Electric two-wheeled vehicle speed response quality monitoring system and judgment method thereof

Abstract

The invention relates to an electric two-wheeled vehicle speed response quality monitoring system and a judgment method thereof. The system comprises a controller, a rotating handle voltage acquisition module, a rotating handle angle sampling module, an alternating-direct axis current acquisition module, a motor rotating speed acquisition module, an acceleration sensor module, a brake signal acquisition module, a data recording module and a motor driver. The system can monitor the speed response quality of the electric two-wheeled vehicle in multiple dimensions by collecting data such as the voltage, the angle, the quadrature-direct axis current, the motor rotating speed, the acceleration and the brake signal of the rotating handle.

Description

Technical Field

[0001] The present invention relates to the technical field of electric two-wheel vehicles, and in particular to a speed response quality monitoring system for electric two-wheel vehicles and a judgment method thereof. Background Art

[0002] Electric two-wheel vehicles are affordable, clean and environmentally friendly, and are important means of transportation for modern people's short-distance travel. The driving experience of electric two-wheel vehicles has always been an important indicator to measure the vehicle quality. During the on-site landing test of electric two-wheel vehicles, it is necessary to judge the quality of speed response, that is, the relationship between the throttle input and the vehicle speed. The usual test methods rely on the driver's feeling of speed, lacking scientific judgment and recording methods. The response of electric two-wheel vehicles is reflected in the linear acceleration relationship of the throttle, the relationship of the throttle during secondary acceleration, and whether it can respond quickly when accelerating again after deceleration.

[0003] In view of the above problems, the present invention provides a speed response monitoring system, which can flexibly record relevant data and give a judgment method, helping the driving debugging and R & D personnel to solve problems. Summary of the Invention

[0004] Aiming at the deficiencies in the prior art, the present invention provides a speed response quality monitoring system for electric two-wheel vehicles and a judgment method thereof, so as to solve the problem that the speed response in the road test of electric two-wheel vehicles in the prior art cannot be scientifically recorded and measured.

[0005] The present invention provides a speed response quality monitoring system for an electric two-wheeler, which includes a controller, a throttle voltage acquisition module, a throttle angle sampling module, a direct and quadrature axis current acquisition module, a motor speed acquisition module, an acceleration sensor module, a brake signal acquisition module, a data recording module, and a motor driver; the output end of the throttle voltage acquisition module is connected to the input end of the controller in a transmission manner, and the throttle voltage acquisition module collects the output voltage of the throttle and sends it to the controller for processing; the output end of the throttle angle sampling module is connected to the controller in a transmission manner, and the throttle angle sampling module collects the opening degree information of the throttle and sends it to the controller for processing; the output end and the input end of the direct and quadrature axis current acquisition module are respectively connected to the input end of the controller and the output end of the motor driver in a transmission manner, and the direct and quadrature axis current acquisition module acquires the direct and quadrature axis currents in the motor driver and inputs them into the controller through a high-speed communication method; the output end of the motor speed acquisition module is connected to the input end of the controller in a transmission manner, and the motor speed acquisition module acquires the motor speed and sends it to the controller for processing; the output end of the acceleration sensor module is connected to the input end of the controller in a transmission manner, and the acceleration sensor module acquires the acceleration and deceleration values of the motor and sends them to the controller for processing; the output end of the brake signal acquisition module is connected to the input end of the controller in a transmission manner, and the brake signal acquisition module acquires the brake signal during the vehicle driving process and sends it to the controller for processing; the output end of the controller is connected to the input end of the data recording module in a transmission manner, and the controller stores the processed sampling data and quality judgment data into the data recording module.

[0006] Further, when the motor driver adopts a control with a reference direct axis current of 0, the direct and quadrature axis current acquisition module only needs to acquire the reference quadrature axis current and the actual quadrature axis current; when the motor driver adopts a field weakening or maximum torque current ratio control with a reference direct axis current not equal to 0, the direct and quadrature axis current acquisition module acquires the reference quadrature axis current, direct axis current, actual quadrature axis current, and direct axis current, and the reference quadrature axis current, direct axis current, actual quadrature axis current, and direct axis current all come from the information in the motor driver.

[0007] Further, the speed acquired by the motor speed acquisition module comes from a high-precision speed sensor installed on the motor.

[0008] Further, a judgment method for a speed response quality monitoring system of an electric two-wheeler includes the following steps:

[0009] Step 1: Judge whether the throttle signal quality is normal according to the voltage signal collected by the throttle voltage acquisition module and the angle signal collected by the throttle angle sampling module;

[0010] Step 2: Judge whether the response quality of the current and the throttle is normal according to the voltage signal collected by the throttle voltage acquisition module and the quadrature axis current signal and direct axis current signal collected by the direct and quadrature axis current acquisition module;

[0011] Step 3: Determine whether the response quality of the speed and the throttle is normal according to the voltage signal collected by the throttle voltage acquisition module and the speed signal collected by the motor speed acquisition module;

[0012] Step 4: Determine whether the response quality of the acceleration and the throttle is normal according to the voltage signal collected by the throttle voltage acquisition module and the acceleration signal collected by the acceleration sensor module;

[0013] Step 5: Determine whether the brake response quality is normal according to the brake signal collected by the brake signal acquisition module and the quadrature axis current signal and direct axis current signal collected by the quadrature and direct axis current acquisition module.

[0014] Further, in the above Step 1, the specific method for determining whether the throttle signal quality is normal: Obtain the expected throttle output voltage based on the angle signal collected by the throttle angle sampling module, and compare the expected throttle output voltage with the voltage signal collected by the throttle voltage acquisition module; if the voltage signal collected by the throttle voltage acquisition module is within the error range of the expected throttle output voltage, it is determined that the throttle signal quality is normal; if the voltage signal collected by the throttle voltage acquisition module is not within the error range of the expected throttle output voltage, it is determined that the throttle signal quality is abnormal; it is necessary to check the linear Hall sensor of the throttle, and the error range is determined by the accuracy of the linear Hall sensor.

[0015] Further, in the above Step 2, the specific method for determining whether the response quality of the current and the throttle is normal: When the motor driver adopts the control with the reference direct axis current of 0, if the time when the reference quadrature axis current curve collected by the quadrature and direct axis current acquisition module lags behind the voltage signal curve collected by the throttle voltage acquisition module does not exceed the threshold T1, the response of the current and the throttle is normal; otherwise, the response of the current and the throttle is delayed;

[0016] When the motor driver adopts the field weakening or maximum torque current ratio control with the reference direct axis current not equal to 0, if the time when the square root value curve of the reference quadrature axis current and direct axis current collected by the quadrature and direct axis current acquisition module lags behind the voltage signal curve collected by the throttle voltage acquisition module does not exceed the threshold T1, the response of the current and the throttle is normal; otherwise, the response of the current and the throttle is delayed;

[0017] When the response of the current and the throttle is delayed, it is necessary to reduce the filtering depth of the throttle signal of the motor driver.

[0018] Further, in the step 3, the specific method for judging whether the response quality of the speed and the throttle is normal: if the time when the speed collected by the motor speed acquisition module reaches the stable value lags behind the time when the voltage signal collected by the throttle voltage acquisition module reaches the stable value by no more than the threshold T2, the response quality of the speed and the throttle is normal; otherwise, the response of the speed and the throttle is too slow; when the response of the current and the throttle is too slow, increase the proportional-integral coefficient of the current control loop in the motor driver.

[0019] Further, in the step 4, the specific method for judging whether the response quality of the acceleration and the throttle is normal: when the throttle opening increases or decreases, if the absolute value of the acceleration collected by the acceleration sensor module does not exceed the threshold T3, the response quality of the acceleration and the throttle is normal; otherwise, the response of the acceleration and the throttle is too fast; when the response of the acceleration and the throttle is too fast, it is necessary to reduce the acceleration and deceleration slope of the speed set value in the motor driver.

[0020] Further, in the step 5, the specific method for judging whether the brake response quality is normal: when the brake signal acquisition module collects the trigger brake signal, if the actual quadrature axis current and the actual direct axis current of the AC-DC axis current acquisition module are zeroed within the time T4, the brake response is normal; otherwise, the brake response is abnormal; when the brake response is abnormal, check the brake detection related circuit and processing program in the motor driver.

[0021] Further, the effectiveness of the detection results of the response quality of the current and the throttle, the speed and the throttle, and the acceleration and the throttle needs to be based on the normal quality of the throttle signal.

[0022] The present invention has at least the following beneficial effects:

[0023] 1. By measuring the response relationship of the throttle signal, the AC-DC axis current signal in the motor driver, the speed sensor signal, the acceleration sensor signal, and the brake signal, it is possible to comprehensively judge whether the speed response of the two-wheeled electric vehicle is normal. This helps developers analyze from multiple dimensions and find problems in motor drive control faster, facilitating problem location.

[0024] 2. Since the accuracy of the position speed sensor equipped with the motor itself is relatively low, the present invention adopts the method of externally connecting a speed sensor to improve the accuracy of speed detection.

[0025] 3. The present invention reveals the relationship between different parameters and the handlebar response, including: the relationship between the quadrature axis current, the direct axis current and the handlebar, the relationship between speed and the handlebar, the relationship between acceleration and the handlebar, and the relationship between braking and the handlebar response. By analyzing the differences in the quality of different responses, different problems can be accurately located, such as the handlebar filter depth problem, PI parameter problem, hardware problem, speed given slope problem, which provides convenience for R&D personnel to further develop the motor driver of electric two-wheeled vehicles.

[0026] 4. In the judgment process, human somatosensory response is fully considered. For example, humans have a specific perception of delay, and when the delay exceeds 50ms, it can be clearly perceived. In the driving scene, if the absolute value of acceleration and deceleration exceeds 1.5m / s 2 , the driver will have obvious discomfort, and the driver will lean forward or backward. Based on these actual conditions, a set of response quality judgment standards that meet actual needs are established. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the present invention in any way. In the accompanying drawings:

[0028] Figure 1 It is a schematic diagram of a speed response quality monitoring system for an electric two-wheeled vehicle according to a specific embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0030] like Figure 1As shown in the figure, in a specific embodiment, a speed response quality monitoring system for an electric two-wheeler includes a controller 51, a throttle voltage acquisition module 52, a throttle angle sampling module 53, a direct and quadrature axis current acquisition module 54, a motor speed acquisition module 55, an acceleration sensor module 56, a brake signal acquisition module 57, a data recording module 58, and a motor driver 59. The output end of the throttle voltage acquisition module 52 is connected to the input end of the controller 51 in a transmission manner. The throttle voltage acquisition module 52 acquires the output voltage of the throttle and sends it to the controller 51 for processing. The output end of the throttle angle sampling module 53 is connected to the controller 51. The throttle angle sampling module 53 acquires the opening information of the throttle and sends it to the controller 51 for processing. The output end and the input end of the direct and quadrature axis current acquisition module 54 are respectively connected to the input end of the controller 51 and the output end of the motor driver 59 in a transmission manner. The direct and quadrature axis current acquisition module 54 acquires the direct and quadrature axis currents in the motor driver 59 and inputs them into the controller 51 through a high-speed communication method. The output end of the motor speed acquisition module 55 is connected to the input end of the controller 51. The motor speed acquisition module 51 acquires the motor speed and sends it to the controller 51 for processing. The output end of the acceleration sensor module 56 is connected to the input end of the controller 51. The acceleration sensor module 56 acquires the acceleration and deceleration values of the motor and sends them to the controller 51 for processing. The acceleration sensor can be ADXL345. The output end of the brake signal acquisition module 57 is connected to the input end of the controller 51. The brake signal acquisition module 57 acquires the brake signal during the vehicle driving process and sends it to the controller 51 for processing. The output end of the controller 51 is connected to the input end of the data recording module 58. The controller 51 stores the processed sampling data and quality judgment data into the data recording module 58.

[0031] When the motor driver 59 adopts the control with a reference direct axis current of 0, the direct and quadrature axis current acquisition module 54 only needs to acquire the reference quadrature axis current and the actual quadrature axis current. When the motor driver 59 adopts the field weakening or maximum torque current ratio control with a non-zero reference direct axis current, the direct and quadrature axis current acquisition module 54 acquires the reference quadrature axis current, direct axis current, actual quadrature axis current, and direct axis current. The reference quadrature axis current, direct axis current, actual quadrature axis current, and direct axis current all come from the information in the motor driver 59.

[0032] The speed acquired by the motor speed acquisition module 55 comes from a high-precision speed sensor installed on the motor. For example, a circular flexible magnetic strip, such as the KJ Magnetics 8510 magnetic encoding tape, is pasted on the outer side of the wheel rim and cooperates with the LORD MicroStrain 3DM-GX5-15 sensor.

[0033] A judgment method for a speed response quality monitoring system of an electric two-wheeler includes the following steps:

[0034] Step 1: Determine whether the quality of the throttle signal is normal based on the voltage signal collected by the throttle voltage acquisition module 52 and the angle signal collected by the throttle angle sampling module 53.

[0035] In the above Step 1, the specific method for determining whether the quality of the throttle signal is normal is as follows: Obtain the expected throttle output voltage based on the angle signal collected by the throttle angle sampling module 53, and compare the expected throttle output voltage with the voltage signal collected by the throttle voltage acquisition module 52. If the voltage signal collected by the throttle voltage acquisition module 52 is within the error range of the expected throttle output voltage, it is determined that the quality of the throttle signal is normal; if the voltage signal collected by the throttle voltage acquisition module 52 is not within the error range of the expected throttle output voltage, it is determined that the quality of the throttle signal is abnormal, and the linear Hall sensor of the throttle needs to be checked. The error range is determined by the accuracy of the linear Hall sensor. The higher the accuracy of the Hall sensor, the smaller the error range.

[0036] Step 2: Determine whether the response quality of the current and the throttle is normal based on the voltage signal collected by the throttle voltage acquisition module 52, the quadrature-axis current signal and the direct-axis current signal collected by the quadrature and direct-axis current acquisition module 54.

[0037] In the above Step 2, the specific method for determining whether the response quality of the current and the throttle is normal is as follows: First, it is necessary to determine whether the reference direct-axis current adopted by the motor driver 59 is a control of 0.

[0038] When the motor driver 59 adopts a control with a reference direct-axis current of 0, if the time when the reference quadrature-axis current curve collected by the quadrature and direct-axis current acquisition module 54 lags behind the voltage signal curve collected by the throttle voltage acquisition module 52 does not exceed the threshold T1, and the threshold T1 is 50 ms, then the response of the current and the throttle is normal; otherwise, the response of the current and the throttle is delayed and is abnormal.

[0039] When the motor driver 59 adopts a field-weakening or maximum torque current ratio control with a reference direct-axis current not equal to 0, if the time when the square root value curve of the reference quadrature-axis current and direct-axis current collected by the quadrature and direct-axis current acquisition module 54 lags behind the voltage signal curve collected by the throttle voltage acquisition module 52 does not exceed the threshold T1, and the threshold T1 is 50 ms, then the response of the current and the throttle is normal; otherwise, the response of the current and the throttle is delayed and is abnormal.

[0040] When the response of the current and the throttle is delayed, it is necessary to reduce the filtering depth of the throttle signal of the motor driver 59 to improve the response. 50 ms is selected because of the human body feeling, and a delay of more than 50 ms can be detected.

[0041] Step 3: Based on the voltage signal collected by the throttle voltage acquisition module 52 and the speed signal collected by the motor speed acquisition module 55, determine whether the response quality of the speed and the throttle is normal;

[0042] In the said Step 3, the specific method for determining whether the response quality of the speed and the throttle is normal: The moment when the speed collected by the motor speed acquisition module 55 reaches the stable value lags behind the moment when the voltage signal collected by the throttle voltage acquisition module 52 reaches the stable value by no more than the threshold T2. When the threshold T2 is 200 ms, the response quality of the speed and the throttle is normal; otherwise, the response of the speed and the throttle is too slow and is abnormal. When the response of the current and the throttle is too slow, increase the proportional-integral coefficient of the current control loop in the motor driver 59 to improve the response.

[0043] Step 4: Based on the voltage signal collected by the throttle voltage acquisition module 52 and the acceleration signal collected by the acceleration sensor module 56, determine whether the response quality of the acceleration and the throttle is normal;

[0044] In the said Step 4, the specific method for determining whether the response quality of the acceleration and the throttle is normal: When the throttle opening increases or decreases, the absolute value of the acceleration collected by the acceleration sensor module 56 does not exceed the threshold T3. When the threshold T3 is 1.5 mm / s 2 , the response quality of the acceleration and the throttle is normal; otherwise, the response of the acceleration and the throttle is too fast and is abnormal. When the response of the acceleration and the throttle is too fast, it is necessary to reduce the acceleration and deceleration slope of the speed set value in the motor driver. When the absolute value of the acceleration exceeds 1.5 mm / s 2 , the driver will feel discomfort.

[0045] Step 5: Based on the brake signal collected by the brake signal acquisition module 57 and the quadrature axis current signal and direct axis current signal collected by the quadrature and direct axis current acquisition module 54, determine whether the brake response quality is normal;

[0046] In the said Step 5, the specific method for determining whether the brake response quality is normal: When the brake signal acquisition module 57 collects the trigger brake signal, if the actual quadrature axis current and the actual direct axis current of the quadrature and direct axis current acquisition module 54 are zeroed within the time T4. When the time T4 is 20 ms, the brake response is normal; otherwise, the brake response is abnormal. When the brake response is abnormal, check the brake detection related circuit and processing program in the motor driver 59. Both the actual quadrature axis current and the actual direct axis current are 0, which means that the motor driver 59 no longer outputs the motor drive signal.

[0047] The effectiveness of the detection results of the response quality of the current and the throttle, the response quality of the speed and the throttle, and the response quality of the acceleration and the throttle needs to be based on the normal quality of the throttle signal.

[0048] When it is determined that the throttle signal quality, the response quality of the current and the throttle, the response quality of the speed and the throttle, the response quality of the acceleration and the throttle, and the brake response quality are all normal, it is determined that the speed response quality of the electric two-wheeler is normal; when any one of the determination of the throttle signal quality, the response quality of the current and the throttle, the response quality of the speed and the throttle, the response quality of the acceleration and the throttle, and the brake response quality is determined to be abnormal or unusual, it is determined that the speed response quality of the electric two-wheeler is abnormal.

[0049] Embodiment

[0050] The degree of increase or decrease in the opening of the throttle is very closely related to the acceleration. The greater the opening of the throttle, the greater the corresponding acceleration, and the smaller the opening of the throttle, the smaller the acceleration. At the same time, there will also be corresponding gears in the electric two-wheeler. When the opening of the throttle is the same in different gears, the corresponding acceleration is also different. For the same throttle opening, the greater the gear of the electric two-wheeler, the greater the corresponding acceleration. Therefore, when judging the response quality of the acceleration and the throttle, the response quality of the acceleration and the throttle should be judged for different gears. The electric two-wheeler is provided with at least three gears, namely high gear, medium gear and low gear. At the same time, the throttle opening is divided. The throttle opening is the angle of rotation of the throttle. According to the fact that the greater the rotation angle of the throttle, the greater the corresponding acceleration, there are throttle openings of angle A, angle B and angle C respectively, where angle A is the largest and angle C is the smallest.

[0051] When in the low gear, when the angle of increase or decrease of the throttle is less than or equal to angle C, it is judged whether the absolute value of the acceleration collected by the acceleration sensor module 56 does not exceed the threshold value a1. If so, it is normal, otherwise it is abnormal; when in the low gear, when the angle of increase or decrease of the throttle is greater than angle C and less than or equal to angle B, it is judged whether the absolute value of the acceleration collected by the acceleration sensor module 56 does not exceed the threshold value a2 and is not lower than the threshold value a1. If so, it is normal, otherwise it is abnormal; when in the low gear, when the angle of increase or decrease of the throttle is greater than angle B and less than or equal to angle A, it is judged whether the absolute value of the acceleration collected by the acceleration sensor module 56 does not exceed the threshold value a3 and is not lower than the threshold value a2. If so, it is normal, otherwise it is abnormal;

[0052] When in the medium gear position, when the angle by which the throttle is increased or decreased is less than or equal to angle C, it is judged whether the absolute value of the acceleration collected by the acceleration sensor module 56 does not exceed threshold a2 and is not lower than threshold a1. If so, it is normal; otherwise, it is abnormal. When in the medium gear position, when the angle by which the throttle is increased or decreased is greater than angle C and less than or equal to angle B, it is judged whether the absolute value of the acceleration collected by the acceleration sensor module 56 does not exceed threshold a3 and is not lower than threshold a2. If so, it is normal; otherwise, it is abnormal. When in the medium gear position, when the angle by which the throttle is increased or decreased is greater than angle B and less than or equal to angle A, it is judged whether the absolute value of the acceleration collected by the acceleration sensor module 56 does not exceed threshold a4 and is not lower than threshold a3. If so, it is normal; otherwise, it is abnormal.

[0053] When in the high gear position, when the angle by which the throttle is increased or decreased is less than or equal to angle C, it is judged whether the absolute value of the acceleration collected by the acceleration sensor module 56 does not exceed threshold a3 and is not lower than threshold a2. If so, it is normal; otherwise, it is abnormal. When in the high gear position, when the angle by which the throttle is increased or decreased is greater than angle C and less than or equal to angle B, it is judged whether the absolute value of the acceleration collected by the acceleration sensor module 56 does not exceed threshold a4 and is not lower than threshold a3. If so, it is normal; otherwise, it is abnormal. When in the high gear position, when the angle by which the throttle is increased or decreased is greater than angle B and less than or equal to angle A, it is judged whether the absolute value of the acceleration collected by the acceleration sensor module 56 does not exceed threshold a5 and is not lower than threshold a4. If so, it is normal; otherwise, it is abnormal. Among them, threshold a1 < threshold a2 < threshold a3 < threshold a4 < threshold a5, and the thresholds are all values of the acceleration magnitude.

[0054] Setting different throttle rotation angles is to meet the riding requirements of different users. When the user needs to accelerate quickly, a larger rotation angle can be used to achieve it. However, when the acceleration remains the same regardless of how much the throttle rotation angle increases, it takes more time for the user to increase the riding speed, which affects the riding experience. Therefore, the corresponding acceleration should increase as the rotation angle increases to provide a better riding experience for the user. Thus, it is very important to monitor the acceleration for each different rotation angle. At the same time, more throttle opening angles can be set according to different electric vehicles, so that the electric two-wheeler is more suitable for the riding needs of users during riding, and the acceleration for each rotation angle is monitored according to the set angles.

[0055] Meanwhile, set the minimum rotation angle of the throttle grip as angle D. When the increased or decreased angle of the throttle grip is less than angle D, the change in acceleration collected by the acceleration sensor module 56 is 0 at this time. Only when the increased or decreased angle of the throttle grip is greater than or equal to angle D, the acceleration collected by the acceleration sensor module 56 will change. Therefore, it is necessary to judge whether the change in acceleration collected by the acceleration sensor module 56 is 0 when the increased or decreased rotation angle is less than angle D. When it is 0, it is judged as normal; otherwise, it is judged as abnormal. At the same time, it is necessary to judge whether the change in acceleration collected by the acceleration sensor module 56 is not 0 when the increased or decreased angle is greater than or equal to angle D. When it is not 0, it is judged as normal; otherwise, it is judged as abnormal.

[0056] Although the acceleration is small when the rotation angle is small, when the user stops and accidentally turns the throttle grip by a certain angle, the vehicle will also generate acceleration and move forward due to the increased angle at this time, but the user's intention is not to move forward, which makes it easy for the user to have an accident of colliding with the vehicle in front; or when the user wants to maintain the current speed, but accidentally increases the angle of the throttle grip at this time, the acceleration may increase, and there may also be an accident if there is a vehicle in front; therefore, a minimum rotation angle of the throttle grip is set to prevent the vehicle from suddenly moving forward or suddenly accelerating when the user is not paying attention, and also gives the user a certain reaction space or time to avoid accidents.

[0057] Obviously, those skilled in the art can obtain various effects not directly mentioned in the various embodiments according to the structures of the embodiments of the present invention. Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the field, additional modifications can be easily achieved. Therefore, without departing from the general concept defined by the claims and the equivalent scope, the present invention is not limited to the specific details and the illustrations shown and described here.

Claims

1. An electric two-wheeler speed response quality monitoring system, characterized in that: It includes a controller, a throttle voltage acquisition module, a throttle angle sampling module, a direct and quadrature axis current acquisition module, a motor speed acquisition module, an acceleration sensor module, a brake signal acquisition module, a data recording module, and a motor driver; the output end of the throttle voltage acquisition module is connected to the input end of the controller in a transmission manner, and the throttle voltage acquisition module collects the output voltage of the throttle and sends it to the controller for processing; the output end of the throttle angle sampling module is connected to the controller in a transmission manner, and the throttle angle sampling module collects the opening degree information of the throttle and sends it to the controller for processing; the output end and the input end of the direct and quadrature axis current acquisition module are respectively connected to the input end of the controller and the output end of the motor driver in a transmission manner, and the direct and quadrature axis current acquisition module acquires the direct and quadrature axis currents in the motor driver and inputs them into the controller through a high-speed communication method; the output end of the motor speed acquisition module is connected to the input end of the controller in a transmission manner, and the motor speed acquisition module acquires the motor speed and sends it to the controller for processing; the output end of the acceleration sensor module is connected to the input end of the controller in a transmission manner, and the acceleration sensor module acquires the acceleration and deceleration values of the motor and sends them to the controller for processing; the output end of the brake signal acquisition module is connected to the input end of the controller in a transmission manner, and the brake signal acquisition module acquires the brake signal during the vehicle driving process and sends it to the controller for processing; the output end of the controller is connected to the input end of the data recording module in a transmission manner, and the controller stores the processed sampling data and quality judgment data into the data recording module.

2. The speed response quality monitoring system for an electric two-wheeler according to claim 1, wherein: When the motor driver adopts a control with a reference direct axis current of 0, the direct and quadrature axis current acquisition module only needs to acquire the reference quadrature axis current and the actual quadrature axis current; when the motor driver adopts a field weakening or maximum torque current ratio control with a non-zero reference direct axis current, the direct and quadrature axis current acquisition module acquires the reference quadrature axis current, direct axis current, actual quadrature axis current, and direct axis current, and the reference quadrature axis current, direct axis current, actual quadrature axis current, and direct axis current all come from the information in the motor driver.

3. The speed response quality monitoring system for an electric two-wheeler according to claim 1, characterized in that: The speed acquired by the motor speed acquisition module comes from a high-precision speed sensor installed on the motor.

4. The judgment method of an electric two-wheeler speed response quality monitoring system according to claims 1-3, characterized in that: It includes the following steps: Step 1: According to the voltage signal collected by the throttle voltage acquisition module and the angle signal collected by the throttle angle sampling module, judge whether the quality of the throttle signal is normal; Step 2: According to the voltage signal collected by the throttle voltage acquisition module, the quadrature axis current signal and the direct axis current signal collected by the direct and quadrature axis current acquisition module, judge whether the response quality of the current and the throttle is normal; Step 3: According to the voltage signal collected by the throttle voltage acquisition module and the speed signal collected by the motor speed acquisition module, judge whether the response quality of the speed and the throttle is normal; Step 4: According to the voltage signal collected by the throttle voltage acquisition module and the acceleration signal collected by the acceleration sensor module, judge whether the response quality of the acceleration and the throttle is normal; Step 5: According to the brake signal collected by the brake signal acquisition module, the quadrature axis current signal and the direct axis current signal collected by the direct and quadrature axis current acquisition module, judge whether the brake response quality is normal.

5. The judgment method of an electric two-wheeler speed response quality monitoring system according to claim 4, characterized in that: In the said step 1, the specific method for judging whether the quality of the throttle signal is normal: obtaining the expected throttle output voltage based on the angle signal collected by the throttle angle sampling module, and comparing the expected throttle output voltage with the voltage signal collected by the throttle voltage sampling module; If the voltage signal collected by the throttle voltage sampling module is within the error range of the expected throttle output voltage, it is determined that the quality of the throttle signal is normal; If the voltage signal collected by the throttle voltage sampling module is not within the error range of the expected throttle output voltage, it is determined that the quality of the throttle signal is abnormal; it is necessary to check the linear Hall sensor of the throttle, and the error range is determined by the accuracy of the linear Hall sensor.

6. The judgment method of an electric two-wheeler speed response quality monitoring system according to claim 4, characterized in that: In the said step 2, the specific method for judging whether the response quality of the current and the throttle is normal: when the motor driver adopts the control with the reference direct-axis current being 0, if the time when the reference quadrature-axis current curve collected by the quadrature and direct-axis current acquisition module lags behind the voltage signal curve collected by the throttle voltage sampling module does not exceed the threshold T1, the response of the current and the throttle is normal; Otherwise, the response of the current and the throttle is delayed; When the motor driver adopts the field weakening or maximum torque current ratio control with the reference direct-axis current not being 0, if the time when the square root value curve of the reference quadrature-axis current and direct-axis current collected by the quadrature and direct-axis current acquisition module lags behind the voltage signal curve collected by the throttle voltage sampling module does not exceed the threshold T1, the response of the current and the throttle is normal; otherwise, the response of the current and the throttle is delayed; When the response of the current and the throttle is delayed, it is necessary to reduce the filtering depth of the throttle signal of the motor driver.

7. The judgment method of an electric two-wheeler speed response quality monitoring system according to claim 4, characterized in that: In the said step 3, the specific method for judging whether the response quality of the speed and the throttle is normal: if the time when the speed collected by the motor speed acquisition module reaches the stable value lags behind the time when the voltage signal collected by the throttle voltage sampling module reaches the stable value by no more than the threshold T2, the response quality of the speed and the throttle is normal; otherwise, the response of the speed and the throttle is too slow; when the response of the current and the throttle is too slow, increase the proportional-integral coefficient of the current control loop in the motor driver.

8. The judgment method of an electric two-wheeler speed response quality monitoring system according to claim 4, characterized in that: In the said step 4, the specific method for judging whether the response quality of the acceleration and the throttle is normal: when the throttle opening increases or decreases, if the absolute value of the acceleration collected by the acceleration sensor module does not exceed the threshold T3, the response quality of the acceleration and the throttle is normal; otherwise, the response of the acceleration and the throttle is too fast; when the response of the acceleration and the throttle is too fast, it is necessary to reduce the acceleration and deceleration slope of the speed set value in the motor driver.

9. The judgment method of an electric two-wheeler speed response quality monitoring system according to claim 4, characterized in that: In the said step 5, the specific method for judging whether the brake response quality is normal: when the brake signal acquisition module collects the trigger brake signal, if the actual quadrature-axis current and actual direct-axis current of the quadrature and direct-axis current acquisition module are zero within the time T4, the brake response is normal; otherwise, the brake response is abnormal; When the brake response is abnormal, check the brake detection related circuit and processing program in the motor driver.

10. The judgment method of an electric two-wheeler speed response quality monitoring system according to claim 4, characterized in that: The effectiveness of the detection results of the response quality of the current and the throttle, the response quality of the speed and the throttle, and the response quality of the acceleration and the throttle needs to be based on the normal quality of the throttle signal.

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