CN206727914U - Bicycle switch magnetic resistance wheel hub motor governing system - Google Patents
Bicycle switch magnetic resistance wheel hub motor governing system Download PDFInfo
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- CN206727914U CN206727914U CN201720505507.1U CN201720505507U CN206727914U CN 206727914 U CN206727914 U CN 206727914U CN 201720505507 U CN201720505507 U CN 201720505507U CN 206727914 U CN206727914 U CN 206727914U
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Abstract
It the utility model is related to a kind of motor control assembly, more particularly to a kind of bicycle switch magnetic resistance wheel hub motor governing system, including switching magnetic-resistance wheel hub motor, power inverter and controller, controller connects power inverter control terminal, battery pack is connected to switching magnetic-resistance wheel hub motor by power inverter, switching magnetic-resistance wheel hub motor includes rotor and stator, the winding of stator is correspondingly provided with current sensor, rotor connects cycle hub by motor fixing shaft, rotor is correspondingly provided with position and velocity measuring part, position and velocity measuring part include rotation section and fixed part, rotation section is connected with rotor, fixed part is fixed on stator, rotation section and fixed part are correspondingly arranged disk and Hall sensor, current sensor and Hall sensor are connected to controller.The utility model starting torque is big, operates steadily, and noise is low, and startup optimization electric current is small, small to battery impact, the service life of battery is greatly improved, so as to extend the service life of electric bicycle.
Description
Technical field
It the utility model is related to a kind of motor control assembly, and in particular to a kind of bicycle switch magnetic resistance wheel hub motor is adjusted
Speed system.
Background technology
Electric bicycle has obtained wide as a kind of economical and practical new energy vehicles in daily life
General application.At present, electric bicycle uses the motor overwhelming majority is body the characteristics of the motor for pm brushless in-wheel motor
Small, in light weight, the efficiency high of product, its weak point are that starting current is big, battery are impacted big.The permanent magnetism of pm brushless in-wheel motor
Part is constantly demagnetized with the increase of usage time, and with the continuous demagnetization of motor, it may appear that electric current gradually increases, motor
Efficiency gradually reduces, and so as to cause the course continuation mileage of electric bicycle shorter and shorter, influences the service life of battery, or even can damage
The battery of bad bicycle.After electric bicycle uses a period of time, even if renewing battery, course continuation mileage does not reach new car continuation of the journey yet
Mileage.
Utility model content
In order to solve the above technical problems, the purpose of this utility model is：A kind of bicycle switch magnetic resistance wheel hub is provided
Motor speed regulation system, starting torque is big, operates steadily, and noise is low, and startup, running current are small, small to battery impact, significantly carries
The high service life of battery, so as to extend the vehicle service life of electric bicycle.
The utility model is that technical scheme is used by solving its technical problem：
The bicycle switch magnetic resistance wheel hub motor governing system, including switching magnetic-resistance wheel hub motor, power inverter
And controller, the controller connect power inverter control terminal, battery pack is connected to switching magnetic-resistance wheel by power inverter
Hub motor, the switching magnetic-resistance wheel hub motor include rotor and stator, and switching magnetic-resistance wheel hub motor is connected by motor fixing shaft
Bicycle, the winding of stator are correspondingly provided with current sensor, and the rotor connects cycle hub by rotating shaft, and rotor is correspondingly set
There are position and velocity measuring part, the position and velocity measuring part include rotation section and fixed part, and the rotation section is consolidated with rotor
Fixed connection, the fixed part are fixed in motor fixing shaft, and the rotation section and fixed part are correspondingly arranged disk and hall sensing
Device, the current sensor and Hall sensor are connected to controller.
The utility model switching magnetic-resistance wheel hub motor uses outer-rotor structure, shell and standard electric bicycle hub motor
Casing appearance and size are consistent；Motor uses more salient-pole structures, according to its power, diameter, normal speed difference, it is fixed
Rotor number of poles is following several specifications：12/16,12/18,18/24,18/26,18/28,18/32, advantage is that low-speed pulse is small,
Noise is low, and comfortableness is high, and the winding of stator is the coiling group of 3 phase independences, outlet totally 6, and during work, disk rotates with rotor,
Due to the N by Hall sensor, S magnetic poles constantly switch, and Hall sensor will export different high-low signals, and will sense
Signal be sent to controller, be derived from position and the rotating speed of rotor, controller is become according to the current rotating speed of rotor by power
Parallel operation provides suitable operating voltage to stator, and at the same time, current sensor monitors the operating current of stator winding.
Wherein, preferred scheme is：
The disk is an annulus being fixed on rotor, and the ring textures coat magnetic material, magnetic material N, S magnetic
Pole is spaced apart, and N, S width are different, and magnetic material forms N by way of magnetizing, the structure of S polarity intervals distribution, for
The switching magnetic-resistance wheel hub motor of 12/16 number of poles, N, S number of poles are respectively 16, equal with rotor with salient pole number.For other poles
Several switching magnetic-resistance wheel hub motors, such as 12/18,18/24,18/26,18/28,18/32,24/28,24/32, N, S number of poles
Respectively 18,24,26,28,32,28,32.The physical width of N polar regions is not equal to S polar regions
Physical width, specific width magnetic hysteresis of Hall sensor used in are adjusted, and the standard of adjustment is for final output
N is represented, the electric impulse signal width in S regions is equal.
N on disk, S physical width are arranged to unequal reason：The purpose of disk is to determine stator and rotor
Relative position, obtain accurate positional information.Can arbitrarily it be rotated in view of switching magnetic-resistance wheel hub motor both forward and reverse directions, and it is right
The power control of stator winding, in the case of constant airspeed, the final output signal of the information is the signal of equal in width, and only
There is the signal of equal in width, ability Correct positional information, controller, could be to switching magnetic-resistance only according to the accurate information
Wheel hub motor accurately controls, and otherwise, does not reach the requirement accurately controlled.That is, the device has to that N can be provided, S is wide
Spend equal electric impulse signal.Positional information is to sense N by Hall sensor, the output of S polarity, it is assumed that N polarity is in magnetic
Physical width on disk is expressed as WN, and physical width of the S polarity on disk is expressed as WS.When Hall sensor senses S poles
Property when, and continue at the WS regions of S polarity, export high RST WH, and sense N polarity chrons, and continue in the WN areas of N polarity
During domain, low signal WL is exported.During disk rotates, when S polar regions terminate and when just having entered N polar regions,
Due to the hysteresis effect of Hall sensor, high RST WH is not immediately finished, but lags a segment distance, then is changed into low signal
WL；When N polar regions terminate and when entering S polar regions, due to the hysteresis effect of Hall sensor, low signal WL then shifts to an earlier date
S polar regions are sensed, so as to which a segment distance is changed into high RST WH in advance.In this case, if representative on disk
Equal, the i.e. WN=WS of N, S polarity physical width, due to the hysteresis effect of Hall sensor, then the high RST for representing S polarity is wide
Degree WH will be more than the low signal width WL, i.e. WH ＞ WL for representing N polarity.It can thus be seen that as the N on disk, S polarity
When width is equal, then unequal problem, i.e. WH ≠ WL just occurs in the signal of reality output, is not inconsistent required for hop controller
WH=WL requirement.To solve this problem, it is appropriate to reduce S poles on disk according to the size of the magnetoresistance of Hall sensor
Property physical width, the appropriate physical width for increasing N polarity on disk makes WS<WN, according to above-mentioned rule, pass through adjustment, so that it may
So that WH=WL, so as to reach output requirement of the controller to disk output signal.
Arc fixing hole is set on sensor fixation plate, and sensor fixation plate is fixed by arc fixing hole and fixed disk to be connected
Connect, fixed disk is fixed in motor fixing shaft, and sensor fixation plate can along the circumferential direction be adjusted by arc fixing hole, regulation
Scope is 0~30 °, after being determined in position, is fixed by screw locking.
The controller includes the first MCU and the 2nd MCU, the Hall sensor simultaneously with the first MCU and the 2nd MCU phases
Even, bicycle is additionally provided with speed regulator, and current sensor is connected to the 2nd MCU with speed regulator, and controller input voltage can use
DC36V, DC48, DC60V or DC72V etc., it uses dual micro processor structure, a piece of to lay particular emphasis on logical signal processing, a piece of side
Analog signal computing, this mode are overweighted, first, the real-time and rapidity of system controller are improved, so as to improve control
The performance of device, second, improving protection speed, three are reduction of product cost, the motor position signal that Hall sensor measures and
Rate signal enters the first MCU and the 2nd MCU simultaneously, wherein, the main function into the first MCU feeds back for position signalling, enters
The main function for entering the first MCU feeds back for rate signal；The current signal of stator winding is fed into the 2nd MCU, by the 2nd MCU
Carry out the processing of current signal；Meanwhile the speed-regulating signal of bicycle speed-regulating device enters the 2nd MCU, it act as gathering user's speed governing
Device Setting signal, is handled accordingly.Concrete signal processing process be：
Definition speed-regulating signal is UG, and definition rate signal is SF, and definition current signal is IF, and above-mentioned 3 road signal enters the
Two MCU, are handled, and PI two close cycles processing is carried out to above-mentioned signal, and calculation formula and order are：
First by formula S F (t)-UG (t)=Ue (t), Ue (t) is obtained, then by formula Obtain U1 (t), then by formula IF (t)-U1 (t)=Ie (t), obtain Ie (t), finally byCalculate Uo (t).Wherein, P1, P2 are respectively velocity loop proportional coefficient and electric current
Ring proportionality coefficient, T1, T2 are respectively velocity loop proportional coefficient and electric current loop integral coefficient, and Uo (t) is MCU2 final output knot
Fruit, the PWM width of motor is output to for controlling.
First MCU is handled position signalling, and it is 3 tunnels to set position signalling input, defeated by 3 Hall sensors
Enter, respectively PA, PB, PC.Through the first MCU processing, output is respectively PA1, PA2, PB1, PB2, PC1, PC2.When low speed (one
As be less than 100RPM), the first MCU does following processing：PA1=PA2=PA, PB1=PB2=PB, PC1=PC2=PC；When at a high speed
When (generally higher than 100RPM), according to the difference of speed, PA1=PA2=PA-K, PB1=PB2=PB-K, PC1=PC2=PC-
K, K are the coefficient of a relation proportional to velocity variations, and the COEFFICIENT K is according to the electric efficiency-rate curve actually measured
Draw, in each point of speed, by the increase or reduction to K, the efficiency in corresponding speed point is reached peak,
So that it is determined that K numerical value.The formula represents that output signal PA1's, PA2 shifts to an earlier date K distances than input signal PA.
Compared with prior art, the utility model has the advantages that：
The utility model switching magnetic-resistance wheel hub motor does not have permanent-magnet material, in the absence of demagnetization problem, there's almost no use
The problem of life-span, starting torque is big, operates steadily, and noise is low, and startup, running current are small, small to battery impact, increases substantially
The service life of battery, so as to extending the vehicle service life of electric bicycle.In addition, the system controller uses speed
Current double closed-loop PID speed governing, there is excellent dynamic speed adjusting performance, cost is low, cost-effective.
Brief description of the drawings
Fig. 1 is switching magnetic-resistance hub motor structure schematic diagram.
Fig. 2 is turning portion structure figure.
Fig. 3 is sensor fixation plate schematic diagram.
In figure：1st, rotor；2nd, rotation section；3rd, motor fixing shaft；4th, fixed disk；5th, fixed part；6th, Hall sensor；7th, magnetic
Disk；8th, sensor fixation plate；9th, arc fixing hole.
Embodiment
The utility model embodiment is described further below in conjunction with the accompanying drawings：
Embodiment 1：
As shown in figure 1, bicycle switch magnetic resistance wheel hub motor governing system described in the utility model, including switching magnetic-resistance
Wheel hub motor, power inverter and controller, the controller connect power inverter control terminal, and battery pack passes through power conversion
Device is connected to switching magnetic-resistance wheel hub motor, and the switching magnetic-resistance wheel hub motor includes rotor 1 and stator, switching magnetic-resistance wheel hub motor
Bicycle is connected by motor fixing shaft 3, the winding of stator is correspondingly provided with current sensor, and the rotor 1 is connected by rotating shaft
Cycle hub, rotor 1 are correspondingly provided with position and velocity measuring part, and the position and velocity measuring part are including rotation section 2 and admittedly
Determine portion 5, the rotation section 2 is fixedly connected with rotor 1, and the fixed part 5 is fixed in motor fixing shaft 3, the He of rotation section 2
Fixed part 5 is correspondingly arranged disk 7 and Hall sensor 6, and the current sensor and Hall sensor 6 are connected to controller, work
When making, motor fixing shaft 3 is not rotated, and fixed part 5 is fixed by motor fixing shaft 3, and switching magnetic-resistance wheel hub motor uses outer rotor
Structure, stator is coated on inside rotor 1 in Fig. 1, is not shown.
As shown in Fig. 2 disk 7 is an annulus being fixed on rotor 1, the ring textures coat magnetic material, magnetic
Material N, S pole piece spacings are distributed, and N, S width are different, and magnetic material forms N by way of magnetizing, the distribution of S polarity intervals
Structure, for the switching magnetic-resistance wheel hub motor of 12/16 number of poles, N, S number of poles are respectively 16, equal with the salient pole number of rotor 1.
For the switching magnetic-resistance wheel hub motor of other numbers of poles, such as 12/18,18/24,18/26,18/28,18/32,24/28,24/32,
N, S number of poles are respectively 18,24,26,28,32,28,32.The physical width of N polar regions is not equal to S
The physical width of polar region, specific width magnetic hysteresis of Hall sensor 6 used in are adjusted, and the standard of adjustment is
Final output is to represent N, and the electric impulse signal width in S regions is equal.
N on disk 7, S physical width are arranged to unequal reason：The purpose of disk 7 is to determine stator and rotor 1
Relative position, obtain accurate positional information.Can arbitrarily it be rotated in view of switching magnetic-resistance wheel hub motor both forward and reverse directions, and
To the power control of stator winding, in the case of constant airspeed, the final output signal of the information is the signal of equal in width, and
The only signal of equal in width, ability Correct positional information, controller, could be to switching magnetic only according to the accurate information
Resistance wheel hub motor accurately controls, and otherwise, does not reach the requirement accurately controlled.That is, the device has to that N, S can be provided
The equal electric impulse signal of width.Positional information is to sense N by Hall sensor 6, the output of S polarity, it is assumed that N polarity exists
Physical width on disk 7 is expressed as WN, and physical width of the S polarity on disk 7 is expressed as WS.When Hall sensor 6 senses
To S polarity chrons, and continue at the WS regions of S polarity, export high RST WH, and sense N polarity chrons, and continue in N polarity
WN regions when, export low signal WL.During disk 7 rotates, N polarity has just been entered when S polar regions terminate
During region, due to the hysteresis effect of Hall sensor 6, high RST WH is not immediately finished, but lags a segment distance, then is become
For low signal WL；When N polar regions terminate and when entering S polar regions, due to the hysteresis effect of Hall sensor 6, low letter
Number WL has then sensed S polar regions in advance, so as to which a segment distance is changed into high RST WH in advance.In this case, if magnetic
Equal, the i.e. WN=WS of representative N, S polarity physical width on disk 7, due to the hysteresis effect of Hall sensor 6, then represents S poles
Property high RST width WH will be more than and represent the low signal width WL, i.e. WH ＞ WL of N polarity.It can thus be seen that work as disk 7
On N, when the width of S polarity is equal, then unequal problem, i.e. WH ≠ WL just occurs in the signal of reality output, does not meet
The requirement of WH=WL required for controller.To solve this problem, according to the size of the magnetoresistance of Hall sensor 6, fit
When the physical width for reducing S polarity on disk 7, the appropriate physical width for increasing N polarity on disk 7, make WS<WN, according to above-mentioned
Rule, pass through adjustment, so that it may so that WH=WL, so as to reach output requirement of the controller to the output signal of disk 7.
As shown in figure 3, Hall sensor 6 is fixed on sensor fixation plate 8, according to solid between adjacent Hall sensor 6
Fixed differential seat angle is fixed, and differential seat angle is：360 °/stator salient poles number, sensor fixation plate 8 are the line made using PCB material
Road plate, for fixing Hall sensor 6 and drawing its circuit；Arc fixing hole 9 is set on sensor fixation plate 8, and sensor is solid
Fixed board 8 is fixedly connected by arc fixing hole 9 with fixed disk 4, and fixed disk 4 is fixed in motor fixing shaft 3, sensor fixation plate
8 can along the circumferential direction be adjusted by arc fixing hole 9, and adjustable range is 0~30 °, after being determined in position, passes through screw locking
It is fixed.
The utility model switching magnetic-resistance wheel hub motor uses outer-rotor structure, shell and standard electric bicycle hub motor
Casing appearance and size are consistent；Motor uses more salient-pole structures, according to its power, diameter, normal speed difference, it is fixed
Rotor number of poles is following several specifications：12/16,12/18,18/24,18/26,18/28,18/32, advantage is that low-speed pulse is small,
Noise is low, and comfortableness is high, and the winding of stator is the coiling group of 3 phase independences, outlet totally 6, and during work, disk 7 is with 1 turn of rotor
Dynamic, due to the N by Hall sensor 6, S magnetic poles constantly switch, and Hall sensor 6 will export different high-low signals, and will
The signal sensed is sent to controller, is derived from position and the rotating speed of rotor 1, and controller leads to according to 1 current rotating speed of rotor
Overpower converter provides suitable operating voltage to stator, at the same time, the work electricity of current sensor monitoring stator winding
Stream.
Embodiment 2：
The present embodiment optimizes the structure of controller on the basis of embodiment 1, and the controller includes the first MCU and the
Two MCU, the Hall sensor 6 are connected with the first MCU and the 2nd MCU simultaneously, and bicycle is additionally provided with speed regulator, current sensor
The 2nd MCU is connected to speed regulator, controller input voltage can use DC36V, DC48, DC60V or DC72V etc., and it is used
Dual micro processor structure, a piece of logical signal that lays particular emphasis on is handled, a piece of to lay particular emphasis on analog signal computing, this mode, first, putting forward
The high real-time and rapidity of system controller, so as to improve the performance of controller, second, protection speed is improved, third,
Product cost is reduced, the motor position signal and rate signal that Hall sensor 6 measures while enters the first MCU and second
MCU, wherein, the main function into the first MCU feeds back for position signalling, and the main function into the first MCU is rate signal
Feedback；The current signal of stator winding is fed into the 2nd MCU, and the processing of current signal is carried out by the 2nd MCU；Meanwhile voluntarily
The speed-regulating signal of car speed regulator enters the 2nd MCU, act as gathering user's speed regulator Setting signal, is handled accordingly.Tool
The process of body signal transacting is：
Definition speed-regulating signal is UG, and definition rate signal is SF, and definition current signal is IF, and above-mentioned 3 road signal enters the
Two MCU, are handled, and PI two close cycles processing is carried out to above-mentioned signal, and calculation formula and order are：
First by formula S F (t)-UG (t)=Ue (t), Ue (t) is obtained, then by formula Obtain U1 (t), then by formula IF (t)-U1 (t)=Ie (t), obtain Ie (t), finally byCalculate Uo (t).Wherein, P1, P2 be respectively velocity loop proportional coefficient and
Electric current loop proportionality coefficient, T1, T2 are respectively velocity loop proportional coefficient and electric current loop integral coefficient, and Uo (t) is the final defeated of MCU2
Go out result, the PWM width of motor is output to for controlling.
First MCU is handled position signalling, and position signalling input is 3 tunnels, is inputted by 3 Hall sensors 6, point
Wei not PA, PB, PC.Through the first MCU processing, output is respectively PA1, PA2, PB1, PB2, PC1, PC2., 6 tunnel is exported for controlling
The power tube of main circuit processed.(it is generally less than 100RPM) when low speed, the first MCU does following processing：PA1=PA2=PA, PB1
=PB2=PB, PC1=PC2=PC；When high speed (generally higher than 100RPM), according to the difference of speed, PA1=PA2=PA-
K, PB1=PB2=PB-K, PC1=PC2=PC-K, K are the coefficient of a relation proportional to velocity variations, and the COEFFICIENT K is root
Factually electric efficiency-rate curve of border measurement is drawn, in each point of speed, by the increase or reduction to K, is made
The efficiency of corresponding speed point reaches peak, so that it is determined that K numerical value.The formula represents that output signal PA1, PA2 ratio are defeated
Enter signal PA and shift to an earlier date K distances.
The mode of Universal bicycle controller is opened loop control+current limliting, the system controller using two close cycles (speed ring and
Electric current loop) control mode, which can set to maximal rate and maximum current, both give full play to switching magnetic-resistance wheel hub
The superior mechanical property of motor, meanwhile, and motor maximal rate and maximum current are defined, it ensure that electric bicycle
Riding safety, the reliability that the system of ensure that uses.Meanwhile the realization of the control mode, it is built upon digital basis
On, have that stability is high, small volume, the characteristics of cost is low.Also, double circle structure can easily realize that outer shroud is speed
The form that ring, inner ring are electric current loop type or outer shroud is electric current loop, inner ring is speed ring, two kinds of forms can conveniently be changed, carried
The flexibility that high user uses.
Claims (5)
1. a kind of bicycle switch magnetic resistance wheel hub motor governing system, it is characterised in that including switching magnetic-resistance wheel hub motor, work(
Rate converter and controller, the controller connect power inverter control terminal, and battery pack is connected to out by power inverter
Magnetic resistance wheel hub motor is closed, the switching magnetic-resistance wheel hub motor includes rotor (1) and stator, and switching magnetic-resistance wheel hub motor passes through motor
Fixing axle (3) connects bicycle, and the winding of stator is correspondingly provided with current sensor, and the rotor (1) is connected voluntarily by rotating shaft
Wheel hub, rotor (1) are correspondingly provided with position and velocity measuring part, and the position and velocity measuring part include rotation section (2) and solid
Determine portion (5), the rotation section (2) is fixedly connected with rotor (1), and the fixed part (5) is fixed in motor fixing shaft (3), institute
State rotation section (2) and fixed part (5) is correspondingly arranged disk (7) and Hall sensor (6), the current sensor and hall sensing
Device (6) is connected to controller.
2. bicycle switch magnetic resistance wheel hub motor governing system according to claim 1, it is characterised in that the disk
(7) it is an annulus being fixed on rotor (1), the ring textures coating magnetic material, magnetic material N, S pole piece spacings point
Cloth, and N, S width are different.
3. bicycle switch magnetic resistance wheel hub motor governing system according to claim 1, it is characterised in that the Hall
Sensor (6) is fixed on sensor fixation plate (8).
4. bicycle switch magnetic resistance wheel hub motor governing system according to claim 3, it is characterised in that the sensing
Setting arc fixing hole (9) in device fixed plate (8), sensor fixation plate (8) are solid by arc fixing hole (9) and fixed disk (4)
Fixed connection, fixed disk (4) are fixed in motor fixing shaft (3).
5. bicycle switch magnetic resistance wheel hub motor governing system according to claim 1, it is characterised in that the control
Device includes the first MCU and the 2nd MCU, and bicycle is additionally provided with speed regulator, the Hall sensor (6) and meanwhile with the first MCU and
Two MCU are connected, and current sensor is connected to the 2nd MCU with speed regulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720505507.1U CN206727914U (en) | 2017-05-08 | 2017-05-08 | Bicycle switch magnetic resistance wheel hub motor governing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720505507.1U CN206727914U (en) | 2017-05-08 | 2017-05-08 | Bicycle switch magnetic resistance wheel hub motor governing system |
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| Publication Number | Publication Date |
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| CN206727914U true CN206727914U (en) | 2017-12-08 |
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ID=60509534
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131381A (en) * | 2018-07-20 | 2019-01-04 | 西南交通大学 | A kind of hub motor drive system and its driving method of small size air rail vehicle |
-
2017
- 2017-05-08 CN CN201720505507.1U patent/CN206727914U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131381A (en) * | 2018-07-20 | 2019-01-04 | 西南交通大学 | A kind of hub motor drive system and its driving method of small size air rail vehicle |
| CN109131381B (en) * | 2018-07-20 | 2024-01-26 | 西南交通大学 | Wheel hub motor driving system of small-sized air rail vehicle and driving method thereof |
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