CN207321155U - The hub motor control system of human-computer interaction body-sensing car - Google Patents
The hub motor control system of human-computer interaction body-sensing car Download PDFInfo
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- CN207321155U CN207321155U CN201721111483.8U CN201721111483U CN207321155U CN 207321155 U CN207321155 U CN 207321155U CN 201721111483 U CN201721111483 U CN 201721111483U CN 207321155 U CN207321155 U CN 207321155U
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Abstract
The utility model provides a kind of hub motor control system of human-computer interaction body-sensing car, wheel hub motor including driving vehicle wheel rotation, sampling apparatus and control device for the attitude information for gathering car body, control device is used to control the output power of the wheel hub motor according to the attitude information of car body so that the car body of human-computer interaction body-sensing car tends to be horizontal, sampling apparatus further includes the current collector of the electric current for gathering wheel hub motor, current collector is connected with control device, current collector sends the electric current of the wheel hub motor collected to control device, control device is additionally operable to when the electric current that current collector collects is more than default threshold current, the output power of wheel hub motor is reduced to predetermined threshold power or is reduced to below predetermined threshold power.The hub motor control system of the human-computer interaction body-sensing car of the utility model, maintains high-power output state in wheel hub motor, reduces the output power of wheel hub motor, reduce the caloric value of wheel hub motor always.
Description
Technical field
The utility model belongs to human-computer interaction body-sensing car technical field, is related to a kind of wheel hub motor of human-computer interaction body-sensing car
Control system.
Background technology
It is quick with association areas such as computer technology, software technology, microelectric technique, the communication technology, material technologies
Development, and science and technology and people's living standard continuous progressive and improve, the modern vehicles just towards it is intelligent,
Small-sized, energy-saving and environmental protection trend developments.In recent years, deepening continuously with the research of human-computer interaction body-sensing car, its neck applied
Domain is more extensive, and the environment and task faced also becomes increasingly complex.
Human-computer interaction body-sensing car of the prior art, its operation principles are mainly built upon one kind and are referred to as " dynamic stability "
Basic principle on, using the gyroscope and acceleration transducer of vehicle body, to detect the change of human body attitude, and utilize control
Accurately drive hub motor is adjusted correspondingly device processed such as microprocessor, to keep the balance of system.That is,
The output power of wheel hub motor of the prior art can only adjust in real time according to the change of human body attitude, when human body attitude always
Maintain when the wheel hub motor is constantly in the state of high-output power, wheel hub motor will produce substantial amounts of heat, in inflammation
The heat that the summer wheel hub motor of heat produces is difficult to be distributed in time, to cause wheel hub motor to be burnt since fuselage is too warm
Ruin.Once this occurs, people will not only bear economic loss, more it is essential that wheel hub motor is burned out, human-computer interaction
Body-sensing car will not keep balancing, and user is easy to throw to cause personal injury on car body.
Utility model content
The purpose of utility model of the utility model is a kind of hub motor control system of human-computer interaction body-sensing car, to take turns
Hub motor maintains high-power output state always, reduces the output power of wheel hub motor, reduces the caloric value of wheel hub motor.
The utility model provides a kind of hub motor control system of human-computer interaction body-sensing car, including drives vehicle wheel rotation
The sampling apparatus and control device of wheel hub motor, attitude information for gathering car body, the control device are used for according to
The attitude information of car body controls the output power of the wheel hub motor so that the car body of human-computer interaction body-sensing car tends to be horizontal, described
Sampling apparatus further includes the current collector of the electric current for gathering the wheel hub motor, the current collector and the control
Device connects, and the current collector sends the electric current of the wheel hub motor collected to the control device, the control
Device processed is additionally operable to when the electric current that the current collector collects is more than default threshold current, by the wheel hub motor
Output power is reduced to predetermined threshold power or is reduced to below predetermined threshold power, and the predetermined threshold power is wheel
The output power of wheel hub motor when the electric current of hub motor is the default threshold current.
Further, the sampling apparatus includes the temperature sensor for being used to gather the temperature of the wheel hub motor, described
Temperature sensor is connected with the control device, and the temperature of the wheel hub motor collected is sent to by the temperature sensor
The control device, the temperature that the control device is additionally operable to collect in the temperature sensor are more than or equal to default temperature
During threshold value, the wheel hub motor is controlled to reduce output power.
Further, the sampling apparatus includes the temperature sensor for being used to gather the temperature of the wheel hub motor, described
Temperature sensor is connected with the control device, and the temperature of the wheel hub motor collected is sent to by the temperature sensor
The control device, the temperature that the control device is additionally operable to collect in the temperature sensor are more than or equal to default temperature
The threshold current is reduced during threshold value so that the wheel hub motor reduces output power.
Further, the wheel hub motor is PWM speed regulating motors, and the control device is collected according to the sampling apparatus
Information generation pwm control signal, and send to the wheel hub motor, the wheel hub motor is according to the pwm control signal tune
Whole output power, and when the temperature that the temperature sensor collects is greater than or equal to default temperature threshold, the control
The pwm control signal of device generation can make the wheel hub motor reduce output power.
Further, the wheel hub motor includes PWM speed adjusting modules and the power output being connected with the PWM speed adjusting modules
Module, the PWM speed adjusting modules adjust the output power of the power output module according to the pwm control signal received.
Further, the control device includes being used for the PWM controller for generating pwm control signal, for storing car body
Attitude information and output power mapping relations, wheel hub motor predetermined threshold current and predetermined temperature threshold storage
Device, for receiving attitude information, current information and temperature information and being compared the information of they and the memory memory storage
The PWM controller is controlled compared with the comparator with/conversion, and for the comparison according to the comparator and/or scaling results
Generate corresponding pwm control signal.
Further, when the temperature that the temperature sensor collects is greater than or equal to default temperature threshold, the control
The duty cycle of the pwm control signal of device generation processed is less than the duty cycle of previous pwm control signal.
Further, the quantity of the temperature sensor is multiple and is uniformly distributed.
Further, the temperature sensor gathers the temperature of rotor of the wheel hub motor.
Further, the temperature sensor is temp probe, and the temperature sensor is attached to turning for the wheel hub motor
On son.
Due to the utilization of above-mentioned technical proposal, the utility model possesses advantages below：
The hub motor control system of the human-computer interaction body-sensing car of the utility model, wheel hub motor is gathered by sampling apparatus
Electric current, when control device judges that the current information that sampling apparatus collects is more than threshold current, control wheel hub motor reduce
Output power, reduces the caloric value of wheel hub motor, makes the temperature of wheel hub motor reduce, to avoid wheel hub motor because of the excessive quilt of temperature
Burn out and bring the person and property loss to user.
Brief description of the drawings
Fig. 1 is the functional block diagram of the wheel hub motor output power system of the utility model embodiment.
Fig. 2 is the flow chart of the control method of the wheel hub motor output power system of the utility model embodiment.
Embodiment
It is new to this practicality below in conjunction with attached drawing to make the purpose of this utility model, technical solution and advantage clearer
Type embodiment is further described.
Referring to Fig. 1, the hub motor control system for the human-computer interaction body-sensing car that the utility model embodiment provides, including
Wheel hub motor 1, control device 2, sampling apparatus 3 and power supply 4.Power supply 4 connects with wheel hub motor 1, control device 2 and sampling apparatus 3
Connect, be that wheel hub motor 1, control device 2 and sampling apparatus 3 provide electric energy.Sampling apparatus 3 is connected with control device 2, for gathering
The attitude information of the car body of human-computer interaction body-sensing car simultaneously sends attitude information to control device 2, and control device 2 is for example including micro-
Processor, control device 2 are used to control the output power of wheel hub motor 1 so that human-computer interaction body-sensing according to the attitude information of car body
The car body of car tends to be horizontal.
Specifically, sampling apparatus 3 includes attitude transducer, and attitude transducer is used for the attitude information for gathering car body, posture
Sensor includes the sensor that gyroscope 302, acceleration transducer 303 etc. are used to gather human body attitude information, control device 2
The human body attitude information control wheel hub motor collected according to attitude transducer exports corresponding output power and maintains car body balance, together
When drive vehicle wheel rotation, band motor vehicles bodies advance, retreat and turn to, and details are not described herein for the prior art for these technologies.
It is understood that the operational process of human-computer interaction body-sensing car is a time-continuing process, and in the operational process, electricity
Machine temperature can rise, and the immediate cause that temperature rises is that the output current of motor is lasting excessive, therefore, in motor operation course
The maximum output current (i.e. threshold current) of motor can be directly limited, car is ensured by level control loops section and current control link
Body tends to be horizontal and motor temperature is not excessive.It should be noted that the threshold current of motor is preset by control device 2
(as described below), default threshold current need to ensure that under normal circumstances car body can carry out climbing level road walking.Need into
One step illustrates that normal condition refers to that car body can maintain to balance, and the temperature of wheel hub motor 1 is not over temperature threshold
Value, the temperature threshold are the maximum temperature value for not influencing the normal work of wheel hub motor 1.
Illustrated by taking the climbing of human-computer interaction body-sensing car as an example.During climbing, in level control loops section, in order to ensure that car body becomes
In level, it is necessary to increase the output power of wheel hub motor, and increase the output current that output power inevitably results in wheel hub motor
Increase.At this time, it is likely that occur that output current exceedes the situation of default threshold current.In current control link, due to
The output current of wheel hub motor is more than default threshold current, it is necessary to reduce output power of motor so that motor output current reduces
To threshold current, so prevent that motor temperature is excessive.In this way, since output power reduces, car body is not horizontal, in order to make car
Body tends to be horizontal, can increase output power again in level control loops section, default so as to cause output current to be more than again
Threshold current, needs the adjusting by current control link in turn.It can thus be seen that in this time-continuing process of climbing,
The output current and output power of motor are essentially all a dynamic changing process, and output current is on the basis of threshold current
Fluctuation up and down is carried out, and then completes climbing.
Correspondingly, in the utility model, sampling apparatus 3 is additionally operable to the electric current of collection wheel hub motor 1, in control device 2
The value of threshold current is stored with, the value of the threshold current can ensure under normal circumstances, and it is flat that car body can carry out climbing
Walk on road, it can be understood as the initial value of threshold current, in normal state, threshold current of the control device 2 to wheel hub motor 1
When default, default threshold current is equal to the value of the threshold current of 2 memory storage of control device, in other words, that is, controls
Device 2 stores default threshold current, which can ensure that under normal circumstances, car body can climb
Level road is walked, it is understood that into initial default threshold current.Control device 2 is receiving what sampling apparatus 3 collected
When electric current is more than default threshold current, the output power of wheel hub motor 1 is reduced to predetermined threshold power or is reduced to pre-
Below fixed threshold power, predetermined threshold power is wheel hub motor 1 when the electric current of wheel hub motor 1 is predetermined threshold current
Output power.It is understood that it can ensure wheel hub when the output power of wheel hub motor 1 is near predetermined threshold power
The caloric value of motor 1 will not excessive (but except working long hours, such as when the time 1 of normally riding is small, but user be
Ceaselessly ride 2 hours), do not exist namely when the output power of wheel hub motor 1 has been significantly greater than predetermined threshold power
When near predetermined threshold power, the output power that control device 2 controls wheel hub motor 1 and makes wheel hub motor 1 is equal to less than predetermined
Threshold power, can so maintain high power always to avoid wheel hub motor 1 (i.e. output power is more than predetermined threshold power)
Output state, the problem of caused 1 temperature of wheel hub motor is excessive.
Further, sampling apparatus 3 includes the current sampler 300 for being used to gather the electric current of wheel hub motor 1, current sample
Device 300 is connected with control device 2, and the electric current of the wheel hub motor 1 collected is transmitted to control device 2.It is understood that
Control device 2 adjusts the priority of the output power of wheel hub motor 1 according to electric current, and wheel hub is adjusted more than according to human body attitude information
The priority of the output power of motor 1, i.e., when the electric current of wheel hub motor 1 is more than default threshold current, current human body appearance
State information is represented as making car body to tend to be horizontal, when wheel hub motor 1 needs the output power to be more than current output power, control device
2 still control wheel hub motors 1 make the output power of wheel hub motor 1 predetermined threshold value output power, the Ran Houzai such as decrease below
The output power of wheel hub motor 1 is adjusted according to human body attitude information.
It should be noted that human-computer interaction body-sensing car is ensureing that car body becomes by level control loops section and current control link
During horizontal and motor temperature is not excessive, once there is high current (close to default threshold current) in certain period of time
When the interior cumulative time is long, the situation that the temperature of wheel hub motor is excessive still occurs.Motor temperature is excessive two kinds of situations,
One kind is to continue climbing or intermittent constantly brake, and the duration of high current is longer at this time；It is another prolonged fast
Speed is ridden, and wheel hub motor is worked long hours with output power near threshold power always to cause motor temperature to raise.
To improve reliability, it is necessary to temperature detection further be carried out to wheel hub motor, when detecting that temperature is excessive, it is necessary to further drop
The output power of low wheel hub motor.Electricity can be gradually reduced using by pwm control signal by reducing the output power of wheel hub motor
The mode (as described below) of the output power of machine, naturally it is also possible to reduce the defeated of motor by the way of threshold current is directly reduced
Go out power.Reduce threshold current to refer to directly reducing default threshold current, particular by control device 2 again to threshold
It is worth electric current assignment, the value of threshold current is reduced.Under normal circumstances, (this is first to threshold current imparting initial value for control device 2
Initial value is default threshold current i.e. the value of the threshold current of above-mentioned control device 2 storage), it is more than in temperature pre-
If temperature threshold when, reduce threshold current, can be again to the threshold current assignment during specific implementation, and the value assigned again
Less than the value of current threshold current, the value that threshold current assigns again is temporarily stored in control device 2, i.e. control device 2
The middle value for having cached new threshold current, namely new default threshold current has been cached in control device 2, then next
In a current control link, so-called default threshold current is the new default threshold current.It is less than when temperature returns to
During temperature threshold, current threshold is assigned a value of initial value again.
For example, under normal circumstances, ensure that car body can carry out the value of the threshold current of climbing level road walking (i.e. initially
Value) be such as 20A, it is electric after current control link or when the transient current of current time motor is less than threshold current
The temperature of machine is still excessive, and control device 2 presets the threshold current of wheel hub motor 1 again at this time, by the threshold value electricity of wheel hub motor 1
Stream is arranged to 5A.Benefit by the way of threshold current is reduced is significantly can to reduce the output power of motor,
After reducing threshold current, the threshold value output power of motor reduces, and the current value in motor is significantly larger than threshold current, needs at this time
The duty cycle that pwm control signal is greatly lowered realizes the effect for the output power for significantly reducing motor, can quickly have
The realization cooling of effect.In addition, reducing output power indirectly by reducing threshold current can ensure to be no more than normal model in electric current
When enclosing, body-sensing car can work normally.In the present embodiment, when the temperature of wheel hub motor 1 is excessive, using reduction threshold value
The mode of electric current reduces the output power of wheel hub motor 1, realizes cooling.
Being illustrated by taking climbing as an example, which reduces threshold current, reduces the process of output power.If the gradient is larger but distance compared with
Short, the electric current (transient current) of motor exceedes the initial value of threshold current at this time, directly by current control link, passes through adjusting
The duty cycle of pwm signal is reduced and outputed current to below threshold current.If but distance smaller in the gradient, so due to slope
Degree is little, and the transient current of motor can larger, but not more than the initial value of threshold current, but due to distance, persistently when
Between it is long, motor temperature can also rise, such motor temperature also for rise, at this time current control link fail, therefore, directly adjusting
Threshold current, and the value of the threshold current is necessarily less than the current electric current of motor (i.e. transient current).
It should be noted that so finally making car body slowly stop by continuously reducing the value of threshold current, can keep away
Exempt from the safety problem that all standing triggers suddenly.If during the adjusting, motor temperature has been restored to normal temperature, at this time directly
Threshold current is returned into initial value, car body recovers normal operation.
Correspondingly, sampling apparatus 3 is additionally operable to gather the temperature of the wheel hub motor 1, and the control device 2 is additionally operable in institute
When stating the temperature that sampling apparatus 3 collects and being more than or equal to default temperature threshold, the wheel hub motor 1 is controlled to reduce output work
Rate.Specific sampling apparatus 3 further includes temperature sensor 301, and temperature sensor 301 is connected to collection wheel hub with control device 2
The temperature (temperature of rotor for being specifically as follows wheel hub motor 1) of motor 1, and temperature information will be collected and become by A/D conversions
Digital information is sent to 2 device of control device.2 memory of control device contains default temperature threshold, which is not shadow
The maximum temperature value that wheel hub motor 1 works normally is rung, which can be obtained by experiment test, and control device 2 receives
Temperature information that temperature sensor 301 collects simultaneously judges whether the information is more than or equal to temperature threshold, when judging result is yes
When, control device 2 controls wheel hub motor 1 to reduce output power, can so reduce the caloric value of wheel hub motor 1, to reduce wheel
The temperature of hub motor 1.
In the present embodiment, wheel hub motor 1 is PWM speed regulating motors, the letter that control device 2 is collected according to sampling apparatus 3
Breath generation pwm control signal is simultaneously sent to wheel hub motor 1 to adjust the output power of wheel hub motor 1, and in temperature sensor
301 collect temperature information when being greater than or equal to temperature threshold, the pwm control signal control wheel hub motor 1 that control device 2 generates
Reduce the output power of output.Wheel hub motor 1 reduces and/or improves the principle of the output power of output according to pwm control signal
It is as described below.
Wheel hub motor 1 includes PWM speed adjusting modules 101 and the power output module 102 being connected with PWM speed adjusting modules 101,
PWM speed adjusting modules 101 can adjust the output power of power output module 102 according to the pwm control signal received, that is, adjust
The rotating speed of whole wheel hub motor 1.For example, when temperature sensor 301 collects temperature information and is less than temperature threshold, for gathering people
The attitude information that the sensor of the attitude information of machine interaction body-sensing car collects becomes larger for human-computer interaction body-sensing car angle of inclination, should
Message reflection goes out user and wants to improve the translational speed of human-computer interaction body-sensing car, at this time, the PWM controls that control device 2 is currently generated
The duty cycle of signal processed becomes larger relative to the duty cycle of previous pwm control signal, such as the duty of previous pwm control signal
Than for 43%, the duty cycle for the pwm control signal being currently generated is 46%, and the duty cycle of such PWM speed adjusting modules 101 improves,
PWM speed adjusting modules 101 improve the output power that power output module 102 exports, that is, improve the rotating speed of wheel hub motor 1.
PWM speed adjusting modules 101 reduce the output power that power output module 102 exports, that is, reduce wheel hub motor 1
The principle of rotating speed is specially：When temperature sensor 301 collects temperature information and is less than temperature threshold, for gathering human-computer interaction
The attitude information that the sensor of the attitude information of body-sensing car collects diminishes for human-computer interaction body-sensing car angle of inclination, and the information is anti-
User is mirrored to want to reduce the translational speed of human-computer interaction body-sensing car, at this time, the pwm control signal that control device 2 is currently generated
Duty cycle diminish relative to the duty cycle of previous pwm control signal, such as the duty cycle of previous pwm control signal is
46%, the duty cycle for the pwm control signal being currently generated is 43%, and the duty cycle of such PWM speed adjusting modules 101 reduces, PWM tune
Fast module 101 reduces the output power that power output module 102 exports, that is, reduces the rotating speed of wheel hub motor 1.It is appreciated that
It is that the duty cycle for gradually reducing pwm control signal can be gradually reduced with the output power of wheel hub motor 1, threshold current changes will
The duty cycle of pwm control signal can be caused to significantly alter, when the duty cycle of pwm control signal is greatly lowered, motor output
Power is greatly lowered.
It should be noted that in the case where the temperature of wheel hub motor 1 is less than temperature threshold, the duty of pwm control signal
Determined than the angle of inclination generally according to human-computer interaction body-sensing car, and each angle of inclination can correspond to a duty cycle
Certain pwm control signal, the correspondence can be come according to experiment it is definite and after setting there are in control device 2, that is,
Say, pwm control signal is only related with human body attitude at this time.It is greater than or equal to the situation of temperature threshold in the temperature of wheel hub motor 1
Under, and control device 2 can reduce threshold current, the meeting of control device 2 the output phase duty cycle for previous pwm control signal is big
The pwm control signal of amplitude reduction.
In the present embodiment, control device 2 for example including microprocessor 201, PWM controller 202, comparator 203 and is deposited
Reservoir 204.Memory 204 is used to be stored with reflecting for temperature threshold, default threshold current and attitude information and output power
Penetrate relation.Comparator 203 is connected with attitude transducer, current sampler 300, temperature sensor 301 and memory 204.Compare
Device 203 is used to receive posture, temperature and electric current letter that attitude transducer, current sampler 300, temperature sensor 301 collect
Breath, and they compared with the information of 204 memory storage of memory and/or are converted, to judge to receive information and memory
Whether whether the relation between the information of 204 memory storages, the temperature information specially received are more than temperature threshold, current information
More than default threshold current, corresponding to the attitude information received to be swapped out according to attitude information and output power mapping relations
Output power, comparator 203 also sends the result for comparing and/or converting to microprocessor 201,201 basis of microprocessor
The comparison of comparator 203 and/or scaling results control PWM controller 202 generate corresponding pwm control signal.Need what is illustrated
It is each attitude information of car body, wheel hub motor 1 is intended to one corresponding output power of output and corresponds to for it, to ensure car body
Balance, the correspondence can be according to by being calculated, i.e., attitude information refers to human body appearance with output power mapping relations
Conversion relation between the output power of state and wheel hub motor 1.It is understood that microprocessor 201 connects with memory 204
Connect, in order to storing temperature threshold, threshold current and attitude information and output power mapping relations in memory 204 or
To the attitude information in memory 204 and output power mapping relations, temperature threshold and default threshold current are modified.
It should be noted that it is not merely to threshold that microprocessor 201, which modifies the default threshold current of 204 memory storage of memory,
The initial value of value electric current is modified, and can also will be temporarily stored in processor 204 to the assignment of threshold current again when motor works
It is interior, to form new default threshold current, achieve the purpose that directly to adjust threshold current.
In the present embodiment, the quantity of temperature sensor 301 is multiple and is uniformly distributed, accurately to obtain wheel hub motor 1
Temperature, and when the temperature information that any one temperature sensor 301 collects is more than or equal to temperature threshold, control device
2 can control wheel hub motor 1 to reduce the output power exported, that is to say, that the temperature of any one position in surface of wheel hub motor 1
During higher than temperature threshold, wheel hub motor 1 can reduce output power, so as to greatly improve the human-computer interaction body-sensing of the utility model
The security information of car.
In the present embodiment, temperature sensor 301 is contact type temperature sensor, is for example, attached to (example on wheel hub motor 1
Such as be attached on the rotor of wheel hub motor 1) temp probe, contact type temperature sensor acquisition precision is high, human-computer interaction body-sensing car
Security performance higher.In other embodiments, temperature sensor 301 can also be contactless temperature sensor, be placed in
In the environment that wheel hub motor 1 works and close to wheel hub motor 1, to be obtained by obtaining the environment temperature of the work of wheel hub motor 1
Acquisition Error occurs in the surface temperature of wheel hub motor 1, non-contact temperature sensor, influences the peace of human-computer interaction body-sensing car
Full performance.
Control device 2 generates correspondingly pwm control signal according to the electric current of wheel hub motor 1, sends to wheel hub motor 1 and adjusts
The principle of the output power of wheel hub motor 1, with the above-mentioned output power that wheel hub motor 1 is adjusted according to the temperature of wheel hub motor 1
Principle is essentially identical, it the difference is that only, the reference parameter adjusted according to electric current is electric current and threshold current in motor
Between relation, and when the electric current in motor is more than threshold current, control device 2 reduces the duty cycle of pwm control signal, makes
The duty cycle of pwm control signal is less than duty cycle when wheel hub motor 1 exports threshold power.Control device 2 is adjusted according to temperature
The priority of the output power of wheel hub motor 1, more than the priority for the output power that wheel hub motor 1 is adjusted according to electric current, that is, works as
The temperature of wheel hub motor 1 is higher than temperature threshold, and when electric current is less than or equal to threshold current, control device 2 still controls wheel hub motor 1
Make the output power of wheel hub motor 1 reduce.
Preferably, when controlling wheel hub motor 1 to reduce output power, staged can be carried out gradually reduce (cannot drop
It is zero).
Referring to Fig. 2, the utility model again provides a kind of control method of the wheel hub motor of human-computer interaction body-sensing car,
Comprise the following steps：
Step S1：The status information of collection vehicle, the status information of vehicle include temperature information, attitude information and wheel hub electricity
The current information of machine；
Step S2：Whether the temperature information for judging to collect is more than or equal to temperature threshold；
Step S3：When result is to be, the output power of wheel hub motor is reduced, such as reduction threshold current side can be used
Formula, is greatly lowered the duty cycle of pwm control signal, realizes the output power for reducing wheel hub motor；
Step S4：When result is no, judge whether current information is more than threshold current；
Step S5：When result when being, to reduce the output power of wheel hub motor, specially using reduction pwm control signal
Duty cycle mode, realize reduce wheel hub motor output power；
Step S6：When result is no, the output power of wheel hub motor is controlled according to attitude information.
The hub motor control system and its control method of the human-computer interaction body-sensing car of the utility model, pass through sampling apparatus
The electric current of 3 collection wheel hub motors 1, when control device 2 judges that the current information that sampling apparatus 3 collects is more than threshold current,
Control wheel hub motor 1 to reduce output power, reduce the caloric value of wheel hub motor 1, make the temperature of wheel hub motor 1 reduce, to avoid
Wheel hub motor 1 is burned because temperature is excessive brings the person and property loss to user.
Although the utility model is disclosed above by preferred embodiment, but the utility model is not limited to, it is any
This known those skilled in the art, without departing from the spirit and scope of the utility model, can make a little change and retouch, therefore this practicality
New protection domain is when subject to claims scope claimed.
Claims (10)
1. a kind of hub motor control system of human-computer interaction body-sensing car, including drive the wheel hub motor of vehicle wheel rotation, for adopting
Collect the sampling apparatus and control device of the attitude information of car body, the control device is used for the attitude information control according to the car body
The output power of the wheel hub motor is made so that the car body of human-computer interaction body-sensing car tends to be horizontal, it is characterised in that the sampling
Device further includes the current collector of the electric current for gathering the wheel hub motor, the current collector and the control device
Connection, the current collector send the electric current of the wheel hub motor collected to the control device, the control dress
Put and be additionally operable to when the electric current that the current collector collects is more than default threshold current, by the output of the wheel hub motor
Power is reduced to predetermined threshold power or is reduced to below predetermined threshold power, and the predetermined threshold power is wheel hub electricity
The output power of wheel hub motor when the electric current of machine is the default threshold current.
2. the hub motor control system of human-computer interaction body-sensing car according to claim 1, it is characterised in that the sampling
Device includes the temperature sensor for being used to gather the temperature of the wheel hub motor, and the temperature sensor connects with the control device
Connect, the temperature of the wheel hub motor collected is sent to the control device, the control device by the temperature sensor
It is additionally operable to when the temperature that the temperature sensor collects is more than or equal to default temperature threshold, controls the wheel hub motor to drop
Low output power.
3. the hub motor control system of human-computer interaction body-sensing car according to claim 2, it is characterised in that the sampling
Device includes the temperature sensor for being used to gather the temperature of the wheel hub motor, and the temperature sensor connects with the control device
Connect, the temperature of the wheel hub motor collected is sent to the control device, the control device by the temperature sensor
It is additionally operable to reduce the threshold current when the temperature that the temperature sensor collects is more than or equal to default temperature threshold
So that the wheel hub motor reduces output power.
4. the hub motor control system of the human-computer interaction body-sensing car according to Claims 2 or 3, it is characterised in that described
Wheel hub motor is PWM speed regulating motors, and the information generation PWM controls that the control device is collected according to the sampling apparatus are believed
Number, and send to the wheel hub motor, the wheel hub motor and output power is adjusted according to the pwm control signal, and described
When the temperature that temperature sensor collects is greater than or equal to default temperature threshold, the PWM control letters of the control device generation
The wheel hub motor number can be made to reduce output power.
5. the hub motor control system of human-computer interaction body-sensing car according to claim 4, it is characterised in that the wheel hub
Motor includes PWM speed adjusting modules and the power output module that is connected with the PWM speed adjusting modules, the PWM speed adjusting modules according to
The pwm control signal received adjusts the output power of the power output module.
6. the hub motor control system of human-computer interaction body-sensing car according to claim 4, it is characterised in that the control
Device includes being used for the PWM controller for generating pwm control signal, and the attitude information for storing car body is closed with output power mapping
The memory of system, the predetermined threshold current of wheel hub motor and predetermined temperature threshold, for receiving attitude information, current information
And temperature information and by them compared with the information of the memory memory storage and/conversion comparator, and for root
The PWM controller is controlled to generate corresponding pwm control signal according to the comparison of the comparator and/or scaling results.
7. the hub motor control system of human-computer interaction body-sensing car according to claim 5, it is characterised in that the temperature
When the temperature that sensor collects is greater than or equal to default temperature threshold, the pwm control signal of the control device generation
Duty cycle is less than the duty cycle of previous pwm control signal.
8. the hub motor control system of the human-computer interaction body-sensing car according to Claims 2 or 3, it is characterised in that described
The quantity of temperature sensor is multiple and is uniformly distributed.
9. the hub motor control system of the human-computer interaction body-sensing car according to Claims 2 or 3, it is characterised in that described
Temperature sensor gathers the temperature of rotor of the wheel hub motor.
10. the hub motor control system of human-computer interaction body-sensing car according to claim 9, it is characterised in that the temperature
Degree sensor is temp probe, and the temperature sensor is attached on the rotor of the wheel hub motor.
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| CN201721111483.8U CN207321155U (en) | 2017-08-31 | 2017-08-31 | The hub motor control system of human-computer interaction body-sensing car |
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| CN201721111483.8U CN207321155U (en) | 2017-08-31 | 2017-08-31 | The hub motor control system of human-computer interaction body-sensing car |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107592058A (en) * | 2017-08-31 | 2018-01-16 | 杭州骑客智能科技有限公司 | The hub motor control system and its control method of human-computer interaction body-sensing car |
| CN110386002A (en) * | 2019-08-26 | 2019-10-29 | 宁波易仑动力技术有限公司 | Multifunctional hub electric machine control system and its working method |
| CN112744308A (en) * | 2021-01-18 | 2021-05-04 | 北京博清科技有限公司 | Overturn-preventing wall-climbing robot and control method |
| CN112758076A (en) * | 2019-10-21 | 2021-05-07 | 北汽福田汽车股份有限公司 | Vehicle and power control method and device thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107592058A (en) * | 2017-08-31 | 2018-01-16 | 杭州骑客智能科技有限公司 | The hub motor control system and its control method of human-computer interaction body-sensing car |
| CN107592058B (en) * | 2017-08-31 | 2024-04-09 | 杭州骑客智能科技有限公司 | Hub motor control system of man-machine interaction somatosensory vehicle and control method thereof |
| CN110386002A (en) * | 2019-08-26 | 2019-10-29 | 宁波易仑动力技术有限公司 | Multifunctional hub electric machine control system and its working method |
| CN112758076A (en) * | 2019-10-21 | 2021-05-07 | 北汽福田汽车股份有限公司 | Vehicle and power control method and device thereof |
| CN112758076B (en) * | 2019-10-21 | 2022-05-24 | 北汽福田汽车股份有限公司 | Vehicle and power control method and device thereof |
| CN112744308A (en) * | 2021-01-18 | 2021-05-04 | 北京博清科技有限公司 | Overturn-preventing wall-climbing robot and control method |
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