CN-121990094-A - Single-rotating-handle torque control method and system for electric two-wheeled vehicle

CN121990094ACN 121990094 ACN121990094 ACN 121990094ACN-121990094-A

Abstract

The invention discloses a single-handle torque control method and a system for an electric two-wheeled vehicle, and relates to the field of electric two-wheeled vehicle control; the method comprises the steps of collecting actual rotation speed of a motor in real time, inquiring a pre-calibrated rotation speed-rotation handle opening two-dimensional torque table according to current rotation handle opening and actual rotation speed to obtain initial target torque, defining that the initial target torque is negative and represents braking torque, otherwise representing driving torque, dynamically compensating the braking torque according to a difference value between the target rotation speed and the actual rotation speed if the initial target torque is the braking torque, outputting compensated braking torque to drive the motor to brake, and outputting driving torque to drive the motor to accelerate to the target rotation speed if the initial target torque is the driving torque. The method and the system realize the integrated control of single-handle acceleration and braking, and perform self-adaptive dynamic compensation on the target braking torque according to the rotating speed difference value, thereby accurately matching the braking requirement of a user.

Inventors

SHI WENFAN

Assignees

无锡凌博电子技术股份有限公司
无锡九通电子技术有限公司

Dates

Publication Date: 20260508
Application Date: 20260325

Claims (10)

1. A method for controlling torque of a single handlebar of an electric two-wheeled vehicle, comprising: Collecting the output voltage of the rotary handle in real time, and mapping the output voltage of the rotary handle into a unified rotary handle opening value; the method comprises the steps of collecting the actual rotating speed of a motor in real time, inquiring a pre-calibrated rotating speed-rotating handle opening two-dimensional torque meter according to the current rotating handle opening and the actual rotating speed, obtaining initial target torque, and providing that the initial target torque is negative and represents braking torque, and otherwise represents driving torque; if the initial target torque is a braking torque, dynamically compensating the braking torque according to the difference value between the target rotating speed and the actual rotating speed, and outputting the compensated braking torque to drive a motor to brake; And if the initial target torque is the driving torque, outputting the driving torque to drive the motor to accelerate to the target rotating speed.
2. The single handle torque control method of an electric two-wheeled vehicle according to claim 1, wherein the dynamically compensating the braking torque according to a difference between a target rotational speed and an actual rotational speed comprises: setting up a speed-limiting PI regulator, taking the target rotating speed as a given value, taking the actual rotating speed as a feedback value, and outputting a first torque compensation value through the speed-limiting PI regulator; and if the first torque compensation value calculated by the speed limiting PI regulator is greater than 0, the first torque compensation value is taken as 0, so that the output first torque compensation value is always negative or 0.
3. The method for controlling torque of a single handle of an electric two-wheeled vehicle according to claim 2, wherein the proportional coefficient K p and the integral coefficient K i of the speed-limiting PI regulator adaptively change according to the difference between the target rotation speed and the actual rotation speed, and the larger the speed difference is, the larger the value of K p 、K i is, and the smaller the speed difference is, the smaller the value of K p 、K i is.
4. A single handle torque control method for an electric bicycle according to any one of claims 1 to 3, wherein after the dynamic compensation of the braking torque according to the difference between the target rotational speed and the actual rotational speed, the method further comprises: And carrying out secondary compensation on the braking torque by combining the bus reverse charging current.
5. The method for controlling torque of a single handlebar of an electric bicycle as recited in claim 4, wherein the secondary compensation of the braking torque by the bus reverse charging current comprises: Building a bus current PI regulator, taking a preset target reverse charging current as a given value, taking an actual reverse charging current acquired in real time as a feedback value, and outputting a second torque compensation value through the bus current PI regulator; And if the second torque compensation value calculated by the bus current PI regulator is smaller than 0, the second torque compensation value is taken as 0, so that the output second torque compensation value is always positive or 0.
6. The method according to claim 5, wherein the dynamically compensated target brake torque is a superposition of the initial target torque, the first torque compensation value and the second torque compensation value.
7. The single-turn torque control method of an electric two-wheeled vehicle according to claim 1, wherein the pre-calibration method of the two-dimensional torque meter of the rotation speed-turn opening degree comprises: Aiming at a target motor and a controller, testing on an electric dynamometer to obtain a rotating speed-torque external characteristic curve of the target motor under the current controller parameters, so as to obtain the maximum output torque of the motor under different rotating speeds; For the torque values of which the opening is 100 percent in a row in the two-dimensional torque meter, filling the maximum output torque of the motor at the corresponding target rotating speed according to the rotating speed-torque external characteristic curve; The method comprises the steps of testing actual torque required by an electric two-wheel vehicle at each target rotating speed through a mode of applying fixed torque on a power measuring machine of a whole vehicle chassis, calculating a matched rotating handle opening degree by combining the maximum output torque of a motor at the corresponding target rotating speed, filling an opening degree value and a corresponding torque value into the two-dimensional torque meter, and completing driving torque calibration; and filling the braking torque in the two-dimensional torque table with an initial negative torque value, and obtaining the target braking torque through the dynamic compensation.
8. The single handle torque control method of an electric two-wheeled vehicle according to claim 1, wherein outputting the compensated braking torque to drive the motor for braking and outputting the driving torque to drive the motor for accelerating to the target rotational speed comprises: The torque actually output to the motor smoothly approaches the compensated braking torque or the driving torque according to a dynamic following slope; the dynamic following slope is adaptively changed according to the difference value between the target rotating speed and the actual rotating speed, and the larger the speed difference value is, the larger the dynamic following slope is, and the smaller the speed difference value is, the smaller the dynamic following slope is.
9. The single handlebar torque control method of an electric two-wheeled vehicle according to claim 1, wherein mapping the handlebar output voltages to uniform handlebar opening values comprises: calculating a rotary handle opening value A by adopting a normalization calculation formula to be expressed as: Wherein, the For the output voltage of the rotating handle which is collected in real time, For the preset starting voltage of the rotating handle, The starting voltage of the turning handle corresponds to the opening degree of the turning handle by 0%, and the end voltage of the turning handle corresponds to the opening degree of the turning handle by 100%.
10. The single-rotating-handle torque control system of the electric two-wheeled vehicle is characterized by comprising a rotating handle, a controller MCU and a motor, wherein the rotating handle is electrically connected with the controller MCU, and the controller MCU is electrically connected with the motor; the rotary handle is used for outputting a voltage signal to the controller MCU; The controller MCU is integrated with: The handle voltage sampling module is used for collecting handle output voltage in real time; the opening calculation module is used for mapping the handle output voltage into a unified handle opening value; the rotating speed sampling module is used for collecting the actual rotating speed of the motor in real time; The torque table inquiring module is internally provided with a pre-calibrated two-dimensional torque table of the rotating speed-rotating handle opening, and is used for inquiring initial target torque according to the current rotating handle opening and the actual rotating speed, providing that the initial target torque is negative and represents braking torque, and otherwise, representing driving torque; the torque compensation module is used for completing dynamic compensation of the braking torque according to the difference value between the target rotating speed and the actual rotating speed when the initial target torque is the braking torque; and the torque output module is used for outputting the driving torque or the compensated braking torque to the motor.

Description

Single-rotating-handle torque control method and system for electric two-wheeled vehicle Technical Field The invention relates to the field of control of electric two-wheeled vehicles, in particular to a method and a system for controlling torque of a single rotating handle of an electric two-wheeled vehicle. Background The steering handle of the traditional electric two-wheeled vehicle is only provided with a single acceleration control function, the braking operation is realized by completely loosening the steering handle or an independent brake handle, and no special steering handle braking control logic exists. When the user reduces the opening degree of the rotating handle, the driving end of the vehicle still outputs forward torque, only the driving force can be linearly reduced, effective braking can not be directly realized through the rotating handle, and the technical defects of braking response hysteresis and no accurate regulation of braking force output are caused. In addition, a conventional braking mode usually gives a fixed braking torque, the braking force cannot be dynamically matched according to the running state of the vehicle, the problem of operation redundancy is caused in a frequently started and stopped riding scene, and the overall energy consumption of the vehicle is high due to low energy recovery efficiency in the braking process, so that the continuous voyage performance is poor. Disclosure of Invention The inventor provides a single-handle torque control method and a system for an electric two-wheel vehicle aiming at the problems and the technical requirements, and the braking and accelerating functions are all integrated into a single handle through a torque real-time distribution technology, so that the problem that a fixed braking torque meter cannot adapt to the actual braking requirements is solved. The technical scheme of the invention is as follows: In a first aspect, the present application provides a single-handle torque control method for an electric two-wheeled vehicle, comprising the steps of: collecting the output voltage of the rotary handle in real time, and mapping the output voltage of the rotary handle into a unified rotary handle opening value; The method comprises the steps of collecting the actual rotating speed of a motor in real time, inquiring a pre-calibrated rotating speed-rotating handle opening two-dimensional torque meter according to the current rotating handle opening and the actual rotating speed, obtaining initial target torque, and providing an indication brake torque with the initial target torque being negative, otherwise, indicating driving torque; if the initial target torque is the braking torque, dynamically compensating the braking torque according to the difference value between the target rotating speed and the actual rotating speed, and outputting the compensated braking torque to drive the motor to brake; and if the initial target torque is the driving torque, outputting the driving torque to drive the motor to accelerate to the target rotating speed. The further technical scheme is that the dynamic compensation of the braking torque is carried out according to the difference value between the target rotating speed and the actual rotating speed, and the dynamic compensation comprises the following steps: Setting up a speed-limiting PI regulator, taking a target rotating speed as a given value, taking an actual rotating speed as a feedback value, and outputting a first torque compensation value through the speed-limiting PI regulator; If the first torque compensation value calculated by the speed-limiting PI regulator is larger than 0, the first torque compensation value is taken as 0, and the output first torque compensation value is always negative or 0. According to the further technical scheme, the proportional coefficient K p and the integral coefficient K i of the speed-limiting PI regulator are adaptively changed according to the difference value between the target rotating speed and the actual rotating speed, and the larger the speed difference value is, the larger the value of K p、Ki is, and the smaller the speed difference value is, the smaller the value of K p、Ki is. The further technical scheme is that after the dynamic compensation of the braking torque is carried out according to the difference value between the target rotating speed and the actual rotating speed, the method further comprises the following steps: And carrying out secondary compensation on the braking torque by combining the bus reverse charging current. The further technical scheme is that the bus reverse charging current carries out secondary compensation on braking torque, and the method comprises the following steps: Building a bus current PI regulator, taking a preset target reverse charging current as a given value, taking an actual reverse charging current acquired in real time as a feedback value, and outputting a second torque compensation valu