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CN110641291B - Control method and system for double-motor electric scooter - Google Patents

Control method and system for double-motor electric scooter Download PDF

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CN110641291B
CN110641291B CN201910950428.5A CN201910950428A CN110641291B CN 110641291 B CN110641291 B CN 110641291B CN 201910950428 A CN201910950428 A CN 201910950428A CN 110641291 B CN110641291 B CN 110641291B
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CN110641291A (en
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林海
王小冬
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Changan University
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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
    • 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
    • B60L15/28—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 without contact making and breaking, e.g. using a transductor
    • 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
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • 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
    • B60L2200/12—Bikes
    • 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
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/22—Yaw angle
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/32—Driving direction
    • 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
    • B60L2240/421—Speed
    • 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
    • B60L2240/423—Torque
    • 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
    • B60L2240/429—Current
    • 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)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a control method and a system of a double-motor electric scooter. When the electric scooter turns, the motor is allowed to realize the self-adaptive differential turning performance under the condition of different loads, the energy loss is reduced, the cruising ability of the system is improved, the generated speed is compensated and given to the torque adjusting distributor by taking the measured value of the corresponding direction in the angle measured by the gyroscope as the measured value, and the compensation value of the angle value which has the largest influence on the system is directly given to the torque adjusting distributor, so that the adjusting effect of the system is accelerated. And (4) giving a compensation value of two angle values with small influence on the system to a PI regulator with a given speed, and slowly regulating the system. After the torque adjusting distributor is reasonably distributed, the self-adaptive adjustment can be carried out according to various road conditions.

Description

Control method and system for double-motor electric scooter
Technical Field
The invention belongs to the technical field of electric scooter control, and particularly relates to a control method and a control system of a double-motor electric scooter.
Background
As the national economy develops rapidly, the number of private cars is more and more, and traffic paralysis is easily caused; in addition, in some narrow places, the automobile is not suitable for passing, and the automobile discharges a large amount of waste gas to pollute the air. Therefore, it is necessary to design a power control system device which is small in size, adjustable in speed and environment-friendly. The device can be fixed on any device with smaller volume (such as a traditional skateboard, a bicycle and the like), so that the traditional travel tool can be easily changed. The travel tool with the control device is more labor-saving and faster than the traditional travel tool, and is convenient to carry. The introduction of the control system greatly liberates people, accords with the concept of national green development, enables people to go out more conveniently and efficiently, and meets the requirement of epoch development.
At present, most of electric scooters have insufficient cruising ability, low control precision and serious energy loss, so how to design a novel double-motor electric scooter control method and a system thereof have practical engineering value.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a method and a system for controlling a dual-motor electric scooter, which can improve the control accuracy, stability and durability of the system and reduce the energy loss of the system.
The invention adopts the following technical scheme:
a control method for dual-motor electric scooter is characterized in that a gyroscope is measured in the actual running processTransverse roll angle theta ofi1Angle of pitch thetai2Heading angle thetai3The angle theta of the three axes measured by a gyroscope on a horizontal road surfacei1 *、θi2 *、θi3 *Making difference, making the difference pass through a PI regulator to produce three speed compensations omegac1，ωc2，ωc3(ii) a Then the given value of the system speed, the actual motor rotating speed value and the speed compensation value omega are usedc2，ωc3After operation, a difference e is obtainedsr＝(ω*-ωi)+ωc2+ωc3Difference esrObtaining a reference current value I given by the system through a PI regulator*；
Then measure the angle in the gyroscopei1-θi1 *|,|θi2-θi2 *|,|θi3-θi3 *||maxThe measured value of the corresponding direction is taken as thetai1Compensating the generated speed byc1To the torque regulating distributor, the reference current value and the speed are compensated by omegac1The torque is reasonably distributed by a torque regulating distributor, so that the motor realizes differential speed and stable steering;
the reasonably distributed current is changed along with the given voltage through a current regulator, and then a series of PWM waves are generated through a PWM controller to control the speed of the motor; meanwhile, the motor feeds the current during working back to the current regulator to form a closed-loop control system, the position of the motor rotor is detected, the detected position parameter is fed back to the PWM controller to form a position-fed closed-loop system, and the position parameter is fed back to the torque distribution regulator through current detection to form a speed-fed closed-loop system to realize the control of the motor.
Specifically, when the given motor rotating speed is greater than the actual rotating speed of the motor and the absolute value of the difference between the given motor rotating speed and the actual motor rotating speed is greater than the limited error C, the reference current value I for driving on the given horizontal road surface is increased1 *(ii) a When the given motor rotating speed is less than the actual rotating speed of the motor and the motor is given to rotateWhen the absolute value of the difference between the speed and the actual motor rotating speed is greater than the limited error C, the reference current value I for driving on the given horizontal road surface is reduced1 *。
In particular, the three-axis angle | theta measured by the gyroscope during horizontal road drivingi1-θi1 *|＜Cm1，|θi2-θi2 *|＜Cm2，|θi3-θi3 *|＜Cm3；Cm1，Cm2，Cm3Giving a reference current I for horizontal road travel to the maximum value of the error in horizontal conditions1 *Comprises the following steps:
I1 *＝(ω*-ωi)*Kp+(ω*-ωi)*Ki
wherein, ω is*For a given reference speed, ωiFor measuring speed, KpIs a constant of proportionality, KiIs an integration constant.
Further, when the speeds of the two motors do not reach the set minimum rotating speed omega* minOr the difference in the rotational speeds of the two motors is less than 1% of their average rotational speed or the three-axis angle | theta measured by a gyroscopei1-θi1 *|＜Cm1，|θi2-θi2 *|＜Cm2，|θi3-θi3 *|＜Cm3A torque balance split mode is employed.
Further, the torques of the two motors are the same:
I1＝I2＝0.5I1 *
in particular, during driving on non-horizontal or turning roads, the gyroscope measures the three-axis angle | θ |i1-θi1 *|≥Cm1、|θi2-θi2 *|≥Cm2、|θi3-θi3 *|≥Cm3(ii) a Reference current I when driving on given non-horizontal road or turning road2 *Comprises the following steps:
I2 *＝[(ω*-ωi)+ωc2+ωc3]*Kp+[(ω*-ωi)+ωc2+ωc3]*Ki
ωc2＝(θi2 *-θi2)*Kp2+(θi2 *-θi2)*Ki2
ωc3＝(θi3 *-θi3)*Kp3+(θi3 *-θi3)*Ki3
wherein, ω is*For a given reference speed, ωiFor measuring speed, omegac2，ωc3To compensate for the velocity, θi2 *，θi3 *Two measurement values theta with minimum deviation in three-axis angles of the gyroscope under the horizontal conditioni2，θi3Two values of minimum deviation in three-axis angles, K, measured for a gyroscopep2To compensate for speed omegac2Constant of proportionality, Ki2To compensate for speed omegac2Integral constant of, Kp3To compensate for speed omegac3Constant of proportionality, Ki3To compensate for speed omegac3Integral constant of, KpFor a given reference current I2 *Constant of proportionality, KiFor a given reference current I2 *An integration constant.
Further, when running on a curved road surface, θi1The measured angle is the roll angle, theta, of the three-axis gyroscopei2，θi3The measured angle is the pitch angle and the course angle of the triaxial gyroscope;
when theta isi1＜-Cm1+θi1 *The electric scooter turns to for left:
Figure BDA0002225611660000031
when theta isi1＞Cm1+θi1 *The electric scooter turns to for right:
Figure BDA0002225611660000041
ωc1＝(θi1 *-θi1)*Kp1+(θi1 *-θi1)*Ki1
wherein, I2 *For a reference current, ω, given when driving on non-horizontal or turning surfacesc1K is a proportionality constant to compensate for velocity; thetai1 *Roll angle, K, measured for a three-axis gyroscope in the horizontal conditionp1To compensate for speed omegac1Constant of proportionality, Ki1To compensate for speed omegac1Is measured.
Further, when traveling on an inclined road, θi1The measured angle is the pitch angle theta of the three-axis gyroscopei2，θi3The measured angle is the roll angle and the course angle of the triaxial gyroscope;
when theta isi1＜-Cm1+θi1 *And the electric scooter is in an uphill state:
I1＝I2＝f(I2 *,θi1)＝0.5*I2 *+k*ωc1
when theta isi1＞Cm1+θi1 *And the electric scooter is in a down slope state:
I1＝I2＝f(I2 *,θi1)＝0.5*I2 *-k*ωc1
wherein, I2 *For a reference current, ω, given a given non-level or turning road surfacec1K is a proportionality constant to compensate for velocity;
ωc1＝(θi1 *-θi1)*Kp1+(θi1 *-θi1)*Ki1
wherein, thetai1 *Pitch angle, K, measured for a three-axis gyroscope in a horizontal conditionp1To compensate for speed omegac1Constant of proportionality, Ki1To compensate for speed omegac1Is measured.
Further, when the inclined road surface turns, θi1The measured angle is the pitch angle theta of the three-axis gyroscopei2，θi3The measured angles are the roll angle and the course angle of the triaxial gyroscope;
when theta isi1＜-Cm1+θi1 *And thetai2＜-Cm2+θi2 *Electric scooter is in the slope and the state of turning left:
Figure BDA0002225611660000042
when theta isi1＞Cm1+θi1 *And thetai2＜-Cm2+θi2 *Electric scooter is in down slope and left turn state:
Figure BDA0002225611660000053
when theta isi1＜-Cm1+θi1 *And thetai2＞Cm2+θi2 *Electric scooter is in the state of going up slope and turning right:
Figure BDA0002225611660000051
when theta isi1＞Cm1+θi1 *And thetai2＞Cm2+θi2 *Electric scooter is in downhill path and the state of turning right:
Figure BDA0002225611660000052
another technical solution of the present invention is a control system for an electric scooter, using the control method for a dual-motor electric scooter, comprising:
the control part: STM32F103ZET6 is used as a main control chip;
a sensor portion: acquiring the offset angle of the vehicle body by adopting a gyroscope;
a power supply section: charging the battery and supplying power to all parts of the system by adopting a charging module and a storage battery;
a main circuit part: the power driver and the two Hall brushless motors;
the upper computer part: the mobile phone transmits information and transmits instructions through wireless Bluetooth; the PC terminal is used for programming programs and debugging a system through serial port communication;
the function module is including changeing bluetooth module, current limiting control module, three-phase dc-to-ac converter and motor start module, on being connected to the USART serial ports of main control chip development board with bluetooth module, bluetooth module receives the instruction that cell-phone APP sent, adjusts the speed of motor, judges the state of motor by the data that the gyroscope returned, works as | thetai1-θi1 *|≥Cm1Or | θi2-θi2 *|≥Cm2Or | θi3-θi3 *|≥Cm3In time, the electric scooter is driven on a non-horizontal road or a turning road, and differential steering is realized according to torque distribution.
Compared with the prior art, the invention has at least the following beneficial effects:
according to the control method of the double-motor electric scooter, the gyroscope is adopted to measure the running state of the electric scooter, so that reasonable distribution of torque is realized and accurate control is realized aiming at different conditions. When the electric scooter turns, the motor is allowed to realize the self-adaptive differential turning performance under the condition of different loads, the energy loss is reduced, the cruising ability of the system is improved, and the gyroscope is used for measuring the angle I thetai1-θi1 *|,|θi2-θi2 *|,|θi3-θi3 *||maxMeasurement of the corresponding directionMagnitude as θi1Compensating the generated speed byc1The compensation value of the angle value which has the largest influence on the system is directly fed into the torque adjustment distributor, so that the adjustment effect of the system is accelerated. And (4) giving a compensation value of two angle values with small influence on the system to a PI regulator with a given speed, and slowly regulating the system. After the system is reasonably distributed by the torque adjusting distributor, the system can be adjusted in a self-adaptive manner according to various road conditions.
Furthermore, when the absolute value of the difference between the given motor rotating speed and the actual motor rotating speed is not greater than the limit error C, the actual motor rotating speed can be regarded as the given motor rotating speed, so that frequent regulation of the system on the reference current is reduced, and the system is more stable.
Further, when the speeds of the two motors do not reach the set minimum rotating speed omega* minOr the difference in the rotational speeds of the two motors is less than 1% of their average rotational speed or the three-axis angle | theta measured by a gyroscopei1-θi1 *|＜Cm1，|θi2-θi2 *|＜Cm2，|θi3-θi3 *|＜Cm3When the vehicle runs on a horizontal road, the reference current is set to provide a certain torque for the system, so that the system can be stably operated.
Further, the three-axis angle | θ measured by the gyroscopei1-θi1 *|≥Cm1、|θi2-θi2 *|≥Cm2、|θi3-θi3 *|≥Cm3When the system runs on a non-horizontal road or a turning road, the reference current is set to provide reasonable torque for the system, so that the system can stably run.
Further, when the system runs on a turning road surface, the roll angle theta measured by the three-axis gyroscope is measured at the momenti1Plays a role in determining the speed compensation omega generated by the speed compensationc1The torque is directly fed into the torque adjusting distributor, so that the adjusting action of the system is accelerated, and the system can realize self-adaptive differential turning.
Further, when the system runs on an inclined road surface, the pitch angle theta measured by the three-axis gyroscope is measured at the momenti1Plays a role in determining the speed compensation omega generated by the speed compensationc1The torque is directly supplied to the torque adjusting distributor, so that the adjusting function of the system is accelerated, the system can automatically distribute the torque according to the inclined condition of the road surface, and the system can stably run.
Further, when the system runs on a slope turning road surface, the roll angle theta measured by the three-axis gyroscopei1Plays a role in determining the speed compensation omega generated by the speed compensationc1The torque is directly fed into the torque adjusting distributor, so that the adjusting effect of the system is accelerated; pitch angle theta measured by a three-axis gyroscopei2Also plays an important role in compensating the speed generated by the speed compensation omegac2The current is fed into a PI regulator, so that a system can adjust a given reference current value according to the inclination condition of the road surface, and the current is reasonably distributed through a torque adjusting distributor; the two are coordinated and matched, and the vehicle can stably run on a complex inclined turning road surface.
According to the electric scooter control system, the motor is the Hall brushless motor, and compared with the traditional direct current motor, the electric scooter control system has the advantages of high efficiency, long service life and accurate control, the STM32F103ZET6 is used as a main control chip, information transmission and instruction transmission are carried out through a mobile phone wireless Bluetooth device, the speed of the system is adjusted, and automatic compensation and adjustment are carried out according to actual road conditions by combining the automobile body deviation angle acquired by a three-axis gyroscope, so that the system can run stably.
In conclusion, the invention can acquire the offset angle of the vehicle body through the three-axis gyroscope on the basis of the traditional speed regulation, judge the road surface condition according to the value of the angle, and ensure that the two motors can be mutually matched through the reasonable distribution of the torque regulation distributor, so as to automatically compensate and regulate the system under the condition of complex road conditions, thereby ensuring that the system can stably run.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a general block diagram of a control system of the present invention;
FIG. 2 is a schematic diagram of the apparatus of the present invention;
FIG. 3 is a flow chart of the apparatus control of the present invention;
FIG. 4 is a flow chart of the apparatus speed adjustment of the present invention;
fig. 5 is a diagram showing simulation results of the present invention, wherein (a) is a first motor and (b) is a second motor.
Detailed Description
Referring to fig. 1, the present invention provides a control system for an electric scooter, which includes a control portion, a sensor portion, a power supply portion, a main circuit portion, and an upper computer portion.
The control part: STM32F103ZET6 with the ST company is as main control chip, and this chip has two senior timers and 512K's storage capacity, has 5 kinds of IO mouths, a plurality of serial ports communication interface, fine satisfying the designing requirement.
A sensor portion: the gyroscope is used for acquiring the offset angle of the vehicle body.
A power supply section: a charging module and a storage battery; the method is mainly used for charging batteries and supplying power to all parts of the system.
A main circuit part: power driver and two hall brushless motor.
The upper computer part: a mobile phone and a PC terminal.
The mobile phone mainly transmits information and transmits instructions through wireless Bluetooth; the PC terminal is communicated through a serial port and is mainly used for programming and debugging a system.
The function module comprises a Bluetooth conversion module, a current limiting control module, a three-phase inverter and a motor starting module.
On being connected to the USART serial ports of STM32 development board with bluetooth module, bluetooth module receives the instruction that cell-phone APP sent, adjusts the speed of motor. The state of the motor is judged according to the data transmitted back by the gyroscope, so that the torque is reasonably distributed, and the electric scooter can stably run.
Adopt 32 bit processor STM32 as control center, external bluetooth module realizes the rotational speed that wireless communication comes control motor through cell-phone APP, by the topThe angle of the instrument judges the road surface condition when thetai1-θi1 *|≥Cm1Or | θi2-θi2 *|≥Cm2Or | θi3-θi3 *|≥Cm3When the electric scooter runs on a non-horizontal road or a turning road, differential steering can be realized according to torque distribution, and energy loss is reduced.
The power supply part mainly provides stable voltage for the full-bridge driving circuit through the power management circuit by the power supply to drive the Hall brushless motor, and the voltage of the power management circuit forms stable 5V voltage to supply power for the STM32 development board through a voltage stabilizing circuit. The STM32 development board generates a series of PWM waves through a correlation algorithm, and the speed regulation control of the Hall brushless motor is realized through an inversion management circuit and a full-bridge driving circuit. In the process, the current of the motor is fed back to the controller to form closed-loop control, so that the motor can stably run at a set speed.
Referring to FIG. 2, on a horizontal road, the three-axis angle | θ measured by the gyroscopei1-θi1 *|＜Cm1，|θi2-θi2 *|＜Cm2，|θi3-θi3 *|＜Cm3(ii) a In the actual driving process, the three-axis angle measured by the gyroscope is as follows: roll angle, pitch angle and course angle are thetai1，θi2，θi3The difference between the three angle values and the respective measured values in the horizontal plane is passed through a PI regulator to generate three speed compensations omegac1，ωc2，ωc3. Then the given value of the system speed, the actual motor rotating speed value and the speed compensation value omega are comparedc2，ωc3After operation, a difference e is obtainedsr＝(ω*-ωi)+ωc2+ωc3The difference esrThrough a PI regulator, the reference current value I given by the system can be obtained*Then measure the angle of the gyroscopei1-θi1 *|,|θi2-θi2 *|,|θi3-θi3 *||maxThe measured value of the corresponding direction is taken as thetai1The velocity compensation omega it producesc1The torque adjusting distributor is provided with a quick adjusting function. Compensating the reference current value and the velocity by omegac1The torque is reasonably distributed by the torque adjusting distributor, so that the motor realizes differential speed and stable steering.
The reasonably distributed current is enabled to closely follow the given voltage change through a current regulator, and then a series of PWM waves are generated through a PWM controller to control the speed of the motor; meanwhile, the motor feeds the current of the motor during working back to the current regulator to form a closed-loop control system, the dynamic process of the motor is accelerated, the overcurrent protection effect can be achieved, the stable operation of the motor at a given speed is guaranteed, the position of a rotor of the motor is detected, the detected position parameters are fed back to the PWM controller to form a closed-loop system with position feedback, and meanwhile, the position parameters are fed back to the torque distribution regulator through current detection, so that the closed-loop system with speed feedback is formed, and the accurate control of the motor can be realized.
Referring to fig. 3, the method for controlling an electric scooter of the present invention includes the following steps:
s1, starting, initializing the system;
s2, information interaction is carried out through the wireless communication Bluetooth module;
s3, acquiring gyroscope data, and calculating total driving force through a related algorithm;
referring to fig. 4, the method includes dual-motor rotation speed control and dual-motor torque distribution control;
s301, measuring the number of times of motor commutation counted in unit time by the motor rotating speed; the PID algorithm is adopted for closed-loop control, so that the rotating speed control of the double motors is realized, and the method specifically comprises the following steps:
s3011, three-axis angle | theta measured by gyroscope during running on horizontal road surfacei1-θi1 *|＜Cm1，|θi2-θi2 *|＜Cm2，|θi3-θi3 *|＜Cm3(ii) a Wherein theta isi1，θi2，θi3For the measured three-axis angles, θi1 *，θi2 *，θi3 *Is a value measured under horizontal conditions, Cm1，Cm2，Cm3Is the maximum value of the error under horizontal conditions.
Reference current I for a given level of road travel1 *Comprises the following steps:
I1 *＝(ω*-ωi)*Kp+(ω*-ωi)*Ki
wherein, ω is*For a given reference speed, ωiFor measuring speed, KpIs a constant of proportionality, KiIs an integration constant.
When the given motor speed is greater than the actual motor speed and the absolute value of the difference between the given motor speed and the actual motor speed is greater than the limit error C, the given reference current value I is reduced1 *(ii) a If the given motor speed is less than the actual motor speed and the absolute value of the difference between the given motor speed and the actual motor speed is greater than the limit error C, the given reference current value I is increased1 *。
S3012, driving on a non-horizontal road or a turning road, and measuring three-axis angle | theta by a gyroscopei1-θi1 *|≥Cm1Or | θi2-θi2 *|≥Cm2Or | θi3-θi3 *|≥Cm3；
Reference current I when driving on given non-horizontal road or turning road2 *Comprises the following steps:
I2 *＝[(ω*-ωi)+ωc2+ωc3]*Kp+[(ω*-ωi)+ωc2+ωc3]*Ki
ωc2＝(θi2 *-θi2)*Kp2+(θi2 *-θi2)*Ki2
ωc3＝(θi3 *-θi3)*Kp3+(θi3 *-θi3)*Ki3
wherein, ω is*For a given reference speed, ωiFor measuring speed, omegac2，ωc3To compensate for the velocity, θi2 *，θi3 *Two measurement values theta with minimum deviation in three-axis angles of the gyroscope under the horizontal conditioni2，θi3Two values of minimum deviation in three-axis angles, K, measured for a gyroscopep2To compensate for speed omegac2Constant of proportionality, Ki2To compensate for speed omegac2Integral constant of, Kp3To compensate for speed omegac3Constant of proportionality, Ki3To compensate for speed omegac3Integral constant of, KpFor a given reference current I2 *Constant of proportionality, KiFor a given reference current I2 *An integration constant.
S302, determining a torque distribution proportion of the motors according to the running states of the two motors, so as to realize accurate control of the motors under different conditions, specifically:
s3021, the speeds of the two motors do not reach the set minimum rotating speed omega* minOr the difference in the rotational speeds of the two motors is less than 1% of their average rotational speed or the three-axis angle | theta measured by a gyroscopei1-θi1 *|＜Cm 1，|θi2-θi2 *|＜Cm2，|θi3-θi3 *|＜Cm3In time, a torque balance split mode is adopted, i.e. the torques of the two motors are the same:
I1＝I2＝0.5I1 *
s3022, measuring three-axis angle | theta by gyroscopei1-θi1 *|≥Cm1Or | θi2-θi2 *|≥Cm2Or | θi3-θi3 *|≥Cm3When the electric scooter runs on a non-horizontal road surface thetai1Is | thetai1-θi1 *|,|θi2-θi2 *|,|θi3-θi3 *||maxThe angle measured by the corresponding three-axis gyroscope.
S4, speed regulation;
s401, during running on a turning road surface, the roll angle is determined so that thetai1The measured angle is the roll angle, θ, of the three-axis gyroscopei2，θi3The measured angle is the pitch angle and the course angle of the triaxial gyroscope;
when theta isi1＜-Cm1+θi1 *At this moment, the electric scooter turns to for the left:
Figure BDA0002225611660000121
when theta isi1＞Cm1+θi1 *At this moment, the electric scooter turns to right:
Figure BDA0002225611660000122
ωc1＝(θi1 *-θi1)*Kp1+(θi1 *-θi1)*Ki1
wherein, I2 *For a given reference current, ωc1K is a proportionality constant to compensate for velocity; thetai1 *Roll angle, K, measured for a three-axis gyroscope in the horizontal conditionp1To compensate for speed omegac1Constant of proportionality, Ki1To compensate for speed omegac1An integration constant of (d);
s402, when the vehicle runs on an inclined road, the pitch angle is determined, so thetai1The measured angle is the pitch angle, theta, of the three-axis gyroscopei2，θi3The measured angle is the roll angle and the course angle of the triaxial gyroscope;
when theta isi1＜-Cm1+θi1 *At this moment, the electric scooter is inAn up-slope state:
I1＝I2＝f(I*,θi1)＝0.5*I*+k*ωc1
when theta isi1＞Cm1+θi1 *At this moment, the electric scooter is in a downhill state:
I1＝I2＝f(I*,θi1)＝0.5*I*-k*ωc1
wherein, I*For a given reference current, ωc1To compensate for velocity, k is a proportionality constant.
ωc1＝(θi1 *-θi1)*Kp1+(θi1 *-θi1)*Ki1
Wherein, thetai1 *Pitch angle, K, measured for a three-axis gyroscope in a horizontal conditionp1To compensate for speed omegac1Constant of proportionality, Ki1To compensate for speed omegac1Is measured.
S403, when the vehicle runs on a slope road surface in a turning mode, the pitch angle and the roll angle play great roles, and the fact that the pitch angle is a little larger than the roll angle is assumed, thetai1The measured angle is the pitch angle, theta, of the three-axis gyroscopei2，θi3The measured angle is the roll angle and the course angle of the triaxial gyroscope;
when theta isi1＜-Cm1+θi1 *And thetai2＜-Cm2+θi2 *At this moment, the electric scooter is in an upward slope and a left-turning state:
Figure BDA0002225611660000131
when theta isi1＞Cm1+θi1 *And thetai2＜-Cm2+θi2 *At this moment, the electric scooter is in a down slope and left-turning state:
Figure BDA0002225611660000132
when theta isi1＜-Cm1+θi1 *And thetai2＞Cm2+θi2 *At this moment, the electric scooter is in an upward slope and a right-turning state:
Figure BDA0002225611660000133
when theta isi1＞Cm1+θi1 *And thetai2＞Cm2+θi2 *At this moment, the electric scooter is in a down slope and right turning state:
Figure BDA0002225611660000134
s5, judging whether the process is finished or not, if so, entering the step S6, and if not, returning to the step S2;
and S6, ending.
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. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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. 5, the line with the triangle frame is the actual rotation speed of the motor, and the other white line is the set rotation speed. When the vehicle runs on a horizontal road, the initial speeds of the two motors are the same, when the vehicle runs on a turning road, the angle value of the vehicle body offset is acquired through the three-axis gyroscope, the speed of one motor is increased and the speed of the other motor is decreased through reasonable distribution of the torque adjusting distributor, and self-adaptive differential turning is realized.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.

Claims (8)

1. A control method for a dual-motor electric scooter is characterized in that a roll angle theta measured by a gyroscope in an actual running process is measuredi1Angle of pitch thetai2Heading angle thetai3The angle theta of the three axes measured by a gyroscope on a horizontal road surfacei1 *、θi2 *、θi3 *Making difference, making the difference pass through a PI regulator to produce three speed compensations omegac1，ωc2，ωc3(ii) a Then the given value of the system speed, the actual motor rotating speed value and the speed compensation value omega are usedc2，ωc3After operation, a difference e is obtainedsr＝(ω*-ωi)+ωc2+ωc3Difference esrObtaining a reference current value I given by the system through a PI regulator*Three-axis angle theta measured by gyroscope during horizontal road runningi1-θi1 *|＜Cm1，|θi2-θi2 *|＜Cm2，|θi3-θi3 *|＜Cm3；Cm1，Cm2，Cm3Giving a reference current I for horizontal road travel to the maximum value of the error in horizontal conditions1 *Comprises the following steps:
I1 *＝(ω*-ωi)*Kp+(ω*-ωi)*Ki
wherein, ω is*For a given reference speedDegree, omegaiFor measuring speed, KpIs a constant of proportionality, KiFor integral constant, when the speeds of the two motors do not reach the set minimum rotation speed omega* minOr the difference in the rotational speeds of the two motors is less than 1% of their average rotational speed or the three-axis angle | theta measured by a gyroscopei1-θi1 *|＜Cm1，|θi2-θi2 *|＜Cm2，|θi3-θi3 *|＜Cm3When the torque is balanced, a torque balance distribution mode is adopted;
then measure the angle in the gyroscopei1-θi1 *|,|θi2-θi2 *|,|θi3-θi3 *||maxThe measured value of the corresponding direction is taken as thetai1Compensating the generated speed byc1To the torque regulating distributor, the reference current value and the speed are compensated by omegac1The torque is reasonably distributed by a torque regulating distributor, so that the motor realizes differential speed and stable steering;
the reasonably distributed current is changed along with the given voltage through a current regulator, and then a series of PWM waves are generated through a PWM controller to control the speed of the motor; meanwhile, the motor feeds the current during working back to the current regulator to form a closed-loop control system, the position of the motor rotor is detected, the detected position parameter is fed back to the PWM controller to form a position-fed closed-loop system, and the position parameter is fed back to the torque distribution regulator through current detection to form a speed-fed closed-loop system to realize the control of the motor.
2. The method of claim 1, wherein when the given motor speed is greater than the actual motor speed and the absolute value of the difference between the given motor speed and the actual motor speed is greater than the limit error C, the reference current value I for driving on a given level road is increased1 *(ii) a When the given motor speed is less than the actual motor speed and the absolute value of the difference between the given motor speed and the actual motor speed is greater than the limit valueReducing the reference current value I for a given level of road travel at error C1 *。
3. The control method of the dual-motor electric scooter of claim 1, wherein the torques of the two motors are the same:
I1＝I2＝0.5I1 *。
4. the method of claim 1, wherein the three-axis angle | θ measured by the gyroscope is measured when the scooter is driving on a non-horizontal road or a turning roadi1-θi1 *|≥Cm1、|θi2-θi2 *|≥Cm2、|θi3-θi3 *|≥Cm3(ii) a Reference current I when driving on given non-horizontal road or turning road2 *Comprises the following steps:
I2 *＝[(ω*-ωi)+ωc2+ωc3]*Kp+[(ω*-ωi)+ωc2+ωc3]*Ki
ωc2＝(θi2 *-θi2)*Kp2+(θi2 *-θi2)*Ki2
ωc3＝(θi3 *-θi3)*Kp3+(θi3 *-θi3)*Ki3
wherein, ω is*For a given reference speed, ωiFor measuring speed, omegac2，ωc3To compensate for the velocity, θi2 *，θi3 *Two measurement values theta with minimum deviation in three-axis angles of the gyroscope under the horizontal conditioni2，θi3Two values of minimum deviation in three-axis angles, K, measured for a gyroscopep2To compensate for speed omegac2Constant of proportionality, Ki2To compensate for speed omegac2Integral constant of, Kp3To compensate for speed omegac3Constant of proportionality, Ki3To compensate for speed omegac3Integral constant of, KpFor a given reference current I2 *Constant of proportionality, KiFor a given reference current I2 *An integration constant.
5. The method for controlling a two-motor electric scooter according to claim 4, wherein θ is θ when driving on a curved roadi1The measured angle is the roll angle, theta, of the three-axis gyroscopei2，θi3The measured angle is the pitch angle and the course angle of the triaxial gyroscope;
when theta isi1＜-Cm1+θi1 *The electric scooter turns to for left:
Figure FDA0002697216010000021
when theta isi1＞Cm1+θi1 *The electric scooter turns to for right:
Figure FDA0002697216010000022
ωc1＝(θi1 *-θi1)*Kp1+(θi1 *-θi1)*Ki1
wherein, I2 *For a reference current, ω, given when driving on non-horizontal or turning surfacesc1K is a proportionality constant to compensate for velocity; thetai1 *Roll angle, K, measured for a three-axis gyroscope in the horizontal conditionp1To compensate for speed omegac1Constant of proportionality, Ki1To compensate for speed omegac1Is measured.
6. The method of claim 4, wherein θ is θ when driving on a slopei1The measured angle is the pitch angle theta of the three-axis gyroscopei2，θi3The measured angle is the roll angle and the course angle of the triaxial gyroscope;
when theta isi1＜-Cm1+θi1 *And the electric scooter is in an uphill state:
I1＝I2＝f(I2 *,θi1)＝0.5*I2 *+k*ωc1
when theta isi1＞Cm1+θi1 *And the electric scooter is in a down slope state:
I1＝I2＝f(I2 *,θi1)＝0.5*I2 *-k*ωc1
wherein, I2 *For a reference current, ω, given when driving on non-horizontal or turning surfacesc1K is a proportionality constant to compensate for velocity;
ωc1＝(θi1 *-θi1)*Kp1+(θi1 *-θi1)*Ki1
wherein, thetai1 *Pitch angle, K, measured for a three-axis gyroscope in a horizontal conditionp1To compensate for speed omegac1Constant of proportionality, Ki1To compensate for speed omegac1Is measured.
7. The method of claim 4, wherein θ is θ during cornering on a slopei1The measured angle is the pitch angle theta of the three-axis gyroscopei2，θi3The measured angles are the roll angle and the course angle of the triaxial gyroscope;
when theta isi1＜-Cm1+θi1 *And thetai2＜-Cm2+θi2 *Electric scooter is in the slope and the state of turning left:
Figure FDA0002697216010000031
when theta isi1＞Cm1+θi1 *And thetai2＜-Cm2+θi2 *Electric scooter is in down slope and left turn state:
Figure FDA0002697216010000041
when theta isi1＜-Cm1+θi1 *And thetai2＞Cm2+θi2 *Electric scooter is in the state of going up slope and turning right:
Figure FDA0002697216010000042
when theta isi1＞Cm1+θi1 *And thetai2＞Cm2+θi2 *Electric scooter is in downhill path and the state of turning right:
Figure FDA0002697216010000043
8. a control system for an electric scooter, characterized in that the control method for a two-motor electric scooter according to claim 1 is used, comprising:
the control part: STM32F103ZET6 is used as a main control chip;
a sensor portion: acquiring the offset angle of the vehicle body by adopting a gyroscope;
a power supply section: charging the battery and supplying power to all parts of the system by adopting a charging module and a storage battery;
a main circuit part: the power driver and the two Hall brushless motors;
the upper computer part: the mobile phone transmits information and transmits instructions through wireless Bluetooth; the PC terminal is used for programming programs and debugging a system through serial port communication;
the function module is including changeing bluetooth module, current limiting control module, three-phase dc-to-ac converter and motor start module, on being connected to the USART serial ports of main control chip development board with bluetooth module, bluetooth module receives the instruction that cell-phone APP sent, adjusts the speed of motor, judges the state of motor by the data that the gyroscope returned, works as | thetai1-θi1 *|≥Cm1Or | θi2-θi2 *|≥Cm2Or | θi3-θi3 *|≥Cm3In time, the electric scooter is driven on a non-horizontal road or a turning road, and differential steering is realized according to torque distribution.
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