TWI739488B - 電動機車循跡控制系統（ｔｃｓ）的控制方法 - Google Patents

電動機車循跡控制系統（ｔｃｓ）的控制方法 Download PDF

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TWI739488B
TWI739488B TW109121237A TW109121237A TWI739488B TW I739488 B TWI739488 B TW I739488B TW 109121237 A TW109121237 A TW 109121237A TW 109121237 A TW109121237 A TW 109121237A TW I739488 B TWI739488 B TW I739488B
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wheel speed
tcs
throttle grip
speed
difference
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陳莆堦
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台灣制動股份有限公司
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    • B60—VEHICLES IN GENERAL
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    • B60—VEHICLES IN GENERAL
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    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0026—Lookup tables or parameter maps
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    • 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
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/36—Cycles; Motorcycles; Scooters
    • 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
    • B60W2520/10—Longitudinal 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/26—Wheel slip
    • B60W2520/263—Slip values between front and rear axle
    • 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
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    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
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    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60Y2200/00—Type of vehicle
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    • B60Y2200/12—Motorcycles, Trikes; Quads; Scooters
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract

一種電動機車循跡控制系統(TCS)的控制方法，該電動機車連接油門握把及控制器的訊號線上裝設一循跡控制(TCS,Traction Control System)運算單元(簡稱TCS運算單元)；該TCS運算單元執行一控制方法，該控制方法以電動機車的後輪輪速大於前輪輪速(輪速差為正值)做為TCS是否介入控制的主要判斷條件；若輪速差正值條件成立，TCS運算單元讀取電動機車當時的行車速度，同時計算前後輪速差率百分比，再利用查表法，即時在內建的3D資料庫中查找所對應的動力輸出減少百分比C，即時的將該油門握把開度訊號N乘以(1-C)〔其式為N×(1-C)〕之後，得一油門握把開度調降訊號再輸出給該控制器，降低該馬達的轉速，進而調降該後輪輪速及行車速度，以避免因前後輪輪速差距過大而肇生打滑失控的問題。

Description

電動機車循跡控制系統(TCS)的控制方法
本發明關於提升電動機車行車安全性之循跡控制系統的控制方法。
為提升行車安全性，電動機車可配備防鎖死煞車系統(Antilock Brake System,ABS)，防止煞車時輪胎鎖死、打滑。但是，ABS並無法有效處理電動機車於起步、加速、轉彎或於易打滑惡劣地形時因前後輪輪速差距過大而肇生打滑失控的問題。因此，電動機車可同時加裝ABS及循控制系統(TCS,Traction Control System)，以獲得更多的行車安全輔助。
本發明提出一種電動機車循跡控制系統(TCS)的控制方法。
本發明技術特徵：
一種電動機車循跡控制系統(TCS)的控制方法，該電動機車連接油門握把及控制器的訊號線上裝設一循跡控制(TCS,Traction Control System)運算單元(簡稱TCS運算單元)；該TCS運算單元執行一控制方法，該控制方法以電動機車的後輪輪速大於前輪輪速(輪速差為正值)做為TCS是否介入控制的主要判斷條件，若輪速差正值條件成立，TCS運算單元讀取電動機車當時的行車速度，同時計算前後輪速差率百分比，再利用查表法，即時在內建的3D資料庫中查找所對應的動力輸出減少百分比C，即時的將該 油門握把開度訊號N乘以(1-C)〔其式為N×(1-C)〕之後，得一油門握把開度調降訊號再輸出給該控制器，該控制器依據該油門握把開度調降訊號輸出一定額電流降低該馬達的轉速，進而調降該後輪輪速及行車速度，以避免因前後輪輪速差距過大而肇生打滑失控的問題。當輪速差為負值，或者行車速度小於7Km/h以下，本發明TCS不介入。
本發明之功效：
本發明在電動機車原有ABS的系統之下加裝該循跡控制系統(TCS,Traction Control System)，使電動機車具有防止煞車時輪胎鎖死打滑，以及避免因前後輪輪速差距過大而肇生打滑失控的問題。使電動機車及騎者獲得更多的行車安全輔助。
A:車速
B:前後輪速差率
C:動力輸出減少百分比
〔圖1〕本發明內建於TCS運算單元的一3D資料庫示意圖。
電動機車的驅動方法，是油門握把訊號傳輸至一控制器，該控制器輸出電流予一馬達，該馬達產生旋轉磁場，驅動該電動機車的後輪旋轉。通過轉動油門握把可以變換該控制器的輸出電流，從而控制馬達的轉速，也就控制了電動機車的行車速度，並可通過觀察儀錶板，了解當前蓄電池的情形、車速和騎行狀態等信息。
本發明於上述電動機車連接該油門握把與該控制器的訊號線裝設一循跡控制(TCS,Traction Control System)運算單元，以下簡稱TCS運算單元。該TCS運算單元執行一控制方法，包括：步驟1，讀取該電動機車的一前輪輪速及一後輪輪速並計算而獲 得一輪速差W；該前輪輪速及該後輪輪速之測量及獲取為習知技術，包含但不限於從該電動機車所裝配的ABS系統的車速讀取盤獲取，或者是從該電動機車所裝配的車輪感測器獲取；步驟2，判斷輪速差W，當該後輪輪速>該前輪輪速時，該輪速差W定義為正(W值為正)；當該後輪輪速<該前輪輪速時，該輪速差W定義為負(W值為負)；步驟3，當該後輪輪速低於時速7Km/h以下，該TCS運算單元直接將該油門握把開度訊號輸出給該控制器，行車速度由該油門握把控制(亦TCS不介入)；當該輪速差W為負值時，該TCS運算單元直接將該油門握把開度訊號輸出給該控制器，行車速度由該油門握把控制(亦即TCS不介入)；當輪速差W為正值時，該TCS運算單元讀取該電動機車當時的行車速度A(km/h)，同時計算前後輪速差率B(以百分比表示)，前後輪速差率B=〔(後輪輪速-前輪輪速)/前輸輸速〕×100%。該TCS運算單元利用查表法，依據當時車速A及該前後輪速差率B即時在內建於TCS運算單元的一3D資料庫(如圖1)中查找所對應的動力輸出減少百分比C，即時的將該油門握把開度訊號N乘以(1-C)〔其式為N×(1-C)〕之後，得一油門握把開度調降訊號再輸出給該控制器，該控制器依據該油門握把開度調降訊號輸出一定額電流降低該馬達的轉速，進而調降該後輪輪速及行車速度，以避免因前後輪輪速差距過大而肇生打滑失控的問題。
本發明所標定的C參數，並非適用所有車型，C參數按照整體車重、車輛重量分布、動力輸出特性等等因素而做改變。因此不同的車型和規格會有不同的3D資料庫。

Claims (1)

  1. 一種電動機車循跡控制系統(TCS)的控制方法，該電動機車之驅動，是將一油門握把訊號傳輸至一控制器，該控制器輸出電流予一馬達，該馬達產生旋轉磁場，驅動一後輪旋轉；該電動機車通過一儀錶板，呈現當前的蓄電池情形、行車速度和騎行狀態等信息；其中，該電動機車連接該油門握把與該控制器的一訊號線裝設一循跡控制(TCS,Traction Control System)運算單元(簡稱TCS運算單元)；該TCS運算單元執行一控制方法，包括以下步驟：步驟1，讀取該電動機車的一前輪輪速及一後輪輪速並計算而獲得一輪速差；步驟2，判斷輪速差，當該後輪輪速>該前輪輪速時，該輪速差定義為正；當該後輪輪速<該前輪輪速時，該輪速差定義為負；步驟3，當行車速度低於7Km/h以下，該TCS運算單元直接將該油門握把開度訊號輸出給該控制器，行車速度由該油門握把控制；當該輪速差為負值時，該TCS運算單元直接將該油門握把開度訊號輸出給該控制器，行車速度由該油門握把控制；當該輪速差為正值時，該TCS運算單元讀取該電動機車當時的行車速度(A)，同時執行式(1)計算前後輪速差率百分比(B)，該TCS運算單元利用查表法，依據當時的行車速度(A)及該前後輪速差率百分比(B)，即時在內建於該TCS運算單元的一3D資料庫中查找所對應的動力輸出減少百分比(C)，即時執行式(2)運算，得一油門握把開度調降訊號再輸出給該控制器，該控制器依據該油門握把開度調降訊號輸出一定額電流降低該馬達的轉速，進而調降該後輪輪速及行車速度；前後輪速差率B=〔(後輪輪速-前輪輪速)/前輪輪速〕×100% 式(1) N×(1-C)；其中，N為該油門握把開度訊號 式(2)。
TW109121237A 2020-06-22 2020-06-22 電動機車循跡控制系統（ｔｃｓ）的控制方法 TWI739488B (zh)

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TW109121237A TWI739488B (zh) 2020-06-22 2020-06-22 電動機車循跡控制系統（ｔｃｓ）的控制方法
EP21179538.0A EP3929023B8 (en) 2020-06-22 2021-06-15 Traction control system of electric motorcycle

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