Control method for dual-motor driven personal transportation devices

Abstract

This application relates to a control method for a dual-motor driven personal mobility device. The method specifically includes: acquiring multiple feedback parameters and a set speed for the dual-motor driven personal mobility device; determining multiple first speed limiting coefficients based on each feedback parameter and a preset target parameter; determining a first speed limiting coefficient among the multiple first speed limiting coefficients that meets safety constraints as a second speed limiting coefficient; and controlling the dual-motor driven personal mobility device according to the second speed limiting coefficient and the set speed. The technical solution of this application acquires multiple feedback parameters and then compares each feedback parameter with a preset target parameter to determine the corresponding first speed limiting coefficient. One of the multiple first speed limiting coefficients is selected as the second speed limiting coefficient, and the personal mobility device is controlled using the second speed limiting coefficient. Simultaneously, the output of the left and right motors is limited, so that the second speed limiting coefficient can meet the speed limiting requirements of all feedback parameters while maintaining the speed difference between the left and right motors, thus maintaining the stability of the dual-motor driven personal mobility device's driving direction.

Description

Technical Field

[0001] This application relates to the field of motor technology, and in particular to a control method for a dual-motor driven personal transportation device. Background Technology

[0002] Dual-motor driven mobility devices are devices where the left and right motors control the two wheels respectively. Their key feature is the differential speed control between the left and right motors to direct the movement of the device. Specifically, dual-motor driven mobility devices include wheelchairs, mobility scooters, VGA cars, and wheeled robots.

[0003] In certain applications, the left and right motors may experience different operating conditions, causing parameters such as current, voltage, and temperature to exceed safety thresholds, potentially damaging the motors and their control systems. Furthermore, this could lead to significant speed differences between the left and right wheels, making the direction of the dual-motor driven mobility device uncontrollable by the user, greatly impacting the user experience and posing certain safety hazards. Summary of the Invention

[0004] This application provides a control method for a dual-motor driven personal transportation device to solve the technical problem in the prior art where the speed difference between the two motors is unstable when the output of the motors is limited.

[0005] In a first aspect, this application provides a control method for a dual-motor driven personal transportation device, comprising:

[0006] Acquire multiple feedback parameters and a set speed of the dual-motor driven personal transportation device;

[0007] Multiple first speed limiting coefficients are determined based on each of the aforementioned feedback parameters and the preset target parameters;

[0008] Among the multiple first speed limit coefficients, the first speed limit coefficient that satisfies the safety constraint condition is determined as the second speed limit coefficient;

[0009] The dual-motor drive mobility device is controlled according to the second speed limit coefficient and the set speed.

[0010] Optionally, determining the first speed limit coefficient that satisfies the safety constraint among a plurality of first speed limit coefficients as the second speed limit coefficient includes:

[0011] Obtain the value of each of the first speed limit coefficients;

[0012] The minimum value of the first speed limit coefficient is determined to be the second speed limit coefficient.

[0013] Optionally, the feedback parameter includes the feedback current of the dual-motor driven mobility device, the target parameter includes the target current, the first speed limiting coefficient includes a current speed limiting coefficient, and determining multiple first speed limiting coefficients based on each of the feedback parameters and the preset target parameter includes:

[0014] Determine the feedback current and the target current of the dual-motor driven personal transportation device;

[0015] The current speed limiting coefficient is calculated based on the feedback current, the target current, and the PID control algorithm.

[0016] Optionally, the feedback current includes bus feedback current and unilateral feedback current, the target current includes bus target current and unilateral target current, the current speed limiting coefficient includes total current speed limiting coefficient and unilateral current speed limiting coefficient, and the calculation of the current speed limiting coefficient based on the feedback current, the target current, and the PID control algorithm includes:

[0017] The total current speed limiting coefficient is calculated based on the bus feedback current, the bus target current, and the PID control algorithm.

[0018] The unilateral current speed limiting coefficient is calculated based on the unilateral feedback current, the unilateral target current, and the PID control algorithm.

[0019] Optionally, the feedback parameter includes the feedback voltage of the dual-motor driven mobility device, the target parameter includes the target voltage, the first speed limiting coefficient includes a voltage speed limiting coefficient, and determining multiple first speed limiting coefficients based on each of the feedback parameters and the preset target parameter includes:

[0020] Determine the feedback voltage and the target voltage of the dual-motor driven personal transportation device;

[0021] The voltage speed limiting coefficient is calculated based on the feedback voltage, the target voltage, and the PID control algorithm.

[0022] Optionally, the feedback voltage includes a bus feedback voltage and a one-sided feedback voltage, the target voltage includes a bus target voltage and a one-sided target voltage, the voltage speed limiting coefficient includes a total voltage speed limiting coefficient and a one-sided voltage speed limiting coefficient, and the calculation of the voltage speed limiting coefficient based on the feedback voltage, the target voltage, and the PID control algorithm includes:

[0023] The total voltage speed limiting coefficient is calculated based on the bus feedback voltage, the bus target voltage, and the PID control algorithm.

[0024] The unilateral voltage speed limiting coefficient is calculated based on the unilateral feedback voltage, the unilateral target voltage, and the PID control algorithm.

[0025] Optionally, the feedback parameter includes a feedback temperature, the target parameter includes a target temperature, the first speed limiting coefficient includes a temperature-based speed limiting coefficient, and determining multiple first speed limiting coefficients based on each of the feedback parameters and the preset target parameter includes:

[0026] Determine the feedback temperature and the target temperature of the dual-motor driven personal transportation device;

[0027] The temperature-limiting speed coefficient is calculated based on the feedback temperature, the target temperature, and the PID control algorithm.

[0028] Optionally, the feedback parameter includes feedback speed, the target parameter includes feedback speed, the first speed limiting coefficient includes a first motor speed limiting coefficient and a second motor speed limiting coefficient, and determining multiple first speed limiting coefficients based on each of the feedback parameters and the preset target parameter includes:

[0029] Determine the feedback speed of the first motor, the feedback speed of the second motor, the target speed of the first motor, and the target speed of the second motor of the dual-motor driven personal transportation device;

[0030] Calculate the speed limiting coefficient of the first motor based on the feedback speed of the first motor, the target speed of the first motor, and the PID control algorithm;

[0031] The speed limiting coefficient of the second motor is calculated based on the feedback speed of the second motor, the target speed of the second motor, and the PID control algorithm.

[0032] Optionally, controlling the dual-motor driven personal mobility device according to the second speed limiting coefficient and the set speed of the dual-motor driven personal mobility device includes:

[0033] The set speed includes determining the linear velocity and angular velocity of the dual-motor driven personal transportation device;

[0034] Based on the linear velocity, the angular velocity, the second speed limiting coefficient, and the preset speed formula, the speed of the first motor and the speed of the second motor of the dual-motor driven personal transportation device are calculated respectively.

[0035] The first motor of the dual-motor driven mobility device is controlled to operate according to the speed of the first motor, and the second motor of the dual-motor driven mobility device is controlled to operate according to the speed of the second motor.

[0036] Secondly, this application also provides a dual-motor driven personal transportation device, including a memory and a processor. The memory is connected to the processor, and the processor is used to execute one or more computer programs stored in the memory. When the processor executes the one or more computer programs, it causes the dual-motor driven personal transportation device to implement the method described in the first aspect.

[0037] Thirdly, this application also provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, the computer program including program instructions, which, when executed by a processor, cause the processor to perform the method described in the first aspect.

[0038] The technical solution of this application obtains multiple feedback parameters, then compares each feedback parameter with a preset target parameter to determine the corresponding first speed limiting coefficient. The smallest of the multiple first speed limiting coefficients is selected as the second speed limiting coefficient, and the second speed limiting coefficient is used to control the mobility scooter's operation. Simultaneously, the output of the left and right motors is limited, ensuring that the second speed limiting coefficient meets the speed limiting requirements of all feedback parameters while maintaining the speed difference between the left and right motors, thus maintaining the stability of the dual-motor driven mobility scooter's direction of travel. Attached Figure Description

[0039] 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.

[0040] Figure 1 This is a schematic diagram of the structure of a dual-motor driven personal transportation device provided in an embodiment of this application;

[0041] Figure 2 A schematic flowchart of a control method for a dual-motor driven personal mobility device provided in an embodiment of this application;

[0042] Figure 3 This is a schematic flowchart of a method for determining a first speed limit coefficient that satisfies safety constraints as a second speed limit coefficient in one embodiment of this application;

[0043] Figure 4 This is a schematic flowchart of a method for determining the current rate limiting coefficient based on feedback current and target current in one embodiment of this application;

[0044] Figure 5 This is a schematic flowchart of a method for determining a voltage rate limiting coefficient based on feedback voltage and target voltage in one embodiment of this application;

[0045] Figure 6 This is a schematic flowchart of a method for determining a temperature rate limiting coefficient based on feedback temperature and target temperature in one embodiment of this application;

[0046] Figure 7 This is a schematic flowchart of a method for determining a speed limit coefficient based on feedback speed and target speed in one embodiment of this application;

[0047] Figure 8 This is a schematic diagram of a method for controlling a dual-motor driven personal transportation device based on a set speed and a second speed limit coefficient in one embodiment of this application;

[0048] Figure 9 This is a schematic diagram of an electronic device architecture provided in an embodiment of this application. Detailed Implementation

[0049] 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.

[0050] 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.

[0051] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a dual-motor driven personal transportation device according to an embodiment of this application. The dual-motor driven personal transportation device includes a vehicle body 11, a motor control system 12 disposed inside the vehicle body 11, a first motor 13 and a second motor 14 electrically connected to the motor control system 12, a first wheel 15 driven by the first motor 13, and a second wheel 16 driven by the second motor 14. Multiple detection devices 17 are provided at the motor control system 12, the first motor 13, and the second motor 14 for detecting various feedback parameters of each motor and its control system.

[0052] The first motor 13 is connected to the first wheel 15 via a transmission connection, and the second motor 14 is connected to the second wheel 16 via a transmission connection. Specifically, the first motor 13 includes a stator and a rotor, which convert electrical energy into mechanical energy through the cooperation of the stator and rotor, thereby driving the first wheel 15 to rotate. The specific structure and type of the first motor 13, such as a synchronous motor or an asynchronous motor, can be selected according to actual needs and is not limited thereto. The working principle and specific structure of the second motor 14 are the same as those of the first motor 13, and therefore will not be described in detail.

[0053] The motor control system 12 receives control commands from the user and allocates speeds to the first motor 13 and the second motor 14 according to the control commands. Specifically, the motor control system 12 controls the speeds of the first motor 13 and the second motor 14 by controlling their operating voltages and operating currents. The motor control system 12 includes a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array, a microcontroller, an ARM or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. It can also be a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP, and / or any other such configuration, without limitation.

[0054] The motor control system 12 is connected to the first motor 13 and the second motor 14 via wires. The wires connecting the motor control system 12 to both the first motor 13 and the second motor 14 are called a bus, while the wires connecting the motor control system 12 to only one of the first motor 13 or the second motor 14 are called single-sided wires. The feedback parameters of the motor control system 12 (i.e., the sum of the feedback parameters of the first motor 13 and the second motor 14) can be determined by detecting the feedback parameters on the bus. Conversely, the feedback parameters of the corresponding first motor 13 or second motor 14 can be determined by detecting the feedback parameters on a single-sided wire.

[0055] The detection device 17 can be categorized into voltage detectors, current sensors, temperature sensors, speed sensors, etc., depending on the feedback parameters being detected. In some embodiments, detection devices 17 that detect different feedback parameters can be integrated into the same device; for example, some voltage detection modules can simultaneously detect voltage and current. In some embodiments, depending on the application scenario, the detection device 17 may also include light sensors, pressure sensors, etc.

[0056] When the dual-motor driven mobility device (hereinafter referred to as the dual-motor driven mobility device) is in motion, the motor control system 12 determines the driving direction and speed according to the user's control command, and distributes the speed to the first motor 13 and the second motor 14 according to the driving direction and speed, so that the first motor 13 and the second motor 14 drive the first wheel 15 and the second wheel 16 to rotate, thereby realizing the driving functions of the dual-motor driven mobility device such as forward movement and turning.

[0057] When some feedback parameters in a dual-motor driven mobility device exceed their limits, such as the current of the first motor 13 exceeding the maximum current threshold, the current value of the first motor 13 is typically directly limited. In this case, the speed of the first motor 13 is reduced due to the current limitation, while the speed of the second motor 14 remains constant, causing the speed difference between the first motor 13 and the second motor 14 to increase or decrease. Changes in the speed difference may alter the driving direction of the dual-motor driven mobility device, especially when it is turning. A suitable speed difference needs to be maintained between the two wheels to smoothly complete the turn. If the speed difference between the motors corresponding to the two wheels suddenly increases or decreases, it makes it difficult for the user to control the dual-motor driven mobility device, affecting the user's driving experience and potentially creating safety hazards.

[0058] Based on the motor control system 12 described above, the control method of the dual-motor driven personal transportation device provided in the embodiments of this application is described below.

[0059] Please see Figure 2 , Figure 2 This is a schematic flowchart illustrating a control method for a dual-motor driven personal transportation device according to an embodiment of this application. The method includes:

[0060] S21. Obtain multiple feedback parameters and set speed of the dual-motor driven mobility device.

[0061] In this step, the feedback parameters include at least one of voltage, current, temperature, and speed, with different feedback parameters obtained by corresponding types of detection devices. The selection of feedback parameters is related to the operating environment of the dual-motor driven mobility device and common safety accidents. For example, when the motor temperature exceeds a certain safe value, overheating and burnout of motor components may occur. Therefore, by detecting the motor temperature, preventative measures can be taken to avoid further temperature increases and thus prevent safety accidents caused by overheating. Similarly, voltage, current, and speed can all be monitored to prevent some accidents and protect the safe use of the dual-motor driven mobility device.

[0062] In this step, the set speed is the speed determined by the motor control system based on user control commands. Specifically, the set speed includes both the overall speed direction (i.e., the direction of travel) of the dual-motor driven mobility device and the travel rate v, where the speed direction is represented by angular velocity ω. In some embodiments, the user can send control commands to the motor control system via, for example, a steering wheel, control panel, or handle.

[0063] S22. Determine multiple first speed limit coefficients based on each feedback parameter and the preset target parameter.

[0064] In this step, the target parameter is a pre-set operating parameter corresponding to each feedback parameter. For example, if the feedback parameter is voltage, then the corresponding target parameter is also voltage. Each feedback parameter is configured with a corresponding target parameter. The target parameter can be set according to the standard operating parameters of the motor. For example, if the standard operating voltage of the motor is 36V, then the target voltage parameter is set to 36V, thereby enabling the motor voltage to be maintained near 36V by the control method of this embodiment. Other parameters are similarly controlled to maintain each parameter within a safe range through the target parameter to avoid accidents.

[0065] In this step, the first speed limiting coefficient is used to assist in adjusting the feedback parameter, bringing its value closer to the target parameter. Specifically, the first speed limiting coefficient is calculated and determined using a PID control algorithm. It limits the motor's power or speed, thereby adjusting the feedback parameter to the set target parameter. Since each feedback parameter and target parameter is different, multiple first speed limiting coefficients need to be calculated and determined, such as current limiting coefficients, voltage limiting coefficients, temperature limiting coefficients, etc. Each speed limiting coefficient is used to limit the motor's power output so that the feedback parameter is adjusted to the corresponding target parameter.

[0066] S23. Determine the first speed limit coefficient that satisfies the safety constraint conditions among multiple first speed limit coefficients as the second speed limit coefficient.

[0067] In this step, the second speed limiting coefficient is selected from multiple first speed limiting coefficients. It is used to actually adjust the motor's power output or speed so that the feedback parameters are adjusted to the target parameters. Specifically, the first speed limiting coefficient is calculated for a certain parameter of the motor; that is, adjusting the motor power output according to a certain first speed limiting parameter ensures that the motor parameter is within a safe range. The second speed limiting coefficient is determined for the dual-motor driven mobility device as a whole; that is, adjusting the motor power output through the second speed limiting coefficient ensures that the dual-motor driven mobility device can operate safely and stably as a whole.

[0068] In this step, the safety constraint is the condition used to select the second speed limiting coefficient from multiple first speed limiting coefficients, ensuring that the determined second speed limiting coefficient meets the requirements for stable operation of the dual-motor driven personal mobility device. It can be understood that when the dual-motor driven personal mobility device selects to adjust the motor power output or speed using the second speed limiting coefficient, the motor power output or speed will ensure that all motor parameters are within a safe range. Specific safety constraints will be detailed later and will not be elaborated upon here.

[0069] In this step, since the first speed limiting coefficient is determined based on real-time collected feedback parameters and preset target parameters, it is not a fixed value but a dynamic value that changes over time. Therefore, the second speed limiting coefficient is also a dynamic value. For example, at a certain point in time, the minimum value among multiple first speed limiting coefficients may be the current speed limiting coefficient, while at the next point in time, the minimum value among multiple first speed limiting coefficients may be the voltage speed limiting coefficient. Therefore, the value of the second speed limiting coefficient may also change.

[0070] S24. Control the dual-motor drive of the personal transportation device according to the second speed limit coefficient and the set speed.

[0071] In this step, after determining the second speed limiting coefficient, the speeds of the first and second motors need to be allocated according to the set speed and the second speed limiting coefficient. Specifically, when the dual-motor driven mobility device travels in a straight line, the angular velocity in the set speed is 0, so the speeds of the first and second motors are the same; when the dual-motor driven mobility device needs to travel along an arc, the angular velocity in the set speed is obviously not 0, and a speed difference needs to be maintained between the first and second motors. Specifically, the motor control system can allocate the speeds of the first and second motors according to the following exemplary formula:

[0072]

[0073] Among them, V m1 V is the rotational speed of the first motor. m2 Let K1 be the rotational speed of the first motor, K2 be the second speed limiting coefficient, V be the set speed rate, and ω be the angular velocity of the set speed. Under normal circumstances, the dual-motor driven mobility device operates normally without power or speed limitation, so K2 is 1. When it is necessary to limit the power output of the first motor and / or the second motor, the value of K2 is determined according to the actual situation, ranging from 0 to 1. Therefore, when a motor requires speed limiting, taking the first motor as an example, the power output or speed of the first motor can be limited by the second speed limiting coefficient. The power output or speed of the second motor can also be limited proportionally, thereby maintaining a stable speed difference between the first and second motors and preventing loss of control and safety accidents due to large changes in speed difference during turns.

[0074] In summary, the technical solution of this application obtains multiple feedback parameters and then compares each feedback parameter with a preset target parameter to determine the corresponding first speed limiting coefficient. The smallest of the multiple first speed limiting coefficients is selected as the second speed limiting coefficient, and the second speed limiting coefficient is used to control the mobility scooter's operation. Simultaneously, the output of the left and right motors is limited, ensuring that the second speed limiting coefficient meets the speed limiting requirements of all feedback parameters while maintaining the speed difference between the left and right motors, thus maintaining the stability of the dual-motor driven mobility scooter's direction of travel.

[0075] Please see Figure 3 , Figure 3 This is a flowchart illustrating a method for determining a first speed limit coefficient satisfying safety constraints as a second speed limit coefficient in one embodiment of this application, specifically including:

[0076] S31. Obtain the value of each first speed limit coefficient;

[0077] S32. Determine the minimum value of the first speed limit coefficient to be the second speed limit coefficient.

[0078] In step S31, the first speed limiting factor includes multiple factors, such as voltage speed limiting factor, current speed limiting factor, and speed limiting factor. To ensure that all motor parameters are within safe ranges, each of the first speed limiting factors is different; for example, the voltage speed limiting factor is 0.8, the current speed limiting factor is 0.6, and the speed limiting factor is 1.0. Specifically, as the operating state of the dual-motor driven mobility device changes, the various motor parameters also change, and the corresponding first speed limiting factors also change accordingly. The dual-motor driven device needs to recalculate each of the first speed limiting factors at regular intervals.

[0079] In step S32, the safety constraints ensure that the adjusted motor power output keeps all motor parameters within safe threshold ranges. Therefore, the minimum value of each first speed limiting coefficient is typically taken as the second speed limiting coefficient. Specifically, since the values ​​of the multiple first speed limiting coefficients are not identical, the degree of restriction on motor power output or speed also differs. For example, the current speed limiting coefficient is 0.8, which reduces the motor power to 80% of its original value to meet the requirement of adjusting the feedback current to the target current; while the voltage speed limiting coefficient is 0.6, which reduces the motor power to 60% of its original value to meet the requirement of adjusting the feedback voltage to the target voltage. Specifically, if the second speed limiting coefficient is set to a relatively large value of 0.8 (reducing the motor power to 80% of its original value), although the current can be adjusted to a safe value, the motor voltage still exceeds the target voltage (i.e., the voltage exceeds the upper threshold), and there is still a safety risk of excessive voltage. Conversely, if the second speed limiting coefficient is set to a relatively small value of 0.6, both voltage and current can be controlled within safe ranges simultaneously. Although the current is significantly smaller than the target value at this time, resulting in power loss due to the inability to output the rated current, it can still ensure the stable operation and safety of the dual-motor drive equipment.

[0080] Please see Figure 4 , Figure 4 This is a schematic flowchart of a method for determining the current limiting coefficient based on feedback current and target current in one embodiment of this application, specifically including:

[0081] S41. Determine the feedback current and target current of the dual-motor driven mobility device.

[0082] S42. Calculate the current speed limiting coefficient based on the feedback current, target current, and PID control algorithm.

[0083] In step S41, the feedback current is detected by the current detection device, and the motor control system obtains the feedback current data from the current detection device. The target current is the preset operating current, which has been described in detail above and will not be repeated here.

[0084] In step S42, the PID control algorithm calculates the current speed limiting coefficient based on the feedback current and the target current. Specifically, the PID control algorithm can be calculated using the following exemplary formula:

[0085]

[0086] e(t) = |I(t) - I_tar|

[0087] Among them, K 1电流 K is the first speed limit coefficient. p K is the proportionality coefficient. i K is the integral coefficient.d Here, K represents the differential coefficient, t represents time, I(t) represents the feedback current, I_tar represents the target current, and e(t) represents the difference between the feedback current and the target current. It should also be noted that when calculating the current-limiting rate factor, K... 1电流 This is the current speed limiting factor.

[0088] Furthermore, in dual-motor driven personal transportation devices, the motor control system, the first motor, and the second motor may all experience current exceeding the safety threshold, thus requiring separate monitoring. Specifically, the feedback current includes the bus feedback current of the motor control system and the unilateral feedback current of the first and second motors. Correspondingly, the target current also includes the bus target current and the unilateral target current, and the current limiting factor includes the total current limiting factor and the unilateral current limiting factor.

[0089] For a motor control system, by monitoring the bus feedback current on the bus and setting the corresponding bus target current according to the motor control system, combined with the aforementioned PID control algorithm, the total current speed limiting coefficient K used to ensure the current safety of the motor control system can be calculated. 1_总线电流 .

[0090] For the first motor, by monitoring its one-sided feedback current and setting the corresponding one-sided target current, combined with the aforementioned PID control algorithm, the one-sided current speed limiting coefficient K used to ensure the current safety of the first motor can also be calculated. 1_第一电机电流 Similarly, for the second motor, a unilateral current speed limiting coefficient K can also be obtained to ensure the current safety of the second motor. 1_第二电机电流 .

[0091] Please see Figure 5 , Figure 5 This is a schematic flowchart of a method for determining a voltage rate limiting coefficient based on feedback voltage and target voltage in one embodiment of this application, specifically including:

[0092] S51. Determine the feedback voltage and target voltage of the dual-motor driven mobility device.

[0093] S52. Calculate the voltage speed limiting coefficient based on the feedback voltage, target voltage, and PID control algorithm.

[0094] In step S51, the feedback voltage is detected by the voltage detection device, and the motor control system obtains the feedback voltage data from the voltage detection device. The target voltage is the preset operating voltage, which has been described in detail above and will not be repeated here.

[0095] In step S52, the PID control algorithm calculates the voltage limiting coefficient based on the feedback voltage and the target voltage. Specifically, the PID control algorithm can be calculated using the following exemplary formula:

[0096]

[0097] e(t) = |U(t) - U_tar|

[0098] Where K1 is the first speed limit coefficient, K p K is the proportionality coefficient. i K is the integral coefficient. d Here, is the differential coefficient, t is time, U(t) is the feedback voltage, U_tar is the target voltage, and e(t) is the difference between the feedback voltage and the target voltage. It should also be noted that K1 is the voltage rate limiting factor when calculating the voltage rate limiting factor.

[0099] Furthermore, in dual-motor driven personal transportation devices, the motor control system, the first motor, and the second motor may all experience voltage exceedances of the safety threshold, thus requiring separate monitoring. Specifically, the feedback voltage includes the bus voltage of the motor control system and the individual feedback voltages of the first and second motors. Correspondingly, the target voltage also includes the bus target voltage and the individual target voltage, and the voltage speed limiting factor includes the total voltage speed limiting factor and the individual voltage speed limiting factor.

[0100] For a motor control system, by monitoring the bus feedback voltage on the bus and setting the corresponding bus target voltage according to the motor control system, combined with the aforementioned PID control algorithm, the total voltage speed limiting coefficient K used to ensure the voltage safety of the motor control system can be calculated. 1_总线电压 .

[0101] For the first motor, by monitoring its one-sided feedback voltage and setting the corresponding one-sided target voltage, combined with the aforementioned PID control algorithm, the one-sided voltage speed limiting coefficient K used to ensure the voltage safety of the first motor can also be calculated. 1_第一电机电压 Similarly, for the second motor, a one-sided voltage speed limiting coefficient K can also be obtained to ensure the voltage safety of the second motor. 1_第二电机电压 .

[0102] Please see Figure 6 , Figure 6 This is a schematic flowchart of a method for determining a temperature rate limiting coefficient based on feedback temperature and target temperature in one embodiment of this application, specifically including:

[0103] S61. Determine the feedback temperature and target temperature of the dual-motor driven mobility device.

[0104] S62. Calculate the temperature-limiting speed coefficient based on the feedback temperature, target temperature, and PID control algorithm.

[0105] In step S61, the feedback temperature is detected by the temperature sensor, and the feedback temperature data is obtained from the temperature sensor of the motor control system. The target temperature is the preset operating temperature threshold.

[0106] In step S62, the PID control algorithm calculates the temperature-limiting speed coefficient based on the feedback temperature and the target temperature. Specifically, the PID control algorithm can be calculated using the following exemplary formula:

[0107]

[0108] e(t) = |T(t) - T_tar|

[0109] Among them, K 1_温度 K is the first speed limit coefficient. p K is the proportionality coefficient. i K is the integral coefficient. d Here, K is the differential coefficient, t is time, U(t) is the feedback temperature, U_tar is the target temperature, and e(t) is the difference between the feedback temperature and the target temperature. It should also be noted that when calculating the temperature-limiting rate coefficient, K... 1_温度 This is the temperature-limiting rate factor.

[0110] Please see Figure 7 , Figure 7 This is a schematic flowchart of a method for determining a speed limit coefficient based on feedback speed and target speed in one embodiment of this application, specifically including:

[0111] S71. Determine the feedback speed of the first motor, the feedback speed of the second motor, the target speed of the first motor, and the target speed of the second motor for the dual-motor driven mobility device.

[0112] S72. Calculate the speed limiting coefficient of the first motor based on the feedback speed of the first motor, the target speed of the first motor, and the PID control algorithm.

[0113] S73. Calculate the speed limiting coefficient of the second motor based on the feedback speed of the second motor, the target speed of the second motor, and the PID control algorithm.

[0114] In step S71, the feedback speed of the first motor is detected by the motor encoder installed on the first motor, and the feedback speed of the second motor is detected by the motor encoder installed on the second motor. Correspondingly, the target speed of the first motor is the set operating speed of the first motor, and the target speed of the second motor is the set operating speed of the second motor.

[0115] In step S72, the PID control algorithm is used to calculate the speed limiting coefficient of the first motor based on the feedback speed of the first motor and the target speed of the first motor. Specifically, the PID control algorithm can be calculated using the following exemplary formula:

[0116]

[0117] e(t) = |V(t) - V_tar|

[0118] Among them, K 1_第一电机转速 K is the first speed limit coefficient. p K is the proportionality coefficient. i K is the integral coefficient. d Let K be the differential coefficient, t be time, V(t) be the feedback speed of the first motor, V_tar be the target speed of the first motor, and e(t) be the difference between the feedback speed and the target speed of the first motor. It should also be noted that when calculating the speed limiting coefficient of the first motor, K... 1_第一电机转速 This is the speed limiting coefficient for the first motor.

[0119] In step S73, the calculation method for the speed limiting coefficient of the second motor is the same as that for the speed limiting coefficient of the first motor, so it will not be described again.

[0120] Please see Figure 8 , Figure 8 This is a schematic flowchart of a method for controlling a dual-motor driven personal transportation device based on a set speed and a second speed limit coefficient, according to one embodiment of this application. The method specifically includes:

[0121] S81. Determine the linear velocity and angular velocity of the dual-motor driven mobility device based on the set speed.

[0122] S82. Calculate the speed of the first motor and the speed of the second motor of the dual-motor driven mobility device based on the linear velocity, angular velocity, second speed limit coefficient and preset speed formula.

[0123] S83. Control the operation of the first motor of the dual-motor drive mobility device according to the speed of the first motor, and control the operation of the second motor of the dual-motor drive mobility device according to the speed of the second motor.

[0124] In step S81, the speed is set to be determined by the user according to the control command, including linear velocity V and angular velocity ω.

[0125] In step S82, the second speed limit coefficient has been determined based on a plurality of first speed limit coefficients, namely

[0126] K2=min{K 1_总线电流 ,K 1_第一电机电流 ,K 1_第二电机电流 ,K 1_总线电压 ,K 1_第一电机电压 ,

[0127] K 1_第二电机电压 ,K 1_温度 ,K 1_第一电机转速 K 1_第二电机转速}

[0128] Once the second speed limiting coefficient, linear velocity V, and angular velocity ω are determined, the speeds of the first and second motors can be calculated using the following formulas:

[0129]

[0130] In step S83, after determining the speed of the first motor and the speed of the second motor, the first motor and the second motor each work according to their assigned speeds. This achieves the goal of maintaining the speed difference between the left and right motors while meeting the speed limit requirements of all feedback parameters, thus maintaining the stability of the driving direction of the dual-motor driven mobility device.

[0131] In other embodiments, the feedback parameters may also include illuminance, humidity, pressure, etc. Those skilled in the art can select appropriate feedback parameters and target parameters to calculate the speed limit coefficient according to different applicable scenarios.

[0132] In summary, the technical solution provided in this application, by calculating and determining a first speed limiting coefficient from multiple parameters, and then taking the minimum value among all the first speed limiting coefficients as a second speed limiting coefficient to limit the power output or speed of the motor, can improve the safety of dual-motor driven mobility devices during operation and avoid safety accidents caused by the loss of control of a certain parameter. Simultaneously, since the speed limiting coefficient can simultaneously and proportionally limit the output of both the first and second motors, the speed difference between the first and second motors is relatively stable, providing more stable handling performance, especially during cornering, improving user experience and avoiding the risk of loss of control during cornering.

[0133] It should be noted that in the above embodiments, there is no necessarily a certain order between the steps. Those skilled in the art can understand from the description of the embodiments of this application that the above steps may have different execution orders in different embodiments, that is, they may be executed in parallel or in turn, etc.

[0134] 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.

[0135] This application also provides a dual-motor driven personal transportation device. Specifically, in an embodiment of this application, the dual-motor driven personal transportation device includes an electronic device (e.g., a circuit board). The 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 causes the electronic device to implement a dual-motor driven personal transportation device control method. See also... Figure 9 , Figure 9 This is a schematic diagram of an electronic device architecture provided according to an embodiment of this application. The electronic device 90 includes one or more processors 91 and a memory 92. The memory 92 is connected to one or more processors 91, for example, via a bus. The processors 91 and the memory 92 can be connected via a bus or other means. Figure 9 Taking the example of a connection between China and Israel via a bus.

[0136] The memory 92, 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 dual-motor driven personal mobility device control method in the embodiments of this disclosure. The processor 91 implements the function of the dual-motor driven personal mobility device control method provided in the above method embodiments by running the non-volatile software programs, instructions, and modules stored in the memory 92.

[0137] Memory 92 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 92 may optionally include memory remotely located relative to processor 91, which can be connected to processor 91 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.

[0138] The program instructions / modules are stored in the memory 92, and when executed by one or more processors 91, they execute the dual-motor drive mobility device control method in any of the above method embodiments.

[0139] This disclosure also provides a computer storage medium storing computer-executable instructions that are executed by one or more processors, for example... Figure 9 One of the processors 91 can enable the one or more processors to execute the control method in any of the above method embodiments.

[0140] 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 control method described in any of the above method embodiments.

[0141] 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.

[0142] 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.

[0143] 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 control method for a dual-motor driven personal transportation device, characterized in that, include: Acquire multiple feedback parameters and a set speed of the dual-motor driven personal transportation device; Multiple first speed limiting coefficients are determined based on each of the aforementioned feedback parameters and the preset target parameters; Among the multiple first speed limit coefficients, the first speed limit coefficient that satisfies the safety constraint condition is determined as the second speed limit coefficient; The dual-motor drive mobility device is controlled according to the second speed limit coefficient and the set speed.

2. The method according to claim 1, characterized in that, The step of determining the first speed limiting coefficient that satisfies the safety constraint condition among a plurality of first speed limiting coefficients includes: Obtain the value of each of the first speed limit coefficients; The minimum value of the first speed limit coefficient is determined to be the second speed limit coefficient.

3. The method according to claim 1 or 2, characterized in that, The feedback parameter includes the feedback current of the dual-motor driven mobility device, the target parameter includes the target current, the first speed limiting coefficient includes a current speed limiting coefficient, and determining multiple first speed limiting coefficients based on each of the feedback parameters and the preset target parameter includes: Determine the feedback current and the target current of the dual-motor driven personal transportation device; The current speed limiting coefficient is calculated based on the feedback current, the target current, and the PID control algorithm.

4. The method according to claim 3, characterized in that, The feedback current includes bus feedback current and unilateral feedback current; the target current includes bus target current and unilateral target current; the current speed limiting coefficient includes total current speed limiting coefficient and unilateral current speed limiting coefficient; and the calculation of the current speed limiting coefficient based on the feedback current, the target current, and the PID control algorithm includes: The total current speed limiting coefficient is calculated based on the bus feedback current, the bus target current, and the PID control algorithm. The unilateral current speed limiting coefficient is calculated based on the unilateral feedback current, the unilateral target current, and the PID control algorithm.

5. The method according to claim 1 or 2, characterized in that, The feedback parameter includes the feedback voltage of the dual-motor driven mobility device, the target parameter includes the target voltage, the first speed limiting coefficient includes a voltage speed limiting coefficient, and determining multiple first speed limiting coefficients based on each of the feedback parameters and the preset target parameter includes: Determine the feedback voltage and the target voltage of the dual-motor driven personal transportation device; The voltage speed limiting coefficient is calculated based on the feedback voltage, the target voltage, and the PID control algorithm.

6. The method according to claim 5, characterized in that, The feedback voltage includes bus feedback voltage and single-sided feedback voltage; the target voltage includes bus target voltage and single-sided target voltage; the voltage speed limiting coefficient includes total voltage speed limiting coefficient and single-sided voltage speed limiting coefficient; and the calculation of the voltage speed limiting coefficient based on the feedback voltage, the target voltage, and the PID control algorithm includes: The total voltage speed limiting coefficient is calculated based on the bus feedback voltage, the bus target voltage, and the PID control algorithm. The unilateral voltage speed limiting coefficient is calculated based on the unilateral feedback voltage, the unilateral target voltage, and the PID control algorithm.

7. The method according to claim 1 or 2, characterized in that, The feedback parameter includes a feedback temperature, the target parameter includes a target temperature, the first speed limiting coefficient includes a temperature-based speed limiting coefficient, and determining multiple first speed limiting coefficients based on each of the feedback parameters and the preset target parameter includes: Determine the feedback temperature and the target temperature of the dual-motor driven personal transportation device; The temperature-limiting speed coefficient is calculated based on the feedback temperature, the target temperature, and the PID control algorithm.

8. The method according to claim 1 or 2, characterized in that, The feedback parameter includes feedback speed, the target parameter includes feedback speed, the first speed limiting coefficient includes a first motor speed limiting coefficient and a second motor speed limiting coefficient, and determining multiple first speed limiting coefficients based on each of the feedback parameters and the preset target parameter includes: Determine the feedback speed of the first motor, the feedback speed of the second motor, the target speed of the first motor, and the target speed of the second motor of the dual-motor driven personal transportation device; Calculate the speed limiting coefficient of the first motor based on the feedback speed of the first motor, the target speed of the first motor, and the PID control algorithm; The speed limiting coefficient of the second motor is calculated based on the feedback speed of the second motor, the target speed of the second motor, and the PID control algorithm.

9. The method according to any one of claims 1 to 8, characterized in that, The step of controlling the dual-motor driven personal transportation device according to the second speed limiting coefficient and the set speed of the dual-motor driven personal transportation device includes: The set speed includes determining the linear velocity and angular velocity of the dual-motor driven personal transportation device; Based on the linear velocity, the angular velocity, the second speed limiting coefficient, and the preset speed formula, the speed of the first motor and the speed of the second motor of the dual-motor driven personal transportation device are calculated respectively. The first motor of the dual-motor driven mobility device is controlled to operate according to the speed of the first motor, and the second motor of the dual-motor driven mobility device is controlled to operate according to the speed of the second motor.

10. A dual-motor driven personal transportation 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 dual-motor driven personal mobility device to perform the method as described in any one of claims 1 to 9 when executing the one or more computer programs.

11. 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 9.

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