TWI864975B - Motor driving control device and electric auxiliary vehicle - Google Patents

Abstract

A motor driving control device for an electric auxiliary vehicle includes a driving module having a first driving mode and a second driving mode, for diving a motor having a Hall sensing module, wherein the Hall sensing module is used to sense a polarity and a rotation angle of the motor, the first driving module adopts the polarity and the rotation angle sensing by the Hall sensing module, and the second driving mode does not adopt the polarity and the rotation angle sensing by the Hall sensing module; a state sensing module, for sensing an information of the electric auxiliary vehicle; and a control module, coupled to the state sensing module and the driving module, for ordering the driving module to use the first driving mode or the second mode according to the information.

Description

Motor drive control device and electric assist vehicle

The present invention relates to a motor drive control device and an electric assisted vehicle, and in particular to a motor drive control device and an electric assisted vehicle capable of dynamically changing the drive mode.

With the popularity of electric assisted vehicles, it is important to improve the energy efficiency of electric assisted vehicle motors. The motors of traditional electric assisted vehicles are equipped with Hall elements to sense the polarity and rotation angle of the motor rotor and generate position information. The magnetic field oriented control technology is used to make the motor operate normally. The above control technology can be called sensing control technology. However, the configuration of the Hall element will cause errors in the sensed position information due to different process tolerances, component types and assembly methods. In this case, the sensing control technology will cause the three-phase current output of the controller to be unbalanced, resulting in a decrease in the overall efficiency of the motor and an increase in power consumption.

Therefore, how to improve the sensor control technology to achieve balanced output of three-phase current, thereby increasing motor efficiency and reducing power consumption has become one of the goals that the industry is working hard on.

One of the main purposes of the present invention is to provide a motor drive control device and an electric assist vehicle to solve the above problems.

The present invention provides a motor drive control device for an electric assist vehicle, comprising a drive module for driving a motor having a Hall sensor module, wherein the drive module has a first drive mode and a second drive mode, wherein the Hall sensor module is used to sense a polarity and a rotation angle of the motor, and the first drive mode uses the Hall sensor module to sense the polarity and a rotation angle of the motor. polarity and the rotation angle, the second driving mode does not use the polarity and the rotation angle sensed by the Hall sensor module; a state sensing module, used to sense an information of the electric assist vehicle; and a control module, coupled to the state sensing module and the driving module, the control module commands the driving module to use the first driving mode or the second driving mode according to the information.

The present invention provides an electric assist vehicle, comprising a motor having a Hall sensing module, wherein the Hall sensing module is used to sense a polarity and a rotation angle of the motor; a driving module, used to drive the motor, the driving module having a first driving mode and a second driving mode, wherein the first driving mode adopts the polarity and the rotation angle sensed by the Hall sensing module, and the second driving mode does not adopt the polarity and the rotation angle sensed by the Hall sensing module; a state sensing module, used to sense information of the electric assist vehicle; and a control module, coupled to the state sensing module and the driving module, the control module instructs the driving module to use the first driving mode or the second driving mode according to the information.

1: Electric assist vehicle

10: Motor drive control device

100: Motor

101: Hall sensor module

102:Drive module

104: Status sensing module

106: Control module

2, 3: Process

S200, S202, S204, S206, S208, S300, S301, S302, S303, S304, S305, S306, S307, S308, S309: Steps

Figures 1A and 1B are schematic diagrams of a motor drive control device and an electric assist vehicle according to an embodiment of the present invention.

Figure 2 is a flow chart of a motor drive control method according to an embodiment of the present invention.

Figure 3 is a flow chart of a motor drive control method in another embodiment of the present invention.

Certain terms are used in this specification and subsequent patent applications to refer to specific components. A person of ordinary skill in the art should understand that hardware manufacturers may use different terms to refer to the same component. This specification and subsequent patent applications do not use differences in names as a way to distinguish components, but rather use differences in the functions of the components as the criterion for distinction. The term "including" mentioned throughout the specification and subsequent patent applications is an open term and should be interpreted as "including but not limited to". In addition, the term "coupled" herein includes any direct and indirect electrical connection means. Therefore, if the text describes a first device coupled to a second device, it means that the first device can be directly electrically connected to the second device, or indirectly electrically connected to the second device through other devices or connection means.

FIG. 1A and FIG. 1B are schematic diagrams of a motor drive control device 10 and an electric assist vehicle 1 according to an embodiment of the present invention. The motor drive control device 10 includes a motor 100, a drive module 102, a state sensing module 104, and a control module 106. The motor drive control device 10 can be disposed at any location of the electric assist vehicle 1. For example, the motor 100 can be a front motor, a rear motor, or a mid-mounted motor disposed at a front wheel hub, a rear wheel hub, or a middle shaft of the electric assist vehicle 1, but is not limited thereto. The motor 100 has a Hall sensor module 101, wherein the Hall sensor module 101 is used to sense a polarity and a rotation angle of the motor 100. The state sensing module 104 is used to sense information of the electric assisted vehicle. The control module 106 is coupled to the driving module 102 and the state sensing module 104, and is used to command the driving module 102 to use various driving modes to drive the motor 100 according to the information. For example, the driving mode may include a first driving mode or a second driving mode, wherein the first driving mode adopts the polarity and rotation angle of the motor 100 (i.e., there is a sensing control technology), and the second driving mode does not adopt the polarity and rotation angle of the motor 100 (i.e., there is no sensing control technology). It should be noted that regarding the sensorless control technology, the control module 106 can estimate the position (polarity and rotation angle) of the rotor magnet of the motor 100 and drive the motor 100 accordingly. The sensorless control technology is well known in the art and will not be elaborated on. Specifically, the present invention combines the sensory control technology and the sensorless control technology to hybrid control and drive the motor 100. When switching from the sensory control technology to the sensorless control technology, the three-phase current can be output in a balanced manner, thereby achieving the improvement of the efficiency of the motor 100 and reducing the power consumption.

It should be noted that the control module 106 may include a microcontroller unit (MCU) and a memory, and the memory stores a program code for instructing the microcontroller unit to execute a motor drive control method. The motor drive control method can be summarized as a process 2, as shown in Figure 2. Process 2 includes the following steps:

Step S200: Start.

Step S202: Receive the polarity and rotation angle of the motor 100 sensed by the Hall sensor module 101.

Step S204: Receive the information of the electric assist vehicle 1 sensed by the state sensing module 104.

Step S206: Determine whether the driving module 102 uses the first driving mode or the second driving mode to drive the motor 100 according to the information.

Step S208: End.

According to process 2, in step S202, when the user rides the electric assist vehicle 1, the Hall sensor module 101 senses the current polarity and rotation angle of the motor 100. In step S204, the state sensor module 104 senses information of the electric assist vehicle 1. Specifically, the state sensor module 104 can be a torque sensor, a speed sensor or a peripheral sensor, and the information sensed can include a pedaling frequency of the electric assist vehicle, a vehicle speed or a vehicle environment information. It should be noted that a person skilled in the art can appropriately add other types of state sensor modules 104 and the information sensed by them as needed, but is not limited to this. In step S206, the control module 106 determines whether the drive module 102 uses the first drive mode or the second drive mode according to the information to achieve balanced output of the three-phase current, thereby improving the efficiency of the motor 100 and reducing power consumption.

In one embodiment, the information sensed by the state sensing module 104 may be the driving environment information of the electric assistive vehicle 1. When the driving environment information indicates that the electric assistive vehicle 1 is driving on an uphill slope, the control module 106 commands the driving module 102 to use the first driving mode. On the other hand, when the driving environment information indicates that the electric assistive vehicle 1 is driving on a flat ground or downhill, the control module 106 commands the driving module 102 to use the second driving mode. In this way, when the user rides the electric assist vehicle 1, by dynamically switching between the first driving mode and the second driving mode, the electric assist vehicle 1 can maintain low speed stability and high torque when going uphill, and improve the motor efficiency of high-speed cruising on flat ground or downhill, thereby reducing the power consumption of the motor 100.

In another embodiment, the state sensing module 104 may be a peripheral sensor for capturing driving images. Accordingly, the control module 106 may execute an image recognition method to analyze the driving images and generate driving environment information. For example, the image recognition method may have functions such as pedestrian recognition, vehicle recognition, vehicle logo recognition, and obstacle recognition. It should be noted that the image recognition method is well known in the art and will not be described in detail. When the driving environment information indicates that the electric assisted vehicle 1 is driving in a dangerous state, the control module 106 commands the drive module 102 to use the first drive mode; and when the driving environment information indicates that the electric assisted vehicle 1 is driving in a safe state, the control module 106 commands the drive module 102 to use the second drive mode. In this way, when the user rides the electric assisted vehicle 1, by dynamically switching between the first drive mode and the second drive mode, the electric assisted vehicle 1 can maintain low-speed stability and high torque when driving in a dangerous state, and improve the motor efficiency of high-speed cruising when driving in a safe state, thereby reducing the power consumption of the motor 100.

In another embodiment, the information sensed by the state sensing module 104 may be the driving speed of the electric assisted vehicle 1. When the driving speed is less than a speed critical value, the control module 106 commands the drive module 102 to use the first drive mode; and when the driving speed is greater than or equal to the speed critical value, the control module 106 commands the drive module 102 to use the second drive mode. In this way, when the user rides the electric assisted vehicle 1, by dynamically switching between the first drive mode and the second drive mode, the electric assisted vehicle 1 can maintain low-speed stability and high torque when the driving speed is less than the speed critical value, and improve the motor efficiency of high-speed cruising when the driving speed is greater than or equal to the speed critical value, thereby reducing the power consumption of the motor 100.

In another embodiment, the information sensed by the state sensing module 104 may be the pedaling frequency of the electric assistive vehicle 1. When the pedaling frequency is less than a pedaling frequency critical value, the control module 106 commands the drive module 102 to use the first drive mode; and when the pedaling frequency is greater than or equal to the pedaling frequency critical value, the control module 106 commands the drive module 102 to use the second drive mode. In this way, when the user rides the electric assist vehicle 1, by dynamically switching between the first driving mode and the second driving mode, the user can maintain low-speed stability and high torque when the pedaling frequency is less than the pedaling frequency critical value, and improve the motor efficiency of high-speed cruising when the pedaling frequency is greater than or equal to the pedaling frequency critical value, thereby reducing the power consumption of the motor 100.

It should be noted that the above embodiments are different embodiments of the present invention. Those skilled in the art can combine, modify and/or change them accordingly, but are not limited thereto. For example, the motor drive control method can be implemented by combining the above embodiments, which can be summarized as a process 3, as shown in Figure 3. Process 3 includes the following steps:

Step S300: Start.

Step S301: Receive information of the electric assist vehicle 1 sensed by the state sensing module 104.

Step S302: Determine whether the user starts pedaling the electric assist vehicle 1. If yes, proceed to step S303; if no, proceed to step S309.

Step S303: Determine whether the electric assist vehicle 1 is driving in a dangerous state. If yes, proceed to step S304; if no, proceed to step S308.

Step S304: Determine whether the electric assist vehicle 1 is driving on flat ground or downhill. If yes, proceed to step S305; if no, proceed to step S308.

Step S305: Determine whether the driving speed of the electric assist vehicle 1 is greater than the critical value. If yes, proceed to step S306; if not, proceed to step S308.

Step S306: Determine whether the user is stepping steadily on the electric assist vehicle 1. If yes, proceed to step S307; if no, proceed to step S308.

Step S307: Use the second driving mode.

Step S308: Use the first driving mode.

Step S309: End.

In short, when the conditions of driving in a dangerous state, on flat ground or downhill, the driving speed is greater than the critical value, and the user steadily steps on the electric assist vehicle 1 are met, the control module 106 commands the drive module 102 to use the second drive mode to drive the motor 100, and in other cases, the drive module 102 is commanded to use the first drive mode to drive the motor 100. The detailed description of process 3 and its derivative changes can be referred to the above description, which will not be repeated here.

In summary, compared with the traditional technology, the sensing control technology will cause the three-phase current output of the controller to be unbalanced, resulting in a decrease in the overall efficiency of the motor and an increase in power consumption. The motor drive control device and method of the present invention combines the sensing control technology and the non-sensing control technology to hybrid control and drive the motor, and can dynamically switch the control technology in various scenarios when the user rides an electric assist vehicle. Therefore, the present invention has the advantages of low speed, high torque and fast start-up of the sensing control technology and balanced output of the three-phase current of the non-sensing control technology, thereby achieving the improvement of the motor efficiency and reducing the power consumption.

The above is only the preferred embodiment of the present invention. All equivalent changes and modifications made within the scope of the patent application of the present invention shall fall within the scope of the present invention.

2: Process

S200, S202, S204, S206, S208: Steps

Claims (14)

A motor drive control device, used in an electric assist vehicle, comprises: a drive module, used to drive a motor having a Hall sensor module, the drive module having a first drive mode and a second drive mode, wherein the Hall sensor module is used to sense a polarity and a rotation angle of the motor, the first drive mode adopts the polarity sensed by the Hall sensor module and the rotation angle, the second driving mode does not use the polarity and the rotation angle sensed by the Hall sensor module; a state sensing module, used to sense an information of the electric assisted vehicle; and a control module, coupled to the state sensing module and the driving module, the control module commands the driving module to use the first driving mode or the second driving mode according to the information. A motor drive control device as described in claim 1, wherein the information includes driving environment information of the electric assist vehicle. A motor drive control device as described in claim 2, wherein when the driving environment information indicates that the electric assisted vehicle is driving on an uphill slope, the control module commands the drive module to use a first drive mode; and when the driving environment information indicates that the electric assisted vehicle is driving on a flat ground or downhill, the control module commands the drive module to use a second drive mode. The motor drive control device as described in claim 2, wherein when the driving environment information indicates that the electric assist vehicle is driving in a dangerous state, the control module commands the drive module to use the first drive mode; and when the driving environment information indicates that the electric assist vehicle is driving in a safe state, the control module commands the drive module to use the second drive mode. A motor drive control device as described in claim 1, wherein the information includes the driving speed or pedaling frequency of the electric assist vehicle. A motor drive control device as described in claim 5, wherein when the vehicle speed is less than a speed threshold, the control module commands the drive module to use a first drive mode; and when the vehicle speed is greater than or equal to the speed threshold, the control module commands the drive module to use a second drive mode. A motor drive control device as described in claim 5, wherein when the pedaling frequency is less than a pedaling frequency critical value, the control module commands the drive module to use a first drive mode; and when the pedaling frequency is greater than or equal to the pedaling frequency critical value, the control module commands the drive module to use a second drive mode. An electric assist vehicle includes: a motor having a Hall sensing module, wherein the Hall sensing module is used to sense a polarity and a rotation angle of the motor; a driving module, used to drive the motor, the driving module having a first driving mode and a second driving mode, wherein the first driving mode adopts the polarity and the rotation angle sensed by the Hall sensing module, and the second driving mode does not adopt the polarity and the rotation angle sensed by the Hall sensing module; a state sensing module, used to sense information of the electric assist vehicle; and a control module, coupled to the state sensing module and the driving module, the control module instructs the driving module to use the first driving mode or the second driving mode according to the information. An electric assisted vehicle as described in claim 8, wherein the information includes driving environment information of the electric assisted vehicle. The electric assisted vehicle as described in claim 9, wherein when the driving environment information indicates that the electric assisted vehicle is driving on an uphill slope, the control module commands the drive module to use the first drive mode; and when the driving environment information indicates that the electric assisted vehicle is driving on a flat ground or downhill, the control module commands the drive module to use the second drive mode. The electric assist vehicle as described in claim 9, wherein when the driving environment information indicates that the electric assist vehicle is driving in a dangerous state, the control module commands the drive module to use the first drive mode; and when the driving environment information indicates that the electric assist vehicle is driving in a safe state, the control module commands the drive module to use the second drive mode. An electric assist vehicle as described in claim 8, wherein the information includes the driving speed or pedaling frequency of the electric assist vehicle. An electric assisted vehicle as described in claim 12, wherein when the vehicle speed is less than a speed threshold, the control module commands the drive module to use a first drive mode; and when the vehicle speed is greater than or equal to the speed threshold, the control module commands the drive module to use a second drive mode. An electric assist vehicle as described in claim 12, wherein when the pedaling frequency is less than a pedaling frequency critical value, the control module commands the drive module to use a first drive mode; and when the pedaling frequency is greater than or equal to the pedaling frequency critical value, the control module commands the drive module to use a second drive mode.

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