Electronic rotating handle circuit, motor controller, control system and electric scooter

Abstract

The utility model provides an electronic rotating handle circuit, a motor controller, a control system and an electric scooter. The circuit comprises a Hall module, a power supply end of the Hall module is connected with a power supply end of the circuit; the rotating angle sensor is used for converting rotating angles of the rotating handle into voltage signals; the power supply end of the current compensation module is connected with the power supply end of the circuit, the input end of the current compensation module is connected with the grounding end of the Hall module, and the grounding end of the current compensation module is connected with the grounding end of the circuit; the compensation module is used for compensating static consumption current of the Hall module and outputting a first current signal; the power supply end of the current generation module is connected with the power supply end of the circuit, the input end of the current generation module is connected with the output end of the Hall module, and the grounding end of the current generation module is connected with the grounding end of the circuit; and the output voltage of the Hall module is converted into a second current signal, and the anti-interference capability of the signal can be effectively improved while wire harnesses are reduced by transmitting the current signal.

Description

Technical Field

[0001] This application relates to the field of vehicle electronic control technology, and in particular to an electronic throttle circuit, a motor controller, a control system, and an electric mobility scooter. Background Technology

[0002] Electric two-wheelers, electric tricycles, electric four-wheelers, and electric motorcycles can all be called electric mobility scooters. As a means of transportation, electric mobility scooters have the advantages of convenient travel and low operating costs, bringing great convenience to people's lives.

[0003] Electric mobility scooters typically use electronic throttles to control speed. The motor controller receives signals from the electronic throttle and then controls the motor to adjust the speed. Currently, electronic throttles usually use three-wire voltage signals to transmit throttle information.

[0004] The above-mentioned method of transmitting throttle information using three-wire voltage signals has the problem of poor anti-interference capability. Utility Model Content

[0005] This application provides an electronic throttle circuit, a motor controller, a control system, and an electric mobility scooter, which realizes vehicle speed control based on current changes on the power supply line, solving the problem of poor anti-interference capability when transmitting voltage signals.

[0006] In a first aspect, this application provides an electronic throttle circuit, comprising:

[0007] A Hall effect module, the power supply terminal of which is connected to the power supply terminal of the circuit; used to convert the rotation angle of the throttle into a voltage signal;

[0008] A current compensation module, wherein the power supply terminal of the current compensation module is connected to the power supply terminal of the circuit, the input terminal of the current compensation module is connected to the ground terminal of the Hall module, and the ground terminal of the current compensation module is connected to the ground terminal of the circuit; used to compensate for the static current consumption of the Hall module and output a first current signal.

[0009] A current generation module, wherein the power supply terminal of the current generation module is connected to the power supply terminal of the circuit, the input terminal of the current generation module is connected to the output terminal of the Hall module, and the ground terminal of the current generation module is connected to the ground terminal of the circuit; used to convert the output voltage of the Hall module into a second current signal;

[0010] The ground terminal of the circuit is connected to the sampling input terminal of the motor controller, which controls the motor based on the received first current signal and second current signal.

[0011] Optionally, the current compensation module includes: a voltage regulator module and a first constant current source module;

[0012] The first terminal of the voltage regulator module is connected to the power supply terminal of the circuit; the voltage regulator module is used to generate a fixed voltage.

[0013] The first terminal of the first constant current source module is connected to the power supply terminal of the circuit, the second terminal of the first constant current source module is connected to the second terminal of the voltage regulator module, the third terminal of the first constant current source module is connected to the ground terminal of the Hall module, and the fourth terminal of the first constant current source module is connected to the ground terminal of the current compensation module; the first constant current source module is used to generate the first current signal based on the fixed voltage, and the current value corresponding to the first current signal is greater than the static current consumption value of the Hall module.

[0014] Optionally, the voltage regulator module includes: a first resistor, a voltage regulator chip, a second resistor, and a third resistor;

[0015] The first end of the first resistor is connected to the power supply terminal of the circuit;

[0016] The input terminal of the voltage regulator chip is connected to the second terminal of the first resistor, the output terminal of the voltage regulator chip is connected to the second terminal of the first resistor, the output terminal of the voltage regulator chip is also connected to the first terminal of the second resistor, and the ground terminal of the voltage regulator chip is grounded.

[0017] The second end of the second resistor is connected to the first end of the third resistor, and also to the second end of the first constant current source module;

[0018] The second terminal of the third resistor is grounded.

[0019] Optionally, the first constant current source module includes: a first operational amplifier, a fourth resistor, a fifth resistor, a sixth resistor, and a first transistor;

[0020] The positive power supply terminal of the first operational amplifier is connected to the power supply terminal of the circuit, the negative power supply terminal of the first operational amplifier is grounded, the non-inverting input terminal of the first operational amplifier is connected to the second terminal of the voltage regulator module, the output terminal of the first operational amplifier is connected to the first terminal of the fourth resistor, and the inverting input terminal of the first operational amplifier is connected to the first terminal of the fifth resistor.

[0021] The second end of the fourth resistor is connected to the base of the first transistor;

[0022] The collector of the first transistor is connected to the power supply terminal of the circuit, the emitter of the first transistor is connected to the first terminal of the sixth resistor, the emitter of the first transistor is also connected to the second terminal of the fifth resistor, and the emitter of the first transistor is also connected to the ground terminal of the Hall module.

[0023] The second end of the sixth resistor is connected to the grounding terminal of the current compensation module.

[0024] Optionally, the current generation module includes: a voltage divider module and a second constant current source module;

[0025] The input terminal of the voltage divider module is connected to the output terminal of the Hall module;

[0026] The first terminal of the second constant current source module is connected to the power supply terminal of the circuit, the second terminal of the second constant current source module is connected to the output terminal of the voltage divider module, and the third terminal of the second constant current source module is connected to the ground terminal of the current generation module.

[0027] Optionally, the voltage divider module includes a seventh resistor and an eighth resistor;

[0028] The first end of the seventh resistor is connected to the output end of the Hall module, the second end of the seventh resistor is connected to the first end of the eighth resistor, and the second end of the seventh resistor is also connected to the second end of the second constant current source module.

[0029] The second terminal of the eighth resistor is grounded.

[0030] Optionally, the second constant current source module includes: a second operational amplifier, a ninth resistor, a tenth resistor, an eleventh resistor, and a second transistor;

[0031] The positive power supply terminal of the second operational amplifier is connected to the power supply terminal of the circuit, the negative power supply terminal of the second operational amplifier is grounded, the non-inverting input terminal of the second operational amplifier is connected to the output terminal of the voltage divider module, the output terminal of the second operational amplifier is connected to the first terminal of the ninth resistor, and the inverting input terminal of the second operational amplifier is connected to the first terminal of the tenth resistor.

[0032] The second terminal of the ninth resistor is connected to the base of the second transistor;

[0033] The collector of the second transistor is connected to the power supply terminal of the circuit, and the emitter of the second transistor is connected to the first terminal of the eleventh resistor; the emitter of the second transistor is also connected to the second terminal of the tenth resistor.

[0034] The second end of the eleventh resistor is connected to the ground terminal of the current generation module.

[0035] Secondly, this application provides a motor controller, comprising:

[0036] A signal demodulation module, wherein the sampling input terminal of the signal demodulation module is connected to the ground terminal of the electronic throttle circuit, and the output terminal of the signal demodulation module is connected to the ADC sampling port of the control module; the signal demodulation module is used to convert the received current signal into a voltage signal; the electronic throttle circuit is the electronic throttle circuit as described in any of the first aspects;

[0037] The control module is used to control the motor based on the voltage signal acquired by the ADC sampling port;

[0038] The received current signal is the sum of a first current signal and a second current signal; the first current signal is the current signal output after compensating for the static current consumption of the Hall module; the second current signal is a constant current signal that varies with the output voltage of the Hall module.

[0039] Optionally, the signal demodulation module includes: a twelfth resistor, a thirteenth resistor, a fourteenth resistor, a fifteenth resistor, a third operational amplifier, a sixteenth resistor, and a seventeenth resistor;

[0040] The first end of the twelfth resistor is connected to the ground terminal of the electronic throttle circuit, and also to the first end of the thirteenth resistor; the second end of the twelfth resistor is connected to the first end of the fourteenth resistor, and is also connected to the ground terminal.

[0041] The second end of the thirteenth resistor is connected to the non-inverting input of the third operational amplifier, and also to the first end of the fifteenth resistor;

[0042] The second terminal of the fifteenth resistor is grounded;

[0043] The second terminal of the fourteenth resistor is connected to the inverting input terminal of the third operational amplifier;

[0044] The positive power supply terminal of the third operational amplifier is connected to the power output terminal, the negative power supply terminal of the third operational amplifier is grounded, the output terminal of the third operational amplifier is connected to the first terminal of the seventeenth resistor, and the output terminal of the third operational amplifier is also connected to the first terminal of the sixteenth resistor.

[0045] The second terminal of the sixteenth resistor is connected to the inverting input terminal of the third operational amplifier;

[0046] The second end of the seventeenth resistor is connected to the ADC sampling port of the control module.

[0047] Optionally, when the voltage signal collected by the control module is less than a first threshold, a line open circuit fault is determined to exist; and / or, when the voltage signal collected by the control module is greater than a second threshold, a line short circuit fault is determined to exist.

[0048] Thirdly, this application provides a control system, including: an electronic throttle circuit as described in any of the first aspects, and a motor controller as described in any of the second aspects.

[0049] Fourthly, this application provides an electric mobility scooter, including the control system described in the third aspect.

[0050] This application provides an electronic throttle circuit, a motor controller, a control system, and an electric mobility scooter. The electronic throttle circuit includes: a Hall module, the power supply terminal of which is connected to the power supply terminal of the circuit; a current compensation module, the power supply terminal of which is connected to the power supply terminal of the circuit, the input terminal of which is connected to the ground terminal of the Hall module, and the ground terminal of which is connected to the ground terminal of the circuit; used to compensate for the static current consumption of the Hall module and output a first current signal; a current generation module, the power supply terminal of which is connected to the power supply terminal of the circuit, the input terminal of which is connected to the output terminal of the Hall module, and the ground terminal of which is connected to the ground terminal of the circuit; used to convert the output voltage of the Hall module into a second current signal; wherein, the ground terminal of the circuit is connected to the sampling input terminal of the motor controller, and the motor controller is used to control the motor according to the received first current signal and second current signal. By transmitting current signals, the anti-interference capability of the signal can be effectively improved while reducing wiring harness. Attached Figure Description

[0051] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0052] Figure 1 A schematic diagram of an electronic throttle circuit provided in an embodiment of this application;

[0053] Figure 2 A schematic diagram of a Hall module and a current compensation module provided for embodiments of this application;

[0054] Figure 3 A schematic diagram of a Hall module and a current generation module provided in an embodiment of this application;

[0055] Figure 4 A schematic diagram of another electronic throttle circuit provided in an embodiment of this application;

[0056] Figure 5 A schematic diagram of a motor controller provided in an embodiment of this application;

[0057] Figure 6 A schematic diagram of a signal demodulation module provided in an embodiment of this application;

[0058] Figure 7 This is a schematic diagram of a control system provided in an embodiment of this application.

[0059] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0060] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0061] As described in the background section, in the prior art, electronic throttles typically use a three-wire voltage signal (such as 0-5V or 0-10V) to transmit throttle information. The three wires refer to the power wire, ground wire, and signal wire. When using a three-wire transmission of voltage signals, the voltage signal will attenuate during transmission due to the influence of line impedance, thus affecting the control accuracy.

[0062] Based on the above problems, this application considers designing an electronic throttle that outputs a current signal to transmit the current signal between the electronic throttle and the motor controller. The current signal will not be attenuated due to line resistance during transmission, thereby improving control accuracy.

[0063] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0064] Figure 1 This is a schematic diagram of an electronic throttle circuit provided in an embodiment of this application, as shown below. Figure 1 As shown, it includes:

[0065] A Hall effect module, the power supply terminal of which is connected to the power supply terminal of the circuit; used to convert the rotation angle of the throttle into a voltage signal;

[0066] A current compensation module, wherein the power supply terminal of the current compensation module is connected to the power supply terminal of the circuit, the input terminal of the current compensation module is connected to the ground terminal of the Hall module, and the ground terminal of the current compensation module is connected to the ground terminal of the circuit; used to compensate for the static current consumption of the Hall module and output a first current signal; optionally, the first current signal is a constant current signal with a fixed value.

[0067] A current generation module, wherein the power supply terminal of the current generation module is connected to the power supply terminal of the circuit, the input terminal of the current generation module is connected to the output terminal of the Hall module, and the ground terminal of the current generation module is connected to the ground terminal of the circuit; used to convert the output voltage of the Hall module into a second current signal; optionally, the second current signal is a constant current signal that varies with the output voltage of the Hall module.

[0068] The ground terminal of the circuit is connected to the sampling input terminal of the motor controller, which controls the motor based on the received first current signal and second current signal.

[0069] Hall effect modules utilize the Hall effect: when the throttle is turned, the magnetic field around the Hall effect module changes, causing it to output a voltage signal proportional to the rotation angle. That is, the larger the rotation angle, the larger the output voltage signal; the smaller the rotation angle, the smaller the output voltage signal. Hall effect modules convert the changes in the magnetic field generated by the throttle rotation into a voltage signal using the Hall principle.

[0070] To transmit current signals between the electronic throttle and the motor controller, a current generation module can be installed. The input of this module is connected to the output of the Hall effect sensor module, converting the voltage signal output by the Hall effect sensor module into a current signal. The output of the Hall effect sensor module is the VOUT port.

[0071] Optionally, the second current signal output by the current generation module is related to the output voltage of the Hall module. When the output voltage of the Hall module is larger, the second current signal is larger, and when the output voltage of the Hall module is smaller, the second current signal is smaller.

[0072] A Hall effect module can be implemented using Hall effect devices. Due to inherent differences and temperature variations, the static current consumption of Hall effect devices will differ. These differences will affect the current signal output by the entire electronic throttle circuit. To mitigate this effect, the static current consumption of the Hall effect module can be compensated to output a first current signal. This first current signal is a constant current signal with a fixed value. That is, regardless of the temperature of the Hall effect devices or the individual differences between the Hall effect devices, the output first current signal will be the same.

[0073] Optionally, the static current consumption of the Hall module can be compensated based on the current compensation module, and the input terminal of the current compensation module can be connected to the ground terminal of the Hall module.

[0074] Thus, the electronic throttle circuit presents two external interfaces: a power supply terminal (VDD) and a ground terminal (GND). The power supply terminal powers the Hall effect module, current compensation module, and current generation module. The power supply terminal of the electronic throttle circuit can be connected to the power supply terminal of the motor controller, and the ground terminal of the electronic throttle circuit can be connected to the sampling input terminal of the motor controller. This allows the current signal to be transmitted to the motor controller, which then controls the motor based on the received first and second current signals.

[0075] Specifically, when the driver rotates the throttle, the Hall effect module inside the throttle detects the change in mechanical position and converts it into a corresponding voltage output (e.g., 0-5V). The output pin of the Hall effect module is connected to the current generation module, which converts the output voltage of the Hall effect module into a constant current (e.g., 4-20mA) for signal transmission. In addition, the current compensation module can also output compensated static current. These two current signals are transmitted to the motor controller via a power supply line. At the motor controller, the received current signals can be demodulated to control the motor based on the received current signals. For example, the input current signal can be converted back into a voltage signal and output to the control module pins for speed regulation.

[0076] Since current signals are not sensitive to electromagnetic interference and have stronger anti-interference capabilities compared to voltage signals, the solution proposed in this application can improve the anti-interference capability of the signal and enhance the stability of control.

[0077] In addition to improving the signal's anti-interference capability, the solution proposed in this application also has the following advantages: Since only two wires are used, compared to the three-wire design used for transmitting voltage signals, the complexity and cost of the vehicle's wiring are reduced. Due to the influence of line impedance, voltage signals attenuate during transmission, affecting control accuracy; however, current signals are less affected by line resistance during transmission, thus improving control accuracy.

[0078] The electronic throttle circuit provided in this application includes: a Hall module, the power supply terminal of which is connected to the power supply terminal of the circuit; used to convert the rotation angle of the throttle into a voltage signal; a current compensation module, the power supply terminal of which is connected to the power supply terminal of the circuit, the input terminal of which is connected to the ground terminal of the Hall module, and the ground terminal of which is connected to the ground terminal of the circuit; used to compensate for the static current consumption of the Hall module and output a first current signal; and a current generation module, the power supply terminal of which is connected to the power supply terminal of the circuit, the input terminal of which is connected to the output terminal of the Hall module, and the ground terminal of which is connected to the ground terminal of the circuit; used to convert the output voltage of the Hall module into a second current signal; wherein, the ground terminal of the circuit is connected to the sampling input terminal of a motor controller, and the motor controller is used to control the motor according to the received first current signal and second current signal. By transmitting current signals, the anti-interference capability of the signal can be effectively improved while reducing wiring harness.

[0079] Optionally, the current compensation module includes: a voltage regulator module and a first constant current source module;

[0080] The first terminal of the voltage regulator module is connected to the power supply terminal of the circuit; the voltage regulator module is used to generate a fixed voltage.

[0081] The first terminal of the first constant current source module is connected to the power supply terminal of the circuit, the second terminal of the first constant current source module is connected to the second terminal of the voltage regulator module, the third terminal of the first constant current source module is connected to the ground terminal of the Hall module, and the fourth terminal of the first constant current source module is connected to the ground terminal of the current compensation module; the first constant current source module is used to generate the first current signal based on the fixed voltage, and the current value corresponding to the first current signal is greater than the static current consumption value of the Hall module.

[0082] The current compensation module can output a constant first current signal. To achieve this, a voltage regulator module and a first constant current source module can be configured. The voltage regulator module can output a fixed voltage based on the voltage provided by the power supply. The first constant current source module can be connected to the voltage regulator module to generate a first current signal based on the fixed voltage provided by the voltage regulator module. This first current signal is a fixed current, and the current value corresponding to this first current signal is greater than the static current consumption value of the Hall module.

[0083] The first constant current source module can be connected to the ground terminal of the Hall module. The Hall module is a load of the current compensation module, and the static current consumption of this load varies with temperature. The first constant current source module allows the static current consumption of the Hall module to be a fixed current.

[0084] For example, during the riding of the vehicle, the temperature of the Hall module will be different. When the temperature of the Hall module is a first temperature, the first constant current source module can output a first current signal; when the temperature of the Hall module is a second temperature, the first constant current source module can also output a first current signal.

[0085] By setting up a voltage regulator module and a first constant current source module, the same first current signal can be output when the temperature of the Hall module changes, or for different Hall modules.

[0086] Figure 2 A schematic diagram of a Hall module and a current compensation module provided in an embodiment of this application is shown below. Figure 2 As shown in the figure, the symbols represent the following meanings: VCC: power supply terminal; R1: first resistor; R2: second resistor; R3: third resistor; R4: fourth resistor; R5: fifth resistor; R6: sixth resistor; U1: voltage regulator chip; U2: first operational amplifier; U3: Hall element; Q1: first transistor.

[0087] Optionally, the voltage regulator module includes: a first resistor R1, a voltage regulator chip U1, a second resistor R2, and a third resistor R3;

[0088] The first end of the first resistor R1 is connected to the power supply terminal of the circuit;

[0089] The input terminal of the voltage regulator chip U1 is connected to the second terminal of the first resistor R1, the output terminal of the voltage regulator chip U1 is connected to the second terminal of the first resistor R1, the output terminal of the voltage regulator chip U1 is also connected to the first terminal of the second resistor R2, and the ground terminal of the voltage regulator chip U1 is grounded.

[0090] The second end of the second resistor R2 is connected to the first end of the third resistor R3, and is also connected to the second end of the first constant current source module;

[0091] The second terminal of the third resistor R3 is grounded.

[0092] Optionally, the first end of the first resistor R1 is connected to the power supply terminal of the circuit, that is, the first end of the first resistor R1 is connected to the power supply terminal of the current compensation module, and the power supply terminal of the power compensation module is connected to the power supply terminal of the circuit.

[0093] The first resistor R1 limits the current, preventing damage to the voltage regulator chip U1. The voltage regulator chip U1 generates a constant voltage, which is then divided by the second resistor R2 and the third resistor R3 to output a suitable voltage to the first constant current source module.

[0094] Optionally, the first constant current source module includes: a first operational amplifier U2, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, and a first transistor Q1;

[0095] The positive power supply terminal of the first operational amplifier U2 is connected to the power supply terminal of the circuit, the negative power supply terminal of the first operational amplifier U2 is grounded, the non-inverting input terminal of the first operational amplifier U2 is connected to the second terminal of the voltage regulator module, the output terminal of the first operational amplifier U2 is connected to the first terminal of the fourth resistor R4, and the inverting input terminal of the first operational amplifier U2 is connected to the first terminal of the fifth resistor R5.

[0096] The second end of the fourth resistor R4 is connected to the base of the first transistor Q1;

[0097] The collector of the first transistor Q1 is connected to the power supply terminal of the circuit, the emitter of the first transistor Q1 is connected to the first terminal of the sixth resistor R6, the emitter of the first transistor Q1 is also connected to the second terminal of the fifth resistor R5, and the emitter of the first transistor Q1 is also connected to the ground terminal of the Hall module.

[0098] The second end of the sixth resistor R6 is connected to the grounding terminal of the current compensation module.

[0099] The first operational amplifier U2 plays a role in signal processing and control. It controls the first transistor Q1 by comparing the voltages at the non-inverting and inverting input terminals and amplifying the output based on the difference between the two.

[0100] Optionally, the first transistor Q1 can be a transistor. As a controllable current element, the base current of the first transistor Q1 is controlled by the output signal of the first operational amplifier U2. By changing the base current, the internal resistance of the first transistor Q1 can be adjusted, thereby changing the voltage difference between its emitter and collector, ultimately achieving control of the current in the circuit.

[0101] The fourth resistor, R4, limits the current output from the first operational amplifier U2 to the base of the first transistor Q1. The fifth resistor, R5, connects the inverting input of the first operational amplifier U2 and the emitter of the first transistor Q1, forming a negative feedback loop. The sixth resistor, R6, is a sampling resistor used to detect changes in current in the circuit; the voltage change across it reflects the current change.

[0102] The Hall element U3 is connected as a load between the collector and emitter of the first transistor Q1, and its operating state is affected by the current in the circuit.

[0103] See Figure 2The working principle of the entire current compensation module will be explained.

[0104] The voltage regulator chip U1 is responsible for generating a constant voltage, which is divided by the second resistor R2 and the third resistor R3 and then connected to the non-inverting input of the first operational amplifier U2. The output of the first operational amplifier U2 is connected to the base of the first transistor Q1 through the fourth resistor R4. At the same time, the inverting input of the first operational amplifier U2 is connected to the emitter of the first transistor Q1 through the fifth resistor R5 to form negative feedback. Finally, it is grounded through the sixth resistor R6.

[0105] Optionally, the first operational amplifier U2 uses negative feedback to adjust the base voltage of the first transistor Q1, making the voltage at the inverting input terminal as close as possible to the voltage at the non-inverting input terminal. That is, when the voltage of the sixth resistor R6 changes, it is directly fed back to the inverting input terminal of the first operational amplifier U2. The difference between the voltage at the inverting input terminal and the voltage at the non-inverting input terminal is amplified by the first operational amplifier U2, and the output controls the base current of the first transistor Q1, changing the internal resistance of the first transistor Q1, thereby changing the voltage difference between the emitter and collector, so that the voltage of the sixth resistor R6 remains constant, thus achieving the purpose of constant load current.

[0106] The power supply terminal (IN) of Hall element U3 is connected to the collector of the first transistor Q1, and the negative power supply terminal (GND) is connected to the emitter of the first transistor Q1 (across the sixth resistor R6), thus becoming a load in the circuit. In practical applications, only appropriate voltage regulator chip U1, first operational amplifier U2, first transistor Q1, and the resistance values ​​of each resistor need to be selected to control the magnitude of the first current signal. This first current signal only needs to be greater than the static current dissipation of the Hall element to compensate for the static current dissipation of the Hall element (e.g., the first current signal is 10mA), thus solving the signal deviation problem caused by differences in Hall devices, temperature changes, or power supply fluctuations.

[0107] Figure 3 A schematic diagram of a Hall module and a current generation module provided in an embodiment of this application is shown below. Figure 3 As shown in the figure, the symbols represent the following meanings: VCC: power supply terminal; R7: seventh resistor; R8: eighth resistor; R9: ninth resistor; R10: tenth resistor; R11: eleventh resistor; U4: second operational amplifier; Q2: second transistor.

[0108] Optionally, the current generation module includes: a voltage divider module and a second constant current source module;

[0109] The input terminal of the voltage divider module is connected to the output terminal of the Hall module;

[0110] The first terminal of the second constant current source module is connected to the power supply terminal of the circuit, the second terminal of the second constant current source module is connected to the output terminal of the voltage divider module, and the third terminal of the second constant current source module is connected to the ground terminal of the current generation module.

[0111] The voltage divider module can be connected to the output of the Hall module to output a suitable voltage signal to the second constant current source module.

[0112] The second constant current source module can be connected to the output of the voltage divider module to generate a second current signal based on the voltage output of the voltage divider module. This second current signal is related to the voltage output of the Hall module. For example, the larger the voltage output of the Hall module, the larger the voltage output of the voltage divider module, and the larger the second current signal output by the second constant current source module; conversely, the smaller the voltage output of the Hall module, the smaller the voltage output of the voltage divider module, and the smaller the second current signal output by the second constant current source module.

[0113] Optionally, the voltage divider module includes a seventh resistor R7 and an eighth resistor R8;

[0114] The first end of the seventh resistor R7 is connected to the output end of the Hall module, the second end of the seventh resistor R7 is connected to the first end of the eighth resistor R8, and the second end of the seventh resistor R7 is also connected to the second end of the second constant current source module.

[0115] The second terminal of the eighth resistor R8 is grounded.

[0116] By connecting the seventh resistor R7 and the eighth resistor R8 as described above, a voltage divider can be achieved, and the output voltage can be transmitted to the second constant current source module.

[0117] Optionally, the second constant current source module includes: a second operational amplifier U4, a ninth resistor R9, a tenth resistor R10, an eleventh resistor R10, and a second transistor Q2;

[0118] The positive power supply terminal of the second operational amplifier U4 is connected to the power supply terminal of the circuit, the negative power supply terminal of the second operational amplifier U4 is grounded, the non-inverting input terminal of the second operational amplifier U4 is connected to the output terminal of the voltage divider module, the output terminal of the second operational amplifier U4 is connected to the first terminal of the ninth resistor R9, and the inverting input terminal of the second operational amplifier U4 is connected to the first terminal of the tenth resistor R10.

[0119] The second end of the ninth resistor R9 is connected to the base of the second transistor Q2;

[0120] The collector of the second transistor Q2 is connected to the power supply terminal of the circuit, and the emitter of the second transistor Q2 is connected to the first terminal of the eleventh resistor R11; the emitter of the second transistor Q2 is also connected to the second terminal of the tenth resistor R10.

[0121] The second end of the eleventh resistor R11 is connected to the ground terminal of the current generation module.

[0122] The second operational amplifier U4 plays a role in signal processing and control. It controls the second transistor Q2 by comparing the voltages at the non-inverting and inverting input terminals and amplifying the output based on the difference between them.

[0123] Optionally, the second transistor Q2 can be a transistor. As a controllable current element, the base current of the second transistor Q2 is controlled by the output signal of the second operational amplifier U4. By changing the base current, the internal resistance of the second transistor can be adjusted, thereby changing the voltage difference between its emitter and collector, ultimately achieving control of the current in the circuit.

[0124] The ninth resistor, R9, limits the current output from the second operational amplifier U4 to the base of the second transistor Q2. The tenth resistor, R10, connects the inverting input of the second operational amplifier U4 and the emitter of the second transistor Q2, forming a negative feedback loop. The eleventh resistor, R11, is a sampling resistor used to detect changes in current in the circuit; the voltage change across it reflects the current change.

[0125] The Hall element U3 is used to transmit the output voltage signal to the voltage divider module so that the current generation module outputs a second current signal corresponding to the voltage signal.

[0126] See Figure 3 The working principle of the entire current generation module will be explained.

[0127] The output pin of Hall element U3 is connected to the non-inverting input of the second operational amplifier U4 after being divided by the seventh resistor R7 and the eighth resistor R8. The output of the second operational amplifier U4 is connected to the base of the second transistor Q2 through the ninth resistor R9. At the same time, the inverting input of the second operational amplifier U4 is connected to the emitter of the second transistor Q2 through the tenth resistor R10 to form negative feedback. Finally, it is grounded through the eleventh resistor R11.

[0128] The second operational amplifier U4 adjusts the base voltage of the second transistor Q2 through negative feedback, making the voltage at the inverting input terminal of the second operational amplifier U4 as close as possible to the voltage at the non-inverting input terminal. That is, when the voltage of the eleventh resistor R11 changes, it is directly fed back to the inverting input terminal of the second operational amplifier U4. The difference between it and the voltage at the non-inverting input terminal is amplified by the second operational amplifier U4, and the output controls the base current of the second transistor Q2, changing the internal resistance of the second transistor Q2, thereby changing the voltage difference between the emitter and collector, so that the voltage of the eleventh resistor R11 remains constant, thus achieving the purpose of constant load current.

[0129] The output of Hall element U3 is connected to the non-inverting input of the second operational amplifier U4 after being divided by resistors R7 (seventh resistor) and R8 (eighth resistor). When the throttle is turned, Hall element U3 converts the rotational position signal into an output voltage signal, which is then transmitted through... Figure 3 The circuit can then convert the voltage signal into a current signal for output, thus solving problems such as poor anti-interference ability, signal attenuation, and complex circuitry.

[0130] In practical applications, you only need to select the appropriate values ​​of the second operational amplifier U4, the second transistor Q2, and the resistance of each resistor to control the magnitude of the output current signal. For example, it can be a current of 10mA-50mA.

[0131] Figure 4 This is a schematic diagram of another electronic throttle circuit provided in an embodiment of this application. The Hall element U3 is connected to the current generation module and the current compensation module.

[0132] Figure 5 This is a schematic diagram of a motor controller provided in an embodiment of this application, as shown below. Figure 5 As shown, the motor controller includes:

[0133] A signal demodulation module, wherein the sampling input terminal of the signal demodulation module is connected to the ground terminal of the electronic throttle circuit, and the output terminal of the signal demodulation module is connected to the ADC sampling port of the control module; the signal demodulation module is used to convert the received current signal into a voltage signal; the electronic throttle circuit is the electronic throttle circuit as described in any of the first aspects;

[0134] The control module is used to control the motor based on the voltage signal acquired by the ADC sampling port;

[0135] The received current signal is the sum of a first current signal and a second current signal; the first current signal is the current signal output after compensating for the static current consumption of the Hall module; the second current signal is a constant current signal that varies with the output voltage of the Hall module. Optionally, the first current signal is a constant current signal with a fixed value.

[0136] On the motor controller side, the current signal sent by the electronic throttle circuit can be obtained through the signal demodulation module and converted into a voltage signal. The motor can then be controlled by the control module based on the voltage signal.

[0137] Since the output of the electronic throttle is a current signal, and it is a current signal after the static current consumption of the Hall module has been compensated, the current signal is not sensitive to electromagnetic interference during the transmission to the motor controller. Compared with the voltage signal, it has a stronger anti-interference ability and can improve the stability of control.

[0138] In addition to improving vehicle control accuracy, the solution proposed in this application also has the following advantages: Since only two wires are used, compared to a three-wire design for transmitting voltage signals, the complexity and cost of vehicle wiring are reduced. Due to the influence of line impedance, voltage signals attenuate during transmission, affecting control accuracy, while current signals are less affected by line resistance during transmission, thus improving control accuracy.

[0139] This application provides a motor controller, comprising: a signal demodulation module, wherein the sampling input terminal of the signal demodulation module is connected to the ground terminal of an electronic throttle circuit, and the output terminal of the signal demodulation module is connected to the ADC sampling port of a control module; the signal demodulation module is used to convert a received current signal into a voltage signal; the electronic throttle circuit is as described in any of the first aspects; and a control module, which is used to control the motor according to the voltage signal acquired by the ADC sampling port; wherein the received current signal is the sum of a first current signal and a second current signal; the first current signal is a current signal output after compensating for the static current consumption of a Hall module; the second current signal is a current signal converted from the output voltage of the Hall module, and the second current signal is a constant current signal that changes with the output voltage of the Hall module. By transmitting the current signal, the anti-interference capability of the signal can be effectively improved while reducing the wiring harness.

[0140] Figure 6 This is a schematic diagram of a signal demodulation module provided in an embodiment of this application, as shown below. Figure 6 As shown in the figure, the symbols represent the following meanings: IN: Input terminal of the signal demodulation module; GND: Ground terminal; R12: Twelfth resistor; R13: Thirteenth resistor; R14: Fourteenth resistor; R15: Fifteenth resistor; R16: Sixteenth resistor; R17: Seventeenth resistor; U5: Third operational amplifier; ADC: ADC sampling port.

[0141] Optionally, the signal demodulation module includes: a twelfth resistor R12, a thirteenth resistor R13, a fourteenth resistor R14, a fifteenth resistor R15, a third operational amplifier U5, a sixteenth resistor R16, and a seventeenth resistor R17.

[0142] The first end of the twelfth resistor R12 is connected to the ground terminal of the electronic throttle circuit, and is also connected to the first end of the thirteenth resistor R13; the second end of the twelfth resistor R12 is connected to the first end of the fourteenth resistor R14, and is also connected to the ground terminal.

[0143] The second end of the thirteenth resistor R13 is connected to the non-inverting input of the third operational amplifier U5, and is also connected to the first end of the fifteenth resistor R15.

[0144] The second terminal of the fifteenth resistor R15 is grounded;

[0145] The second terminal of the fourteenth resistor R14 is connected to the inverting input terminal of the third operational amplifier U5;

[0146] The positive power supply terminal of the third operational amplifier U5 is connected to the power output terminal, the negative power supply terminal of the third operational amplifier U5 is grounded, the output terminal of the third operational amplifier U5 is connected to the first terminal of the seventeenth resistor R17, and the output terminal of the third operational amplifier U5 is also connected to the first terminal of the sixteenth resistor R16.

[0147] The second terminal of the sixteenth resistor R16 is connected to the inverting input terminal of the third operational amplifier U5;

[0148] The second end of the seventeenth resistor R17 is connected to the ADC sampling port of the control module.

[0149] The twelfth resistor, R12, is a sampling resistor. The third operational amplifier, U5, converts the current signal flowing through the twelfth resistor, R12, into a voltage signal, which is then output to the ADC sampling port for speed control.

[0150] When the current received by the signal demodulation module changes, the voltage across the twelfth resistor R12 also changes. This voltage signal is sent to the non-inverting input of the third operational amplifier U5. The operational amplifier U5 amplifies this tiny voltage signal through its internal differential amplification, outputting a voltage signal proportional to the input current.

[0151] In practical applications, you only need to select the appropriate third operational amplifier U5 and the resistance values ​​of each resistor to control the magnitude of the current conversion into voltage. For example, the converted voltage is 1V-5V.

[0152] Optionally, when the voltage signal collected by the control module is less than a first threshold, a line open circuit fault is determined to exist; and / or, when the voltage signal collected by the control module is greater than a second threshold, a line short circuit fault is determined to exist.

[0153] Fault diagnosis can also be performed based on the received current signal. When the voltage signal collected by the control module is less than a first threshold, it indicates that the received current signal is less than a certain value, thus indicating a line open circuit. When the voltage signal collected by the control module is greater than a second threshold, it indicates that the received current signal is greater than a certain value, thus indicating a line open circuit.

[0154] For example, in the 4mA-20mA standard, if the current is less than 4mA, it can indicate that the circuit is open; if the current is greater than 20mA, it can indicate that the circuit is open.

[0155] When a line fault is detected, the protection mechanism can be further triggered.

[0156] Compared to transmitting voltage signals between the electronic throttle and the motor controller, which cannot directly detect circuit faults, this application can achieve fault detection by transmitting current signals.

[0157] Figure 7 This is a schematic diagram of a control system provided in an embodiment of this application. This application also provides a control system, including: an electronic throttle circuit as described in the foregoing embodiments, and a motor controller as described in the foregoing embodiments.

[0158] After the voltage signal generated by turning the throttle is converted into current by the electronic throttle circuit, it is transmitted to the signal demodulation module of the motor controller. The motor controller only needs to collect the converted voltage value to obtain the current signal, thereby performing speed control and fault detection, such as open circuit or short circuit.

[0159] The control system provided in this application only requires two power supply lines to be connected to the electronic throttle. The motor controller can achieve speed control and fault detection by detecting changes in the current on the power supply lines.

[0160] This application also provides an electric mobility scooter, including: a control system as described in the foregoing embodiments.

[0161] Optional electric mobility scooters can be electric two-wheelers, electric tricycles, electric four-wheelers, electric motorcycles, etc.

[0162] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the utility models disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0163] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. An electronic throttle circuit, characterized in that, include: A Hall module, wherein the power supply terminal of the Hall module is connected to the power supply terminal of the circuit; Used to convert the rotation angle of the throttle into a voltage signal; A current compensation module, wherein the power supply terminal of the current compensation module is connected to the power supply terminal of the circuit, the input terminal of the current compensation module is connected to the ground terminal of the Hall module, and the ground terminal of the current compensation module is connected to the ground terminal of the circuit; used to compensate for the static current consumption of the Hall module and output a first current signal. A current generation module, wherein the power supply terminal of the current generation module is connected to the power supply terminal of the circuit, the input terminal of the current generation module is connected to the output terminal of the Hall module, and the ground terminal of the current generation module is connected to the ground terminal of the circuit; used to convert the output voltage of the Hall module into a second current signal; The ground terminal of the circuit is connected to the sampling input terminal of the motor controller, which controls the motor based on the received first current signal and second current signal.

2. The electronic throttle circuit according to claim 1, characterized in that, The current compensation module includes: a voltage regulator module and a first constant current source module; The first terminal of the voltage regulator module is connected to the power supply terminal of the circuit; the voltage regulator module is used to generate a fixed voltage. The first terminal of the first constant current source module is connected to the power supply terminal of the circuit, the second terminal of the first constant current source module is connected to the second terminal of the voltage regulator module, the third terminal of the first constant current source module is connected to the ground terminal of the Hall module, and the fourth terminal of the first constant current source module is connected to the ground terminal of the current compensation module; the first constant current source module is used to generate the first current signal based on the fixed voltage, and the current value corresponding to the first current signal is greater than the static current consumption value of the Hall module.

3. The electronic throttle circuit according to claim 2, characterized in that, The voltage regulator module includes: a first resistor, a voltage regulator chip, a second resistor, and a third resistor; The first end of the first resistor is connected to the power supply terminal of the circuit; The input terminal of the voltage regulator chip is connected to the second terminal of the first resistor, the output terminal of the voltage regulator chip is connected to the second terminal of the first resistor, the output terminal of the voltage regulator chip is also connected to the first terminal of the second resistor, and the ground terminal of the voltage regulator chip is grounded. The second end of the second resistor is connected to the first end of the third resistor, and also to the second end of the first constant current source module; The second terminal of the third resistor is grounded.

4. The electronic throttle circuit according to claim 2, characterized in that, The first constant current source module includes: a first operational amplifier, a fourth resistor, a fifth resistor, a sixth resistor, and a first transistor; The positive power supply terminal of the first operational amplifier is connected to the power supply terminal of the circuit, the negative power supply terminal of the first operational amplifier is grounded, the non-inverting input terminal of the first operational amplifier is connected to the second terminal of the voltage regulator module, the output terminal of the first operational amplifier is connected to the first terminal of the fourth resistor, and the inverting input terminal of the first operational amplifier is connected to the first terminal of the fifth resistor. The second end of the fourth resistor is connected to the base of the first transistor; The collector of the first transistor is connected to the power supply terminal of the circuit, the emitter of the first transistor is connected to the first terminal of the sixth resistor, the emitter of the first transistor is also connected to the second terminal of the fifth resistor, and the emitter of the first transistor is also connected to the ground terminal of the Hall module. The second end of the sixth resistor is connected to the grounding terminal of the current compensation module.

5. The electronic throttle circuit according to any one of claims 1-4, characterized in that, The current generation module includes: a voltage divider module and a second constant current source module; The input terminal of the voltage divider module is connected to the output terminal of the Hall module; The first terminal of the second constant current source module is connected to the power supply terminal of the circuit, the second terminal of the second constant current source module is connected to the output terminal of the voltage divider module, and the third terminal of the second constant current source module is connected to the ground terminal of the current generation module.

6. The electronic throttle circuit according to claim 5, characterized in that, The voltage divider module includes a seventh resistor and an eighth resistor; The first end of the seventh resistor is connected to the output end of the Hall module, the second end of the seventh resistor is connected to the first end of the eighth resistor, and the second end of the seventh resistor is also connected to the second end of the second constant current source module. The second terminal of the eighth resistor is grounded.

7. The electronic throttle circuit according to claim 5, characterized in that, The second constant current source module includes: a second operational amplifier, a ninth resistor, a tenth resistor, an eleventh resistor, and a second transistor; The positive power supply terminal of the second operational amplifier is connected to the power supply terminal of the circuit, the negative power supply terminal of the second operational amplifier is grounded, the non-inverting input terminal of the second operational amplifier is connected to the output terminal of the voltage divider module, the output terminal of the second operational amplifier is connected to the first terminal of the ninth resistor, and the inverting input terminal of the second operational amplifier is connected to the first terminal of the tenth resistor. The second terminal of the ninth resistor is connected to the base of the second transistor; The collector of the second transistor is connected to the power supply terminal of the circuit, and the emitter of the second transistor is connected to the first terminal of the eleventh resistor; the emitter of the second transistor is also connected to the second terminal of the tenth resistor. The second end of the eleventh resistor is connected to the ground terminal of the current generation module.

8. A motor controller, characterized in that, include: A signal demodulation module, wherein the sampling input terminal of the signal demodulation module is connected to the ground terminal of the electronic throttle circuit, and the output terminal of the signal demodulation module is connected to the ADC sampling port of the control module; the signal demodulation module is used to convert the received current signal into a voltage signal; the electronic throttle circuit is the electronic throttle circuit as described in any one of claims 1-7; The control module is used to control the motor based on the voltage signal acquired by the ADC sampling port; The received current signal is the sum of a first current signal and a second current signal; the first current signal is the current signal output after compensating for the static current consumption of the Hall module; the second current signal is the current signal after converting the output voltage of the Hall module.

9. The motor controller according to claim 8, characterized in that, The signal demodulation module includes: a twelfth resistor, a thirteenth resistor, a fourteenth resistor, a fifteenth resistor, a third operational amplifier, a sixteenth resistor, and a seventeenth resistor; The first end of the twelfth resistor is connected to the ground terminal of the electronic throttle circuit, and also to the first end of the thirteenth resistor; the second end of the twelfth resistor is connected to the first end of the fourteenth resistor, and is also connected to the ground terminal. The second end of the thirteenth resistor is connected to the non-inverting input of the third operational amplifier, and also to the first end of the fifteenth resistor; The second terminal of the fifteenth resistor is grounded; The second terminal of the fourteenth resistor is connected to the inverting input terminal of the third operational amplifier; The positive power supply terminal of the third operational amplifier is connected to the power output terminal, the negative power supply terminal of the third operational amplifier is grounded, the output terminal of the third operational amplifier is connected to the first terminal of the seventeenth resistor, and the output terminal of the third operational amplifier is also connected to the first terminal of the sixteenth resistor. The second terminal of the sixteenth resistor is connected to the inverting input terminal of the third operational amplifier; The second end of the seventeenth resistor is connected to the ADC sampling port of the control module.

10. The motor controller according to claim 8 or 9, characterized in that, When the voltage signal collected by the control module is less than the first threshold, it is determined that there is a line open circuit fault; and / or, when the voltage signal collected by the control module is greater than the second threshold, it is determined that there is a line short circuit fault.

11. A control system, characterized in that, include: The electronic throttle circuit as claimed in any one of claims 1-7, and the motor controller as claimed in any one of claims 8-10.

12. An electric mobility scooter, characterized in that, include: The control system as described in claim 11.

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