KR102310349B1 - Method of operating support mode and personal mobility vehicle implementing thereof - Google Patents

Abstract

The present invention relates to a method of operating in a support mode and a personal mobile vehicle implementing the same. The personal mobile vehicle operating in the support mode according to an embodiment of the present invention generates a speed command to control the motor of the personal mobile vehicle, A system speed command unit provided to the motor, a movement sensing unit that detects a driving state of the motor in a stop mode in which the system speed command unit does not receive a speed command by a user manipulation, and the movement sensing unit detects the driving of the motor and a forward/backward determination unit for calculating a forward or backward driving direction of the motor and a driving speed of the motor, wherein the system speed command unit provides a speed command corresponding to the driving direction and driving speed to the motor to stop the motor Converts from mode to support mode.

Description

METHOD OF OPERATING SUPPORT MODE AND PERSONAL MOBILITY VEHICLE IMPLEMENTING THEREOF

The present invention relates to a method of operating in a support mode and a technology for a personal mobile vehicle implementing the same.

BACKGROUND ART A personal mobility vehicle is a device that a person rides and moves, and is a small device that most of the person rides and moves. Thus, the personal mobile device can be moved by a person while not riding.

As the number of personal mobile devices increases, it has been studied to provide various convenient functions to the personal mobile devices. In particular, a method of designing a mechanical shape to reduce the weight of the personal mobile device, increase the charging capacity, or easily carry the device has been proposed.

However, since the personal mobile device has its own weight, there has been a problem in that the holder takes a lot of effort when moving without boarding. Accordingly, since there is a need for a method and an apparatus for supporting smoother movement in the process of moving a personal mobile device without boarding it, it will be described.

In this specification, in order to solve the above-mentioned problems, a method for allowing a personal mobile vehicle to enter the support mode without adjusting a separate speed lever when manually moving forward or backward, and a personal mobile vehicle implementing the same are proposed. .

In addition. In the present specification, the operation in the support mode and the operation in the driving mode are set differently so that the user can safely manually move the personal mobile vehicle.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention not mentioned may be understood by the following description, and will be more clearly understood by the examples of the present invention. Moreover, it will be readily apparent that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the claims.

In the personal mobile vehicle operating in the support mode according to an embodiment of the present invention, a system speed command unit that generates a speed command for controlling the motor of the personal moving vehicle and provides it to the motor; A movement detecting unit for detecting a driving state of the motor in a stop mode that does not receive a command, and before and after calculating a forward or backward driving direction of the motor and a driving speed of the motor when the movement sensing unit detects the driving of the motor and a true determination unit, wherein the system speed command unit provides a speed command corresponding to the driving direction and the driving speed to the motor to convert from the stop mode to the support mode.

The method of operating the personal moving vehicle in the support mode according to another embodiment of the present invention includes the steps of: detecting the driving state of the motor by the movement detecting unit in a stop mode in which the system speed command unit does not receive a speed command by a user manipulation; Calculating the forward or backward driving direction of the motor and the driving speed of the motor by a determination unit, and the system speed command unit provides a speed command corresponding to the driving direction and the driving speed to the motor to support in the stop mode converting to a mode.

When the embodiments of the present invention are applied, it is possible to implement a support mode in which electric power is transmitted to the motor without adjusting a separate speed lever when the personal moving vehicle is manually moved forward or backward.

In addition, when the embodiments of the present invention are applied, the operation in the support mode and the operation in the driving mode are set differently so that the user can safely move the personal mobile vehicle.

The effects of the present invention are not limited to the above-described effects, and those skilled in the art can easily derive various effects of the present invention from the configuration of the present invention.

1 is a view showing the exterior of a personal mobile vehicle according to an embodiment of the present invention.
2 is a view showing a power unit of a personal mobile vehicle according to an embodiment of the present invention.
3 is a view showing a power unit of a personal mobile vehicle according to another embodiment of the present invention.
4 is a view showing the configuration of a motor and an inverter unit according to an embodiment of the present invention.
5 is a view for confirming the forward or backward using the rotor position detection unit according to an embodiment of the present invention.
6 is a diagram for determining whether to move forward/reverse with a back electromotive force voltage waveform, which is a voltage induced when rotating a permanent magnet type motor according to an embodiment of the present invention.
7 is a graph showing the relationship between the back electromotive force and the speed according to an embodiment of the present invention.
8 is a view showing an input of a current controller according to an embodiment of the present invention.
9 and 10 are diagrams showing a table in which the current command variable limit value in the support mode according to an embodiment of the present invention is set and a graph of the current limit value.
11 is a view showing a support mode operation process of a personal mobile vehicle according to an embodiment of the present invention.
12 is a diagram illustrating a process of calculating a speed in a sensed method according to an embodiment of the present invention.
13 is a diagram illustrating a process of calculating a speed in a sensorless manner according to another embodiment of the present invention.

Hereinafter, with reference to the drawings, embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.

In order to clearly explain the present invention, parts irrelevant to the description are omitted, and the same reference numerals are given to the same or similar elements throughout the specification. Further, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to components of each drawing, the same components may have the same reference numerals as much as possible even though they are indicated in different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description may be omitted.

In describing the components of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the elements from other elements, and the essence, order, order, or number of the elements are not limited by the terms. When it is described that a component is “connected”, “coupled” or “connected” to another component, the component may be directly connected or connected to the other component, but other components may be interposed between each component. It will be understood that each component may be “interposed” or “connected”, “coupled” or “connected” through another component.

In addition, in implementing the present invention, components may be subdivided for convenience of description, but these components may be implemented in one device or module, or one component may include a plurality of devices or modules. It may be implemented by being divided into .

Hereinafter, terms to be used herein are defined.

A device that can be carried by a very small number of people (one or two people) is referred to herein as a personal mobile vehicle (PMV, or personal vehicle). The personal mobile vehicle has three modes. The stationary mode is a mode in which no power is used. In the stationary mode, a means such as a wheel of a personal mobile vehicle may be rotated, but power is not provided. That is, the stop mode means a state in which electric power is not applied to the motor. The stop mode refers to a non-powered state in which no power is transmitted to the motor.

The driving mode is a mode in which the user rides and moves, and means a state in which electric power is applied to the motor. In the driving mode, a speed command operated by the user is transmitted to the motor. The support mode is a mode that is converted from the state of the motor that does not originally use power. That is, when the wheel of the motor rotates in response to an external force in a state in which electrical power is not connected to the motor, it is a mode in which electrical power is transmitted in a stop mode, and similarly, it is a mode that stops movement from the outside in this state. It is a mode that can be converted to a stop mode immediately when a force is applied.

Hereinafter, in the present specification, the personal moving vehicle determines forward or backward, and when the user starts forward/reverse, the electric motor starts to rotate in the forward/reverse direction so that forward/reverse traction takes less force, and when a forward/backward stop is required It performs the stop function.

1 is a view showing the exterior of a personal mobile vehicle according to an embodiment of the present invention. Shows the shape of the front of the personal mobile vehicle. The personal mobile vehicle 100 is composed of an adjustment unit 20 , a lamp 10 , a wheel 30 , and a body unit 40 as components that are distinct in appearance. A power unit (not shown in the drawing) for transmitting power may be disposed on the body 40 and the wheels 30 . The body part 40 connects the adjustment part 20 and the wheel 30 so that the user can ride and move. Each configuration may be configured differently according to the characteristics of the personal mobile vehicle 100 .

For example, there may be one wheel, two or more wheels receiving power from the power unit. The traction motor of the personal mobile vehicle may fit into the front wheel or the rear wheel depending on the structure, and the number of wheels may also vary depending on the structure. That is, one motor may transmit power to all wheels, and each motor may transmit power to each wheel. The configuration of the power unit 200 included in the body unit 40 will be seen in FIG. 2 .

2 is a view showing a power unit of a personal mobile vehicle according to an embodiment of the present invention. 2 shows that the power unit 200 finally indicates a speed that the motor 250 should provide in order to control the power of the motor 250 of the power unit 200 or a system speed for controlling the operation of the motor 250 . It includes a command unit 210 . 2 is a view showing a configuration in which one motor unit 250 transmits power to one or more wheels.

A signal that constitutes the power unit 200 and controls the speed, current, and PWM of the motor speed controller 220, the motor current controller 230, and the motor PWM 240, respectively, according to the control of the speed command unit 210 described above. and the motor 250 converts the electrical signal into power by the generated signal to move the wheels. On the other hand, the forward/backward determination unit 290 that detects the rotation of the motor 250 and provides information on the forward or backward determination to the system speed command unit 210 by checking whether the motor 250 is in a support state requiring power. It also constitutes the power unit 200 .

A process in which the forward/backward determining unit 290 determines whether the wheel rotates even in a state in which power is not transmitted according to the rotation of the motor will be described later. The movement detection unit 291 includes any one or more of a voltage sensor or a current sensor, or a rotor position detection unit for detecting the position of the rotor inside the motor, and the forward/backward determination unit 290 determines the state in which the motor is driven (wheel of the wheel). movement status). The forward/backward determining unit 290 may provide a signal for requesting a predetermined forward or backward movement to the system speed command unit 210 by reflecting the motor driving state sensed by the movement detecting unit 291 .

Accordingly, looking at the configuration and signal flow in FIG. 2 , the system speed command unit 210 sends a predetermined speed to the motor speed controller 220 according to the forward or backward request signal generated by the forward/reverse determining unit 290 . Send a command signal. The motor speed controller 220 transmits the speed command signal to the motor current controller 230 to control the current for operating the motor.

The motor PWM 240 operates the motor 250 based on the current control of the motor current controller 230 . In this process, the voltage and current of the motor 250 are continuously sensed and the forward/backward determination unit 290 may determine whether a situation to accelerate or stop the forward or backward has occurred, and the determined result is the system speed again. It is transmitted to the command unit 210 . And this process is repeated.

3 is a view showing a power unit of a personal mobile vehicle according to another embodiment of the present invention. Unlike FIG. 2, each motor transmits power to each wheel, and each motor also includes respective motor speed controllers 220a and 220b, motor current controllers 230a and 230b, and motor PWMs 240a and 240b. is a configuration that

The system speed command unit 210 may transmit different or the same speed commands to the first motor 250a and the second motor 250b that respectively transmit power to the two wheels. In addition, the forward/backward determination unit 290 also uses the movement sensing units 291a and 291b for each of the first motor 250a and the second motor 250b to the wheels even in a state in which power is not transmitted according to the rotation of the motor. You can check if it rotates. The movement detection unit 291 may include any one or more of a voltage sensor and a current sensor, or may include a rotor position detection unit. The forward/backward determination unit 290 may determine the motor driving state.

The configuration of FIGS. 2 and 3 is summarized as follows.

The power unit 200 for driving the personal mobile vehicle will be described in detail. The personal mobile vehicle has a stationary mode, a driving mode, and a support mode. The stop mode is a mode in which the speed command by the user operation is 0, that is, the electric power is not transmitted to the motor because the user does not operate a separate speed. The driving mode is a mode in which the speed command by the user's operation is not 0, that is, the electric power is transmitted to the motor by the user operating a separate speed. The support mode is a mode in which the user does not operate a separate speed, but the electric power is transmitted to the motor without the user's speed manipulation according to the state of the motor caused by the rotation of the wheels in the process of manually moving the personal mobile vehicle. .

The system speed command unit 210 generates a speed command for controlling the motor of the personal moving vehicle and provides it to the motor. The motor speed controller 220 controls the speed of the motor to provide a speed command to the motor, the motor current controller 230 controls the current corresponding to the speed control of the motor, and the motor PWM drives the motor in response to the current control. ( 240 ) may constitute the power unit ( 200 ). In the method of controlling the speed, the motor speed controller 220 receives a signal for controlling the speed of the motor from the system speed command unit 210 . Then, the motor current controller 230 receives a signal for generating a current corresponding to the speed control of the motor from the motor speed controller 220 to control the current. As a result, the motor PWM 240 drives the motor 250 in response to the current control provided from the motor current controller. The motor can be driven or the motor can be stopped.

The movement detection unit 291 detects the driving state of the motor in a stop mode in which the system speed command unit 210 does not receive a speed command by a user manipulation. A method of detecting the driving state of the motor includes a sensored method using a rotor position detecting unit such as a hall sensor. In addition, the movement detecting unit 291 does not include a Hall sensor, but instead includes a sensorless method for detecting the driving state of the motor by including any one or more of a voltage sensor and a current sensor.

When the movement detecting unit 291 detects the driving of the motor, the forward/backward determining unit 290 calculates a forward or backward driving direction of the motor and a driving speed of the motor 250 . In this case, the driving speed may be calculated using a sensored method corresponding to FIGS. 5, 6 and 12 or a sensorless method corresponding to FIGS. 7 and 13 , which will be described later.

The forward/backward determination unit 290 may selectively include a storage unit 295 . The storage unit 295 may store speed information corresponding to the back electromotive force in the case of the sensorless method. In this case, the forward/backward determining unit 290 may calculate the driving speed of the motor 250 according to the magnitude of the back electromotive force sensed by the movement detecting unit 291 .

In addition, the storage unit 295 may store information about a limit value that limits the magnitude of the current applied to the motor in the support mode, and using this, the external force applied by the user when the user stops movement in the support mode state When transmitted to the motor, the system speed command unit 210 may stop driving the motor in response to the current limit value. The system speed command unit 210 provides the motor 250 with a speed command corresponding to the driving direction and the driving speed provided by the forward/backward determining unit 290 to convert from the stop mode to the support mode.

When a personal mobile vehicle having the same configuration as in FIG. 2 or FIG. 3 is implemented, when the user manually moves the personal mobile vehicle forward or backward, the personal mobile vehicle provides electric power to the motor in accordance with the current speed to allow the user to operate the personal mobile vehicle Manual movement can be supplemented.

That is, in the prior art, the personal mobile vehicle was a method capable of controlling the speed of the vehicle only when the user boarded it. In addition, there has been a problem in that there is no reverse function or the forward or reverse function is performed only when the speed command lever is moved. However, when the embodiment of the present invention is applied, when manually moving forward or backward in a personal moving vehicle such as an electric quick board, it is possible to enter the support mode without adjusting a separate speed lever. This can be applied when the user moves a personal mobile vehicle that is heavy to move manually.

Let's look at the detailed operation in more detail.

4 is a view showing the configuration of a motor and an inverter unit according to an embodiment of the present invention. 4 is a connection diagram between the inverter units 270a and 270b and the motors 250a and 250b having a configuration based on two motors on the front wheels. The + and - poles of the input power unit 261 using a battery as an embodiment are respectively connected to the first motor 250a and the second motor 250b. In addition, the first inverter unit 270a and the second inverter unit 270b connected to each motor may sense the change in voltage and current generated by the motors in a state in which power is not applied, by the forward/backward determination unit 290 . . The two motors 250a and 250b are driven by separate inverter units 270a and 270b, and one inverter can control the two motors in an integrated manner. Movement detection units 291a and 291b capable of detecting a motor driving state may be disposed at the inverter output terminal, and in FIG. 4 , a voltage sensor or a current sensor constitutes the movement detection unit.

The personal mobile vehicle configured in FIGS. 1 to 4 may implement the support mode. That is, according to an embodiment of the present invention, forward/backward determination is possible when the user moves the PMV by coupling the forward/backward determination unit 290 to the speed control logic of the PMV motor, and in this case, the forward/backward determination unit 290 may request a predetermined output from the system speed command unit 210 . For example, when the electric kickboard is moved forward/backward by the user (when the user moves without boarding), the system speed command unit 210 supports the forward/backward determination result by the forward/backward determination unit 290 A speed command suitable for the mode and current movement speed is output, and the motor speed controller/motor current controller converts the command into speed control and current control so that the motor can be operated with PWM output.

When the user manually moves the PMV forward or backward, the operation of the movement sensing unit will be described.

5 is a view for confirming the forward or backward using the rotor position detection unit according to an embodiment of the present invention.

As described above, the rotor position detecting unit may have a position sensor attached to the motor to detect the position of the rotor of the motor. The rotor position detection unit constitutes a movement detection unit, and the forward/backward determination unit 290 may confirm the entry into the support mode based on the position of the rotor detected by the rotor position detection unit. 1 of FIG. 5 shows the change (theta, θ) of the position of the motor rotor when the motor rotates forward. 2 of FIG. 5 shows the change (theta, θ) of the position of the motor rotor when the motor rotates in reverse.

Accordingly, the movement detecting unit may detect the rotor position as shown in FIG. 5 to determine forward or backward and calculate the speed. As a result, when forward or backward is continued for a predetermined time, the system speed command unit 210 outputs a speed command suitable for the support mode and the current moving speed. The rotor position detection unit may further include a sensing unit for sensing the rotation or position of the rotor.

6 is a diagram for determining whether to move forward/reverse with a back electromotive force voltage waveform, which is a voltage induced when rotating a permanent magnet motor according to an embodiment of the present invention. A back EMF voltage waveform, which is a voltage induced when the permanent magnet motor is rotated, is calculated as shown in FIG. 6 , and based on this, the movement detecting unit 291 can determine whether forward/reverse and calculate the speed. Therefore, in the case of a model to which a position sensor is applied to a permanent magnet motor, the movement detecting unit 291 can more accurately confirm the rotation of the motor by checking the back EMF voltage waveform at the same time as the position detection information generated in FIG. 5 . If there is no module for sensing the rotor position, the movement detecting unit 291 may check forward/reverse based on FIG. 6 .

The movement detecting unit 291 may calculate the speed as shown in Equation 1 below based on the time (Ts) of the back EMF voltage waveform and the change (θ) derived from the waveform, and when the calculated speed exceeds a preset standard, the system The speed command unit 210 may output a speed command suitable for the support mode and the current moving speed.

[Equation 1]

speed = θ/Ts

In addition, when the user manually moves the PMV forward or backward, a back EMF is generated according to the rotation speed of the motor. At this time, the back EMF voltage level varies according to the rotation speed. For example, when the movement detecting unit senses the voltage of the back electromotive force while the forward/backward determining unit 290 stores the information of 30V corresponding to 100rpm and 60V corresponding to 200rpm, the motor using the magnitude of the sensed voltage Calculate the rotation speed of , and enable entry into support mode.

7 is a graph showing the relationship between the back electromotive force and the speed according to an embodiment of the present invention. The forward/backward determining unit 290 may pre-profile the counter electromotive force value according to the speed to check whether the actual speed is increased. Accordingly, the forward/backward determining unit 290 checks the actual speed in response to the back electromotive force value sensed by the movement sensing unit, and enables the entry into the support mode.

That is, the relationship between the speed and the back EMF value is stored in a storage device such as a memory in advance, and the current speed can be confirmed by comparing the back EMF value sensed by the movement sensing unit in the storage device of the above memory, and as a result, the back EMF value increases. Power is transmitted to support forward/reverse in response to

As shown in FIG. 7 , the back EMF value according to the speed may be profiled in advance and used when checking whether the actual speed has increased. For example, the back EMF level according to the speed may be pre-matched and used. For example, if a voltage level of 20V in the case of 10rpm and 50V in the case of 30rpm is set, the RPM may be checked according to the back electromotive force value.

8 is a view showing an input of a current controller according to an embodiment of the present invention. 8 is a case in which the user enters the forward/reverse mode and stops the user by externally applying a force while the forward/reverse support is performed. That is, it shows the input waveform of the current controller that will appear when the system is stopped by the user's manual stop mode. In the user manual stop situation, as shown in Figure 8, the current limit value is set significantly lower than the normal driving mode so that the system can be stopped even if the user inputs a small load to stop the system, thereby minimizing the user's inconvenience and the possibility of an accident. have.

In order to control the motor of the present invention, the limit values of the d-axis current component Id and the q-axis current component Iq are set differently in the driving mode and in the support mode. let it be

The part indicated by Stop in the graph is the time to manually stop the user PMV. And Limit_q is the limit value of Iq current in support mode, and Limit_d is the limit value of Id current.

9 and 10 are diagrams showing a table in which the current command variable limit value in the support mode according to an embodiment of the present invention is set and a graph of the current limit value. An example of the current command variable limit value required for automatic motor forward/backward control in support mode is shown. As the motor automatic control speed increases, the Id and Iq current values required for driving will increase. The variable current limit is reached, causing the system to stop. Above a certain speed (25 rpm in the example), the current command limit was set to a fixed value for safety without increasing the current command limit.

9 is a look-up table showing a motor current command limit value according to speed. Looking at the actually applied load among them, the values indicated at 51 are the control sections in the driving mode in which the driving mode is normally operated. Values indicated at 52 indicate a load at which the system stops when the user applies a load to the system in the support mode, that is, when the user applies a force to stop. 53 indicates that the limit value of the current command is fixed so that the torque is not increased above a certain speed for safety.

9 and 10 also show current command limit values for each current speed. In the case of a certain speed (for example, 25rpm) or higher, it can be seen that the configuration does not change the current command limit any more.

In more detail, 52a of FIG. 9 shows an embodiment in which Id is set to -2.5A and Iq to 6A when the current speed is 10 rpm or less. 52b of FIG. 9 shows an embodiment in which Id is set to -2.7A and Iq to 6.1A when the current speed is greater than 10 rpm and less than or equal to 15 rpm. 52c of FIG. 9 is an embodiment in which Id is set to -4.1A and Iq to 7.3A when the current speed is greater than 15 rpm and less than or equal to 20 rpm. 52d of FIG. 9 is an embodiment in which the current command limit value is set to -5.2A for Id and 7.8A for Iq when the current speed is greater than 20 rpm and less than or equal to 25 rpm. 52e of FIG. 9 shows an embodiment in which the current command limit value is set to -5.8A for Id and 9.2A for Iq when the current speed exceeds 25 rpm.

10 is a graph showing the current command limit value for each current speed.

9 and 10 are summarized as follows.

The storage unit 295 stores information about a limit value limiting the magnitude of the current applied to the motor 250 in the support mode state. The portion indicated by 52 in FIG. 9 and information set so that the limit values of the Iq current and the Id current are different for each current speed in FIG. 10 are included.

When the user stops the personal moving vehicle in the process of moving to the support mode, a load is applied to the motor. The system speed command unit 210 may determine whether the current command by the load of the motor has reached the limit value stored in the storage unit 295 and may convert from the support mode to the stop mode. This includes the system speed command 210 setting the speed command to zero.

In addition, the current command limit value may be configured differently in the support mode and in the driving mode. 52 of FIG. 9 shows the limit value of the d-axis current component Id for controlling the motor in the support mode and the limit value for the q-axis current component Iq for controlling the motor. 51 of FIG. 9 shows the limit value of the d-axis current component Id and the limit value of the q-axis current component Iq in the driving mode operated by the speed command by the user manipulation. Since the current limit value in the support mode (52 in FIG. 9) and the current limit value (51 in FIG. 9) in the driving mode are set differently, the forward/backward determination unit 290 and the system speed command unit 210 are in the support mode. Personal mobile vehicles can be controlled to stop more quickly.

Also, even in the support mode, the storage unit 295 may set and store the limit value of the current component Id and the limit value of the current component Iq differently according to the current speed of the motor. As indicated by 52a to 52e in FIGS. 9 and 10 , it has been described that the current command limit value can be set differently according to the range of the current speed.

11 is a view showing a support mode operation process of a personal mobile vehicle according to an embodiment of the present invention.

First, while the PMV maintains the stop mode (S61), a situation in which the user manually moves the PMV forward or backward occurs (S62). The stop mode is a state in which the system speed command unit 210 does not receive a speed command by a user manipulation, and includes a state in which separate electrical power is not transmitted to the motor.

Sensing the forward or backward situation includes the movement detecting unit 291 detecting the driving state of the motor, which will be described in detail with reference to FIG. 12 or FIG. 13 .

As a result of the detection of the movement detecting unit 291, the forward/backward determining unit 290 detects a forward or backward state of the PMV (S63). Then, the current moving forward or backward speed is calculated (S64). This includes an embodiment in which the movement detecting unit 291 detects the speed in a sensored method or a sensor-less method. That is, the sensored method includes a method of calculating the speed by detecting the position of the motor rotor using a hall sensor in FIGS. 5 and 6 . In the case of the sensorless method, as shown in FIG. 7 , a method of sensing a back EMF and calculating a speed corresponding to the sensed back EMF is included.

In summary, the forward/backward determination unit 290 may calculate the forward or backward driving direction of the motor 250 and the driving speed of the motor 250 .

After the calculation, the system speed command unit 210 checks whether the speed command instructed by the user is “0” (S65). This means checking whether the user has issued a separate speed control command. As a result, when the user commands a specific speed (when the speed command is not 0), the system speed command unit 210 controls the motor according to the commanded speed (S75). This means that it operates in a normal driving mode (normal mode).

In addition, in S65, the system speed command unit 210 may check the current battery state. It is possible to prevent the battery from being discharged by enabling the operation in the support mode only when the charge capacity of the remaining battery is greater than or equal to a certain level.

On the other hand, when the speed command instructed by the user is "0", the system speed command unit 210 inputs the currently calculated speed command value (S65). Then, it operates in the support mode by controlling the speed of the motor in the forward/reverse direction (S67). As a result, the system speed command unit 210 converts the stop mode to the support mode by providing a speed command corresponding to the driving direction and the driving speed to the motor.

In the process S67, the system speed command unit 210 may continuously check the current battery state. Support mode is maintained only when the remaining battery's charge capacity is above a certain level, and if the battery's charge capacity falls below a certain level, the system speed command unit 210 may be converted from the support mode to the stop mode by inputting the current speed command value as 0.

In the process of operating the motor in the support mode and moving at a specific speed, the user's manual termination situation occurs (S68). This means that the user manually stops the PMV. In the case of a stop mode that slows down the forward speed in forward support mode or stops movement in the reverse direction or stops the movement of the wheels, or in the case of a stop mode that slows down the reverse speed or stops movement in the forward direction or stops the movement of the wheels in the backward support mode This corresponds to the case of stop mode.

Therefore, it is checked whether the current command limit is reached by stopping the motor in order to check whether the support mode is a complete stop or a state of controlling the speed or direction (S69). As a result, when the limit is reached, the current speed command value is input as 0 (S70) and the motor driving is terminated (S71). On the other hand, if the limit is not reached, step S63 is performed to change the speed or direction of the support mode.

In the embodiment shown in FIG. 11 , the movement status may be checked using a rotor position detection unit (Hall sensor) that detects the position of the motor. In addition, current and voltage can be sensed, which includes detecting the back electromotive force when the motor is moving forward/reversed. Accordingly, it is possible to calculate the speed by calculating the information (Theta) about the rotation of the motor calculated by the rotor position detecting unit and the time. Similarly, the speed can be calculated in response to the back electromotive force. As a result, when the user manually moves the personal mobile vehicle forward/reverse, it switches to the support mode to provide forward/reverse driving force so that the user can easily move the personal mobile vehicle.

12 is a diagram illustrating a process of calculating a speed in a sensed method according to an embodiment of the present invention. In order to implement the sensored method, the movement detecting unit 291 may include a rotor position detecting unit (Hall sensor) for detecting the rotor position of the motor. In FIG. 12 , the forward/backward determining unit 290 shows a process of calculating the driving direction and driving speed of the motor according to the position of the rotor.

S61 and S62 were previously reviewed in FIG. 11 . When a manual forward/backward situation by the user occurs, the movement detecting unit 291 calculates theta (change in the position of the motor rotor, θ) using a hall sensor (S63a), and displays the calculated result The current speed is estimated using the method (S64a). Thereafter, step S65 of FIG. 11 is performed based on the estimated speed, that is, the calculated speed.

13 is a diagram illustrating a process of calculating a speed in a sensorless manner according to another embodiment of the present invention. In order to implement the sensorless method, the movement detection unit 291 may include a sensor unit for sensing the back electromotive force of the motor. The movement detecting unit 291 may sense the back electromotive force by performing current sensing and voltage sensing.

In addition, when the back EMF is sensed, since speed information of the motor corresponding thereto is stored in the storage unit 295 , the forward/backward determining unit 290 extracts speed information corresponding to the sensed back EMF from the storage unit 295 and extracts the motor speed information. The driving direction and driving speed of 250 may be calculated. As shown in FIG. 7 , the storage unit 295 may store information on the magnitude of a specific counter electromotive force and the corresponding speed (10 rpm in case of 20V and 30 rpm in case of 50V). In addition, the forward/backward determination unit 290 may calculate speed information of 10 rpm in the case of the sensed counter electromotive force (eg, 20 V).

In the case of a graph as shown in FIG. 7 , an equation forming the graph may be included in the storage unit 295 . Alternatively, when speed information for each major back EMF is stored in the storage unit 295 and the forward/backward determining unit 290 does not have the sensed back EMF in the storage unit 295, the speed information may be calculated using a proportional equation. As an embodiment, it is assumed that speed information of 10rpm for 20V and 30rpm for 50V is stored. In the case of 40V, it can be calculated by a proportional equation based on 50V-30rpm, and in this case, 24rpm can be calculated. In the case of 30V, it can be calculated by a proportional equation based on 20V-10rpm, and in this case, 15rpm can be calculated.

S61 and S62 were previously reviewed in FIG. 11 . When a manual forward/backward situation by the user occurs, the movement detecting unit 291 senses a back electromotive force (S63b). As a result, it is possible to calculate the speed (RPM) corresponding to the sensed back EMF voltage, which is the relationship between the back EMF value (V) and the speed (RPM) discussed in FIG. speed table) to estimate the speed (S64b). Thereafter, step S65 of FIG. 11 is performed based on the estimated speed, that is, the calculated speed.

11 to 13, when the personal moving vehicle (PMV) moves manually without a user's speed command, it enters a support mode to support it, and in this process, the moving speed is performed in a sensored or sensorless manner. It is possible to detect and provide a motor current command to respond, but set the limit value of the current command for each speed so that manual stop by the user is possible.

When the present invention is applied, when the rotor position detection unit of the motor determines the signal in the process of moving the PMV forward or backward manually (the situation in which electric power is not transmitted to the motor because the user does not operate the speed in particular), A forward or backward start can be detected. In the case of the sensored method, the reverse rotation speed can be determined through θ (Theta) where the hall sensor detects the rotor position.

In the case of the sensorless method, the system speed command unit 210 provides forward/reverse speed commands by checking whether the motor is actually rotating with back electromotive force information, and the motor 250 performs forward/reverse motion. In this case, a minimum current command can be input, which applies only the user's manually stopable torque so that the user can stop immediately when manually stopping the PMV in the support mode. In this embodiment, the system is stopped with a motor stop command when the current rises above a certain level through the motor current sensing.

Therefore, when implementing the embodiment of the present invention, the operation in the support mode and the operation in the driving mode are set differently so that the user can safely manually move the personal mobile vehicle.

When an embodiment of the present invention is applied, it is possible to implement a support mode in which electric power is transmitted to the motor in the process of manually moving the personal moving vehicle without a separate speed operation. Conventionally, when moving the PMV without riding it (manual forward or manual reverse), it is not easy to move due to the weight of the PMV. In addition, there is a problem of sudden acceleration when the user operates forward or backward with the throttle or lever for convenience of movement while not in a vehicle. The act of manipulating (throttle operation) could cause an accident.

On the other hand, when the embodiment of the present invention is applied, when the user manually moves the personal moving vehicle forward or backward, the forward/backward determination unit 290 in the vehicle provides the driving direction to the system speed command unit 210 so that the motor operates in response thereto. and a drive speed, and the system speed command unit 210 transmits electrical power to the motor accordingly. In addition, when the user stops the movement of the personal moving vehicle in the process of moving to the support mode, the system speed command unit 210 may immediately cut off the power transmitted to the motor to increase stability.

In particular, the system speed command unit 210 may select a conversion to the support mode by checking the battery state. It controls to switch to support mode only when the charge capacity of the battery exceeds a certain standard.

In an embodiment of the present invention, the system speed command unit 210, the forward/backward determination unit 290, and the movement detection unit 291 may be composed of hardware to which program logic is applied or may be composed of software including the above-described program. .

In addition, even if all the components constituting the embodiment of the present invention are described as being combined or operated as one, the present invention is not necessarily limited to this embodiment, and all components within the scope of the present invention are One or more may be selectively combined to operate. In addition, although all of the components may be implemented as one independent hardware, some or all of the components are selectively combined to perform some or all functions of the combined hardware in one or a plurality of hardware program modules It may be implemented as a computer program having Codes and code segments constituting the computer program can be easily deduced by those skilled in the art of the present invention. Such a computer program is stored in a computer readable storage medium (Computer Readable Media), read and executed by the computer, thereby implementing the embodiment of the present invention. The storage medium of the computer program includes a magnetic recording medium, an optical recording medium, and a storage medium including a semiconductor recording device. In addition, the computer program implementing the embodiment of the present invention includes a program module that is transmitted in real time through an external device.

In the above, although the embodiment of the present invention has been mainly described, various changes or modifications may be made at the level of those skilled in the art. Accordingly, it will be understood that such changes and modifications are included within the scope of the present invention without departing from the scope of the present invention.

200: power unit 210: system speed command unit
220: motor speed controller 230: motor current controller
240: motor PWM 250: motor
290: forward and backward determination unit 291: movement detection unit
295: storage

Claims (14)

a system speed command unit generating a speed command for controlling the motor of the personal moving vehicle and providing the speed command to the motor;
a movement detection unit for detecting a driving state of the motor in a stop mode in which the system speed command unit does not receive a speed command by a user operation; and
and a forward/backward determination unit for calculating a forward or backward driving direction and a driving speed of the motor when the movement sensing unit detects the driving of the motor,
The personal mobile vehicle operating in a support mode, wherein the system speed command unit provides a speed command corresponding to the drive direction and drive speed to the motor to convert from the stop mode to the support mode.
According to claim 1,
a motor speed controller controlling the speed of the motor;
a motor current controller for controlling a current corresponding to the speed control of the motor;
A personal mobile vehicle operating in a support mode, including; a motor PWM for driving the motor in response to the current control.
According to claim 1,
The movement detection unit includes a rotor position detection unit for detecting the rotor position of the motor,
The forward/backward determining unit calculates a driving direction and a driving speed of the motor according to the position of the rotor, a personal mobile vehicle operating in a support mode.
According to claim 1,
The movement detection unit includes a sensor unit for sensing the back electromotive force of the motor,
The forward/backward determining unit further includes a storage unit for storing speed information corresponding to the back electromotive force,
The forward/backward determining unit extracts speed information corresponding to the sensed back electromotive force from the storage unit to calculate a driving direction and a driving speed of the motor, a personal mobile vehicle operating in a support mode.
According to claim 1,
The forward/backward determination unit further comprises a storage unit for storing information on a limit value limiting the magnitude of the current applied to the motor in the support mode,
The system speed command unit determines whether the current command by the load of the motor has reached the limit value stored in the storage unit and converts it from the support mode to the stop mode, a personal mobile vehicle operating in a support mode.
6. The method of claim 5,
the storage unit
In the support mode, the limit value of the d-axis current component Id for controlling the motor and the limit value of the q-axis current component Iq for controlling the motor;
A personal mobile vehicle operating in a support mode to set and store differently the limit value of the d-axis current component Id and the limit value of the q-axis current component Iq in the driving mode operated by the speed command by the user manipulation.
7. The method of claim 6,
the storage unit
In the support mode, the limit value of the current component Id and the limit value of the current component Iq are differently set and stored in response to the current speed of the motor, the personal mobile vehicle operating in the support mode.
detecting a driving state of the motor by the movement detecting unit in a stop mode in which the system speed command unit does not receive a speed command by a user manipulation;
calculating, by a forward/backward determination unit, a forward or backward driving direction of the motor and a driving speed of the motor; and
and converting, by the system speed command unit, a speed command corresponding to the driving direction and the driving speed to the motor from the stop mode to the support mode.
9. The method of claim 8,
The converting step is
receiving, by a motor speed controller, a signal for controlling the speed of the motor from the system speed command unit;
receiving, by a motor current controller, a signal from the motor speed controller for generating a current corresponding to speed control of the motor; and
and a motor PWM driving the motor in response to current control provided from the motor current controller.
9. The method of claim 8,
The movement detection unit includes a rotor position detection unit for detecting the rotor position of the motor,
Wherein the calculating comprises calculating, by the forward/backward determining unit, a driving direction and a driving speed of the motor according to the rotor position.
9. The method of claim 8,
The movement detection unit includes a sensor unit for sensing the back electromotive force of the motor,
The forward/backward determining unit further includes a storage unit for storing speed information corresponding to the back electromotive force,
The calculating may include calculating, by the forward/backward determining unit, speed information corresponding to the sensed back electromotive force from the storage unit to calculate a driving direction and a driving speed of the motor. How to.
9. The method of claim 8,
The forward/backward determination unit further comprises a storage unit for storing information on a limit value limiting the magnitude of the current applied to the motor in the support mode,
The system speed command unit further comprising the step of converting from the support mode to the stop mode by determining whether the current command by the load of the motor has reached the limit stored in the storage unit How to operate a personal mobile vehicle in a support mode .
13. The method of claim 12,
the storage unit
In the support mode, the limit value of the d-axis current component Id for controlling the motor and the limit value of the q-axis current component Iq for controlling the motor;
A method of operating a personal mobile vehicle in a support mode by differently setting and storing the limit value of the d-axis current component Id and the limit value of the q-axis current component Iq in the driving mode operated by the speed command by the user manipulation.
14. The method of claim 13,
the storage unit
In the support mode, the limit value of the current component Id and the limit value of the current component Iq are differently set and stored according to the current speed of the motor, and the personal mobile vehicle operates in the support mode.

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