KR102094859B1 - Motor control method and system for slip detection - Google Patents

Motor control method and system for slip detection Download PDF

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KR102094859B1
KR102094859B1 KR1020180151526A KR20180151526A KR102094859B1 KR 102094859 B1 KR102094859 B1 KR 102094859B1 KR 1020180151526 A KR1020180151526 A KR 1020180151526A KR 20180151526 A KR20180151526 A KR 20180151526A KR 102094859 B1 KR102094859 B1 KR 102094859B1
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slip
motor
slip detection
revolutions
drive motor
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Korean (ko)
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문희창
김봉상
이재열
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홍익대학교 산학협력단
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • 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
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/429—Current
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/08—Electric propulsion units
    • B60W2510/081—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/08—Electric propulsion units
    • B60W2510/083—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • 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
    • 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
    • B60Y2200/92—Hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/308—Electric sensors
    • B60Y2400/3084—Electric currents sensors
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
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    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
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  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

A method and a system for controlling a motor through slip detection provides, in a total wheel mobility platform driven by a plurality of motors, a technology measuring the number of revolutions of a wheel, a mobility yaw rate and a current value of each driving motor to detect a slip and controlling driving motors for compensating for the slip. A method for controlling a motor through slip detection according to an embodiment of the present invention, comprises the steps of: a slip detection module, mounted on each driving motor, measuring the number of revolutions of the wheel rotated by the driving motor, a mobility yaw rate and a current value of each driving motor; detecting the slip according to a change amount of the measured number of revolutions, a change amount of the yaw rate and a change amount of the current value; outputting a torque element and an estimated current compensation value according to the detected slip; adding the estimated current compensation value, outputted in the output step, to the current value to output a PWM signal value; and multiplying the torque element by the PWM signal value to output an output torque and to transfer the output torque to the driving motor. Therefore, the present invention provides the control method and the control system, which can perform a driving operation with stable mobility, even if the slip occurs at any one or more motors, by enabling the remaining motors to perform compensation according to the slip.

Description

슬립 검출을 통한 모터 제어 방법 및 시스템{Motor control method and system for slip detection}Motor control method and system for slip detection

본 발명은 슬립 검출을 통한 모터 제어 방법 및 시스템에 관한 것이다.The present invention relates to a motor control method and system through slip detection.

전 세계적으로 배출가스 규제 및 친환경에 대한 관심이 높아지는 가운데 환경과 가장 연관성이 있는 산업 중 하나인 농업에서는 오히려 작업의 효율 위주의 농기계를 제작 및 사용해 왔다. 따라서 친환경 농기계에 대한 요구와 필요성을 계속 증가하고 있으며 전기 트랙터 및 하이브리드형 트랙터와 같은 친환경 농기계가 등장하고 있다.With increasing interest in emission regulations and eco-friendliness around the world, agriculture, one of the industries most related to the environment, has been making and using agricultural machines focused on work efficiency. Therefore, the demands and needs for eco-friendly agricultural machinery continue to increase, and eco-friendly agricultural machinery such as electric tractors and hybrid tractors are emerging.

또한, 하이브리드형 농기계는 동력원으로 엔진과 전기 배터리가가 구비될 수 있으며, 주행 동력은 모터를 사용한다.In addition, the hybrid type agricultural machinery may be provided with an engine and an electric battery as a power source, and the driving power uses a motor.

하이브리드형 트랙터는 친환경이라는 목적에 맞게 배기가스 절감의 효과를 얻을 수도 있다Hybrid tractors can achieve the effect of reducing emissions to meet the purpose of being eco-friendly.

최근 전기모터 기술의 발전으로 출력 대비 부피가 대폭 감소하여 모빌리티의 각 휠(wheel)에 모터를 장착하여 모빌리티를 구동시키는 방법이 연구되고 있다. 이와 같이 모빌리티의 각 휠에 모터를 장착하면, 엔진의 공간을 확보할 수 있어 모빌리티의 내부공간의 확보가 용이하며, 구동저항이 감소하여 더 큰 동력 효율을 얻을 수 있다.With the recent development of electric motor technology, the volume compared to the output is greatly reduced, and a method of driving mobility by mounting a motor on each wheel of mobility has been studied. In this way, when a motor is mounted on each wheel of mobility, the engine space can be secured, and thus, it is easy to secure the internal space of mobility, and driving resistance is reduced to obtain greater power efficiency.

하지만 각 휠에 분산되어 장착된 복수의 모터들을 제어해야 하므로 기존의 하나의 모터를 이용한 모빌리티보다 제어 회로 및 알고리즘의 복잡성이 증가한다.However, since it is necessary to control a plurality of motors distributed in each wheel, the complexity of control circuits and algorithms increases compared to mobility using a single motor.

모터 제어 방법에 대해서는 다양한 기술이 존재한다. 특히, 전기모터에 있어서 모터를 구동하는 모터 구동전류와 관계된 제어방법은 모터에 관한 연구에 있어서는 가장 핵심적인 개념에 해당하는바, 공개특허공보인 KR 2006-0092607 A "모터의 토크제어장치 및 방법"에서도 모터의 회전각 및 회전각속도를 이용하여 보상전류를 생성해 모터의 구동전류를 보정하는 모터 제어 방법을 제시하고 있다.Various techniques exist for the motor control method. In particular, the control method related to the motor driving current driving the motor in the electric motor corresponds to the most essential concept in the study of the motor, and the torque control device and method of KR 2006-0092607 A "Motor" "The motor control method that compensates the driving current of the motor by generating the compensation current using the rotation angle and rotation angle of the motor is also proposed.

특히 주행 중 슬립이 발생할 경우, 각각의 모터의 움직임이 정밀하게 동기화되도록 보상을 하지 않으면 모빌리티의 동역학 특성에서 중요하게 작용하는 방향각(Yaw Angle) 제어의 안정성을 보장할 수 없으며 이는 도로에서 주행하는 모빌리티의 안전에 심각한 영향을 미치게 된다.In particular, in the case of slippage during driving, the stability of yaw angle control, which is important in the dynamic characteristics of mobility, cannot be guaranteed without compensating for the movement of each motor to be precisely synchronized. It will seriously affect the safety of mobility.

이에 따라 모빌리티에 슬립이 발생할 경우를 대비하여 다양한 각종 센서를 이용하여 슬립을 검출하고 이를 기반으로 모터를 제어하는 기술이 요구되어 왔다.Accordingly, there has been a demand for a technique for detecting a slip using various sensors and controlling a motor based on the slip in case a slip occurs in mobility.

본 발명에 따른 슬립 검출을 통한 모터 제어 방법 및 시스템은 휠의 회전수, 모빌리티의 요레이트 및 각각의 구동모터의 전류값을 측정하여 슬립을 검출하고 슬립에 대한 보상으로 구동모터들을 제어하여 모빌리티가 안정적으로 주행할 수 있도록 하는 기술을 제공한다.The motor control method and system through slip detection according to the present invention detects slip by measuring the number of revolutions of the wheel, the yaw rate of mobility, and the current value of each drive motor, and controls the drive motors by compensating for the slip, thereby improving mobility. Provides a technology that enables stable driving.

본 발명에 따른 슬립 검출을 통한 모터 제어 방법은 모빌리티의 각각의 구동모터에 장착된 슬립 검출 모듈이 상기 구동모터가 회전시키는 휠의 회전수, 모빌리티의 요레이트 및 상기 구동모터의 전류값을 측정하는 측정단계; 슬립 검출 모듈이 상기 측정단계에서 측정된 회전수와 관련된 변수, 상기 요레이트의 변화량 및 상기 전류값의 변화량에 따라 슬립을 검출하는 검출단계 ― 상기 회전수와 관련된 변수는 슬립 검출 모듈이 장착된 해당 구동모터의 회전수와 모빌리티의 각 구동모터의 회전수 평균과의 차이, 그리고 해당 구동모터의 회전수 변화량을 포함함 ―; 슬립 검출 모듈이 상기 검출단계에서 검출된 슬립에 따라 토크 요소 및 전류 예측 보상값을 출력하는 출력단계; 슬립 검출 모듈과 전기적으로 연결된 제어모듈이 상기 출력단계에서 출력된 상기 전류 예측 보상값을 상기 전류값에 더하여 pwm 신호값으로 출력하며, 상기 토크요소를 상기 pwm 신호값에 곱하여 출력토크로 출력하여 상기 구동모터로 전달하는 제어단계;를 포함하며, 상기 각 단계는 상기 구동모터의 슬립을 검출하는 슬립 검출 모듈 및 상기 구동모터를 제어하는 제어모듈을 포함하는 슬립 검출을 통한 모터 제어 시스템에 의해 수행되는 것을 특징으로 한다,In the motor control method through slip detection according to the present invention, a slip detection module mounted on each drive motor of mobility measures the number of revolutions of a wheel rotated by the drive motor, the yaw rate of mobility, and the current value of the drive motor Measuring step; A slip detection module detects slips according to a variable related to the number of revolutions measured in the measuring step, a change amount of the yaw rate, and a change amount of the current value, wherein the variable related to the rotation number is a slip detection module equipped Includes the difference between the number of revolutions of the driving motor and the average number of revolutions of each driving motor in mobility, and the amount of change in the number of revolutions of the driving motor. An output step in which the slip detection module outputs a torque element and a current prediction compensation value according to the slip detected in the detection step; The control module electrically connected to the slip detection module adds the current prediction compensation value output in the output step to the current value and outputs it as a pwm signal value, multiplies the torque element by the pwm signal value, and outputs it as an output torque. It includes; a control step for transmitting to the drive motor; each step is performed by a motor control system through slip detection, including a slip detection module for detecting the slip of the drive motor and a control module for controlling the drive motor Characterized by,

본 발명에 따른 슬립 검출을 통한 모터 제어 시스템은 모빌리티의 각각의 휠에 장착되어 휠을 회전시키는 복수개의 구동모터; 각각의 구동모터에 장착되어 슬립을 검출하는 슬립 검출 모듈; 및 상기 슬립 검출 모듈과 전기적으로 연결되며, 상기 슬립 검출 모듈로부터 측정된 슬립에 따라 상기 구동모터를 제어하는 제어신호를 생성하여 상기 구동모터의 작동을 제어하는 제어모듈;을 포함하며, 상기 슬립 검출 모듈은, 상기 구동모터의 회전수를 측정하는 회전센서; 모빌리티의 요레이트를 측정하는 자세인식센서; 상기 구동모터의 전류값을 측정하는 전류센서; 및 상기 회전수의 변화량, 상기 요레이트의 변화량 및 상기 전류값의 변화량에 따라 슬립을 검출하는 슬립 디텍터 ― 상기 회전수와 관련된 변수는 슬립 검출 모듈이 장착된 해당 구동모터의 회전수와 모빌리티의 각 구동모터의 회전수 평균과의 차이, 그리고 해당 구동모터의 회전수 변화량을 포함함 ―;를 포함하며, 검출된 슬립에 따라 토크 요소 및 전류 예측 보상값을 출력하는 것을 특징으로 한다.A motor control system through slip detection according to the present invention includes a plurality of driving motors mounted on each wheel of mobility to rotate the wheels; A slip detection module mounted on each drive motor to detect slip; And a control module electrically connected to the slip detection module and generating a control signal for controlling the drive motor according to the measured slip from the slip detection module to control the operation of the drive motor. The module includes a rotation sensor that measures the number of revolutions of the drive motor; A posture recognition sensor that measures the yaw rate of mobility; A current sensor for measuring the current value of the drive motor; And a slip detector that detects slips according to the amount of change in the number of revolutions, the amount of change in the yaw rate, and the amount of change in the current value. It includes the difference between the average number of revolutions of the drive motor and the amount of change in the number of revolutions of the drive motor, and outputs a torque element and a current prediction compensation value according to the detected slip.

상기 제어모듈은, 상기 전류 예측 보상값이 상기 전류값에 더하여 입력되면 pwm 신호로 출력하는 전류제어기; 및 상기 토크 요소를 상기 전류제어기로부터 전달받은 pwm 신호값에 곱하여 출력토크 신호로 출력하며, 상기 출력토크 신호를 상기 구동모터에 전달하는 토크제어기;를 포함하는 것을 특징으로 한다.The control module includes a current controller that outputs a pwm signal when the current prediction compensation value is input in addition to the current value; And a torque controller multiplying the torque element by a pwm signal value received from the current controller and outputting it as an output torque signal, and transmitting the output torque signal to the drive motor.

본 발명에 따른 슬립 검출을 통한 모터 제어 방법 및 시스템은 복수의 모터에 의해 구동되는 총륜 모빌리티 플랫폼에 있어서, 어느 하나 이상의 모터에서 슬립이 발생하더라도 슬립에 따라 나머지 모터에서 보상하여 모빌리티가 안정적으로 주행할 수 있는 제어방법 및 제어 시스템을 제공한다.The motor control method and system through slip detection according to the present invention is a total wheel mobility platform driven by a plurality of motors, and even if slip occurs in any one or more motors, the remaining motors compensate for the slip and the mobility can stably run. A control method and a control system are provided.

도 1은 본 발명에 따른 슬립 검출을 통한 모터 제어 방법의 블록도이다.
도 2는 본 발명에 따른 슬립 검출을 통한 모터 제어 시스템의 블록도이다.1 is a block diagram of a motor control method through slip detection according to the present invention.
2 is a block diagram of a motor control system through slip detection according to the present invention.

본 발명의 바람직한 실시예에 대하여 더 구체적으로 설명하되, 이미 주지된 기술적 부분에 대해서는 설명의 간결함을 위해 생략하거나 압축하기로 한다.The preferred embodiment of the present invention will be described in more detail, but the technical parts already well-known will be omitted or compressed for the sake of brevity.

이하, 첨부된 도면을 참조하여 본 발명의 바람직한 실시예에 대해 상세히 설명한다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

<슬립 검출을 통한 모터 제어 방법에 대한 설명><Description of motor control method through slip detection>

본 발명에 따른 슬립 검출을 통한 모터 제어방법 및 시스템은 총륜 형태의 모빌리티에 있어서 복수의 휠 각각에 설치된 모터를 제어할 때 적용될 수 있다.The motor control method and system through slip detection according to the present invention can be applied when controlling a motor installed on each of a plurality of wheels in the mobility of a total wheel.

일반적으로 모빌리티가 거친 지형 등에서 주행할 때 지형 환경에 의해 휠의 회전에 저항하는 최대 저항 토크(Tmax)의 감소가 유발된다. "슬립"이란 휠을 구동시키는 모터의 토크가 타이어와 지면의 저항력인 상술한 최대 저항 토크를 초과하면 나타나는 미끄러짐 현상이며 이때 휠의 회전속도가 증가한다.In general, when driving in rough terrain or the like, a reduction in the maximum resistance torque T max that resists rotation of the wheel is caused by the terrain environment. "Slip" is a slip phenomenon that occurs when the torque of the motor driving the wheel exceeds the above-mentioned maximum resistance torque, which is the resistance between the tire and the ground. At this time, the rotational speed of the wheel increases.

도 1에서 보이는 바와 같이 본 발명의 일 실시예에 따른 슬립 검출을 통한 모터 제어방법은 측정단계, 검출단계, 출력단계 및 제어단계를 포함한다. As shown in FIG. 1, the motor control method through slip detection according to an embodiment of the present invention includes a measurement step, a detection step, an output step and a control step.

측정단계는 모빌리티의 각각의 구동모터에 장착된 슬립 검출 모듈이 각각의 구동모터가 회전시키는 휠의 회전수(n), 모빌리티의 요레이트(yP) 및 상기 각각의 구동모터의 전류값(Ia)을 측정한다.In the measuring step, the slip detection module mounted on each driving motor of the mobility rotates (n) the wheel rotated by each driving motor, the yaw rate of mobility (y P ), and the current value (I) of each driving motor. a ) is measured.

검출단계는 슬립 검출 모듈이 측정단계에서 측정된 회전수와 관련된 변수(△Nm : 해당 모터의 회전수와 모빌리티의 각 모터의 회전수 평균과의 차이(△Nm = nw(k)-nm(k))) ,△Nw : 해당 모터의 회전수 변화량(△Nw = nw(k)-nw(k-1)),k=1, 2, ,3 ... ), 상기 요레이트의 변화량(△YP, △YP=yp(k)-yp(k-1), k=1, 2, ,3 ...) 및 전류값의 변화량(△Ia, △Ia=Ia(k)- Ia(k-1), k=1, 2, ,3 ... )에 따라 슬립을 검출한다. In the detection step, the slip detection module is a variable related to the number of revolutions measured in the measurement step (△ N m : difference between the number of revolutions of the motor and the average number of revolutions of each motor of the mobility (△ N m = n w (k)- n m (k))), △ Nw: The amount of change in the number of revolutions of the motor (△ Nw = n w (k) -n w (k-1)), k = 1, 2,, 3 ... ), The amount of change in the yaw rate (△ Y P , △ Y P = y p (k) -y p (k-1), k = 1, 2,, 3 ...) and the amount of change in the current value (△ I a, △ I a = I a (k)- I a (k-1), k = 1, 2,, 3 ... ) To detect slip.

구체적으로 슬립이 없다고 판단되는 경우(s(슬립) = 0)는 △Nm , △YP , △Ia 이 모두 대응하는 임계값(T_△Nm , T_△YP , T_△Ia )보다 작을 때이다.Specifically, when it is determined that there is no slip (s (slip) = 0), △ N m , △ Y P, and △ I a are all corresponding threshold values (T_ △ N m , T_ △ Y P , T_ △ I a ).

슬립이 증가하는 경우는 (절대값 s > 0), △Nw >0, △Nm > T_△Nm , △Ia >T_△Ia , △YP > T_△YP 를 말한다.When the slip increases (absolute value s> 0), △ Nw> 0, △ N m > T_ △ N m , △ I a > T_ △ I a , △ Y P > T_ △ Y P.

슬립이 감소하는 경우는 (절대값 s > 0), △Nw <0, △Nm > T_△Nm , △Ia >T_△Ia , △YP > T_△YP 를 말한다.When the slip decreases (absolute value s> 0), it means △ Nw <0, △ N m > T_ △ N m , △ I a > T_ △ I a , △ Y P > T_ △ Y P.

출력단계는 슬립 검출 모듈이 검출단계에서 검출된 슬립에 따라 토크 요소(δ) 및 전류 예측 보상값(γ△Ia)을 출력한다.Outputting step outputs a torque component (δ) and a current prediction compensation value (γ △ I a) according to the slip a slip detection module detected in the detection step.

구체적으로 슬립이 증가하는 경우로 검출되면 토크요소는 1보다 작고, 그렇지 않으면 1과 동일하며, γ(예측 보상인수)은 0보다 작다. 슬립이 없거나 감소하는 경우에는 γ는 0과 같아져 현재 미분 예측 보상이 0임을 나타낸다.Specifically, if the slip is detected as an increase, the torque element is less than 1, otherwise it is equal to 1, and γ (prediction compensation factor) is less than 0. When there is no slip or decrease, γ becomes equal to 0, indicating that the current differential prediction compensation is zero.

제어단계는 슬립 검출 모듈과 전기적으로 연결된 제어모듈이 출력단계에서 출력된 전류 예측 보상값을 전류값에 더하여 pwm 신호값(α)으로 출력하며, 토크요소를 pwm 신호값에 곱하여 출력토크로 출력하여 모터로 전달한다.In the control step, the control module electrically connected to the slip detection module adds the current prediction compensation value output in the output step to the current value and outputs it as a pwm signal value (α), and multiplies the torque element by the pwm signal value and outputs it as an output torque. To the motor.

구체적으로 특정 구동모터에 슬립이 검출되면 음수인 전류 예측 보상값이 전류값에 더해져 pwm 신호값으로 출력되고 여기에 토크요소가 곱해져 출력토크로 출력되어 나머지 다른 구동모터의 구동토크로써 전달된다. 이렇게 다른 구동모터의 구동토크가 감소함에 따라 최대 저항토크를 초과하지 않도록 제한될 수 있어 슬립이 발생한 특정 구동모터에 의해 전체 모빌리티의 주행 안정성이 무너지더라도 슬립이 발생하지 않은 나머지 구동모터의 구동토크를 감소시켜 모빌리티의 주행을 다시 안정적으로 할 수 있다.Specifically, when a slip is detected in a specific driving motor, a negative current prediction compensation value is added to the current value, output as a pwm signal value, and the torque element is multiplied and output as an output torque to be transmitted as the driving torque of the other driving motor. As the driving torque of other driving motors decreases, the maximum resistance torque can be limited so that the driving torque of the remaining driving motors where slip does not occur even if the driving stability of the entire mobility is collapsed by a specific driving motor where slip occurs. By reducing, the mobility can be made stable again.

즉, 상술한 각 단계는 각각의 구동모터의 슬립을 검출하는 슬립 검출 모듈 및 구동모터를 제어하는 제어모듈을 포함하는 슬립 검출을 통한 모터 제어 시스템에 의해 수행된다.That is, each of the above-described steps is performed by a motor control system through slip detection including a slip detection module for detecting slip of each drive motor and a control module for controlling the drive motor.

<슬립 검출을 통한 모터 제어 시스템에 대한 설명><Description of motor control system through slip detection>

상술한 슬립 검출을 통한 모터 제어 방법을 수행하는 슬립 검출을 통한 모터 제어 시스템은 도 2를 참고하여 설명한다.A motor control system through slip detection that performs the motor control method through slip detection will be described with reference to FIG. 2.

본 발명에 따른 일실시예인 슬립 검출을 통한 모터 제어 시스템은 구동모터(100), 슬립 검출 모듈(110) 및 제어모듈(120)을 포함한다.Motor control system through slip detection, which is an embodiment according to the present invention, includes a driving motor 100, a slip detection module 110, and a control module 120.

구동모터(100)는 모빌리티의 각각의 휠에 장착되어 휠을 회전시키며 복수개로 마련될 수 있다.The driving motor 100 may be mounted on each wheel of mobility to rotate the wheel and be provided in plural.

슬립 검출 모듈(110)은 각각의 구동모터(100)에 장착되어 슬립을 검출한다.The slip detection module 110 is mounted on each drive motor 100 to detect slip.

슬립 검출 모듈(110)은 회전센서(111), 자세인식센서(112), 전류센서(113) 및 슬립 디텍터(114)를 포함한다.The slip detection module 110 includes a rotation sensor 111, a posture recognition sensor 112, a current sensor 113, and a sleep detector 114.

회전센서(111)는 구동모터(100)의 회전수를 측정한다.The rotation sensor 111 measures the number of revolutions of the driving motor 100.

자세인식센서(112)는 모빌리티의 요레이트를 측정한다.The posture recognition sensor 112 measures the yaw rate of mobility.

전류센서(113)는 구동모터(100)의 전류값을 측정한다.The current sensor 113 measures the current value of the drive motor 100.

슬립 디텍터(114)는 회전수와 관련된 변수(슬립 검출 모듈이 장착된 해당 구동모터의 회전수와 모빌리티의 각 구동모터의 회전수 평균과의 차이, 그리고 해당 구동모터의 회전수 변화량을 포함함), 상기 요레이트의 변화량 및 상기 전류값의 변화량에 따라 슬립을 검출한다.The slip detector 114 is a variable related to the number of revolutions (including the difference between the number of revolutions of the corresponding driving motor equipped with a slip detection module and the number of revolutions of each driving motor of mobility, and the amount of change in the number of revolutions of the corresponding driving motor) , Slip is detected according to the change amount of the yaw rate and the change amount of the current value.

제어모듈(120)은 전류제어기(121) 및 토크제어기(122)를 포함한다.The control module 120 includes a current controller 121 and a torque controller 122.

제어모듈(120)은 슬립 검출 모듈과 전기적으로 연결되며, 슬립 검출 모듈로부터 측정된 슬립에 따라 각각의 구동모터를 제어하는 제어신호를 생성하여 각각의 구동모터의 작동을 제어한다.The control module 120 is electrically connected to the slip detection module, and generates a control signal for controlling each drive motor according to the slip measured from the slip detection module to control the operation of each drive motor.

전류제어기(121)는 전류 예측 보상값이 상기 전류값에 더하여 입력되면 pwm 신호로 출력한다.The current controller 121 outputs a pwm signal when a current prediction compensation value is input in addition to the current value.

토크제어기(122)는 토크 요소를 전류제어기(121)로부터 전달받은 pwm 신호값에 곱하여 출력토크 신호로 출력하며, 출력토크 신호를 각각의 구동모터(100)에 전달한다.The torque controller 122 multiplies the torque element received from the current controller 121 by the pwm signal value and outputs it as an output torque signal, and transmits the output torque signal to each drive motor 100.

즉, 본 발명에 따른 슬립 검출을 통한 모터 제어 방법 및 시스템은 복수의 모터에 의해 구동되는 총륜 모빌리티 플랫폼에 있어서, 어느 하나 이상의 모터에서 슬립이 발생하더라도 슬립에 따라 나머지 모터에서 보상하여 모빌리티가 안정적으로 주행할 수 있는 제어방법 및 제어 시스템을 제공한다.That is, the motor control method and system through slip detection according to the present invention is a total wheel mobility platform driven by a plurality of motors. Even if slip occurs in any one or more motors, mobility is stably compensated by the remaining motors according to the slip. Provides a control method and a control system capable of driving.

상술한 바와 같이, 본 발명에 대한 구체적인 설명은 실시예에 의해 이루어졌지만, 상술한 실시예는 본 발명의 바람직한 예를 들어 설명하였을 뿐이기 때문에, 본 발명이 상기의 실시예에만 국한되는 것으로 이해되어서는 아니 되며, 본 발명의 권리범위는 후술하는 청구범위 및 그 등가개념으로 이해되어야 할 것이다.As described above, although the detailed description of the present invention has been made by examples, it is understood that the present invention is limited only to the above-described embodiments, since the above-described embodiments are merely described as preferred examples of the present invention. It should be understood that the scope of the present invention is to be understood by the following claims and equivalent concepts.

100 : 구동모터
110 : 슬립 검출 모듈
111 : 회전회전센서
112 : 자세인식센서
113 : 전류센서
114 : 슬립 디텍터
120 : 제어모듈
121 : 전류제어기
122 : 토크제어기100: drive motor
110: slip detection module
111: rotation rotation sensor
112: posture recognition sensor
113: current sensor
114: slip detector
120: control module
121: current controller
122: torque controller

Claims (3)

모빌리티의 각각의 구동모터에 장착된 슬립 검출 모듈이 상기 구동모터가 회전시키는 휠의 회전수, 모빌리티의 요레이트 및 상기 구동모터의 전류값을 측정하는 측정단계;
슬립 검출 모듈이 상기 측정단계에서 측정된 회전수와 관련된 변수, 상기 요레이트의 변화량 및 상기 전류값의 변화량에 따라 슬립을 검출하는 검출단계 ― 상기 회전수와 관련된 변수는 슬립 검출 모듈이 장착된 해당 구동모터의 회전수와 모빌리티의 각 구동모터의 회전수 평균과의 차이, 그리고 해당 구동모터의 회전수 변화량을 포함함 ― ;
슬립 검출 모듈이 상기 검출단계에서 검출된 슬립에 따라 토크 요소 및 전류 예측 보상값을 출력하는 출력단계;
슬립 검출 모듈과 전기적으로 연결된 제어모듈이 상기 출력단계에서 출력된 상기 전류 예측 보상값을 상기 전류값에 더하여 pwm 신호값으로 출력하며, 상기 토크 요소를 상기 pwm 신호값에 곱하여 출력토크로 출력하여 상기 구동모터로 전달하는 제어단계;를 포함하며,
상기 각 단계는 상기 구동모터의 슬립을 검출하는 슬립 검출 모듈 및 상기 구동모터를 제어하는 제어모듈을 포함하는 슬립 검출을 통한 모터 제어 시스템에 의해 수행되는 것을 특징으로 하는
슬립 검출을 통한 모터 제어 방법.
A measurement step in which a slip detection module mounted on each driving motor of mobility measures the number of revolutions of a wheel rotated by the driving motor, a yaw rate of mobility, and a current value of the driving motor;
A slip detection module detects slips according to a variable related to the number of revolutions measured in the measurement step, a change amount of the yaw rate, and a change amount of the current value .-- The variable related to the rotation number corresponds to a slip detection module. Includes the difference between the number of revolutions of the driving motor and the average number of revolutions of each driving motor in mobility, and the amount of change in the number of revolutions of the driving motor.
An output step in which the slip detection module outputs a torque element and a current prediction compensation value according to the slip detected in the detection step;
A control module electrically connected to the slip detection module adds the current prediction compensation value output in the output step to the current value and outputs it as a pwm signal value, multiplies the torque element by the pwm signal value, and outputs it as an output torque. Includes; control step of transmitting to the drive motor,
Each of the above steps is performed by a motor control system through slip detection including a slip detection module that detects slip of the drive motor and a control module that controls the drive motor.
Motor control method through slip detection.
모빌리티의 각각의 휠에 장착되어 휠을 회전시키는 복수개의 구동모터;
각각의 구동모터에 장착되어 슬립을 검출하는 슬립 검출 모듈; 및
상기 슬립 검출 모듈과 전기적으로 연결되며, 상기 슬립 검출 모듈로부터 측정된 슬립에 따라 상기 구동모터를 제어하는 제어신호를 생성하여 상기 구동모터의 작동을 제어하는 제어모듈;을 포함하며,
상기 슬립 검출 모듈은,
상기 구동모터의 회전수를 측정하는 회전센서;
모빌리티의 요레이트를 측정하는 자세인식센서;
상기 구동모터의 전류값을 측정하는 전류센서; 및
상기 회전수와 관련된 변수, 상기 요레이트의 변화량 및 상기 전류값의 변화량에 따라 슬립을 검출하는 슬립 디텍터 ― 상기 회전수와 관련된 변수는 슬립 검출 모듈이 장착된 해당 구동모터의 회전수와 모빌리티의 각 구동모터의 회전수 평균과의 차이, 그리고 해당 구동모터의 회전수 변화량을 포함함 ―;를 포함하며, 검출된 슬립에 따라 토크 요소 및 전류 예측 보상값을 출력하는 것을 특징으로 하는
슬립 검출을 통한 모터 제어 시스템.
A plurality of driving motors mounted on the respective wheels of the mobility to rotate the wheels;
A slip detection module mounted on each drive motor to detect slip; And
It includes; a control module that is electrically connected to the slip detection module and controls the operation of the drive motor by generating a control signal for controlling the drive motor according to the measured slip from the slip detection module.
The slip detection module,
A rotation sensor that measures the number of revolutions of the drive motor;
A posture recognition sensor that measures the yaw rate of mobility;
A current sensor for measuring the current value of the drive motor; And
A slip detector that detects slip according to the variable related to the number of revolutions, the amount of change in the yaw rate, and the amount of change in the current value. It includes the difference between the average number of revolutions of the drive motor and the amount of change in the number of revolutions of the drive motor, and outputs a torque factor and a current prediction compensation value according to the detected slip.
Motor control system through slip detection.
제2항에 있어서,
상기 제어모듈은,
상기 전류 예측 보상값이 상기 전류값에 더하여 입력되면 pwm 신호로 출력하는 전류제어기; 및
상기 토크 요소를 상기 전류제어기로부터 전달받은 pwm 신호값에 곱하여 출력토크 신호로 출력하며, 상기 출력토크 신호를 상기 구동모터에 전달하는 토크제어기;를 포함하는 것을 특징으로 하는
슬립 검출을 통한 모터 제어 시스템.According to claim 2,
The control module,
A current controller outputting a pwm signal when the current prediction compensation value is input in addition to the current value; And
And a torque controller multiplying the torque element by a pwm signal value received from the current controller and outputting it as an output torque signal, and transmitting the output torque signal to the drive motor.
Motor control system through slip detection.
KR1020180151526A 2018-11-30 2018-11-30 Motor control method and system for slip detection KR102094859B1 (en)

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