WO2023231128A1 - Procédé et dispositif de commande de vitesse destinés à être utilisés dans un mode de poussée de bicyclette électrique - Google Patents

Procédé et dispositif de commande de vitesse destinés à être utilisés dans un mode de poussée de bicyclette électrique Download PDF

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Publication number
WO2023231128A1
WO2023231128A1 PCT/CN2022/102730 CN2022102730W WO2023231128A1 WO 2023231128 A1 WO2023231128 A1 WO 2023231128A1 CN 2022102730 W CN2022102730 W CN 2022102730W WO 2023231128 A1 WO2023231128 A1 WO 2023231128A1
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Prior art keywords
speed
motor
mid
target
value
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PCT/CN2022/102730
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English (en)
Chinese (zh)
Inventor
陈衍钦
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广东高标智能科技股份有限公司
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Priority to DE112022002517.4T priority Critical patent/DE112022002517T5/de
Publication of WO2023231128A1 publication Critical patent/WO2023231128A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
    • 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
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the embodiments of the present application relate to the technical field of electric vehicle control, and in particular, to a method and device for controlling the speed of an electric vehicle in push cart mode.
  • the stroller walking mode is one of the important functions of electric bicycles.
  • the electric bicycle needs to provide the user with auxiliary driving force so that the user can more easily follow the car and walk. Therefore, the speed of the electric bicycle needs to be maintained at 6km/h in the stroller walking mode.
  • electric bicycles mainly use low-precision wheel speed sensors to detect vehicle speed in real time, thereby achieving low speed control of electric bicycles.
  • the use of low-precision wheel speed sensors to control the low speed of electric bicycles has the problem of slow response speed, which will cause the constant speed control of electric bicycles to lag and the speed limit of electric bicycles to lag behind, which will cause huge safety risks.
  • the traditional constant speed control of the electric bicycle cart mode has the problem of poor user experience. In order to make the vehicle speed reach the target speed, the traditional speed closed-loop control easily makes people feel like being dragged by the vehicle.
  • Embodiments of the present application provide a method and device for controlling the speed of an electric vehicle in push-cart mode, which improves the control accuracy of low vehicle speeds and improves the comfort of user experience on the premise of using a low-precision wheel speed sensor.
  • embodiments of the present application provide a method for controlling the speed of an electric vehicle in push cart mode, which includes:
  • the estimated speed value and the speed compensation value determine the speed target value of the mid-mounted motor
  • the target speed value and the actual speed of the mid-mounted motor determine the motor target driving torque value of the mid-mounted motor
  • the motor driving torque value of the mid-mounted motor is gradually adjusted to the motor target driving torque value.
  • the method for determining the estimated speed of the mid-mounted motor includes:
  • the rpm estimate is determined based on the rear wheel speed, target sprocket ratio, and mid-motor gear ratio.
  • the method after determining the target speed value of the mid-mounted motor and before determining the target driving torque value of the mid-mounted motor, the method also includes:
  • methods for determining the speed range of the mid-mounted motor include:
  • transmission ratio and first sprocket ratio determine the maximum speed value of the mid-mounted motor speed
  • transmission ratio and second sprocket ratio determine the minimum speed value of the mid-mounted motor speed.
  • the method for determining the motor target driving torque value of the mid-mounted motor includes:
  • the target difference value is obtained
  • the target difference value determine the target driving torque value of the motor.
  • methods for obtaining the actual speed of the mid-mounted motor include:
  • the actual rotation speed of the mid-mounted motor is calculated based on the mechanical angle of the mid-mounted motor in the current sampling period, the mechanical angle of the mid-mounted motor in the previous sampling cycle, and the sampling frequency of the mechanical angle of the mid-mounted motor.
  • the method of gradually adjusting the motor driving torque value of the mid-mounted motor to the motor target driving torque value includes:
  • the motor driving torque value changes linearly within a preset time until it is equal to the motor target driving torque value.
  • methods for obtaining the maximum driving torque value of the motor include:
  • the maximum driving torque value of the motor is obtained.
  • embodiments of the present application also provide a vehicle speed control device in push-cart mode for an electric vehicle, which includes:
  • the first determination module is used to determine the speed estimate of the mid-mounted motor and the speed compensation value of the mid-mounted motor based on the target mechanical gear and the rear wheel speed;
  • the second determination module is used to determine the target speed value of the mid-mounted motor based on the estimated speed value and the speed compensation value;
  • the third determination module is used to determine the motor target driving torque value of the mid-mounted motor based on the target speed value and the actual speed of the mid-mounted motor;
  • the adjustment module is used to gradually adjust the motor drive torque value of the mid-mounted motor to the indicated motor target drive torque value within a preset time.
  • the embodiment of the present application determines the estimated rotation speed of the mid-mounted motor and the rotation speed compensation value of the mid-mounted motor based on the target mechanical gear and the rear wheel speed, which can facilitate subsequent adjustments based on the estimated rotation speed of the mid-mounted motor.
  • the speed target value of the mid-mounted motor is determined, and the target speed value of the mid-mounted motor can be obtained indirectly without knowing the sprocket ratio.
  • the motor target driving torque value of the mid-mounted motor is determined.
  • the motor driving torque value of the mid-mounted motor is gradually adjusted to the motor target driving torque value, so that the user will not have an obvious pulling feeling in the stroller mode, thereby improving the comfort of the user experience.
  • this solution can convert the adjustment of the vehicle speed into the adjustment of the speed target value of the mid-mounted motor, thus improving the control accuracy at low vehicle speeds.
  • Figure 1 is a schematic flowchart of a method for controlling the speed of an electric vehicle in push cart mode provided by an embodiment of the present application
  • Figure 2 is a relationship graph between rear wheel speed and rotational speed compensation value provided by an embodiment of the present application
  • Figure 3 is a schematic flowchart of a method for determining an estimated rotation speed of a mid-mounted motor provided by an embodiment of the present application
  • Figure 4 is a schematic flowchart of a method for determining the rotation speed target value of the mid-mounted motor provided by an embodiment of the present application
  • FIG. 5 is a schematic flowchart of another vehicle speed control method in the push cart mode of an electric vehicle provided by an embodiment of the present application;
  • Figure 6 is a schematic flowchart of a method for determining the rotation speed range of a mid-mounted motor provided by an embodiment of the present application
  • Figure 7 is a schematic flowchart of a method for determining the motor target driving torque value of a mid-mounted motor provided by an embodiment of the present application
  • Figure 8 is a schematic flow chart of a method for obtaining the actual rotation speed of a mid-mounted motor provided by an embodiment of the present application
  • Figure 9 is a schematic flowchart of a method for gradually adjusting the motor driving torque value of a mid-mounted motor to the motor target driving torque value according to an embodiment of the present application
  • Figure 10 is a schematic flow chart of a method for obtaining the maximum driving torque value of a motor provided by an embodiment of the present application
  • Figure 11 is a relationship graph between the rear wheel speed and the maximum driving torque value of the motor provided by the embodiment of the present application.
  • Figure 12 is a schematic structural diagram of a loop control circuit provided by an embodiment of the present application.
  • Figure 13 is a schematic diagram showing the results of an electric vehicle push mode speed control device provided by an embodiment of the present application.
  • Figure 1 is a schematic flowchart of a method for controlling the speed of an electric bicycle in the push cart mode provided by an embodiment of the present application. This embodiment can be applied to low-speed control in the electric bicycle push mode. This method can be controlled by the speed of an electric bicycle in the push cart mode.
  • the device can be implemented by hardware and/or software. The method specifically includes the following steps:
  • the mid-mounted motor refers to the drive motor installed in the middle position (pedal position) of the electric bicycle body.
  • the mid-mounted motor is connected to the body of the electric bicycle and connected to the rear wheel through multiple chains to realize power transmission from the drive motor to the rear wheel.
  • the mid-mounted motor includes multiple mechanical gears. Each different mechanical gear corresponds to a different chain connected to the rear wheel. You can choose any mechanical gear as the target mechanical gear.
  • the middle gear of the electric bicycle can be selected as the target mechanical gear.
  • the rear wheel speed can be collected through a low-precision wheel speed sensor. It should be noted that the rear wheel speed collected through a low-precision wheel speed sensor is inaccurate.
  • the estimated speed of the mid-mounted motor calculated based on the target mechanical gear and the current vehicle speed is not the actual speed of the current mid-mounted motor, but an estimate of the mid-mounted motor speed.
  • An estimated value of the motor speed which facilitates subsequent adjustments based on the estimated speed of the mid-mounted motor.
  • the speed compensation value of the mid-mounted motor can be obtained by looking up the relationship between the rear wheel speed and the speed compensation value based on the rear wheel speed or the relationship curve between the rear wheel speed and the speed compensation value.
  • the correspondence table of the relationship between the rear wheel speed and the rotational speed compensation value or the relationship curve between the rear wheel speed and the rotational speed compensation value that is consulted based on the rear wheel speed is preset by the designer.
  • FIG. 2 is a relationship graph between rear wheel speed and rotational speed compensation value provided by an embodiment of the present application, in which the abscissa is the rear wheel speed and the ordinate is the rotational speed compensation value.
  • Figure 2 includes three curves of the relationship between rear wheel speed and rotational speed compensation value, namely curve 210, curve 220 and curve 230.
  • curve 210, curve 220 and curve 230 are the corresponding rotational speeds when the rear wheel speed is too large or too small
  • the compensation values are the same.
  • Curve 210, curve 220 and curve 230 are all 0 when the rear wheel speed is 6.
  • the relationship curve between the rear wheel speed and the rotation speed compensation value since the rear wheel speed collected by the low-precision wheel speed sensor is in a stepped shape, the relationship curve between the rear wheel speed and the rotation speed compensation value will also be different. It also shows a staircase shape. At this time, it is necessary to design a filter based on the motor speed estimation filter coefficient to make the transition of the relationship curve between the rear wheel speed and the speed compensation value smoother, so that the obtained speed compensation values corresponding to different rear wheel speeds are more stable. , the designed speed compensation value follows the rear wheel speed curve more smoothly.
  • the rear wheel speed is updated, and then the speed compensation value is obtained through the updated relationship curve between the rear wheel speed and the speed compensation value, and based on The estimated speed value and the estimated speed value determine the target speed value of the mid-mounted motor, that is, the target speed value of the mid-mounted motor is equal to the sum of the estimated speed value and the speed compensation value. Therefore, the above process can indirectly obtain the target speed value of the mid-mounted motor without knowing the sprocket ratio.
  • the torque output by the motor is related to the speed of the mid-mounted motor. From this, the difference between the target speed value and the actual speed of the mid-mounted motor can be calculated based on the target speed value and the actual speed of the mid-mounted motor. According to the target speed value, The difference between the actual speed of the mid-mounted motor and the actual speed of the mid-mounted motor determines the motor target driving torque value of the mid-mounted motor.
  • the center motor can be gradually adjusted within a preset time.
  • the embodiment of the present application determines the estimated rotation speed of the mid-mounted motor and the rotation speed compensation value of the mid-mounted motor based on the target mechanical gear and the rear wheel speed, which can facilitate subsequent adjustments based on the estimated rotation speed of the mid-mounted motor.
  • the speed target value of the mid-mounted motor is determined, and the target speed value of the mid-mounted motor can be obtained indirectly without knowing the sprocket ratio.
  • the motor target driving torque value of the mid-mounted motor is determined.
  • the motor driving torque value of the mid-mounted motor is gradually adjusted to the motor target driving torque value, so that the user will not have an obvious pulling feeling in the stroller mode, thereby improving the comfort of the user experience.
  • this solution can convert the adjustment of the vehicle speed into the adjustment of the speed target value of the mid-mounted motor, thereby improving the control accuracy at low vehicle speeds.
  • Figure 3 is a schematic flowchart of a method for determining the estimated rotation speed of a mid-mounted motor provided by an embodiment of the present application. Based on the above embodiment, the method for determining the estimated rotation speed of a mid-mounted motor is further performed. Detailed description:
  • the sprocket ratio is the rotation ratio between the chain and the rear wheel driven by the mid-mounted motor.
  • the mid-mounted motor drives the chain of the rear wheel to rotate once, and the rear wheel also rotates once
  • the sprocket ratio at this time is 1:1.
  • Each different mechanical gear of the mid-mounted motor corresponds to a different chain connected to the rear wheel. Therefore, according to the selected target mechanical gear, the chain driven by the mid-mounted motor to rotate with the rear wheel can be determined, thereby determining the target sprocket ratio.
  • S320 Determine the speed estimate based on the rear wheel speed, the target sprocket ratio and the transmission ratio of the mid-mounted motor.
  • the transmission ratio of the mid-mounted motor refers to the angular velocity ratio between the mechanical gears that mesh with each other inside the motor.
  • Estimated speed rear wheel speed * target sprocket ratio * transmission ratio of the mid-mounted motor.
  • the above method can be used to estimate the rotation speed in advance, so that subsequent adjustments can be made based on the rotation speed estimate of the mid-mounted motor to obtain a rotation speed target value that meets the requirements.
  • Figure 4 is a schematic flowchart of a method for determining the target speed value of the mid-mounted motor provided by an embodiment of the present application. Based on the above embodiment, further steps are taken to determine the target speed value of the mid-mounted motor. Detailed description:
  • S440 Determine the speed range of the mid-mounted motor based on the target vehicle speed, the maximum mechanical gear, the minimum mechanical gear, and the transmission ratio of the mid-mounted motor.
  • the above scheme determines the speed range of the mid-mounted motor after determining the target speed value of the motor, and can determine whether the estimated speed target value is reasonable, thereby ensuring the rationality of subsequent steps.
  • FIG. 5 is a schematic flowchart of another method for controlling the speed of an electric vehicle in cart mode provided by an embodiment of the present application. The method specifically includes the following steps:
  • S530 Determine the speed range of the mid-mounted motor based on the target vehicle speed, the maximum mechanical gear, the minimum mechanical gear, and the transmission ratio of the mid-mounted motor.
  • the target vehicle speed is the speed to which the rear wheel speed needs to be adjusted. Since the maximum mechanical gear, the minimum mechanical gear, and the transmission ratio of the mid-mounted motor of the electric bicycle are all known, the speed range of the mid-mounted motor can be accurately obtained, and the estimate can be confirmed based on the speed range of the mid-mounted motor. Is the speed estimate reasonable?
  • S560 Determine the motor target driving torque value of the mid-mounted motor based on the target speed value and the actual speed of the mid-mounted motor.
  • this solution can convert the adjustment of the vehicle speed into the adjustment of the speed target value of the mid-mounted motor, thus improving the control accuracy at low vehicle speeds.
  • FIG. 6 is a schematic flowchart of a method for determining the rotation speed range of a mid-mounted motor provided by an embodiment of the present application. Based on the above embodiment, the method for determining the rotation speed range of a mid-mounted motor is further refined. illustrate:
  • S620 Determine the maximum speed value of the mid-mounted motor speed based on the target vehicle speed, transmission ratio and first sprocket ratio.
  • the target vehicle speed is the current rear wheel speed that you want to adjust to.
  • the maximum speed value of the mid-mounted motor speed target vehicle speed * transmission ratio * first sprocket ratio.
  • S640 Determine the minimum speed value of the mid-mounted motor speed based on the target vehicle speed, transmission ratio and second sprocket ratio.
  • the minimum speed value of the mid-mounted motor speed target vehicle speed * transmission ratio * second sprocket ratio.
  • the above solution can accurately determine the speed range of the mid-mounted motor, thereby determining whether the estimated speed value is reasonable and ensuring the rationality of subsequent steps.
  • FIG. 7 is a schematic flowchart of a method for determining the motor target driving torque value of a mid-mounted motor provided by an embodiment of the present application. Based on the above embodiment, the method is used to determine the motor target driving torque value of a mid-mounted motor. The method is further detailed:
  • S720 Obtain the target difference based on the target speed value and the actual speed of the mid-mounted motor.
  • the difference between the actual speed of the mid-mounted motor and the desired speed target value can be known, that is, the target difference value. From this, the mid-mounted motor can be clearly known The actual speed needs to be adjusted for the speed difference.
  • the target difference after obtaining the target difference value, the target difference can be converted into a motor driving torque value that needs to be adjusted, so that the current motor driving torque value of the motor can be adjusted to the motor target driving torque value to adjust the actual speed of the mid-mounted motor. to the speed target value of the mid-mounted motor.
  • the above solution exemplarily shows a way to adjust the speed of the mid-mounted motor.
  • Designers can also adjust the speed of the mid-mounted motor through other technical means, and this solution does not impose specific restrictions on this.
  • FIG. 8 is a schematic flowchart of a method for obtaining the actual rotation speed of a mid-mounted motor provided by an embodiment of the present application. Based on the above embodiment, the method for obtaining the actual rotation speed of a mid-mounted motor is further refined. illustrate:
  • the mechanical angle of the mid-mounted motor in the current sampling cycle and the mechanical angle of the mid-mounted motor in the previous sampling cycle can be detected and obtained through the motor angle detection module.
  • the sampling frequency of the mechanical angle of the mid-mounted motor is the frequency at which the motor angle detection module samples the mechanical angle of the mid-mounted motor in unit time.
  • S820 Calculate the actual rotation speed of the mid-mounted motor based on the mechanical angle of the mid-mounted motor in the current sampling period, the mechanical angle of the mid-mounted motor in the previous sampling cycle, and the sampling frequency of the mechanical angle of the mid-mounted motor.
  • the mechanical angle of the middle motor in the current sampling period is X1
  • the mechanical angle of the previous sampling period of the middle motor is X2
  • the sampling frequency of the mechanical angle of the middle motor is f1
  • the actual rotation speed n of the middle motor is :
  • the above solution exemplarily shows a way to calculate the actual speed of the mid-mounted motor.
  • Designers can also obtain the actual speed of the mid-mounted motor through other technical means, and this solution does not impose specific restrictions on this.
  • FIG. 9 is a schematic flowchart of a method for gradually adjusting the motor driving torque value of the mid-mounted motor to the motor target driving torque value according to the embodiment of the present application. Based on the above embodiment, the stepwise adjustment of the motor driving torque value of the mid-mounted motor is performed. The method of setting the motor drive torque value of the motor to the motor target drive torque value is further explained in detail:
  • the maximum driving torque value of the motor can be obtained by searching the relationship between the rear wheel speed and the maximum driving torque value of the motor or the relationship curve between the rear wheel speed and the maximum driving torque value of the motor according to the rear wheel speed.
  • the correspondence table of the relationship between the rear wheel speed and the maximum driving torque value of the motor, or the relationship curve between the rear wheel speed and the maximum driving torque value of the motor, which is consulted based on the rear wheel speed is preset by the designer.
  • the motor driving torque value in the process of gradually adjusting the motor driving torque value to the motor target driving torque value, the motor driving torque value cannot be directly adjusted to the motor target driving torque value to avoid the user having an obvious pulling feeling when pushing the cart. , allowing users to follow the car naturally and comfortably, improving the user's experience and comfort of the stroller.
  • the above solution achieves control of the starting strength of the electric self-phase bicycle by controlling the output driving torque value of the electric bicycle.
  • the motor driving torque value changes linearly within a preset time until it is equal to the motor target driving torque value.
  • the preset motor driving torque value is a function that changes linearly within the preset time.
  • the function is as follows:
  • T ecmd is the motor target drive torque value
  • K is the step coefficient of the motor drive torque value changing with time
  • t is time.
  • FIG. 10 is a schematic flowchart of a method for obtaining the maximum driving torque value of a motor provided by an embodiment of the present application. Based on the above embodiment, the method for obtaining the maximum driving torque value of a motor is further refined. illustrate:
  • FIG. 11 is a relationship graph between the rear wheel speed and the maximum driving torque value of the motor provided by an embodiment of the present application.
  • the abscissa is the rear wheel speed
  • the ordinate is the maximum driving torque value of the motor.
  • the maximum driving torque value of the motor output is 50; when the rear wheel speed is greater than or equal to 6, the maximum driving torque value of the motor output is 0.
  • the above solution can limit the starting force of the electric bicycle by obtaining the maximum driving torque value of the motor.
  • Figure 12 is a schematic structural diagram of a loop control circuit provided by an embodiment of the present application.
  • the rear wheel speed input correction circuit 001 can output the speed compensation value of the mid-mounted motor.
  • the speed compensation value of the mid-mounted motor and the estimated speed value of the mid-mounted motor are input into the summing circuit 002, which can output the target speed value of the mid-mounted motor.
  • the rotational speed target value of the mid-mounted motor is input to the rotational speed limiter circuit 003, which can determine whether the rotational speed target value of the mid-mounted motor is within the rotational speed range, and output the rotational speed target value of the mid-mounted motor within the rotational speed range.
  • the speed target value of the mid-mounted motor and the actual speed of the mid-mounted motor are input to the difference circuit 004, and the target difference value can be output.
  • the target difference input PI circuit can convert the target difference into the motor target driving torque value and output the motor target driving torque value.
  • the motor target driving torque value input adjustment circuit 006 can gradually adjust the motor driving torque value of the mid-mounted motor to the motor target driving torque value within a preset time. Each time the adjusted output motor driving torque value is input to the torque limiting circuit 007, the final output motor driving torque value can be determined.
  • FIG 12 is a schematic diagram showing the results of an electric vehicle push-cart mode speed control device provided by an embodiment of the present application.
  • the electric vehicle push-cart mode speed control device includes:
  • the first determination module 01 is used to determine the estimated speed of the mid-mounted motor and the speed compensation value of the mid-mounted motor based on the target mechanical gear and the rear wheel speed;
  • the second determination module 02 is used to determine the target speed value of the mid-mounted motor based on the estimated speed value and the speed compensation value;
  • the third determination module 03 is used to determine the motor target driving torque value of the mid-mounted motor based on the target speed value and the actual speed of the mid-mounted motor;
  • the adjustment module 04 is used to gradually adjust the motor driving torque value of the mid-mounted motor to the indicated motor target driving torque value within a preset time.
  • the embodiment of the present application uses the first determination module to determine the estimated rotation speed of the mid-mounted motor and the rotation speed compensation value of the mid-mounted motor based on the target mechanical gear and the rear wheel speed, which can facilitate subsequent calculations based on the estimated rotation speed of the mid-mounted motor. Make adjustments.
  • the second determination module determines the target speed value of the mid-mounted motor based on the estimated speed value and the speed compensation value, and can indirectly obtain the target speed value of the mid-mounted motor without knowing the sprocket ratio.
  • the third determination module determines the motor target driving torque value of the mid-mounted motor based on the target speed value and the actual speed of the mid-mounted motor.
  • the adjustment module gradually adjusts the motor driving torque value of the mid-mounted motor to the motor target driving torque value within a preset time, so that the user will not have an obvious pulling feeling in the cart mode, thereby improving the comfort of the user experience.
  • this solution can convert the adjustment of the vehicle speed into the adjustment of the speed target value of the mid-mounted motor, thus improving the control accuracy at low vehicle speeds.
  • the first determination module includes:
  • the target sprocket ratio acquisition unit is used to acquire the target sprocket ratio of the mid-mounted motor according to the target mechanical gear;
  • the rotation speed estimation value determination unit is used to determine the rotation speed estimation value based on the rear wheel speed, the target sprocket ratio and the transmission ratio of the mid-mounted motor.
  • the electric vehicle push mode speed control device also includes: a judgment module, which includes:
  • a speed range determination unit used to determine the speed range of the mid-mounted motor based on the target vehicle speed, the maximum mechanical gear, the minimum mechanical gear, and the transmission ratio of the mid-mounted motor;
  • the first judgment unit is used to judge whether the speed target value is within the speed range
  • the setting unit is used to reset the speed target value according to the speed range if the speed target value is not within the speed range.
  • the rotation speed range determination unit includes:
  • the first acquisition subunit is used to acquire the first sprocket ratio according to the maximum mechanical gear
  • the maximum speed value determination subunit is used to determine the maximum speed value of the mid-mounted motor speed based on the target vehicle speed, transmission ratio and first sprocket ratio;
  • the second acquisition subunit is used to acquire the second sprocket ratio according to the minimum mechanical gear
  • the minimum speed value determination subunit is used to determine the minimum speed value of the mid-mounted motor speed based on the target vehicle speed, transmission ratio and second sprocket ratio.
  • the third determination module includes:
  • the actual speed acquisition unit is used to obtain the actual speed of the mid-mounted motor
  • the target difference obtaining unit is used to obtain the target difference based on the speed target value and the actual speed of the mid-mounted motor;
  • the motor target driving torque value determination unit is used to determine the motor target driving torque value according to the target difference value.
  • the actual speed acquisition unit includes:
  • the parameter acquisition subunit is used to obtain the mechanical angle of the mid-mounted motor in the current sampling cycle, the mechanical angle of the mid-mounted motor in the previous sampling cycle, and the sampling frequency of the mid-mounted motor mechanical angle;
  • the actual speed calculation subunit of the mid-mounted motor is used to calculate the actual speed of the mid-mounted motor based on the mechanical angle of the mid-mounted motor in the current sampling period, the mechanical angle of the mid-mounted motor in the previous sampling cycle, and the sampling frequency of the mechanical angle of the mid-mounted motor.
  • the adjustment module includes:
  • the motor's maximum driving torque value acquisition unit is used to obtain the motor's maximum driving torque value based on the rear wheel speed
  • the second judgment unit is used to judge in real time whether the motor driving torque value after each adjustment is greater than the maximum driving torque value of the motor during the process of gradually adjusting the motor driving torque value to the motor target driving torque value;
  • the motor driving torque value changes linearly within a preset time until it is equal to the motor target driving torque value.
  • the motor maximum driving torque value acquisition unit includes:
  • the motor maximum driving torque value acquisition subunit is used to obtain the motor maximum driving torque value based on the relationship curve between the rear wheel speed and the motor maximum driving torque value and the rear wheel speed.
  • the electric vehicle push-cart mode speed control device provided by the embodiments of the present application can execute the electric vehicle push-cart mode speed control method provided by any embodiment of the present application, and has functional modules and beneficial effects corresponding to the execution method.

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  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

Des modes de réalisation de la présente demande concernent un procédé et un dispositif de commande de vitesse destinés à être utilisés dans un mode de poussée de bicyclette électrique. Le procédé de commande de vitesse destiné à être utilisé dans un mode de poussée de bicyclette électrique comprend les étapes consistant à : déterminer une valeur d'estimation de vitesse de rotation d'un moteur d'entraînement intermédiaire et une valeur de compensation de vitesse de rotation du moteur d'entraînement intermédiaire en fonction d'un engrenage mécanique cible et d'une vitesse de roue arrière ; déterminer une valeur cible de vitesse de rotation du moteur d'entraînement intermédiaire en fonction de la valeur d'estimation de vitesse de rotation et de la valeur de compensation de vitesse de rotation ; déterminer une valeur de couple d'entraînement cible de moteur du moteur d'entraînement intermédiaire en fonction de la valeur cible de vitesse de rotation et d'une vitesse de rotation réelle du moteur d'entraînement intermédiaire ; et à ajuster progressivement la valeur de couple d'entraînement de moteur du moteur d'entraînement intermédiaire à la valeur de couple d'entraînement cible de moteur dans une période de temps prédéfinie.
PCT/CN2022/102730 2022-06-02 2022-06-30 Procédé et dispositif de commande de vitesse destinés à être utilisés dans un mode de poussée de bicyclette électrique WO2023231128A1 (fr)

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DE112022002517.4T DE112022002517T5 (de) 2022-06-02 2022-06-30 Verfahren und Vorrichtung zur Geschwindigkeitssteuerung im Schiebemodus eines Elektrofahrrads

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CN202210625647.8A CN114834585B (zh) 2022-06-02 2022-06-02 电动车推车模式车速控制方法及装置

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CN1214313A (zh) * 1997-10-01 1999-04-21 本田技研工业株式会社 电动辅助自行车
JP2001239979A (ja) * 2000-03-01 2001-09-04 Honda Motor Co Ltd 電動自転車
US20170349236A1 (en) * 2016-06-01 2017-12-07 Robert Bosch Gmbh Control Method and Control Unit for Adapting a Velocity of the Pushing Aid of an Electric Bicycle
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WO2021197800A1 (fr) * 2020-04-03 2021-10-07 Amprio Gmbh Bicyclette électrique
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CN114834585A (zh) 2022-08-02
CN114834585B (zh) 2023-05-12

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