201115903 六、發明說明： 【發明所屬之技術領域】 本發明係針對目前電動二輪車柄馬達動力系統不易兼顧低速高扭力輸 出及最π轉速$到電池電壓限制的缺點所提出的關於—種具有變速功能之 馬達控制紐及其方法，_是魏達成⑽速高扭力，並轉高轉速時 仍有適虽的扭力輸出的馬達控制器技術，並特別適用於不易取得較高電源 電壓如電動二輪車輛的應用場合。 _【先前技術】 目則之直流有刷馬達及直流無刷馬達縣具有轉矩及轉速容易控制的 特點’已被廣泛運用在目前的許多工業應用及電動二輪車輛的驅動系統 上，然而對於電動二輪車輛或是其他需要使用電池作為電源供應的應用場 合來說，電源電壓已被電池的串聯數所決定了； 而基本上，馬賴輸出扭力和繞組輸人電流成正比，但是馬達的最高 轉速卻是受限於電源電壓，如圖一所示之用的騎控制器架構，其中最大 •馬達輸出扭力是由馬達繞組、磁路設計及驅動電流所決定，同理，最大轉 速也是由馬達！之設計及電池2之電壓所_住，其基杨力輸崎性如 圖二所示； 再以馬達的基本工作原理來說明，輪出扭力與馬達相（線）電流之關係 如下： τ (扭力）=Kt (扭力常數(馬達相電流） 至於其轉速與電源電壓之關係如下： ω (轉速）=& (轉速常數）*Va (馬達相電壓） 3 201115903 因此為達収夠的扭力輸出，除了提供足夠的相電流外否則即須靠 麵減速Lx提升輸出扭力。喊高姆删絲可能提升輸出担力， 但因大電机駆動下’主要的馬達損失為繞組之銅損，而繞組銅損之公式如 下， pc (銅損）=ia2 (馬達相電流）xRp (繞組組抗） 其中知失乃為馬達相電流的付倍，嚴重織其效率，並造成馬達大 置的’皿升’甚而㈣馬達壽命，因此對於電動二輪車輛的運用而言，須同 時具備高扭力錢高轉速的特性，除雜職械變速系統以得麟泛的扭 力與速度細’知意味著需要付出相當的成本及空跡加人機械變速系 統；若要達到更高的速度，則必财聯更多的電池組，同時pwM/換相控 制電路3要能控制馬達相電流驅動電路4來提供馬達繞組相當大的電流以 產生足夠的扭力輸出。然而越多的電池串聯數代表著電池系㈣管理複雜 X升n而在低迷大電流的操作條件下，較高的電池電壓也將導致較大的 切換損失； 因此若要同時兼顧低速的大扭力輸出以及最高轉速的要求便需要使 用較大規格的馬達，或者必須搭配使用機械變速系統，如此一來勢必增加 重量及體積’當然也必須付出額外的成本。 由此可見’以上種種難題在移動式載具如電動二輪車輛的應用上更是 一大阻礙，因此如何發展出可使用較低的電源電壓，較小的體積及較低的 、本而可取代傳統機械變速馬達控制器，即為目前相關產業界巫思 解決的課題。 本案發明人鑑於上述習用之方法所衍生的各項缺點，乃丞思加以改良 201115903 之馬達控 創新’並Μ年苦心孤㉝潛心、研究後，來完成本件具有變速功能 制系統及其方法。 【發明内容】 、本發月之目的即在於提供一種具有變速功能之馬達控制系統及其方 法係為了月b達到同時具備低轉速大扭力及工作範圍需延伸至高轉速 達控制系統； ^ 本發明之次要目的即在於提供—種具錢速功能之馬達㈣系統及其 方法’係為了可使用較低電池電壓，並且在馬達的轉速提高到—定程度以 時可將輸入電壓升兩（不需要串聯電池來提高輸入電壓），以及使用相 角提前的換相技術以維持高轉速時仍有適當的扭力輸出，以適應整個寬廣 的工作範圍需求。 達成上述發明目的之具有變速功能之馬達控·統及其方法，係包含 了狀〜、控制模组、一直流/直流升壓轉換模組 '一馬達相電流驅模組、 -馬達、-相電流_模減__電祕應歡，其中該電源供應模組提供 較低電池電壓’並且在馬達的轉速提高到__定程度以上時（藉由機械減速 系統可將較小的扭力及較高的轉速轉換成較大的扭力及較低的轉速，但顯 而易見的是最高轉速將受到影響，除非改採變魏置），再藉由—個直流/ 直流升壓轉雜纟赠輸人電壓升糾及藉㈣狀馳麵組使帛相角提前 的換相技術，以維持電動二輪車輛馬達動力系統高轉速時仍有適當的扭力 輸出； 更具體的說，當電動二輪車輛馬達動力系統在輸出足夠的扭力時，仍 維持在適當的效率範圍内，因此利用直流/直流升壓轉換器，適當提高轉速 s- 5 201115903 至所希望的工作速度範圍，並可改善低速大扭力的卫作鱗，更可破保能 達到足夠的工作速度，且不需複雜的機械變速系統； 更具體的說，所述直流/直流升壓轉換模組之輸出電壓可依據目標轉速 而凋整，如此在低轉速大扭力時，可操作在較低的工作電壓，相較於直接 使用高電壓（即串連較多電池)並操作在低速高扭力條件下，其巾所使用之 開關元件的損失及所承受的電氣應力健較輕；同時因為無需—直啟動直 流/直流升壓轉換模組，也可減少該直流/直断壓轉換模_損失，而當 馬達轉速漸漸升高後，_電流將隨之下降，馬達控制系統將操作在高電 壓低電流的工作條件。 更具體的說，所述馬達相電流驅動模組所需之輸入電壓（即直流/直流 升壓轉換模組之輸出賴）會制馬料性參數、轉速、溫度、甚至是所要 輸出扭力的大袖有所影響，計算上若要考慮所有影_料，將造成該 控制單元運算㈣的增加，若是賴運算和硬_反應速度甚至路況因素 交互作用時，更有可能產生系統不穩㈣疑慮。況且電動二輪車輛受限於 成本因素通常無法細運算能力非倾大之難戦單晶絲處理相關的 複雜運算。因此本發明只需針對馬達之轉速，在需要操作於較原最高轉速 更高的工錄‘_，流升祕賴魄升電源供應模組之電 壓’並於加速或減速時適當的設定轉速磁滯區間，藉由加速時的切換電壓 命令轉速設定點較減速時的切換電壓命令轉速設定點為高的方式直接得 到馬達相電流驅動模組之驅動電源電壓目標值，因此本發明不需考慮其它 因素，僅需簡單的控制方法，即可用較低的成本達成上述性能改昱之目的。 201115903 更具體的說，若欲使直流無刷馬達於較高轉速域時進一步有較大的動 力輸出，除上述使用直流/直流升壓轉換模組提高馬達相電流驅動模組的輸 入電壓外，可再結合相角提前的換相技術，使馬達在一定轉速以上時，利 用軟體程式使馬達在換相點位置感應器訊號產生之前，主動提前驅動馬達 的下一相繞組，達成弱磁控制的效果，可進一步提升約；30%的馬達操作轉 速範圍。 更具體的說’雖然本發明採用無感測器（Sensoriess)換相技術達成提 ® 前換相的功能，但因此功能僅操作於較高轉速域，此時馬達系統已蓄積較 大的轉動動能，不會瞬間改變轉速，因此較零轉速啟動或全程使用無感測 器換相技術的可靠度高出許多。 【實施方式】 請參閱圖三為本發明具有變速功能之馬達控制系統及其方法之系統架 構圖，如圖中所示，其中係包括： 一馬達5，係内建一馬達繞組，可傳送相位及速度訊號；另外該馬達5 可為直流有刷馬達、直流無刷馬達、交流馬達及輪穀式馬達等馬達裝置； 一控制命令接收端6，負責接收控制該馬達5的轉速命令或轉矩命令； 一狀態控制模組7，係接收外部控制命令接收端6轉速或轉矩控制命 令，及馬達5所傳送之相位及速度訊號，及馬達相電流偵測模組u所回授 之偵測訊號，並依據命令或偵測訊號來決定PWM的開度及換相順序，並可 將控制訊號輸出至直流/直流升壓轉換模組9及馬達相電流驅動模組1〇，致 使直流/直流升壓轉換模組9可按照需求提高輸出電壓或按照需求使馬達相 電流驅動模組10達成提前換相的功能；201115903 VI. Description of the Invention: [Technical Field of the Invention] The present invention relates to a short-speed high-torque output and a low-speed high-torque output and the most π-rotational-to-battery voltage limitation of the electric two-wheeled shank motor power system. The motor control button and its method, _ is Wei Da (10) speed and high torque, and the motor controller technology with suitable torque output when turning high speed, and is especially suitable for the difficult to obtain higher power supply voltage such as electric two-wheeled vehicles. Application. _[Prior Art] The DC brush motor and DC brushless motor county have the characteristics of easy control of torque and speed. 'It has been widely used in many industrial applications and drive systems for electric two-wheeled vehicles, but for electric In the case of a two-wheeled vehicle or other applications that require the use of a battery as a power supply, the supply voltage is determined by the number of series connections of the battery; basically, the output torque of the Malay is proportional to the input current of the winding, but the maximum speed of the motor However, it is limited by the power supply voltage, as shown in Figure 1. The maximum motor output torque is determined by the motor winding, magnetic circuit design and drive current. Similarly, the maximum speed is also controlled by the motor! The design and the voltage of the battery 2 are stored, and the base Yang force is as shown in Figure 2. The basic working principle of the motor is used to illustrate that the relationship between the torque of the wheel and the motor phase (line) is as follows: τ ( Torque) = Kt (torque constant (motor phase current) The relationship between the speed and the power supply voltage is as follows: ω (speed) = & (speed constant) * Va (motor phase voltage) 3 201115903 Therefore, the torque output is sufficient. In addition to providing sufficient phase current, it is necessary to reduce the output torque by the surface deceleration Lx. Shouting the high-cut wire may increase the output force, but the main motor loss is the copper loss of the winding, and the winding The formula for copper loss is as follows, pc (copper loss) = ia2 (motor phase current) xRp (winding group resistance) where the loss is the duty of the motor phase current, severely weaving its efficiency, and causing the motor to be placed 'Even (4) motor life, so for the operation of electric two-wheeled vehicles, it must have the characteristics of high torque and high speed. In addition to the torque and speed of the special gear shifting system, it means that it needs to pay quite a bit. cost And the track plus the mechanical shifting system; if you want to achieve higher speed, you must connect more battery packs, and the pwM/commutation control circuit 3 should be able to control the motor phase current drive circuit 4 to provide a considerable motor winding. The current is generated to generate sufficient torque output. However, the more battery serial numbers represent the battery system (4) management complex X liter n, under the operating conditions of low current and high current, the higher battery voltage will also lead to greater switching loss; Therefore, if you want to combine the low-speed high-torque output and the maximum speed, you need to use a larger motor, or you must use a mechanical shifting system. This will increase the weight and volume. Of course, you must pay extra cost. It can be seen that the above problems are even more obstacles in the application of mobile vehicles such as electric two-wheeled vehicles. Therefore, how to develop a lower power supply voltage, smaller size and lower, can replace the traditional The mechanical variable speed motor controller is the subject of the current industry-related Wu Si. The inventor of the present invention The shortcomings of this month are the improvement of the motor control innovation of 201115903, and the painstaking function of the system and its methods after the study. Providing a motor control system with a shifting function and a method thereof for achieving a low torque and a large torque and a working range extending to a high speed control system for the month b; ^ The second object of the present invention is to provide a money speed function The motor (four) system and its method' is designed to use a lower battery voltage, and the input voltage can be increased by two when the motor speed is increased to a certain level (no need to connect the battery to increase the input voltage), and the phase angle is used. Advance commutation techniques to maintain high torques still have the proper torque output to accommodate the entire wide operating range. The motor control system and the method thereof having the shifting function for achieving the above object include a control unit, a DC/DC boost converter module, a motor phase current drive module, a motor, and a phase. The current_mode is reduced __Electricity, where the power supply module provides a lower battery voltage' and when the motor speed is increased above __ (the mechanical torque reduction system can be used for smaller torque and The high speed is converted into a larger torque and a lower speed, but it is obvious that the maximum speed will be affected, unless it is changed, and then the DC voltage is converted by a DC/DC boost. The rectification and borrowing (four) shape of the face group makes the phase change angle advance the commutation technology to maintain the appropriate torque output when maintaining the high speed of the electric two-wheeled vehicle motor power system; more specifically, when the electric two-wheeled vehicle motor power system is When sufficient torque is output, it is still within the proper efficiency range. Therefore, the DC/DC boost converter is used to appropriately increase the speed s-5 201115903 to the desired operating speed range, and the low speed and large twist can be improved. The force scale of the guard can also achieve sufficient working speed without complicated mechanical shifting system; more specifically, the output voltage of the DC/DC boost converter module can be withdrawn according to the target speed. In this way, at low speed and high torque, it can operate at a lower operating voltage, compared to the direct use of high voltage (ie, more batteries in series) and operating under low speed and high torque conditions, the switching elements used in the towel The loss and electrical stress suffered are relatively light; at the same time, because there is no need to directly start the DC/DC boost converter module, the DC/straight-break converter mode loss can be reduced, and when the motor speed is gradually increased, The current will drop and the motor control system will operate at high voltage and low current operating conditions. More specifically, the input voltage required by the motor phase current driving module (ie, the output of the DC/DC boost converter module) will have a large horsepower parameter, a rotational speed, a temperature, and even a large output torque. Sleeve has an impact, if you want to consider all the shadows in the calculation, it will cause the increase of the control unit (4). If the Lai operation and the hard _ reaction speed or even the road condition interaction, it is more likely to cause system instability (4) doubts. Moreover, the electric two-wheeled vehicle is limited by the cost factor, and it is usually difficult to calculate the complicated operation related to the processing of the single crystal wire. Therefore, the present invention only needs to be directed to the rotational speed of the motor, and needs to operate at a higher working speed than the original maximum rotational speed, and appropriately set the rotational speed hysteresis interval during acceleration or deceleration. The driving power supply voltage target value of the motor phase current driving module is directly obtained by the switching voltage command at the acceleration switching speed setting point being higher than the switching voltage commanding the rotation speed setting point during the deceleration, so the present invention does not need to consider other factors. With the simple control method, the above performance improvement can be achieved at a lower cost. 201115903 More specifically, if the DC brushless motor is to have a larger power output in the higher speed range, in addition to using the DC/DC boost converter module to increase the input voltage of the motor phase current drive module, The commutation technique can be combined with the phase angle advancement to make the motor drive the motor to the next phase winding before the commutation point position sensor signal is generated when the motor is above a certain speed. The effect can be further improved by about 30% of the motor operating speed range. More specifically, although the present invention uses the sensorless commutation technology to achieve the pre-transformation function, the function is only operated in the higher speed range, at which time the motor system has accumulated a large rotational kinetic energy. The speed is not changed instantaneously, so the reliability of the non-sensor commutation technique is much higher than the zero-speed start or the whole process. [Embodiment] Please refer to FIG. 3, which is a system architecture diagram of a motor control system with a shifting function and a method thereof. As shown in the figure, the system includes: a motor 5 having a built-in motor winding for transmitting phase And the speed signal; in addition, the motor 5 can be a DC brush motor, a DC brushless motor, an AC motor, and a turret motor; and a control command receiving end 6 is responsible for receiving a rotational speed command or torque for controlling the motor 5. Command; a state control module 7 receives the external control command receiving end 6 speed or torque control command, and the phase and speed signals transmitted by the motor 5, and the motor phase current detecting module u feedback detection Signal, and according to the command or detection signal to determine the PWM opening and commutation sequence, and the control signal can be output to the DC/DC boost converter module 9 and the motor phase current drive module 1〇, resulting in DC/DC The boost conversion module 9 can increase the output voltage according to requirements or enable the motor phase current driving module 10 to achieve the function of early commutation according to requirements;
•teS 7 201115903 一電源供應模組8，係為一可提供直流電壓之電源供應設備’例如電 池等電源供應設備； 一直流/直流升壓轉換模組9，係由該狀態控制模組7根據馬達轉速決 定升壓電路的輸出電壓後，該直流/直流升壓轉換模組9係能將該電源供應 模組8所輸入之電壓提高至該狀態控制模組7所要求之輸出電壓； 一馬達相電流驅動模組10，係接收該直流/直流升壓轉換模組9所提供 之電壓，並輸出驅動電流至該馬達5内建之馬達繞組，便可達成適度提升 馬達轉速，以達成類似變速器的功能；而該狀態控制模組7亦能控制該馬 達相電流驅動模組10之開關，並當該狀態控制模組啟動提前換相的運算功 能時’於該馬達5在換相點位置感應器訊號產生之前，經由該馬達相電流 驅動模組10主動提前驅動該馬達5的下一相繞組，以達成弱磁控制的效 果’並能進一步提升較高轉速域的馬達動力輸出； 一相電流彳貞測模組11，係能偵測通過該馬達5之驅動電流，並回傳訊 號給該狀態控制模組7。 值得一提的是’該狀態控制模組7内建有pwm( Pulse Width M〇dulati〇n 脈波寬度調變）控制電路、換相控制電路及升壓控制電路，而詳細控制内 容如下： (1) PWM控制電路，主要用於馬達的扭力控制，因馬達的扭力與輸 入至馬達繞組的電流成正比，故若要改變馬達的扭力，只要改 變輸入電流值便可，因此在電源與馬達間***電晶體開關元 件，當控制相關繞組的開關元件導通時，流入該馬達繞組之電 々_<便會上升；而當開關戴止時，該馬達繞組的電流便會下降， 201115903 藉由相電流偵測模組偵測馬達相電流到達相對所欲輸出的扭力 值時’即適當控制ON時間及OFF時間的比例；以達成自由栌 制馬達輸入電流之目的’亦即達成馬達輸出扭力控制之目的。 而使用不改變單位時間所發生之ON次數而改變〇N狀態之時 間長度，則稱之為脈衝寬度調變（Pulse_Width M〇dulati<^ PWM) 〇• teS 7 201115903 A power supply module 8 is a power supply device capable of providing a DC voltage, such as a power supply device such as a battery; a DC/DC boost converter module 9 is controlled by the state control module 7 After the motor speed determines the output voltage of the booster circuit, the DC/DC boost converter module 9 can increase the voltage input by the power supply module 8 to the output voltage required by the state control module 7; The phase current driving module 10 receives the voltage provided by the DC/DC boost converter module 9 and outputs a driving current to the motor winding built in the motor 5 to achieve a moderately increased motor speed to achieve a similar transmission. The state control module 7 can also control the switch of the motor phase current driving module 10, and when the state control module starts the calculation function of the early commutation, the sensor 5 is sensed at the commutation point position. Before the generator signal is generated, the motor phase current driving module 10 actively drives the next phase winding of the motor 5 in advance to achieve the effect of the field weakening control' and can further improve the height. The power output of the motor speed range; Chen left foot a phase current sensor module 11, the drive system can detect the current through the motor 5, and feedbacks to the state control module 7. It is worth mentioning that 'the state control module 7 has a pwm (Pulse Width M〇dulati〇n pulse width modulation) control circuit, a commutation control circuit and a boost control circuit, and the detailed control contents are as follows: 1) The PWM control circuit is mainly used for the torque control of the motor. Since the torque of the motor is proportional to the current input to the motor winding, if the torque of the motor is to be changed, the input current value can be changed, so between the power supply and the motor. Inserting the transistor switching element, when the switching element of the control winding is turned on, the electric 々_< flowing into the motor winding will rise; and when the switch is worn, the current of the motor winding will decrease, 201115903 by phase current The detecting module detects that the motor phase current reaches the torque value corresponding to the desired output, that is, the ratio of the ON time and the OFF time is appropriately controlled; the purpose of freely clamping the motor input current is achieved, that is, the motor output torque control is achieved. . The length of time to change the 〇N state without changing the number of ON times per unit time is called pulse width modulation (Pulse_Width M〇dulati<^ PWM) 〇
(2)換相控制電路，因為直流無刷馬達是以改變私目繞組的激磁電 流順序，以取代直流有刷馬達及換相片之功能，達成連續運轉 的目的，因此必須侧馬達轉子的相角位置，以正確的順序驅 動馬達各相繞組，否則會影響馬達的運轉。同時利用計算換相 的頻率，可得出馬達的轉速，進而提供升壓馬達控制電路計算 驅動電源電壓的資訊。至於直流有刷馬達，此換相控制電路之 功能則轉變成轉速計算的功能。(2) The commutation control circuit, because the DC brushless motor is used to change the order of the excitation current of the private-purpose winding to replace the DC brush motor and change the photo to achieve the purpose of continuous operation, so the phase angle of the side motor rotor must be Position, drive the motor phase windings in the correct order, otherwise it will affect the operation of the motor. At the same time, by calculating the frequency of the commutation, the motor speed can be obtained, and then the boost motor control circuit can be used to calculate the driving power voltage. As for the DC brush motor, the function of the commutation control circuit is converted into the function of the speed calculation.
⑴升壓控路’係可以根據該馬達之轉速來蚊直流/直流升壓 轉換模組的驅動電源電壓，而該直流/直流升壓轉換模組的驅動 電源電壓之計算只需將整個轉速操作範圍區分成數個區間，利 用加速或減速不同切換點的類似磁滯現象的設定方式，即可輕 易完成驅動電源電壓的設定。如圖四所示，為加人該直流/直流 升壓轉換模组9後的馬達動力輪出特徵，使該馬達5加速時， 若欲提升該驅動電源電壓，則該馬達5的切換轉速點需設定在 ι馬達減速時’从降低该驅動電源電壓值為高的轉速。 直Η·…刷馬達要進入較高轉速域時，該提前換相運算電 9 201115903 路會啟動提前換相的運算功能，使該馬達5在換相點位置感應 器（例如：Hall Sensor)訊號產生之前，主動提前驅動該馬達5 的下一相繞組，達成弱磁控制的效果，可進一步提升較高轉速 域的馬達動力輪出（如圖五所示，為加入該直流/直流升壓轉換 模組9以及使用相角提前換相技術後的馬達動力輸出特徵）。 值得一提的是’本發明之實施例如下所述： 1. 本發明所應用之電動載具使用電池電壓為48v’最大輸出扭力為 120N-M ’最高轉速為6〇〇RPM，當使用具有變速功能之馬達控制 系統及其方法時’可先將馬達5改設計為48V電源電壓，而最大 扭力為40N-M，最高轉速為600RPM之直流無刷馬達； 2. 先經由一馬達5所外接之3:1機械減速機構（減速齒輪）將輸出扭 力&幵3倍到120N-M，但此時動力系統之最高轉速將下降至 200RPM ；(1) The boost control circuit can select the driving power supply voltage of the mosquito DC/DC boost conversion module according to the rotation speed of the motor, and the calculation of the driving power supply voltage of the DC/DC boost conversion module only needs to operate the entire rotation speed. The range is divided into several sections, and the setting of the driving power supply voltage can be easily accomplished by setting a similar hysteresis phenomenon of different switching points by accelerating or decelerating. As shown in FIG. 4, in order to add the motor power wheeling characteristic of the DC/DC boost converter module 9, when the motor 5 is accelerated, if the driving power supply voltage is to be increased, the switching speed of the motor 5 is as shown in FIG. It is necessary to set the speed at which the drive power voltage is high when the motor is decelerated. Straight Η·... When the brush motor enters the higher speed range, the advanced commutation operation power 9 201115903 will start the calculation function of the early commutation, so that the motor 5 is at the commutation point position sensor (for example, Hall Sensor) signal. Before the generation, the next phase winding of the motor 5 is actively driven in advance to achieve the effect of the weak magnetic control, and the motor power rotation of the higher speed domain can be further improved (as shown in FIG. 5, the DC/DC boost conversion is added). Module 9 and motor power output characteristics using phase angle advance commutation techniques). It is worth mentioning that 'the implementation of the present invention is as follows: 1. The electric vehicle used in the present invention uses a battery voltage of 48 volts. The maximum output torque is 120 N-M. The maximum rotational speed is 6 〇〇 RPM. When the motor control system and method of the shifting function are used, the motor 5 can be changed to a 48V power supply voltage, and the maximum torque is 40N-M, and the maximum speed is 600RPM DC brushless motor; 2. Firstly connected via a motor 5 The 3:1 mechanical reduction mechanism (reduction gear) will output the torque & 幵 3 times to 120N-M, but the maximum speed of the power system will drop to 200RPM;
3. 而當馬達5轉速加速至500rpM時，即將該直流/直流轉換模組的 輸出驅動電源電壓由原本未啟動時的48V提升8V成為56V，當繼 續加速至600RPM時則再增加8V成為64V ,依此類推直至 1100RPM時，則該直流/直流轉換模組9的輸出驅動電源電壓成為 96V。而當馬達5減速至i〇5〇RPM時，則將此輸出驅動電源電壓 由96V降低8V成為88V ’依此類推當馬達5轉速降低至45〇RpM 時，則該直流/直流轉換模組9的輸出驅動電源電壓成為48V，亦 即不需再執行升壓動作； 4. 另外，若動力系統欲達到400RPM的轉速’則可藉由該直流/直流 201115903 升壓轉換模組9將電源電壓升至96V，使該馬達5的未減速前的最 高速度為1200RPM便可達成。同理，若動力系統欲達到600RPM 最大轉速時，只需將電源電壓升至144V，使該馬達5的未減速前 的最高速度為1800RPM便可達成。 5.若欲進一步使該馬達5轉速操作在1800RPM以上時，則可使用相 角提前的換相技術，當該馬達5加速超過1700RPM轉速以上時， 利用軟體程式使該馬達5在換相點位置感應器訊號產生之前10〇/〇 β 的時間，主動提前驅動該馬達5的下一相繞組，達成弱磁控制的效 果。同理，當該馬達5轉速下降至1600RPM時則取消此換相提前 的驅動方式。 值得一提的是’本發明可以使用一個40Ν-Μ輸出扭力且原最高轉速為 600RPM的48V馬達’達成120Ν_Μ的輸出目標，同時不需增加電池電壓 便可達到舰_RPM的最大轉速，達細似賴魏⑽魏；而當我 們以N:1的減速比（應用機械減速機構進行減速）增加輸出扭力時，僅需 • 錢/直流升壓㈣鱗《提升N倍便可_最大輸出轉速達到目 標； 值得-㈣是，當使赌献騎時，可· _減速錄機構達成 上述的功能。 本發明所提供之具錢速魏之馬達控_統及其方法，與其他習用 技術相互比較時，更具備下列優點： i.本發明之具有變速功能之馬達控制魏及其方法，係'為使用一具 有電源升壓功能的馬達控制系統，可將電動二輪車輛馬達動力系 201115903 統轉速提升至目標值，以達成類似變速器的功能。 2. 本發明之具有變速功能之馬達控制系統及其方法，係能使用較低 電池電壓，並且在馬達的轉速提高到一定程度以上時，可將輸入 電壓升高（不需要串聯電池來提高輸入電壓），以維持高轉速時 仍有適當的扭力輸出，以適應整個寬廣的工作範圍需求。 3. 本發明對於馬達相電流驅動模組所需之輸入電壓（即直流/直流 升壓轉換模組之輸出電壓）目標值計算只需將整個轉速操作範圍 區分成數個區間’利用加速或減速不同切換點的類似磁滯現象& φ «又疋方式，即可輕易完成驅動電源電壓的設定，且可容忍直流/ 直流升壓轉換模組較大的工作誤差。 4. 本發明在較高轉速域結合相角提前的換相技術後，可進一步提升 較高轉速域的馬達動力輸出，較未使用本發明技術的馬達動力系 統大幅提升巾高轉速的功率輸出，且不需犧牲低轉速域的效率及 扭力。 上列詳細制係針對本發明之—可行實施例之具體說明，惟該實施例 _ 並非用以限制本發明之專利範圍，凡未脫離本發明技藝精神所為之等效實 施或變更，均應包含於本案之專利範圍中。 综上所述’本案不但在技術思想上確屬創新，並能較習用物品增進上 述夕項功效’應以充分符合新雛及進步性之較發明專件，爰依法 提出申清，懇請貴局核准本件發明專利申請案，以勵發明，至感德便。 【圖式簡單說明】 圖一為習知之馬達控制器之系統架構圖； 12 201115903 圖二為習知之馬達動力輸出特性圖； 圖三為本發明具有變逮功能之馬達控制系統及其方法之系統架構圖，· 圖四為本發明具有變速功能之馬達控制系統僅使用直流/直流升壓轉 換模組時之馬達動力輸出特性圖；以及 圖五為本發明具有變速號之馬翻㈣統同時使用直流，直流升壓 轉換模組及提前換減之馬達動力輸出特性圖。 【主要元件符號說明】 1 馬達 2 電池 3 PWM/換相控制電路 4 馬達相電流驅動電路 5 馬達 6 控制命令接收端 7 狀態控制模組 8 電源供應模組 9 直流/直流升壓轉換模組 10 馬達相電流驅動模組 11 相電流偵測模組3. When the motor 5 speed is accelerated to 500 rpM, the output drive power voltage of the DC/DC converter module is increased from 8V to 56V when 48V is not started, and then increased to 8V to 64V when continuing to accelerate to 600RPM. When it is pushed up to 1100 RPM, the output driving power supply voltage of the DC/DC conversion module 9 becomes 96V. When the motor 5 is decelerated to i〇5〇RPM, the output driving power supply voltage is lowered from 96V by 8V to 88V. By analogy, when the motor 5 speed is reduced to 45〇RpM, the DC/DC conversion module 9 The output drive power supply voltage becomes 48V, that is, there is no need to perform the boosting action; 4. In addition, if the power system wants to reach the speed of 400RPM, the power supply voltage can be raised by the DC/DC 201115903 boost conversion module 9. Up to 96V, the maximum speed of the motor 5 before undecelerating is 1200 RPM. Similarly, if the power system wants to reach the maximum speed of 600RPM, it is only necessary to raise the power supply voltage to 144V, so that the maximum speed of the motor 5 before undecelerating is 1800RPM. 5. If the motor 5 speed is to be further operated above 1800 RPM, a phase change advancement technique can be used. When the motor 5 accelerates above 1700 RPM, the motor 5 is used at the commutation point position by the software program. The sensor signal generates the previous 10 〇 / 〇 β time, and actively drives the next phase winding of the motor 5 to achieve the effect of the field weakening control. Similarly, when the motor 5 speed drops to 1600 RPM, the drive mode of the commutation advance is canceled. It is worth mentioning that 'the invention can use a 40Ν-Μ output torque and the original maximum speed of 600RPM 48V motor' to achieve an output target of 120Ν_Μ, and the maximum speed of the ship _RPM can be achieved without increasing the battery voltage. Like Wei (10) Wei; and when we increase the output torque with N:1 reduction ratio (deceleration using mechanical reduction mechanism), only need to • money / DC boost (four) scale "up to N times _ maximum output speed reached Goal; Worth-(four) is that when the gambling ride is made, the _removing mechanism can achieve the above functions. The motor control system and the method thereof provided by the invention have the following advantages when compared with other conventional technologies: i. The motor control method and the method thereof with the variable speed function of the invention are Using a motor control system with power boost function, the electric two-wheeled vehicle motor powertrain 201115903 can be raised to a target value to achieve a similar transmission function. 2. The motor control system with variable speed function of the present invention and method thereof can use a lower battery voltage, and can increase the input voltage when the rotational speed of the motor is increased to a certain extent (there is no need to connect the battery to increase the input). Voltage), to maintain high torque, there is still a proper torque output to meet the needs of the entire wide operating range. 3. The invention calculates the target voltage required for the motor phase current driving module (ie, the output voltage of the DC/DC boost converter module), and only needs to divide the entire speed operation range into several intervals' using acceleration or deceleration. The hysteresis phenomenon of the switching point & φ « 疋 疋 mode can easily set the driving power supply voltage, and can tolerate large working errors of the DC / DC boost converter module. 4. The invention can further improve the motor power output of the higher speed domain after combining the phase angle advance phase commutation technology in the higher speed domain, and greatly improve the power output of the towel high speed compared with the motor power system not using the technology of the invention. There is no need to sacrifice efficiency and torque in the low speed range. The detailed description of the present invention is intended to be illustrative of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention. In the scope of the patent in this case. In summary, 'this case is not only innovative in terms of technical thinking, but also can improve the above-mentioned effects of the above items in terms of the use of the articles.' It should be in line with the new inventories and the progressive inventions, and submit the application in accordance with the law. Approved this invention patent application, in order to invent invention, to the sense of virtue. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a system architecture diagram of a conventional motor controller; 12 201115903 FIG. 2 is a conventional motor power output characteristic diagram; FIG. 3 is a system of a motor control system having a variable arrest function and a method thereof Schematic diagram, FIG. 4 is a diagram showing the motor power output characteristics of the motor control system with the shifting function using only the DC/DC boost converter module; and FIG. 5 is the same as the shifting number of the present invention. DC, DC boost converter module and motor power output characteristics of the forward change. [Main component symbol description] 1 Motor 2 Battery 3 PWM/commutation control circuit 4 Motor phase current drive circuit 5 Motor 6 Control command receiving end 7 State control module 8 Power supply module 9 DC/DC boost converter module 10 Motor phase current drive module 11 phase current detection module
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