CN203172455U - Controller used for driving hub-type micro blade electric vehicle - Google Patents
Controller used for driving hub-type micro blade electric vehicle Download PDFInfo
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- CN203172455U CN203172455U CN2013201078466U CN201320107846U CN203172455U CN 203172455 U CN203172455 U CN 203172455U CN 2013201078466 U CN2013201078466 U CN 2013201078466U CN 201320107846 U CN201320107846 U CN 201320107846U CN 203172455 U CN203172455 U CN 203172455U
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- 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
- Y02T10/64—Electric machine technologies in electromobility
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Abstract
The utility mode discloses a controller for driving a hub-type micro blade electric vehicle. The controller for driving the hub-type micro blade electric vehicle comprises a single chip microcomputer, a left-side bridge-type motor drive circuit and a right-side bridge-type motor drive circuit. The single chip microcomputer is provided with an A/D interface, a CAP position capturing unit, an I/O interface, an interrupt protecting unit and a left-side motor pulse generation unit and a right-side motor pulse generation unit. The left-side motor pulse generation unit and the right-side motor pulse generation unit are connected with the left-side bridge-type motor drive circuit and the right-side bridge-type motor drive circuit respectively through an amplifying drive circuit. A capacitor is connected between the left-side bridge-type motor drive circuit and the right-side bridge-type motor drive circuit in parallel. Direct-current buses of the left-side bridge-type motor drive circuit and the right-side bridge-type motor drive circuit are connected with the A/D interface through a pressure sensor. The output ends of the left-side bridge-type motor drive circuit and the right-side bridge-type motor drive circuit are simultaneously connected with hub motors and voltage current Hall sensors on the same sides respectively, wherein a hub motor on each side is connected with the I/O interface through a rotating sped sensor, and is further connected with the CAP position capturing unit through a rotor position signal sensor.
Description
Technical field
The utility model belongs to the electric vehicle engineering field, relates to a kind of controller for the miniature pure electric automobile driving of hub-type.
Background technology
Increasingly serious along with energy shock, energy-saving and emission-reduction, the research and development new forms of energy vehicle become the focus of current automotive research to substitute the traditional combustion engine car, and various electronlmobils are come out one after another.
Electronlmobil can be divided into centralized and distributed according to distribution form.Distributed electric automobile (claiming the hub-type electric automobile again) actuating device comprises that mainly storage battery, inverter and electric drive wheel (drive motor and wheel closely integrated and form) three parts form, because each electric drive wheel can be controlled separately, has the characteristic of being convenient to regulate.
Current, the driving governor of the miniature pure electric automobile of hub-type that drives for double rear wheel, the modes that adopt a motor of a controller control more, master controller links to each other by high-speed CAN bus with driving governor before, be that master controller is according to chaufeur wish and information of vehicles, calculate two motors rotating speed of target separately, motor drive controller instructs according to master controller and adjusts motor speed separately.Like this, need to use high-speed CAN bus to carry out the information real-time exchange between two controllers, be unfavorable for the coordination control of car load, cause the vehicle control system cost too high, especially double-motor coordination control problem is more outstanding when vehicle bend travels, and has restricted the development of electronlmobil industry.
The utility model content
The utility model provides a kind of controller for the miniature pure electric automobile driving of hub-type, solve double rear wheel of the prior art and driven the mode that miniature electric automobile adopts a master controller and two driving governor Collaborative Control, the vehicle cost that causes increases, the control difficulty raises, be difficult to realize the two-shipper coordination, especially the problem of double-motor coordination control when vehicle bend travels.
The technical solution adopted in the utility model is: a kind of controller for the miniature pure electric automobile driving of hub-type, comprise that a micro controller system, left motor drive bridge circuit and right motor drives bridge circuit,
Described micro controller system externally is provided with A/D interface, CAP position capturing unit, I/O interface, interrupts protected location, left motor pulse generation unit and right motor pulse generation unit, and left motor pulse generation unit drives bridge circuit by an amplification driving circuit and left motor and is connected; Right motor pulse generation unit drives bridge circuit by another amplification driving circuit and right motor and is connected; Left motor drives between bridge circuit and the right motor driving bridge circuit and is parallel with an electric capacity, and the DC bus-bar voltage that left motor drives bridge circuit and right motor driving bridge circuit is connected with the A/D interface of micro controller system by voltage sensor;
The mouth that left motor drives bridge circuit is connected with the electric current and voltage Hall element simultaneously with the left side wheel hub motor respectively, the left side wheel hub motor is connected with the I/O interface by tachogen, and the left side wheel hub motor is connected with CAP position capturing unit by the rotor-position signal sensor in addition;
The mouth that right motor drives bridge circuit is connected with another electric current and voltage Hall element simultaneously with the right side wheel hub motor respectively, the right side wheel hub motor is connected with the I/O interface by another tachogen, and the right side wheel hub motor also is connected with CAP position capturing unit by another rotor-position signal sensor.
The beneficial effects of the utility model are:
1) this controller can be realized just commentaries on classics, the counter-rotating of motor according to the steering command of chaufeur, and the control electronlmobil advances or retreats.
2) this controller is according to the opening value signal of electronic accelerator pedal output, and the actual speed of each wheel hub controls each wheel hub motor, and the control vehicle accelerates or slows down.
3) during vehicle movement, controller, is controlled each wheel hub motor and is obtained rational electronic differential steering wheel angle instruction and each wheel hub motor of acceleration pedal opening value signal control according to chaufeur.
4) this controller is different from the mode that a traditional controller is controlled a chaptrel hub motor, realized that a controller realizes the driving control to two motors simultaneously, eliminated the CAN bus communication problem between two motor control units, simplified the coordination control of two motors, saved vehicle space, reduce the vehicle cost, shortened the R﹠D cycle.
Description of drawings
Fig. 1 is the structural representation of the utility model driving governor.
Among the figure; 1. accelerator pedal sensor, 2. speed-slackening signal sensor, 3. angular signal sensor; 4. voltage sensor; 5. tachogen, 6. rotor-position signal sensor, 7. electric current and voltage Hall element; 8.A/D interface; 9.CAP the position capture unit, the 10.I/O interface, 11. interrupt protected location; 12. left motor pulse generation unit; 13. right motor pulse generation unit, 14. left motor fault detection units, 15. right motor fault detection units; 16. ignition signal; 17.PRD pin, 18. amplification driving circuits, 19. left motor drive bridge circuit; 20. right motor drives bridge circuit; 21. the left side wheel hub motor, 22. right side wheel hub motors, 23. controllers.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the utility model is elaborated.
With reference to Fig. 1, the structure that the utility model is used for the controller of the miniature pure electric automobile driving of hub-type is, mainly comprise a micro controller system and a left side, the three phase full bridge driving circuit of right two motors (is that left motor drives bridge circuit 19 and right motor drives bridge circuit 20, micro controller system externally is provided with A/D interface 8, CAP position capturing unit 9, I/O interface 10, interrupt protected location 11, left motor pulse generation unit 12 and right motor pulse generation unit 13, left motor pulse generation unit 12 drive bridge circuit 19 by an amplification driving circuit 18 and left motor and are connected; Right motor pulse generation unit 13 drives bridge circuit 20 by another amplification driving circuit 18 and right motor and is connected; Left motor drives between bridge circuit 19 and the right motor driving bridge circuit 20 and is parallel with an electric capacity, and the DC bus-bar voltage that left motor drives bridge circuit 19 and right motor driving bridge circuit 20 all is connected with the A/D interface 8 of micro controller system by voltage sensor 4;
The mouth that left motor drives bridge circuit 19 is connected with electric current and voltage Hall element 7 simultaneously with left side wheel hub motor 21 respectively, left side wheel hub motor 21 is connected with I/O interface 10 by tachogen 5, and left side wheel hub motor 21 is connected with CAP position capturing unit 9 by rotor-position signal sensor 6 in addition;
The mouth that right motor drives bridge circuit 20 is connected with another electric current and voltage Hall element 7 simultaneously with right side wheel hub motor 22 respectively, right side wheel hub motor 22 is connected with I/O interface 10 by another tachogen 5, and right side wheel hub motor 22 also is connected with CAP position capturing unit 9 by another rotor-position signal sensor 6;
In addition; I/O interface 10 is connected with PRD pin 17 simultaneously with ignition signal 16 respectively; interrupt protected location 11 and be connected simultaneously with right motor fault detection unit 15 with left motor fault detection unit 14 respectively, A/D interface 8 also is connected with accelerator pedal sensor 1, speed-slackening signal sensor 2 and angular signal sensor 3 respectively simultaneously.
Module takes place in the PWM that left motor pulse generation unit 12 and right motor pulse generation unit 13 models are respectively CCU60 unit, CCU62 unit.
Left side wheel hub motor 21 and right side wheel hub motor 22 are all selected permanent-magnet brushless DC electric machine for use.
PRD pin 17 is used for selecting to stop, retreats, progress signal.
The micro controller system model is the XE164-FM of Infineon, controller 23 is the embedded controller based on the XE164 of Infineon-FM micro controller system, Infineon's XE164-FM micro controller system is at brshless DC motor, have special-purpose multi-channel Hall pattern, have very big advantage aspect the control of brshless DC motor and the realization.
Principle of work of the present utility model is,
As shown in Figure 1, the aperture of accelerator pedal sensor 1 reflects the requirement of driver requested acceleration and deceleration, speed-slackening signal sensor 2 reflection chaufeur brake commands, the angle that angular signal sensor 3 reflection bearing circle rotate, ignition signal 16 indication firing commands, PRD lever signal 17 reflection vehicles should be in and advance, retreat the state that still stops, above-mentioned signal actv. has been passed on the subjectivity instruction of chaufeur, and voltage-current sensor 7, tachogen 5, rotor-position sensor 6 is used for gathering the automobile correlation parameter, controller calculates the motor rotating speed of target according to the chaufeur wish that collects and automobile correlation parameter, utilize two pulse generation unit (parts 12 and 13) to send 12 road PWM waveforms simultaneously, by driving the dutycycle of the switching valve of bridge circuit (parts 19 and 20) about changing, the voltage that applies on two armature windings about adjusting, and then reach the purpose of coordinating the control rotating speed.
Controller of the present utility model, can be according to the calculation of parameter motor rotating speed of target of driver command and automobile self, two 6 road pwm pulse generating units (parts 12 and 13) that adopt micro controller system to have, send 12 road PWM waveforms simultaneously, the voltage that applies on two armature windings about adjusting, can realize the driving control of two motors (parts 21 and 22) simultaneously, be convenient to realize that two electrical motors coordinate control, solve the CAN communication issue between two motor-driven control units.
Claims (2)
1. one kind is used for the controller that the miniature pure electric automobile of hub-type drives, and it is characterized in that: comprise that a micro controller system, left motor drive bridge circuit (19) and right motor drives bridge circuit (20),
Described micro controller system externally is provided with A/D interface (8), CAP position capturing unit (9), I/O interface (10), interrupts protected location (11), left motor pulse generation unit (12) and right motor pulse generation unit (13);
Described left motor pulse generation unit (12) drives bridge circuit (19) by an amplification driving circuit (18) and left motor and is connected;
Described right motor pulse generation unit (13) drives bridge circuit (20) by another amplification driving circuit (18) and right motor and is connected;
Described left motor drives between bridge circuit (19) and the right motor driving bridge circuit (20) and is parallel with an electric capacity, and the DC bus-bar voltage that left motor drives bridge circuit (19) and right motor driving bridge circuit (20) all is connected with the A/D interface (8) of micro controller system by voltage sensor (4);
The mouth that described left motor drives bridge circuit (19) is connected with electric current and voltage Hall element (7) simultaneously with left side wheel hub motor (21) respectively, left side wheel hub motor (21) is connected with I/O interface (10) by tachogen (5), and left side wheel hub motor (21) is connected with CAP position capturing unit (9) by rotor-position signal sensor (6) in addition;
The mouth that described right motor drives bridge circuit (20) is connected with another electric current and voltage Hall element (7) simultaneously with right side wheel hub motor (22) respectively, right side wheel hub motor (22) is connected with I/O interface (10) by another tachogen (5), and right side wheel hub motor (22) also is connected with CAP position capturing unit (9) by another rotor-position signal sensor (6).
2. the controller that drives for the miniature pure electric automobile of hub-type according to claim 1; it is characterized in that: described I/O interface (10) is connected with PRD pin (17) simultaneously with ignition signal (16) respectively; interrupt protected location (11) and be connected simultaneously with right motor fault detection unit (15) with left motor fault detection unit (14) respectively, A/D interface (8) also is connected with accelerator pedal sensor (1), speed-slackening signal sensor (2) and angular signal sensor (3) respectively simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013201078466U CN203172455U (en) | 2013-03-11 | 2013-03-11 | Controller used for driving hub-type micro blade electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013201078466U CN203172455U (en) | 2013-03-11 | 2013-03-11 | Controller used for driving hub-type micro blade electric vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN203172455U true CN203172455U (en) | 2013-09-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013201078466U Expired - Fee Related CN203172455U (en) | 2013-03-11 | 2013-03-11 | Controller used for driving hub-type micro blade electric vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105634338A (en) * | 2014-11-07 | 2016-06-01 | 湖南南车时代电动汽车股份有限公司 | Dual-motor control system, dual-motor controller and coordination control method thereof |
| CN106364368A (en) * | 2016-10-10 | 2017-02-01 | 河北工业大学 | Control system of electric vehicle based on two hub motors |
| CN109050349A (en) * | 2018-08-23 | 2018-12-21 | 西安理工大学 | A kind of two-wheel drive electric car with active differential control |
| WO2023000984A1 (en) * | 2021-07-20 | 2023-01-26 | 中国第一汽车股份有限公司 | Hub motor control system, control method, tire, and driving device |
-
2013
- 2013-03-11 CN CN2013201078466U patent/CN203172455U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105634338A (en) * | 2014-11-07 | 2016-06-01 | 湖南南车时代电动汽车股份有限公司 | Dual-motor control system, dual-motor controller and coordination control method thereof |
| CN105634338B (en) * | 2014-11-07 | 2018-08-17 | 湖南南车时代电动汽车股份有限公司 | Double Motor Control System, Double Motor Control device and its control method for coordinating |
| CN106364368A (en) * | 2016-10-10 | 2017-02-01 | 河北工业大学 | Control system of electric vehicle based on two hub motors |
| CN109050349A (en) * | 2018-08-23 | 2018-12-21 | 西安理工大学 | A kind of two-wheel drive electric car with active differential control |
| WO2023000984A1 (en) * | 2021-07-20 | 2023-01-26 | 中国第一汽车股份有限公司 | Hub motor control system, control method, tire, and driving device |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130904 Termination date: 20160311 |
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| CF01 | Termination of patent right due to non-payment of annual fee |