CN114834585B - Electric vehicle cart mode vehicle speed control method and device - Google Patents

Electric vehicle cart mode vehicle speed control method and device Download PDF

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Publication number
CN114834585B
CN114834585B CN202210625647.8A CN202210625647A CN114834585B CN 114834585 B CN114834585 B CN 114834585B CN 202210625647 A CN202210625647 A CN 202210625647A CN 114834585 B CN114834585 B CN 114834585B
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motor
value
target
driving torque
torque value
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CN114834585A (en
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陈衍钦
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Guangdong Gaobiao Intelligent Technology Co ltd
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Shenzhen Gobao Electronic Technology Co Ltd
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Priority to PCT/CN2022/102730 priority patent/WO2023231128A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The embodiment of the invention discloses a method and a device for controlling the speed of an electric car in a trolley mode. The method for controlling the speed of the electric car in the trolley mode comprises the following steps: determining a rotation speed estimated value of the middle motor and a rotation speed compensation value of the middle motor according to the target mechanical gear and the rear wheel vehicle speed; determining a rotation speed target value of the middle motor according to the rotation speed estimated value and the rotation speed compensation value; determining a motor target driving torque value of the middle motor according to the rotating speed target value and the actual rotating speed of the middle motor; and gradually adjusting the motor driving torque value of the middle motor to the target motor driving torque value within the preset time. According to the scheme, the speed adjustment can be converted into the speed target value adjustment of the central motor, so that the control accuracy of the low speed is improved.

Description

Electric vehicle cart mode vehicle speed control method and device
Technical Field
The embodiment of the invention relates to the technical field of electric vehicle control, in particular to a method and a device for controlling the speed of an electric vehicle in a trolley mode.
Background
With the gradual aggravation of global greenhouse effect, people have increasingly strong demands for environmental protection, wherein the exhaust emission of fuel vehicles is an important cause of the global greenhouse effect, and in order to respond to the concept of green environmental protection, electric bicycles are increasingly favored by people with the advantages of environmental protection and energy conservation.
The cart walking mode is one of important functions of the electric bicycle, and in the cart walking mode, the electric bicycle needs to provide auxiliary driving force for a user, so that the user can walk with the cart more easily. Therefore, the speed of the electric bicycle needs to be maintained at 6km/h in the cart walking mode.
At present, in order to reduce the manufacturing cost and the manufacturing structural complexity of the electric bicycle, the electric bicycle mainly adopts a low-precision wheel speed sensor to detect the speed of the vehicle in real time, so that the low-speed control of the electric bicycle is realized. But the problem of slow response speed exists in the control of the low speed of the electric bicycle by adopting the low-precision wheel speed sensor, so that the constant speed control of the electric bicycle is lagged, the speed limit of the electric bicycle is lagged, and the huge potential safety hazard exists. In addition, the conventional constant rotation speed control of the electric bicycle cart mode has the problem that the user experience is poor, and in order to enable the speed to reach the target speed, the conventional speed closed loop control is easy to enable a person to feel that the person is dragged by the cart.
Disclosure of Invention
The embodiment of the invention provides a method and a device for controlling the speed of an electric vehicle in a trolley mode, which improve the control precision of the low speed and the comfort of user experience on the premise of adopting a low-precision wheel speed sensor.
In a first aspect, an embodiment of the present invention provides a method for controlling a vehicle speed in a cart mode of an electric vehicle, including:
determining a rotation speed estimated value of the middle motor and a rotation speed compensation value of the middle motor according to the target mechanical gear and the rear wheel vehicle speed;
determining a rotation speed target value of the middle motor according to the rotation speed estimated value and the rotation speed compensation value;
determining a motor target driving torque value of the middle motor according to the rotating speed target value and the actual rotating speed of the middle motor;
and gradually adjusting the motor driving torque value of the middle motor to the target motor driving torque value within the preset time.
Optionally, the method for determining the rotation speed estimation value of the central motor comprises the following steps:
acquiring a target sprocket ratio of the middle motor according to a target mechanical gear;
and determining a rotation speed estimated value according to the speed of the rear wheel, the target sprocket ratio and the transmission ratio of the middle motor.
Optionally, after determining the target rotational speed value of the center motor, before determining the target motor driving torque value of the center motor, the method further includes:
determining the rotating speed range of the middle motor according to the target vehicle speed, the maximum mechanical gear, the minimum mechanical gear and the transmission ratio of the middle motor;
judging whether the rotating speed target value is in the rotating speed range or not;
if not, resetting the rotating speed target value according to the rotating speed range.
Optionally, the method for determining the rotation speed range of the central motor comprises the following steps:
acquiring a first sprocket ratio according to the maximum mechanical gear;
determining a maximum rotation speed value of the rotation speed of the middle motor according to the target vehicle speed, the transmission ratio and the first sprocket ratio;
acquiring a second sprocket ratio according to the minimum mechanical gear;
and determining the minimum rotation speed value of the rotation speed of the middle motor according to the target vehicle speed, the transmission ratio and the second chain wheel.
Optionally, the method for determining the target motor driving torque value of the central motor comprises the following steps:
acquiring the actual rotating speed of the middle motor;
obtaining a target difference value according to the rotating speed target value and the actual rotating speed of the middle motor;
and determining a motor target driving torque value according to the target difference value.
Optionally, the method for obtaining the actual rotation speed of the central motor comprises the following steps:
acquiring a mechanical angle of a current sampling period of the middle motor, a mechanical angle of a last sampling period of the middle motor and a sampling frequency of the mechanical angle of the middle motor;
and calculating the actual rotating speed of the middle motor according to the mechanical angle of the current sampling period of the middle motor, the mechanical angle of the last sampling period of the middle motor and the sampling frequency of the mechanical angle of the middle motor.
Optionally, the method for gradually adjusting the motor driving torque value of the central motor to the target motor driving torque value includes:
obtaining a maximum driving torque value of a motor according to the speed of a rear wheel;
in the process of gradually adjusting the motor driving torque value to the motor target driving torque value, judging whether the motor driving torque value after each adjustment is larger than the motor maximum driving torque value or not in real time;
if yes, outputting a maximum driving torque value;
otherwise, outputting the motor driving torque value.
Alternatively, the motor drive torque value varies linearly over a preset time until it is equal to the motor target drive torque value.
Optionally, the method for obtaining the maximum driving torque value of the motor comprises the following steps:
acquiring a relation curve of a maximum driving torque value of a rear wheel vehicle speed-motor;
and obtaining the maximum driving torque value of the motor according to the relation curve of the speed of the rear wheel vehicle and the maximum driving torque value of the motor and the speed of the rear wheel vehicle.
In a second aspect, an embodiment of the present invention further provides a device for controlling a vehicle speed in a cart mode of an electric vehicle, including:
the first determining module is used for determining a rotation speed estimated value of the middle motor and a rotation speed compensation value of the middle motor according to the target mechanical gear and the rear wheel vehicle speed;
the second determining module is used for determining a rotation speed target value of the middle motor according to the rotation speed estimated value and the rotation speed compensation value;
the third determining module is used for determining a motor target driving torque value of the middle motor according to the rotating speed target value and the actual rotating speed of the middle motor;
and the adjusting module is used for gradually adjusting the motor driving torque value of the middle motor to the target driving torque value of the motor in preset time.
According to the embodiment of the invention, the rotation speed estimated value of the middle motor and the rotation speed compensation value of the middle motor are determined according to the target mechanical gear and the rear wheel vehicle speed, so that the rotation speed estimated value of the middle motor can be conveniently adjusted subsequently. According to the rotation speed estimated value and the rotation speed compensation value, the rotation speed target value of the middle motor is determined, and the rotation speed target value of the middle motor can be indirectly obtained under the condition that the sprocket ratio is not known. And determining a motor target driving torque value of the middle motor according to the rotating speed target value and the actual rotating speed of the middle motor. In the preset time, the motor driving torque value of the middle motor is gradually adjusted to the motor target driving torque value, so that a user can not have obvious pulling sense in a cart mode, and the comfort of user experience is improved. In sum, the scheme can convert the adjustment of the vehicle speed into the adjustment of the rotating speed target value of the central motor, thereby improving the control precision of the low vehicle speed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a method for controlling a vehicle speed in a cart mode of an electric vehicle according to an embodiment of the present invention;
FIG. 2 is a graph showing the relationship between the speed of a rear wheel and a rotational speed compensation value according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of a method for determining a rotation speed estimation value of a center motor according to an embodiment of the present invention;
fig. 4 is a flowchart of a method for determining a rotation speed target value of the center motor according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of another method for controlling a vehicle speed in a cart mode of an electric vehicle according to an embodiment of the present invention;
fig. 6 is a flowchart of a method for determining a rotation speed range of a center motor according to an embodiment of the present invention;
fig. 7 is a flowchart of a method for determining a target motor driving torque value of a center motor according to an embodiment of the present invention;
fig. 8 is a flowchart of a method for obtaining an actual rotation speed of a center motor according to an embodiment of the present invention;
FIG. 9 is a flowchart of a method for gradually adjusting a motor driving torque value of a center motor to a target motor driving torque value according to an embodiment of the present invention;
FIG. 10 is a graph showing the relationship between the vehicle speed of the rear wheel and the maximum driving torque value of the motor according to the embodiment of the present invention;
fig. 11 is a schematic structural diagram of a loop control circuit according to an embodiment of the present invention;
fig. 12 is a schematic diagram of a result of a vehicle speed control device in a cart mode for an electric vehicle according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "object," "first," "second," and the like in the description and the claims of the present invention and the above drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a schematic flow chart of a method for controlling a vehicle speed in a cart mode of an electric vehicle, which is provided by an embodiment of the present invention, and the method may be implemented by a device for controlling a vehicle speed in a cart mode of an electric bicycle, and the device may be implemented in a hardware and/or software manner. The method specifically comprises the following steps:
s110, determining a rotation speed estimated value of the middle motor and a rotation speed compensation value of the middle motor according to the target mechanical gear and the rear wheel vehicle speed.
Specifically, the center motor refers to a driving motor mounted at a middle position (pedal position) of the electric bicycle body. The middle motor is connected with the body of the electric bicycle and is connected with the rear wheel through a plurality of chains, so that the power transmission of the driving motor to the rear wheel is realized. The middle motor comprises a plurality of mechanical gears, each different mechanical gear corresponds to a different chain connected with the rear wheel, and one mechanical gear can be selected as a target mechanical gear at will. For example, an intermediate gear of the electric bicycle may be selected as the target mechanical gear. The rear wheel vehicle speed can be acquired by a low-precision wheel speed sensor, and it is noted that the rear wheel vehicle speed acquired by the low-precision wheel speed sensor is inaccurate.
Because the specific gear and the actual speed of the current electric bicycle are not accurate values, the estimated value of the rotating speed of the middle motor calculated according to the target mechanical gear and the current speed is not the actual rotating speed of the current middle motor, is an estimated value of the rotating speed of the middle motor, and is convenient for subsequent adjustment on the basis of the estimated value of the rotating speed of the middle motor.
The rotation speed compensation value of the central motor can be obtained by searching a relation correspondence table of the speed of the rear wheel vehicle and the rotation speed compensation value or a relation graph of the speed of the rear wheel vehicle and the rotation speed compensation value according to the speed of the rear wheel vehicle. Wherein, the relation correspondence table of the rear wheel speed and the rotation speed compensation value or the relation graph of the rear wheel speed and the rotation speed compensation value, which are referred according to the rear wheel speed, are preset by a designer. Fig. 2 is a graph showing a relationship between a vehicle speed and a rotation speed compensation value of a rear wheel, wherein an abscissa represents the vehicle speed of the rear wheel and an ordinate represents the rotation speed compensation value. Fig. 2 includes three curves, namely, curve 210, curve 220 and curve 230, which are related to the speed of the rear wheel and the speed compensation value, and when the speeds of the rear wheel of the curves 210, 220 and 230 are too high or too low, the corresponding speed compensation values are the same, and when the speeds of the rear wheel of the curves 210, 220 and 230 are 6, the speed compensation values are all 0.
It should be noted that when the designer presets the relation curve between the speed of the rear wheel and the rotation speed compensation value, the relation curve between the speed of the rear wheel and the rotation speed compensation value is also stepped due to the fact that the speed of the rear wheel collected by the low-precision wheel speed sensor is stepped, and at the moment, the relation curve between the speed of the rear wheel and the rotation speed compensation value is more stable by combining the motor rotation speed estimation filter coefficient design filter, so that the rotation speed compensation values corresponding to different obtained rear wheel speeds are more stable, and the designed rotation speed compensation value follows the curve of the rear wheel speed more smoothly.
S120, determining a rotation speed target value of the middle motor according to the rotation speed estimated value and the rotation speed compensation value.
Specifically, every time the rear wheel rotates, a rising edge occurs on the wheel speed signal, when the rising edge is detected, the rear wheel speed is updated, the rotation speed compensation value is obtained through the updated relation curve between the rear wheel speed and the rotation speed compensation value, and the rotation speed target value of the center motor is determined according to the rotation speed estimation value and the rotation speed estimation value, namely, the rotation speed target value of the center motor is equal to the sum of the rotation speed estimation value and the rotation speed compensation value. Thus, the above-described process can indirectly obtain the target rotational speed value of the center motor without knowing the sprocket ratio.
It should be noted that: because the electric bicycle is driven by the rear wheel to run, the speed of the rear wheel of the electric bicycle is equal to the speed of the electric bicycle.
S130, determining a motor target driving torque value of the center motor according to the rotating speed target value and the actual rotating speed of the center motor.
The torque output by the motor is related to the rotating speed of the middle motor, so that the difference value between the rotating speed target value and the actual rotating speed of the middle motor can be calculated according to the rotating speed target value and the actual rotating speed of the middle motor, and the motor target driving torque value of the middle motor is determined according to the difference value between the rotating speed target value and the actual rotating speed of the middle motor.
And S140, gradually adjusting the motor driving torque value of the middle motor to the motor target driving torque value within the preset time.
Specifically, in order to enhance the comfort level of the user in the cart mode, the phenomenon that the central motor rotating speed timely follows the motor target driving torque value to generate obvious pulling sense under the closed-loop control of the motor rotating speed is avoided, the motor driving torque value of the central motor can be gradually adjusted to the motor target driving torque value within preset time, the rotating speed of the central motor is gradually adjusted, and accordingly the adjustment of the rotating speed of rear wheels, namely the adjustment of the vehicle speed, is achieved.
According to the embodiment of the invention, the rotation speed estimated value of the middle motor and the rotation speed compensation value of the middle motor are determined according to the target mechanical gear and the rear wheel vehicle speed, so that the rotation speed estimated value of the middle motor can be conveniently adjusted subsequently. According to the rotation speed estimated value and the rotation speed compensation value, the rotation speed target value of the middle motor is determined, and the rotation speed target value of the middle motor can be indirectly obtained under the condition that the sprocket ratio is not known. And determining a motor target driving torque value of the middle motor according to the rotating speed target value and the actual rotating speed of the middle motor. In the preset time, the motor driving torque value of the middle motor is gradually adjusted to the motor target driving torque value, so that a user can not have obvious pulling sense in a cart mode, and the comfort of user experience is improved. In sum, the scheme can convert the adjustment of the vehicle speed into the adjustment of the rotating speed target value of the central motor, thereby improving the control precision of the low vehicle speed.
For example, fig. 3 is a schematic flow chart of a method for determining a rotation speed estimated value of a center motor according to an embodiment of the present invention, and on the basis of the foregoing embodiment, the method for determining a rotation speed estimated value of a center motor is further described in detail:
s310, acquiring a target sprocket ratio of the middle motor according to the target mechanical gear.
Wherein the sprocket ratio is the rotation ratio between the chain of the rear wheel driven by the central motor and the rear wheel. For example, if the central motor drives the chain of the rear wheel to rotate one circle, the rear wheel also rotates one circle, and the sprocket ratio at the moment is 1:1. Each different mechanical gear of the central motor is connected with the rear wheel corresponding to a different chain, so that the chain driven by the central motor to rotate with the rear wheel can be determined according to the selected target mechanical gear, and the target sprocket ratio is determined.
S320, determining a rotation speed estimated value according to the speed of the rear wheels, the target sprocket ratio and the transmission ratio of the middle motor.
Specifically, the transmission ratio of the central motor refers to the angular velocity ratio between the mechanical gears that intermesh inside the motor. Rotational speed estimate = rear wheel vehicle speed × target sprocket ratio × gear ratio of the center motor.
In summary, the rotation speed estimated value can be estimated in advance by using the method, so that the subsequent adjustment is convenient on the basis of the rotation speed estimated value of the central motor, and the rotation speed target value meeting the requirement is obtained.
Fig. 4 is a schematic flow chart of a method for determining a rotation speed target value of a center motor according to an embodiment of the present invention, where the determination of the rotation speed target value of the center motor is further elaborated on the basis of the above embodiment:
s410, judging whether the rising edge of the wheel speed signal is detected. If yes, executing S420; if not, S410 is re-executed.
S420, determining a rotation speed compensation value of the central motor according to the speed of the rear wheel vehicle.
S430, determining a rotation speed target value of the middle motor according to the rotation speed estimated value and the rotation speed compensation value.
S440, determining the rotating speed range of the middle motor according to the target vehicle speed, the maximum mechanical gear, the minimum mechanical gear and the transmission ratio of the middle motor.
S450, judging whether the rotation speed target value is in the rotation speed range. If yes, then execute S470; if not, S460 is performed.
S460, resetting the rotating speed target value according to the rotating speed range.
S470, outputting a rotating speed target value.
In summary, after the rotation speed target value of the motor is determined, the rotation speed range of the middle motor is determined, and whether the estimated rotation speed target value is reasonable or not can be judged, so that the rationality of the subsequent steps is ensured.
Fig. 5 is a flow chart of another method for controlling the speed of an electric car in a cart mode, which specifically includes the following steps:
s510, determining a rotation speed estimated value of the middle motor and a rotation speed compensation value of the middle motor according to the target mechanical gear and the rear wheel vehicle speed.
S520, determining a rotation speed target value of the middle motor according to the rotation speed estimated value and the rotation speed compensation value.
S530, determining the rotating speed range of the middle motor according to the target vehicle speed, the maximum mechanical gear, the minimum mechanical gear and the transmission ratio of the middle motor.
The target vehicle speed is the speed to which the rear wheel vehicle speed needs to be adjusted. The maximum mechanical gear, the minimum mechanical gear and the transmission ratio of the middle motor of the electric bicycle are all known, so that the rotating speed range of the middle motor can be accurately obtained, and whether the estimated rotating speed estimation value is reasonable or not can be confirmed according to the rotating speed range of the middle motor.
S540, judging whether the rotation speed target value is in the rotation speed range.
If not, S550, resetting the rotating speed target value according to the rotating speed range.
It should be noted that: resetting the rotational speed target value requires taking a value in the rotational speed range.
S560, determining a motor target driving torque value of the center motor according to the rotation speed target value and the actual rotation speed of the center motor.
S570, gradually adjusting the motor driving torque value of the middle motor to the motor target driving torque value within the preset time.
In sum, the scheme can convert the adjustment of the vehicle speed into the adjustment of the rotating speed target value of the central motor, thereby improving the control precision of the low vehicle speed.
Fig. 6 is a schematic flow chart of a method for determining a rotation speed range of a center motor according to an embodiment of the present invention, and the method for determining a rotation speed range of a center motor is further described in detail on the basis of the above embodiment:
s610, acquiring a first sprocket ratio according to the maximum mechanical gear.
S620, determining the maximum rotating speed value of the rotating speed of the middle motor according to the target vehicle speed, the transmission ratio and the first sprocket ratio.
The target vehicle speed is the rear wheel vehicle speed to which adjustment is currently desired. Maximum rotational speed value of the center motor rotational speed=target vehicle speed gear ratio first sprocket ratio.
S630, acquiring a second sprocket ratio according to the minimum mechanical gear.
S640, determining the minimum rotation speed value of the rotation speed of the middle motor according to the target vehicle speed, the transmission ratio and the second sprocket.
Wherein, the minimum rotational speed value of the rotational speed of the center motor=target vehicle speed gear ratio second sprocket ratio.
In conclusion, the scheme can accurately determine the rotating speed range of the middle motor, so that whether the estimated rotating speed estimated value is reasonable or not is judged, and the rationality of the subsequent steps is ensured.
Fig. 7 is a schematic flow chart of a method for determining a target driving torque value of a motor of a center motor according to an embodiment of the present invention, where the method for determining the target driving torque value of the motor of the center motor is further described in detail on the basis of the above embodiment:
s710, acquiring the actual rotation speed of the middle motor.
S720, obtaining a target difference value according to the rotating speed target value and the actual rotating speed of the middle motor.
The difference value between the actual rotation speed of the middle motor and the target rotation speed value to be achieved, namely the target difference value, can be obtained by making a difference between the target rotation speed value and the actual rotation speed of the middle motor, and therefore the speed difference of the actual rotation speed of the middle motor, which needs to be adjusted, can be clearly obtained.
And S730, determining a target driving torque value of the motor according to the target difference value.
After the target difference value is obtained, the target difference value can be converted into a motor driving torque value to be adjusted, so that the current motor driving torque value of the motor can be adjusted to the motor target driving torque value, and the actual rotating speed of the middle motor can be adjusted to the rotating speed target value of the middle motor.
In summary, the above solution exemplarily illustrates a manner of adjusting the rotation speed of the center motor, and a designer may also implement the adjustment of the rotation speed of the center motor by other technical means, which is not limited in particular.
Fig. 8 is a schematic flow chart of a method for obtaining an actual rotation speed of a center motor according to an embodiment of the present invention, and on the basis of the above embodiment, the method for obtaining the actual rotation speed of the center motor is further described in detail:
s810, acquiring a mechanical angle of a current sampling period of the central motor, a mechanical angle of a last sampling period of the central motor and a sampling frequency of the mechanical angle of the central motor.
Specifically, the mechanical angle of the current sampling period of the central motor and the mechanical angle of the last sampling period of the central motor can be obtained through detection of a motor angle detection module. The sampling frequency of the mechanical angle of the central motor is the frequency of the mechanical angle of the central motor sampled by the motor angle detection module in unit time.
S820, calculating the actual rotating speed of the middle motor according to the mechanical angle of the current sampling period of the middle motor, the mechanical angle of the last sampling period of the middle motor and the sampling frequency of the mechanical angle of the middle motor.
For example, if the mechanical angle of the current sampling period of the center motor is X1, the mechanical angle of the last sampling period of the center motor is X2, and the sampling frequency of the mechanical angle of the center motor is f1, the actual rotation speed n of the center motor is:
Figure BDA0003677235990000131
in summary, the above solution illustrates an exemplary manner of calculating the actual rotation speed of the center motor, and a designer may also obtain the actual rotation speed of the center motor by using other technical means, which is not limited in particular.
Fig. 9 is a schematic flow chart of a method for gradually adjusting a motor driving torque value of a center motor to a motor target driving torque value according to an embodiment of the present invention, and the method for gradually adjusting the motor driving torque value of the center motor to the motor target driving torque value is further elaborated on the basis of the above embodiment:
s910, obtaining a maximum driving torque value of the motor according to the speed of the rear wheels.
Specifically, the motor maximum driving torque value can be obtained by searching a relation correspondence table of the rear wheel speed and the motor maximum driving torque value or a relation graph of the rear wheel speed and the motor maximum driving torque value according to the rear wheel speed. The relation table of the rear wheel speed and the motor maximum driving torque value or the relation graph of the rear wheel speed and the motor maximum driving torque value, which is referred according to the rear wheel speed, is preset by a designer.
S920, in the process of gradually adjusting the motor driving torque value to the motor target driving torque value, judging whether the motor driving torque value after each adjustment is larger than the motor maximum driving torque value or not in real time.
And S930, outputting a maximum driving torque value if the driving torque value is positive.
And S940, otherwise, outputting a motor driving torque value.
The motor driving torque value can not be directly adjusted to the motor target driving torque value in the process of gradually adjusting the motor driving torque value to the motor target driving torque value, so that a user is prevented from having obvious pull feeling in the process of pushing the cart, the user can naturally and comfortably walk along with the cart, and the experience feeling and the comfort level of the cart of the user are improved.
In conclusion, the scheme realizes the control of the starting force of the electric bicycle by controlling the output driving torque value of the electric bicycle.
Alternatively, there are various ways of gradually adjusting the motor driving torque value to the motor target driving torque value, and by way of example, the motor driving torque value is linearly changed within a preset time until it is equal to the motor target driving torque value.
Specifically, the preset motor drive torque value is a function that varies linearly over a preset time as follows:
Figure BDA0003677235990000151
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure BDA0003677235990000152
for motor drive torque value, T ecmd The motor driving torque value is a target motor driving torque value, K is a step length coefficient of the motor driving torque value changing along with time, and t is time.
Fig. 10 is a schematic flow chart of a method for obtaining a maximum driving torque value of a motor according to an embodiment of the present invention, where the method for obtaining the maximum driving torque value of the motor is further described in detail on the basis of the above embodiment:
s910, acquiring a relation curve of the maximum driving torque value of the rear wheel vehicle speed-motor.
Fig. 10 is a graph illustrating a relationship between a vehicle speed of a rear wheel and a maximum driving torque value of a motor according to an embodiment of the present invention. Wherein the abscissa is the speed of the rear wheels, and the ordinate is the maximum driving torque value of the motor. When the speed of the rear wheels is 0, the maximum driving torque value of the output motor is 50; when the rear wheel vehicle speed is greater than or equal to 6, the output motor maximum driving torque value is 0.
S920, obtaining the maximum driving torque value of the motor according to the relation curve of the speed of the rear wheel vehicle and the maximum driving torque value of the motor and the speed of the rear wheel vehicle.
It should be noted that: when a relation curve of the rear wheel speed and the motor maximum driving torque value is preset, a designer needs to consider the process of starting the electric bicycle on a steep slope, so that the motor maximum driving torque value corresponding to the lower rear wheel speed designed by the designer is not too small when the rear wheel speed is lower in order to start on the steep slope. Thus, it is necessary to follow a criterion that the lower the rear wheel vehicle speed is, the larger the maximum allowable torque is, and the smaller the maximum allowable torque is when the rear wheel vehicle speed approaches the target vehicle speed.
In summary, the scheme can limit the starting force of the electric bicycle by acquiring the maximum driving torque value of the motor.
Fig. 11 is a schematic structural diagram of a loop control circuit according to an embodiment of the present invention, as shown in fig. 11, specifically, a rear wheel vehicle speed input correction circuit 001 may output a rotation speed compensation value of a center motor. The rotation speed compensation value of the middle motor and the rotation speed estimation value of the middle motor are input into the summation circuit 002, and the rotation speed target value of the middle motor can be output. The rotation speed target value input rotation speed limiter circuit 003 of the center motor can judge whether the rotation speed target value of the center motor is in the rotation speed range or not, and output the rotation speed target value of the center motor in the rotation speed range. The target value of the rotation speed of the middle motor and the actual rotation speed of the middle motor are input into the difference circuit 004, and the target difference value can be output. The target difference input PI circuit may convert the target difference into a motor target drive torque value and output the motor target drive torque value. The motor target driving torque value input adjustment circuit 006 may adjust the motor driving torque value of the center motor to the motor target driving torque value step by step within a preset time. The motor drive torque value output by each adjustment is input to the torque limiter circuit 007, and the final motor drive torque value output can be determined.
Fig. 12 is a schematic diagram of the result of an electric vehicle cart mode vehicle speed control device according to an embodiment of the present invention, where the electric vehicle cart mode vehicle speed control device includes:
the first determining module 01 is used for determining a rotation speed estimated value of the middle motor and a rotation speed compensation value of the middle motor according to the target mechanical gear and the rear wheel vehicle speed;
a second determining module 02, configured to determine a rotation speed target value of the central motor according to the rotation speed estimated value and the rotation speed compensation value;
a third determining module 03, configured to determine a motor target driving torque value of the center motor according to the rotation speed target value and the actual rotation speed of the center motor;
and the adjusting module 04 is used for gradually adjusting the motor driving torque value of the middle motor to the target driving torque value of the motor in preset time.
According to the embodiment of the invention, the first determining module determines the rotation speed estimated value of the middle motor and the rotation speed compensation value of the middle motor according to the target mechanical gear and the rear wheel vehicle speed, so that the rotation speed estimated value of the middle motor can be conveniently adjusted subsequently. The second determining module determines a rotation speed target value of the middle motor according to the rotation speed estimated value and the rotation speed compensation value, and can indirectly obtain the rotation speed target value of the middle motor under the condition that the sprocket ratio is not known. And the third determining module determines a motor target driving torque value of the middle motor according to the rotating speed target value and the actual rotating speed of the middle motor. The adjusting module gradually adjusts the motor driving torque value of the middle motor to the motor target driving torque value within the preset time, so that a user does not have obvious pulling sense in a cart mode, and the comfort of user experience is improved. In sum, the scheme can convert the adjustment of the vehicle speed into the adjustment of the rotating speed target value of the central motor, thereby improving the control precision of the low vehicle speed.
Optionally, determining the first determination module includes:
the target sprocket ratio acquisition unit is used for acquiring a target sprocket ratio of the middle motor according to a target mechanical gear;
and the rotating speed estimation value determining unit is used for determining a rotating speed estimation value according to the rear wheel speed, the target sprocket ratio and the transmission ratio of the middle motor.
Optionally, the electric vehicle cart mode vehicle speed control device further includes: a judgment module, comprising:
the rotating speed range determining unit is used for determining the rotating speed range of the middle motor according to the target vehicle speed, the maximum mechanical gear, the minimum mechanical gear and the transmission ratio of the middle motor;
a first judging unit for judging whether the rotation speed target value is in the rotation speed range;
and the setting unit is used for resetting the rotating speed target value according to the rotating speed range if the rotating speed target value is not in the rotating speed range.
Optionally, the rotation speed range determining unit includes:
a first acquisition subunit for acquiring a first sprocket ratio according to a maximum mechanical gear;
the maximum rotation speed value determining subunit is used for determining the maximum rotation speed value of the rotation speed of the middle motor according to the target vehicle speed, the transmission ratio and the first sprocket ratio;
a second acquisition subunit for acquiring a second sprocket ratio according to the minimum mechanical gear;
and the minimum rotation speed value determining subunit is used for determining the minimum rotation speed value of the rotation speed of the middle motor according to the target vehicle speed, the transmission ratio and the second sprocket.
Optionally, the third determining module includes:
the actual rotating speed acquisition unit is used for acquiring the actual rotating speed of the middle motor;
the target difference value obtaining unit is used for obtaining a target difference value according to the rotating speed target value and the actual rotating speed of the middle motor;
and the motor target driving torque value determining unit is used for determining a motor target driving torque value according to the target difference value.
Optionally, the actual rotation speed acquisition unit includes:
the parameter acquisition subunit is used for acquiring the mechanical angle of the current sampling period of the central motor, the mechanical angle of the last sampling period of the central motor and the sampling frequency of the mechanical angle of the central motor;
and the central motor actual rotating speed calculating subunit is used for calculating the central motor actual rotating speed according to the mechanical angle of the current sampling period of the central motor, the mechanical angle of the last sampling period of the central motor and the sampling frequency of the mechanical angle of the central motor.
Optionally, the adjusting module includes:
the motor maximum driving torque value acquisition unit is used for acquiring a motor maximum driving torque value according to the speed of the rear wheels;
the second judging unit is used for judging whether the motor driving torque value after each adjustment is larger than the motor maximum driving torque value in real time in the process of gradually adjusting the motor driving torque value to the motor target driving torque value;
if yes, outputting a maximum driving torque value;
otherwise, outputting the motor driving torque value.
Alternatively, the motor drive torque value varies linearly over a preset time until it is equal to the motor target drive torque value.
Optionally, the motor maximum driving torque value acquisition unit includes:
a invoking subunit, configured to obtain a relationship curve of a maximum driving torque value of the rear wheel vehicle speed-motor;
and the motor maximum driving torque value obtaining subunit is used for obtaining the motor maximum driving torque value according to the relation curve of the rear wheel vehicle speed and the motor maximum driving torque value and the rear wheel vehicle speed.
The electric vehicle cart mode speed control device provided by the embodiment of the invention can execute the electric vehicle cart mode speed control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (9)

1. A cart-mode vehicle speed control method of an electric vehicle, comprising:
determining a rotation speed estimated value of the middle motor and a rotation speed compensation value of the middle motor according to the target mechanical gear and the rear wheel vehicle speed;
determining a rotation speed target value of the central motor according to the rotation speed estimated value and the rotation speed compensation value;
determining a motor target driving torque value of the center motor according to the rotating speed target value and the actual rotating speed of the center motor;
gradually adjusting the motor driving torque value of the middle motor to the target motor driving torque value within preset time;
the method for gradually adjusting the motor driving torque value of the middle motor to the target motor driving torque value comprises the following steps:
acquiring a maximum driving torque value of a motor according to the speed of the rear wheels;
in the process of gradually adjusting the motor driving torque value to a motor target driving torque value, judging whether the motor driving torque value after each adjustment is larger than the motor maximum driving torque value or not in real time;
if yes, outputting the maximum driving torque value;
otherwise, outputting the motor driving torque value.
2. The electric car cart mode vehicle speed control method according to claim 1, wherein the method of determining the rotation speed estimation value of the center motor includes:
acquiring a target sprocket ratio of the central motor according to the target mechanical gear;
and determining the rotation speed estimated value according to the rear wheel speed, the target sprocket ratio and the transmission ratio of the middle motor.
3. The electric car cart mode vehicle speed control method according to claim 1, characterized by further comprising, after determining the rotational speed target value of the center motor, before determining the motor target drive torque value of the center motor:
determining the rotating speed range of the middle motor according to the target vehicle speed, the maximum mechanical gear, the minimum mechanical gear and the transmission ratio of the middle motor;
judging whether the rotating speed target value is in the rotating speed range or not;
if not, resetting the rotating speed target value according to the rotating speed range.
4. The electric car cart mode vehicle speed control method according to claim 3, characterized in that the method of determining the rotation speed range of the center motor includes:
acquiring a first sprocket ratio according to the maximum mechanical gear;
determining a maximum rotation speed value of the rotation speed of the middle motor according to the target vehicle speed, the transmission ratio and the first sprocket ratio;
acquiring a second sprocket ratio according to the minimum mechanical gear;
and determining a minimum rotation speed value of the rotation speed of the middle motor according to the target vehicle speed, the transmission ratio and the second chain wheel.
5. The electric car cart mode vehicle speed control method according to claim 1, characterized in that the method of determining the motor target drive torque value of the center motor includes:
acquiring the actual rotating speed of the middle motor;
obtaining a target difference value according to the rotating speed target value and the actual rotating speed of the middle motor;
and determining a target driving torque value of the motor according to the target difference value.
6. The electric car cart mode vehicle speed control method according to claim 5, wherein the method of obtaining the actual rotation speed of the center motor includes:
acquiring a mechanical angle of a current sampling period of the central motor, a mechanical angle of a last sampling period of the central motor and a sampling frequency of the mechanical angle of the central motor;
and calculating the actual rotating speed of the middle motor according to the mechanical angle of the current sampling period of the middle motor, the mechanical angle of the last sampling period of the middle motor and the sampling frequency of the mechanical angle of the middle motor.
7. The electric car cart mode vehicle speed control method according to claim 1, wherein the motor drive torque value is linearly changed within the preset time until being equal to the motor target drive torque value.
8. The electric car cart mode vehicle speed control method according to claim 1, characterized in that the method of obtaining the motor maximum driving torque value includes:
acquiring a relation curve of a maximum driving torque value of a rear wheel vehicle speed-motor;
and obtaining the maximum driving torque value of the motor according to the relation curve of the maximum driving torque value of the rear wheel vehicle speed-motor and the rear wheel vehicle speed.
9. A cart-mode vehicle speed control device for an electric vehicle, comprising:
the first determining module is used for determining a rotation speed estimated value of the middle motor and a rotation speed compensation value of the middle motor according to the target mechanical gear and the rear wheel vehicle speed;
the second determining module is used for determining a rotation speed target value of the middle motor according to the rotation speed estimated value and the rotation speed compensation value;
the third determining module is used for determining a motor target driving torque value of the middle motor according to the rotating speed target value and the actual rotating speed of the middle motor;
the adjusting module is used for gradually adjusting the motor driving torque value of the middle motor to the target motor driving torque value within preset time;
the adjusting module is specifically used for:
acquiring a maximum driving torque value of a motor according to the speed of the rear wheels;
in the process of gradually adjusting the motor driving torque value to a motor target driving torque value, judging whether the motor driving torque value after each adjustment is larger than the motor maximum driving torque value or not in real time;
if yes, outputting the maximum driving torque value;
otherwise, outputting the motor driving torque value.
CN202210625647.8A 2022-06-02 2022-06-02 Electric vehicle cart mode vehicle speed control method and device Active CN114834585B (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN202210625647.8A CN114834585B (en) 2022-06-02 2022-06-02 Electric vehicle cart mode vehicle speed control method and device
PCT/CN2022/102730 WO2023231128A1 (en) 2022-06-02 2022-06-30 Speed control method and device for use in electric bicycle pushing mode
DE112022002517.4T DE112022002517T5 (en) 2022-06-02 2022-06-30 Method and device for controlling the speed in push mode of an electric bicycle

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Application Number Priority Date Filing Date Title
CN202210625647.8A CN114834585B (en) 2022-06-02 2022-06-02 Electric vehicle cart mode vehicle speed control method and device

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JP4118984B2 (en) * 1997-10-01 2008-07-16 本田技研工業株式会社 Electric assist bicycle
JP4509282B2 (en) * 2000-03-01 2010-07-21 本田技研工業株式会社 Electric bicycle
JP2012030767A (en) * 2010-07-29 2012-02-16 Aida Yukio Power-assisted bicycle
JP6479553B2 (en) * 2015-04-23 2019-03-06 ヤマハ発動機株式会社 Electric assist bicycle
JP2017114449A (en) * 2015-12-25 2017-06-29 株式会社シマノ Drive unit for bicycle, and control device of the same
DE102016209570B3 (en) * 2016-06-01 2017-08-24 Robert Bosch Gmbh Control method and control unit for adjusting a speed of the pushing aid of an electric bicycle
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JP7369531B2 (en) * 2019-03-05 2023-10-26 株式会社シマノ Control device for human-powered vehicles
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CN112550547A (en) * 2020-12-03 2021-03-26 北京六十六号互动科技有限公司 Power-assisted pushing control method and device for electric scooter and computer equipment
CN114475893B (en) * 2022-01-07 2024-05-10 上海钧正网络科技有限公司 Control method and device of riding equipment and riding equipment

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Address after: No. 3 Gongye West Road, Songshan Lake Park, Dongguan City, Guangdong Province, 523000

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Address before: No.3, Gongye West Road, Songshanhu high tech Industrial Development Zone, Dongguan City, Guangdong Province

Patentee before: SHENZHEN GOBAO ELECTRONIC TECHNOLOGY Co.,Ltd.