CN115817189B - Energy feedback anti-charging control system of electric bicycle - Google Patents
Energy feedback anti-charging control system of electric bicycle Download PDFInfo
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- CN115817189B CN115817189B CN202211708128.4A CN202211708128A CN115817189B CN 115817189 B CN115817189 B CN 115817189B CN 202211708128 A CN202211708128 A CN 202211708128A CN 115817189 B CN115817189 B CN 115817189B
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- 238000007600 charging Methods 0.000 title claims abstract description 41
- 238000004146 energy storage Methods 0.000 claims abstract description 32
- 238000011084 recovery Methods 0.000 claims abstract description 15
- 238000006243 chemical reaction Methods 0.000 claims abstract description 7
- 238000005070 sampling Methods 0.000 claims description 9
- 230000009466 transformation Effects 0.000 claims description 6
- 238000011217 control strategy Methods 0.000 claims description 5
- 238000010248 power generation Methods 0.000 claims description 3
- 238000010280 constant potential charging Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 14
- 230000001276 controlling effect Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 4
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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
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Abstract
The invention provides an energy feedback anti-charging control method of an electric bicycle, which comprises the following steps: a brushless direct current motor configured to drive an electric vehicle; an AC/DC inverter configured to be connected to a brushless direct current motor; an energy storage system configured to power the brushless direct current motor through the AC/DC inverter; the electric vehicle electronic brake system is configured to generate energy feedback and brake by adjusting the current direction of a brushless direct current motor, the brushless direct current motor is used as a generator, the rotation surplus energy is returned to the energy storage system through the AC/DC inverter to perform energy recovery, the vector frequency conversion control is used for performing energy recovery control, and the energy storage system is reversely charged.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to an energy feedback anti-charging control system of an electric bicycle.
Background
At present, in BLDC motor control of electric bicycles, the consumption of motor kinetic energy is realized mainly through mechanical braking and friction between a vehicle and the ground during braking and stopping braking, and the sliding braking and the mechanical braking have great damage to a mechanical braking system and a tire, and a motor running at a high speed cannot be used as a generator, so that the kinetic energy is wasted during the running of the motor.
Disclosure of Invention
The invention aims to provide an energy feedback anti-charging control system of an electric bicycle, which aims to solve the problem that the existing brake stop braking realizes the consumption of motor kinetic energy through mechanical braking.
In order to solve the above technical problems, the present invention provides an energy feedback recharging control system for an electric bicycle, comprising:
A brushless direct current motor configured to drive an electric vehicle;
an AC/DC inverter configured to be connected to a brushless direct current motor;
An energy storage system configured to power the brushless direct current motor through the AC/DC inverter;
The electric vehicle electronic brake system is configured to generate energy feedback and brake by adjusting the current direction of a brushless direct current motor, the brushless direct current motor is used as a generator, the rotation surplus energy is returned to the energy storage system through the AC/DC inverter to perform energy recovery, the vector frequency conversion control is used for performing energy recovery control, and the energy storage system is reversely charged.
Optionally, in the energy feedback anti-charging control system of an electric bicycle, the method 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;
A phase current sampling circuit 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 a bus current sampling circuit configured to sample bus current of the AC/DC inverter and provide the sampled bus current to the closed loop control module.
Optionally, in the energy feedback anti-charging control system of an electric bicycle, the method 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 PID voltage signals through the bus voltage ring and provide the PID voltage signals 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 the PID current signals are provided 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 anti-charging control system of an electric bicycle, the method further includes:
When the electric motor is driven, the AC/DC inverter adjusts i qref, performs PI adjustment with the feedback current i q after amplitude limiting control, outputs q-axis reference voltage, provides control signals for controlling the on and off of a power device to the AC/DC inverter driving module after Park inverse transformation and SVPWM processing, inverts direct current into alternating current, and provides energy to the brushless direct current motor.
Optionally, in the energy feedback anti-charging control system of an electric bicycle, the method further includes:
When the motor car is braked, the AC/DC inverter reversely adjusts i qref, performs PI adjustment with feedback current i q after amplitude limiting control, outputs q-axis reference voltage, provides control signals for controlling the on and off of a power device for an AC/DC inverter driving module after Park inverse transformation and SVPWM processing, takes a motor as a generator to generate alternating current, and inputs direct current into an energy storage system after rectification of the inverter so as to realize energy feedback.
Optionally, in the energy feedback anti-charging control system of an electric bicycle, the method further includes:
where iq is torque control current, iu is u-phase current, iv is v-phase current, iw is w-phase current, θ is angular velocity of the brushless DC motor;
From formulas 1 and 2: the magnitude and direction of the q-axis current are controlled to control the magnitude and direction of the UVW three-phase current, thereby achieving AC/DC.
Optionally, in the energy feedback anti-charging control system of an electric bicycle, the method further includes:
The energy feedback braking adopts a driving control strategy: setting a reference value-i q according to a formula 2, obtaining a reference value of three-phase current according to a vector control principle, controlling the on and off of a power device as a modulation wave, and finally outputting actual direct current to an energy storage system to realize the charging of the energy storage system;
the voltage ring PID module controls the regulated size according to the PI of the maximum charging voltage, so as to ensure the constant charging voltage, thereby achieving the purpose of constant-voltage charging.
Optionally, in the energy feedback anti-charging control system of an electric bicycle, the method further includes:
setting of iq current:
according to the kinetic energy of braking The system sets different q-axis currents at different running speeds;
Wherein v1 is the rated rotation speed (550 r/min) of the motor, vo is the minimum power generation rotation speed, the value is 50r/min, and the maximum torque current is in the range of 30-60A, such as 45A.
Optionally, in the energy feedback anti-charging control system of an electric bicycle, the method further includes:
a hall sensor configured to detect a hall signal of the brushless dc motor, provided to the closed loop control module;
And DC/DC configured to convert the voltage of the energy storage system to 5-12V power and provide the power to the closed loop control module and the AC/DC inverter drive module.
In the energy feedback reverse charging control system of the electric bicycle, when the electric bicycle is braked, the rotation residual energy of the brushless direct current motor is returned to the energy storage system through the AC/DC inverter, so that the purpose of reversely charging the battery is achieved for energy recovery, and the corresponding energy recovery control strategy can be formulated by taking the vector frequency conversion control technology into consideration.
Drawings
FIG. 1 is a schematic diagram of an energy feedback anti-charge control system of an electric bicycle according to an embodiment of the present invention;
Fig. 2 is a schematic diagram of an energy feedback recharging control system software of an electric bicycle according to an embodiment of the invention.
Detailed Description
The invention is further elucidated below in connection with the embodiments with reference to the drawings.
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 drawings, identical or functionally identical components are provided with the same reference numerals.
In the present invention, unless specifically indicated otherwise, "disposed on …", "disposed over …" and "disposed over …" do not preclude the presence of an intermediate therebetween. Furthermore, "disposed on or above" … merely indicates the relative positional relationship between the two components, but may also be converted to "disposed under or below" …, and vice versa, under certain circumstances, such as after reversing the product direction.
In the present invention, the embodiments are merely intended to illustrate the scheme of the present invention, and should not be construed as limiting.
In the present invention, the adjectives "a" and "an" do not exclude a scenario of a plurality of elements, unless specifically indicated.
It should also be noted herein that in embodiments of the present application, 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 the components or assemblies may be added as needed for a particular scenario under the teachings of the present application. In addition, features of different embodiments of the application may be combined with each other, unless otherwise specified. For example, a feature of the second embodiment may be substituted for a corresponding feature of the first embodiment, or may have the same or similar function, and the resulting embodiment may fall within the scope of disclosure or description of the application.
It should also be noted herein that, within the scope of the present invention, the terms "identical", "equal" and the like do not mean that the two values are absolutely equal, but rather allow for some reasonable error, that is, the terms also encompass "substantially identical", "substantially equal". By analogy, in the present invention, the term "perpendicular", "parallel" and the like in the table direction also covers the meaning of "substantially perpendicular", "substantially parallel".
The numbers of the steps of the respective methods of the present invention are not limited to the order of execution of the steps of the methods. The method steps may be performed in a different order unless otherwise indicated.
The energy feedback and inverse charge control system of the electric bicycle provided by the invention is further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the invention.
The invention aims to provide an energy feedback anti-charging control system of an electric bicycle, which aims to solve the problem that the existing brake stop braking realizes the consumption of motor kinetic energy through mechanical braking.
In order to achieve the above object, the present invention provides an energy feedback recharging control system for an electric bicycle, comprising: a brushless direct current motor configured to drive an electric vehicle; an AC/DC inverter configured to be connected to a brushless direct current motor; an energy storage system configured to power the brushless direct current motor through the AC/DC inverter; the electric vehicle electronic braking system is configured to brake the electric vehicle, the rotation residual energy of the brushless direct current motor is returned to the energy storage system through the AC/DC inverter to perform energy recovery, the vector frequency conversion control is utilized to perform energy recovery control, and the energy storage system is reversely charged.
The invention belongs to BLDC motor control technology, and relates to technology for improving the operation capability of a chip and realizing energy feedback control by regulating Q-axis reference current, carrying out AC-DC rectification and then carrying out inverse charging on a battery.
Fig. 1-2 provide a hardware schematic diagram of an energy feedback recharging control system of an electric bicycle, as shown in fig. 1, comprising: a brushless direct current motor BLDC configured to drive an electric vehicle; an AC/DC inverter configured to be connected to a brushless direct current motor; an energy storage system (e.g., a battery) configured to power the brushless direct current motor through the AC/DC inverter; the electric vehicle electronic braking system is configured to brake the electric vehicle, the rotation residual energy of the brushless direct current motor is returned to the energy storage system through the AC/DC inverter to perform energy recovery, the vector frequency conversion control is utilized to perform energy recovery control, and the energy storage system is reversely charged.
Specifically, in the energy feedback anti-charging control system of the electric bicycle, the system 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; a phase current sampling circuit configured to sample three-phase currents of the AC/DC inverter, respectively, and provide the three-phase currents to the closed-loop control module; a bus current sampling circuit configured to sample a bus current of the AC/DC inverter, provided to the closed loop control module; a hall sensor configured to detect a hall signal of the brushless dc motor, and provide the detected hall signal to a closed-loop control module (i.e., an MCU, HC32M140 chip); and DC/DC configured to convert the voltage of the energy storage system into 5-12V power and provide the power 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 obtains a brake signal.
As shown in fig. 2, in the energy feedback anti-charging control system of the electric bicycle, the energy feedback anti-charging control 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 PID current signal to pass through the bus voltage ring to form a PID voltage signal, and the PID voltage signal is provided 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 PID current signals according to Hall signals, and provides the PID current signals 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 anti-charging control system of the electric bicycle, the energy feedback anti-charging control system further comprises: when the electric motor is driven, the AC/DC inverter adjusts i qref, performs PI adjustment with the feedback current i q after amplitude limiting control, outputs q-axis reference voltage, provides control signals for controlling the on and off of a power device to the AC/DC inverter driving module after Park inverse transformation and SVPWM processing, inverts direct current into alternating current, and provides energy to the brushless direct current motor.
Further, in the energy feedback anti-charging control system of the electric bicycle, the energy feedback anti-charging control system further comprises: when the motor car is braked, the AC/DC inverter reversely adjusts i qref, performs PI adjustment with feedback current i q after amplitude limiting control, outputs q-axis reference voltage, provides control signals for controlling the on and off of a power device for an AC/DC inverter driving module after Park inverse transformation and SVPWM processing, takes a motor as a generator to generate alternating current, and inputs direct current into an energy storage system after rectification of the inverter so as to realize energy feedback.
Specifically, in the energy feedback anti-charging control system of the electric bicycle, the system further comprises:
where iq is torque control current, iu is u-phase current, iv is v-phase current, iw is w-phase current, θ is angular velocity of the brushless DC motor;
From equations 1 and 2, it can be seen that q-axis current is a key for controlling the motor, and the magnitude and direction of the UVW three-phase current can be controlled by controlling the magnitude and direction of the q-axis current, thereby achieving the AC/DC effect.
Further, in the energy feedback anti-charging control system of the electric bicycle, the energy feedback anti-charging control system further comprises: the energy feedback braking adopts a driving control strategy: and setting a reference value-i q according to a formula 2, obtaining a reference value of the three-phase current according to a vector control principle, controlling the on and off of the power device as a modulation wave, and finally outputting an actual direct current to the energy storage system to realize the charging of the energy storage system. In the energy feedback anti-charging control system of the electric bicycle, the system further comprises:
setting of iq current:
according to the kinetic energy of braking The system sets different q-axis currents at different running speeds;
Wherein v1 is the rated rotation speed (550 r/min) of the motor, vo is the lowest power generation rotation speed, the value is 50r/min, the maximum torque current is in the range of 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 rotation residual energy of the brushless direct current motor is returned to the energy storage system through the AC/DC inverter, so that the purpose of reversely charging the battery is achieved for energy recovery, and the corresponding energy recovery control strategy can be formulated by taking the vector frequency conversion control technology into consideration.
Specific experimental data are provided in the invention, for example, the invention is implemented in a BLDC motor control system of an electric bicycle, the motor is BLDC (5-320 Hz), the power is less than 2000W, the voltage range DC is 36V-108V (the preferred rated voltage is 48V), the actual bus voltage change during energy feedback charging is measured, the actual bus voltage change comprises bus voltage change, battery rated voltage and braking voltage during energy recovery, 59.0V is set as the maximum limit voltage of back charging, and the actual bus voltage during actual test of the maximum energy feedback charging is 59.5V, which accords with the limit expectation.
The phase current of the second half phase is in a direct proportion relation with the speed, so that the noise can be avoided by adjusting the phase current to level the speed fluctuation value.
In summary, the above embodiments describe in detail different configurations of the energy feedback and inverse charging control system of the electric bicycle, and of course, the present invention includes but is not limited to the configurations listed in the above embodiments, and any matters that are changed based on the configurations provided in the above embodiments fall within the scope of the present invention. One skilled in the art can recognize that the above embodiments are illustrative.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, the description is relatively simple because of corresponding to the method disclosed in the embodiment, and the relevant points refer to the description of the method section.
The above description is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and any alterations and modifications made by those skilled in the art based on the above disclosure shall fall within the scope of the appended claims.
Claims (4)
1. An energy feedback anti-charge control system of an electric bicycle, comprising:
A brushless direct current motor configured to drive an electric vehicle;
an AC/DC inverter configured to be connected to a brushless direct current motor;
An energy storage system configured to power the brushless direct current motor through the AC/DC inverter;
an electric vehicle electronic braking system configured to generate energy feedback and brake by adjusting a current direction of a brushless direct current motor, the brushless direct current motor serving as a generator, return rotational surplus energy to an energy storage system through an AC/DC inverter to perform energy recovery, perform energy recovery control by vector frequency conversion control, reverse charge the energy storage system,
Wherein further comprising:
When the electric motor is driven, the AC/DC inverter adjusts i qref, performs PI adjustment with the feedback current i q after amplitude limiting control, outputs q-axis reference voltage, provides control signals for controlling the on and off of a power device for the AC/DC inverter driving module after Park inverse transformation and SVPWM processing, inverts direct current into alternating current, and provides energy for the brushless direct current motor;
When the motor car is started, the AC/DC inverter reversely adjusts i qref, performs PI adjustment with feedback current i q after amplitude limiting control, outputs q-axis reference voltage, provides control signals for controlling the on and off of a power device for an AC/DC inverter driving module after Park inverse transformation and SVPWM processing, takes a motor as a generator to generate alternating current, and inputs direct current into an energy storage system after rectification of the inverter so as to realize energy feedback;
where iq is torque control current, iu is u-phase current, iv is v-phase current, iw is w-phase current, θ is angular velocity of the brushless DC motor;
From formulas 1 and 2: controlling the magnitude and direction of the q-axis current to control the magnitude and direction of UVW three-phase current, thereby achieving AC/DC;
The energy feedback braking adopts a driving control strategy: setting a reference value-i q according to a formula 2, obtaining a reference value of three-phase current according to a vector control principle, controlling the on and off of a power device as a modulation wave, and finally outputting actual direct current to an energy storage system to realize the charging of the energy storage system;
The voltage loop PID module adjusts the size of i qref according to PI control of the maximum charging voltage, and ensures constant charging voltage, thereby achieving the purpose of constant-voltage charging;
setting of iq current:
according to the kinetic energy of braking The system sets different q-axis currents at different running speeds;
wherein v1 is the rated rotation speed (550 r/min) of the motor, vo is the lowest power generation rotation speed, the value is 50r/min, i qmax is the maximum torque current, and the range is between 30 and 60A.
2. The energy feedback recharging control system of an electric bicycle of 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;
A phase current sampling circuit 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 a bus current sampling circuit configured to sample bus current of the AC/DC inverter and provide the sampled bus current to the closed loop control module.
3. The energy feedback anti-charge control system of an electric bicycle of 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 PID voltage signals through the bus voltage ring and provide the PID voltage signals 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 the PID current signals are provided 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 recharging control system of an electric bicycle of claim 1, further comprising:
a hall sensor configured to detect a hall signal of the brushless dc motor, provided to the closed loop control module;
And DC/DC configured to convert the voltage of the energy storage system to 5-12V power and provide the power to the closed loop control module and the AC/DC inverter drive 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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| 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 |
| 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 |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2910616B2 (en) * | 1995-04-27 | 1999-06-23 | 三菱電機株式会社 | Voltage source type power converter |
| US8115430B2 (en) * | 2009-05-28 | 2012-02-14 | GM Global Technology Operations LLC | 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 |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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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