Motor drive control device and electric assist vehicle

Abstract

The invention provides a motor driving control device, which is used for an electric auxiliary vehicle and comprises a driving module used for driving a motor with a Hall sensing module, the driving module is provided with a first driving mode and a second driving mode, the Hall sensing module is used for sensing a polarity and a rotation angle of the motor, and the Hall sensing module is used for sensing the polarity and the rotation angle of the motor. 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; the state sensing module is used for sensing information of the electric auxiliary vehicle; and the control module is coupled with the state sensing module and the driving module, and the control module controls the driving module to use the first driving mode or the second driving mode according to the information.

Description

Technical Field

[0001] The present invention relates to an electric-assisted vehicle, and in particular to a motor drive control device for dynamically changing a driving mode and an electric-assisted vehicle. Background Art

[0002] 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.

[0003] Therefore, how to improve the sensing 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. Summary of the invention

[0004] One of the main objects of the present invention is to provide a motor drive control device and an electric assist vehicle to solve the above-mentioned problems.

[0005] Based on the above objectives, the present invention proposes a motor drive control device for an electric assisted vehicle, which includes: a drive module, used to drive a motor having a Hall sensing module, the drive module having a first drive mode and a second drive mode, wherein the Hall sensing module is used to sense the polarity and the rotation angle of the motor, the first drive mode uses the polarity and the rotation angle sensed by the Hall sensing module, and the second drive mode does not use the polarity and the rotation angle sensed by the Hall sensing module; a state sensing module, used to sense information of the electric assisted vehicle; and a control module, coupled to the state sensing module and the drive module, the control module controls the drive module to use the first drive mode or the second drive mode according to the information.

[0006] In a preferred embodiment, the information includes driving environment information of the electric assisted vehicle.

[0007] In a preferred embodiment, when the driving environment information indicates that the electric assisted vehicle is traveling uphill, the control module controls the drive module to use the first driving mode; and when the driving environment information indicates that the electric assisted vehicle is traveling on flat ground or downhill, the control module controls the drive module to use the second driving mode.

[0008] In a preferred embodiment, when the driving environment information indicates that the electric assisted vehicle is driving in a dangerous state, the control module controls the drive module to use the first driving mode; and when the driving environment information indicates that the electric assisted vehicle is driving in a safe state, the control module controls the drive module to use the second driving mode.

[0009] In a preferred embodiment, the information includes the driving speed or pedaling frequency of the electric assisted vehicle.

[0010] In a preferred embodiment, when the driving speed is less than a speed threshold, the control module controls the driving module to use a first driving mode; and when the driving speed is greater than or equal to the speed threshold, the control module controls the driving module to use a second driving mode.

[0011] In a preferred embodiment, when the pedaling frequency is less than the pedaling frequency threshold value, the control module controls the drive module to use the first drive mode; and when the pedaling frequency is greater than or equal to the pedaling frequency threshold value, the control module controls the drive module to use the second drive mode.

[0012] Based on the above objectives, the present invention also proposes an electric assisted vehicle, which includes: a motor, having a Hall sensing module, wherein the Hall sensing module is used to sense the polarity and 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 assisted vehicle; and a control module, coupled to the state sensing module and the driving module, the control module controlling the driving module to use the first driving mode or the second driving mode according to the information.

[0013] In a preferred embodiment, the information includes driving environment information of the electric assisted vehicle.

[0014] In a preferred embodiment, when the driving environment information indicates that the electric assisted vehicle is traveling on an uphill slope, the control module controls the drive module to use the first driving mode; and when the driving environment information indicates that the electric assisted vehicle is traveling on flat ground or downhill, the control module controls the drive module to use the second driving mode.

[0015] In a preferred embodiment, when the driving environment information indicates that the electric-assisted vehicle is driving in a dangerous state, the control module controls the drive module to use the first driving mode; and when the driving environment information indicates that the electric-assisted vehicle is driving in a safe state, the control module controls the drive module to use the second driving mode.

[0016] In a preferred embodiment, the information includes the driving speed or pedaling frequency of the electric assisted vehicle.

[0017] In a preferred embodiment, when the driving speed is less than a speed threshold, the control module controls the driving module to use a first driving mode; and when the driving speed is greater than or equal to the speed threshold, the control module controls the driving module to use a second driving mode.

[0018] In a preferred embodiment, when the pedaling frequency is less than the pedaling frequency threshold value, the control module controls the drive module to use the first drive mode; and when the pedaling frequency is greater than or equal to the pedaling frequency threshold value, the control module controls the drive module to use the second drive mode.

[0019] Compared to the prior art, the motor drive control device and method of the present invention combines sensing control technology and sensorless control technology to hybrid control and drive the motor, and can dynamically switch control technology in various scenarios where the user rides an electric assisted vehicle. Therefore, the present invention has the advantages of low speed, high torque and fast start-up of sensing control technology and balanced three-phase current output of sensorless control technology, thereby improving the efficiency of the motor and reducing power consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1A and Figure 1B FIG. 1 is a schematic diagram of a motor drive control device and an electric assisted vehicle according to an embodiment of the present invention.

[0021] Figure 2 FIG. 4 is a flow chart of a motor driving control method according to an embodiment of the present invention.

[0022] Figure 3 FIG. 4 is a flow chart of a motor driving control method according to another embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to provide a further understanding of the purpose, structure, features, and functions of the present invention, the following detailed description is given in conjunction with the embodiments.

[0024] Certain words are used in the specification and subsequent patent applications to refer to specific components. Those with ordinary knowledge in the field 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 use differences in the functions of the components as the criteria for distinction. The term "including" mentioned throughout the specification and subsequent patent applications is an open-ended term and should be interpreted as "including but not limited to". In addition, the term "coupling" 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.

[0025] Figure 1A and Figure 1B Schematic diagram of a motor drive control device 10 and an electric assisted 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 arranged at any place of the electric assisted vehicle 1. For example, the motor 100 can be a front motor, a rear motor or a mid-mounted motor arranged at a front wheel hub, a rear wheel hub or a middle shaft of the electric assisted vehicle 1, but is not limited thereto. The motor 100 has a Hall sensing module 101, wherein the Hall sensing module 101 is used to sense the polarity and rotation angle of the motor 100. The state sensing module 104 is used to sense the information of the electric assisted vehicle. The control module 106 is coupled to the drive module 102 and the state sensing module 104, and is used to control the drive module 102 to use various drive 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., sensing control technology), and the second driving mode does not adopt the polarity and rotation angle of the motor 100 (i.e., non-sensing control technology). It should be noted that with respect to the non-sensing 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 non-sensing control technology is well known in the art, so it will not be described in detail. Specifically, the present invention combines sensing control technology and non-sensing control technology to hybrid control and drive the motor 100. When switching from sensing control technology to non-sensing control technology, the three-phase current can be balanced output, thereby achieving improved efficiency and reduced power consumption of the motor 100.

[0026] It should be noted that the control module 106 may include a microcontroller unit (MCU) and a storage unit, wherein the storage unit stores a program code for instructing the MCU to execute the motor drive control method. The motor drive control method can be summarized as process 2, such as Figure 2 Process 2 includes the following steps:

[0027] Step S200: Start.

[0028] Step S202 : receiving the polarity and rotation angle of the motor 100 sensed by the Hall sensor module 101 .

[0029] Step S204 : receiving the information of the electric assisted vehicle 1 sensed by the state sensing module 104 .

[0030] Step S206 : Determine, according to the information, whether the driving module 102 uses the first driving mode or the second driving mode to drive the motor 100 .

[0031] Step S208: End.

[0032] According to process 2, in step S202, when the user rides the electric assisted vehicle 1, the Hall sensing module 101 senses the current polarity and rotation angle of the motor 100. In step S204, the state sensing module 104 senses the information of the electric assisted vehicle 1. Specifically, the state sensing module 104 can be a torque sensor, a speed sensor or a peripheral sensor, and the information sensed can include the pedaling frequency, driving speed or driving environment information of the electric assisted vehicle. It should be noted that those with ordinary knowledge in this field can appropriately add other types of state sensing modules 104 and their sensed information as needed, without limitation. In step S206, the control module 106 determines whether the drive module 102 uses the first drive mode or the second drive mode based on the information to balance the output of the three-phase current, thereby improving the efficiency of the motor 100 and reducing power consumption.

[0033] In one embodiment, the information sensed by the state sensing module 104 may be the driving environment information of the electric-assisted vehicle 1. When the driving environment information indicates that the electric-assisted vehicle 1 is traveling uphill, the control module 106 controls the driving module 102 to use the first driving mode. On the other hand, when the driving environment information indicates that the electric-assisted vehicle 1 is traveling on flat ground or downhill, the control module 106 controls the driving module 102 to use the second driving mode. In this way, when the user rides the electric-assisted vehicle 1, by dynamically switching between the first driving mode and the second driving mode, the electric-assisted vehicle 1 can maintain low-speed stability and high torque when traveling uphill, and improve the motor efficiency of high-speed cruising on flat ground or downhill, thereby reducing the power consumption of the motor 100.

[0034] 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, so it is not repeated. When the driving environment information indicates that the electric-assisted vehicle 1 is traveling in a dangerous state, the control module 106 controls the drive module 102 to use the first driving mode; and when the driving environment information indicates that the electric-assisted vehicle 1 is traveling in a safe state, the control module 106 controls the drive module 102 to use the second driving mode. In this way, when the user rides the electric-assisted vehicle 1, through the dynamic switching between the first driving mode and the second driving mode, the electric-assisted vehicle 1 can maintain low-speed stability and high torque when traveling in a dangerous state, and improve the motor efficiency of high-speed cruising when traveling in a safe state, thereby reducing the power consumption of the motor 100.

[0035] 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 the speed threshold, the control module 106 controls the driving module 102 to use the first driving mode; and when the driving speed is greater than or equal to the speed threshold, the control module 106 controls the driving module 102 to use the second driving mode. In this way, when the user rides the electric-assisted vehicle 1, by dynamically switching between the first driving mode and the second driving mode, the electric-assisted vehicle 1 can maintain low-speed stability and high torque when the driving speed is less than the speed threshold, and improve the motor efficiency of high-speed cruising when the driving speed is greater than or equal to the speed threshold, thereby reducing the power consumption of the motor 100.

[0036] In another embodiment, the information sensed by the state sensing module 104 may be the pedaling frequency of the electric assisted vehicle 1. When the pedaling frequency is less than the pedaling frequency critical value, the control module 106 controls the driving module 102 to use the first driving mode; and when the pedaling frequency is greater than or equal to the pedaling frequency critical value, the control module 106 controls the driving module 102 to use the second driving mode. In this way, when the user rides the electric assisted 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.

[0037] 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 the above embodiments without limitation. For example, the motor drive control method can be implemented by combining the above embodiments, which can be summarized as process 3, such as Figure 3Process 3 includes the following steps:

[0038] Step S300: Start.

[0039] Step S301 : receiving information of the electric assisted vehicle 1 sensed by the state sensing module 104 .

[0040] Step S302: Determine whether the user starts pedaling the electric assisted vehicle 1. If yes, proceed to step S303; if no, proceed to step S309.

[0041] Step S303: Determine whether the electric-assisted vehicle 1 is in a dangerous state. If yes, proceed to step S304; if no, proceed to step S308.

[0042] Step S304: Determine whether the electric-assisted vehicle 1 is traveling on a flat ground or downhill. If yes, proceed to step S305; if no, proceed to step S308.

[0043] Step S305: Determine whether the driving speed of the electric-assisted vehicle 1 is greater than a critical value. If yes, proceed to step S306; if no, proceed to step S308.

[0044] Step S306: Determine whether the user is stably pedaling the electric assist vehicle 1. If yes, proceed to step S307; if no, proceed to step S308.

[0045] Step S307: using the second driving mode.

[0046] Step S308: using the first driving mode.

[0047] Step S309: End.

[0048] In short, when the vehicle is in a dangerous state, on flat ground or downhill, the vehicle speed is greater than a critical value, and the user is stably pedaling the electric assisted vehicle 1, the control module 106 controls the driving module 102 to use the second driving mode to drive the motor 100. In other cases, the driving module 102 is controlled to use the first driving 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.

[0049] In summary, compared with the conventional technology, the sensing control technology will cause the three-phase current output of the controller to be unbalanced, which will reduce the overall efficiency of the motor and increase the power consumption. The motor drive control device and method of the present invention combines the sensing control technology and the sensorless control technology to hybrid control and drive the motor, and can dynamically switch the control technology in various scenarios where the user rides the electric assisted 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 sensorless control technology, thereby improving the efficiency of the motor and reducing the power consumption.

[0050] The present invention has been described by the above-mentioned relevant embodiments, however, the above-mentioned embodiments are only examples for implementing the present invention. It must be pointed out that the disclosed embodiments do not limit the scope of the present invention. On the contrary, changes and modifications made without departing from the spirit and scope of the present invention are all within the scope of patent protection of the present invention.

Claims

1. A motor drive control device for an electric assisted vehicle, characterized in that: Contains: A driving module, used to drive a motor having a Hall sensing module, the driving module having a first driving mode and a second driving mode, wherein the Hall sensing module is used to sense the polarity and the rotation angle of the motor, the first driving mode uses the polarity and the rotation angle sensed by the Hall sensing module, and the second driving mode does not use the polarity and the rotation angle sensed by the Hall sensing module; A state sensing module, used to sense information of the electric assisted vehicle; as well as The control module is coupled to the state sensing module and the driving module. The control module controls the driving module to use the first driving mode or the second driving mode according to the information.

2. The motor drive control device according to claim 1, characterized in that: The information includes driving environment information of the electric assisted vehicle.

3. The motor drive control device according to claim 2, characterized in that: When the driving environment information indicates that the electric-assisted vehicle is traveling uphill, the control module controls the drive module to use the first drive mode; and when the driving environment information indicates that the electric-assisted vehicle is traveling on flat ground or downhill, the control module controls the drive module to use the second drive mode.

4. The motor drive control device according to claim 2, characterized in that: When the driving environment information indicates that the electric-assisted vehicle is driving in a dangerous state, the control module controls the drive module to use the first drive mode; and when the driving environment information indicates that the electric-assisted vehicle is driving in a safe state, the control module controls the drive module to use the second drive mode.

5. The motor drive control device according to claim 1, wherein: The information includes the driving speed or pedaling frequency of the electric assisted vehicle.

6. The motor drive control device according to claim 5, characterized in that: When the driving speed is less than the speed threshold, the control module controls the driving module to use the first driving mode; and when the driving speed is greater than or equal to the speed threshold, the control module controls the driving module to use the second driving mode.

7. The motor drive control device according to claim 5, characterized in that: When the pedaling frequency is less than the pedaling frequency threshold value, the control module controls the driving module to use the first driving mode; and when the pedaling frequency is greater than or equal to the pedaling frequency threshold value, the control module controls the driving module to use the second driving mode.

8. An electric assisted vehicle, characterized in that: Contains: A motor having a Hall sensor module, wherein the Hall sensor module is used to sense the polarity and 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 uses the polarity and the rotation angle sensed by the Hall sensing module, and the second driving mode does not use the polarity and the rotation angle sensed by the Hall sensing module; A state sensing module, used to sense information of the electric assisted vehicle; as well as The control module is coupled to the state sensing module and the driving module. The control module controls the driving module to use the first driving mode or the second driving mode according to the information.

9. The electric assisted vehicle according to claim 8, characterized in that: The information includes driving environment information of the electric assisted vehicle.

10. The electric assisted vehicle according to claim 9, characterized in that: When the driving environment information indicates that the electric-assisted vehicle is traveling uphill, the control module controls the drive module to use the first drive mode; and when the driving environment information indicates that the electric-assisted vehicle is traveling on flat ground or downhill, the control module controls the drive module to use the second drive mode.

11. The electric assisted vehicle according to claim 9, characterized in that: When the driving environment information indicates that the electric-assisted vehicle is driving in a dangerous state, the control module controls the drive module to use the first drive mode; and when the driving environment information indicates that the electric-assisted vehicle is driving in a safe state, the control module controls the drive module to use the second drive mode.

12. The electric assisted vehicle according to claim 8, characterized in that: The information includes the driving speed or pedaling frequency of the electric assisted vehicle.

13. The electric assisted vehicle according to claim 12, characterized in that: When the driving speed is less than the speed threshold, the control module controls the driving module to use the first driving mode; and when the driving speed is greater than or equal to the speed threshold, the control module controls the driving module to use the second driving mode.

14. The electric assisted vehicle according to claim 12, characterized in that: When the pedaling frequency is less than the pedaling frequency threshold value, the control module controls the driving module to use the first driving mode; and when the pedaling frequency is greater than or equal to the pedaling frequency threshold value, the control module controls the driving module to use the second driving mode.

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