KR20160101636A - Apparatus for protecting a slip of electric-scooter and controlmethod thereof - Google Patents

Abstract

Disclosed are an apparatus for controlling slip prevention of an electric scooter capable of preventing an electric scooter from slipping backward on a slope, and a control method thereof. The apparatus for controlling slip prevention of an electric scooter comprises: a throttle (1) generating command speed for a speed control of a scooter in accordance with user demand; a speed controller (2) calculating a driving current command to generate torque by a difference between driving speed received from the throttle and driving speed of the scooter that got feedback; a gradient measuring sensor (3) mounted on a scooter and measuring a gradient when climbing on a slope; an auto-hold controller (4) generating a slip preventing current command to prevent the scooter from slipping backward by receiving the gradient measured in the gradient measuring sensor (3); and a motor (8) rotating by receiving a control signal to prevent the scooter from slipping on a slope considering the slip prevention current command of the auto-hold controller (4) and the driving current command of the speed controller (2).

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an electric scooter,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to an apparatus and method for controlling an anti-skid of an electric scooter. More particularly, the present invention relates to an anti-skid control apparatus and method of an electric scooter.

Generally, an electric scooter is an electric powered scooter, which is a moving device that stores electricity in a battery and drives the motor to rotate the wheel.

The electric scooter is advantageous in that it does not emit environmental pollutants such as noise and soot as compared with an internal combustion engine scooter that uses gasoline. However, due to the limitation of the battery capacity, the travel distance is shorter than that of the internal combustion engine scooter. In order to solve this problem, the battery capacity is increasing recently. Electric scooters can be pushed back on a sloping road due to lack of power due to capacity limitations of the battery.

Recently, electric scooters have made many improvements related to the capacity of the battery. However, if the electric scooter restarts when the ramp is stopped while standing on the ramp, there may be a problem that the electric scooter is pushed back due to insufficient operation. When pushed back from the ramp, there is a risk of injury due to the possibility of losing focus and falling. When starting the full throttle by holding the brake when restarting on such a ramp, holding the brake, the inverter applies current from the inverter to the current limit in order to generate a larger torque. This leads to energy loss and causes the temperature rise of the MOSFET And may cause thermal degradation.

Korean Patent Publication No. 10-2009-0026528 (Electric scooter, March 23, 2009)

It is an object of the present invention, which is devised in view of the above, to provide an electric scooter which prevents an accident caused by backward jumping while preventing a driver from starting smoothly regardless of a driving skill of a driver when restarting from a ramp And a control device and method.

It is still another object of the present invention to provide an apparatus and method for controlling an anti-skid control of an electric scooter that can achieve rapid and accurate control by detecting the weight of a passenger and preventing the electric scooter from being thrown by reflecting the weight.

It is still another object of the present invention to provide an apparatus and method for controlling anti-skidding of an electric scooter that reduces torque ripple and noise generated in the direction of the drive by forward rotation and reverse rotation.

According to another aspect of the present invention, there is provided an anti-skid control apparatus for an electric scooter, including: a throttle valve for generating a command speed for controlling a speed of a scooter according to a user's request; A speed controller for calculating a driving current command for generating a torque through the difference between the driving speed transmitted from the throttle and the driving speed of the feedback scooter; An inclination measuring sensor attached to the scooter and measuring the inclination of the ramp when the ramp is climbed; An auto hold controller for receiving the tilt measured by the tilt measurement sensor and generating a tilt prevention current command so as to prevent the scooter from being pushed back from the tilt; And a motor which is rotated by receiving a control signal for preventing jolting in a ramp in consideration of a current-prevention current command of the auto-hold condenser and a driving current command of the speed controller.

Further, it is more preferable to calculate the anti-jamming current command (i) = (r * m * g * sin?) / K in the auto hold condenser, where r = wheel radius of the scooter, m = , g = gravitational acceleration, and [theta] = slope of the ramp.

Still more preferably, the scooter further includes a weight measuring sensor for measuring the weight, and the weight of the scooter measured by the weight measuring sensor is transmitted to the auto hold condenser.

More preferably, the auto hold controller cuts off the transmission of the anti-skid current command when the inclination angle of the scooter reaches a predetermined angle or more.

Still more preferably, the scooter further includes an auto-hold switch for activating the anti-skid function.

According to another aspect of the present invention, there is provided a method of controlling an anti-skid of an electric scooter, including: sensing a tilt angle of a ramp on which a scooter enters; Determining whether the tilt angle measured at the sensing step is equal to or greater than a preset angle, and determining whether the speed of the scooter corresponds to the set speed range; An application step of applying the anti-skid current command value based on the inclination measured in the sensing step when the traveling state is determined to be equal to or higher than a set angle and corresponds to a set speed interval; And a converting step of converting the throttle after the applying step to a normal driving mode when the throttle is developed beyond the limit value, and converting the throttle to the throttle preventing mode if the throttle limit is not higher than the throttle limit value after the applying step.

Further preferably, the method further includes a switch-on step of activating the auto-hold mode by operating the auto-hold switch before the sensing step.

More preferably, the driving mode is changed to the normal driving mode if it is less than the set angle in the driving state determination step, or if the speed of the scooter does not correspond to the set speed range.

More preferably, the setting angle is 6 degrees, and the setting speed section is set to -5 rpm to 5 rpm.

Still more preferably, the driving state determination step further includes an operation of determining whether the throttle operation amount of the scooter corresponds to 10% to 40%.

More preferably, the throttle limit value in the conversion step is 70%.

As described above, the anti-skid control device and the control method of the electric scooter according to the present invention increase convenience and safety of an untrained driver.

Further, the anti-skid control device and the control method of the electric scooter according to the present invention prevent the unnecessary current from being used in the ramp, thereby extending battery and controller life. It is possible to minimize the possibility that the rotation of the motor changes regularly and counterclockwise at any time, thereby preventing the possibility of failure of the motor drive and improving the ride quality.

In addition, the electric scooter according to the present invention is constituted to calculate the anti-jamming current command necessary for preventing the jamming by reflecting the weight of the user, so that accurate control can be realized, thereby improving convenience and safety of the driver.

1 is a state diagram showing an anti-skid control device for an electric scooter according to a first preferred embodiment of the present invention.
2 is a flow chart showing a method for controlling anti-skid of an electric scooter according to a first preferred embodiment of the present invention,
3 is a flowchart showing a method of controlling anti-skid control of an electric scooter according to a second preferred embodiment of the present invention,
FIG. 4 is a graph showing a current command limit value according to a back angle; FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an anti-skid control device and a control method of an electric scooter according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Here, the shape, size, ratio, angle, number and the like shown in the accompanying drawings are schematic and may be modified somewhat. 2) Since the drawing is shown by the line of sight of the observer, the direction or position to explain the drawing can be variously changed according to the position of the observer. 3) The same reference numerals can be used for the same parts even if the drawing numbers are different. 4) If 'include', 'have', 'have', etc. are used, other parts can be added unless '~ only' is used. 5) Numerals can also be interpreted as described in the singular. 6) Even if the shape, size comparison, positional relationship, etc. are not described as 'weak or substantial', it is interpreted to include the normal error range. 7) 'after', 'before', 'after', 'after', and 'after' are not used to limit the temporal position. 8) The terms 'first, second, third', etc. are used selectively, interchangeably or repeatedly for convenience of division, and are not construed in a limiting sense. 9) If the positional relationship of the two parts is described as 'on top of', 'on top', 'on bottom', 'on side', 'on side' and so on, This can also be located. 10) When parts are electrically connected to '~ or', parts are interpreted to include not only singles but also combinations, but parts are interpreted solely if they are electrically connected to '~ or'.

FIG. 1 is a state view showing an anti-skid control apparatus for an electric scooter according to a first preferred embodiment of the present invention, FIG. 2 is a flowchart showing a anti- 3 is a flowchart showing a method for controlling the anti-skid control of the electric scooter according to the second preferred embodiment of the present invention, and FIG. 4 is a graph showing a current command limiting value according to the angle of backlash.

The electric scooter system according to an embodiment of the present invention is divided into a controller part and an electric motor part (PMSM). The controller part processes all the operations required to control the PMSM and applies a current command to the PMSM via the MosFET. The PMSM consists of an in-wheel type PMSM using Hall sensor (9) as a rotor position sensor.

The scooter of the present invention collectively refers to an electrically operated two-wheeled vehicle, and refers to all electric transfer means such as an electric scooter, an electric bicycle, a unicycle scooter, an electric motorcycle, a Segway, a solo wheel, The anti-skid control technique of the present invention can be applied to all electric transportation means except electric four-wheeled vehicle.

1, the anti-skid control device for an electric scooter includes a throttle 1, a speed controller 2, an auto-hold condenser 4, a PMSM motor 8, and a PI controller (not shown) 5a and 5b and a DQ / 3 phase induction converter 6, a PWM inverter 7, a PMSM motor 8, a hall sensor 9, a three-phase induction / DQ converter 10 and a decoupling controller 11 do.

The control unit C generates a control signal necessary to rotate the motor so as to prevent the throttle from being generated through the throttle current command of the auto hold condenser 4 and the drive current command of the speed controller 2. [

The throttle 1 changes the output value of the sensor according to the demand of the user who pulls the throttle. The throttle 1 converts the analog signal to digital and uses it as a command value for controlling the speed of the scooter.

Speed controller (2) is input to an error between the driving rate of the received feedback scooter (w _r) and the speed command to the PI controller (5a, 5b) and calculates the current command for torque generation.

The difference between the current value measured by the current sensor and the current command is input to PI controllers (PI controllers) 5a and 5b to calculate a voltage command for current generation. The PI controller 5a and 5b can be used to assure control performance with quick response and no steady state error. Applying the PI control method enables fast and accurate control of the response

Since the system for controlling the AC motor in the DQ / 3-phase induction converter 6 includes a time varying coefficient in the control variable, the final control result is accompanied by a steady state error in accordance with the bandwidth limit of the controller. It is possible to eliminate the time-varying coefficient by performing coordinate conversion in which a variable is projected in real time in a rotational coordinate system given according to the rotor position of the motor 8, and instantaneous torque control with no steady state error is possible.

The motor 8 for driving the scooter preferably uses a permanent magnet type synchronous motor for driving the scooter.

The Hall sensor 9 uses a position sensor to obtain rotor position information and rotor speed information for coordinate transformation. High-resolution sensors such as resolvers or encoders are usually used for high-performance vector control, but low-resolution sensors such as hall sensors may be used to reduce manufacturing costs.

The inclination measuring sensor 7 uses an acceleration sensor to measure the back angle of the scooter. The acceleration sensor processes the output signal to measure dynamic forces such as acceleration, vibration, and shock of the object. Since the motion state of an object can be detected in detail, the field of application is very wide, and it is used for various purposes. It is an indispensable sensor for various transportation systems such as automobiles, trains, ships, airplanes, factory automation and robots. Acceleration sensors incorporated in communication devices are becoming thinner each year and becoming smaller. There are various types of acceleration sensors. There are inertia type, gyro type, and silicon semiconductor type, and the magnitude and tilt system can be regarded as one type of acceleration sensor. The inclination sensor 7 transmits acceleration information of x, y, and z axes to the MCU (Micro Controller Unit) through communication.

The ramp measuring sensor 3 can be mounted on at least one of a battery management system (BMS), a microcontroller unit (MCU), an instrument panel, and a vehicle body frame of a scooter.

The auto hold controller 4 further determines a slope angle of the scooter on the basis of the value of the slope measurement sensor 7 and further applies a slip prevention current command for generating a torque that prevents the scooter from being pushed in the slope.

R = radius of wheel of the scooter, m = weight of the scooter, g = gravitational acceleration, g = acceleration of the scooter, ? = the inclination of the ramp, and K is approximately 0.332 (Nm / Wb / A) as the torque constant.

The scooter is equipped with a weight measuring sensor (3b) for measuring the weight of the scooter being operated. The weight measuring sensor (3b) can be installed anywhere on the scooter if it is possible to measure the total weight of the scooter while the driver is on board. For example, when the weight measuring sensor 3b is installed on the seat on which the driver is boarding, the sum of the weight of the driver measured by the weight measuring sensor 3b and the weight of the scooter when the driver is not on the board, The weight can be calculated. Alternatively, it is also possible to measure the total weight of the scooter in operation by mounting the weight measuring sensor 3b on the wheel axis of the scooter. In the case of a scooter, the weight of the scooter is not large, so the weight of the passenger has a large effect on the system. Therefore, when the weight change value is applied to the anti-skid current command (i) by using the weight measuring sensor 3b, more accurate control can be realized.

For example, if the radius of the wheel of a scooter is 0.2m and the total weight of the driver and the scooter in operation is 190kg, the torque (T) acting as a load on the motor is 0.2 * 190 * 9.81 * sin θ.

In this case, assuming that the maximum angle of tilt used in the torque estimation is 15 degrees, sin1 = 0.0175 and sin15 = 0.2588, assuming that the sine function is linear. Therefore, the torque Tmotor of the motor to withstand 1 degree * 9.81 * 0.0175 = 6.523 (? _Slope ) '.

Since the torque (Tmoter) is equal to the product of the q-axis current (i) and the torque constant (kt), the magnitude of the q-axis current for achieving the angle of inclination 1 ° is 'Tmotor / kt = 6.524 / 0.332 = 19.68A' .

By using the inclination angle (deg) value of the inclination detected by the inclination measuring sensor, 19.7A / 1deg assist is applied and when the auto hold function is activated, it is not pushed by the ramp.

When the value measured by the hall sensor 9 is transmitted to the three-phase induction / DQ converter 10, the current value and the voltage value can be fed back.

As shown in FIG. 2, when the driver enters the ramp during operation of the scooter, the control method of the anti-skid control of the electric scooter according to the first preferred embodiment of the present invention includes a switch- (S1).

Next, in a state in which the scooter enters the ramp, a sensing step S7 is performed to sense the inclination angle through the inclination measuring sensor 3. [

It is judged whether the inclination angle measured in the sensing step S7 is equal to or higher than the set angle of 6 degrees and whether or not the speed of the scooter corresponds to 5 rpm at the set speed section of -5 rpm. The setting angle is preferably 6 degrees, and the setting speed section is preferably 5 rpm at -5 rpm, but the setting angle and the setting speed section may be changed according to the operator.

When the inclination angle measured by the inclination measuring sensor 3 is less than 6 degrees or when the speed of the scooter does not correspond to 5 rpm at -5 rpm, the operation proceeds to the general traveling mode (S5).

However, if the inclination angle measured by the inclination measuring sensor 3 is equal to or greater than 6 degrees and the speed of the scooter is equal to 5 rpm at -5 rpm, an application for applying the anti-skid current command value based on the inclination measured in the sensing step S7 The process proceeds to step S3.

The application step S3 is calculated as the anti-skid current command i = (r * m * g * sin?) / K in the auto hold condenser 4 where r = wheel radius of the scooter, m = , g = gravitational acceleration, and [theta] = slope of the ramp.

After the application step S3, a conversion step S4 is performed.

The conversion step S4 converts the throttle to the normal running mode S5 when the throttle is developed beyond the limit value, and the throttle mode S6 if the throttle is below the threshold. At this time, the throttle limit value is set to 50% to 70%, which is preferably 50% in the first preferred embodiment of the present invention.

In the anti-jamming mode (S6), torque is generated in accordance with the detected tilting angle to prevent jumping in the ramp. That is, the anti-jamming current command value calculated in the application step S3 is transmitted to the motor 8 via the PI controller 5a, the DQ / 3-phase induction converter 6 and the PWM inverter 7, The motor 8 is rotated by a torque which is not transmitted. In other words, the motor 8 receives a control signal for preventing jogging from the ramp in consideration of the anti-jamming current command of the auto-hold condenser 4 and the driving current command of the speed controller 2, will be.

As shown in FIG. 4, in the state where the auto-hold function is activated, the q-axis current command is applied by the inclination of the ramp calculated by the inclination measuring sensor 7, and the current command starts to be applied from the inclination of 6 degrees or more. It is preferable to apply the 300A q-axis current command.

As shown in FIG. 3, the anti-skid control method of the electric scooter according to the second preferred embodiment of the present invention, when the driver enters the ramp during operation of the scooter, controls the inclination measuring sensor 3 in a state in which the scooter enters the ramp A sensing step S7 for sensing the tilt angle is performed.

It is judged whether the inclination angle measured in the sensing step S7 is equal to or higher than the set angle of 6 degrees and whether or not the speed of the scooter corresponds to 5 rpm at the set speed section of -5 rpm. The setting angle is preferably 6 degrees, and the setting speed section is preferably 5 rpm at -5 rpm, but the setting angle and the setting speed section may be changed according to the operator. In addition, it is judged whether the throttle operation amount of the scooter corresponds to 10% ~ 40% in the traveling state judging step (S2).

When the inclination angle measured by the inclination measuring sensor 3 is less than 6 degrees or the speed of the scooter does not correspond to 5 rpm at -5 rpm or the amount of throttle operation does not correspond to 10 to 40% Lt; / RTI >

However, if the inclination angle measured by the inclination measuring sensor 3 is 6 degrees or more, the speed of the scooter corresponds to 5 rpm at -5 rpm, and the amount of throttle operation corresponds to 10 to 40%, the inclination measured in the sensing step S7 The application step S3 of applying the anti-skid current command value as a reference proceeds.

The application step S3 is calculated as the anti-skid current command i = (r * m * g * sin?) / K in the auto hold condenser 4 where r = wheel radius of the scooter, m = , g = gravitational acceleration, and [theta] = slope of the ramp.

After the application step S3, a conversion step S4 is performed.

The conversion step S4 converts the throttle to the normal running mode S5 when the throttle is developed beyond the limit value, and the throttle mode S6 if the throttle is below the threshold. In this case, the throttle limit value is set to 50% to 70%, and preferably 70% in the second preferred embodiment of the present invention.

In the anti-jamming mode (S6), torque is generated in accordance with the detected tilting angle to prevent jumping in the ramp. That is, the anti-jamming current command value calculated in the application step S3 is transmitted to the motor 8 via the PI controller 5a, the DQ / 3-phase induction converter 6 and the PWM inverter 7, The motor 8 is rotated by a torque which is not transmitted. In other words, the motor 8 receives a control signal for preventing jogging from the ramp in consideration of the anti-jamming current command of the auto-hold condenser 4 and the driving current command of the speed controller 2, will be.

In order to prevent slope milling, an inclination measuring sensor is attached to an electric scooter. An electric scooter senses a slope and communicates information to the MCU. By detecting the degree of inclination of the measurement sensor and applying the current command according to it, the MCU and the BMS in the electric scooter are prevented from applying the current command when the inclination of the self circuit does not fit the circuit. .

The slope prevention system is constructed by controlling the instantaneous torque by using vector control or field oriented control (FOC) technique on the electric scooter.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined in the appended claims and their equivalents. Of course, such modifications are within the scope of the claims.

1: Throttle 2: Speed controller
3: inclination measuring sensor 3b: weighing sensor
3c: Auto hold switch 4: Auto hold controller
5a, 5b: PI controller 6: DQ / 3-phase induction converter
7: PWM inverter 8: Motor
9: Hall sensor 10: 3-phase induction / DQ converter
11: Decoupling controller

Claims (8)

A throttle (1) for generating a command speed for controlling the speed of the scooter according to a user's request;
A speed controller (2) for calculating a driving current command for generating a torque through a difference between a driving speed transmitted from the throttle and a driving speed of a feedback scooter;
An inclination measuring sensor (3) mounted on the scooter and measuring an inclination of the incline when the incline rises;
An auto hold controller (4) for receiving a tilt measured by the tilt measurement sensor (3) and generating a tilt prevention current command so as to prevent the scooter from being pushed back from the tilt road;
A control signal required to rotate the motor is generated so that the throttle is not generated through the throttle current command of the auto hold controller 4 and the drive current command of the speed controller 2, A controller (C) installed with PI controllers (5a, 5b) to which an error between the driving speed and the command speed of the scooter fed back is input, and performing forward compensation on the output of the speed controller (2);
A motor 8 for receiving the control signal of the control unit C and rotating the motor 8;
A Hall sensor (9) installed to feed back the driving speed by the motor (8) to the control part (C) side; And
The scooter includes an auto hold switch (3c) for turning on / off the operation of the anti-skid function by the auto hold controller (4)
The scooter further includes a weight measuring sensor 3b for measuring the weight and transmits the weight of the scooter measured by the weight measuring sensor 3b to the auto hold controller 4,
In the auto hold controller 4,
(I) = (r * m * g * sin &thetas;) / K,
r = wheel radius of the scooter
m = weight of scooter
g = gravitational acceleration
θ = slope inclination
K = torque constant
Of an electric scooter. 2. The auto-hold controller (4) according to claim 1, wherein the auto hold controller
And stops the transmission of the anti-skid current command when the inclination of the scooter rises above a set angle. A control method for an electric scooter anti-skid control device according to claim 1,
A sensing step (S7) of sensing the inclination angle of the ramp on which the scooter enters;
(S2) judging whether the tilt angle measured in the sensing step (S7) is greater than or equal to a set angle, and further judging whether the speed of the scooter corresponds to the set speed section;
(S3) for applying the anti-skid current command value on the basis of the inclination measured in the sensing step when the traveling state is determined to be equal to or higher than the set angle in the traveling state determining step (S2); And
(S4) for converting the throttle after the application step (S3) to a normal driving mode (S5) when the throttle is developed beyond the limit value, and for converting the throttle to the throttle prevention mode (S6) A method of controlling an anti-skid control of an electric scooter. 4. The method according to claim 3, wherein before the sensing step (S7)
(S1) for activating an auto hold mode by operating an auto hold switch (S1). 4. The method according to claim 3, wherein when the traveling state is determined to be less than the set angle in the traveling state determining step (S2), or when the speed of the scooter does not correspond to the set speed region, the traveling state is changed to the normal traveling mode (S5). The method according to claim 3, wherein the setting angle is set to 6 degrees and the set speed section is set to -5 rpm to 5 rpm. 4. The method according to claim 3, wherein the driving state determination step (S2)
Further comprising an operation of determining whether the throttle operation amount of the scooter corresponds to 10% to 40%. 4. The method according to claim 3, wherein the throttle limit value in the conversion step (S4) is 70%.

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