconductor are electrically connected with 36V power supply terminals；Described second
Metal-oxide-semiconductor, the 4th metal-oxide-semiconductor, the drain electrode of the 6th metal-oxide-semiconductor pass through pressure limiting resistance eutral grounding respectively；The drain electrode and second of first metal-oxide-semiconductor
The source electrode electrical connection of metal-oxide-semiconductor；The drain electrode of the 3rd metal-oxide-semiconductor is electrically connected with the source electrode of the 4th metal-oxide-semiconductor；5th metal-oxide-semiconductor
Drain electrode is electrically connected with the source electrode of the 6th metal-oxide-semiconductor；The drain electrode of first metal-oxide-semiconductor is electrically connected with the C phase terminals of motor；Described 3rd
The drain electrode of metal-oxide-semiconductor is electrically connected with the B phase terminals of motor；The drain electrode of the 5th metal-oxide-semiconductor is electrically connected with the A phase terminals of motor；Institute
State first driving chip, second driving chip, threeth driving chip of the MOS drive modules including model IR2101；It is described anti-
Include six 1/11 proportion divider resistance to electromotive force detection module；
Wherein：The single-chip microcomputer is electrically connected by the first driving chip with the C phase terminals of motor；The single-chip microcomputer is by the
Two driving chips are electrically connected with the B phase terminals of motor；The single-chip microcomputer is electrically connected by the 3rd driving chip with the A phase terminals of motor
Connect；The single-chip microcomputer is electrically connected with the three-phase terminal of motor respectively by inverse electromotive force detection module；The single-chip microcomputer passes through
First amplifier, rated resistance are electrically connected with the C phase terminals of motor；The single-chip microcomputer by the second amplifier, rated resistance with
The B phase terminals electrical connection of motor；The single-chip microcomputer is electrically connected by the 3rd amplifier, rated resistance with the A phase terminals of motor.
Further：The single-chip microcomputer is provided with CAN terminal.
The utility model has the advantages and positive effects that：By using above-mentioned technical proposal, the utility model is realized
Electric assisted bicycle is ridden Power assisted control function, is being ridden when in the normal ride of vehicle using motor, target vehicle speed can be stablized
The target vehicle speed that passerby sets in advance, the Maximum speed limit 25km/h (the rule criterion setting according to the industry) of vehicle.Speed is adjusted
Section process uses PID velocity close-loop controls, more meets motion control actual conditions, improves the security ridden, and further changes
It has been apt to the experience sense ridden.
Brief description of the drawings
Fig. 1 is circuit block diagram of the present utility model；
Fig. 2 is circuit diagram of the present utility model.
Specific embodiment
For utility model content of the present utility model, feature and effect can be further appreciated that, following examples are hereby enumerated, and
Accompanying drawing is coordinated to describe in detail as follows：
Refer to Fig. 1 and Fig. 2, a kind of moped speed regulation controller based on STM32 single-chip microcomputers, including model
It is the single-chip microcomputer of STM32F103RBT6；
Current of electric detection module for detecting motor current signal；The current of electric detection module is put including first
Big device U301A, the second amplifier U301B, the 3rd amplifier U301C；The first amplifier U301A, the second amplifier
The model TS912A of U301B, the 3rd amplifier U301C；
For the motor drive module of motor working condition；The motor drive module include the first metal-oxide-semiconductor Q200,
Second metal-oxide-semiconductor Q201, the 3rd metal-oxide-semiconductor Q202, the 4th metal-oxide-semiconductor Q203, the 5th metal-oxide-semiconductor Q204, the 6th metal-oxide-semiconductor Q205；Described
One metal-oxide-semiconductor Q200, the 3rd metal-oxide-semiconductor Q202, the source electrode of the 5th metal-oxide-semiconductor Q204 are electrically connected with 36V power supply terminals；2nd MOS
Pipe Q201, the 4th metal-oxide-semiconductor Q203, the drain electrode of the 6th metal-oxide-semiconductor Q205 pass through pressure limiting resistance eutral grounding respectively；First metal-oxide-semiconductor
The drain electrode of Q200 is electrically connected with the source electrode of the second metal-oxide-semiconductor Q201；The drain electrode of the 3rd metal-oxide-semiconductor Q202 and the 4th metal-oxide-semiconductor Q203
Source electrode electrical connection；The drain electrode of the 5th metal-oxide-semiconductor Q204 is electrically connected with the source electrode of the 6th metal-oxide-semiconductor Q205；First metal-oxide-semiconductor
The drain electrode of Q200 is electrically connected with the C phase terminals of motor M；The drain electrode of the 3rd metal-oxide-semiconductor Q202 is electrically connected with the B phase terminals of motor
Connect；The drain electrode of the 5th metal-oxide-semiconductor Q204 is electrically connected with the A phase terminals of motor；
MOS drive modules；The MOS drive modules include that the first driving chip U200 of model IR2101, second drive
Dynamic chip U201, the 3rd driving chip U202；
Inverse electromotive force detection module；The inverse electromotive force detection module includes six 1/11 proportion divider resistance；In detail
Resistance R206, resistance R207, resistance R214, resistance R215, resistance R220, the resistance R221 seen in diagram；
Wherein：The single-chip microcomputer is electrically connected by the first driving chip U200 with the C phase terminals of motor；The single-chip microcomputer leads to
The second driving chip U201 is crossed to be electrically connected with the B phase terminals of motor；The single-chip microcomputer passes through the 3rd driving chip U202 and motor
A phase terminals electrical connection；The single-chip microcomputer is electrically connected with the three-phase terminal of motor respectively by inverse electromotive force detection module；Institute
Single-chip microcomputer is stated to be electrically connected with the C phase terminals of motor by the first amplifier U301A, rated resistance；The single-chip microcomputer passes through second
Amplifier U301B, rated resistance are electrically connected with the B phase terminals of motor；The single-chip microcomputer is by the 3rd amplifier U301C, specified
Resistance is electrically connected with the A phase terminals of motor.
Preferably, in the preferred embodiment, CAN terminal is provided with the I/O terminals of the single-chip microcomputer.
This preferred embodiment detects mould by MOS (MOSET) drive module, motor drive module, motor inverse electromotive force
Block, current of electric detection module and single-chip microcomputer (CPU) are realized to three brshless DC motor rotating speed controls of executing agency jointly, real
Power assisted control motor control part is showed.Single-chip microcomputer uses the STM32F103RBT6 of ST companies, built-in motor control software logic
Unit, single-chip microcomputer output control logic to MOS drive modules, MOS drive modules drive by level conversion and then controlled motor
Three are grouped driven to pipe in module.Opening sequence be (Q200, Q203)->(Q202, Q205)->(Q204, Q201), together
When quadrant where inverse electromotive force module detection motor, it is ensured that motor commutation it is accurate, such loop control realizes motor and turns
Dynamic function.The rotating speed of motor is proportional to motor drive current, current of electric detection module real-time monitoring motor drive current, monolithic
Machine is according to the electric current regulation PWM duty cycle for detecting and then by controlling MOS drive modules and motor drive module regulation motor
Rotating speed and power output.
Motor drive module is 6 metal-oxide-semiconductors and inverse electromotive force protection TVS arrays D104~D107, and TVS pipe is used
Vishay companies SMAJ40A protects the surge that stops in emergency, reliably protecting moped electric machine controller Internal power system to protect
Is there is the abnormal conditions normal work such as surge in card system.Metal-oxide-semiconductor model uses infineon companies of Germany IPD053N08N3G,
Limiting voltage is 80V, and carrying current is 90A, fully meets 250W/36V motors and drives requirement.
MOS drive modules realize control PWM3.3V to 12V using IAR companies IR2101 U200~U202 driving chips
Conversion, it is ensured that metal-oxide-semiconductor is normally-open in motor drive module and closes.
Current of electric detection module realizes the inspection to current of electric by amplifier (also referred to as operational amplifier adder)
Survey, Amplifier Model uses ST company's Ts S912A U300~honest input resistances of U301 and detection signal ability, it is ensured that electric current is examined
Survey accuracy.Excessive when electric current is detected, single-chip microcomputer stops to motor drive module control, plays over-current and -load defencive function.
Motor inverse electromotive force module passes through 6 1/11 proportion divider resistance R206, resistance R207, resistance R215, resistance
After R214, resistance R220, resistance R221 ground connection, the virtual zero point function of three-phase brushless dc motor is realized, by proportion divider
Within motor inverse electromotive force voltage drops to 3V from 36V afterwards, it is ensured that CPU correctly gathers inverse electromotive force waveform without by electricity high
Pressure is burnt and then judges quadrant position in motor dynamics rotation process, is that motor control accurately commutates offer foundation.
Controller for Electric assisted bicycle, by above-mentioned five modules, finally realizes the rotation control to motor, is speed
Degree closed-loop control provides the purpose of design for driving hardware support circuit.
When the utility model is used, it is necessary first to which bicyclist sets target vehicle speed of riding, controller is examined according to current of electric
After survey module accurately detects actual vehicle speed, single-chip microcomputer is fed back to, corrects driving current and then controlled motor power output so that
Actual vehicle speed of riding fast and stable is approached to target vehicle speed.When actual vehicle speed is lower than target vehicle speed, PID regulation PWM duty cycles
The control electric current output of increase real electrical machinery, speed-raising of riding；When actual vehicle speed is higher than target vehicle speed, PID regulation PWM duty cycles subtract
Small machine control electric current u (L) is exported, deceleration of riding.Bicyclist sets speed of riding for convenience, and the controller provides 15 grades and rides
The control of driving speed and 6 kilometers of go-cart Power assisted controls, so overcome moped ride due to middle road gradient and
Different bicyclist's body weight differences are ridden and experience different problem.
Embodiment of the present utility model has been described in detail above, but the content is only of the present utility model preferable
Embodiment, it is impossible to be considered as limiting practical range of the present utility model.It is all according to present utility model application scope made it is equal
Deng change and improvement etc., all should still belong within patent covering scope of the present utility model.
Claims (3)
1. a kind of moped speed based on STM32 single-chip microcomputers adjusts controller, it is characterised in that：At least include：
The single-chip microcomputer of STM32 series；
Current of electric detection module for detecting motor current signal；
For the motor drive module of motor working condition；
MOS drive modules；
Inverse electromotive force detection module；
And power module；Wherein：
The I/O ports of the single-chip microcomputer respectively with current of electric detection module, motor drive module, MOS drive modules, reversely electricity
Kinetic potential detection module is electrically connected；The power module is electrically connected with the power supply terminal of single-chip microcomputer.
2. the moped speed based on STM32 single-chip microcomputers according to claim 1 adjusts controller, and its feature exists
In：The model STM32F103RBT6 of the single-chip microcomputer；The current of electric detection module includes that the first amplifier, second are put
Big device, the 3rd amplifier；First amplifier, the second amplifier, the model TS912A of the 3rd amplifier；The motor drives
Dynamic model block includes the first metal-oxide-semiconductor, the second metal-oxide-semiconductor, the 3rd metal-oxide-semiconductor, the 4th metal-oxide-semiconductor, the 5th metal-oxide-semiconductor, the 6th metal-oxide-semiconductor；Described
One metal-oxide-semiconductor, the 3rd metal-oxide-semiconductor, the source electrode of the 5th metal-oxide-semiconductor are electrically connected with 36V power supply terminals；Second metal-oxide-semiconductor, the 4th metal-oxide-semiconductor,
The drain electrode of the 6th metal-oxide-semiconductor passes through pressure limiting resistance eutral grounding respectively；The drain electrode of first metal-oxide-semiconductor is electrically connected with the source electrode of the second metal-oxide-semiconductor
Connect；The drain electrode of the 3rd metal-oxide-semiconductor is electrically connected with the source electrode of the 4th metal-oxide-semiconductor；The drain electrode of the 5th metal-oxide-semiconductor and the 6th metal-oxide-semiconductor
Source electrode electrical connection；The drain electrode of first metal-oxide-semiconductor is electrically connected with the C phase terminals of motor；The drain electrode of the 3rd metal-oxide-semiconductor and electricity
The B phase terminals electrical connection of machine；The drain electrode of the 5th metal-oxide-semiconductor is electrically connected with the A phase terminals of motor；The MOS drive modules bag
Include the first driving chip, the second driving chip, the 3rd driving chip of model IR2101；The inverse electromotive force detection module
Including six 1/11 proportion divider resistance；
Wherein：The single-chip microcomputer is electrically connected by the first driving chip with the C phase terminals of motor；The single-chip microcomputer drives by second
Dynamic chip is electrically connected with the B phase terminals of motor；The single-chip microcomputer is electrically connected by the 3rd driving chip with the A phase terminals of motor；
The single-chip microcomputer is electrically connected with the three-phase terminal of motor respectively by inverse electromotive force detection module；The single-chip microcomputer passes through first
Amplifier, rated resistance are electrically connected with the C phase terminals of motor；The single-chip microcomputer passes through the second amplifier, rated resistance and motor
B phase terminals electrical connection；The single-chip microcomputer is electrically connected by the 3rd amplifier, rated resistance with the A phase terminals of motor.
3. the moped speed based on STM32 single-chip microcomputers according to claim 1 and 2 adjusts controller, its feature
It is：The single-chip microcomputer is provided with CAN terminal.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621141461.1U CN206211890U (en) | 2016-10-20 | 2016-10-20 | Moped speed regulation controller based on STM32 single-chip microcomputers |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621141461.1U CN206211890U (en) | 2016-10-20 | 2016-10-20 | Moped speed regulation controller based on STM32 single-chip microcomputers |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108189906A (en) * | 2017-12-08 | 2018-06-22 | 联创汽车电子有限公司 | Electric boosting steering system and its anti-towing astern method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108189906A (en) * | 2017-12-08 | 2018-06-22 | 联创汽车电子有限公司 | Electric boosting steering system and its anti-towing astern method |
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| TR01 | Transfer of patent right |
Effective date of registration: 20190527 Address after: 301700 Nancai Village Town, Wuqing District, Tianjin Patentee after: Tianjin Golden Wheel Xinde Vehicle Co., Ltd. Address before: 301700 Tianjin Wuqing District Development Zone Fuyuan Road North Side Venture Headquarters Base C04 Building Eight Floor East Side Patentee before: Seashells (Tianjin) Technology Co., Ltd. |