CN101941386A - Electric bicycle, control device and method thereof - Google Patents
Electric bicycle, control device and method thereof Download PDFInfo
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Abstract
The invention discloses an electric bicycle, a control device and a method thereof. The control device comprises a cell sensor module, a PWM (Pulse Width Modulation) control module and a motor drive module, wherein the cell sensor module is used for detecting cell power; the motor drive module is used for driving a motor; and the PWM control module comprises a first voltage judging unit, an accelerate starting unit, a current-limitation judging unit, an undervoltage judging unit and a PWM set-value regulating unit. The invention has the advantages that by reducing starting current and judging the voltage value of the cell power, when judging that the cell voltage dropping variation is greater than a threshold value, the increased proportion of current is reduced immediately, and the voltage drops into a normal range and is finally retained on an undervoltage point. The invention ensures that the electric bicycle can continually run in a state with slightly lower current, an endurance mileage is effectively increased, and cell deep discharge is avoided so that the cell life is prolonged at the same time.
Description
Technical field
The present invention relates to the Electrical Bicycle field, relate in particular to a kind of Electrical Bicycle and control setup thereof and method.
Background technology
Electrical Bicycle is because of being subjected to the restriction of capacity of cell, and continuation of the journey mileage weak point becomes the key factor of its development of restriction, and battery service life also is another important factor simultaneously.
In order to protect battery; at present all Electric Bicycle Drivers all have under-voltage protection function, and promptly controller determines after cell pressure is lower than certain value (under-voltage point), just carries out under-voltage protection; stop motor-driven output, reach the purpose that prevents the battery overload operation.
Because of battery has the fast characteristic of the big voltage decline of outgoing current; in the battery electric quantity deficiency but voltage when still being higher than at under-voltage; very easily, the Electrical Bicycle starting current starts battery protection under the under-voltage point automatically because of making the cell pressure short time drop to greatly; cause battery can not continue to use; reduced the continuation of the journey mileage, the output of big electric current has also reduced battery life under the low simultaneously electric weight.
China Patent No. is " ZL200820033385.1 ", patent name utilizes cell pressure to go up and the low discharging current principle for disclosing in " the under-voltage control setup that continues of Electrical Bicycle ", improve mileages of continuation by the mode that two under-voltage points are set, but the setting of it is under-voltage point can not dynamically be set according to the battery electric quantity actual value, the second under-voltage point can not be done dynamic adjustment according to battery electric quantity, the permanent second under-voltage point that uses can make battery improper electric current under low electric weight export, and reduces battery life.
Summary of the invention
The technical matters that the present invention mainly solves provides a kind of Electrical Bicycle continuation of the journey mileage and device and method of protecting battery of increasing; judge by magnitude of voltage and cut-off current battery; utilize adjustment PWM setting value dynamically to change electric current output; make in the process that continues of Electrical Bicycle after under-voltage with rational electric current output, when increasing the continuation of the journey mileage of Electrical Bicycle and do not damage battery.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: a kind of Electrical Bicycle control setup is provided, comprise battery sensor module, PWM control module that is used for the monitoring cell electric weight and the motor drive module that is used for drive motor, described battery sensor module is electrically connected with the input end of PWM control module, and the mouth of described PWM control module is electrically connected with motor drive module; Acceleration start unit, the current limliting judging unit that is used to judge whether to reach cut-off current that described PWM control module comprises the first voltage judging unit that is used to judge magnitude of voltage, be used to quicken to start, be used to the PWM setting value adjustment unit that judges whether under-voltage under-voltage judging unit and be used to increase or reduce the PWM setting value; The described first voltage judging unit has input end, first mouth and second mouth, described acceleration start unit has input end and mouth, described current limliting judging unit has input end and mouth, described under-voltage judging unit has input end and mouth, and described PWM setting value adjustment unit has first input end, second input end and mouth; The input end of the described first voltage judging unit connects the mouth of battery sensor module, first mouth of the described first voltage judging unit connects the input end that quickens start unit, the mouth of described acceleration start unit connects the input end of current limliting judging unit, and the mouth of described current limliting judging unit connects the first input end of PWM setting value adjustment unit; Second mouth of the described first voltage judging unit connects the input end of under-voltage judging unit, and the mouth of described under-voltage judging unit connects second input end of PWM setting value adjustment unit; The mouth of described PWM setting value adjustment unit connects the input end of motor drive module; After the battery sensor module detects electric quantity signal, the first voltage judging unit is judged battery voltage value: if after the first voltage judgment unit judges cell pressure is higher than specified nominal battery voltage 93.75%, then control is quickened start unit and is quickened to start Electrical Bicycle, whether the current limit control unit judges reaches cut-off current subsequently, if reach cut-off current then control PWM setting value adjustment unit and reduce the PWM setting value, then control PWM setting value adjustment unit increase PWM setting value as not reaching cut-off current, PWM setting value adjustment unit upgrades the PWM setting value, control motor drive module drive motor; After if the first voltage judgment unit judges cell pressure is less than or equal to specified nominal battery voltage 93.75%, whether under-voltage judgment unit judges battery is under-voltage, if it is under-voltage then control PWM setting value adjustment unit and reduce the PWM setting value, if it is not under-voltage then control PWM setting value adjustment unit and increase the PWM setting value, PWM setting value adjustment unit upgrades the PWM setting value, control motor drive module drive motor.
Wherein, described PWM control module comprises the second voltage judging unit that is used to judge magnitude of voltage and is used to extend or shortens the PWM processing time adjustment unit in PWM processing time, the described second voltage judging unit has input end and mouth, and described PWM processing time adjustment unit has input end and mouth; The input end of the described second voltage judging unit connects second mouth of the first voltage judging unit, the mouth of the described second voltage judging unit connects the input end of PWM processing time adjustment unit, and the mouth of described PWM processing time adjustment unit connects the input end of under-voltage judging unit; After the first voltage judgment unit judges cell pressure is less than or equal to specified nominal battery voltage 93.75%, the second voltage judging unit is further judged voltage: if voltage between specified nominal battery voltage 79.16%～93.75%, is then controlled the PWM processing time adjustment unit lengthening PWM processing time; If, then controlling PWM processing time adjustment unit less than specified nominal battery voltage 79.16%, voltage shortens the PWM processing time; Judge then whether battery is under-voltage.
Wherein, described PWM control module comprises a PWM setting value and speed governing value comparing unit that is used for comparison PWM setting value and speed governing value and the 2nd PWM setting value and the speed governing value comparing unit that is used for comparison PWM setting value and speed governing value, a described PWM setting value and speed governing value comparing unit have input end and mouth, and described the 2nd PWM setting value and speed governing value comparing unit have input end and mouth; A described PWM setting value is connected the mouth of current limliting judging unit with the input end of speed governing value comparing unit, a described PWM setting value is connected the first input end of PWM setting value adjustment unit with the mouth of speed governing value comparing unit; Whether reach cut-off current in the current limliting judgment unit judges and find not reach cut-off current, then PWM setting value and speed governing value are compared; If, then controlling PWM setting value adjustment unit more than or equal to the speed governing value, the PWM setting value reduces the PWM setting value; Increase the PWM setting value if the PWM setting value, is then controlled PWM setting value adjustment unit less than the speed governing value, PWM setting value adjustment unit upgrades the PWM setting value, control motor drive module drive motor; Described the 2nd PWM setting value is connected the mouth of under-voltage judging unit with the input end of speed governing value comparing unit, described the 2nd PWM setting value is connected second input end of PWM setting value adjustment unit with the mouth of speed governing value comparing unit; Whether under-voltage discovery battery is not under-voltage at under-voltage judgment unit judges battery, then PWM setting value and speed governing value is compared; If, then controlling PWM setting value adjustment unit more than or equal to the speed governing value, the PWM setting value reduces the PWM setting value; Increase the PWM setting value if the PWM setting value, is then controlled PWM setting value adjustment unit less than the speed governing value, PWM setting value adjustment unit upgrades the PWM setting value, control motor drive module drive motor.
For solving the problems of the technologies described above, another technical solution used in the present invention is: a kind of Electrical Bicycle is provided, comprise car body, motor, battery and control setup, described control setup comprises battery sensor module, PWM control module that is used for the monitoring cell electric weight and the motor drive module that is used for drive motor, described battery sensor module is electrically connected with the input end of PWM control module, and the mouth of described PWM control module is electrically connected with motor drive module; Acceleration start unit, the current limliting judging unit that is used to judge whether to reach cut-off current that described PWM control module comprises the first voltage judging unit that is used to judge magnitude of voltage, be used to quicken to start, be used to the PWM setting value adjustment unit that judges whether under-voltage under-voltage judging unit and be used to increase or reduce the PWM setting value; The described first voltage judging unit has input end, first mouth and second mouth, described acceleration start unit has input end and mouth, described current limliting judging unit has input end and mouth, described under-voltage judging unit has input end and mouth, and described PWM setting value adjustment unit has first input end, second input end and mouth; The input end of the described first voltage judging unit connects the mouth of battery sensor module, first mouth of the described first voltage judging unit connects the input end that quickens start unit, the mouth of described acceleration start unit connects the input end of current limliting judging unit, and the mouth of described current limliting judging unit connects the first input end of PWM setting value adjustment unit; Second mouth of the described first voltage judging unit connects the input end of under-voltage judging unit, and the mouth of described under-voltage judging unit connects second input end of PWM setting value adjustment unit; The mouth of described PWM setting value adjustment unit connects the input end of motor drive module; After the battery sensor module detects electric quantity signal, the first voltage judging unit is judged battery voltage value: if after the first voltage judgment unit judges cell pressure is higher than specified nominal battery voltage 93.75%, then control is quickened start unit and is quickened to start Electrical Bicycle, whether the current limit control unit judges reaches cut-off current subsequently, if reach cut-off current then control PWM setting value adjustment unit and reduce the PWM setting value, then control PWM setting value adjustment unit increase PWM setting value as not reaching cut-off current, PWM setting value adjustment unit upgrades the PWM setting value, control motor drive module drive motor; After if the first voltage judgment unit judges cell pressure is less than or equal to specified nominal battery voltage 93.75%, whether under-voltage judgment unit judges battery is under-voltage, if it is under-voltage then control PWM setting value adjustment unit and reduce the PWM setting value, if it is not under-voltage then control PWM setting value adjustment unit and increase the PWM setting value, PWM setting value adjustment unit upgrades the PWM setting value, control motor drive module drive motor.
Wherein, described PWM control module comprises the second voltage judging unit that is used to judge magnitude of voltage and is used to extend or shortens the PWM processing time adjustment unit in PWM processing time, the described second voltage judging unit has input end and mouth, and described PWM processing time adjustment unit has input end and mouth; The input end of the described second voltage judging unit connects second mouth of the first voltage judging unit, the mouth of the described second voltage judging unit connects the input end of PWM processing time adjustment unit, and the mouth of described PWM processing time adjustment unit connects the input end of under-voltage judging unit; After the first voltage judgment unit judges cell pressure is less than or equal to specified nominal battery voltage 93.75%, the second voltage judging unit is further judged voltage: if voltage between specified nominal battery voltage 79.16%～93.75%, is then controlled the PWM processing time adjustment unit lengthening PWM processing time; If, then controlling PWM processing time adjustment unit less than specified nominal battery voltage 79.16%, voltage shortens the PWM processing time; Judge then whether battery is under-voltage.
Wherein, described PWM control module comprises a PWM setting value and speed governing value comparing unit that is used for comparison PWM setting value and speed governing value and the 2nd PWM setting value and the speed governing value comparing unit that is used for comparison PWM setting value and speed governing value, a described PWM setting value and speed governing value comparing unit have input end and mouth, and described the 2nd PWM setting value and speed governing value comparing unit have input end and mouth; A described PWM setting value is connected the mouth of current limliting judging unit with the input end of speed governing value comparing unit, a described PWM setting value is connected the first input end of PWM setting value adjustment unit with the mouth of speed governing value comparing unit; Whether reach cut-off current in the current limliting judgment unit judges and find not reach cut-off current, then PWM setting value and speed governing value are compared; If, then controlling PWM setting value adjustment unit more than or equal to the speed governing value, the PWM setting value reduces the PWM setting value; Increase the PWM setting value if the PWM setting value, is then controlled PWM setting value adjustment unit less than the speed governing value, PWM setting value adjustment unit upgrades the PWM setting value, control motor drive module drive motor; Described the 2nd PWM setting value is connected the mouth of under-voltage judging unit with the input end of speed governing value comparing unit, described the 2nd PWM setting value is connected second input end of PWM setting value adjustment unit with the mouth of speed governing value comparing unit; Whether under-voltage discovery battery is not under-voltage at under-voltage judgment unit judges battery, then PWM setting value and speed governing value is compared; If, then controlling PWM setting value adjustment unit more than or equal to the speed governing value, the PWM setting value reduces the PWM setting value; Increase the PWM setting value if the PWM setting value, is then controlled PWM setting value adjustment unit less than the speed governing value, PWM setting value adjustment unit upgrades the PWM setting value, control motor drive module drive motor.
For solving the problems of the technologies described above, another technical solution used in the present invention is: a kind of Electrical Bicycle control method is provided, comprises the steps:
A. after minimum value starts Electrical Bicycle, judge cell pressure, if cell pressure is higher than specified nominal battery voltage 93.75%, execution in step b1 then is if cell pressure is less than or equal to specified nominal battery voltage 93.75%, then execution in step b2;
B1. quicken to start Electrical Bicycle, and execution in step c;
B2. judge whether battery is under-voltage, if under-voltage then carry out d1, if not under-voltage then carry out d2;
C. judge whether to reach cut-off current,, then carry out d2 as not reaching cut-off current if reach cut-off current then carry out d1;
D1. reduce the PWM setting value, carry out e;
D2. increase the PWM setting value, carry out e;
E. upgrade the PWM setting value, control motor drive module drive motor.
Wherein, in step a,, then before execution in step b2, further judge voltage if cell pressure is less than or equal to specified nominal battery voltage 93.75%; If voltage then extends the PWM processing time between specified nominal battery voltage 79.16%～93.75%; If voltage then shortens the PWM processing time less than specified nominal battery voltage 79.16%.
Wherein, in step c,, then before execution in step d2, further PWM setting value and speed governing value are compared as not reaching cut-off current; If the PWM setting value is more than or equal to the speed governing value, execution in step d1 then; If the PWM setting value is less than the speed governing value.
Wherein, in step b2, judge whether battery is under-voltage,, then before execution in step d2, further PWM setting value and speed governing value are compared if not under-voltage; If the PWM setting value is more than or equal to the speed governing value, execution in step d1 then; If the PWM setting value is less than the speed governing value.
The invention has the beneficial effects as follows: the Electrical Bicycle that is different from prior art is protected because of starting current makes the cell pressure short time drop under the under-voltage point greatly; the defective of continuation of the journey mileage weak point and reduction battery life; the present invention is by reducing starting current; and the magnitude of voltage and the cut-off current of battery electric quantity judged; when determining cell pressure when falling variation greater than limit value; reduce the ratio that electric current increases immediately, make electric voltage dropping get back to normal range and also finally remain on the under-voltage point.Electrical Bicycle just can continue to travel under the lower slightly state of an electric current, effectively increases the continuation of the journey mileage and avoids the battery deep discharge simultaneously and prolonged battery life.
Description of drawings
Fig. 1 is the block diagram of Electrical Bicycle control setup first embodiment of the present invention;
Fig. 2 is the block diagram of Electrical Bicycle control setup second embodiment of the present invention;
Fig. 3 is the block diagram of Electrical Bicycle control setup the 3rd embodiment of the present invention;
Fig. 4 is the diagram of circuit of Electrical Bicycle control method first embodiment of the present invention;
Fig. 5 is the diagram of circuit of Electrical Bicycle control method second embodiment of the present invention;
Fig. 6 is the diagram of circuit of Electrical Bicycle control method the 3rd embodiment of the present invention.
Wherein, 10: battery sensor module, 11:PWM control module, 12: motor drive module, 111: the first voltage judging units, 112: quicken start unit, 113: the current limliting judging unit, 114: under-voltage judging unit, 115:PWM setting value adjustment unit, 116: the second voltage judging units, 117:PWM processing time adjustment unit, 118: the one PWM setting values and speed governing value comparing unit, 119: the two PWM setting values and speed governing value comparing unit.
The specific embodiment
By describing technology contents of the present invention, structural attitude in detail, realized purpose and effect, give explanation below in conjunction with embodiment and conjunction with figs. are detailed.
The definition of PWM is: certain pulse-width regulated technology, and PWM increases, and promptly the PWM dutycycle strengthens, and the electric current of battery-driven car operation will increase, on the contrary electric current can reduce.PWM changes fast more (rate of change greatly), and then electric current changes also fast more.
Under-voltage definition is: when cell pressure was lower than certain value (under-voltage point), controller can be carried out under-voltage protection, stopped motor-driven output.
The definition of under-voltage point is: under-voltage point is the magnitude of voltage according to cell pressure industry regulation, and as the under-voltage point of 48V battery: specified nominal battery voltage 87.5% is 41V, the 60V battery is under-voltage point: specified nominal battery voltage 87.5% is 52V.
The definition of current limliting is: controller can limit electric current output, and the maximum current that can reach is cut-off current, and this value is the current value according to customer requirement and the artificial regulation of controller power.
The definition of speed governing value is: the speed-regulating handle bar magnitude of voltage is in the inner cooresponding result of micro controller system.
See also Fig. 1, first embodiment of Electrical Bicycle control setup of the present invention comprises battery sensor module 10, PWM control module 11 and motor drive module 12, the described battery sensor module 10 that is used for the monitoring cell electric weight is electrically connected with the input end of PWM control module 11, and the mouth of described PWM control module 11 is electrically connected with the motor drive module 12 that is used for drive motor;
The described first voltage judging unit 111 has input end, first mouth and second mouth, described acceleration start unit 112 has input end and mouth, described current limliting judging unit 113 has input end and mouth, described under-voltage judging unit 114 has input end and mouth, and described PWM setting value adjustment unit 115 has first input end, second input end and mouth;
The input end of the described first voltage judging unit 111 connects the mouth of battery sensor module 10, first mouth of the described first voltage judging unit 111 connects the input end that quickens start unit 112, the mouth of described acceleration start unit 112 connects the input end of current limliting judging unit 113, and the mouth of described current limliting judging unit 113 connects the first input end of PWM setting value adjustment unit 115; Second mouth of the described first voltage judging unit 111 connects the input end of under-voltage judging unit 114, and the mouth of described under-voltage judging unit 114 connects second input end of PWM setting value adjustment unit 115; The mouth of described PWM setting value adjustment unit 115 connects the input end of motor drive module 12;
After battery sensor module 10 detected electric quantity signal, 111 pairs of battery voltage values of the first voltage judging unit were judged:
After if the first voltage judging unit 111 judges that cell pressure is higher than specified nominal battery voltage 93.75%, then quicken start unit 112 and quicken to start Electrical Bicycle, current limliting judging unit 113 judges whether to reach cut-off current, if reach cut-off current then reduce the PWM setting value, then increase the PWM setting value as not reaching cut-off current, PWM setting value adjustment unit 115 upgrades the PWM setting value, control motor drive module 12 drive motor;
After if the first voltage judging unit 111 judges that cell pressure is less than or equal to specified nominal battery voltage 93.75%, under-voltage judging unit 114 judges whether battery is under-voltage, if it is under-voltage then reduce the PWM setting value, if it is not under-voltage then increase the PWM setting value, PWM setting value adjustment unit 115 upgrades the PWM setting value, control motor drive module 12 drive motor.
In the present embodiment, magnitude of voltage by the first voltage judging unit 111 and 114 pairs of batteries of under-voltage judging unit is judged, utilize 113 pairs of cut-off currents of current limliting judging unit to judge simultaneously, adjustment PWM setting value dynamically changes electric current output after obtaining judgment value, make in the process that continues of Electrical Bicycle after under-voltage with rational electric current output, when increasing the continuation of the journey mileage of Electrical Bicycle and do not damage battery.
The Electrical Bicycle that is different from prior art is protected because of starting current makes the cell pressure short time drop under the under-voltage point greatly; the defective of continuation of the journey mileage weak point and reduction battery life; the present invention is by reducing starting current; and the magnitude of voltage and the cut-off current of battery electric quantity judged; when determining cell pressure when falling variation greater than limit value; reduce the ratio that electric current increases immediately, make electric voltage dropping get back to normal range and also finally remain on the under-voltage point.Electrical Bicycle just can continue to travel under the lower slightly state of an electric current, effectively increases the continuation of the journey mileage and avoids the battery deep discharge simultaneously and prolonged battery life.And when battery electric quantity is relatively more sufficient, change with a certain positive electric current and to start Electrical Bicycle, change when being not more than limit value when cell pressure falls, electric current increases ratio and then can not reduce, final controller may operate in a stationary value, and this stationary value maximum can be a cut-off current.
Referring to Fig. 2, the technical scheme of Electrical Bicycle second embodiment of the present invention and the technical scheme of first embodiment are basic identical, difference is: PWM control module 11 further comprises the second voltage judging unit 116 that is used to judge magnitude of voltage and is used to extend or shortens the PWM processing time adjustment unit 117 in PWM processing time, the described second voltage judging unit 116 has input end and mouth, and described PWM processing time adjustment unit 117 has input end and mouth;
The input end of the described second voltage judging unit 116 connects second mouth of the first voltage judging unit 111, the mouth of the described second voltage judging unit 116 connects the input end of PWM processing time adjustment unit 117, and the mouth of described PWM processing time adjustment unit 117 connects the input end of under-voltage judging unit 114;
After the first voltage judging unit 111 judges that cell pressure is less than or equal to specified nominal battery voltage 93.75%, the second voltage judging unit 116 is further judged voltage: if voltage is between specified nominal battery voltage 79.16%～93.75%, then by the 117 lengthening PWM processing times of PWM processing time adjustment unit; If voltage less than specified nominal battery voltage 79.16%, then shortens the PWM processing time by PWM processing time adjustment unit 117; Judge then whether battery is under-voltage.
In the present embodiment, further battery is carried out the PWM processing time when little electric weight remains and adjust in advance,, increase the continuation of the journey mileage of Electrical Bicycle by adjustment to the PWM processing time by the second voltage judging unit and PWM processing time adjustment unit.
Referring to Fig. 3, the technical scheme of Electrical Bicycle the 3rd embodiment of the present invention and the technical scheme of second embodiment are basic identical, difference is: the PWM control module further comprises a PWM setting value and speed governing value comparing unit 118 that is used for comparison PWM setting value and speed governing value and the 2nd PWM setting value and the speed governing value comparing unit 119 that is used for comparison PWM setting value and speed governing value, a described PWM setting value and speed governing value comparing unit 118 have input end and mouth, and described the 2nd PWM setting value and speed governing value comparing unit 119 have input end and mouth;
A described PWM setting value is connected the mouth of current limliting judging unit 113 with the input end of speed governing value comparing unit 118, a described PWM setting value is connected the first input end of PWM setting value adjustment unit 115 with the mouth of speed governing value comparing unit 118; Judge whether to reach cut-off current at current limliting judging unit 113 and find not reach cut-off current, then PWM setting value and speed governing value are compared; If, then controlling PWM setting value adjustment unit 115 more than or equal to the speed governing value, the PWM setting value reduces the PWM setting value; Increase the PWM setting value if the PWM setting value, is then controlled PWM setting value adjustment unit 115 less than the speed governing value, PWM setting value adjustment unit 115 upgrades the PWM setting value, control motor drive module drive motor;
Described the 2nd PWM setting value is connected the mouth of under-voltage judging unit 114 with the input end of speed governing value comparing unit 119, described the 2nd PWM setting value is connected second input end of PWM setting value adjustment unit 115 with the mouth of speed governing value comparing unit 119; Whether under-voltage discovery battery is not under-voltage to judge battery at under-voltage judging unit 114, then PWM setting value and speed governing value is compared; If, then controlling PWM setting value adjustment unit more than or equal to the speed governing value, the PWM setting value reduces the PWM setting value; Increase the PWM setting value if the PWM setting value, is then controlled PWM setting value adjustment unit less than the speed governing value, PWM setting value adjustment unit 115 upgrades the PWM setting value, control motor drive module drive motor.
In the present embodiment; further compare with 119 pairs of setting values of speed governing value comparing unit and speed governing value by a PWM setting value and speed governing value comparing unit 118 and the 2nd PWM setting value; thereby draw more suitable PWM setting value, protection battery when increasing battery-driven car continuation of the journey mileage.
See also Fig. 1, first embodiment of Electrical Bicycle comprises car body, motor, battery and control setup, described control setup comprises battery sensor module 10, PWM control module 11 and motor drive module 12, the described battery sensor module 10 that is used for the monitoring cell electric weight is electrically connected with the input end of PWM control module 11, and the mouth of described PWM control module 11 is electrically connected with the motor drive module 12 that is used for drive motor;
Described first voltage judges that Unit 111 have input end, first mouth and second mouth, described acceleration start unit 112 has input end and mouth, described current limliting judging unit 113 has input end and mouth, described under-voltage judging unit 114 has input end and mouth, and described PWM setting value adjustment unit 115 has first input end, second input end and mouth;
The input end of the described first voltage judging unit 111 connects the mouth of battery sensor module 10, first mouth of the described first voltage judging unit 111 connects the input end that quickens start unit 112, the mouth of described acceleration start unit 112 connects the input end of current limliting judging unit 113, and the mouth of described current limliting judging unit 113 connects the first input end of PWM setting value adjustment unit 115; Second mouth of the described first voltage judging unit 111 connects the input end of under-voltage judging unit 114, and the mouth of described under-voltage judging unit 114 connects second input end of PWM setting value adjustment unit 115; After the input end battery sensor module 10 of the mouth connection motor drive module 12 of described PWM setting value adjustment unit 115 detected electric quantity signal, 111 pairs of battery voltage values of the first voltage judging unit were judged:
After if the first voltage judging unit 111 judges that cell pressure is higher than specified nominal battery voltage 93.75%, then quicken start unit 112 and quicken to start Electrical Bicycle, current limliting judging unit 113 judges whether to reach cut-off current, if reach cut-off current then reduce the PWM setting value, then increase the PWM setting value as not reaching cut-off current, PWM setting value adjustment unit 115 upgrades the PWM setting value, control motor drive module 12 drive motor;
After if the first voltage judging unit 111 judges that cell pressure is less than or equal to specified nominal battery voltage 93.75%, under-voltage judging unit 114 judges whether battery is under-voltage, if it is under-voltage then reduce the PWM setting value, if it is not under-voltage then increase the PWM setting value, PWM setting value adjustment unit 115 upgrades the PWM setting value, control motor drive module 12 drive motor.
In the present embodiment, by the first voltage judging unit and under-voltage judging unit the magnitude of voltage of battery is judged, utilize the current limliting judging unit that cut-off current is judged simultaneously, adjustment PWM setting value dynamically changes electric current output after obtaining judgment value, make in the process that continues of Electrical Bicycle after under-voltage with rational electric current output, when increasing the continuation of the journey mileage of Electrical Bicycle and do not damage battery.
Referring to Fig. 2, second embodiment of Electrical Bicycle and the scheme fundamental form of first embodiment are together, difference is: PWM control module 11 further comprises the second voltage judging unit 116 that is used to judge magnitude of voltage and is used to extend or shortens the PWM processing time adjustment unit 117 in PWM processing time, the described second voltage judging unit 116 has input end and mouth, and described PWM processing time adjustment unit 117 has input end and mouth;
The input end of the described second voltage judging unit 116 connects second mouth of the first voltage judging unit 111, the mouth of the described second voltage judging unit 116 connects the input end of PWM processing time adjustment unit 117, and the mouth of described PWM processing time adjustment unit 117 connects the input end of under-voltage judging unit 114;
After the first voltage judging unit 111 judges that cell pressure is less than or equal to specified nominal battery voltage 93.75%, the second voltage judging unit 116 is further judged voltage: if voltage is between specified nominal battery voltage 79.16%～93.75%, then by the 117 lengthening PWM processing times of PWM processing time adjustment unit; If voltage less than specified nominal battery voltage 79.16%, then shortens the PWM processing time by PWM processing time adjustment unit 117; Judge then whether battery is under-voltage.
In the present embodiment, further battery is carried out the PWM processing time when little electric weight remains and adjust in advance,, increase the continuation of the journey mileage of Electrical Bicycle by adjustment to the PWM processing time by the second voltage judging unit and PWM processing time adjustment unit.
Referring to Fig. 3, the 3rd embodiment of Electrical Bicycle and the scheme fundamental form of second embodiment are together, difference is: the PWM control module further comprises a PWM setting value and speed governing value comparing unit 118 that is used for comparison PWM setting value and speed governing value and the 2nd PWM setting value and the speed governing value comparing unit 119 that is used for comparison PWM setting value and speed governing value, a described PWM setting value and speed governing value comparing unit 118 have input end and mouth, and described the 2nd PWM setting value and speed governing value comparing unit 119 have input end and mouth;
A described PWM setting value is connected the mouth of current limliting judging unit 113 with the input end of speed governing value comparing unit 118, a described PWM setting value is connected the first input end of PWM setting value adjustment unit 115 with the mouth of speed governing value comparing unit 118; Judge whether to reach cut-off current at current limliting judging unit 113 and find not reach cut-off current, then PWM setting value and speed governing value are compared; If the PWM setting value more than or equal to the speed governing value, then reduces the PWM setting value; If the PWM setting value less than the speed governing value, then increases the PWM setting value, PWM setting value adjustment unit 115 upgrades the PWM setting value, control motor drive module drive motor;
Described the 2nd PWM setting value is connected the mouth of under-voltage judging unit 114 with the input end of speed governing value comparing unit 119, described the 2nd PWM setting value is connected second input end of PWM setting value adjustment unit 115 with the mouth of speed governing value comparing unit 119; Whether under-voltage discovery battery is not under-voltage to judge battery at under-voltage judging unit 114, then PWM setting value and speed governing value is compared; If, then controlling PWM setting value adjustment unit more than or equal to the speed governing value, the PWM setting value reduces the PWM setting value; Increase the PWM setting value if the PWM setting value, is then controlled PWM setting value adjustment unit less than the speed governing value, PWM setting value adjustment unit 115 upgrades the PWM setting value, control motor drive module drive motor.
In the present embodiment; further compare with 119 pairs of setting values of speed governing value comparing unit and speed governing value by a PWM setting value and speed governing value comparing unit 118 and the 2nd PWM setting value; thereby draw more suitable PWM setting value, protection battery when increasing battery-driven car continuation of the journey mileage.
Referring to Fig. 4, Electrical Bicycle control method first embodiment of the present invention comprises the steps:
A. after minimum value starts Electrical Bicycle, judge cell pressure, if cell pressure is higher than specified nominal battery voltage 93.75%, execution in step b1 then is if cell pressure is less than or equal to specified nominal battery voltage 93.75%, then execution in step b2;
B1. quicken to start Electrical Bicycle, and execution in step c;
B2. judge whether battery is under-voltage, if under-voltage then carry out d1, if not under-voltage then carry out d2;
C. judge whether to reach cut-off current,, then carry out d2 as not reaching cut-off current if reach cut-off current then carry out d1;
D1. reduce the PWM setting value, carry out e;
D2. increase the PWM setting value, carry out e;
E. upgrade the PWM setting value, control motor drive module drive motor.
Referring to Fig. 5, the technical characterictic of second embodiment of Electrical Bicycle control method of the present invention and the technical scheme of first embodiment are basic identical, difference is: in step a, if cell pressure is less than or equal to specified nominal battery voltage 93.75%, then before execution in step b2, further judge voltage; If voltage then extends the PWM processing time between specified nominal battery voltage 79.16%～93.75%; If voltage then shortens the PWM processing time less than specified nominal battery voltage 79.16%.
Referring to Fig. 6, the technical characterictic of the 3rd embodiment of Electrical Bicycle control method of the present invention and the technical scheme of second embodiment are basic identical, difference is: in step c, as not reaching cut-off current, then further PWM setting value and speed governing value were compared before execution in step d2; If the PWM setting value is more than or equal to the speed governing value, execution in step d1 then; If the PWM setting value is less than the speed governing value.
In step b2, judge whether battery is under-voltage, if not under-voltage, then before execution in step d2, further PWM setting value and speed governing value are compared; If the PWM setting value is more than or equal to the speed governing value, execution in step d1 then; If the PWM setting value is less than the speed governing value, then.
Principle of the present invention is: when battery electric quantity is not enough, electric current sharply increases and can start Electrical Bicycle when changing with a certain positive electric current, determine cell pressure when falling variation greater than limit value, reduce the ratio that electric current increases immediately, make electric voltage dropping get back to normal range and also finally remain on the under-voltage point.Electrical Bicycle just can continue to travel under the lower slightly state of an electric current like this, effectively increasing the continuation of the journey mileage avoids the battery deep discharge simultaneously and has prolonged battery life, and when battery electric quantity is relatively more sufficient, change the startup Electrical Bicycle with a certain positive electric current, when falling, cell pressure changes when being not more than limit value, electric current increases ratio and then can not reduce, and final controller may operate in a stationary value, and this stationary value maximum can be a cut-off current.
The above only is embodiments of the invention; be not so limit claim of the present invention; every equivalent structure or equivalent flow process conversion that utilizes specification sheets of the present invention and accompanying drawing content to be done; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (10)
1. Electrical Bicycle control setup, it is characterized in that: comprise battery sensor module, PWM control module that is used for the monitoring cell electric weight and the motor drive module that is used for drive motor, described battery sensor module is electrically connected with the input end of PWM control module, and the mouth of described PWM control module is electrically connected with motor drive module;
Acceleration start unit, the current limliting judging unit that is used to judge whether to reach cut-off current that described PWM control module comprises the first voltage judging unit that is used to judge magnitude of voltage, be used to quicken to start, be used to the PWM setting value adjustment unit that judges whether under-voltage under-voltage judging unit and be used to increase or reduce the PWM setting value;
The described first voltage judging unit has input end, first mouth and second mouth, described acceleration start unit has input end and mouth, described current limliting judging unit has input end and mouth, described under-voltage judging unit has input end and mouth, and described PWM setting value adjustment unit has first input end, second input end and mouth;
The input end of the described first voltage judging unit connects the mouth of battery sensor module, first mouth of the described first voltage judging unit connects the input end that quickens start unit, the mouth of described acceleration start unit connects the input end of current limliting judging unit, and the mouth of described current limliting judging unit connects the first input end of PWM setting value adjustment unit; Second mouth of the described first voltage judging unit connects the input end of under-voltage judging unit, and the mouth of described under-voltage judging unit connects second input end of PWM setting value adjustment unit; The mouth of described PWM setting value adjustment unit connects the input end of motor drive module;
After the battery sensor module detected electric quantity signal, the first voltage judging unit was judged battery voltage value:
After if the first voltage judgment unit judges cell pressure is higher than specified nominal battery voltage 93.75%, then control is quickened start unit and is quickened to start Electrical Bicycle, whether the current limit control unit judges reaches cut-off current subsequently, if reach cut-off current then control PWM setting value adjustment unit and reduce the PWM setting value, then control PWM setting value adjustment unit increase PWM setting value as not reaching cut-off current, PWM setting value adjustment unit upgrades the PWM setting value, control motor drive module drive motor;
After if the first voltage judgment unit judges cell pressure is less than or equal to specified nominal battery voltage 93.75%, whether under-voltage judgment unit judges battery is under-voltage, if it is under-voltage then control PWM setting value adjustment unit and reduce the PWM setting value, if it is not under-voltage then control PWM setting value adjustment unit and increase the PWM setting value, PWM setting value adjustment unit upgrades the PWM setting value, control motor drive module drive motor.
2. Electrical Bicycle control setup according to claim 1, it is characterized in that: described PWM control module comprises the second voltage judging unit that is used to judge magnitude of voltage and is used to extend or shortens the PWM processing time adjustment unit in PWM processing time, the described second voltage judging unit has input end and mouth, and described PWM processing time adjustment unit has input end and mouth;
The input end of the described second voltage judging unit connects second mouth of the first voltage judging unit, the mouth of the described second voltage judging unit connects the input end of PWM processing time adjustment unit, and the mouth of described PWM processing time adjustment unit connects the input end of under-voltage judging unit;
After the first voltage judgment unit judges cell pressure is less than or equal to specified nominal battery voltage 93.75%, the second voltage judging unit is further judged voltage: if voltage between specified nominal battery voltage 79.16%～93.75%, is then controlled the PWM processing time adjustment unit lengthening PWM processing time; If, then controlling PWM processing time adjustment unit less than specified nominal battery voltage 79.16%, voltage shortens the PWM processing time; Judge then whether battery is under-voltage.
3. Electrical Bicycle control setup according to claim 2, it is characterized in that: described PWM control module comprises a PWM setting value and speed governing value comparing unit that is used for comparison PWM setting value and speed governing value and the 2nd PWM setting value and the speed governing value comparing unit that is used for comparison PWM setting value and speed governing value, a described PWM setting value and speed governing value comparing unit have input end and mouth, and described the 2nd PWM setting value and speed governing value comparing unit have input end and mouth;
A described PWM setting value is connected the mouth of current limliting judging unit with the input end of speed governing value comparing unit, a described PWM setting value is connected the first input end of PWM setting value adjustment unit with the mouth of speed governing value comparing unit; Whether reach cut-off current in the current limliting judgment unit judges and find not reach cut-off current, then PWM setting value and speed governing value are compared; If, then controlling PWM setting value adjustment unit more than or equal to the speed governing value, the PWM setting value reduces the PWM setting value; Increase the PWM setting value if the PWM setting value, is then controlled PWM setting value adjustment unit less than the speed governing value, PWM setting value adjustment unit upgrades the PWM setting value, control motor drive module drive motor;
Described the 2nd PWM setting value is connected the mouth of under-voltage judging unit with the input end of speed governing value comparing unit, described the 2nd PWM setting value is connected second input end of PWM setting value adjustment unit with the mouth of speed governing value comparing unit; Whether under-voltage discovery battery is not under-voltage at under-voltage judgment unit judges battery, then PWM setting value and speed governing value is compared; If, then controlling PWM setting value adjustment unit more than or equal to the speed governing value, the PWM setting value reduces the PWM setting value; Increase the PWM setting value if the PWM setting value, is then controlled PWM setting value adjustment unit less than the speed governing value, PWM setting value adjustment unit upgrades the PWM setting value, control motor drive module drive motor.
4. Electrical Bicycle, it is characterized in that: comprise car body, motor, battery and control setup, described control setup comprises battery sensor module, PWM control module that is used for the monitoring cell electric weight and the motor drive module that is used for drive motor, described battery sensor module is electrically connected with the input end of PWM control module, and the mouth of described PWM control module is electrically connected with motor drive module;
Acceleration start unit, the current limliting judging unit that is used to judge whether to reach cut-off current that described PWM control module comprises the first voltage judging unit that is used to judge magnitude of voltage, be used to quicken to start, be used to the PWM setting value adjustment unit that judges whether under-voltage under-voltage judging unit and be used to increase or reduce the PWM setting value;
The described first voltage judging unit has input end, first mouth and second mouth, described acceleration start unit has input end and mouth, described current limliting judging unit has input end and mouth, described under-voltage judging unit has input end and mouth, and described PWM setting value adjustment unit has first input end, second input end and mouth;
The input end of the described first voltage judging unit connects the mouth of battery sensor module, first mouth of the described first voltage judging unit connects the input end that quickens start unit, the mouth of described acceleration start unit connects the input end of current limliting judging unit, and the mouth of described current limliting judging unit connects the first input end of PWM setting value adjustment unit; Second mouth of the described first voltage judging unit connects the input end of under-voltage judging unit, and the mouth of described under-voltage judging unit connects second input end of PWM setting value adjustment unit; The mouth of described PWM setting value adjustment unit connects the input end of motor drive module;
After the battery sensor module detected electric quantity signal, the first voltage judging unit was judged battery voltage value:
After if the first voltage judgment unit judges cell pressure is higher than specified nominal battery voltage 93.75%, then control is quickened start unit and is quickened to start Electrical Bicycle, whether the current limit control unit judges reaches cut-off current subsequently, if reach cut-off current then control PWM setting value adjustment unit and reduce the PWM setting value, then control PWM setting value adjustment unit increase PWM setting value as not reaching cut-off current, PWM setting value adjustment unit upgrades the PWM setting value, control motor drive module drive motor;
After if the first voltage judgment unit judges cell pressure is less than or equal to specified nominal battery voltage 93.75%, whether under-voltage judgment unit judges battery is under-voltage, if it is under-voltage then control PWM setting value adjustment unit and reduce the PWM setting value, if it is not under-voltage then control PWM setting value adjustment unit and increase the PWM setting value, PWM setting value adjustment unit upgrades the PWM setting value, control motor drive module drive motor.
5. Electrical Bicycle according to claim 4, it is characterized in that: described PWM control module comprises the second voltage judging unit that is used to judge magnitude of voltage and is used to extend or shortens the PWM processing time adjustment unit in PWM processing time, the described second voltage judging unit has input end and mouth, and described PWM processing time adjustment unit has input end and mouth;
The input end of the described second voltage judging unit connects second mouth of the first voltage judging unit, the mouth of the described second voltage judging unit connects the input end of PWM processing time adjustment unit, and the mouth of described PWM processing time adjustment unit connects the input end of under-voltage judging unit;
After the first voltage judgment unit judges cell pressure is less than or equal to specified nominal battery voltage 93.75%, the second voltage judging unit is further judged voltage: if voltage between specified nominal battery voltage 79.16%～93.75%, is then controlled the PWM processing time adjustment unit lengthening PWM processing time; If, then controlling PWM processing time adjustment unit less than specified nominal battery voltage 79.16%, voltage shortens the PWM processing time; Judge then whether battery is under-voltage.
6. Electrical Bicycle according to claim 5, it is characterized in that: described PWM control module comprises a PWM setting value and speed governing value comparing unit that is used for comparison PWM setting value and speed governing value and the 2nd PWM setting value and the speed governing value comparing unit that is used for comparison PWM setting value and speed governing value, a described PWM setting value and speed governing value comparing unit have input end and mouth, and described the 2nd PWM setting value and speed governing value comparing unit have input end and mouth;
A described PWM setting value is connected the mouth of current limliting judging unit with the input end of speed governing value comparing unit, a described PWM setting value is connected the first input end of PWM setting value adjustment unit with the mouth of speed governing value comparing unit; Whether reach cut-off current in the current limliting judgment unit judges and find not reach cut-off current, then PWM setting value and speed governing value are compared; If, then controlling PWM setting value adjustment unit more than or equal to the speed governing value, the PWM setting value reduces the PWM setting value; Increase the PWM setting value if the PWM setting value, is then controlled PWM setting value adjustment unit less than the speed governing value, PWM setting value adjustment unit upgrades the PWM setting value, control motor drive module drive motor;
Described the 2nd PWM setting value is connected the mouth of under-voltage judging unit with the input end of speed governing value comparing unit, described the 2nd PWM setting value is connected second input end of PWM setting value adjustment unit with the mouth of speed governing value comparing unit; Whether under-voltage discovery battery is not under-voltage at under-voltage judgment unit judges battery, then PWM setting value and speed governing value is compared; If, then controlling PWM setting value adjustment unit more than or equal to the speed governing value, the PWM setting value reduces the PWM setting value; Increase the PWM setting value if the PWM setting value, is then controlled PWM setting value adjustment unit less than the speed governing value, PWM setting value adjustment unit upgrades the PWM setting value, control motor drive module drive motor.
7. an Electrical Bicycle control method is characterized in that: comprise the steps:
A. after minimum value starts Electrical Bicycle, judge cell pressure, if cell pressure is higher than specified nominal battery voltage 93.75%, execution in step b1 then is if cell pressure is less than or equal to specified nominal battery voltage 93.75%, then execution in step b2;
B1. quicken to start Electrical Bicycle, and execution in step c;
B2. judge whether battery is under-voltage, if under-voltage then carry out d1, if not under-voltage then carry out d2;
C. judge whether to reach cut-off current,, then carry out d2 as not reaching cut-off current if reach cut-off current then carry out d1;
D1. reduce the PWM setting value, carry out e;
D2. increase the PWM setting value, carry out e;
E. upgrade the PWM setting value, control motor drive module drive motor.
8. Electrical Bicycle control method according to claim 7 is characterized in that: in step a, if cell pressure is less than or equal to specified nominal battery voltage 93.75%, then further judged voltage before execution in step b2; If voltage then extends the PWM processing time between specified nominal battery voltage 79.16%～93.75%; If voltage then shortens the PWM processing time less than specified nominal battery voltage 79.16%.
9. Electrical Bicycle control method according to claim 8 is characterized in that: in step c, as not reaching cut-off current, then further PWM setting value and speed governing value were compared before execution in step d2; If the PWM setting value is more than or equal to the speed governing value, execution in step d1 then; If the PWM setting value is less than the speed governing value.
10. Electrical Bicycle control method according to claim 8 is characterized in that: in step b2, judge whether battery is under-voltage, if not under-voltage, then further PWM setting value and speed governing value were compared before execution in step d2; If the PWM setting value is more than or equal to the speed governing value, execution in step d1 then; If the PWM setting value is less than the speed governing value.
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| CN2010102756674A CN101941386B (en) | 2010-09-08 | 2010-09-08 | Electric bicycle, control device and method thereof |
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| CN105471352A (en) * | 2016-01-05 | 2016-04-06 | 珠海格力电器股份有限公司 | Method, device and system for motor speed regulation and intelligent environment-friendly barrel |
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| CN109774846A (en) * | 2019-03-01 | 2019-05-21 | 雷沃重工股份有限公司 | A kind of control method of electric vehicle, apparatus and system |
| CN111645538A (en) * | 2020-06-14 | 2020-09-11 | 无锡赛盈动力科技有限公司 | Method for improving endurance mileage of electric vehicle |
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| CN101941386B (en) | 2012-09-26 |
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