CN113650505A - Downhill automatic deceleration algorithm for electric golf cart - Google Patents
Downhill automatic deceleration algorithm for electric golf cart Download PDFInfo
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- CN113650505A CN113650505A CN202111081990.2A CN202111081990A CN113650505A CN 113650505 A CN113650505 A CN 113650505A CN 202111081990 A CN202111081990 A CN 202111081990A CN 113650505 A CN113650505 A CN 113650505A
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- 230000001172 regenerating effect Effects 0.000 claims abstract description 29
- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an automatic downhill deceleration algorithm for an electric golf cart, which comprises the following steps: s1, the form of the vehicle in the non-regenerative braking state; s2, judging whether the vehicle reaches the condition of regenerative braking, if so, executing a step S3, otherwise, returning to the step S1; s3, the form of the vehicle in the regenerative braking state; s4, judging whether the vehicle reaches the condition of canceling the regenerative braking, if so, returning to the step S1, and if not, returning to the step S3; the existing accelerator pedal, motor encoder and vehicle controller of the golf cart are completely utilized, and the regenerative braking current is controlled through software and algorithm to complete the deceleration of the golf cart; the safety of the golf cart in the downhill road section is improved.
Description
Technical Field
The invention relates to an automatic downhill deceleration algorithm for an electric golf cart.
Background
When the electric golf cart runs on a downhill slope in a mountain course, if the braking force of a mechanical brake is insufficient, the vehicle will slide faster and faster, and danger will occur.
Both disc brakes and drum brakes have the risk of insufficient braking force, such as when a downhill slope is steep, the vehicle is fully loaded, a multi-seat vehicle braking system still attacks a braking system using two ball vehicles, the braking system fails, and the like.
Disclosure of Invention
The invention aims to provide a downhill automatic deceleration algorithm of an electric golf cart, which solves the problems of quick brake response and brake force distribution (EBD), and has the advantages of low cost, simple structure, convenient installation process, no abrasion and almost no maintenance.
In order to achieve the purpose, the invention adopts the following scheme: an electric golf cart downhill automatic deceleration algorithm comprises the following steps:
s1, the form of the vehicle in the non-regenerative braking state;
s2, judging whether the vehicle reaches the condition of regenerative braking, if so, executing a step S3, otherwise, returning to the step S1;
s3, the form of the vehicle in the regenerative braking state;
and S4, judging whether the vehicle meets the condition of canceling the regenerative braking, if so, returning to the step S1, and if not, returning to the step S3.
Further, the condition of regenerative braking in step S2 is n-n0＞N；
Wherein, when no accelerator pedal signal exists, the initial rotating speed of the motor is n0；
At the initial speed n of the motor0After the motor runs for a monitoring time t, the real-time rotating speed of the motor is n;
and N is the rotating speed difference value of the real-time rotating speed of the motor and the initial rotating speed of the motor.
Further, the monitoring time t is constant and is set artificially according to the vehicle conditions and the application scene.
Further, the rotation speed difference value N is a constant and is artificially set according to the vehicle condition and the application scene.
Further, the condition for canceling the regenerative braking in step S4 is n-n0≤N。
In summary, the beneficial effects of the invention are as follows: the existing accelerator pedal, motor encoder and vehicle controller of the golf cart are completely utilized, and the regenerative braking current is controlled through software and algorithm to complete the deceleration of the golf cart; the safety of the golf cart in the downhill road section is improved.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
FIG. 2 is a second schematic flow chart of the present invention.
Detailed Description
The following detailed description provides many different embodiments or examples for implementing the invention. Of course, these are merely embodiments or examples and are not intended to be limiting. In addition, repeated reference numbers, such as repeated numbers and/or letters, may be used in various embodiments. These iterations are for simplicity and clarity of describing the present invention and are not intended to represent a particular relationship between the various embodiments and/or configurations discussed.
The invention is further described in the following figures and detailed description: an electric golf cart downhill automatic deceleration algorithm comprises the following steps:
s1, the form of the vehicle in the non-regenerative braking state;
s2, judging whether the vehicle reaches the condition of regenerative braking, if so, executing a step S3, otherwise, returning to the step S1;
s3, the form of the vehicle in the regenerative braking state;
and S4, judging whether the vehicle meets the condition of canceling the regenerative braking, if so, returning to the step S1, and if not, returning to the step S3.
The condition of regenerative braking in step S2 is n-n0N is greater than; the condition for canceling the regenerative braking in step S4 is n-n0≤N。
Wherein, when no accelerator pedal signal exists, the initial rotating speed of the motor is n0；
At the initial speed n of the motor0After the motor runs for a monitoring time t, the real-time rotating speed of the motor is n;
and N is the rotating speed difference value of the real-time rotating speed of the motor and the initial rotating speed of the motor.
Setting the magnitude of regenerative current according to the magnitude of the rotation speed difference, and setting the magnitude of regenerative current IR＝f(n-n0) Thereby controlling the magnitude of the regenerative braking force and completing the deceleration of the golf vehicle.
The invention fully utilizes the special regenerative braking of the electric vehicle, in a variable-frequency speed regulation system, the speed reduction and the stop of the motor are realized by gradually reducing the running frequency, the synchronous rotating speed of the motor is reduced at the moment of reducing the frequency of the frequency converter, but the rotating speed of a rotor of the motor is not changed due to mechanical inertia, or the rotating speed change of the motor has certain time lag, the actual rotating speed is larger than the given rotating speed, so that the situation that the counter electromotive force of the motor is higher than the direct-current end voltage of the frequency converter is generated, at the moment, the motor becomes a generator, but does not consume the electric energy of a battery, but can transmit the electric energy to the battery through a special energy feedback unit of the frequency converter, thereby having good braking effect, converting the kinetic energy into the electric energy, and transmitting the electric energy to the battery to achieve the effect of recovering the energy.
Therefore, when the cost is not increased, the existing accelerator pedal, the motor encoder and the vehicle controller of the golf cart are completely utilized, and the regenerative braking current is controlled to complete the deceleration of the golf cart through software and an algorithm; the safety of the golf cart in the downhill road section is improved.
In the invention, the monitoring time t and the rotating speed difference value N are constants and can be artificially set according to the vehicle condition and the application scene.
While there have been shown and described the fundamental principles and principal features of the invention and advantages thereof with reference to the drawings, it will be understood by those skilled in the art that the invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. An electric golf cart downhill automatic deceleration algorithm is characterized by comprising the following steps:
s1, the form of the vehicle in the non-regenerative braking state;
s2, judging whether the vehicle reaches the condition of regenerative braking, if so, executing a step S3, otherwise, returning to the step S1;
s3, the form of the vehicle in the regenerative braking state;
and S4, judging whether the vehicle meets the condition of canceling the regenerative braking, if so, returning to the step S1, and if not, returning to the step S3.
2. The downhill automatic deceleration algorithm for an electric golf cart according to claim 1, wherein: the condition of regenerative braking in step S2 is n-n0＞N；
Wherein, when no accelerator pedal signal exists, the initial rotating speed of the motor is n0；
At the initial speed n of the motor0After the motor runs for a monitoring time t, the real-time rotating speed of the motor is n;
and N is the rotating speed difference value of the real-time rotating speed of the motor and the initial rotating speed of the motor.
3. The downhill automatic deceleration algorithm for an electric golf cart according to claim 2, wherein: the monitoring time t is constant and is set artificially according to the vehicle condition and the application scene.
4. The downhill automatic deceleration algorithm for an electric golf cart according to claim 2, wherein: the rotating speed difference value N is a constant and is artificially set according to the vehicle condition and the application scene.
5. The downhill automatic deceleration algorithm for an electric golf cart according to claim 2, wherein: the condition for canceling the regenerative braking in step S4 is n-n0≤N。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111081990.2A CN113650505B (en) | 2021-09-15 | 2021-09-15 | Automatic deceleration algorithm for downhill of electric golf cart |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111081990.2A CN113650505B (en) | 2021-09-15 | 2021-09-15 | Automatic deceleration algorithm for downhill of electric golf cart |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113650505A true CN113650505A (en) | 2021-11-16 |
| CN113650505B CN113650505B (en) | 2024-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111081990.2A Active CN113650505B (en) | 2021-09-15 | 2021-09-15 | Automatic deceleration algorithm for downhill of electric golf cart |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08256401A (en) * | 1995-03-17 | 1996-10-01 | Nippon Yusoki Co Ltd | Speed control device for electric vehicle |
| CN103248281A (en) * | 2013-04-18 | 2013-08-14 | 奇瑞汽车股份有限公司 | Electric automobile overspeed protection control method and system and electric automobile |
| CN106394254A (en) * | 2016-12-05 | 2017-02-15 | 潍柴动力股份有限公司 | Hill descent control method and device applied to electric automobile |
| CN106427600A (en) * | 2015-08-07 | 2017-02-22 | 舍弗勒技术股份两合公司 | Downhill auxiliary driving device for electrically driven automobile and control method |
| CN107310428A (en) * | 2017-06-14 | 2017-11-03 | 北京新能源汽车股份有限公司 | Control method and device based on electric vehicle |
| CN109687810A (en) * | 2018-12-19 | 2019-04-26 | 上海伊控动力***有限公司 | A kind of pure electric vehicle logistic car prevents the method for controlling number of revolution of Motor Over Speed |
| CN113276684A (en) * | 2021-06-30 | 2021-08-20 | 江铃汽车股份有限公司 | Sliding energy recovery control method for electric automobile |
-
2021
- 2021-09-15 CN CN202111081990.2A patent/CN113650505B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08256401A (en) * | 1995-03-17 | 1996-10-01 | Nippon Yusoki Co Ltd | Speed control device for electric vehicle |
| CN103248281A (en) * | 2013-04-18 | 2013-08-14 | 奇瑞汽车股份有限公司 | Electric automobile overspeed protection control method and system and electric automobile |
| CN106427600A (en) * | 2015-08-07 | 2017-02-22 | 舍弗勒技术股份两合公司 | Downhill auxiliary driving device for electrically driven automobile and control method |
| CN106394254A (en) * | 2016-12-05 | 2017-02-15 | 潍柴动力股份有限公司 | Hill descent control method and device applied to electric automobile |
| CN107310428A (en) * | 2017-06-14 | 2017-11-03 | 北京新能源汽车股份有限公司 | Control method and device based on electric vehicle |
| CN109687810A (en) * | 2018-12-19 | 2019-04-26 | 上海伊控动力***有限公司 | A kind of pure electric vehicle logistic car prevents the method for controlling number of revolution of Motor Over Speed |
| CN113276684A (en) * | 2021-06-30 | 2021-08-20 | 江铃汽车股份有限公司 | Sliding energy recovery control method for electric automobile |
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| CN113650505B (en) | 2024-01-30 |
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