CN115503683B - Hybrid power motorcycle and stopping method and device thereof - Google Patents
Hybrid power motorcycle and stopping method and device thereof Download PDFInfo
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- CN115503683B CN115503683B CN202211446449.1A CN202211446449A CN115503683B CN 115503683 B CN115503683 B CN 115503683B CN 202211446449 A CN202211446449 A CN 202211446449A CN 115503683 B CN115503683 B CN 115503683B
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- 238000012545 processing Methods 0.000 claims abstract description 8
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- 230000001360 synchronised effect Effects 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 3
- 238000012790 confirmation Methods 0.000 claims description 2
- 230000006870 function Effects 0.000 description 5
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- 238000010586 diagram Methods 0.000 description 4
- 238000002485 combustion reaction Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/15—Control strategies specially adapted for achieving a particular effect
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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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/009—Electrical control of supply of combustible mixture or its constituents using means for generating position or synchronisation signals
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/04—Introducing corrections for particular operating conditions
- F02D41/042—Introducing corrections for particular operating conditions for stopping the engine
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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
- B60L2200/00—Type of vehicles
- B60L2200/24—Personal mobility vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Automation & Control Theory (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
The invention discloses a hybrid power motorcycle and a shutdown method and a shutdown device thereof, wherein the method comprises the steps of judging whether a vehicle is in a deceleration vehicle condition before the vehicle is stopped according to a vehicle signal; when the condition of the deceleration vehicle is judged, judging the mechanical position of the compression stroke according to the speed fluctuation of the motor; after the mechanical position is judged, recording the running angle of the motor by recording the change times of the rising edge and the falling edge of the Hall position sensor until the motor stops; determining the final stop position of the motor relative to the maximum resistance point of the compression stroke by using the edge change times; and processing the obtained change times of the edges of the Hall position sensor, converting the change times into relative mechanical angles relative to a compression stroke, switching a motor controller into a position control loop, and driving the engine to stop at a resistance minimum point through a motor. The invention can control the stop position of the motor at the minimum resistance point, and avoid the phenomena of starting unsmooth and failed starting when the motor drives the engine to start.
Description
Technical Field
The invention relates to the field of hybrid motorcycles, in particular to a hybrid motorcycle and a stopping method and device thereof.
Background
The traditional fuel motorcycle has the advantages of high cruising ability, convenience in traveling and the like, and has a large market. However, with the increasingly prominent problems of greenhouse effect, energy shortage and the like, the electric motorcycle is gradually transformed to the electric motorcycle, but due to the technical limitation of batteries, the electric motorcycle is difficult to reach the level of the traditional motorcycle in the aspect of endurance mileage, and is difficult to popularize and develop in a large area in a short period. Therefore, the concept of the hybrid power motorcycle is provided, namely the cruising ability of the fuel vehicle is kept, the energy is saved, the environment is protected, and the development prospect is bright.
The hybrid power motorcycle is started by driving an engine by a motor, the engine of the hybrid power motorcycle is generally a four-stroke internal combustion engine, and one working cycle is divided into four working strokes, namely an air suction stroke, a compression stroke, a working stroke and an exhaust stroke. The engine is subjected to different resistances in four strokes, wherein the resistance is the largest at the top dead center of the compression stroke. When the vehicle stops, the engine stops near the top dead center of the compression stroke, which may cause the phenomena of excessive starting current, unsmooth starting and even failed starting caused by excessive resistance when the next motor drives the engine to start.
Disclosure of Invention
In view of the above, the present invention provides a hybrid motorcycle and a method and a device for stopping the hybrid motorcycle, so as to solve the above problems.
The embodiment of the invention provides a hybrid power motorcycle stopping method, which comprises the following steps:
s1: judging whether the vehicle is in a speed reduction vehicle condition before parking according to the whole vehicle signal;
s2: when the vehicle is judged to be in a deceleration vehicle condition, judging the mechanical position of a compression stroke according to the speed fluctuation of the motor;
s3: after the mechanical position of the compression stroke is successfully judged, recording the change times of the rising edge and the falling edge of the Hall position sensor until the motor stops, and obtaining the change times of the edges;
s4: after the motor stops, processing by using the recorded edge change times of the Hall position sensor to obtain a relative mechanical angle of the current stop position of the motor relative to the mechanical position of a compression stroke and a specific position of the current stop position of the motor in the stroke of the engine;
s5: and switching a motor controller to a position control loop, and driving the engine to run and stop at the minimum resistance point through the motor according to the relative mechanical angle and the specific position.
Preferably, the method further comprises the following steps:
if the determination of the mechanical position of the compression stroke fails, after the motor speed is reduced to 300rpm, the motor controller is controlled to output a constant torque, the motor is maintained to operate at a low speed of 300rpm, and the mechanical position of the compression stroke is determined again.
Preferably, step S1 specifically includes:
whether the vehicle is in a normal low-speed running condition or a deceleration condition before stopping is judged according to a flameout signal of the whole vehicle.
Preferably, when the electric machine drags the engine to run at constant torque or reduced speed through the mechanical positions of the compression stroke, the speed fluctuations will be significantly higher than the other three strokes.
Preferably, the motor is a 6-antipodal permanent magnet synchronous motor with a hall position sensor, the angle transmitted by the hall position sensor is an electrical angle, the 6-antipodal permanent magnet synchronous motor runs for a circle of electrical angle, the hall position sensor has 6 edge changes, and the hall position sensor has 36 edge changes when running for a circle of mechanical angle.
Preferably, the ratio of the rotational speeds of the motor and the engine is 1.
Preferably, step S4 is specifically:
setting the obtained edge change times as X1, dividing X1 by 36, wherein the quotient is X2 and the remainder is X3; wherein X2 represents the number of turns of the motor, and X3 represents the relative mechanical angle between the current stop position and the zero point; when the mechanical position of the compression stroke is successfully determined, defining the mechanical position as a zero point of a mechanical angle;
determining the current stop position of the motor to be positioned at the specific position of the stroke of the engine through the parameters X2 and X3; when X2 is an even number, the motor stops at the position of the power stroke or the exhaust stroke; when X2 is an odd number, the motor stops at either the suction stroke or the compression stroke position.
Preferably, step S5 is specifically:
when X2 is even number, operating the angle of 36-X3, and when X2 is odd number, operating the angle of-X3, thereby stopping the final stop position of the motor to the exhaust stroke top dead center; the resistance is the largest at the top dead center of the compression stroke and the resistance is the smallest at the top dead center of the exhaust stroke.
The embodiment of the invention also provides a hybrid power motorcycle stopping device, which comprises:
the vehicle condition judging unit is used for judging whether the vehicle is in a deceleration vehicle condition before parking according to the whole vehicle signal;
a stroke determination unit for determining a mechanical position of a compression stroke according to a speed fluctuation of the motor when it is determined that the vehicle is in a deceleration state;
the recording unit is used for recording the change times of the rising edge and the falling edge of the Hall position sensor after the mechanical position of the compression stroke is successfully judged until the motor stops, and obtaining the change times of the edges;
the stop position confirming unit is used for processing by utilizing the recorded edge change times of the Hall position sensor after the motor stops to obtain the relative mechanical angle of the current stop position of the motor relative to the mechanical position of the compression stroke and the specific position of the current stop position of the motor in the stroke of the engine;
and the driving unit is used for switching the motor controller to a position control loop and driving the engine to run and stop at the minimum resistance point through the motor according to the relative mechanical angle and the specific position.
The embodiment of the invention also provides a hybrid motorcycle, which comprises a memory and a processor, wherein the memory stores a computer program, and the computer program can be executed by the processor to realize the shutdown method.
In conclusion, the motor stopping position can be controlled to be at the minimum resistance point when the motorcycle stops, the phenomena of starting unsmooth and even starting failure caused by the fact that the motor drives the engine to start are avoided, and the function method is applicable to all hybrid motorcycles without adding extra equipment.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for stopping a hybrid motorcycle according to a first embodiment of the present invention;
FIG. 2 is a graph of four operating strokes of an engine provided in accordance with an embodiment of the present invention;
FIG. 3 is a flowchart illustrating exemplary operation of stopping the motor to a minimum resistance point according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a hybrid motorcycle stopping device according to a second embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a first embodiment of the present invention provides a hybrid motorcycle stopping method, executable by a hybrid motorcycle, and in particular, executed by one or more processors within the hybrid motorcycle, to implement the steps of:
s1, judging whether the vehicle is in a speed reduction vehicle condition before parking according to the vehicle signal.
In the present embodiment, since the stop process of the hybrid motorcycle is required, it is necessary to previously determine whether or not the operation of stopping the hybrid motorcycle is performed. Among them, it is known that the hybrid motorcycle undergoes a deceleration before the stop, but the deceleration may be normal low-speed running, and therefore it is necessary to distinguish whether the deceleration before the stop is normal low-speed running.
Specifically, it is possible to determine whether the vehicle is in a normal low-speed running condition or in a deceleration condition before stopping, based on a key-off signal of the entire hybrid motorcycle.
S2: when the vehicle is judged to be in a deceleration condition, the mechanical position of the compression stroke is judged according to the speed fluctuation of the motor.
Specifically, in the present embodiment, the engine is a four-stroke internal combustion engine, and one power cycle is divided into four working strokes, namely, an intake stroke, a compression stroke, a power stroke, and an exhaust stroke. The compression stroke is a stroke with the largest resistance of the four-stroke engine, when the motor drives the engine (the rotating speed ratio of the motor to the engine is 1) to run at constant torque or reduced speed to pass through the compression stroke position, the fluctuation of the rotating speed is obviously higher than that of the other three strokes, and therefore, the mechanical position of the compression stroke can be judged through the amplitude of the speed fluctuation of the motor.
For example, a preset amplitude threshold may be set, and when the amplitude of the motor speed fluctuation is greater than the amplitude threshold, the mechanical position currently in the compression stroke is determined.
S3: after the mechanical position is successfully judged, the running angle of the motor is recorded by recording the change times of the rising edge and the falling edge of the Hall position sensor until the motor stops.
In this embodiment, the motor is a 6-antipodal permanent magnet synchronous motor with a hall position sensor, the angle transmitted by the hall position sensor is an electrical angle, the 6-antipodal permanent magnet synchronous motor runs for a circle of electrical angle, the hall position sensor has 6 edge changes, and the hall position sensor has 36 edge changes when running for a circle of mechanical angle.
In the embodiment, the reason why the operation angle before the motor stops is recorded by recording the rising edge and the falling edge of the hall position sensor instead of recording the operation angle by the electrical angle transmitted by the hall position sensor is that the angle fitting of the hall position sensor at the low-speed part is not accurate, so that more accurate results can be obtained by recording the angle by recording the edge change times of the hall position sensor.
In this embodiment, if the determination of the mechanical position fails, when the motor speed drops to 300rpm, the motor controller will output a constant torque, maintain the motor running at a low speed of 300rpm, and then re-determine the mechanical position of the compression stroke within a preset time (e.g. within 2 s), i.e. within 10 revolutions of the motor.
Wherein, when the mechanical position of the compression stroke is redetermined, the motor drives the engine to operate at 300RPM, because the vehicle is provided with the CVT device, and only if the engine speed is greater than 2000RPM, the vehicle is driven to rotate, so that the vehicle is in a standstill state during the redetermination process, and when the mechanical position of the compression stroke is redetermined, the motor controller stops outputting the torque, and the motor stops.
S4: and after the motor stops, processing by using the recorded edge change times of the Hall position sensor to obtain the relative mechanical angle of the current stop position of the motor relative to the mechanical position of the compression stroke and the specific position of the current stop position of the motor in the stroke of the engine.
S5: and switching a motor controller to a position control loop, and driving the engine to run and stop at the minimum resistance point through the motor according to the relative mechanical angle and the specific position.
Specifically, in the present embodiment, when the mechanical position of the compression stroke is successfully determined, this mechanical position is defined as the zero point of the mechanical angle; and then starting to record the edge change times in the motor deceleration until the motor stops, and processing the recorded edge change times of the Hall position sensor after the recording is finished to obtain the relative mechanical angle of the current stop position of the motor relative to the mechanical position of the compression stroke and the specific position of the current stop position of the motor in the stroke of the engine.
Specifically, as shown in fig. 3, the obtained edge change number is X1 (that is, the edge change number in the period from the motor deceleration to the motor stop is X1), X1 is divided by 36 (36 is the edge change number of the hall position sensor when the motor runs for one week), the quotient is X2, and the remainder is X3; x2 represents the number of turns of the motor operation and X3 represents the position of the current stop position from the zero point.
Then, by the parameters X2, X3, it can be determined at which stroke of the engine the motor stop position is located at a specific position. When X2 is an even number, namely the motor stops at the position of a power stroke or an exhaust stroke, and when X2 is an odd number, the motor stops at the position of an air suction stroke or a compression stroke, and the top dead center resistance is the largest in the compression stroke and the bottom dead center resistance in the exhaust stroke is the smallest, if the stop position of each stop is set at the top dead center position of the exhaust stroke, when X2 is an even number, the stop position is firstly switched to a position control loop, and the stop position is operated by an angle of 36-X3 through the position control loop. And when the X2 is an odd number, the motor is operated by an angle of minus X3, so that after the maximum resistance point is determined, the motor can be operated again to avoid the maximum resistance point, and the motor is stopped to the minimum resistance point, namely the exhaust stroke top dead center.
The position control loop is also referred to as a position loop. The motion servo is generally a three-loop control system, and comprises a current loop, a speed loop and a position loop from inside to outside in sequence. The position ring for motion control is the outermost ring, and is generally controlled by controlling a current ring and a speed ring, and the position of a control target (such as a motor) is controlled by controlling the position ring, so that the position is stably moved to a specified position.
In conclusion, the motor can be controlled to stop at the point with the minimum resistance when the motorcycle stops, the phenomena of unsmooth starting and even failed starting caused by overlarge resistance when the motor drives the engine to start are avoided, and additional equipment is not required to be added in the embodiment, so that the motor is suitable for all hybrid motorcycle platforms.
Referring to fig. 4, a second embodiment of the present invention further provides a stop device for a hybrid motorcycle, including:
the vehicle condition judging unit 210 is configured to judge whether the vehicle is in a deceleration vehicle condition before parking according to the vehicle signal;
a stroke determining unit 220 for determining a mechanical position of a compression stroke according to a speed fluctuation of the motor when it is determined that the vehicle is in a deceleration state;
the recording unit 230 is used for recording the change times of the rising edge and the falling edge of the Hall position sensor after the mechanical position of the compression stroke is successfully judged until the motor stops, and obtaining the change times of the edges;
a stop position confirmation unit 240, configured to perform processing using the recorded edge change times of the hall position sensor after the motor stops, to obtain a relative mechanical angle of the current stop position of the motor with respect to the mechanical position of the compression stroke and a specific position of the current stop position of the motor in the stroke of the engine;
and the driving unit 250 is used for switching the motor controller to a position control loop and driving the engine to run and stop at the minimum resistance point through the motor according to the relative mechanical angle and the specific position.
A third embodiment of the invention also provides a hybrid motorcycle comprising a memory and a processor, the memory having stored therein a computer program executable by the processor to implement the shutdown method as described above.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus and method embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A method of stopping a hybrid motorcycle, comprising the steps of:
s1: judging whether the vehicle is in a speed reduction vehicle condition before parking according to the whole vehicle signal;
s2: when the vehicle is judged to be in a deceleration vehicle condition, judging the mechanical position of a compression stroke according to the speed fluctuation of the motor;
s3: after the mechanical position of the compression stroke is successfully judged, recording the change times of the rising edge and the falling edge of the Hall position sensor until the motor stops, and obtaining the change times of the edges;
s4: after the motor stops, processing by using the recorded edge change times of the Hall position sensor to obtain a relative mechanical angle of the current stop position of the motor relative to the mechanical position of a compression stroke and a specific position of the current stop position of the motor in the stroke of the engine; the motor is a 6-antipodal permanent magnet synchronous motor with a Hall position sensor, the angle transmitted by the Hall position sensor is an electrical angle, the 6-antipodal permanent magnet synchronous motor runs for a circle of electrical angle, the Hall position sensor has 6 edge changes, and the Hall position sensor has 36 edge changes when running for a circle of mechanical angle; step S4 specifically includes: setting the obtained edge change times as X1, dividing X1 by 36, wherein the quotient is X2 and the remainder is X3; wherein X2 represents the number of turns of the motor, and X3 represents the relative mechanical angle between the current stop position and the zero point; when the mechanical position of the compression stroke is successfully determined, the mechanical position is defined as a zero point of a mechanical angle; determining the current stop position of the motor to be positioned at the specific position of the stroke of the engine through the parameters X2 and X3; when X2 is an even number, the motor stops at the position of the power stroke or the exhaust stroke; when X2 is an odd number, the motor stops at the position of an air suction stroke or a compression stroke;
s5: and switching the motor controller to a position control loop, and driving the engine to run and stop at the minimum resistance point through the motor according to the relative mechanical angle and the specific position.
2. A hybrid motorcycle stopping method according to claim 1, further comprising:
if the mechanical position of the compression stroke is judged to be failed, after the speed of the motor is reduced to 300rpm, the motor controller is controlled to output constant torque, the motor is maintained to operate at the low speed of 300rpm, and the mechanical position of the compression stroke is judged again.
3. A hybrid motorcycle stopping method according to claim 1, wherein step S1 specifically comprises:
whether the vehicle is in a normal low-speed running condition or a deceleration condition before stopping is judged according to a flameout signal of the whole vehicle.
4. The hybrid motorcycle stopping method according to claim 1,
when the electric machine is driving the engine through the mechanical positions of the compression strokes, either at constant torque or at reduced speed, the speed fluctuations will be significantly higher than for the other three strokes.
5. A hybrid motorcycle stopping method according to claim 1, wherein the ratio of the rotation speed of the motor to the rotation speed of the engine is 1.
6. A hybrid motorcycle stopping method according to claim 1, wherein step S5 is specifically:
when X2 is even number, operating at an angle of 36-X3, and when X2 is odd number, operating at an angle of-X3, thereby stopping the final stop position of the motor to the exhaust stroke top dead center; the resistance is the largest at the top dead center of the compression stroke and the resistance is the smallest at the top dead center of the exhaust stroke.
7. A hybrid motorcycle stopping device, characterized by comprising:
the vehicle condition judging unit is used for judging whether the vehicle is in a deceleration vehicle condition before parking according to the whole vehicle signal;
a stroke determination unit for determining a mechanical position of a compression stroke according to a speed fluctuation of the motor when it is determined that the vehicle is in a deceleration vehicle condition;
the recording unit is used for recording the change times of the rising edge and the falling edge of the Hall position sensor after the mechanical position of the compression stroke is successfully judged until the motor stops, and obtaining the change times of the edges;
the stop position confirming unit is used for processing by utilizing the recorded edge change times of the Hall position sensor after the motor stops to obtain a relative mechanical angle of the current stop position of the motor relative to the mechanical position of the compression stroke and a specific position of the current stop position of the motor in the stroke of the engine; the motor is a 6-antipodal permanent magnet synchronous motor with a Hall position sensor, the angle transmitted by the Hall position sensor is an electrical angle, the 6-antipodal permanent magnet synchronous motor runs for a circle of electrical angle, the Hall position sensor has 6 edge changes, and the Hall position sensor has 36 edge changes when running for a circle of mechanical angle; the stop position confirmation unit 4 is specifically configured to: setting the obtained edge change times as X1, dividing X1 by 36, wherein the quotient is X2 and the remainder is X3; wherein X2 represents the number of turns of the motor, and X3 represents the relative mechanical angle between the current stop position and the zero point; when the mechanical position of the compression stroke is successfully determined, defining the mechanical position as a zero point of a mechanical angle; determining the current stop position of the motor to be positioned at the specific position of the stroke of the engine through the parameters X2 and X3; when X2 is an even number, the motor stops at the position of the power stroke or the exhaust stroke; when X2 is an odd number, the motor stops at the position of an air suction stroke or a compression stroke;
and the driving unit is used for switching the motor controller to a position control loop and driving the engine to run and stop at the minimum resistance point through the motor according to the relative mechanical angle and the specific position.
8. A hybrid motorcycle, characterized by comprising a memory in which a computer program is stored and a processor, said computer program being executable by said processor to implement the shut-down method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211446449.1A CN115503683B (en) | 2022-11-18 | 2022-11-18 | Hybrid power motorcycle and stopping method and device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211446449.1A CN115503683B (en) | 2022-11-18 | 2022-11-18 | Hybrid power motorcycle and stopping method and device thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115503683A CN115503683A (en) | 2022-12-23 |
| CN115503683B true CN115503683B (en) | 2023-02-28 |
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| CN115503683A (en) | 2022-12-23 |
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Effective date of registration: 20240606 Address after: 361000 no.12-12, Wenbin Road, Jimei District, Xiamen City, Fujian Province Patentee after: XIAMEN WISE ELECTRICAL TECHNOLOGY Co.,Ltd. Country or region after: China Address before: No.269, Chenghua North Road, Quanzhou City, Fujian Province, 362000 Patentee before: HUAQIAO University Country or region before: China |