CN112549986B - Electric vehicle starting control method - Google Patents
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- CN112549986B CN112549986B CN202011325186.XA CN202011325186A CN112549986B CN 112549986 B CN112549986 B CN 112549986B CN 202011325186 A CN202011325186 A CN 202011325186A CN 112549986 B CN112549986 B CN 112549986B
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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
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
- B62K23/02—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips hand actuated
- B62K23/04—Twist grips
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
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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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/10—Electrical machine types
- B60L2220/16—DC brushless machines
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
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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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- 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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses an electric vehicle starting control method, and relates to the technical field of electric vehicle starting control. The discrete characteristic of the motor under specific excitation is utilized, different motor parameters are identified by giving a high pulse to the motor and by the difference of inductance values of different motors and the difference of generated currents, and the type of the connected motor is judged. And then realizing Hall initial deviation angle compensation through angle integration processing. And then, judging the running mode, realizing soft start by adopting a slope function method, and finally controlling the motor to realize smooth start. The invention has the beneficial effects that the motor parameters are identified through the positive and negative codes, and the problem that a single controller is matched with various motors is solved; hall initial angle compensation is realized through Hall self-learning, the problem that Hall sectors are non-standard sectors is solved, and smooth starting of a motor is realized; realize soft start through the slope function, increase and ride and experience the comfort.
Description
Technical Field
The invention relates to the technical field of electric vehicle starting control, in particular to a smooth starting method of an electric vehicle.
Background
Along with the development of the traffic industry, people have multiple choices for going out, the electric vehicle is convenient and fast, plays a great role in short-distance work and work, is an important vehicle for young people in most cities, is more flexible than buses and subways, and can carry people to reach destinations directly. Meanwhile, the development of the electric vehicle has very important strategic significance for saving energy and protecting the environment, is closely associated with the travel problem of hundreds of millions of people, is a welfare industry which is related to the actual interests of hundreds of millions of people, and has extraordinary significance for drawing internal demand, promoting consumption and promoting urbanization construction and new rural construction. With the continuous expansion of market demands, the requirements of the market on riding feeling and comfort of the electric vehicle are higher and higher, and therefore the matching degree of the controller and the motor is higher and higher. Because the types of motors on the market are more, the processes and winding ways of the motors are different, and the installation angle deviation of the Hall sensors is different, how to realize the matching of the controller and different motors is a difficult problem in the technical field at present.
The invention provides a control method suitable for stable and smooth starting of most motors according to the defects of the existing motor starting control technology.
Disclosure of Invention
The invention provides a starting control method of an electric vehicle, which aims to solve the problems that different types of motors are not matched, different motor parameters are difficult to debug and the like in the traditional control method.
The invention provides a starting control method of an electric vehicle, and a driving system of the electric vehicle comprises the following steps: the device comprises a power module, a brushless direct current motor, a control module and a rotating handle.
The power supply module is connected with the control module and used for providing stable direct-current voltage for the control module; the rotating handle is connected with the control module and used for providing an operation signal for driving the brushless direct current motor; the control module is connected with the brushless direct current motor and used for driving and controlling the brushless direct current motor to operate.
Optionally, the power supply module is a 48V dc regulated power supply.
Optionally, the handle is connected to the controller through a handle signal line, a power line and a ground line, so that a control signal of the handle is transmitted to the control module for processing.
Optionally, the control module is connected with the brushless direct current motor through a three-phase line and a hall signal line, and controls and drives the brushless direct current motor to operate.
The invention provides a starting control method of an electric vehicle, which comprises the following specific steps:
step 1: a twist grip signal is acquired. The rotating handle rotates to send out a motor starting signal.
Step 2: the positive and negative codes realize the judgment of the motor type. The discrete characteristic of the motor under specific excitation is utilized, the motor is given a high pulse, different motor parameters are identified by different generated currents due to different inductance values of different motors, the type of the connected motor is judged, and the matching of various motors of a single controller is realized.
And 3, step 3: and the Hall initial deviation angle compensation is realized through angle integration processing. Due to the fact that Hall installation, magnetic steel NS poles are inconsistent and Hall devices are affected, the Hall sector is a nonstandard sector, and therefore compensation of Hall initial angle deviation needs to be achieved through Hall self-learning. Determination of initial operating angular velocity omega by means of a pre-established sector calculation 0 And then determining the running angular velocity omega by single sector calculation 1 And then determining the angle variation through angle integration processing to realize Hall initial angle deviation compensation.
Alternatively, the angle change amount may be obtained by the following formula:
where Δ ω (t) is an angular velocity change amount, Δ θ (t) is an angular change amount, n p The number of pole pairs of the motor is shown.
And 4, step 4: and judging the running mode. In order to ensure smooth starting of the motor, a soft starting mode is adopted, namely a slope function is adopted, a given PWM cycle is slowly increased by giving the slope of the slope function, the rotating speed is slowly increased according to the given slope, and the riding comfort is improved.
And 5: and (4) controlling a motor. And transmitting a conducting signal to an MOS (metal oxide semiconductor) tube in the driving module through an IO (input/output) port of the controller, wherein the time for transmitting the high-level pulse is a PWM (pulse-width modulation) period for slowly increasing the given acceleration. With the difference of the current in the three-phase line, the pulse widths of conducting signals sent to the MOS tube in the driving module by the IO port are different, so that the stable release of the current is realized, and the smooth starting of the motor is realized.
The invention at least comprises the following beneficial effects:
1. the invention identifies the motor parameters through the positive and negative codes, and solves the problem that a single controller is matched with various motors.
2. According to the invention, hall initial angle compensation is realized through Hall self-learning, the problem of nonstandard Hall sectors is solved, and smooth starting of the motor is realized.
3. The method realizes soft start through the slope function, is scientific and easy to realize, and increases the riding experience comfort.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are schematic and are not to be understood as limiting the invention in any way, and in which:
FIG. 1 is a diagram of an electric vehicle starting system according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating an electric vehicle start control according to an embodiment of the present invention;
FIG. 3 shows an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
As shown in fig. 1, the present invention provides an electric vehicle starting system, including: the device comprises a power supply module, a brushless direct current motor, a control module and a rotating handle;
the power supply module is a 48V direct-current stabilized power supply;
the control module is connected with the controller through a control signal line, a power line and a ground wire, and the control signal of the control module is transmitted to the controller for processing;
the control module is connected with the brushless direct current motor through the three-phase line and the Hall signal line, and the brushless direct current motor is controlled and driven to operate. The rotating handle is used for providing a rotating handle signal for the control module and providing a starting signal of the brushless direct current motor;
as shown in fig. 2, the invention provides a starting control method for an electric vehicle, which comprises the following specific steps:
step S1: and the motor type judgment is realized through positive and negative codes. The discrete characteristic of the motor under specific excitation is utilized, different motor parameters are identified by giving a high pulse to the motor and the generated currents are different in magnitude due to different motor inductance values, the type of the connected motor is judged, and the matching of multiple motors of a single controller is realized;
step S2: and realizing Hall initial deviation angle compensation through angle integral processing. Due to the fact that Hall installation, magnetic steel NS poles are inconsistent and Hall devices are affected, the Hall sector is a nonstandard sector, and therefore compensation of Hall initial angle deviation needs to be achieved through Hall self-learning. Determination of initial operating angular velocity omega by means of a pre-established sector calculation 0 And then determining the running angular velocity omega by single sector calculation 1 And then determining the angle variation through angle integration processing to realize Hall initial angle deviation compensation.
Alternatively, the angle change amount may be obtained by the following formula:
where Δ ω (t) is an angular velocity change amount, Δ θ (t) is an angular change amount, n p The number of pole pairs of the motor is shown.
And step S3: and judging the running mode. In order to ensure the smooth starting of the motor, a soft starting mode is adopted, namely a slope function is adopted, the slope of the slope function is given, the given PWM period is slowly increased, the rotating speed is slowly increased according to the given slope, and the riding comfort is improved;
and step S4: and transmitting a conduction signal to an MOS (metal oxide semiconductor) tube in the driving module through an IO (input/output) port of the controller, wherein the time for transmitting the high-level pulse is a PWM (pulse-width modulation) period for slowly increasing the given acceleration. With the difference of the current in the three-phase line, the pulse widths of conducting signals sent to the MOS tube in the driving module by the IO port are different, so that the stable release of the current is realized, and the smooth starting of the motor is realized.
The positive and negative codes in the step S1 identify the type of the motor, synchronous electrical angle data needs to be input, the data needs to be input according to the characteristics of the currently used motor, the electrical angle is synchronized when the hall signal changes every time, and if the angle is large, the control effect is affected, so that the operation efficiency of the motor is affected, or the motor is vibrated, so that the motor is initially tested, and the convention of the electrical angle in the program motor library is determined. 1. The highest point of the opposite potential of the motor A is taken as 0 degree of an electrical angle in a default mode; 2. the delay angle from the rising edge of the Hall A of the motor to the highest point of the opposite electromotive force of the Hall A of the motor is a synchronous electrical angle; 3. if the motor is not connected with the virtual midpoint, three resistors with the same resistance value are required to be connected to a third connecting line of the motor, and the other ends of the resistors are connected together to be used as the virtual midpoint; 4. a Hall signal is connected into a 5V power supply, and an upper bridge arm of the phase A is connected into a pull-up resistor; 5. and connecting an oscilloscope, rotating the motor, and testing the reverse electromotive force signal and the Hall signal. And adds the measured back emf signal and the hall signal to the program. When the rotating handle outputs a starting signal, a PWM pulse with a period of 0.06ms is given to the motor, the high level is 0.03ms, the low level is 0.03ms, motor parameters are identified by detecting the magnitude of the back electromotive force on the phase line A and the detected Hall installation initial angle value, corresponding motor parameters are determined, and a corresponding program is executed.
As shown in fig. 3, which is the hall initial angle compensation in step S2 of the present embodiment, taking a south-normal motor as an example, the hall sector initial value detected in step S1 is 59.743 ° for the first sector, 66.071 ° for the second sector, 56.93 ° for the third sector, 56.46 ° for the fourth sector, 67.456 ° for the fifth sector, and 53.283 ° for the sixth sector, thereby determining that the hall sector of the motor is a nonstandard 60 ° sector angle, and fitting the angle deviation to the standard sector through the angle integration formula processing, thereby realizing the compensation of the hall initial angle deviation.
In the step S3, the slope function is used for slowly increasing a given PWM period by giving the target speed of 2300r/min and the slope of 1/6000, so that the rotating speed is slowly increased according to the given acceleration, and the riding comfort is improved.
It is obvious that those skilled in the art can obtain various effects not directly mentioned according to the respective embodiments without trouble from various structures according to the embodiments of the present invention. While the invention/embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.
Claims (2)
1. A starting control method of an electric vehicle is characterized by comprising the following steps: the method comprises the following steps: acquiring a handle rotating signal, judging the type of a motor, compensating a Hall initial deviation angle, judging an operation mode and controlling the motor; specifically, step 1: acquiring a handle rotating signal, and transmitting a motor starting signal by rotating the handle;
and 2, step: the positive and negative codes realize the judgment of the motor type, the discrete characteristic of the motor under specific excitation is utilized, different motor parameters are identified by giving a high pulse to the motor and the generated current is different in magnitude due to different motor inductance values, the connected motor type is judged, and the matching of various motors of a single controller is realized;
and step 3: hall initial deviation angle compensation is realized through angle integral processing, hall sectors are nonstandard sectors due to the fact that Hall installation, magnetic steel NS poles are inconsistent and the influence of Hall devices, compensation of Hall initial angle deviation is realized through Hall self-learning, and initial operation angular speed omega is determined through preset sector calculation 0 And determining the angular velocity omega of the operation by single sector calculation 1 Further determining the angle variation through angle integral processing to realize Hall initial angle deviation compensation;
and 4, step 4: judging the running mode, namely adopting a soft start mode to ensure that the motor is smoothly started, namely adopting a slope function, slowly increasing a given PWM period by giving the slope of the slope function, realizing that the rotating speed is slowly increased according to the given slope, and improving the riding comfort;
and 5: and controlling the motor, namely sending a conduction signal to an MOS (metal oxide semiconductor) tube in the driving module through an IO (input/output) port of the controller, wherein the time for sending a high-level pulse is a PWM (pulse width modulation) period of the given acceleration which is increased slowly, and along with the difference of the current in the three-phase line, the pulse width of the conduction signal sent to the MOS tube in the driving module by the IO port is different, so that the stable release of the current is realized, and the smooth start of the motor is realized.
2. The electric vehicle startup control method according to claim 1, characterized in that: the angle change can be obtained by the following formula:
where Δ ω (t) is an angular velocity change amount, Δ θ (t) is an angular change amount, n p The number of pole pairs of the motor is shown.
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| CN114035624B (en) * | 2021-11-22 | 2023-06-23 | 北京卫星环境工程研究所 | A control method for slow start of electric tools for space on-orbit maintenance |
| CN114083996B (en) * | 2021-11-24 | 2023-07-14 | 江西裕丰智能农业科技有限公司 | Driving module, electric vehicle, driving method and driving equipment |
| CN114362621A (en) * | 2021-12-31 | 2022-04-15 | 上海擎朗智能科技有限公司 | Motor control method and control system thereof |
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| CN101166009A (en) * | 2006-10-17 | 2008-04-23 | 邓林 | Hall-free brushless controller |
| CN103490681B (en) * | 2012-06-12 | 2016-08-03 | 上海金脉电子科技有限公司 | Control the method and system of attached brushless DC motor of electric vehicle |
| CN103731076B (en) * | 2014-01-02 | 2015-12-02 | 东南大学 | A kind of control method of electric bicycle based on permanent-magnet brushless DC electric machine |
| CN108683368A (en) * | 2018-04-24 | 2018-10-19 | 电子科技大学 | A kind of brshless DC motor device |
| CN108918118A (en) * | 2018-07-06 | 2018-11-30 | 西安工程大学 | A kind of electric power pylon bolt looseness monitoring system and method based on artificial excitation |
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