KR101542103B1 - Driving control method of electric motorcycles - Google Patents
Driving control method of electric motorcycles Download PDFInfo
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- KR101542103B1 KR101542103B1 KR1020130168175A KR20130168175A KR101542103B1 KR 101542103 B1 KR101542103 B1 KR 101542103B1 KR 1020130168175 A KR1020130168175 A KR 1020130168175A KR 20130168175 A KR20130168175 A KR 20130168175A KR 101542103 B1 KR101542103 B1 KR 101542103B1
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- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
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- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
- B60L2250/28—Accelerator pedal thresholds
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
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- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/12—Motorcycles, Trikes; Quads; Scooters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/90—Vehicles comprising electric prime movers
- B60Y2200/91—Electric vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
본 발명은 출발시에 운전자의 성향 및 숙련도에 따라 주행모드를 선택하는 수단을 제공하고, 제동 시에 회생제동 모드를 적용하여 차량의 운동에너지를 전기에너지로 변환하여 배터리에 충전을 하면서 제동력을 발휘하여 배터리의 이용효율을 높이는 것을 목적으로 한다.
본 발명에 따른 전기이륜차의 주행제어 방법은, 차량 운전자의 특성에 따라 출발 시에 스포츠모드 또는 안전모드를 선택하는 단계, 가속 시는 제어부가 속도센서, 가속 페달센서 및 경사각센서 등과 연동하여 요구 동력의 크기에 따라 모터의 구동력을 결정하는 단계 및 제동 시에는 요구 제동력에 따라 발전기를 가동하여 회생제동과 기계제동을 단독 또는 병행 사용하는 단계를 포함하는 것을 특징으로 한다.The present invention provides means for selecting a running mode according to the driver's propensity and proficiency at the start, applying the regenerative braking mode during braking, converting the kinetic energy of the vehicle into electric energy, Thereby improving the utilization efficiency of the battery.
A driving control method for an electric two-wheeled vehicle according to the present invention includes the steps of selecting a sport mode or a safe mode at the start according to the characteristics of a vehicle driver, and, when accelerating, the control unit is linked to a speed sensor, an accelerator pedal sensor, A step of determining a driving force of the motor in accordance with the magnitude of the braking force, and a step of operating the generator according to the required braking force during braking and using the regenerative braking and the mechanical braking alone or in parallel.
Description
본 발명은 전기이륜차의 주행제어 방법에 관한 것으로서, 상세하게는 전기이륜차의 주행효율을 높이기 위하여 운전자 성향에 따라 주행 모드를 선택하고 제동 시의 상황에 따라 회생제동과 기계제동을 혼용하는 방법에 관한 것이다.The present invention relates to a driving control method for an electric two-wheeled vehicle, and more particularly, to a method for selecting a traveling mode according to a driver's tendency in order to increase the driving efficiency of the electric two-wheeled vehicle and using regenerative braking and mechanical braking will be.
고유가 따른 대책으로 세계 각국에서는 친환경 전기이륜차에 대한 관심이 고조되고 있으며, 이륜차가 주요 교통수단인 중국, 인도 등에서는 기존 내연기관 이륜차를 대체하기 위해 빠르게 보급률을 높여가고 있다. 전 세계적으로 전기이륜차의 보급이 활발하게 증가되고 있는 가운데 현재 중국은 전 세계 전기이륜차의 생산량에 90%를 차지하고 있으며 주로 저가의 전기자전거 형태가 대부분이지만 경제력이 높아짐에 따라 전기이륜차의 비중이 크게 증가될 것이다.In the world, interest in eco-friendly electric two-wheeled vehicles is rising, and motorcycles are rapidly increasing penetration in China and India, which are major transportation means, to replace existing internal combustion engine bikes. China is currently making up 90% of the world's electric motorcycle production, and most of them are low-priced electric bicycles, but the proportion of electric motorcycles has increased significantly Will be.
전기이륜차의 구동 모터는 단순 속도가변 기능을 가진 저출력급 브러시형 DC모터를 사용하였으나, 브러시형 DC모터의 가격이 저렴한 반면 브러시와 정류자간의 연속 접촉으로 인해 주기적인 유지보수 및 교체가 필요하기 때문에 높은 내구성과 오랜 수명을 필요로 하는 이륜차의 구동모터로서는 적합하지 않아 최근 브러시와 정류자를 제거하고 반도체 스위칭 소자를 이용하는 BLDC 모터가 사용되고 있다. The motor of the electric motorcycle used a low output brushless type DC motor having a simple speed variable function. However, because the brush type DC motor is inexpensive, but the continuous contact between the brush and the commutator requires periodical maintenance and replacement, A BLDC motor which uses a semiconductor switching element and removes a brush and a commutator is recently used because it is not suitable as a driving motor of a two-wheeled vehicle requiring durability and long life.
배터리 충전방법은 단자 접촉에 의해 전원측에서 EV측으로 전류를 직접 유입하는 컨덕티브 방식과 변압기와 같이 전자유도에 의해 전기 에너지를 전달하는 인덕티브 방식이 있다. 컨덕티브 충전방식은 현재 가장 많이 사용하고 있는 방식으로 제한된 주행 거리와 에너지 소비량 문제는 IGBT와 스위칭 기술의 향상으로 충전기의 성능을 향상시켜 어느 정도 해결이 가능하다. 대표적으로 독일의 RETH Aachen 충전기는 충전 속도를 최대로 높이기 위해 역률 조정기로 사용되는 부스터 컨버터를 사용하여 정현파 전류를 사용한 역률 조정 기술로 표준 가정용 소켓에 연결할 수 있으며, 정류된 공급 전압이 공진형 부스트 컨버터에 의해 500V 까지 높여 효율은 92% 정도이고 외관과 냉각시스템을 일체화한 충전기이다.The battery charging method is a conductive type in which current is directly supplied from the power source side to the EV side by terminal contact, and an inductive type in which electric energy is transmitted by electromagnetic induction like a transformer. Conductive charging is the most common method currently used, and limited mileage and energy consumption problems can be solved to some extent by improving the performance of the charger by improving the IGBT and switching technology. Typically, Germany's RETH Aachen charger can be connected to a standard household socket with a power factor adjustment technology using a sinusoidal current using a booster converter that is used as a power factor adjuster to maximize the charging rate. The rectified supply voltage is applied to a resonant boost converter The efficiency is about 92% and it is a charger integrating the appearance and the cooling system.
기존 전기이륜차는 외부환경 즉, 도로의 경사도나 혼잡도 등에 대하여 적절한 조치 없이 고정비 및 변동비로만 주행하고 변속시기도 일정하여 모터는 물론 배터리의 효율성 향상에 한계를 가지고 있다. 기존 전기이륜차는 악셀 페달을 끝까지 밟으면 모터는 구동될 수 있는 최대 RPM까지 동력을 내며, 전기 모터의 특성상 가속력이 높기 때문에 이로 인하여 번잡한 시장길이나 골목길 또는 지체 도로에서 악셀 페달 조작의 작은 실수에도 크게 작용하여 안전사고에 노출되어 있고, 배터리의 효율성도 낮다.Existing electric two-wheeled vehicles are driven only at fixed and variable costs without appropriate measures for the external environment, that is, the inclination or congestion of the road, and the shifting period is also fixed, thereby limiting the efficiency of the motor as well as the efficiency of the battery. Existing electric two-wheeled motor drives up to the maximum RPM that can be driven when the accelerator pedal is fully depressed. Due to the nature of the electric motor, the accelerating power is high, which makes it possible to make a small mistake of the accelerator pedal operation on a busy market road, Exposed to safety accidents, and battery efficiency is low.
전기 모터의 특성상 저속구간에서는 오버 토크(over torque)로 가속력이 최대이기 때문에 급출발이 발생한다. 특히, 초보자 및 초기 사용자는 조작 미숙으로 급가속 및 급제동 특성이 있으므로 배터리 소모가 크다. Due to the characteristics of the electric motor, in the low speed section, there is a sudden start because the acceleration is the maximum due to the overtorque. Particularly, the novice and the initial user are inexperienced and have rapid acceleration and sudden braking characteristics, so the battery consumption is large.
전기자전거의 주행모드 제어에 관한 종래의 기술로서 특허문헌 1에 제시된 발명은 페달 답력에 대하여 모터보조비율과 회생제동량을 자동으로 조절하는 구성이 제시되어 있으나, 운전자의 성향 및 특성에 따라 급가속과 급제동에 의한 안전사고 등에 대한 대책이 미흡하다.As a conventional technique relating to the control of the running mode of an electric bicycle, the invention disclosed in
상기와 같은 문제점을 해결하고자 본 발명에서는 출발시에 운전자의 성향 및 숙련도에 따라 주행모드를 선택하는 수단을 제공하여 배터리의 이용효율을 높이고자 한다.In order to solve the above problems, the present invention provides a means for selecting a driving mode according to the driver's tendency and skill at the start of the vehicle, thereby improving the efficiency of the battery.
또한, 제동 시에 회생제동 모드를 적용하여 차량의 운동에너지를 전기에너지로 변환하여 배터리에 충전을 하면서 제동력을 발휘하는 방법을 제공하고자 한다.The present invention also provides a method of converting a kinetic energy of a vehicle into electric energy by applying a regenerative braking mode during braking, thereby charging the battery and providing a braking force.
상기의 해결하고자 하는 과제를 위한 본 발명에 따른 전기이륜차의 주행제어 방법은, 차량 운전자의 특성에 따라 출발 시에 스포츠모드 또는 안전모드를 선택하는 단계, 가속 시는 제어부가 속도센서, 가속 페달센서 및 경사각센서 등과 연동하여 요구 동력의 크기에 따라 모터의 구동력을 결정하는 단계 및 제동 시에는 요구 제동력에 따라 발전기를 가동하여 회생제동과 기계제동을 단독 또는 병행 사용하는 단계를 포함하는 것을 특징으로 한다.According to another aspect of the present invention, there is provided a driving control method for an electric motorcycle, the method comprising: selecting a sports mode or a safe mode at a start according to characteristics of a vehicle driver; And determining a driving force of the motor in accordance with the magnitude of the demanded power in cooperation with the inclination angle sensor or the like, and operating the generator according to the required braking force during braking to use regenerative braking and mechanical braking alone or in parallel .
본 발명의 바람직한 일실시예로서, 상기 안전모드는 전기이륜차의 초보자 또는 초기 운행자를 위한 출발모드로서, 여러 레벨로 최고 RPM을 분할하고 각 레벨은 악셀 페달과 연동하여 악셀 페달을 끝까지 밟아 작동하였을 때 각 레벨의 최고 RPM까지만 동작하도록 하는 것을 특징으로 한다.As a preferred embodiment of the present invention, the safe mode is a start mode for a novice or an initial rider of an electric two-wheeled vehicle, in which the maximum RPM is divided into several levels and each level is interlocked with an accelerator pedal to operate the accelerator pedal And only the maximum RPM of each level is operated.
본 발명의 바람직한 일실시예로서, 상기 스포츠 모드는 숙련된 운전자나 스피드를 즐기는 운전자를 위한 출발모드로서, 모터의 최고 RPM을 내도록 하는 것을 특징으로 한다.In a preferred embodiment of the present invention, the sports mode is a start mode for a skilled driver or a driver enjoying speed, and the maximum RPM of the motor is increased.
본 발명의 바람직한 일실시예로서, 상기 회생제동은 상기 전기이륜차의 속력이 30km/h가 되면 전원이 정지되면서 회생제동이 시작되고, 속력이 낮아져 10km/h 이하가 되면 회생제동이 멈추는 것을 특징으로 하는 전기이륜차의 주행제어 방법.In a preferred embodiment of the present invention, when the speed of the electric motorcycle reaches 30 km / h, the regenerative braking is started while the power is stopped and the regenerative braking is stopped when the speed is lowered to 10 km / h or less Wherein the control means controls the drive of the electric motorcycle.
본 발명의 바람직한 일실시예로서, 상기 제어부는 요구 제동력보다 회생제동력이 클 경우 회생제동만 사용하고, 요구 제동력이 회생제동력보다 클 경우 회생제동과 기계제동을 동시에 사용하는 것을 특징으로 한다.In a preferred embodiment of the present invention, the control unit uses regenerative braking only when the regenerative braking force is larger than the required braking force, and uses both regenerative braking and mechanical braking when the demanded braking force is larger than the regenerative braking force.
본 발명에 따른 전기이륜차의 주행제어 방법은 초보나 초기 운전자가 모터의 오버 토오크(over torque)와 악셀 페달 조작 미숙으로 인한 안전사고를 방지할 수 있다.The driving control method of the electric two-wheeled vehicle according to the present invention can prevent a novice or an initial driver from a safety accident due to over torque of the motor and insufficient operation of the accelerator pedal.
또한, 내리막길이나 제동 시에 발전기를 사용한 회생제동을 하여 전기에너지를 생산하여 저장함으로써 배터리의 이용효율을 높일 수 있다.In addition, when the vehicle is downhill or braking, regenerative braking using a generator is performed to produce and store electric energy, thereby increasing the efficiency of use of the battery.
또한, 급가속과 급제동의 스포츠모드에 비하여 안전모드를 선택할 경우 배터리의 SOC(state of charge)를 5% 이상 향상 시킬 수 있어 배터리의 이요효율을 향상시킬 수 있다.Also, when the safety mode is selected as compared with the sports mode of rapid acceleration and rapid braking, the state of charge (SOC) of the battery can be improved by 5% or more, thereby improving the efficiency of the battery.
도 1은 본 발명에 따른 전기이륜차의 주행제어 알고리즘의 구성도.
도 2는 본 발명에 따른 스포츠모드와 안전모드의 SOC 모의실험 결과.1 is a configuration diagram of a travel control algorithm of an electric two-wheeled vehicle according to the present invention;
2 is a simulation result of the SOC of the sports mode and the safety mode according to the present invention.
이하 본 발명의 실시를 위한 구체적인 실시예를 도면을 참고하여 설명한다. 본 발명의 실시예는 하나의 발명을 설명하기 위한 것으로서 권리범위는 예시된 실시예에 한정되지 않고, 예시된 도면은 발명의 명확성을 위하여 핵심적인 내용만 확대 도시하고 부수적인 것을 생략하였으므로 도면에 한정하여 해석하여서는 아니 된다.Hereinafter, embodiments of the present invention will be described with reference to the drawings. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to be illustrative of and in no way limit the scope of the invention as defined by the appended claims. And shall not interpret it.
도 1은 본 발명에 따른 전기이륜차의 주행제어 알고리즘의 구성도를 보여준다. 본 발명에서는 종래의 단순한 on/off 방식을 지양하여 다양한 모드를 제공한다.1 shows a configuration diagram of a driving control algorithm of the electric two-wheeler according to the present invention. In the present invention, various modes are provided by avoiding the conventional simple on / off method.
출발모드는 운전자의 성향 및 숙련도에 따라 주행모드를 선택하는 수단이 제공된다. 안전모드는 전기이륜차의 초보자 또는 초기 운행자를 위한 출발모드로서, 여러 레벨로 최고 RPM을 분할하고 각 레벨은 악셀 페달과 연동하여 악셀 페달을 끝까지 밟아 작동하였을 때 각 레벨의 최고 RPM까지만 동작하도록 한다. 따라서 배터리의 SOC(state of charge)가 급격히 낮아지지 않으며 급출발을 방지하여 안전하다.The starting mode is provided with a means for selecting the driving mode according to the driver's propensity and skill. Safe Mode is a starting mode for beginners or beginners of electric motorcycles. It divides the maximum RPM into several levels, and each level works with the accelerator pedal until it reaches the maximum RPM of each level when the accelerator pedal is fully depressed. Therefore, the state of charge (SOC) of the battery is not rapidly lowered, and it is safe to prevent a sudden start-up.
스포츠 모드는 숙련된 운전자나 스피드를 즐기는 운전자를 위한 출발모드로서, 모터의 최고 RPM을 내도록 하여 급출발이나 급가속을 할 수 있다. 이때에 SOC가 낮아지지 않도록 유의해야 한다. The sport mode is a starting mode for experienced drivers or speed-conscious drivers, and allows for quick start or rapid acceleration with the maximum RPM of the motor. At this time, care should be taken not to lower the SOC.
가속모드는 제어부가 속도센서, 가속 페달센서 및 경사각센서 등과 연동하여 요구 동력의 크기에 따라 모터의 구동력을 결정한다.In the acceleration mode, the control unit interlocks with the speed sensor, the accelerator pedal sensor, the inclination angle sensor, and the like to determine the driving force of the motor according to the magnitude of the demanded power.
상기 속도센서는 바퀴의 회전수를 측정하는 인코더로부터 차량의 속도를 계산하고, 상기 가속 페달센서는 가속 페달의 각도로 답력의 크기를 산출하며, 상기 경사각센서는 차량의 경사각을 센싱하여 오르막, 평지 또는 내리막의 경사도를 판단한다. 통상 전기이륜차는 4륜 차량에 비하여 엑셀을 밟는 시간이 짧다. 초기 페달 위치에서 끝까지 밟는 시간이 대략 0.6초로 매우 짧은 순간에 일어나므로 급출발의 위험성이 있다. Wherein the speed sensor calculates the speed of the vehicle from an encoder that measures the number of revolutions of the wheel, the accelerator pedal sensor calculates the magnitude of the pushing force with the angle of the accelerator pedal, and the inclination angle sensor senses the inclination angle of the vehicle, Or the inclination of the downward slope. Generally, the electric motorcycle has a shorter time to press the accelerator than the four-wheel vehicle. There is a risk of a sudden start because the time from the initial pedal position to the end occurs at a very short time of approximately 0.6 seconds.
일반적으로 전기 자동차의 회생제동 시스템은 제동 시 또는 내리막 도로 주행 시에 자동차의 가속력을 이용하여 발전기를 구동한다. 회생제동모드는 감속시 차량의 운동에너지를 발전기를 통해 전기에너지로 바꿔 축전지에 저장하며, 이때 모터의 전원은 정지될 수 있다. 운전자가 가속 페달과 감속 페달을 둘 다 밟고 있지 않을 때에도 발전기를 통하여 부분적으로 충전이 일어날 수 있다. 제동을 위하여 운전자가 감속 페달을 밟을 때 회생 제동이 발생하도록 하고, 감속이 부족할 경우 마찰 브레이크를 사용하여 기계제동을 할 수 있다.Generally, a regenerative braking system of an electric vehicle drives a generator using acceleration power of an automobile when braking or driving downhill. In the regenerative braking mode, the kinetic energy of the vehicle is converted into electric energy through the generator when the vehicle decelerates, and then the electric power of the motor is stopped. Even when the driver is not stepping on both the accelerator pedal and the deceleration pedal, partial charging may occur through the generator. Regenerative braking occurs when the driver depresses the deceleration pedal for braking, and mechanical braking can be performed using the friction brake when deceleration is insufficient.
중립모드는 전기이륜차의 모터에 전기 공급이 중단되어 차량 관성에 의해 운행할 수 있다.In the neutral mode, the supply of electricity to the motor of the electric motorcycle is interrupted and can be operated by the vehicle inertia.
저속정지모드는 전기이륜차의 속력이 30km/h가 되면 전원이 정지되면서 회생제동이 시작되고, 속력이 낮아져서 10km/h 이하가 되면 회생제동이 멈춘다.In the low speed stop mode, the regenerative braking starts when the speed of the electric motorcycle reaches 30 km / h, the regenerative braking is started while the power is stopped, and the regenerative braking is stopped when the speed is lowered and becomes less than 10 km / h.
이륜차는 앞 브레이크만 작동하면 전복의 위험성이 생겨 보통 뒷 브레이크를 작동하고, 긴급 시에는 앞뒤 브레이크를 동시에 작동시킨다. 전기이륜차는 후륜에 모터를 장착하고 있어 기계식과 전자식 제동 장치가 있으며 전륜에는 기계식 제동 장치가 있다. 따라서 운전자의 제동의지에 의해서 전후륜 브레이크를 작동시킬 수 있다. 앞 브레이크는 기계식 제동력이 작동하고 뒷 브레이크는 회생제동 가능 여부를 판단하고 회생제동력과 운전자가 요구하는 요구 제동력을 비교해서 제동을 해야 한다. 제어부는 운전자의 요구 제동력보다 회생제동력이 클 경우 회생제동력만 사용하며, 요구 제동력이 회생제동력보다 클 경우 회생제동력과 기계 제동력을 동시에 사용한다. 또한 회생제동이 불가능할 경우 기계제동력을 사용한다.The two-wheeler operates the rear brake normally when the front brake is operated only, and the front and rear brakes are operated simultaneously in case of emergency. The electric motorcycle is equipped with a motor on the rear wheel, which has mechanical and electronic braking devices and a mechanical braking device on the front wheels. Therefore, the front and rear wheel brakes can be operated by the driver's braking will. The front brakes must be mechanically braked and the rear brakes must be regenerative braking and the regenerative braking force should be compared with the driver's required braking force. The control unit uses only the regenerative braking force when the regenerative braking force is larger than the driver's required braking force. If the required braking force is larger than the regenerative braking force, the regenerative braking force and the mechanical braking force are simultaneously used. If regenerative braking is not possible, use mechanical braking force.
도 2는 본 발명에 따른 스포츠모드와 안전모드의 SOC 모의실험 결과를 보여준다. 스포츠모드는 전기이륜차의 운전에 숙련도가 노거나 스피드를 즐기는 마니아(mania)를 위한 모드로서 급가속과 급제동을 할 수 있다. 안전모드는 전기이륜차의 초보나 미숙련 운전자를 위한 모드로서 선형적인 속력의 증가와 회생제동을 하는 경우이다.FIG. 2 shows SOC simulation results of the sports mode and the safety mode according to the present invention. Sports mode is a mode for a mania in which a player is skilled in driving a motorcycle or enjoys speed, and can perform rapid acceleration and rapid braking. Safety mode is a mode for beginners or unskilled drivers of electric motorcycles, with linear speed increase and regenerative braking.
도 2의 결과에 따르면 스포츠모드에 비하여 안전모드를 선택할 경우 배터리의 SOC를 5% 이상 향상 시킬 수 있어 배터리의 이용효율을 향상시킬 수 있다.According to the results shown in FIG. 2, when the safety mode is selected as compared with the sports mode, the SOC of the battery can be improved by 5% or more, thereby improving the utilization efficiency of the battery.
Claims (5)
차량 운전자의 특성에 따라 출발 시에 스포츠모드 또는 안전모드를 선택하는 단계;
가속 시는 제어부가 속도센서, 가속 페달센서 및 경사각센서 등과 연동하여 요구 동력의 크기에 따라 모터의 구동력을 결정하는 단계; 및
제동 시에는 요구 제동력에 따라 발전기를 가동하여 회생제동과 기계제동을 단독 또는 병행 사용하는 단계를 포함하고,
상기 회생제동은 상기 전기이륜차의 속력이 30km/h가 되면 전원이 정지되면서 회생제동이 시작되고, 속력이 낮아져 10km/h 이하가 되면 회생제동이 멈추는 것을 특징으로 하는 전기이륜차의 주행제어 방법.A driving control method for an electric two-wheeled vehicle,
Selecting a sport mode or a safe mode at the start according to the characteristics of the vehicle driver;
Determining the driving force of the motor according to the magnitude of the demanded power in cooperation with the speed sensor, the accelerator pedal sensor, the inclination angle sensor, and the like at the time of acceleration; And
And when the braking is performed, activating the generator in accordance with the required braking force to use the regenerative braking and the mechanical braking alone or in parallel,
Wherein the regenerative braking is started when the speed of the electric motorcycle reaches 30 km / h, the regenerative braking is started while the power is stopped, and the regenerative braking is stopped when the speed is decreased to 10 km / h or less.
상기 안전모드는 전기이륜차의 초보자 또는 초기 운행자를 위한 출발모드로서, 여러 레벨로 최고 RPM을 분할하고 각 레벨은 악셀 페달과 연동하여 악셀 페달을 끝까지 밟아 작동하였을 때 각 레벨의 최고 RPM까지만 동작하도록 하는 것을 특징으로 하는 전기이륜차의 주행제어 방법.The method according to claim 1,
The safety mode is a start mode for a novice or an initial rider of the electric motorcycle. The maximum RPM is divided into several levels, and each level is operated in conjunction with the accelerator pedal to operate the accelerator pedal until the maximum RPM of each level And a control unit for controlling the driving of the electric motorcycle.
상기 스포츠 모드는 숙련된 운전자나 스피드를 즐기는 운전자를 위한 출발모드로서, 모터의 최고 RPM을 내도록 하는 것을 특징으로 하는 전기이륜차의 주행제어 방법.The method according to claim 1,
Wherein the sports mode is a starting mode for a skilled driver or a driver who enjoys speed, so as to increase the maximum RPM of the motor.
상기 제어부는 요구 제동력보다 회생제동력이 클 경우 회생제동만 사용하고, 요구 제동력이 회생제동력보다 클 경우 회생제동과 기계제동을 동시에 사용하는 것을 특징으로 하는 전기이륜차의 주행제어 방법.The method according to claim 1,
Wherein the control unit uses only regenerative braking when the regenerative braking force is larger than the required braking force and uses both regenerative braking and mechanical braking when the required braking force is greater than the regenerative braking force.
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