CN106788076B - A kind of balance car control method, apparatus and system - Google Patents
A kind of balance car control method, apparatus and system Download PDFInfo
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- CN106788076B CN106788076B CN201611034648.6A CN201611034648A CN106788076B CN 106788076 B CN106788076 B CN 106788076B CN 201611034648 A CN201611034648 A CN 201611034648A CN 106788076 B CN106788076 B CN 106788076B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
- H02J7/16—Regulation of the charging current or voltage by variation of field
- H02J7/163—Regulation of the charging current or voltage by variation of field with special means for initiating or limiting the excitation current
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Abstract
The present invention provides a kind of balance car control methods, apparatus and system, comprising: obtains the voltage value of the battery of balance car；When judging that the voltage value is greater than or equal to setting secure threshold and is less than the maximum charging voltage that the battery can be born, first given value is set as excitation current instruction value needed for permanent magnet synchronous motor vector control method, reduces the feedback energy generated by braking to control permanent magnet synchronous motor；Wherein, the setting secure threshold corresponds to the fully charged state of the battery；The permanent magnet synchronous motor vector control method is for realizing the control to the permanent magnet synchronous motor.The present invention achievees the purpose that reduce feedback energy by the way that suitable excitation current instruction value is arranged, and the problem of so as to improve cell voltage is risen so high because of energy feedback caused by brake, improves the usage experience of user.
Description
Technical field
The invention belongs to technical field of intelligent equipment more particularly to a kind of balance car control methods, apparatus and system.
Background technique
Balance car is increasingly becoming the selection of riding instead of walk of people's trip " last one kilometer ", portable, the environmentally friendly and province having
When labour-saving characteristic gradually win the favor of more and more people.Balance car is mainly powered using battery, when charging voltage is super
Battery can be then damaged when crossing the maximum charging voltage that battery is able to bear, or even will cause the accident of battery explosion, therefore in electricity
Particularly important in the use process in pond is a little that cannot overcharge.BMS (the BATTERY MANAGEMENT of general battery
SYSTEM, battery management system) close to maximum charging voltage alarm or power supply can be automatically cut off in voltage, in addition, much filling
Electric appliance also can take other safeguards to avoid over-charging of battery in charging.
However in actual use, insufficient instead for the reverse charge safeguard measure of battery.Since balance car is in flow of the people
More place has energy back to battery in use, usually will appear the situation for accelerating repeatedly and braking once brake,
Especially in the case where battery fills with electricity, if deal with improperly it will cause cell voltage rise so high and be more than it can be with
At this moment the case where maximum charging voltage of receiving, or can trigger battery BMS auto power off or can then damage battery,
Final result may all make driver's disequilibrium and fall down.
Summary of the invention
The purpose of the present invention is to provide a kind of balance car control methods, apparatus and system, to solve how to improve balance
The problem of vehicle rises so high cell voltage because of energy feedback caused by braking.
A kind of balance car control method, which comprises
Obtain the voltage value of the battery of balance car；
Judge that the voltage value is greater than or equal to setting secure threshold and is less than the maximum charge electricity that the battery can be born
When pressure, the first given value of setting is as excitation current instruction value needed for permanent magnet synchronous motor vector control method, to control forever
Magnetic-synchro motor reduces the feedback energy generated by braking；Wherein, it is fully charged to correspond to the battery for the setting secure threshold
State；The permanent magnet synchronous motor vector control method is for realizing the control to the permanent magnet synchronous motor.
First given value can make permanent magnet synchronous motor output work in braking in one of the embodiments,
Rate is zero.
The voltage value is being judged more than or equal to setting secure threshold and is being less than the electricity in one of the embodiments,
When the maximum charging voltage that pond can be born, the first given value is set as excitation needed for permanent magnet synchronous motor vector control method
Current instruction value, before controlling the step of permanent magnet synchronous motor reduces the feedback energy generated by braking, the method is also
Include:
Obtain the tach signal of the hub motor of torque current instruction value and the balance car；
The first given value is obtained according to the torque current instruction value and the tach signal, also, described first is given
Value are as follows:
Also, H=1- (1+iq */Iemf)2,
Wherein, IbrkIndicate first given value；ζ indicates corrected parameter；iq *Indicate torque current instruction value；ωrIt indicates
The tach signal；keIndicate back emf coefficient；RsIndicate the stator resistance of the permanent magnet synchronous motor.
In one of the embodiments, the method also includes:
When judging that the voltage value is less than the setting secure threshold, it is second given that the excitation current instruction value, which is arranged,
Value, to control the consumption that the permanent magnet synchronous motor reduces the feedback energy.
Second given value is zero in one of the embodiments,.
In one of the embodiments, the method also includes:
When judging that the voltage value is greater than the maximum charging voltage, the power supply circuit of the battery is disconnected.
In one of the embodiments, the method also includes:
Obtain the inclination information of driver；
Needed for obtaining the permanent magnet synchronous motor vector control method using balancing control algorithm according to the inclination information
Torque current instruction value, keep dynamic equilibrium to control the balance car.
A kind of balance truck control device, the balance truck control device include:
Acquiring unit, the voltage value of the battery for obtaining balance car；
Judging unit, for judge the voltage value be greater than or equal to setting secure threshold and be less than the battery can hold
When the maximum charging voltage received, the first given value of setting refers to as exciting current needed for permanent magnet synchronous motor vector control method
Value is enabled, reduces the feedback energy generated by braking to control permanent magnet synchronous motor；Wherein, the setting secure threshold corresponds to institute
State the fully charged state of battery；The permanent magnet synchronous motor vector control method is for realizing the control to the permanent magnet synchronous motor
System.
A kind of control system of balance car, including voltage sampling circuit, vector control apparatus and anti-overcharge device；The anti-mistake
It fills to set and be connect respectively with the voltage sampling circuit, the vector control apparatus；
The voltage sampling circuit is used to acquire the voltage value of the battery of balance car, and the voltage value is sent to described
Anti-overcharge device；The vector control apparatus is used to drive permanent magnet synchronous motor using permanent magnet synchronous motor vector control method
Rotation；The anti-overcharge device sets safety threshold for obtaining the voltage value, and judging that the voltage value is greater than or equal to
Value and be less than the battery can bear maximum charging voltage when, be arranged the first given value as permanent magnet synchronous motor vector controlled
Excitation current instruction value needed for method reduces the feedback energy generated by braking to control permanent magnet synchronous motor；Wherein, institute
It states setting secure threshold and corresponds to the fully charged state of the battery；The permanent magnet synchronous motor vector control method is for realizing right
The control of the permanent magnet synchronous motor.
In one of the embodiments, the anti-overcharge device include divider, amplifier, adder, the first multiplier,
Subtracter, square root extractor, the second multiplier and selecting unit；
The dividend input terminal of the divider is used for input torque current instruction value, the divisor input terminal of the divider
It is connect with the output end of the amplifier, and the output end of the divider is connect with the first input end of the adder；Institute
The second input terminal of adder is stated for receiving input value 1, the output end of the adder respectively with first multiplier
Two input terminal connections；The output end of first multiplier is connect with the subtracting input of the subtracter；The subtracter
Minuend input terminal for receiving input value 1, the output end of the subtracter is connect with the input terminal of the square root extractor；It is described
The output end of square root extractor is connect with the first input end of second multiplier；The input terminal of the amplifier is for receiving input
The balance car hub motor tach signal, the output end of the amplifier is also defeated with the second of second multiplier
Enter end connection, and the multiple of amplifier amplification isWherein, keIndicate back emf coefficient, RsIndicate the permanent-magnet synchronous
The stator resistance of motor；The third input terminal corrected parameter for receiving input of second multiplier, and described second multiplies
The output end of musical instruments used in a Buddhist or Taoist mass is connect with the first input end of the selecting unit；The second input terminal and the voltage of the selecting unit
The output end of sample circuit connects, and the selecting unit is used to judge that it is safe that the voltage value is greater than or equal to the setting
Threshold value and when being less than the maximum charging voltage, is sent to the vector controlled for the signal that second multiplier exports and fills
It sets.
In the present invention, after the voltage value for obtaining the battery of balance car, judge that the voltage value is greater than or equal to setting peace
Full threshold value and when being less than the maximum charging voltage that the battery can be born, is arranged the first given value as permanent magnet synchronous motor vector
Excitation current instruction value needed for control method reduces the feedback energy generated by braking to control permanent magnet synchronous motor, because
This, the present invention achievees the purpose that reduce feedback energy by the way that suitable excitation current instruction value is arranged, so as to improve because stopping
The problem of energy feedback caused by vehicle rises so high cell voltage improves the usage experience of user.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The attached drawing of other embodiments is obtained according to these attached drawings.
Fig. 1 is the implementation flow chart for the balance car control method that first embodiment of the invention provides；
Fig. 2 is one of specific implementation flow of the first given value in the balance car control method of embodiment illustrated in fig. 1
Figure；
Fig. 3 is the implementation flow chart for the balance car control method that second embodiment of the invention provides；
Fig. 4 is the realization in the balance car control method of one embodiment of the invention offer by balance control device execution part
Flow chart；
Fig. 5 is the composition block diagram for the balance truck control device that third embodiment of the invention provides；
Fig. 6 is the circuit diagram for the control system of balance car that one embodiment of the invention provides；
Fig. 7 is that the one of of controller in the control system of balance car of embodiment illustrated in fig. 6 realizes block diagram；
Fig. 8 (a), Fig. 8 (b) be respectively the hub motor of balance car tach signal be greater than 0, less than 0 when permanent-magnet synchronous
The critical curve figure that motor externally does work；
Fig. 9 is the structural schematic diagram for the control system of balance car that fourth embodiment of the invention provides；
Figure 10 is one of circuit diagram of anti-overcharge device in the control system of balance car of embodiment illustrated in fig. 9.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give presently preferred embodiments of the present invention.But the invention can be realized in many different forms, however it is not limited to this paper institute
The embodiment of description.On the contrary, purpose of providing these embodiments is keeps the understanding to the disclosure more thorough
Comprehensively.
Unless otherwise defined, the skill of all technical and scientific terms used herein and the technical field for belonging to invention
The normally understood meaning of art personnel is identical.It is specific that description is intended merely in the term used in the description of invention herein
The purpose of embodiment, it is not intended that the limitation present invention.Term as used herein "and/or" includes one or more relevant institutes
Any and all combinations of list of items.
In embodiments of the present invention, to picture indicia coordinate information, to allow users to read target topic in picture
The location of upper information.After user reads the voice for expressing the location information, the voice is received and according to the voice
It identifies the location information, the image of target topic can be intercepted on picture according to the location information.Therefore, in the present invention only
It need to identify that shot operation can be completed in the voice of user, for a user, need to only issue voice in the whole process, because
This operation is convenient, and improves the efficiency for searching topic.
Embodiment one:
Fig. 1 shows the implementation process of the balance car control method of first embodiment of the invention offer, balance car control
Method can be executed by the processor in balance car.It should be noted that Fig. 1 illustrate only by processor execute with the present invention
The step of embodiment correlation, please also refer to Fig. 6 and Fig. 7, balance car control method shown in FIG. 1 is equivalent to by processor
Anti-overcharge device executes.Therefore, the control method that processor executes is not limited to each step shown in FIG. 1, can also include it
It is used to control the correlation step of permanent magnet synchronous motor, for example, referring to FIG. 7, processor can also include balance control device,
Vector control apparatus.Wherein, vector control apparatus using permanent magnet synchronous motor vector control method by inverter for being driven
Dynamic permanent magnet synchronous motor and then control wheel hub motor operation.Anti-overcharge device, which is used to provide exciting current to vector control apparatus, to be referred to
Enable value.Balance control device is for providing torque current instruction value.In addition, balance car uses Two-wheeled in the present embodiment, because
This balance car includes two permanent magnet synchronous motors, two sets of three-phase bridge type converters, correspondingly, vector control apparatus includes the first arrow
Amount control device and the second vector control apparatus.
Referring to FIG. 1, the balance car control method includes the following contents.
In step s101, the voltage value of the battery of balance car is obtained.
Referring to FIG. 6, the voltage value Udc of battery can be acquired by voltage sampling circuit, and voltage sampling circuit will
Collected voltage value is sent to the anti-overcharge device in processor.Voltage sampling circuit for example may include sequentially connected point
Piezoresistance, voltage follower and modulus conversion chip.Wherein, divider resistance one end connect battery, modulus conversion chip it is defeated
Outlet exports the voltage value.
In step s 102, judging that the voltage value is greater than or equal to setting secure threshold and is less than the battery can bear
Maximum charging voltage when, be arranged the first given value as excitation current instruction needed for permanent magnet synchronous motor vector control method
Value reduces the feedback energy generated by braking to control the permanent magnet synchronous motor.Wherein, the setting secure threshold is corresponding
The fully charged state of the battery, such as the setting secure threshold can be the voltage rating of the battery.The permanent magnetism is same
Motor vector control method is walked for realizing the control to the permanent magnet synchronous motor.
Wherein, permanent magnet synchronous motor vector control method is to utilize vector control algorithm combination SVPWM (Space Vector
Pulse Width Modulation, space vector pulse width modulation) technology realizes the control to permanent magnet synchronous motor, permanent magnetism
One of implementation of synchronous motor vector control method are as follows: obtain given torque current instruction value and exciting current and refer to
Enable value, and threephase stator electric current obtained by current sample, after Clarke is converted by threephase stator current transformation be alpha-beta two
Electric current under phase rest frame, then the exciting current being changed under d-q two-phase rotating coordinate system, torque are converted by park
Electric current, to realize the decoupling of magnetic linkage and torque.Later, using torque current instruction value, excitation current instruction value as reference value,
And exciting current, torque current is made to generate corresponding two-way voltage signal after corresponding adjuster respectively, finally will
This two-way voltage signal passes through park inverse transformation, and using transformed signal as the control signal of SVPWM, last you can get it
6 tunnel driving signals are to drive inverter.
In addition, permanent magnet synchronous motor not only can be used as engine but also can be used as motor, therefore when balance car braking,
Permanent magnet synchronous motor will be used as generator to battery feedback energy.Since to correspond to the battery fully charged for setting secure threshold
State, then battery capacity has been sufficient state, at this moment when the voltage value of battery is greater than or equal to setting secure threshold
If permanent magnet synchronous motor feedback energy, battery if, is in overcharging state.Therefore, in the embodiment of the present invention step S102 purpose
It is to provide suitable exciting current in the case where the electricity of battery is sufficient for the permanent magnet synchronous motor vector control method
Instruction value, i.e. the first given value are equivalent to anti-overcharge device for the first given value and are sent to vector control apparatus, and then pass through arrow
Amount control device controls permanent magnet synchronous motor, to reduce the feedback energy generated by braking.As shown in fig. 7, Id1*, Id2*
The excitation current instruction value of respectively two permanent magnet synchronous motors.
Therefore, the embodiment of the present invention reaches the mesh for reducing feedback energy by the way that suitable excitation current instruction value is arranged
, the problem of so as to improve cell voltage is risen so high because of energy feedback caused by brake, improve the use of user
Experience.
Specifically, will increase the winding copper loss in permanent magnet synchronous motor when being non-zero values due to excitation current instruction value,
Therefore the first given value can be set as non-zero values, to increase the winding copper loss in permanent magnet synchronous motor, so as to consume
Permanent magnet synchronous motor is fed back to the energy of battery, and energy feedback rises so high cell voltage caused by improving because of brake
Problem improves the usage experience of user.
First given value can make permanent magnet synchronous motor output work in braking in one of the embodiments,
Rate is zero.
Wherein, permanent magnet synchronous motor braking when output power be zero, be equivalent to permanent magnet synchronous motor braking when neither
The energy of battery is consumed, and not to battery feedback energy, then, when balance car is braked, permanent magnet synchronous motor is because of braking
And the feedback energy generated completely consumes inside permanent magnet synchronous motor.Therefore, electricity abundance has been in battery and do not had also
When having the state for reaching maximum charging voltage, the embodiment of the present invention is suitable value by setting excitation current instruction value, to control
Permanent magnet synchronous motor processed stops to battery feedback energy, can continue to avoid the voltage that battery caused by due to persistently overcharging occurs
Increase the phenomenon that even burning out, enhances the protective effect to battery.In addition, when balance car is braked, permanent magnet synchronous electric
Machine not only not to battery feedback energy, can also voluntarily run without the energy of consumption battery using the mechanical energy of braking, from
And it can achieve the purpose of power saving.
Specifically, permanent magnet synchronous motor output power in braking can be made based on what above-mentioned first given value had
The characteristic for being zero, one of specific implementation of the first given value described below.Referring to FIG. 2, step S102 it
Before, the balance car control method further includes the following contents.
In step s 201, the tach signal of the hub motor of torque current instruction value and the balance car is obtained.
Wherein, torque current instruction value is another given value needed for the permanent magnet synchronous motor vector control method.Please
With reference to Fig. 7, torque current instruction value can be obtained by balance control device according to the inclination information of collected driver, concurrently
It send to anti-overcharge device.Wherein, Iq1*, Iq2* are respectively the corresponding torque current instruction value of two permanent magnet synchronous motors.Revolving speed
Signal can be acquired by revolving speed sampling unit, and the tach signal of acquisition is sent to processor, such as revolving speed sampling unit
Be speed probe.Wherein, ω r1, ω r2 are respectively the corresponding tach signal of two hub motors.
In step S202, the first given value is obtained according to the torque current instruction value and the tach signal, also,
First given value are as follows:
Also, H=1- (1+iq */Iemf)2,
Wherein, IbrkIndicate first given value.ζ indicates corrected parameter, and ζ > 1.iq *Indicate torque current instruction value.
ωrIndicate the tach signal.keIndicate back emf coefficient.RsIndicate the stator resistance of the permanent magnet synchronous motor.
Voltage equation of the permanent magnet synchronous motor under synchronous rotating frame are as follows:
Wherein, p indicates differential operator, LsIndicate stator inductance, idIndicate exciting current, iqIndicate torque current.Also,
The output power of permanent magnet synchronous motor are as follows:
In conjunction with (1) formula and (2) formula, can obtain:
According to (3) formula, it can be deduced that the line of demarcation of power consumption is by following public affairs when generating electricity and brake when permanent magnet synchronous motor is braked
Formula determines:
So, if torque current instruction value presses above formula value, mechanical energy can be complete in braking for permanent magnet synchronous motor
Inside permanent magnet synchronous motor, at this moment permanent magnet synchronous motor motor neither consumes the energy of battery, does not also charge the battery for consumption.
Shown curve l1 in formula (4) corresponding diagram 8 (a), Fig. 8 (b).Wherein, Fig. 8 (a) is ωr> 0 situation, Fig. 8 (b) are ωr<0
Situation.
Further, in actual use, since the parameter of permanent magnet synchronous motor may have error, in order to mention
High accuracy, can also curve l1 corresponding to formula (4) be modified, i.e., multiplied by coefficient ζ on the basis of formula (4)2, obtain
It arrives:
Wherein, ζ > 1, the corresponding curve of formula (5) is as shown in the curve l2 in Fig. 8 (a), Fig. 8 (b).Enable back-emf electric current
IemfAre as follows:
So, formula (5) can simplify are as follows:
H=1- (1+i is enabled againq/Iemf)2, obtainIt can be used as the first given value.
In addition, balance car has when braking:
-2<iq/Iemf<0 (8)
So 0≤H≤1, at this moment H is decimal.However, when processor is embedded chip, since embedded chip is more
Decimal cannot be handled for fixed-point computation, in order to guarantee computational accuracy, H first can be amplified 1024 times, later offline
It calculatesNumerical value, later with the I of Q formatemf5 (being equivalent to divided by 32) are moved to right after multiplication again, to obtain mesh
Scale value id.Therefore, the above process, which is equivalent to, first amplifies decimal H to meet the requirement of embedded chip, has carried out corresponding meter
After calculation, then reduced so that calculated result is corresponding with actual value, thus both overcome embedded chip cannot to decimal into
The defect of row processing, and can guarantee computational accuracy.It is understood that if processor using other types can to decimal into
The chip of row processing, then then without carrying out above-mentioned treatment process to H.
Therefore, by the first given value I in the embodiment of the present inventionbrkIt is set asPermanent magnet synchronous motor can be made to exist
Output power is zero when braking, thus the phenomenon that avoiding battery from damaging because persistently overcharging.
Embodiment two:
Fig. 3 shows the implementation process of the balance car control method of second embodiment of the invention offer, each step shown in Fig. 3
Suddenly it can equally be executed by the anti-overcharge device in processor, details are as follows.
In step S301, the voltage value of the battery of balance car is obtained.
In step s 302, judging that the voltage value is greater than or equal to setting secure threshold and is less than the battery can bear
Maximum charging voltage when, be arranged the first given value as excitation current instruction needed for permanent magnet synchronous motor vector control method
Value reduces the feedback energy generated by braking to control permanent magnet synchronous motor.
Wherein, the setting secure threshold corresponds to the fully charged state of the battery.The permanent magnet synchronous motor vector control
Method processed is for realizing the control to the permanent magnet synchronous motor.
It should be noted that step S301 and step S302 is identical as step S101, the step S102 in the first implementation, this
In just repeat no more.
In step S303, when judging that the voltage value is less than the setting secure threshold, the exciting current is set and is referred to
Enabling value is the second given value, to control the consumption that the permanent magnet synchronous motor reduces the feedback energy.
In embodiments of the present invention, when voltage value is less than setting secure threshold, the not enough power supply of battery is represented.Control institute
The consumption that permanent magnet synchronous motor reduces the feedback energy is stated, so as to increase the energy to battery feedback, with effective use
Feedback energy.Therefore, which takes the measure opposite with step S302, that is, passes through adjusting when judging battery capacity deficiency
Excitation current instruction value is suitable value, so as to increase the energy of feedback in braking, can efficent use of resources and
Extend battery uses the time.
Specifically, second given value is zero.When excitation current instruction value is zero, please also refer to Fig. 8 (a) and figure
8 (b), the feedback energy of at this moment permanent magnet synchronous motor consumption is minimum, so that the energy of feedback is maximum, battery is filled
Divide the energy using feedback, further increases the effective rate of utilization of resource.
In step s 304, when judging that the voltage value is greater than the maximum charging voltage, the power supply of the battery is disconnected
Circuit.
In this step, anti-overcharge device can judge voltage value greater than institute by switching devices such as control relays
When stating maximum charging voltage, the power supply circuit of battery is disconnected, to guarantee the safety in utilization of battery.
Therefore, above-mentioned balance car control method provided in an embodiment of the present invention can flexibly determine according to the voltage value of battery
It is fixed whether to be charged the battery using the feedback energy that braking generates, i.e., when battery capacity deficiency, utilize feedback energy pair
Battery charges, and when the electricity of battery is sufficient or instantaneous stalling current is larger, to avoid battery charge excessive or electric
Pressure is more than secure threshold, consumes feedback energy by increasing excitation current instruction value, while can guarantee the use peace of battery
Quan Xing further increases the performance of balance car.
Referring to FIG. 7, in embodiments of the present invention, in conjunction with the related content in first embodiment, anti-overcharge device its
A kind of middle specific implementation are as follows: input torque current instruction value iq* (including Iq1* and Iq2*) and tach signal ω r (including
ω r1 and ω r2), by voltage equation and power calculation equation of the permanent magnet synchronous motor under synchronous rotating frame, obtain forever
The critical curve externally to do work when magnetic-synchro motor braking is subject to correction factor and is finely adjusted to obtain revised critical curve,
And then modified critical curve can be referred to, and by the voltage value Udc of the battery of acquisition come exciting current when decision braking
The value of instruction value id*.Wherein, if anti-overcharge device inputs iq*=Iq1*, ω r=ω r1, it is same that the first permanent magnetism can be calculated
Walk the exciting current Id1*=id* of motor；If anti-overcharge device inputs iq*=Iq2*, ω r=ω r2, second can be calculated
The exciting current Id2*=id* of permanent magnet synchronous motor.Therefore, the embodiment of the present invention can be flexible by adjusting the value of exciting current
It determines energy trend when braking, while playing the role of power saving and protection battery.
It is understood that the specific implementation of balance car control method is not limited to above situation, such as according to reality
Applicable cases can not also include step S303 or step S304.
Further, balance car control method further includes the following contents, please refers to Fig. 4.It should be noted that shown in Fig. 4
Each step can be executed by the balance control device in processor.
In step S401, the inclination information of driver is obtained.
As shown in fig. 6, the inclination information of driver can be obtained by gyroscope on balance car and angular samples unit
It takes, for two-wheel balance car, needs that one gyroscope is installed respectively in arranged on left and right sides, therefore angular samples unit accordingly includes
First angle sampling unit, second angle sampling unit.When driver's body run-off the straight, gyroscope can then incude driver
The variation of centre of body weight, angular samples unit collect the tilt angle of gyroscope, then are equivalent to and have collected inclining for driver
Oblique information, and send it to the balance control device in processor.
In step S402, the permanent magnet synchronous motor vector is obtained using balancing control algorithm according to the inclination information
Torque current instruction value needed for control method keeps dynamic equilibrium to control the balance car.
Wherein, the realization principle of balancing control algorithm are as follows: according to inclination information (such as gyroscope tilt angle theta 1 and θ 2)
It calculates motor and gives torque, then torque meter is given by motor and calculates torque current instruction value iq* (including Iq1* and Iq2*).Balance
Control algolithm is specifically as follows: iq*=K θ, wherein K is setting constant, and θ is the tilt angle of gyroscope, so as to pass through
The variation of induction driver's centre of body weight carrys out adjustment direction, and forward lean then advances, and body hypsokinesis then retreats, and stands and then keeps flat
Weighing apparatus, to keep dynamic balance state.
In embodiments of the present invention, id* is adjusted according to the voltage value of battery, and the value of iq* is still only by driving
The inclination information decision of person, and it is unrelated with the voltage value of battery.Therefore, even if balance car is in braking, the value of iq* still can
Balance car is enough set to keep dynamic equilibrium.Therefore the embodiment of the present invention guarantee balance car braking when torque it is unaffected under the premise of
Also flexibly it can decide whether to charge to battery according to battery voltage value, to play the role of power saving and protection battery.
Next by taking Fig. 6, Fig. 7 as an example, the working principle of balance car governor circuit is introduced, and balance car is two-wheel
Driving.Balance car governor circuit includes the first permanent magnet synchronous motor, the second permanent magnet synchronous motor, the first inverter, the second inversion
Device, the voltage collection circuit for acquiring battery voltage value Udc, the first current acquisition list for acquiring the first inverter bus current Idc1
Member, the second current acquisition unit of the second inverter bus current Idc2 of acquisition, processor, acquisition first wheel motor speed letter
The first revolving speed sampling unit of number ω r1, the second revolving speed sampling unit for acquiring the second hub motor tach signal ω r2, acquisition
The first angle sampling unit of the first gyroscope of left pedal tilt angle theta 1, acquisition the second gyroscope of right-side pedal tilt angle
The second angle sampling unit of θ 2.Also, the relationship between electric machine phase current and bus current is as shown in table 1, by table 1
Corresponding relationship, and according to bus current Idc1 and Idc2, two permanent-magnet synchronous can be calculated separately out by phase current reconstruction method
Three-phase current Ia, Ib, Ic and Iu, Iv, Iw of motor.
Relationship between 1 electric machine phase current of table and bus current
| Switch state | Bus current Idc | Switch state | Bus current Idc |
| 000 | 0 | 100 | Ia |
| 001 | Ic | 101 | -Ib |
| 010 | Ib | 110 | -Ic |
| 011 | -Ia | 111 | 0 |
Processor includes balance control device, anti-overcharge device, the first vector control apparatus and the second vector control apparatus.
Wherein, balance control device is obtained according to left and right sides pedal gyroscope tilt angle theta 1 and θ 2 using balancing control algorithm respectively
To torque current the instruction value Iq1* and Iq2* of the first, second permanent magnet synchronous motor.Anti-overcharge device is according to the voltage value of battery
The tach signal ω of Udc, the torque current instruction value Iq1* and Iq2* of two permanent magnet synchronous motors and the first, second hub motor
R1 and ω r2, and using Fig. 1 of embodiment of the present invention balance car control method that any embodiment provides into Fig. 3, it can distinguish
Obtain excitation current instruction the value Id1* and Id2* of the first, second permanent magnet synchronous motor.First vector control apparatus is according to torque
Turn of Ia and Ib and first wheel motor that instruction value Iq1* and excitation current instruction value Id1*, phase current reconstruction method obtain
Fast signal ω r1, by permanent magnet synchronous motor vector control algorithm obtain the driving signal S1 of six pipe MOSFET of the first inverter~
S6, thus driving the first permanent magnet synchronous motor rotation.Second vector control apparatus is according to torque current instruction value Iq2* and excitation
The tach signal ω r2 of Iu and Iv that current instruction value Id2*, phase current reconstruction method obtain and the second hub motor, by forever
Magnetic-synchro motor vector control algorithm obtains driving signal S7~S12 of six pipe MOSFET of the second inverter, thus driving second
Permanent magnet synchronous motor rotation.
Embodiment three:
Fig. 5 shows the structural schematic diagram of the balance truck control device of third embodiment of the invention offer, the balance car control
Device processed includes the following contents.
Acquiring unit 501, the voltage value of the battery for obtaining balance car.
Judging unit 502, for judging the voltage value more than or equal to setting secure threshold and being less than the battery
When the maximum charging voltage that can be born, the first given value of setting is as the electricity of excitation needed for permanent magnet synchronous motor vector control method
Instruction value is flowed, reduces the feedback energy generated by braking to control permanent magnet synchronous motor.Wherein, the setting secure threshold pair
The state for answering the battery fully charged；The permanent magnet synchronous motor vector control method is for realizing to the permanent magnet synchronous motor
Control.
Balance truck control device described in the embodiment of the present invention, with balance car control method pair described in embodiment one to two
It answers, so here is no more repetition.
Example IV:
Fig. 9 shows the structural schematic diagram of the control system of balance car of fourth embodiment of the invention offer, the balance car control
System processed includes voltage sampling circuit 901, vector control apparatus 903 and anti-overcharge device 902.Wherein, the anti-overcharge device
902 connect with the voltage sampling circuit 901, the vector control apparatus 903 respectively.
The voltage sampling circuit 901 is used to acquire the voltage value of the battery of balance car, and the voltage value is sent to
The anti-overcharge device 902.The vector control apparatus 903 using permanent magnet synchronous motor vector control method for being driven forever
The rotation of magnetic-synchro motor.The anti-overcharge device 902 is judging that the voltage value is greater than or waits for obtaining the voltage value
In set secure threshold and be less than the battery can bear maximum charging voltage when, be arranged the first given value as permanent-magnet synchronous
Excitation current instruction value needed for motor vector control method is reduced with to control the permanent magnet synchronous motor and is generated because of braking
Feedback energy.Wherein, the setting secure threshold corresponds to the fully charged state of the battery.
Specifically, as shown in Figure 10, anti-overcharge device 902 includes divider, amplifier, adder, the first multiplier, subtracts
Musical instruments used in a Buddhist or Taoist mass, square root extractor, the second multiplier and selecting unit.
Wherein, the dividend input terminal of the divider is used for input torque current instruction value iq*, the divider removes
Number input terminal is connect with the output end of the amplifier, and the first input end of the output end of the divider and the adder
Connection.For receiving input value 1, the output end of the adder multiplies with described first second input terminal of the adder respectively
Two input terminals of musical instruments used in a Buddhist or Taoist mass connect.The output end of first multiplier is connect with the subtracting input of the subtracter.It is described
The minuend input terminal of subtracter is for receiving input value 1, the input terminal company of the output end of the subtracter and the square root extractor
It connects.The output end of the square root extractor is connect with the first input end of second multiplier.The input terminal of the amplifier is used for
Receive the tach signal ω of the hub motor of the balance car of inputr, the output end of the amplifier also multiplies with described second
Second input terminal of musical instruments used in a Buddhist or Taoist mass connects, and the multiple of amplifier amplification isWherein, keIndicate back emf coefficient；RsIt indicates
The stator resistance of the permanent magnet synchronous motor.The third input terminal of second multiplier corrected parameter ζ for receiving input,
And the output end of second multiplier is connect with the first input end of the selecting unit.Second input of the selecting unit
End is connect with the output end of the voltage sampling circuit, and the selecting unit is for judging that the voltage value is greater than or equal to
The setting secure threshold and when being less than the maximum charging voltage, the signal that second multiplier exports is sent to described
Vector control apparatus.Wherein, selecting unit with comparator jointly can for example be realized for single-chip microcontroller or by selector.
In the embodiment of the present invention, the value that anti-overcharge device 902 exports is excitation current instruction value id*.In calculating process
In, tach signal ωrAmplified by amplifierObtain back-emf electric current Iemf.Torque current instruction value iq* electric with back-emf
Flow IemfA=i is obtained by dividerq */Iemf.A adds 1 to obtain B=1+i by adderq */Iemf.B passes through the first multiplier again
Obtain C=B*B=(1+iq */Iemf)2.C obtains H=1-C=1- (1+i by subtracterq */Iemf)2.H is obtained by square root extractor again
It arrivesFinally,Back-emf electric current IemfIt can be obtained with adjustment factor ζ by the second multiplier Selecting unit is by determining that it is electric to determine how to be arranged excitation which section is the value of the voltage Udc of battery be in
Instruction value id* is flowed, such as:
(1) if Udc < Umax- Δ Uo, id*=0；
(2) if Umax- Δ Uo≤Udc < Umax,
Wherein, Umax indicates that the maximum charging voltage that battery can be born, Δ Uo indicate setting secure threshold.
Likewise, if input iq*=Iq1*, ω r=ω r1, can calculate the exciting current of the first permanent magnet synchronous motor
Id1*=id*；If inputting iq*=Iq2*, ω r=ω r2, the exciting current Id2* of the second permanent magnet synchronous motor can be calculated
=id*.
Therefore, balance truck control device provided in an embodiment of the present invention is reached by the way that suitable excitation current instruction value is arranged
To the purpose for reducing feedback energy, so as to improve the problem for making the cell voltage excessively high because of energy feedback caused by brake, mention
The high usage experience of user.
It should be noted that in the present embodiment voltage sampling circuit 901, vector control apparatus 903 respectively with above-mentioned implementation
Example is identical, just no longer repeats one by one here.In addition, the anti-overcharge device 902 in the embodiment of the present invention is not limited to a kind of above-mentioned reality
Existing mode, such as can also be realized using the balance car control method that embodiment one or embodiment two provide.
It should be noted that Fig. 1 to Fig. 4 is the flow diagram of the method for the embodiment of the present invention.Though should be understood that
Each step in the flow chart of right Fig. 1 to Fig. 4 successively shows according to the instruction of arrow, but these steps be not necessarily by
It is successively executed according to the sequence of arrow instruction.Unless expressly state otherwise herein, there is no stringent suitable for the execution of these steps
Sequence limitation, can execute in the other order.Moreover, at least part step in Fig. 1 to Fig. 4 may include multiple sub-steps
Rapid perhaps multiple these sub-steps of stage or stage are not necessarily to execute completion in synchronization, but can be in difference
At the time of execute, execution sequence is also not necessarily and successively carries out, but can be with the sub-step of other steps or other steps
Rapid or the stage at least part executes in turn or alternately.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit
Letter connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.In addition, the functional units in various embodiments of the present invention may be integrated into one processing unit, it is also possible to each
Unit physically exists alone, and can also be integrated in one unit with two or more units.The integrated unit both may be used
To use formal implementation of hardware, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the present invention
Portion or part.And storage medium above-mentioned include: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory),
Random access memory (RAM, Random Access Memory), magnetic or disk etc. be various to can store program code
Medium.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (9)
1. a kind of balance car control method, which is characterized in that the described method includes:
Obtain the tach signal of the hub motor of torque current instruction value and the balance car；
The first given value, also, first given value are obtained according to the torque current instruction value and the tach signal are as follows:
Also, H=1- (1+iq */Iemf)2,
Wherein, IbrkIndicate first given value；ζ indicates corrected parameter；iq *Indicate torque current instruction value；ωrDescribed in expression
Tach signal；keIndicate back emf coefficient；RsIndicate the stator resistance of permanent magnet synchronous motor；IemfFor back-emf electric current；
Obtain the voltage value of the battery of balance car；
When judging that the voltage value is greater than or equal to setting secure threshold and is less than the maximum charging voltage that the battery can be born,
First given value is set as excitation current instruction value needed for permanent magnet synchronous motor vector control method, to control permanent-magnet synchronous
Motor reduces the feedback energy generated by braking；Wherein, the setting secure threshold corresponds to the fully charged state of the battery；
The permanent magnet synchronous motor vector control method is for realizing the control to the permanent magnet synchronous motor.
2. balance car control method according to claim 1, which is characterized in that first given value can make it is described forever
Magnetic-synchro motor output power in braking is zero.
3. balance car control method according to claim 1, which is characterized in that the method also includes:
When judging that the voltage value is less than the setting secure threshold, it is the second given value that the excitation current instruction value, which is arranged,
To control the consumption that the permanent magnet synchronous motor reduces the feedback energy.
4. balance car control method according to claim 3, which is characterized in that second given value is zero.
5. balance car control method according to claim 1, which is characterized in that the method also includes:
When judging that the voltage value is greater than the maximum charging voltage, the power supply circuit of the battery is disconnected.
6. balance car control method according to claim 1, which is characterized in that the method also includes:
Obtain the inclination information of driver；
Turn needed for obtaining the permanent magnet synchronous motor vector control method using balancing control algorithm according to the inclination information
Square current instruction value keeps dynamic equilibrium to control the balance car.
7. a kind of balance truck control device, which is characterized in that the balance truck control device includes:
Acquiring unit, the voltage value of the battery for obtaining balance car；
Judging unit, for judging the voltage value more than or equal to setting secure threshold and being less than what the battery can be born
When maximum charging voltage, the first given value is set as excitation current instruction needed for permanent magnet synchronous motor vector control method
Value reduces the feedback energy generated by braking to control permanent magnet synchronous motor；Wherein, described in the setting secure threshold corresponds to
The fully charged state of battery；The permanent magnet synchronous motor vector control method is for realizing the control to the permanent magnet synchronous motor
System, wherein according to the tach signal of the torque current instruction value of acquisition and the hub motor of the balance car, show that first is given
Value:
Also, H=1- (1+iq */Iemf)2,
Wherein, IbrkIndicate first given value；ζ indicates corrected parameter；iq *Indicate torque current instruction value；ωrDescribed in expression
Tach signal；keIndicate back emf coefficient；RsIndicate the stator resistance of permanent magnet synchronous motor；IemfFor back-emf electric current.
8. a kind of control system of balance car, which is characterized in that including voltage sampling circuit, vector control apparatus and anti-overcharge dress
It sets；The anti-overcharge device is connect with the voltage sampling circuit, the vector control apparatus respectively；
The voltage sampling circuit is used to acquire the voltage value of the battery of balance car, and the voltage value is sent to the anti-mistake
It fills and sets；The vector control apparatus is used to drive permanent magnet synchronous motor to revolve using permanent magnet synchronous motor vector control method
Turn；The anti-overcharge device sets secure threshold for obtaining the voltage value, and judging that the voltage value is greater than or equal to
And when being less than the maximum charging voltage that the battery can be born, the first given value is set as permanent magnet synchronous motor vector controlled side
Excitation current instruction value needed for method reduces the feedback energy generated by braking to control permanent magnet synchronous motor；Wherein, described
Setting secure threshold corresponds to the fully charged state of the battery；The permanent magnet synchronous motor vector control method is for realizing to institute
State the control of permanent magnet synchronous motor, wherein according to turn of the torque current instruction value of acquisition and the hub motor of the balance car
Fast signal obtains the first given value:
Also, H=1- (1+iq */Iemf)2,
Wherein, IbrkIndicate first given value；ζ indicates corrected parameter；iq *Indicate torque current instruction value；ωrDescribed in expression
Tach signal；keIndicate back emf coefficient；RsIndicate the stator resistance of permanent magnet synchronous motor；IemfFor back-emf electric current.
9. control system of balance car according to claim 8, which is characterized in that the anti-overcharge device include divider,
Amplifier, adder, the first multiplier, subtracter, square root extractor, the second multiplier and selecting unit；
The dividend input terminal of the divider is used for input torque current instruction value, the divisor input terminal of the divider and institute
The output end connection of amplifier is stated, and the output end of the divider is connect with the first input end of the adder；It is described to add
Second input terminal of musical instruments used in a Buddhist or Taoist mass is for receiving input value 1, the output end of the adder two with first multiplier respectively
Input terminal connection；The output end of first multiplier is connect with the subtracting input of the subtracter；The quilt of the subtracter
For receiving input value 1, the output end of the subtracter is connect subtracting input with the input terminal of the square root extractor；The evolution
The output end of device is connect with the first input end of second multiplier；The input terminal of amplifier institute for receiving input
State the tach signal of the hub motor of balance car, second input terminal of the output end of the amplifier also with second multiplier
Connection, and the multiple of amplifier amplification isWherein, keIndicate back emf coefficient, RsIndicate the permanent magnet synchronous motor
Stator resistance；The third input terminal corrected parameter for receiving input of second multiplier, and second multiplier
Output end connect with the first input end of the selecting unit；The second input terminal and the voltage sample of the selecting unit
The output end of circuit connects, and the selecting unit is used to judge the voltage value more than or equal to the setting secure threshold
And when being less than the maximum charging voltage, the signal that second multiplier exports is sent to the vector control apparatus.
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| CN107193294B (en) * | 2017-07-14 | 2019-08-23 | 灵动科技（北京）有限公司 | Control method, device and the wheeled robot of wheeled robot driving motor |
| WO2019119407A1 (en) * | 2017-12-22 | 2019-06-27 | 深圳天轮科技有限公司 | Self-balancing vehicle motor safe control method and apparatus |
| CN108216461A (en) * | 2017-12-22 | 2018-06-29 | 深圳天轮科技有限公司 | Balancing bicycle motor method of controlling security and device |
| US10714957B1 (en) | 2019-09-03 | 2020-07-14 | Mazen Obeid | Charge state control system and device |
| CN111267626A (en) * | 2020-01-21 | 2020-06-12 | 浙江吉利新能源商用车集团有限公司 | Braking energy recovery method and system and electric automobile |
| CN111525861A (en) * | 2020-03-20 | 2020-08-11 | 致瞻科技(上海)有限公司 | Motor-based power system braking method, device and system and storage medium |
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