Electric quantity control method of driving motor

Abstract

The invention discloses an electric quantity control method for a driving motor. The method comprises the steps of obtaining current voltage of a battery; when the current voltage is smaller than a preset voltage threshold value, calculating a target current threshold value based on a preset voltage attenuation model; judging whether the actual current of the battery is greater than the target current threshold value or not; if yes, determining the output current of the battery according to the target current threshold value; and if not, determining the output current of the battery according to the actual current. And through a preset voltage attenuation model, calculating to obtain a target current threshold. And current output is adjusted by taking the target current threshold value as a reference, so that the current output can be close to a voltage attenuation model, and accurate control on the residual electric quantity of the battery is realized. Therefore, the discharge current is accurately controlled through the power supply attenuation model, and the voltage reduction speed can be controlled in the voltage reduction process, so that the time of battery power exhaustion is prolonged, and the driving mileage is improved.

Description

Technical Field

[0001] This application relates to the field of battery control technology, and in particular to a method for controlling the power of a drive motor. Background Technology

[0002] A dual-drive mobility scooter is a type of personal transportation that controls direction by the speed difference between its two wheels. Common examples include wheelchairs, balance bikes, and VGA scooters. Dual-drive mobility scooters typically use batteries as their power source. When the battery is low, precise control is required to make the most of the limited power and extend the driving range.

[0003] Current low-battery control methods typically adjust the battery based on a set voltage threshold. Once the battery voltage falls below this threshold, the motor's operating speed or current demand is reduced to decrease the battery's output current, thereby extending the driving range. However, while this method can improve the driving range to some extent, there is still room for further optimization in terms of the utilization of the remaining battery power. Summary of the Invention

[0004] This application provides a power control method for a drive motor to further improve the utilization rate of the remaining power of the battery.

[0005] In a first aspect, this application provides a method for controlling the power of a drive motor, wherein the drive motor is electrically connected to a battery, the method comprising:

[0006] Obtain the current voltage of the battery;

[0007] When the current voltage is less than a preset voltage threshold, the target current threshold is calculated based on a preset voltage decay model;

[0008] Determine whether the actual current of the battery is greater than the target current threshold;

[0009] If so, the output current of the battery is determined according to the target current threshold.

[0010] If not, then the output current of the battery is determined based on the actual current.

[0011] Optionally, the voltage attenuation model includes multiple models, each configured with independent control parameters. The step of calculating the target current threshold based on the voltage attenuation model when the voltage is less than a preset voltage threshold includes:

[0012] Determine the current load on the battery;

[0013] The voltage attenuation model is determined based on the current load;

[0014] The target current threshold is calculated based on the current voltage, the voltage threshold, and the control parameters.

[0015] Optionally, the method for generating the voltage attenuation model includes:

[0016] Determine the correspondence between different current loads of the battery;

[0017] A standard discharge curve is determined based on the battery load and the corresponding relationship.

[0018] Adjust the control parameters of the voltage decay model so that the voltage decay model fits the standard discharge curve.

[0019] Optionally, the voltage decay model includes a PID control algorithm, and the control parameters include at least two of proportional parameters, derivative parameters, and integral parameters.

[0020] Optionally, the method for generating the voltage attenuation model includes:

[0021] Determine the current load of the battery and the first standard discharge curve corresponding to the current load;

[0022] At least one second standard discharge curve is determined based on the first standard discharge curve, wherein the current load corresponding to the second standard discharge curve is less than that of the first standard discharge curve.

[0023] According to the preset smoothing curve rules, the first standard discharge curve and the second standard discharge curve are mixed to obtain the third standard discharge curve;

[0024] Adjust the control parameters of the voltage decay model so that the voltage decay model fits the third standard discharge curve.

[0025] Optionally, determining at least one second standard discharge curve based on the first standard discharge curve includes:

[0026] Determine the first discharge rate corresponding to the first standard discharge curve;

[0027] The standard discharge curve with any discharge rate less than the first discharge rate is determined as the second standard discharge curve.

[0028] Optionally, the step of mixing the first standard discharge curve and the second standard discharge curve according to a preset smoothing curve rule to obtain the third standard discharge curve includes:

[0029] Determine the voltage threshold and the voltage endpoint value, wherein the voltage threshold is greater than the voltage endpoint value;

[0030] When the voltage is greater than the voltage threshold, the third standard discharge curve is the same as the first standard discharge curve;

[0031] When the voltage is less than the voltage endpoint value, the third standard discharge curve is the same as the second standard discharge curve.

[0032] When the voltage is greater than the voltage endpoint value and less than the voltage threshold value, the third standard discharge curve is a smooth line connecting the voltage threshold value and the voltage endpoint value.

[0033] Optionally, the method further includes:

[0034] Obtain the target speed and actual speed of the motor;

[0035] Calculate the speed difference based on the target rotational speed and the actual rotational speed;

[0036] When the speed difference exceeds a preset speed difference threshold, the battery is controlled to stop supplying power.

[0037] In a second aspect, this application also provides an electronic device including a memory and a processor, the memory being connected to the processor, the processor being configured to execute one or more computer programs stored in the memory, the processor causing the electronic device to perform the method as described in the first aspect when executing the one or more computer programs.

[0038] Thirdly, this application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method described in the first aspect.

[0039] In the technical solution provided in this application, a target current threshold is calculated based on a preset voltage decay model. Using this target current threshold as a reference, the current output is adjusted to closely approximate the voltage decay model, thereby achieving precise control over the remaining battery capacity. Thus, by precisely controlling the discharge current through the power decay model, the rate of voltage reduction can be controlled during voltage drop, thereby extending the time before the battery is depleted and increasing driving range. Attached Figure Description

[0040] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A schematic diagram of the architecture of a dual-drive mobility scooter provided in an embodiment of this application;

[0042] Figure 2 A discharge characteristic curve provided in an embodiment of this application;

[0043] Figure 3 A schematic flowchart of a power control method for a drive motor provided in an embodiment of this application;

[0044] Figure 4 This is a schematic flowchart of a method for calculating a target current threshold based on a voltage decay model, provided in an embodiment of this application.

[0045] Figure 5 A schematic flowchart illustrating a method for generating a voltage attenuation model according to an embodiment of this application;

[0046] Figure 6 A schematic flowchart illustrating a method for generating a voltage attenuation model according to another embodiment of this application;

[0047] Figure 7 This is a discharge curve characteristic diagram provided in another embodiment of this application;

[0048] Figure 8 This is a discharge curve characteristic diagram provided in another embodiment of this application;

[0049] Figure 9 This is a discharge curve characteristic diagram provided in another embodiment of this application;

[0050] Figure 10 This is a discharge curve characteristic diagram provided in another embodiment of this application;

[0051] Figure 11 A schematic flowchart of a safety control method based on speed difference provided in an embodiment of this application;

[0052] Figure 12 This is a schematic diagram of an electronic device architecture provided in an embodiment of this application. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0054] It should be noted that, unless there is a conflict, the various features in the embodiments of this application can be combined with each other, all of which are within the protection scope of this application. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the device or the order in the flowchart. Moreover, the terms "first," "second," and "third" used in this application do not limit the data or execution order, but only distinguish identical or similar items with essentially the same function and effect.

[0055] First, to facilitate the explanation of the power control method for the drive motor provided in the embodiments of this application, the application environment of the method provided in the embodiments of this application will be introduced.

[0056] Please see Figure 1 , Figure 1 This is a schematic diagram of the architecture of a dual-drive mobility scooter according to an embodiment of this application. The dual-drive mobility scooter includes a main body 11, a battery 12, a motor controller 13, a left motor 14, and a right motor 15. The main body 11 provides carrying and movement functions, and other structures are disposed within the main body 11. The main body 11 can carry the user and move under the drive of the left motor 14 and the right motor 15. The specific structure of the main body 11 can be referred to in the prior art and will not be described in detail here.

[0057] Battery 12 is housed within the main body 11 and provides power to the left motor 14 and the right motor 15. Specifically, battery 12 is typically a rechargeable lithium-ion battery capable of repeated charging and discharging processes. When battery 12 is charging, it receives electrical energy from an external power source, which it stores as chemical energy. When battery 12 is discharging, it supplies electrical energy to the left motor 14 and the right motor 15, releasing the chemical energy as electrical energy.

[0058] Please see Figure 2 , Figure 2 This is a discharge characteristic curve provided in one embodiment of this application. The battery 12 exhibits certain patterns during charging and discharging under standard experimental conditions, which can be represented by charging and discharging characteristic curves. For example, a certain type of battery at a SOC of 20% can have its voltage determined to be 3.7V based on its discharge characteristic curve. It is understood that different battery structures, positive and negative electrode materials, formation processes, and cycle life can all affect the discharge characteristic curve. Therefore, to ensure the accuracy of the discharge characteristic curve, it is necessary to measure the discharge characteristic curve individually for each type of battery. Furthermore, as the number of cycle life increases, the discharge characteristic curve may shift, requiring subsequent correction to ensure reference accuracy.

[0059] The motor controller 13 is connected to the battery 12 and is used to receive user commands to control the operation of the left motor 14 and the right motor 15 respectively. For example, when the user issues a steering command, the motor controller 13 sets the left motor 14 and the right motor 15 to different speeds, thereby creating a speed difference between the two wheels to achieve the steering command. As another example, when the motor issues an acceleration or deceleration command, the motor controller 13 proportionally increases or decreases the speeds of the left motor 14 and the right motor 15 simultaneously.

[0060] The left motor 14 and the right motor 15 are communicatively connected to the motor controller 13. The left motor 14 is driven by the left wheel of the dual-drive mobility scooter, and the right motor 15 is driven by the right wheel. The left motor 14 and the right motor 15 rotate under the control of the motor controller 13, thereby enabling the user to control the dual-drive mobility scooter. The specific structure of the motors can be selected and modified by those skilled in the art based on actual conditions and existing technology, and is not limited thereto.

[0061] When battery 12 is in a low-charge state, as shown in the discharge characteristic curve, the supply voltage of battery 12 also decreases. When the supply voltage is lower than the minimum operating voltage of the motor, the motor actually stops working, and the remaining charge of battery 12 cannot be used. For example, if battery 12 has a capacity of 20Ah, and 19Ah has actually been used, the voltage drops from the standard voltage of 20V to 17V, while the minimum operating voltage is 18V. Therefore, the remaining 1Ah of charge cannot be used, resulting in wasted power.

[0062] Based on the motor controller described above, the power control method for the drive motor provided in the embodiments of this application is described below.

[0063] Please see Figure 3 , Figure 3 A schematic flowchart of a power control method for a drive motor provided in an embodiment of this application includes:

[0064] S31. Obtain the current battery voltage.

[0065] In this step, the battery's current voltage is its voltage value at the current moment. The voltage value indicates whether the battery has entered a low-charge state, allowing for the determination of subsequent power control methods. Specifically, battery parameters such as capacity can change due to factors like temperature and the number of usage cycles. For example, a battery with a nominal capacity of 20Ah might have its capacity decrease to 18Ah after 5000 cycles. If calculated based on 20Ah, although the actual State of Charge (SOC) has reached 100%, it might be estimated as 90%, resulting in a significant error. Conversely, using voltage values ​​for judgment means that regardless of capacity degradation, the voltage value will show a clear inflection point when the battery's SOC approaches a certain value. Furthermore, the current voltage is a direct indicator of whether the battery has reached its minimum operating voltage, and its measurement is relatively easier.

[0066] S32. If the current voltage is less than the preset voltage threshold, calculate the target current threshold based on the preset voltage attenuation model.

[0067] In this step, the voltage threshold is a voltage indicator used to define the battery's low-charge state. Specifically, it is first determined whether the battery's current voltage is greater than the voltage threshold. If it is greater than or equal to the threshold, the battery is in a normal charge state and no charge control is needed; if it is less than the threshold, the battery is in a low-charge state, and subsequent steps require fine-tuning of the battery's output current. The voltage threshold is determined based on the battery's standard discharge curve, typically set at the inflection point where the curve's slope changes significantly. For example, when the battery is cycled at 1.0C, its SOC is 85%. Before the voltage reaches 3.7V, the slope of the standard discharge curve, dV / dQ, is approximately 1. After 3.7V, the slope dV / dQ increases to 1.3, thus 3.7V can be determined as the voltage threshold. The voltage threshold can be set by those skilled in the art based on a specific standard discharge curve; this embodiment is for illustrative purposes only.

[0068] In this step, the voltage decay model is a control rule algorithm used to calculate the output current. Specifically, the voltage decay model is a model fitted to a standard discharge curve. When the battery's current voltage is lower than the voltage threshold, the voltage decay model controls the current output to ensure that the battery's actual discharge curve matches the standard discharge curve. This avoids the voltage dropping too quickly due to high current, preventing it from rapidly falling below the minimum operating voltage, thus maximizing the release of the battery's remaining capacity. The method for generating the voltage decay model will be detailed later and will not be elaborated here.

[0069] S33. Determine whether the actual current of the battery is greater than the target current threshold.

[0070] In this step, the target current threshold is calculated based on the voltage decay model and serves as the upper limit of the current output. For example, according to the standard discharge curve, the current of the battery at 3.7V and a 1.0C rate cycle is 1.0A, so the target current threshold is also around 1.0A. Specifically, since the voltage decay model is a fit to the standard discharge curve, there may be some errors.

[0071] S34. If so, determine the battery output current based on the target current threshold.

[0072] In this step, according to the standard discharge curve, under the same battery conditions, the higher the current, the faster the voltage decays. This phenomenon is particularly pronounced when the battery is low in charge. Therefore, if the current output exceeds the target current threshold, the battery voltage may decay too quickly, causing the battery voltage to drop rapidly below the minimum operating voltage. At this point, the remaining battery charge cannot be effectively utilized. Therefore, it is necessary to control the battery current output to equal the target current threshold, that is, to reduce the actual current output to the target current threshold.

[0073] S35. If not, determine the battery output current based on the actual current.

[0074] In this step, as can be seen from the standard discharge curve, under the same battery conditions, the smaller the current, the slower the voltage decay rate. If the actual current is less than the target current threshold, the voltage decay rate will inevitably be less than the voltage decay rate of the standard discharge curve. Therefore, there is no need to control the current output; the actual current output can be taken as the current output.

[0075] In summary, this embodiment calculates a target current threshold based on a preset voltage decay model. Using this target current threshold as a reference, the current output is adjusted to closely approximate the voltage decay model, thereby achieving precise control over the remaining battery capacity. Thus, by precisely controlling the discharge current through the power decay model, the rate of voltage decrease can be controlled during the voltage drop process, thereby extending the time before the battery is depleted and increasing the driving range.

[0076] The method for calculating the target current threshold in the embodiments of this application is described below.

[0077] Please see Figure 4 , Figure 4 A flowchart illustrating a method for calculating a target current threshold based on a voltage decay model, provided in an embodiment of this application, includes:

[0078] S41. Determine the current load on the battery.

[0079] S42. Determine the matching voltage attenuation model based on the current load.

[0080] S43. Calculate the target current threshold based on the current voltage, voltage threshold, and voltage decay model.

[0081] In step S41, the current load of the battery is the power required for the motor to execute the current control command. Specifically, the battery needs to control the current output to meet the power required by the current load. If the control command controls the motor to rotate at high speed, the required power is relatively large. Since the power demand is relatively large, the battery supply current should also be relatively large. For specific embodiments, please refer again. Figure 2 A battery has multiple standard discharge curves, each with a different cycle rate, meaning each standard discharge curve has a different current. Therefore, selecting a suitable voltage decay model first requires determining a suitable standard discharge curve to fit. Selecting a suitable standard discharge curve, in turn, requires determining the current output based on the battery's current load.

[0082] In step S42, after determining the current load, the corresponding current output can be determined based on the current load. Each voltage decay model has a corresponding standard discharge curve, and the standard discharge curve has a corresponding current output. Thus, the corresponding voltage decay model can be determined based on the current load. Specifically, the relationship between the current load and the current output can be theoretically calculated by those skilled in the art, or it can be classified based on long-term practical experience. For example, when the current load is 30 to 35W, the corresponding current output is 1.2A. When the current output is 1.2A, its standard discharge curve can be selected as a 0.05C rate discharge. The above embodiments are for illustrative purposes only, and those skilled in the art can adjust them according to actual conditions.

[0083] In step S43, the voltage attenuation model is a specific control algorithm. After processing the current voltage and voltage threshold input into the voltage attenuation model, the corresponding target current threshold can be obtained. Specifically, in this embodiment, the voltage attenuation model is a PID control algorithm, where the desired value is the set voltage threshold, and the feedback value is the current voltage. The difference between the voltage threshold and the current voltage is used as the input variable of the PID control algorithm, and the target current threshold is the corresponding output variable. The specific calculation can be performed using the following exemplary formula:

[0084]

[0085] e(t) = |U(t) - U_threshold|

[0086] Where I(t) is the target current threshold, e(t) is the difference between the current voltage and the voltage threshold, and K p K is the proportionality coefficient. i K is the integral coefficient. dU is the differential coefficient, t is time, U(t) is the current voltage, and U_threshold is the voltage threshold.

[0087] The generation method of the voltage decay model is introduced below.

[0088] Please see Figure 5 , Figure 5 A schematic flowchart illustrating a method for generating a voltage attenuation model according to an embodiment of this application includes:

[0089] S51. Determine the correspondence between different current loads of the battery and the current.

[0090] S52. Determine the standard discharge curve based on the battery load and corresponding relationship.

[0091] S53. Adjust the control parameters of the voltage decay model so that the voltage decay model fits the standard discharge curve.

[0092] In step S51, the battery may be configured with different loads, and the battery outputs different currents under different loads, thus establishing a correspondence. Specifically, the specific correspondence is not the same for different types and models of batteries. Therefore, for a particular battery, it is necessary to rely on those skilled in the art to measure and determine the correspondence between load and current based on the actual situation.

[0093] In step S52, after determining the current corresponding to the load, each standard discharge curve also has a corresponding current. By matching the load with the standard discharge curve through current, the standard discharge curve corresponding to the battery under a certain load can be determined.

[0094] In step S53, the voltage decay model has its corresponding control parameters. Specifically, in this embodiment, the voltage decay model is a PID control algorithm, and its control parameter is the proportional parameter K. p Integral parameter K i Differential parameter K d For example, for a standard discharge curve at a 0.5C rate cycle, the control parameters are K... p _1、K i _1、K d _1, and for the standard discharge curve of a 1.0C rate cycle, the control parameters are K. p _2、K i _2、K d 2. For different standard discharge curves, different control parameters are used for fitting so that the voltage decay model can simulate the standard discharge curve. In application, the motor controller selects the corresponding standard discharge curve based on the current load of the battery, that is, selects a voltage decay model with different control parameters to calculate the target current threshold.

[0095] It is understood that in some embodiments, the PID control algorithm can be simplified to a PI control algorithm or a PD control algorithm, that is, the control parameters include at least two of the proportional parameters, derivative parameters and integral parameters.

[0096] Please see Figure 6 , Figure 6 A schematic flowchart illustrating a method for generating a voltage attenuation model according to another embodiment of this application includes:

[0097] S61. Determine the current load of the battery and the first standard discharge curve corresponding to the current load.

[0098] S62. Determine at least one second standard discharge curve based on the first standard discharge curve, wherein the current load corresponding to the second standard discharge curve is less than that of the first standard discharge curve.

[0099] S63. According to the preset smoothing curve rules, the first standard discharge curve and the second standard discharge curve are mixed to obtain the third standard discharge curve.

[0100] S64. Adjust the control parameters of the voltage decay model so that the voltage decay model fits the third standard discharge curve.

[0101] In step S61, the current load of the battery is first determined, then the corresponding current requirement is determined based on the current load, the corresponding discharge current is determined based on the current requirement, and finally the corresponding first standard discharge curve is determined based on the discharge current. For details, please refer to steps S51 and S52, which will not be repeated here.

[0102] In step S62, the current load corresponding to the second standard discharge curve is less than that of the first standard discharge curve, meaning the cycle rate corresponding to the second standard discharge curve is less than that of the first standard discharge curve, and the current of the second standard discharge curve is less than that of the first standard discharge curve. Specifically, step S62 includes the following:

[0103] S621. Determine the first discharge rate corresponding to the first standard discharge curve.

[0104] S622. Determine any standard discharge curve with a discharge rate less than the first discharge rate as the second standard discharge curve.

[0105] In step S621, each standard discharge curve has its corresponding discharge rate. The discharge rate of the first standard discharge curve is the first discharge rate. The first discharge rate actually depends on the current load of the battery, and can be 1.0C, 0.8C, 1.2C, etc.

[0106] In step S622, since the current of the second standard discharge curve is less than that of the first standard discharge curve, the voltage decrease rate of the battery according to the second standard discharge curve is less than that according to the first standard discharge curve. For details, please refer to [link to relevant documentation]. Figure 7 , Figure 7 This is a discharge curve characteristic diagram provided for another embodiment of this application. The first standard discharge curve is determined by the current load, for example, the first standard discharge curve is a discharge curve with a 1.0C rate cycle, while the second standard discharge curve can be any discharge curve with a corresponding current less than the first standard discharge curve, such as a discharge curve with a 0.5C rate cycle, a discharge curve with a 0.8C rate cycle, a discharge curve with a 0.2C rate cycle, etc. It should be noted that in some embodiments, the second standard discharge curve may include multiple discharge curves with different currents.

[0107] In step S63, the smoothing curve rule is to connect two points with a relatively smooth curve. The third standard discharge curve is obtained by combining the first standard discharge curve and the second standard discharge curve. Specifically, the third standard discharge curve is the same as the first standard discharge curve at the beginning, the same as the second standard discharge curve at the end, and the middle part is connected to the beginning and end with a smooth curve. Specifically, step S63 includes the following:

[0108] S631. Determine the voltage threshold and voltage endpoint value, wherein the voltage threshold is greater than the voltage endpoint value.

[0109] S632. When the voltage is greater than the voltage threshold, the third standard discharge curve is the same as the first standard discharge curve.

[0110] S633. When the voltage is less than the voltage endpoint value, the third standard discharge curve is the same as the second standard discharge curve.

[0111] S634. When the voltage is greater than the voltage endpoint value but less than the voltage threshold value, the third standard discharge curve is a smooth line connecting the voltage threshold value and the voltage endpoint value.

[0112] In step S631, the voltage threshold is the initially set voltage threshold used to indicate that the battery has entered a low-charge state, as described above and will not be repeated here. For details, please refer to [link to relevant documentation]. Figure 8 , Figure 8This is a discharge curve characteristic diagram provided in another embodiment of this application. The voltage endpoint value is a set voltage value for switching to the second standard discharge curve. That is, when the current voltage of the battery drops to this voltage endpoint value, the current output should be adjusted so that the actual discharge characteristic curve is the same as the third standard discharge curve. Specifically, the voltage endpoint value can be determined by those skilled in the art based on the voltage drop rate. For example, firstly, a preset voltage drop rate is determined, which is the upper limit of the voltage drop rate of the entire third standard discharge curve, to avoid the voltage dropping too quickly when the battery capacity is close to depletion. Then, a ray is drawn on the discharge characteristic curve diagram with the point at the voltage threshold of the first standard discharge curve as the endpoint and the voltage drop rate as the slope. The ray intersects the second standard discharge curve at a point, and the voltage value at this intersection point is the voltage endpoint value.

[0113] It is understandable that since the voltage endpoint value corresponds to the second standard discharge curve, and the current of the second standard discharge curve is less than that of the first standard discharge curve, the voltage endpoint value must be less than the voltage threshold.

[0114] In step S632, when the voltage is greater than the voltage threshold, the battery has not yet entered a low-charge state. If the standard discharge curve is selected reasonably, the actual discharge curve of the battery should be the same as or similar to the first standard discharge curve. It can be understood that even if there is a deviation between the actual discharge curve and the first standard discharge curve, it is not necessary to adjust the current output; simply collect feedback data to re-determine the first standard discharge curve.

[0115] In step S633, when the voltage is lower than the voltage endpoint value, the battery is nearly depleted, and the current output can be further reduced. Specifically, the current output is controlled by lowering the target current output threshold, while ensuring that the current output does not exceed this threshold. At this point, by controlling the current output, the battery's actual discharge curve is the same as or similar to the second standard discharge curve. Specifically, in this embodiment, when the current voltage is greater than the voltage threshold, the corresponding battery capacity is 80%, and its actual discharge curve is the same as or similar to the first standard discharge curve (cycle rate 1.0C). When the battery capacity exceeds 80%, control begins; when the battery capacity reaches 90%, control is again applied using the second standard discharge curve (cycle rate 0.5C), thereby more effectively utilizing the remaining battery power.

[0116] In step S634, when the voltage is between the voltage endpoint value and the voltage threshold, return to the discharge characteristic curve graph. Please refer to [link / reference]. Figure 9 and Figure 10 , Figure 9 This is a discharge curve characteristic diagram provided in another embodiment of this application. Figure 10This is a discharge curve characteristic diagram provided in another embodiment of this application. First, locate the point in the diagram corresponding to the voltage threshold of the first standard discharge curve and the point in the diagram corresponding to the voltage endpoint of the second standard discharge curve. Connect the two points with a smooth line to obtain the complete third standard discharge curve. Specifically, the connecting line can be a straight line segment or a curved line segment, and there is no limitation on this.

[0117] It should be noted that the number of second standard discharge curves is not limited to one; multiple second standard discharge curves can exist simultaneously. Each second standard discharge curve is arranged in order of decreasing cycle rate, and the corresponding voltage endpoint value is determined for each curve.

[0118] In step S64, the control parameters of the PID algorithm are adjusted to fit the third standard discharge curve. Since the third standard discharge curve may be complex, the PID algorithm can also perform piecewise fitting to improve the fitting accuracy. For example, if segmented by voltage, when the battery's current voltage is 3.7V-4.0V, the control parameter K... p _3、K i _3、K d Fitting was performed using _3; when the current battery voltage was 3.5V-3.7V, the control parameter was set to K. p _4、K i _4、K d _4 is fitted to obtain a multi-segment PID control algorithm.

[0119] In some embodiments, this application also provides a safety scheme to prevent wheel slippage and rollover caused by a large difference between the target speed and the actual speed of the motor when controlling the current output. Specifically, please refer to... Figure 11 , Figure 11 A schematic flowchart of a speed difference-based safety control method provided in an embodiment of this application includes the following steps:

[0120] S111, Obtain the target speed and actual speed of the motor.

[0121] S112. Calculate the speed difference based on the target speed and the actual speed.

[0122] S113. When the speed difference is greater than the preset speed difference threshold, control the battery to stop supplying power.

[0123] In step S111, the target speed of the motor is the speed determined according to the user's control command. The actual speed of the motor is the actual speed of the motor output shaft detected and obtained by the motor encoder. Specifically, in this embodiment, the dual-drive mobility scooter has two motors, a left motor and a right motor, therefore there are also left target speed, right target speed, and left actual speed and right actual speed.

[0124] In step S112, the speed difference of the left motor is calculated based on the left target speed and the left actual speed, and the speed difference of the right motor is calculated based on the right target speed and the right actual speed, thereby obtaining the speed difference of the left motor and the speed difference of the right motor respectively.

[0125] In step S113, it is determined whether the speed difference between the left motor and the right motor is greater than a preset speed difference threshold. If either speed difference exceeds the threshold, it indicates a problem with current distribution in at least one motor. For example, under normal conditions, the speeds of the left and right motors should decrease proportionally when the output current is limited. However, if the actual speed of the left motor decreases excessively, resulting in a speed difference exceeding the threshold while the right motor operates normally, it could lead to a situation where the left wheel of the dual-drive mobility scooter does not turn while the right wheel turns, posing a risk of tipping over. Therefore, when the speed difference between either motor exceeds the threshold, the battery should be directly stopped to reduce the speed of both wheels of the dual-drive mobility scooter to zero, ensuring user safety.

[0126] In summary, the power control method provided in this application, when the battery enters a low power state, regulates the current output by adjusting the voltage decay model obtained by fitting the standard discharge curve, so that the battery discharge curve is close to the standard discharge curve, thereby effectively controlling the voltage drop rate, avoiding the battery voltage from dropping rapidly below the operating voltage, effectively utilizing the remaining power of the battery, and improving the battery's driving range.

[0127] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, which, when executed by a computer, cause the computer to perform the method as described in the foregoing embodiments.

[0128] This application also provides an electronic device. Specifically, in this embodiment, the electronic device is a main circuit board built into a dual-drive mobility scooter. The main circuit board has multiple logic control units, including a memory and a processor. The memory is connected to the processor, and the processor executes one or more computer programs stored in the memory. When the processor executes the one or more computer programs, it enables the electronic device to implement a power control method. See also... Figure 12 , Figure 12 This is a schematic diagram of an electronic device architecture provided according to an embodiment of this application. The electronic device 120 includes one or more processors 121 and a memory 122. The memory 122 is connected to one or more processors 121, for example, via a bus. The processors 121 and the memory 122 can be connected via a bus or other means. Figure 11 Taking the example of a connection between China and Israel via a bus.

[0129] The memory 122, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the power control method in the embodiments of this disclosure. The processor 121 implements the function of the power control method provided in the above-described method embodiments by running the non-volatile software programs, instructions, and modules stored in the memory 122.

[0130] Memory 122 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 122 may optionally include memory remotely located relative to processor 121, and such remote memory may be connected to processor 121 via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0131] The program instructions / modules are stored in the memory 122 and, when executed by one or more processors 121, execute the power control method in any of the above method embodiments.

[0132] This disclosure also provides a computer storage medium storing computer-executable instructions that are executed by one or more processors, for example... Figure 11 One of the processors 121 can enable the one or more processors to execute the power control method in any of the above method embodiments.

[0133] This disclosure also provides a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium. The computer program includes program instructions that, when executed by a computer, cause the computer to perform the power control method in any of the above method embodiments.

[0134] The device or equipment embodiments described above are merely illustrative. The unit modules described as separate components may or may not be physically separate. The components shown as module units may or may not be physical units; that is, they may be located in one place or distributed across multiple network module units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0135] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0136] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure, and not to limit them; under the concept of this disclosure, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this disclosure as described above, which are not provided in detail for the sake of brevity; although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this disclosure.

Claims

1. A method for controlling the power of a drive motor, wherein the drive motor is electrically connected to a battery, characterized in that, The method includes: Obtain the current voltage of the battery; When the current voltage is less than a preset voltage threshold, the target current threshold is calculated based on a preset voltage decay model; Determine whether the actual current of the battery is greater than the target current threshold; If so, the output current of the battery is determined according to the target current threshold. If not, then the output current of the battery is determined based on the actual current.

2. The method according to claim 1, characterized in that, The voltage attenuation model includes multiple models, each configured with independent control parameters. The calculation of the target current threshold based on the voltage attenuation model when the voltage is less than a preset voltage threshold includes: Determine the current load on the battery; The voltage attenuation model is determined based on the current load; The target current threshold is calculated based on the current voltage, the voltage threshold, and the voltage decay model.

3. The method according to claim 1 or 2, characterized in that, The method for generating the voltage attenuation model includes: Determine the correspondence between different current loads of the battery; A standard discharge curve is determined based on the battery load and the corresponding relationship. Adjust the control parameters of the voltage decay model so that the voltage decay model fits the standard discharge curve.

4. The method according to claim 3, characterized in that, The voltage decay model includes a PID control algorithm, and the control parameters include at least two of proportional parameters, derivative parameters, and integral parameters.

5. The method according to claim 1 or 2, characterized in that, The method for generating the voltage attenuation model includes: Determine the current load of the battery and the first standard discharge curve corresponding to the current load; At least one second standard discharge curve is determined based on the first standard discharge curve, wherein the current load corresponding to the second standard discharge curve is less than that of the first standard discharge curve. According to the preset smoothing curve rules, the first standard discharge curve and the second standard discharge curve are mixed to obtain the third standard discharge curve; Adjust the control parameters of the voltage decay model so that the voltage decay model fits the third standard discharge curve.

6. The method according to claim 5, characterized in that, Determining at least one second standard discharge curve based on the first standard discharge curve includes: Determine the first discharge rate corresponding to the first standard discharge curve; The standard discharge curve with any discharge rate less than the first discharge rate is determined as the second standard discharge curve.

7. The method according to claim 5, characterized in that, The step of mixing the first standard discharge curve and the second standard discharge curve according to a preset smoothing curve rule to obtain the third standard discharge curve includes: Determine the voltage threshold and the voltage endpoint value, wherein the voltage threshold is greater than the voltage endpoint value; When the voltage is greater than the voltage threshold, the third standard discharge curve is the same as the first standard discharge curve; When the voltage is less than the voltage endpoint value, the third standard discharge curve is the same as the second standard discharge curve. When the voltage is greater than the voltage endpoint value and less than the voltage threshold value, the third standard discharge curve is a smooth line connecting the voltage threshold value and the voltage endpoint value.

8. The method according to any one of claims 1 to 7, characterized in that, The method further includes: Obtain the target speed and actual speed of the motor; Calculate the speed difference based on the target rotational speed and the actual rotational speed; When the speed difference exceeds a preset speed difference threshold, the battery is controlled to stop supplying power.

9. An electronic device, characterized in that, The device includes a memory and a processor, the memory being connected to the processor, the processor being configured to execute one or more computer programs stored in the memory, the processor causing the electronic device to perform the method as described in any one of claims 1 to 8 when executing the one or more computer programs.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1 to 8.

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