TWM591186U - Electric vehicle driving control system - Google Patents
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Abstract
本新型提供一種電動車驅動控制系統,包含一電池模組,具有一電源輸出端,一處理單元的一控制訊號輸出端通過一過電壓保護電路電連接一驅動輸出單元的一致能訊號輸入端;當電池模組的電源輸出端的電壓大於或等於一過電壓臨界值,過電壓保護電路對致能訊號輸入端輸出一關閉訊號,處理單元根據輸出控制訊號不符合該關閉訊號之結果,進一步輸出該關閉訊號,並執行一重整程序;藉由過電壓保護電路的硬體電子元件在過電壓時關閉驅動輸出單元,快速反應保護控制系統不受過電壓損壞,再由處理單元軟體判斷執行重新啟動,確保使用安全性及便利性。The present invention provides an electric vehicle drive control system, including a battery module, having a power supply output terminal, a control signal output terminal of a processing unit is electrically connected to a uniform energy signal input terminal of a drive output unit through an overvoltage protection circuit; When the voltage at the power output terminal of the battery module is greater than or equal to an overvoltage threshold, the overvoltage protection circuit outputs a shutdown signal to the enable signal input terminal, and the processing unit further outputs the shutdown signal according to the result of the output control signal not conforming to the shutdown signal. Turn off the signal and execute a reforming process; by the hardware electronic components of the overvoltage protection circuit turning off the drive output unit during overvoltage, the rapid response protection control system is not damaged by overvoltage, and then the processing unit software determines to execute the restart, Ensure the safety and convenience of use.
Description
一種控制系統,尤指一種電動車驅動控制系統。 A control system, especially an electric vehicle drive control system.
基於環境保護及節省能源的科技趨勢,電動車已經成為許多使用者購買交通工具時除了傳統汽油動力摩托車之外的另一大宗選項,其具有低噪音、低震動、車輛狀態容易掌控等優點。請參閱圖3所示,現有的電動機車的動力系統一般來說包含一電池模組21、一馬達控制器22及一馬達模組23。一般來說,該馬達模組21及馬達控制器22常選用無刷直流三相馬達(BLDC)及直流馬達控制模組。無刷直流馬達的馬達控制模組藉由電子元件進行整流及驅動輸出,具有較高的可靠性及耐用度。該馬達控制器22具有一處理器MCU,且該馬達模組23上設置有至少一位置回授元件24,該位置回授元件24電連接該馬達控制模組的處理器MCU以回傳感測訊號。該處理器MCU根據該感測訊息判斷該馬達模組23當下的位置資訊,以在正確的時間點控制該馬達控制器22輸出驅動電流至馬達模組23。
Based on the technological trends of environmental protection and energy saving, electric vehicles have become another major option for many users in addition to traditional gasoline-powered motorcycles when purchasing vehicles. They have the advantages of low noise, low vibration, and easy control of vehicle status. Please refer to FIG. 3, the power system of the existing electric locomotive generally includes a
在正常情況下,該處理器MCU皆能正常控制該馬達控制器22輸出驅動電流。惟當發生例如處理器軟體功能異常、馬達模組之三相線錯接、位置回授元件24損壞導致感測訊號異常等特殊狀況,可能會造成該馬達控制器22的驅動電流失步,與該馬達模組23的實際轉動狀態不符,而由於馬達模組23仍在持續運轉,馬達模組23之交流電能會反向流回馬達控制模組23或電池模組
21,使得馬達控制模組23或電池模組21之電壓異常上升,進一步導致馬達控制器23或電池模組的元件損壞。
Under normal circumstances, the processor MCU can normally control the
當現有的馬達控制器出現異常狀況導致對於馬達模組的控制出現失步的狀況時,馬達模組之電能會回流至馬達控制模組或電池模組,使得該馬達控制模組或電池模組內的電壓異常上升,並進一步導致馬達控制模組或電池模組的元件損壞。 When an abnormal condition of the existing motor controller causes the control of the motor module to be out of step, the power of the motor module will return to the motor control module or battery module, so that the motor control module or battery module The voltage inside rises abnormally and further damages the components of the motor control module or battery module.
本創作提供一種電動車驅動控制系統,包含一電池模組、一處理單元、一驅動輸出單元、一馬達模組及一過電壓保護電路。該電池模組具有一電源輸出端,該處理單元具有一控制訊號輸出端,且該處理單元由該控制訊號輸出端輸出一控制訊號;該驅動輸出單元具有一致能訊號輸入端,且該驅動輸出單元電連接該電池單元的電源輸出端以接收一電池電源,而該馬達模組電連接該驅動輸出單元;該過電壓保護電路電連接該電池模組的電源輸出端、該處理單元的控制訊號輸出端及該驅動輸出單元的致能訊號輸入端。其中,當該電池模組的電源輸出端的輸出電壓小於一過電壓臨界值時,該過電壓保護電路根據該處理單元的控制訊號輸出該控制訊號至該驅動輸出單元的控制訊號輸出端,此時該驅動輸出單元根據該處理單元的控制訊號輸出驅動電流;當該電池模組的電源輸出端的輸出電壓大於或等於該過電壓臨界值時,該過電壓保護電路對該驅動輸出單元的致能訊號輸入端輸出一關閉訊號。進一步來說,當該處理單元的控制訊號輸出端的控制訊號與該驅動輸出單元的致能訊號輸入端的致能訊號不相符時,該處理單元執行一重整程序。 This creation provides an electric vehicle drive control system, including a battery module, a processing unit, a drive output unit, a motor module and an overvoltage protection circuit. The battery module has a power output end, the processing unit has a control signal output end, and the processing unit outputs a control signal from the control signal output end; the drive output unit has a uniform energy signal input end, and the drive output The unit is electrically connected to the power output of the battery unit to receive a battery power, and the motor module is electrically connected to the drive output unit; the overvoltage protection circuit is electrically connected to the power output of the battery module and the control signal of the processing unit The output terminal and the enable signal input terminal of the drive output unit. Wherein, when the output voltage of the power output end of the battery module is less than an overvoltage threshold, the overvoltage protection circuit outputs the control signal to the control signal output end of the drive output unit according to the control signal of the processing unit. The drive output unit outputs a drive current according to the control signal of the processing unit; when the output voltage of the power output terminal of the battery module is greater than or equal to the overvoltage threshold, the overvoltage protection circuit enables the drive output unit A shutdown signal is output from the input terminal. Further, when the control signal at the control signal output end of the processing unit does not match the enable signal at the enable signal input end of the drive output unit, the processing unit executes a reforming process.
當電動車在啟動狀態,且該電池模組的電源輸出端的電壓正常,也就是低於該過電壓臨界值時,該過電壓保護電路係將該處理單元輸出之控制訊號傳遞至該驅動輸出單元,使得該動輸出單元正常地根據該控制訊號對該馬達模組輸出驅動電流,該控制訊號例如是一啟動訊號。而當該電池模組的電源輸出端的電壓異常上升至超出該過電壓臨界值時,該過電壓保護電路則通過電路元件的作動直接對該驅動輸出單元的致能訊號輸入端輸出一關閉訊號,使得該驅動輸出單元即刻停止輸出驅動電流,以停止對馬達模組輸入電能,避免由該馬達模組回流之電能繼續使得該電源輸出端的異常高電壓持續上升。進一步的,由於該處理單元輸出之控制訊號仍然是該啟動訊號,而該驅動輸出單元的致能訊號輸入端接收之訊號惟該關閉訊號,該控制訊號輸出端輸出的啟動訊號與該驅動輸出單元的致能訊號輸入端的訊號值並不相符,此時該處理單元可以確認發生電源輸出端的電壓異常上升之情況,因此該處理單元執行一重整程序,以使得該電動車回到正常運作情況。 When the electric vehicle is in the starting state and the voltage at the power output end of the battery module is normal, that is, lower than the overvoltage threshold, the overvoltage protection circuit transmits the control signal output by the processing unit to the drive output unit , So that the dynamic output unit normally outputs a drive current to the motor module according to the control signal. The control signal is, for example, a start signal. When the voltage at the power output end of the battery module abnormally rises above the over-voltage threshold, the over-voltage protection circuit directly outputs a shutdown signal to the enable signal input end of the drive output unit through the action of the circuit element, The drive output unit stops the output of the drive current immediately to stop the input of electric energy to the motor module, so as to prevent the electric energy returned by the motor module from continuing to cause the abnormally high voltage at the output end of the power source to continue to rise. Further, since the control signal output by the processing unit is still the start signal, and the signal received by the enable signal input terminal of the drive output unit is the shutdown signal, the start signal output by the control signal output terminal and the drive output unit The signal value of the enable signal input terminal does not match. At this time, the processing unit can confirm that an abnormal voltage rise at the power output terminal has occurred. Therefore, the processing unit executes a reforming procedure to return the electric vehicle to normal operation.
本新型的電動車驅動控制系統藉由該過電壓保護電路的偵測該電池模組的電源輸出端之電壓,並在該電源輸出端的電壓超過該過電壓臨界值時,由該過電壓保護電路直接關閉該驅動輸出單元以停止輸出驅動電流,進一步的,該處理單元根據其輸出之控制訊號與該驅動輸出單元接收到的控制訊號不符而得知發生過電壓異常情況,因此執行重整程序並接續進行整體驅動控制系統的狀態回復。 The electric vehicle drive control system of the present invention detects the voltage of the power supply output terminal of the battery module through the overvoltage protection circuit, and the overvoltage protection circuit detects the voltage of the power supply output terminal when the voltage exceeds the overvoltage critical value The drive output unit is directly turned off to stop the output of the drive current. Further, the processing unit learns that an overvoltage abnormality has occurred according to the control signal output by the drive output unit and the control signal received by the drive output unit. Continue to restore the status of the overall drive control system.
由於過電壓保護電路由硬體電路元件作動,其反應速度大於處理單元的軟體運算進行判斷並產生控制命令之速度,因此,通過硬體電路元件的快速反應切斷驅動電流的輸出,能夠確保在異常高電壓發生的緊急情況下的即時保護,再接續由處理單元的軟體進行之偵測判斷執行重整程序以重新啟動 驅動輸出。如此一來,達到快速即時的系統保護,以及安全可控的再啟動程序,確保使用者的安全及電動車的良好使用性。 Because the overvoltage protection circuit is actuated by hardware circuit components, the response speed is faster than the speed of the software calculation of the processing unit to judge and generate control commands. Therefore, the rapid response of the hardware circuit components cuts off the output of the drive current, which can ensure that the Real-time protection in case of an emergency with abnormally high voltage, followed by the detection and judgment by the software of the processing unit to execute the reorganization process to restart Drive output. In this way, fast and real-time system protection and a safe and controllable restart procedure are achieved to ensure the safety of users and the good usability of electric vehicles.
11‧‧‧電池模組 11‧‧‧ battery module
Vo‧‧‧電源輸出端 Vo‧‧‧Power output
12‧‧‧處理單元 12‧‧‧Processing unit
ctl‧‧‧控制訊號輸出端 ctl‧‧‧Control signal output
13‧‧‧過電壓保護電路 13‧‧‧Overvoltage protection circuit
131‧‧‧壓控單元 131‧‧‧ voltage control unit
R1‧‧‧第一電阻 R1‧‧‧ First resistance
Rd1‧‧‧第一分壓電阻 Rd1‧‧‧First voltage divider resistor
Rd2‧‧‧第二分壓電阻 Rd2‧‧‧Second voltage divider resistor
ZD‧‧‧基納二極體 ZD‧‧‧Kina diode
G‧‧‧矽控整流器 G‧‧‧silicon controlled rectifier
14‧‧‧驅動輸出單元 14‧‧‧Drive output unit
en‧‧‧致能訊號輸入端 en‧‧‧Enable signal input terminal
15‧‧‧馬達模組 15‧‧‧Motor module
16‧‧‧位置回授模組 16‧‧‧Position feedback module
17‧‧‧電壓回授模組 17‧‧‧Voltage feedback module
21‧‧‧電池模組 21‧‧‧Battery module
22‧‧‧馬達控制器 22‧‧‧Motor controller
MCU‧‧‧處理器 MCU‧‧‧ processor
23‧‧‧馬達模組 23‧‧‧Motor module
24‧‧‧位置回授元件 24‧‧‧Position feedback component
圖1係本新型電動車驅動控制系統之方塊示意圖。 Figure 1 is a block diagram of the new electric vehicle drive control system.
圖2係本新型電動車驅動控制系統第三較佳實施例的電路示意圖。 2 is a circuit schematic diagram of a third preferred embodiment of the new electric vehicle drive control system.
圖3系現有技術電動車驅動系統之方塊示意圖。 FIG. 3 is a block diagram of a prior art electric vehicle drive system.
本新型提供一種電動車驅動控制系統,包含一電池模組11、一處理單元12、一驅動輸出單元14、一馬達模組15及一過電壓保護電路13。該電池模組11具有一電源輸出端Vo,該處理單元12具有一控制訊號輸出端ctl,且該處理單元12由該控制訊號輸出端ctl輸出一控制訊號;該驅動輸出單元14具有一致能訊號輸入端en,用以接收一致能訊號,,該驅動輸出單元14還電連接該電池模組11的電源輸出端Vo以接收一電池電源,而該馬達模組15電連接該驅動輸出單元14,以接收該驅動輸出單元輸出的一驅動電流。該過電壓保護電路13電連接該電池模組11的電源輸出端Vo、該處理單元12的控制訊號輸出端ctl及該驅動輸出單元14的致能訊號輸入端en。
The present invention provides an electric vehicle drive control system, which includes a
當該電池模組11的電源輸出端Vo的輸出電壓小於一過電壓臨界值時,該過電壓保護電路13將該處理單元12的控制訊號直接傳遞至該驅動輸出單元14的致能訊號輸入端en,此時該驅動輸出單元14以該處理單元12的控制訊號作為致能訊號,並據以輸出驅動電流;當該電池模組11的電源輸出端Vo的輸出電壓大於或等於該過電壓臨界值時,該過電壓保護電路13對該驅動輸出單元14的致能訊號輸入端en輸出一關閉訊號。進一步來說,當該處理單元12的控制
訊號輸出端ctl的控制訊號與該致能訊號輸入端en所接收的的訊號值不相符時,該處理單元12執行一重整程序。
When the output voltage of the power output terminal Vo of the
其中,該處理單元12是一微控制器,用以產生該控制訊號及驅動控制訊號,該控制訊號為一關閉訊號或一啟動訊號。該驅動輸出單元14還進一步電連接該處理單元12,根據該驅動控制訊號產生驅動電流並輸出至馬達模組15以驅動該馬達模組15轉動。較佳的,該馬達模組15是一三相無刷直流馬達,包含三組定子繞組,該驅動輸出單元14是一三相馬達驅動電流輸出單元,包含三組輸出控制器,該三組輸出控制器電連接該電池模組11的電源輸出端Vo及該馬達模組15的三組定子繞組之間,並分別接收該處理單元12的PWM控制訊號,據以將該電池模組11的對電池電源轉換為三相電流並輸出至對該馬達模組15的三組定子繞組。
Wherein, the
在本創作的一第一較佳實施例中,當該處理單元12執行該重整程序時,該處理單元12先由該控制訊號輸出端ctl輸出該關閉訊號,再執行一正常啟動程序。
In a first preferred embodiment of the present invention, when the
在本實施例中,該處理單元12還電連接該驅動輸出單元14的致能訊號輸入端en,以回授接收該致能訊號輸入端en的訊號值。因此,當該處理單元12判斷該驅動訊號輸出單元的致能訊號輸入端en的訊號值不符合該處理單元12輸出的控制訊號,例如該處理單元12輸出之控制訊號是一啟動訊號,而該驅動訊號輸出單元的致能訊號輸入端en的訊號值是一關閉訊號,代表此時該處理單元12輸出之控制訊號並未正常地通過該過電壓保護電路13傳遞至該致能訊號輸入端en,該過電壓保護電路13已被過電壓觸發並關閉該驅動輸出單元14。因此該處理單元12開始以軟體執行重新啟動的程序,首先先將該處理單元12輸出之控制訊號切換至關閉訊號,確保該驅動輸出單元14進入關閉狀態,再次執
行一正常啟動程序,使得電動車回到正常驅動馬達的使用狀態並供使用者繼續騎乘。
In this embodiment, the
請繼續參閱圖1所示,在本創作的一第二較佳實施例中,該電動車驅動控制系統包含一位置回授模組16,該位置回授模組16設置於該馬達模組15上,並根據該馬達模組15的轉動位置產生一位置回授訊號。該處理單元12包含一位置回授輸入端,該位置回授輸入端電連接該位置回授模組16以接收該位置回授訊號。當該處理單元12執行正常啟動程序,該處理單元12根據該位置回授訊號計算該馬達模組15的一轉速,且當該馬達模組15的轉速低於一轉速臨界值時,該處理單元12由該控制訊號輸出端ctl輸出一啟動訊號。此外,該處理單元12執行一內部重置動作,根據該位置回授訊號產生一關於馬達模組的轉動位置資訊,並根據該轉動位置資訊產生該驅動控制訊號。
Please continue to refer to FIG. 1, in a second preferred embodiment of the present invention, the electric vehicle drive control system includes a
較佳的,該位置回授模組係包含霍爾感測單元(Hall effect sensor);較佳的,該轉速臨界值例如為100轉每分鐘(rpm)。 Preferably, the position feedback module includes a Hall effect sensor; preferably, the critical value of the rotation speed is, for example, 100 revolutions per minute (rpm).
也就是說,當該過電壓保護電路13被電源輸出端Vo之過電壓觸發後,該處理單元12先將控制訊號輸出端ctl之控制訊號切換為關閉訊號,並執行正常啟動程序。為了確認異常高電壓的情況已經解除,該處理單元12根據該位置回授訊號判斷馬達模組15的轉速,當馬達模組15的轉速下降到低於該轉速臨界值時,代表此時該馬達模組15內的電能已經釋放消耗,因此該處理單元12再次由該控制訊號輸出端ctl輸出啟動訊號,以再次致能該驅動輸出單元14。較佳的,該啟動訊號是一高電位訊號(high),該關閉訊號是一低電位訊號(low)。
That is to say, after the
綜上所述,當該過電壓保護電路13被電源輸出端Vo的過電壓處發後,該處理單元12輸出之控制訊號及該驅動輸出單元接收之致能訊號的切換狀態如下表1所示。
In summary, after the
在本較佳實施例中,當該處理單元12的控制訊號輸出端ctl輸出一關閉訊號時,且該電源輸出端Vo的電壓低於該過電壓臨界值時,該過電壓保護電路13回到一初始狀態,也就是將該處理單元12的控制訊號輸出端ctl之控制訊號正常傳遞至驅動輸出單元14的致能訊號輸入端en,如此一來,當該處理單元12執行該正常啟動程序時,該處理單元12能夠正常的通過該過電壓保護電路13致能該驅動輸出單元14。而該處理單元12也執行該內部重整程序,以排除原先由處理單元12內部軟體計算失誤,導致馬達控制失步及電壓異常上升之錯誤狀況,重新判斷馬達模組15的轉動位置資訊,以輸出正確的驅動控制訊號。
In the preferred embodiment, when the control signal output terminal ctl of the
以下將進一步說明該過電壓保護電路13的較佳實施方式。
The preferred embodiment of the
請參閱圖2所示,在本創作的一第三較佳實施例中,該過電壓保護電路13包含一第一電阻R1、一矽控整流器G及一壓控單元131,該第一電阻R1電連接於該處理單元12的控制訊號輸出端ctl及該驅動輸出單元14的致能訊號入端en之間。該矽控整流器G具有一控制端,且該矽控整流器G電連接於該驅動輸出單元14的致能訊號輸入端en及一接地端gnd之間。該壓控單元131電連接該電池模組11的電源輸出端Vo及該矽控整流器G的控制端,且當該電池模組11的電源輸入端的電壓大於或等於該過電壓臨界值時,該壓控單元131對該矽控整
流器G的控制端輸出一導通訊號。該導通訊號使得該矽控整流器G導通該驅動輸出單元14的致能訊號輸入端en,使得該致能訊號輸入端en與該接地端gnd等電位,也就是一低電位的關閉訊號。因次,當該電壓輸出端的電壓大於或等於該過電壓臨界值時,該矽控整流器G被觸發導通,使得該驅動輸出單元14的致能訊號輸入端en電位被拉低為一關閉訊號,而此時該處理單元12仍然輸出一高電位的啟動訊號。
Please refer to FIG. 2. In a third preferred embodiment of the present invention, the
如此一來,當該處理單元12判斷其控制訊號輸出端ctl的控制訊號與該致能訊號輸入端en的訊號值不相符,表示該過壓保護電路已被觸發導致該致能訊號輸入端en與該接地端gnd等電位,因此該處理單元12執行該重啟程序。當該處理單元12執行重啟程序,先由該控制訊號輸出端ctl輸出該關閉訊號,也就是一低電位訊號,再執行正常啟動程序。
In this way, when the
該壓控單元131包含一基納二極體ZD、一第一分壓電阻Rd1及一第一分壓電阻Rd2。該基納二極體ZD具有一陰極及一陽極,該陰極電連接該電池模組11的電源輸出端Vo;該第一分壓電阻Rd1及該第一分壓電阻Rd2電串接於該基納二極體ZD的陽極及該接地端gnd之間,且該矽控整流器G的控制端係電連接該第一分壓電阻Rd1及該第一分壓電阻Rd2的連接接點。其中,該基納二極體ZD的反向崩潰電壓係該過電壓臨界值。
The
當該電池模組11的電源輸出端Vo的電壓上升至大於該過電壓臨界值,該基納二極體ZD反向崩潰導通,該第一分壓電阻Rd1及該第一分壓電阻Rd2將該電源輸出端Vo的電壓經分壓後產生該導通訊號並提供致該矽控整流器G的控制端,使得該矽控整流器G在該致能訊號輸入端en及該接地端gnd之間形成導通。而此時由於該處理單元12的控制訊號輸出端ctl仍然輸出一高電位的開啟訊號,該第一電阻R1的兩端形成一電壓差,因此該控制訊號輸出端ctl產生一電流通過該第一電阻R1及該矽控整流器G流入該接地端gnd。
When the voltage of the power output end Vo of the
當該驅動輸出單元14的致能訊號輸入端en的訊號為該低電位的關閉訊號而不再輸出驅動電流,該馬達模組15的轉速下降,使得該電池模組11的電源輸出端Vo的電壓下降至該過電壓臨界值以內,該基納二極體ZD不再導通,該矽控整流器G的控制端與該接地端gnd等電位;進一步的,此時該處理單元12的控制訊號輸出端ctl也已切換為一低電位的關閉訊號,該第一電阻R1的兩端均為一低電位而不再有電流通過該矽控整流器G流入接地端gnd,根據該矽控整流器G的元件特性,此時該矽控整流器G進入關斷狀態。至此,該基納二極體ZD及該矽控整流器G皆回到未導通之狀態,該矽控整流器G為一開路,該第一電阻R1兩端的致能訊號輸入端en及該控制訊號輸出端ctl等電位。也就是說,該過電壓保護電路13回到該初始狀態,將該處理單元12的控制訊號輸出端ctl之控制訊號正常地傳遞至該驅動輸出單元14的致能訊號輸入端en。
When the signal of the enable signal input end en of the
在本新型的一第四較佳實施例中,該處理單元12包含一電壓回授輸入端,且該過驅動控制系統進一步包含一電壓回授單元17,該電壓回授單元電連接該電池模組11的電源輸出端Vo及該處理單元12,並根據該電源輸出端Vo的電壓產生一電壓回授訊號提供至該處理單元12。該處理單元12根據該電壓回授訊號進一步確認該電池模組11的電源輸出端Vo的電壓狀況。舉例來說,當該處理單元12執行該重啟程序時,當判斷該馬達模組15的轉速低於該馬達轉速臨界值時,進一步根據該電壓回授訊號判斷該電源輸出端Vo的電壓是否低於該過電壓臨界值,且在該電源輸出端Vo的電壓低於該過電壓臨界值時,才由該控制訊號輸出端ctl輸出一啟動訊號,並正常輸出驅動控制訊號。
In a fourth preferred embodiment of the present invention, the
以上所述僅是本新型的較佳實施例而已,並非對本新型做任何形式上的限制,雖然本新型已以較佳實施例揭露如上,然而並非用以限定本新型,任何熟悉本專業的技術人員,在不脫離本新型技術方案的範圍內,當可利用上述揭示的技術內容做出些許更動或修飾為等同變化的等效實施例,但凡是 未脫離本新型技術方案的內容,依據本新型的技術實質對以上實施例所作的任何簡單修改、等同變化與修飾,均仍屬於本新型技術方案的範圍內。 The above is only the preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as the above with the preferred embodiment, it is not intended to limit the new model. Anyone who is familiar with this technology Personnel, without departing from the scope of the new technical solution, when the technical contents disclosed above can be used to make some changes or modifications to equivalent embodiments of equivalent changes, but generally Without departing from the content of the new technical solution, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the new technology still fall within the scope of the new technical solution.
11‧‧‧電池模組 11‧‧‧ battery module
Vo‧‧‧電源輸出端 Vo‧‧‧Power output
12‧‧‧處理單元 12‧‧‧Processing unit
ctl‧‧‧控制訊號輸出端 ctl‧‧‧Control signal output
13‧‧‧過電壓保護電路 13‧‧‧Overvoltage protection circuit
14‧‧‧驅動輸出單元 14‧‧‧Drive output unit
en‧‧‧致能訊號輸入端 en‧‧‧Enable signal input terminal
15‧‧‧馬達模組 15‧‧‧Motor module
16‧‧‧位置回授模組 16‧‧‧Position feedback module
Claims (11)
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