CN115817189A - Energy feedback reverse charging control system of electric bicycle - Google Patents
Energy feedback reverse charging control system of electric bicycle Download PDFInfo
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- CN115817189A CN115817189A CN202211708128.4A CN202211708128A CN115817189A CN 115817189 A CN115817189 A CN 115817189A CN 202211708128 A CN202211708128 A CN 202211708128A CN 115817189 A CN115817189 A CN 115817189A
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Abstract
The invention provides an energy feedback reverse charging control method of an electric bicycle, which comprises the following steps: a brushless DC motor configured to drive an electric vehicle; an AC/DC inverter configured to connect a brushless DC motor; an energy storage system configured to supply power to the brushless DC motor through an AC/DC inverter; the electronic brake system of the electric vehicle is configured to generate energy feedback and brake by adjusting the current direction of the brushless direct current motor, the brushless direct current motor is used as a generator, the residual rotating energy is returned to the energy storage system through the AC/DC inverter to be recovered, and the vector frequency conversion control is utilized to perform energy recovery control and reversely charge the energy storage system.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to an energy feedback reverse charging control system of an electric bicycle.
Background
At present, in the BLDC motor control of an electric bicycle, the consumption of the kinetic energy of a motor is realized mainly through mechanical braking and vehicle and ground friction when the electric bicycle is braked and stopped, the damage of a mechanical braking system and tires by the sliding braking and the mechanical braking is large, the motor running at a high speed cannot be used as a generator, and the kinetic energy of the motor in the running process is wasted.
Disclosure of Invention
The invention aims to provide an energy feedback reverse charging control system of an electric bicycle, which aims to solve the problem that the conventional brake halt brake realizes the consumption of electric energy through a mechanical brake.
In order to solve the above technical problems, the present invention provides an energy feedback reverse charging control system for an electric bicycle, comprising:
a brushless DC motor configured to drive an electric vehicle;
an AC/DC inverter configured to connect a brushless DC motor;
an energy storage system configured to supply power to the brushless DC motor through the AC/DC inverter;
the electronic brake system of the electric vehicle is configured to generate energy feedback and brake by adjusting the current direction of the brushless direct current motor, the brushless direct current motor is used as a generator, the residual rotating energy is returned to the energy storage system through the AC/DC inverter to be recovered, and the vector frequency conversion control is utilized to perform energy recovery control and reversely charge the energy storage system.
Optionally, in the energy feedback back-charging control system for an electric bicycle, the system further includes:
the voltage sampling circuit is configured to sample the battery voltage provided by the energy storage system and provide the battery voltage to the closed-loop control module;
the phase current sampling circuit is configured to sample three-phase currents of the AC/DC inverter respectively and provide the three-phase currents to the closed-loop control module;
and the bus current sampling circuit is configured to sample the bus current of the AC/DC inverter and provide the bus current to the closed-loop control module.
Optionally, in the energy feedback back-charging control system for an electric bicycle, the system further includes:
the closed-loop control module comprises a voltage loop PID module, a current loop PID module and an SVPWM module; wherein:
the voltage ring PID module enables the battery voltage to form a PID voltage signal through the bus voltage ring and provides the PID voltage signal to the SVPWM module;
the current loop PID module enables phase current and bus current to form PID current signals through the Q-axis current loop and the D-axis current loop and provides the PID current signals to the SVPWM module;
and the SVPWM module is configured to generate a control signal according to the PID voltage signal and the PID current signal.
Optionally, in the energy feedback back-charging control system for an electric bicycle, the system further includes:
in driving an electric vehicle, an AC/DC inverter regulates i qref After amplitude limiting control, with feedback current i q And performing PI regulation, outputting q-axis reference voltage, performing Park inverse transformation and SVPWM processing, providing a control signal for controlling the on and off of a power device to an AC/DC inverter driving module, inverting the direct current into alternating current, and providing energy to the brushless direct current motor.
Optionally, in the energy feedback back-charging control system for an electric bicycle, the system further includes:
when braking an electric vehicle, the AC/DC inverter regulates in reverse i qref After amplitude limiting control, with feedback current i q And PI regulation is carried out, q-axis reference voltage is output, after Park inverse transformation and SVPWM treatment, a control signal for controlling the on-off of a power device is provided for an AC/DC inverter driving module, an electric motor is used as a generator to generate alternating current, and direct current is input into an energy storage system after rectification by an inverter, so that energy feedback is realized.
Optionally, in the energy feedback back-charging control system for an electric bicycle, the system further includes:
wherein iq is torque control current, iu is u-phase current, iv is v-phase current, iw is w-phase current, and theta is angular velocity of the brushless direct current motor;
derived from formula 1 and formula 2: and controlling the magnitude and direction of the q-axis current to control the magnitude and direction of the UVW three-phase current, so as to achieve AC/DC.
Optionally, in the energy feedback back-charging control system for an electric bicycle, the system further includes:
the energy feedback brake adopts a drive control strategy: setting a reference value-i according to equation 2 q Obtaining reference values of three-phase currents according to a vector control principle to be used as modulation waves to control the on and off of a power device, and finally outputting actual direct currents to the energy storage system to realize charging of the energy storage system;
and the voltage ring PID module controls the adjustment size according to the PI of the maximum charging voltage to ensure that the charging voltage is constant, so that the aim of constant-voltage charging is fulfilled.
Optionally, in the energy feedback back-charging control system for an electric bicycle, the system further includes:
setting of iq current:
according to kinetic energy possessed during braking
The system sets different q-axis currents at different driving speeds;
wherein v1 is the rated rotation speed (550 r/min) of the motor, vo is the lowest generation rotation speed, is 50r/min, is the maximum torque current, and ranges from 30 to 60A, such as 45A.
Optionally, in the energy feedback back-charging control system for an electric bicycle, the system further includes:
the Hall sensor is configured to detect a Hall signal of the brushless direct current motor and provide the Hall signal to the closed-loop control module;
and the DC/DC is configured to convert the voltage of the energy storage system into a power supply of 5-12V and provide the power supply to the closed-loop control module and the AC/DC inverter driving module.
In the energy feedback reverse charging control system of the electric bicycle, when the electric bicycle is braked, the residual energy generated by rotation of the brushless direct current motor returns to the energy storage system through the AC/DC inverter, so that the aim of reversely charging the battery is fulfilled for energy recovery, and a corresponding energy recovery control strategy can be formulated by considering the vector frequency conversion control technology.
Drawings
FIG. 1 is a hardware diagram of an energy feedback back-charging control system of an electric bicycle according to an embodiment of the present invention;
fig. 2 is a schematic diagram of energy feedback reverse charging control system software of an electric bicycle according to an embodiment of the present invention.
Detailed Description
The invention is further elucidated with reference to the drawings in conjunction with the detailed description.
It should be noted that the components in the figures may be shown exaggerated for illustrative purposes and are not necessarily to scale. In the figures, identical or functionally identical components are provided with the same reference symbols.
In the present invention, "disposed on" \ 8230 "", "disposed over" \823030 "", and "disposed over" \8230 "", do not exclude the presence of an intermediate therebetween, unless otherwise specified. Furthermore, "arranged on or above" \\8230 ", merely indicates a relative positional relationship between two components, and in certain cases, such as after reversing the product direction, may also be converted to" arranged under or below \8230 ", and vice versa.
In the present invention, the embodiments are only intended to illustrate the aspects of the present invention, and should not be construed as limiting.
In the present invention, the terms "a" and "an" do not exclude the presence of a plurality of elements, unless otherwise specified.
It is further noted herein that in embodiments of the present invention, only a portion of the components or assemblies may be shown for clarity and simplicity, but those of ordinary skill in the art will appreciate that, given the teachings of the present invention, required components or assemblies may be added as needed in a particular scenario. Furthermore, features from different embodiments of the invention may be combined with each other, unless otherwise indicated. For example, a feature of the second embodiment may be substituted for a corresponding or functionally equivalent or similar feature of the first embodiment, and the resulting embodiments are likewise within the scope of the disclosure or recitation of the present application.
It is also noted herein that, within the scope of the present invention, the terms "same", "equal", and the like do not mean that the two values are absolutely equal, but allow some reasonable error, that is, the terms also encompass "substantially the same", "substantially equal". By analogy, in the present invention, the terms "perpendicular", "parallel" and the like in the directions of the tables also cover the meanings of "substantially perpendicular", "substantially parallel".
The numbering of the steps of the methods of the present invention does not limit the order of execution of the steps of the methods. Unless specifically stated, the method steps may be performed in a different order.
The energy feedback back charging control system for electric bicycle according to the present invention will be described in detail with reference to the accompanying drawings and embodiments. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
The invention aims to provide an energy feedback reverse charging control system of an electric bicycle, which aims to solve the problem that the conventional brake halt brake realizes the consumption of electric energy through a mechanical brake.
In order to achieve the above object, the present invention provides an energy feedback reverse charging control system for an electric bicycle, comprising: a brushless DC motor configured to drive an electric vehicle; an AC/DC inverter configured to connect a brushless DC motor; an energy storage system configured to supply power to the brushless DC motor through the AC/DC inverter; and the electric vehicle electronic brake system is configured to brake the electric vehicle, the residual energy generated by the rotation of the brushless direct current motor is returned to the energy storage system through the AC/DC inverter so as to recover the energy, and the energy recovery control is performed by utilizing the vector frequency conversion control to reversely charge the energy storage system.
The invention belongs to a BLDC motor control technology, and relates to an energy feedback control technology which is realized by improving the operational capability of a chip, regulating a Q-axis reference current, performing AC-DC rectification and then performing reverse charging on a battery.
Fig. 1-2 are hardware schematic diagrams of an energy feedback back charging control system of an electric bicycle according to an embodiment of the present invention, as shown in fig. 1, including: a brushless direct current motor BLDC configured to drive the electric vehicle; an AC/DC inverter configured to connect a brushless DC motor; an energy storage system (e.g., a battery) configured to supply power to the brushless DC motor through the AC/DC inverter; and the electric vehicle electronic brake system is configured to brake the electric vehicle, the residual energy generated by the rotation of the brushless direct current motor is returned to the energy storage system through the AC/DC inverter so as to recover the energy, and the energy recovery control is performed by utilizing the vector frequency conversion control to reversely charge the energy storage system.
Specifically, the energy feedback reverse charging control system for an electric bicycle further comprises: the voltage sampling circuit is configured to sample the battery voltage provided by the energy storage system and provide the battery voltage to the closed-loop control module; the phase current sampling circuit is configured to sample three-phase currents of the AC/DC inverter respectively and provide the three-phase currents to the closed-loop control module; the bus current sampling circuit is configured to sample the bus current of the AC/DC inverter and provide the bus current to the closed-loop control module; a hall sensor configured to detect a hall signal of the brushless dc motor, which is provided to the closed-loop control module (i.e., MCU, HC32M140 chip); and the DC/DC is configured to convert the voltage of the energy storage system into a power supply of 5-12V and provide the power supply to the controller chip and the AC/DC inverter driving module. The electric vehicle electronic brake system provides a handle input signal to the controller chip so that the controller chip can obtain a brake signal.
As shown in fig. 2, the energy feedback reverse charging control system for electric bicycle further includes: the closed-loop control module comprises a voltage loop PID module, a current loop PID module and an SVPWM module; wherein: the voltage ring PID module enables a PID current signal to form a PID voltage signal through the bus voltage ring and provides the PID voltage signal to the SVPWM module; the current loop PID module enables phase current to pass through the Q-axis current loop and the D-axis current loop, forms a PID current signal according to the Hall signal and provides the PID current signal to the voltage loop PID module; and the SVPWM module is configured to generate a control signal according to the PID voltage signal and the battery voltage.
Further, in the energy feedback back-charging control system for an electric bicycle, the system further includes: in driving an electric vehicle, an AC/DC inverter regulates i qref After amplitude limiting control, with feedback current i q And performing PI regulation, outputting q-axis reference voltage, performing Park inverse transformation and SVPWM processing, providing a control signal for controlling the on and off of a power device to an AC/DC inverter driving module, inverting the direct current into alternating current, and providing energy to the brushless direct current motor.
Further, in the energy feedback back-charging control system for an electric bicycle, the system further includes: when braking an electric vehicle, the AC/DC inverter regulates in reverse i qref After amplitude limiting control, with feedback current i q And PI regulation is carried out, q-axis reference voltage is output, after Park inverse transformation and SVPWM processing, a control signal for controlling the on-off of a power device is provided for an AC/DC inverter driving module, an electric motor is used as a generator to generate alternating current, and after rectification by an inverter, direct current is input into an energy storage system to realize energy feedback.
Specifically, the energy feedback reverse charging control system for an electric bicycle further comprises:
wherein iq is torque control current, iu is u-phase current, iv is v-phase current, iw is w-phase current, and theta is angular velocity of the brushless direct current motor;
it can be seen from formulas 1 and 2 that the q-axis current is the key of motor control, and the magnitude and direction of the UVW three-phase current can be controlled by only controlling the magnitude and direction of the q-axis current, so that the AC/DC function is achieved.
Further, in the energy feedback back-charging control system for an electric bicycle, the system further includes: the energy feedback brake adopts a drive control strategy: setting a reference value-i according to equation 2 q And obtaining reference values of three-phase currents according to a vector control principle to be used as modulation waves to control the on and off of the power device, and finally outputting actual direct currents to the energy storage system to realize the charging of the energy storage system. In the energy feedback reverse charging control system for an electric bicycle, the system further comprises:
setting of iq current:
according to kinetic energy possessed during braking
The system sets different q-axis currents at different driving speeds;
wherein v1 is the rated rotation speed (550 r/min) of the motor, vo is the lowest generation rotation speed, and is 50r/min, which is the maximum torque current, and the range is 30-60A, and 45A is adopted in the embodiment.
In the energy feedback reverse charging control system of the electric bicycle, when the electric bicycle is braked, the residual rotating energy of the brushless direct current motor returns to the energy storage system through the AC/DC inverter, so that the aim of reversely charging the battery is fulfilled for energy recovery, and a corresponding energy recovery control strategy can be formulated by considering the vector frequency conversion control technology.
The invention provides specific experimental data, for example, when the experimental data is implemented in a BLDC motor control system of an electric bicycle, a motor is BLDC (5-320 Hz), the power is less than 2000W, the voltage range is DC 36V-108V (the preferred rated voltage is 48V), the actual bus voltage change during energy feedback charging is measured, the bus voltage change, the battery rated voltage and the brake voltage during energy recovery are included, 59.0V is set as a reverse charging maximum limit voltage, and the actual bus voltage during maximum energy feedback charging is actually tested to be 59.5V, which meets the limit expectation.
The phase current is obtained by measuring energy feedback, and the current in the second half section is in a direct proportion relation with the speed, so that the speed fluctuation value can be leveled by adjusting the phase current, and the noise is avoided.
In summary, the above embodiments describe the energy feedback and back charging control system of the electric bicycle in detail, but the present invention is not limited to the above embodiments, and any modifications based on the configurations provided by the above embodiments are within the scope of the present invention. One skilled in the art can take the contents of the above embodiments to take a counter-measure.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (9)
1. An energy feedback reverse charging control system of an electric bicycle is characterized by comprising:
a brushless DC motor configured to drive an electric vehicle;
an AC/DC inverter configured to connect a brushless DC motor;
an energy storage system configured to supply power to the brushless DC motor through an AC/DC inverter;
the electronic brake system of the electric vehicle is configured to generate energy feedback and brake by adjusting the current direction of the brushless direct current motor, the brushless direct current motor is used as a generator, the residual rotating energy is returned to the energy storage system through the AC/DC inverter to be recovered, and the vector frequency conversion control is utilized to perform energy recovery control and reversely charge the energy storage system.
2. The energy feedback back-charging control system for electric bicycle according to claim 1, further comprising:
the voltage sampling circuit is configured to sample the battery voltage provided by the energy storage system and provide the battery voltage to the closed-loop control module;
the phase current sampling circuit is configured to sample three-phase currents of the AC/DC inverter respectively and provide the three-phase currents to the closed-loop control module;
and the bus current sampling circuit is configured to sample the bus current of the AC/DC inverter and provide the bus current to the closed-loop control module.
3. The energy feedback back-charging control system for electric bicycle according to claim 2, further comprising:
the closed-loop control module comprises a voltage loop PID module, a current loop PID module and an SVPWM module; wherein:
the voltage ring PID module enables the battery voltage to form a PID voltage signal through the bus voltage ring and provides the PID voltage signal to the SVPWM module;
the current loop PID module enables phase current and bus current to form PID current signals through the Q-axis current loop and the D-axis current loop and provides the PID current signals to the SVPWM module;
and the SVPWM module is configured to generate a control signal according to the PID voltage signal and the PID current signal.
4. The energy feedback back-charging control system for electric bicycle according to claim 3, further comprising:
in driving an electric vehicle, an AC/DC inverter regulates i qref After amplitude limiting control, with feedback current i q And performing PI regulation, outputting q-axis reference voltage, performing Park inverse transformation and SVPWM processing, providing a control signal for controlling the on and off of a power device to an AC/DC inverter driving module, inverting the direct current into alternating current, and providing energy to the brushless direct current motor.
5. The energy feedback recharge control system for an electric bicycle according to claim 4, further comprising:
AC/DC inverter reverse regulation i when braking an electric vehicle qref After amplitude limiting control, with feedback current i q And PI regulation is carried out, q-axis reference voltage is output, after Park inverse transformation and SVPWM processing, a control signal for controlling the on-off of a power device is provided for an AC/DC inverter driving module, an electric motor is used as a generator to generate alternating current, and after rectification by an inverter, direct current is input into an energy storage system to realize energy feedback.
6. The energy feedback back-charging control system for electric bicycle according to claim 5, further comprising:
wherein iq is torque control current, iu is u-phase current, iv is v-phase current, iw is w-phase current, and theta is angular velocity of the brushless direct current motor;
derived from formula 1 and formula 2: and controlling the magnitude and direction of the q-axis current to control the magnitude and direction of the three-phase UVW current, so as to achieve AC/DC.
7. The energy feedback back-charging control system for an electric bicycle according to claim 6, further comprising:
the energy feedback brake adopts a drive control strategy: setting a reference value-i according to equation 2 q Obtaining reference values of three-phase current according to a vector control principle to be used as modulation waves to control the on and off of a power device, and finally outputting actual direct current to an energy storage systemCurrent flows to charge the energy storage system;
the voltage loop PID module adjusts i according to the PI control of the maximum charging voltage qref The charging voltage is ensured to be constant, so that the purpose of constant voltage charging is achieved.
8. The energy feedback back-charging control system for electric bicycle according to claim 7, further comprising:
setting of iq current:
according to kinetic energy possessed during braking
The system sets different q-axis currents at different speeds;
wherein v1 is the rated rotating speed (550 r/min) of the motor, vo is the lowest generating rotating speed, and is 50r/min, i qmax The range is 30-60A for maximum torque current.
9. The energy feedback back-charging control system for electric bicycle according to claim 8, further comprising:
the Hall sensor is configured to detect a Hall signal of the brushless direct current motor and provide the Hall signal to the closed-loop control module;
and the DC/DC is configured to convert the voltage of the energy storage system into a power supply of 5-12V and provide the power supply to the closed-loop control module and the AC/DC inverter driving module.
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| CN202211708128.4A CN115817189B (en) | 2022-12-29 | 2022-12-29 | Energy feedback anti-charging control system of electric bicycle |
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| CN202211708128.4A CN115817189B (en) | 2022-12-29 | 2022-12-29 | Energy feedback anti-charging control system of electric bicycle |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1138242A (en) * | 1995-04-27 | 1996-12-18 | 三菱电机株式会社 | Voltage source type power converter |
| CN101217260A (en) * | 2008-01-18 | 2008-07-09 | 张振武 | A slip control digital intelligent speed regulation and system of motor without speed transducer |
| US20100301786A1 (en) * | 2009-05-28 | 2010-12-02 | Gm Global Technology Operations, Inc. | Methods, systems and apparatus for controlling operation of two alternating current (ac) machines |
| JP2012228164A (en) * | 2011-04-05 | 2012-11-15 | Daikin Ind Ltd | Motor drive device, and heat pump device using the same |
| CN104953898A (en) * | 2015-07-13 | 2015-09-30 | 北京工业大学 | Brushless direct-current motor regenerative braking system adopting single-current sensor |
-
2022
- 2022-12-29 CN CN202211708128.4A patent/CN115817189B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1138242A (en) * | 1995-04-27 | 1996-12-18 | 三菱电机株式会社 | Voltage source type power converter |
| CN101217260A (en) * | 2008-01-18 | 2008-07-09 | 张振武 | A slip control digital intelligent speed regulation and system of motor without speed transducer |
| US20100301786A1 (en) * | 2009-05-28 | 2010-12-02 | Gm Global Technology Operations, Inc. | Methods, systems and apparatus for controlling operation of two alternating current (ac) machines |
| JP2012228164A (en) * | 2011-04-05 | 2012-11-15 | Daikin Ind Ltd | Motor drive device, and heat pump device using the same |
| CN104953898A (en) * | 2015-07-13 | 2015-09-30 | 北京工业大学 | Brushless direct-current motor regenerative braking system adopting single-current sensor |
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