Traction control method and device for electric two-wheeled vehicle

Abstract

Disclosed in the present invention are a traction control method and device for an electric two-wheeled vehicle. The method comprises: acquiring two adjacent interrupt interval durations of a Hall element, the interrupt interval durations each being the duration between two adjacent interrupt signals; acquiring currents of a motor during two adjacent interrupt signals of the Hall element; and, on the basis of the interrupt interval durations and the currents, controlling the operating state of the motor. Compared with the prior art, the technical solution provided in the embodiments of the present invention does not need to mount an additional acceleration sensor, thereby reducing vehicle production and manufacturing costs; acquires the two adjacent interrupt interval durations of the Hall element in the motor to perform an acceleration conversion; and, on the basis of the currents of the motor during the two adjacent interrupt signals of the Hall element and the interrupt interval durations, monitors in real time whether tires slip, thereby achieving a fast response speed and efficiently improving the riding safety of the vehicle.

Description

Traction force control method and device for electric two-wheeler TECHNICAL FIELD

[0001] The present application relates to the technical field of electric vehicles, and in particular to a traction force control method and device for electric two-wheeler. BACKGROUND

[0002] With the increasing number of electric two-wheelers, users are increasingly dependent on electric two-wheelers for short trips, and various safety issues are becoming increasingly prominent. A typical problem is the anti-skid problem in rainy and snowy weather. In winter, the adhesion of the ground decreases, and the electric vehicle may slip and fall.

[0003] The traction force control of the conventional electric two-wheeler is generally achieved by installing a speed sensor on the front wheel, collecting the wheel speed of the wheel by the speed sensor, and comparing it with the maximum speed threshold to determine whether the vehicle is slipping. This control method has the technical problems of high cost and slow response speed.

[0004] SUMMARY

[0005] The present application provides a traction force control method and device for electric two-wheeler to solve the technical problem of high cost and slow response speed caused by installing a speed sensor, collecting the wheel speed of the wheel by the speed sensor, and comparing it with the maximum speed threshold to determine whether the vehicle is slipping.

[0006] According to an aspect of the present application, a traction force control method for an electric two-wheeler is provided, the electric two-wheeler comprising a motor and a Hall element arranged in the motor, the traction force control method comprising:

[0007] obtaining the time length of two adjacent interrupt intervals of the Hall element, wherein the time length of the interrupt interval is the time length between two adjacent interrupt signals;

[0008] obtaining the current of the motor when the two adjacent interrupt signals of the Hall element are obtained;

[0009] controlling the operating state of the motor according to the time length of the interrupt interval and the current.

[0010] Optionally, the obtaining of the time length of two adjacent interrupt intervals of the Hall element comprises:

[0011] obtaining the first interval time length between the current interrupt signal and the last interrupt signal of the Hall element;

[0012] At the arrival of a next interrupt signal, a second interval duration of the current interrupt signal and the next interrupt signal of the Hall element is acquired; the current of the motor when acquiring the two adjacent interrupt signals of the Hall element comprises:

[0013] The first current at the current interrupt signal and the second current at the previous interrupt signal are acquired.

[0014] Optionally, according to the interrupt interval duration and the current, the running state of the motor is controlled, which comprises:

[0015] The first interval duration and the second interval duration are compared to obtain a first comparison result;

[0016] The first current and the second current are compared to obtain a second comparison result;

[0017] According to the first comparison result and the second comparison result, the running state of the motor is controlled.

[0018] Optionally, according to the first comparison result and the second comparison result, the running state of the motor is controlled, which comprises:

[0019] When the first comparison result is that the first interval duration is greater than the second interval duration, a first difference value of the first interval duration and the second interval duration is calculated;

[0020] When the second comparison result is that the first current is greater than the second current, a second difference value of the first current and the second current is calculated;

[0021] When the first difference value is greater than a first preset value and the second difference value is greater than a second preset value, a slip suppression mode is entered;

[0022] In the slip suppression mode, an actual voltage value of the handlebar is collected, and a torque corresponding to the actual voltage value is forcibly cleared.

[0023] Optionally, according to the first comparison result and the second comparison result, the running state of the motor is controlled, which further comprises:

[0024] When the first comparison result is that the first interval duration is less than or equal to the second interval duration, the next interrupt signal is taken as the current interrupt signal, and the step of acquiring the two interrupt interval durations adjacent to the current interrupt signal is returned to execute;

[0025] When the second comparison result is that the first current is less than or equal to the second current, the current at the next interrupt signal is taken as the current at the current interrupt signal, and the step of acquiring the current of the motor when acquiring the two adjacent interrupt signals of the Hall element is returned to execute.

[0026] Optionally, the traction control method further includes:

[0027] When the first difference is less than or equal to the first preset value, return to the step of comparing the first interval duration with the second interval duration to obtain the first comparison result;

[0028] When the second difference is less than or equal to the second preset value, return to the step of comparing the first current with the second current to obtain the second comparison result.

[0029] Optionally, the step of acquiring the actual voltage value of the throttle and forcibly resetting the torque setpoint corresponding to the actual voltage value to zero includes:

[0030] The actual voltage value of the throttle is collected, the actual voltage value is transferred to a temporary variable, the torque setpoint corresponding to the actual voltage value is forcibly cleared to zero, and / or the pulse width modulation output is turned off.

[0031] Optionally, after acquiring the actual voltage value of the throttle and forcibly clearing the torque setpoint corresponding to the actual voltage value to zero, and / or disabling the pulse width modulation output, the method further includes:

[0032] After a preset time, the slippage prevention mode is exited, and the actual voltage value in the temporary variable is assigned to the torque setpoint based on a preset accumulation amount until the torque setpoint is equal to the actual voltage value, and then the normal control mode is entered.

[0033] Optionally, before obtaining the duration of two adjacent interruptions of the Hall element, the method further includes:

[0034] When the shift button has been pressed for more than a preset time, retrieve the historical status flag.

[0035] Update the historical status flags and store the updated status flags;

[0036] When the updated status flag is a preset value, the step of obtaining the duration of the two adjacent interrupt intervals of the Hall element is initiated.

[0037] According to another aspect of the present invention, a traction control device for an electric two-wheeled vehicle is provided, comprising:

[0038] An interval duration acquisition module is used to acquire the duration of two adjacent interrupts of the Hall element, wherein the interrupt interval duration is the duration between two adjacent interrupt signals;

[0039] A current acquisition module is configured to acquire the current of the motor when two adjacent interrupt signals of the Hall element.

[0040] A control module is configured to control the running state of the motor according to the interrupt interval duration and the current.

[0041] The embodiment of the present application provides a traction force control method and device of an electric two-wheeled vehicle, the electric two-wheeled vehicle comprising a motor and a Hall element arranged in the motor, the traction force control method comprising: acquiring the interrupt interval duration of two adjacent interrupt signals of the Hall element, wherein the interrupt interval duration is the duration between two adjacent interrupt signals; acquiring the current of the motor when two adjacent interrupt signals of the Hall element; and controlling the running state of the motor according to the interrupt interval duration and the current. The prior art installs a speed sensor on the front wheel, resulting in high cost of vehicle production and manufacturing. The speed sensor is used to collect the wheel speed of the vehicle, which is compared with a maximum speed threshold to determine whether the vehicle is slipping. Since the speed may be too high when the speed is collected, the vehicle may slip, and even the vehicle has slipped, so the control method has a slow response speed. Compared with the prior art, the technical scheme provided by the embodiment of the present application does not need to additionally install a speed sensor, thereby reducing the cost of vehicle production and manufacturing, acquiring the interrupt interval duration of two adjacent interrupt signals of the Hall element in the motor, performing acceleration conversion, and acquiring the current of the motor when two adjacent interrupt signals of the Hall element, monitoring the tire slip in real time according to the current of the motor and the interrupt interval duration, having a fast response speed, and effectively improving the safety of the vehicle during riding.

[0042] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0044] Fig. 1 is a flowchart of a traction force control method of an electric two-wheeled vehicle according to an embodiment of the present application;

[0045] Fig. 2 is a Hall pulse waveform diagram according to an embodiment of the present application;

[0046] Fig. 3 is a flow chart of another traction force control method of an electric two-wheeled vehicle according to an embodiment of the present application;

[0047] Fig. 4 is a flow chart of a software operation of the traction force control method of the electric two-wheeled vehicle according to an embodiment of the present application;

[0048] Fig. 5 is a structural schematic diagram of a traction force control device of an electric two-wheeled vehicle according to an embodiment of the present application;

[0049] Fig. 6 is a structural schematic diagram of an electronic device of the traction force control method of the electric two-wheeled vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to make the personnel in the technical field better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by the personnel in the field without creative labor should belong to the protection scope of the present application.

[0051] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product or device.

[0052] Fig. 1 is a flow chart of a traction force control method of an electric two-wheeled vehicle according to an embodiment of the present application. The embodiment can be applicable to prevent the tire of the electric two-wheeled vehicle from slipping in rainy and snowy weather. The traction force control method can be executed by a traction force control device of the electric two-wheeled vehicle. The traction force control device can be realized in the form of hardware and / or software. The traction force control device can be configured in any electronic device with communication function. The electric two-wheeled vehicle includes a motor and a Hall element arranged in the motor. Referring to Fig. 1, the traction force control method includes:

[0053] S110, obtaining a length of time of two adjacent interrupt intervals of the Hall element, wherein the length of time of the interrupt interval is a length of time between two adjacent interrupt signals.

[0054] The Hall element is a kind of magnetic sensor based on Hall effect, which can detect magnetic field and its change, and can be used in various occasions related to magnetic field. The Hall element has the advantages of firm structure, small size, light weight, long service life, easy installation, small power consumption, high frequency and vibration resistance.

[0055] Specifically, the application principle of the Hall element in the motor is that a magnetic steel is arranged on the rotor of the motor, and the Hall element is arranged in the motor. When the motor rotates, the N-pole of the magnetic field of the magnetic steel and the Hall element are opposite, and a high level is outputted; the S-pole of the magnetic field of the magnetic steel and the Hall element are opposite, and a low level is outputted. Through the continuous rotation of the motor, the Hall pulse waveform with the continuous switching of high and low levels is outputted. In the Hall pulse waveform, a low level changes into a high level or a high level changes into a low level as an interrupt signal, and the time length between the adjacent two interrupt signals is an interrupt interval time length, and then the acquisition of the adjacent two interrupt interval time lengths of the Hall element is completed. According to the calculation of the difference value of the interrupt interval time lengths, the difference value represents the acceleration of the vehicle. Based on the acceleration and the current of the motor, whether the vehicle slips can be judged.

[0056] S120, acquiring the current of the motor at the time of the adjacent two interrupt signals of the Hall element.

[0057] Specifically, the current of the motor at the time of the adjacent two interrupt signals of the Hall element in the motor is acquired. The current of the motor at the time of one interrupt signal represents the current of the motor in one interrupt interval time length. Through the current of the motor at the time of the adjacent two interrupt signals, the change of the current in the adjacent two interrupt interval time lengths can be reflected.

[0058] S130, controlling the running state of the motor according to the interrupt interval time length and the current.

[0059] Specifically, the difference value of the adjacent two interrupt interval time lengths is converted into acceleration, which is compared with the maximum acceleration value, and the difference value of the current of the motor at the time of the adjacent two interrupt signals is compared with the maximum current value. If the difference value of the two interrupt interval time lengths is greater than the maximum acceleration value, it indicates that the acceleration of the vehicle is in an increasing state. If the difference value of the current of the motor at the time of the two interrupt signals is greater than the maximum current value, it indicates that the current of the motor is in a decreasing state. Since the acceleration increases and the current decreases when the vehicle slips, whether the vehicle slips can be judged according to the above comparison results, and the running state of the motor is further controlled according to the interrupt interval time length and the current to prevent the vehicle from slipping.

[0060] The prior art installs a speed sensor on the front wheel, resulting in high cost of vehicle production and manufacturing. The speed sensor collects the wheel speed of the wheel, compares it with a maximum speed threshold, and determines whether the vehicle has skidding. Since the speed may be too high when the speed is collected, the vehicle may skid, or the vehicle may have already skidded, so the response speed of the control method is slow. Compared with the prior art, the technical solution provided by the embodiment of the application does not need to additionally install a speed sensor, thereby reducing the cost of vehicle production and manufacturing. The length of the interval between two adjacent interrupts of the Hall element is obtained, the acceleration is converted, the current of the motor when the two adjacent interrupts of the Hall element are obtained, the current of the motor and the length of the interval between the two interrupts are obtained, the tire skidding is monitored in real time, the response speed is fast, and the safety of the vehicle during riding is effectively improved.

[0061] Optionally, obtaining the length of the interval between two adjacent interrupts of the Hall element comprises: obtaining a first interval length between a current interrupt signal and a previous interrupt signal of the Hall element; obtaining a second interval length between the current interrupt signal and a next interrupt signal of the Hall element when the next interrupt signal arrives; and obtaining the current of the motor when the two adjacent interrupts of the Hall element comprises: obtaining a first current when the current interrupt signal and a second current when the previous interrupt signal.

[0062] Specifically, FIG. 2 is a Hall pulse waveform diagram provided by the embodiment of the application, as shown in FIG. 2, in the Hall pulse waveform, the low level changes to the high level or the high level changes to the low level is an interrupt signal, the first interval length A1 between the current interrupt signal and the previous interrupt signal of the Hall element is calculated by the time difference between the time of the current interrupt signal and the time of the previous interrupt signal. Similarly, the second interval length A2 between the current interrupt signal and the next interrupt signal of the Hall element is calculated by the time difference between the time of the current interrupt signal and the time of the next interrupt signal when the next interrupt signal arrives. The first current B1 when the current interrupt signal is the current of the motor when the Hall pulse waveform changes from the high level to the low level, and the second current B2 when the previous interrupt signal is the current of the motor when the Hall pulse waveform changes from the low level to the high level.

[0063] Optionally, according to the interval length and the current, the running state of the motor is controlled, which comprises: comparing the first interval length with the second interval length to obtain a first comparison result; and comparing the first current with the second current to obtain a second comparison result.

[0064] The running state of the motor is controlled according to the first comparison result and the second comparison result.

[0065] Optionally, according to the first comparison result and the second comparison result, the running state of the motor is controlled, which comprises:

[0066] When the first comparison result is that the first interval duration is greater than the second interval duration, a first difference between the first interval duration and the second interval duration is calculated; when the second comparison result is that the first current is greater than the second current, a second difference between the first current and the second current is calculated.

[0067] When the first comparison result is that the first interval duration is less than or equal to the second interval duration, the next interrupt signal is taken as the current interrupt signal, and the step of obtaining the two interrupt interval durations adjacent to the current interrupt signal is executed again; when the second comparison result is that the first current is less than or equal to the second current, the current at the next interrupt signal is taken as the current at the current interrupt signal, and the step of obtaining the currents of the motor at the two interrupt signals adjacent to the current interrupt signal is executed again.

[0068] Specifically, if the first interval duration A1 is greater than the second interval duration A2, a difference between the first interval duration A1 and the second interval duration A2 is taken as a first difference A3 between the first interval duration A1 and the second interval duration A2. If the first current B1 is greater than the second current B2, a difference between the first current B1 and the second current B2 is taken as a second difference B3 between the first current B1 and the second current B2.

[0069] When the first difference is greater than a first preset value and the second difference is greater than a second preset value, a slip suppression mode is entered. When the first difference is less than or equal to the first preset value, the step of comparing the first interval duration with the second interval duration to obtain a first comparison result is executed again; when the second difference is less than or equal to the second preset value, the step of comparing the first current with the second current to obtain a second comparison result is executed again.

[0070] The first preset value is a maximum acceleration value calibrated according to a real vehicle under normal riding conditions, and can be preset. When the road surface slips, the acceleration at this time is greater than the maximum acceleration value due to the decrease of the adhesion. The second preset value is a maximum current fluctuation value calibrated according to the normal riding conditions, and can be preset. The slip suppression mode is a working mode for preventing the vehicle from slipping, controlling the motor to lose power supply, and reducing the motor speed. It should be noted that the first preset value and the second preset value provided in the embodiments of the present application need to be calibrated in combination with the power configuration of the electric two-wheeled vehicle, and need to be determined by riding test in actual road conditions in combination with the rated power of the motor, the rated working current of the controller, and the rated speed of the whole vehicle.

[0071] Specifically, it is judged whether the first difference A3 is greater than the first preset value, and at the same time, it is judged whether the second difference B3 is greater than the second preset value, if the first difference A3 is greater than the first preset value and the second difference B3 is greater than the second preset value, it indicates that the vehicle has a slip phenomenon, that is, after the first difference A3 is converted into acceleration, the acceleration at this time is compared with the maximum acceleration value of the real vehicle under normal riding road conditions, when the road surface slips, the acceleration at this time will be greater than the maximum acceleration value due to the decrease of adhesion, and the second difference B3 will also be greater than the maximum current fluctuation value under normal riding road conditions. Therefore, when the first difference is greater than the first preset value and the second difference is greater than the second preset value, the slip suppression mode is entered to prevent the vehicle from slipping.

[0072] In the slip suppression mode, the actual voltage value of the handlebar is collected, and the torque corresponding to the actual voltage value is forced to be zero.

[0073] Optionally, collecting the actual voltage value of the handlebar and forcibly clearing the torque corresponding to the actual voltage value includes: collecting the actual voltage value of the handlebar, storing the actual voltage value in a temporary variable, forcibly clearing the torque corresponding to the actual voltage value, and / or closing the pulse width modulation output.

[0074] Specifically, in the slip suppression mode, the handlebar of the electric two-wheeled vehicle is automatically taken over, and the collected actual voltage value of the handlebar is stored in a temporary variable S1, at this time the motor cannot receive the torque value corresponding to the actual voltage value, therefore, the torque given value of the motor is forced to be zero, the motor loses power supply, the speed immediately decreases, and accidents caused by power wheel slip are avoided. And / or, in the slip suppression mode, the handlebar of the electric two-wheeled vehicle is automatically taken over, and the collected actual voltage value of the handlebar is stored in a temporary variable S1, at this time the controller immediately closes the pulse width modulation (PWM) output, the motor loses power supply, the speed immediately decreases, and accidents caused by power wheel slip are avoided.

[0075] Optionally, after collecting the actual voltage value of the handlebar and forcibly clearing the torque corresponding to the actual voltage value, and / or closing the pulse width modulation output, it further includes:

[0076] After a preset time, the slip suppression mode is exited, the actual voltage value in the temporary variable is assigned to the torque given value based on a preset accumulation, until the torque given value is equal to the actual voltage value, and the normal control mode is entered.

[0077] Wherein, the preset time can be preset according to the response speed, and the preset accumulation can be preset according to the comfort degree of the user when the slip suppression mode is converted to the normal control mode.

[0078] Exemplarily, after the preset time 500 ms, the slip suppression mode is exited, the handlebar control right is restored, and the controller assigns the actual voltage value in the handlebar temporary variable S1 to the torque given value based on a preset accumulation, and the preset accumulation of 1 PWM pulse period is currently set to 50, which can be adjusted in real time according to the response requirement. When the actual voltage value of the handlebar is equal to the torque given value, the overhandover of the handlebar control right is completed, and the normal control mode is entered.

[0079] The technical scheme provided by the embodiment of the application does not need to add a speed sensor on the non-power wheel of the electric two-wheeled vehicle, reduces the cost of the whole vehicle production and manufacturing, only needs to add the software algorithm of the traction force control method in the existing control program, can effectively prevent the tire slip of the vehicle, improves the riding experience of the user, and improves the travel safety factor. In addition, based on the interval time difference of the edge jump of the Hall element and the change of the motor current, whether the tire of the vehicle slips is judged, the response speed is fast, the response time does not exceed 10 ms, and the fastest can reach within 1 ms. Therefore, when the tire slips, the system can immediately respond to ensure the riding safety of the user in a very short time.

[0080] Optionally, before the interval duration of the adjacent two interrupts of the Hall element is acquired, the method further includes:

[0081] When the gear shifting button is in a pressed state for more than a preset time, a historical state flag bit is acquired.

[0082] The historical state flag bit is updated, and the updated state flag bit is stored. When the updated state flag bit is a preset value, the step of acquiring the interval duration of the adjacent two interrupts of the Hall element is started.

[0083] The preset time can be preset, and exemplarily, the preset time can be set to 3 s. The historical state flag bit is used to represent whether the traction force control function is started, that is, the historical state flag bit is used to represent whether the step of acquiring the interval duration of the adjacent two interrupts of the Hall element is executed. The historical state flag bit is acquired, which means that the value of the state flag bit with the shortest time from the current historical state flag bit is acquired.

[0084] Specifically, the shift button is pressed, the lock key is opened, the shift button is kept pressed for more than 3 seconds, the traction control system is set to be opened or closed, the historical state flag bit stored in the memory is read, and then the historical state flag bit is inverted, that is, if the historical state flag bit is 1, it becomes 0, and if the historical state flag bit is 0, it becomes 1, that is, if the traction control function is originally opened, it is now closed, and if the traction control function is originally closed, it is now opened. The latest state value is stored in the memory. If the shift button is pressed for less than 3 seconds, the setting program is exited, and whether the traction control system is enabled is determined by reading the state flag bit currently stored in the memory. The state flag bit is 1, indicating that the traction control function is opened, and the state flag bit is 0, indicating that the traction control function is closed.

[0085] Fig. 3 is a flow chart of another traction control method of an electric two-wheeled vehicle provided by an embodiment of the present application, which further refines the foregoing embodiment on the basis of the foregoing embodiment. Referring to Fig. 3, the method comprises:

[0086] S310, a first interval duration A1 of a current interrupt signal and a previous interrupt signal of a Hall element is obtained.

[0087] S311, a second interval duration A2 of the current interrupt signal and a next interrupt signal of the Hall element is obtained when the next interrupt signal arrives.

[0088] S312, a first current B1 at the current interrupt signal and a second current B2 at the previous interrupt signal are obtained.

[0089] S313, it is determined whether A1 is greater than A2. If yes, S315 is executed; if no, S310 is returned to be executed.

[0090] S314, it is determined whether B1 is greater than B2. If yes, S316 is executed; if no, S312 is returned to be executed.

[0091] S315, a first difference A3 between the first interval duration A1 and the second interval duration A2 is calculated.

[0092] S316, a second difference B3 between the first current B1 and the second current B2 is calculated.

[0093] S317, it is determined whether the first difference A3 is greater than a first preset value. If yes, S319 is executed; if no, S313 is returned to be executed.

[0094] S318, it is determined whether the second difference B3 is greater than a second preset value. If yes, S319 is executed; if no, S314 is returned to be executed.

[0095] S319, entering a slip suppression mode.

[0096] S320, in the slip suppression mode, collecting an actual voltage value of the handlebar, and forcibly clearing a torque corresponding to the actual voltage value.

[0097] S321, after a preset time, exiting the slip suppression mode, assigning the actual voltage value in the temporary variable to the torque given value based on a preset accumulation, until the torque given value is equal to the actual voltage value, and entering a normal control mode.

[0098] Fig. 4 is a software operation flowchart of whether the traction control method of the electric two-wheeled vehicle provided by the embodiment of the application is executed, referring to Fig. 4, the method comprises:

[0099] S410, opening the lock, and pressing the gear shifting key.

[0100] S420, judging whether the gear shifting key is in the pressed state for more than a preset time, if yes, executing S430, and if no, executing S440.

[0101] S430, obtaining a historical state flag.

[0102] S440, reading a current stored state flag in the memory.

[0103] S450, judging whether the current stored state flag is a preset value, if yes, executing S460, and if no, ending.

[0104] S460, starting to execute the steps of obtaining the time length of the adjacent two interrupt intervals of the Hall element and the subsequent steps.

[0105] S470, updating the historical state flag, and storing the updated state flag.

[0106] S480, when the updated state flag is the preset value, starting to execute the steps of obtaining the time length of the adjacent two interrupt intervals of the Hall element and the subsequent steps.

[0107] The technical solution provided by the embodiment of the application does not need to additionally install a speed sensor, reduces the device cost and installation cost, and has stronger competitiveness. Only the traction controller algorithm needs to be added in the original control algorithm, which is more convenient to implement and has stronger compatibility. The response speed is fast, the accuracy is high, the normal riding is not affected, the resource occupation is small, and no additional cost is increased. The execution of the control algorithm can be enabled and disabled through software setting or an external switch, which is convenient to use.

[0108] Figure 5 is a structural schematic diagram of a traction force control device of an electric two-wheeled vehicle according to an embodiment of the present application. As shown in Figure 5, the traction force control device comprises an interval duration acquisition module 510, a current acquisition module 520, and a control module 530.

[0109] The interval duration acquisition module 510 is configured to acquire the interval duration between two adjacent interruption signals of the Hall element, wherein the interval duration between two adjacent interruption signals is the duration between two adjacent interruption signals.

[0110] The current acquisition module 520 is configured to acquire the current of the motor when the two adjacent interruption signals of the Hall element.

[0111] The control module 530 is configured to control the running state of the motor according to the interval duration and the current.

[0112] The traction force control device of the electric two-wheeled vehicle according to the embodiment of the present application can perform the traction force control method of the electric two-wheeled vehicle according to any embodiment of the present application, and has the function modules and beneficial effects corresponding to the execution method.

[0113] Figure 6 shows a structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (such as headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed in this document.

[0114] As shown in Figure 6, the electronic device 10 comprises at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is in communication connection with the at least one processor 11, wherein the memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0115] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0116] The processor 11 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as a traction control method of an electric two-wheeler.

[0117] In some embodiments, a traction control method of an electric two-wheeler can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of a traction control method of an electric two-wheeler described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform a traction control method of an electric two-wheeler by any other appropriate means, such as by means of firmware.

[0118] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0119] Computer programs for implementing the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program, when executed, can cause instructions defined in the flow charts and / or block diagrams to be implemented. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package and partially on a remote machine or entirely on a remote machine or server.

[0120] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0121] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0122] The systems and techniques described herein can be implemented in a computing system that includes a back end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described herein, or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0123] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0124] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be executed in parallel, executed in series, or executed in different orders, as long as the desired results of the technical solutions of the present disclosure can be achieved, and the present disclosure is not limited herein.

[0125] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A traction force control method for an electric two-wheeled vehicle including a motor and a Hall element provided in the motor, characterized by, The traction force control method comprises: Obtaining the length of the interval between two adjacent interruptions of the Hall element, wherein the length of the interval between two adjacent interruptions is the length of time between two adjacent interruption signals; Obtaining the current of the motor when the two adjacent interruption signals of the Hall element are obtained; According to the length of the interval between two adjacent interruptions and the current, the running state of the motor is controlled.

2. The traction control method according to claim 1, characterized by, The length of the interval between two adjacent interruptions of the Hall element comprises: Obtaining the first interval length between the current interruption signal and the previous interruption signal of the Hall element; When the next interruption signal arrives, the second interval length between the current interruption signal and the next interruption signal of the Hall element is obtained; The current of the motor when the two adjacent interruption signals of the Hall element are obtained comprises: Obtaining the first current at the current interruption signal and the second current at the previous interruption signal.

3. The traction control method according to claim 2, characterized by, According to the length of the interval between two adjacent interruptions and the current, the running state of the motor is controlled. The first interval length and the second interval length are compared to obtain a first comparison result; The first current and the second current are compared to obtain a second comparison result; According to the first comparison result and the second comparison result, the running state of the motor is controlled.

4. The traction control method according to claim 3, characterized by, The first difference between the first interval length and the second interval length is calculated when the first comparison result is that the first interval length is greater than the second interval length; The second difference between the first current and the second current is calculated when the second comparison result is that the first current is greater than the second current; When the first difference is greater than a first preset value and the second difference is greater than a second preset value, enter the slip suppression mode; In the slip suppression mode, the actual voltage value of the handlebar is collected, and the torque corresponding to the actual voltage value is forced to be zero. The first comparison result is that the first interval length is less than or equal to the second interval length, the next interruption signal is taken as the current interruption signal, and the step of obtaining the length of the interval between two adjacent interruptions of the Hall element is returned to be executed; 5. The traction control method according to claim 3, characterized by, The second comparison result is that the first current is less than or equal to the second current, the current at the next interruption signal is taken as the current at the current interruption signal, and the step of obtaining the current of the motor when the two adjacent interruption signals of the Hall element are obtained is returned to be executed. Further comprising: When the first difference is less than or equal to the first preset value, the step of comparing the first interval length with the second interval length to obtain the first comparison result is returned to be executed; 6. The traction control method according to claim 4, characterized by, When the second difference is less than or equal to the second preset value, the step of comparing the first current with the second current to obtain the second comparison result is returned to be executed. The actual voltage value of the handlebar is collected, and the torque corresponding to the actual voltage value is forced to be zero. ​ 7. The traction control method according to claim 4, characterized by, ​ Collecting an actual voltage value of a handle, storing the actual voltage value into a temporary variable, forcibly clearing a torque given value corresponding to the actual voltage value, and / or closing an output of pulse width modulation.

8. The traction control method according to claim 7, characterized by, After the collecting an actual voltage value of a handle, storing the actual voltage value into a temporary variable, forcibly clearing a torque given value corresponding to the actual voltage value, and / or closing an output of pulse width modulation, further comprising: After a preset time, exiting the slip suppression mode, assigning the actual voltage value in the temporary variable to the torque given value based on a preset accumulation until the torque given value is equal to the actual voltage value, and entering a normal control mode.

9. The traction control method according to claim 1, characterized by, Before the acquiring the length of the two adjacent interrupt intervals of the Hall element, further comprising: When the gear shifting button is in a pressed state for more than a preset time, acquiring a historical state flag bit; Updating the historical state flag bit and storing the updated state flag bit; When the updated state flag bit is a preset value, starting the acquiring the length of the two adjacent interrupt intervals of the Hall element.

10. A traction force control device for an electric two-wheeled vehicle, characterized by, Comprising: An interval length acquiring module, which is configured to acquire the length of the two adjacent interrupt intervals of the Hall element, wherein the length of the interrupt interval is the length between the two adjacent interrupt signals; A current acquiring module, which is configured to acquire the current of the motor when the two adjacent interrupt signals of the Hall element are acquired; A control module, which is configured to control the running state of the motor according to the length of the interrupt interval and the current. ​

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