KR102094859B1 - Motor control method and system for slip detection - Google Patents

Abstract

A method and a system for controlling a motor through slip detection provides, in a total wheel mobility platform driven by a plurality of motors, a technology measuring the number of revolutions of a wheel, a mobility yaw rate and a current value of each driving motor to detect a slip and controlling driving motors for compensating for the slip. A method for controlling a motor through slip detection according to an embodiment of the present invention, comprises the steps of: a slip detection module, mounted on each driving motor, measuring the number of revolutions of the wheel rotated by the driving motor, a mobility yaw rate and a current value of each driving motor; detecting the slip according to a change amount of the measured number of revolutions, a change amount of the yaw rate and a change amount of the current value; outputting a torque element and an estimated current compensation value according to the detected slip; adding the estimated current compensation value, outputted in the output step, to the current value to output a PWM signal value; and multiplying the torque element by the PWM signal value to output an output torque and to transfer the output torque to the driving motor. Therefore, the present invention provides the control method and the control system, which can perform a driving operation with stable mobility, even if the slip occurs at any one or more motors, by enabling the remaining motors to perform compensation according to the slip.

Description

Motor control method and system for slip detection

The present invention relates to a motor control method and system through slip detection.

With increasing interest in emission regulations and eco-friendliness around the world, agriculture, one of the industries most related to the environment, has been making and using agricultural machines focused on work efficiency. Therefore, the demands and needs for eco-friendly agricultural machinery continue to increase, and eco-friendly agricultural machinery such as electric tractors and hybrid tractors are emerging.

In addition, the hybrid type agricultural machinery may be provided with an engine and an electric battery as a power source, and the driving power uses a motor.

Hybrid tractors can achieve the effect of reducing emissions to meet the purpose of being eco-friendly.

With the recent development of electric motor technology, the volume compared to the output is greatly reduced, and a method of driving mobility by mounting a motor on each wheel of mobility has been studied. In this way, when a motor is mounted on each wheel of mobility, the engine space can be secured, and thus, it is easy to secure the internal space of mobility, and driving resistance is reduced to obtain greater power efficiency.

However, since it is necessary to control a plurality of motors distributed in each wheel, the complexity of control circuits and algorithms increases compared to mobility using a single motor.

Various techniques exist for the motor control method. In particular, the control method related to the motor driving current driving the motor in the electric motor corresponds to the most essential concept in the study of the motor, and the torque control device and method of KR 2006-0092607 A "Motor" "The motor control method that compensates the driving current of the motor by generating the compensation current using the rotation angle and rotation angle of the motor is also proposed.

In particular, in the case of slippage during driving, the stability of yaw angle control, which is important in the dynamic characteristics of mobility, cannot be guaranteed without compensating for the movement of each motor to be precisely synchronized. It will seriously affect the safety of mobility.

Accordingly, there has been a demand for a technique for detecting a slip using various sensors and controlling a motor based on the slip in case a slip occurs in mobility.

The motor control method and system through slip detection according to the present invention detects slip by measuring the number of revolutions of the wheel, the yaw rate of mobility, and the current value of each drive motor, and controls the drive motors by compensating for the slip, thereby improving mobility. Provides a technology that enables stable driving.

In the motor control method through slip detection according to the present invention, a slip detection module mounted on each drive motor of mobility measures the number of revolutions of a wheel rotated by the drive motor, the yaw rate of mobility, and the current value of the drive motor Measuring step; A slip detection module detects slips according to a variable related to the number of revolutions measured in the measuring step, a change amount of the yaw rate, and a change amount of the current value, wherein the variable related to the rotation number is a slip detection module equipped Includes the difference between the number of revolutions of the driving motor and the average number of revolutions of each driving motor in mobility, and the amount of change in the number of revolutions of the driving motor. An output step in which the slip detection module outputs a torque element and a current prediction compensation value according to the slip detected in the detection step; The control module electrically connected to the slip detection module adds the current prediction compensation value output in the output step to the current value and outputs it as a pwm signal value, multiplies the torque element by the pwm signal value, and outputs it as an output torque. It includes; a control step for transmitting to the drive motor; each step is performed by a motor control system through slip detection, including a slip detection module for detecting the slip of the drive motor and a control module for controlling the drive motor Characterized by,

A motor control system through slip detection according to the present invention includes a plurality of driving motors mounted on each wheel of mobility to rotate the wheels; A slip detection module mounted on each drive motor to detect slip; And a control module electrically connected to the slip detection module and generating a control signal for controlling the drive motor according to the measured slip from the slip detection module to control the operation of the drive motor. The module includes a rotation sensor that measures the number of revolutions of the drive motor; A posture recognition sensor that measures the yaw rate of mobility; A current sensor for measuring the current value of the drive motor; And a slip detector that detects slips according to the amount of change in the number of revolutions, the amount of change in the yaw rate, and the amount of change in the current value. It includes the difference between the average number of revolutions of the drive motor and the amount of change in the number of revolutions of the drive motor, and outputs a torque element and a current prediction compensation value according to the detected slip.

The control module includes a current controller that outputs a pwm signal when the current prediction compensation value is input in addition to the current value; And a torque controller multiplying the torque element by a pwm signal value received from the current controller and outputting it as an output torque signal, and transmitting the output torque signal to the drive motor.

The motor control method and system through slip detection according to the present invention is a total wheel mobility platform driven by a plurality of motors, and even if slip occurs in any one or more motors, the remaining motors compensate for the slip and the mobility can stably run. A control method and a control system are provided.

1 is a block diagram of a motor control method through slip detection according to the present invention.
2 is a block diagram of a motor control system through slip detection according to the present invention.

The preferred embodiment of the present invention will be described in more detail, but the technical parts already well-known will be omitted or compressed for the sake of brevity.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

<Description of motor control method through slip detection>

The motor control method and system through slip detection according to the present invention can be applied when controlling a motor installed on each of a plurality of wheels in the mobility of a total wheel.

In general, when driving in rough terrain or the like, a reduction in the maximum resistance torque T _max that resists rotation of the wheel is caused by the terrain environment. "Slip" is a slip phenomenon that occurs when the torque of the motor driving the wheel exceeds the above-mentioned maximum resistance torque, which is the resistance between the tire and the ground. At this time, the rotational speed of the wheel increases.

As shown in FIG. 1, the motor control method through slip detection according to an embodiment of the present invention includes a measurement step, a detection step, an output step and a control step.

In the measuring step, the slip detection module mounted on each driving motor of the mobility rotates (n) the wheel rotated by each driving motor, the yaw rate of mobility (y _P ), and the current value (I) of each driving motor. _a ) is measured.

In the detection step, the slip detection module is a variable related to the number of revolutions measured in the measurement step (△ N _m : difference between the number of revolutions of the motor and the average number of revolutions of each motor of the mobility (△ N _m = n _w (k)- n _m (k))), △ Nw: The amount of change in the number of revolutions of the motor (△ Nw = n _w (k) -n _w (k-1)), k = 1, 2,, 3 ... ), The amount of change in the yaw rate (△ Y _P , △ Y _P = y _p (k) -y _p (k-1), k = 1, 2,, 3 ...) and the amount of change in the current value (△ I _a, △ I _a = I _a (k)- I _a (k-1), k = 1, 2,, 3 ... ) To detect slip.

Specifically, when it is determined that there is no slip (s (slip) = 0), △ N _m , △ Y _{P, and} △ I _a are all corresponding threshold values (T_ △ N _m , T_ △ Y _P , T_ △ I _a ).

When the slip increases (absolute value s> 0), △ Nw> 0, △ N _m > T_ △ N _m , △ I _a > T_ △ I _a , △ Y _P > T_ △ Y _P.

When the slip decreases (absolute value s> 0), it means △ Nw <0, △ N _m > T_ △ N _m , △ I _a > T_ △ I _a , △ Y _P > T_ △ Y _P.

Outputting step outputs a torque component (δ) and a current prediction compensation value (γ △ I _a) according to the slip a slip detection module detected in the detection step.

Specifically, if the slip is detected as an increase, the torque element is less than 1, otherwise it is equal to 1, and γ (prediction compensation factor) is less than 0. When there is no slip or decrease, γ becomes equal to 0, indicating that the current differential prediction compensation is zero.

In the control step, the control module electrically connected to the slip detection module adds the current prediction compensation value output in the output step to the current value and outputs it as a pwm signal value (α), and multiplies the torque element by the pwm signal value and outputs it as an output torque. To the motor.

Specifically, when a slip is detected in a specific driving motor, a negative current prediction compensation value is added to the current value, output as a pwm signal value, and the torque element is multiplied and output as an output torque to be transmitted as the driving torque of the other driving motor. As the driving torque of other driving motors decreases, the maximum resistance torque can be limited so that the driving torque of the remaining driving motors where slip does not occur even if the driving stability of the entire mobility is collapsed by a specific driving motor where slip occurs. By reducing, the mobility can be made stable again.

That is, each of the above-described steps is performed by a motor control system through slip detection including a slip detection module for detecting slip of each drive motor and a control module for controlling the drive motor.

<Description of motor control system through slip detection>

A motor control system through slip detection that performs the motor control method through slip detection will be described with reference to FIG. 2.

Motor control system through slip detection, which is an embodiment according to the present invention, includes a driving motor 100, a slip detection module 110, and a control module 120.

The driving motor 100 may be mounted on each wheel of mobility to rotate the wheel and be provided in plural.

The slip detection module 110 is mounted on each drive motor 100 to detect slip.

The slip detection module 110 includes a rotation sensor 111, a posture recognition sensor 112, a current sensor 113, and a sleep detector 114.

The rotation sensor 111 measures the number of revolutions of the driving motor 100.

The posture recognition sensor 112 measures the yaw rate of mobility.

The current sensor 113 measures the current value of the drive motor 100.

The slip detector 114 is a variable related to the number of revolutions (including the difference between the number of revolutions of the corresponding driving motor equipped with a slip detection module and the number of revolutions of each driving motor of mobility, and the amount of change in the number of revolutions of the corresponding driving motor) , Slip is detected according to the change amount of the yaw rate and the change amount of the current value.

The control module 120 includes a current controller 121 and a torque controller 122.

The control module 120 is electrically connected to the slip detection module, and generates a control signal for controlling each drive motor according to the slip measured from the slip detection module to control the operation of each drive motor.

The current controller 121 outputs a pwm signal when a current prediction compensation value is input in addition to the current value.

The torque controller 122 multiplies the torque element received from the current controller 121 by the pwm signal value and outputs it as an output torque signal, and transmits the output torque signal to each drive motor 100.

That is, the motor control method and system through slip detection according to the present invention is a total wheel mobility platform driven by a plurality of motors. Even if slip occurs in any one or more motors, mobility is stably compensated by the remaining motors according to the slip. Provides a control method and a control system capable of driving.

As described above, although the detailed description of the present invention has been made by examples, it is understood that the present invention is limited only to the above-described embodiments, since the above-described embodiments are merely described as preferred examples of the present invention. It should be understood that the scope of the present invention is to be understood by the following claims and equivalent concepts.

100: drive motor
110: slip detection module
111: rotation rotation sensor
112: posture recognition sensor
113: current sensor
114: slip detector
120: control module
121: current controller
122: torque controller

Claims (3)

A measurement step in which a slip detection module mounted on each driving motor of mobility measures the number of revolutions of a wheel rotated by the driving motor, a yaw rate of mobility, and a current value of the driving motor;
A slip detection module detects slips according to a variable related to the number of revolutions measured in the measurement step, a change amount of the yaw rate, and a change amount of the current value .-- The variable related to the rotation number corresponds to a slip detection module. Includes the difference between the number of revolutions of the driving motor and the average number of revolutions of each driving motor in mobility, and the amount of change in the number of revolutions of the driving motor.
An output step in which the slip detection module outputs a torque element and a current prediction compensation value according to the slip detected in the detection step;
A control module electrically connected to the slip detection module adds the current prediction compensation value output in the output step to the current value and outputs it as a pwm signal value, multiplies the torque element by the pwm signal value, and outputs it as an output torque. Includes; control step of transmitting to the drive motor,
Each of the above steps is performed by a motor control system through slip detection including a slip detection module that detects slip of the drive motor and a control module that controls the drive motor.
Motor control method through slip detection.
A plurality of driving motors mounted on the respective wheels of the mobility to rotate the wheels;
A slip detection module mounted on each drive motor to detect slip; And
It includes; a control module that is electrically connected to the slip detection module and controls the operation of the drive motor by generating a control signal for controlling the drive motor according to the measured slip from the slip detection module.
The slip detection module,
A rotation sensor that measures the number of revolutions of the drive motor;
A posture recognition sensor that measures the yaw rate of mobility;
A current sensor for measuring the current value of the drive motor; And
A slip detector that detects slip according to the variable related to the number of revolutions, the amount of change in the yaw rate, and the amount of change in the current value. It includes the difference between the average number of revolutions of the drive motor and the amount of change in the number of revolutions of the drive motor, and outputs a torque factor and a current prediction compensation value according to the detected slip.
Motor control system through slip detection.
According to claim 2,
The control module,
A current controller outputting a pwm signal when the current prediction compensation value is input in addition to the current value; And
And a torque controller multiplying the torque element by a pwm signal value received from the current controller and outputting it as an output torque signal, and transmitting the output torque signal to the drive motor.
Motor control system through slip detection.

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