阅读说明：本技术 一种解决电动三轮车后桥减速箱齿轮冲击较大的控制方法 (Control method for solving problem of large gear impact of rear axle reduction box of electric tricycle ) 是由 范长江 贾少清 王佳斐 刘青青 刘金辉 于 2021-09-03 设计创作，主要内容包括：本发明公开了一种解决电动三轮车后桥减速箱齿轮冲击较大的控制方法,通过控制单元采集整车启动开关、档位开关、油门转把、刹车开关的状态,采集电流传感器和霍尔位置传感器的信息,电流传感器和霍尔位置传感器检测电机的相电流和电机旋转位置,驱动控制器通过功率单元对电机进行转矩的闭环控制。本发明无需更改现有车辆机械结构或增加任何辅助传感器等硬件设备,在不影响整车动力性情况下,有效解决齿轮间隙较大引起啮合时的冲击振动与异响问题,提高整车的舒适性与可靠性。(The invention discloses a control method for solving the problem of large gear impact of a rear axle reduction box of an electric tricycle. The invention does not need to change the mechanical structure of the existing vehicle or add any hardware equipment such as an auxiliary sensor, and the like, effectively solves the problems of impact vibration and abnormal sound when in meshing caused by larger gear clearance under the condition of not influencing the dynamic property of the whole vehicle, and improves the comfort and the reliability of the whole vehicle.)

1. A control method for solving the problem of large gear impact of a rear axle reduction box of an electro-tricycle is characterized by comprising the following steps:

the method comprises the following steps that S1 a control unit (5) of a driving controller (9) collects states of a starting switch (1), a gear switch (2), an accelerator rotating handle (3) and a brake switch (4) of the whole vehicle, information of a current sensor (8) and a Hall position sensor (7) is collected, the current sensor (8) and the Hall position sensor (7) detect phase current of a motor (10) and a rotating position of the motor (10), and the driving controller (9) performs closed-loop control on torque of the motor (10) through a power unit (6);

s2, when the vehicle is in a starting state, the brake switch (4) is not turned on, the gear switch (2) is in a forward gear, when the opening of the signal of the accelerator handle (3) is established from 0, the driving controller outputs torque according to the pre-engagement torque establishment process within 100ms, the driving controller (9) controls and outputs the torque according to the opening and the gradient of the accelerator handle (3), and the driving controller (9) enters a torque control mode with the driving gradient of 100%;

s3 the vehicle is in the torque control mode with 100% driving slope, when the opening of the throttle handle of the vehicle is 0, the controller needs to reduce the torque to 0 in 100ms according to the torque unloading process, and then the vehicle enters the torque control mode of 0.

2. The control method for solving the problem of large gear impact of a reduction gearbox of a rear axle of an electro-tricycle according to claim 1, wherein the pre-engagement torque establishment process comprises three stages A1, A2 and A3, wherein the A1 stage is 0-30ms, the torque is 0-1N-m, and the torque rising slope is 30%; the stage A2 is 30-70ms, the torque is 1-2 N.m at the moment, and the torque rising slope is 50%; the A3 stage is 70-100ms, the torque is 2-3 N.m, and the torque rising gradient is 70%.

3. The control method for solving the problem of large gear impact of a reduction gearbox of a rear axle of an electro-tricycle according to claim 1, wherein the torque unloading process comprises three stages B1, B2 and B3, the B1 stage is 0-30ms, the torque is 3-2N-m, and the torque reduction slope is 70%; the stage B2 is 30-70ms, the torque is 2-1 N.m at the moment, and the torque reduction slope is 50%; the stage B3 is 70-100ms, the torque is 1-0 N.m, and the torque reduction slope is 30%.

Technical Field

The invention relates to the technical field of electric tricycles, in particular to a control method for solving the problem of large gear impact of a reduction gearbox of a rear axle of an electric tricycle.

Background

The power system of the electric tricycle mainly comprises a battery, a drive controller and a motor, and can be divided into a hub motor drive type and a centralized drive type formed by combining the motor and a reduction gearbox according to a drive mode. The hub motor is directly arranged in the rim in a driving mode, and transmission parts such as half shafts, speed changers and the like are omitted. In a centralized driving mode, a motor is connected with a reduction gearbox with a fixed speed ratio, and the driving of wheels on the corresponding side is realized through a half shaft. Compared with the two driving modes, the centralized driving mode has greater advantages in the aspects of vehicle dynamic property, reliability and control system requirements than the in-wheel motor driving mode. The centralized driving type has become a mainstream driving mode of the electric tricycle market.

However, the rear axle reduction gearbox for the electric tricycle with the centralized driving mode in the market at present generally has the problems that the gear clearance is too large due to low gear machining precision and poor assembling quality, vehicle impact and abnormal sound during vehicle starting and running can be caused, the driving experience of consumers is influenced, and even the service life of the reduction gearbox can be influenced under severe conditions. Aiming at the problem, a driving controller in the current market only adjusts the starting response through the output voltage slope of the controller, only can reduce the impact of a gear of a speed reducer, can influence the dynamic property of the whole vehicle, and cannot effectively solve the problem.

Disclosure of Invention

In order to solve the problems related to the background technology, the invention provides a control method for solving the problem that the gear impact of a reduction gearbox of a rear axle of an electric tricycle is large.

The specific technical scheme of the invention is as follows: a control method for solving the problem of large gear impact of a rear axle reduction box of an electro-tricycle comprises the following steps:

the control unit of the S1 drive controller collects the states of a starting switch, a gear switch, an accelerator handle and a brake switch of the whole vehicle, collects the information of a current sensor and a Hall position sensor, the current sensor and the Hall position sensor detect the phase current and the rotating position of the motor, and the drive controller performs closed-loop control on the torque of the motor through a power unit;

s2, the vehicle is in a starting state, the brake switch is not turned on, the gear switch is in a forward gear, when the opening of the throttle handle signal is established from 0, the driving controller outputs torque according to the pre-engagement torque establishment process within 100ms, the driving controller controls and outputs the torque according to the opening and the slope of the throttle handle, and the driving controller enters a 100% torque control mode of driving slope;

s3 the vehicle is in the torque control mode with 100% driving slope, when the opening of the throttle handle of the vehicle is 0, the controller needs to reduce the torque to 0 in 100ms according to the torque unloading process, and then the vehicle enters the torque control mode of 0.

Further, the pre-engagement torque establishing process comprises three stages A1, A2 and A3, wherein the A1 stage is 0-30ms, the torque is 0-1N m, and the torque rising slope is 30%; the stage A2 is 30-70ms, the torque is 1-2 N.m at the moment, and the torque rising slope is 50%; the A3 stage is 70-100ms, the torque is 2-3 N.m, and the torque rising gradient is 70%.

Further, the torque unloading process comprises three stages, namely B1, B2 and B3, wherein the B1 stage is 0-30ms, the torque is 3-2N m at the moment, and the torque reduction slope is 70%; the stage B2 is 30-70ms, the torque is 2-1 N.m at the moment, and the torque reduction slope is 50%; the stage B3 is 70-100ms, the torque is 1-0 N.m, and the torque reduction slope is 30%.

The invention provides a control method for solving the problem of large gear impact of a rear axle reduction box of an electric tricycle, the problem of impact vibration and abnormal sound caused by meshing due to large gear clearance is effectively solved without changing the mechanical structure of the existing tricycle or adding any hardware equipment such as an auxiliary sensor and the like under the condition of not influencing the dynamic property of the whole tricycle, and the comfort and the reliability of the whole tricycle are improved.

Drawings

FIG. 1 is a block flow diagram of the present invention;

FIG. 2 is a schematic diagram of the power control system of the present invention;

in the figure: 1. a whole vehicle starting switch; 2. a gear switch; 3. the throttle is rotated to handle; 4. a brake switch; 5. a control unit; 6. a power unit; 7. a Hall position sensor; 8. a current sensor; 9. a drive controller; 10. an electric motor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Fig. 1 is a flow chart of the present invention, fig. 2 is a schematic diagram of a power control system of the present invention, and the present invention includes the following steps:

the control unit 5 of the S1 driving controller 9 collects the states of the starter switch 1, the shift switch 2, the throttle knob 3 and the brake switch 4 of the whole vehicle, collects the information of the current sensor 8 and the hall position sensor 7, the current sensor 8 and the hall position sensor 7 detect the phase current of the motor 10 and the rotation position of the motor 10, and the driving controller 9 performs closed-loop control of the torque of the motor 10 through the power unit 6.

S2 the vehicle is in starting state, the brake switch 4 is not opened, the shift switch 2 is in forward gear, when the opening of the signal of the accelerator handle 3 is established from 0, the drive controller outputs torque according to the following pre-engagement torque establishment process within 100ms, the drive controller 9 controls the output of the torque according to the opening and the gradient of the accelerator handle 3, and the drive controller 9 enters a torque control mode with 100% of driving gradient.

The pre-engagement torque establishing process comprises three stages A1, A2 and A3, wherein the stage A1 is 0-30ms, the torque is 0-1N m at the moment, and the torque rising slope is 30%; the stage A2 is 30-70ms, the torque is 1-2 N.m, and the torque rising slope is 50%; the A3 stage is 70-100ms, the torque is 2-3 N.m, and the torque rising gradient is 70%.

S3 the vehicle is in the torque control mode with 100% driving slope, when the throttle handle opening of the vehicle is 0, the controller needs to reduce the torque to 0 in 100ms according to the following torque unloading process, and then the vehicle enters the torque control mode of 0.

The torque unloading process comprises three stages B1, B2 and B3, wherein the stage B1 is 0-30ms, the torque is 3-2 N.m at the moment, and the torque reduction slope is 70%; the stage B2 is 30-70ms, the torque is 2-1 N.m, and the torque reduction slope is 50%; the stage B3 is 70-100ms, the torque is 1-0 N.m, and the torque reduction slope is 30%.

The foregoing is illustrative of the present invention and its embodiments, and the description is not limiting. The embodiment shown in the drawings is only one embodiment of the present invention, and the actual structure is not limited thereto. Therefore, without departing from the spirit of the present invention, a person skilled in the art shall appreciate that the present invention shall not be limited to the embodiments shown in the drawings.