KR20240073567A - Method for Control Dual In-wheel Motor type Electric Two-wheeled Vehicle - Google Patents

Abstract

The control method of an electric two-wheeled vehicle applying a dual in-wheel motor of the present invention uses sensor data from the first and second sensors 23 and 33 to control the first in-wheel motor 21 on the rear wheel (5) side and the second in-wheel motor on the front wheel (3) side ( After diagnosing the motor failure of 31), in case of motor failure, the rear wheel failure mode/front wheel failure mode (which disconnects the failed motor among the first in-wheel motor 21 and the second in-wheel motor 31 and drives and controls only the normal motor) ( S31 ~ S33 / S41 ~ S42) maintains the driving of the electric two-wheeled vehicle, thereby ensuring driver and driving stability. On the other hand, when the motor is normal, a normal mode (S60) for driving and controlling the second in-wheel motor 31 and the first in-wheel One of the high-speed mode (S80) for driving control of the motor 21 and the turbo mode (S90) for driving control of both the first in-wheel motor 21 and the second in-wheel motor 31 is performed, thereby creating two It has the feature of enabling efficient control of the in-wheel motor.

Description

{Method for Control Dual In-wheel Motor type Electric Two-wheeled Vehicle}

The present invention relates to an electric two-wheeled vehicle, and in particular, an electric two-wheeled vehicle with drive motors applied to the front and rear wheels, respectively, can be divided into a rear-wheel failure mode, a front-wheel failure mode according to a failure of any one motor, and a normal mode, high-speed mode, turbo mode, This is about a dual in-wheel motor control method that can be operated in various motor failure drive modes.

Recently, electric two-wheeled vehicles have been increasingly equipped with in-wheel motors on the front or rear wheels.

This is because the in-wheel motor has a motor inside the wheel, so it can directly and independently control the driving force to reduce the weight of the vehicle body, and in particular, reduce power loss and expand the space of the vehicle body.

Japanese Published Patent JP 2004-0187329 A (2004.07.02)

However, since the electric two-wheeled vehicle is driven by one in-wheel motor mounted on the front or rear wheel, the electric two-wheeled vehicle cannot be driven in a situation of in-wheel motor failure, which makes it impossible to guarantee stability against drive motor failure.

In particular, a single in-wheel motor makes efficient driving difficult when using the motor, and regenerative braking control for the battery is inevitably impossible in frequent braking situations of electric two-wheeled vehicles.

Accordingly, in consideration of the above, the present invention applies an in-wheel dual motor with a low-speed, high-efficiency motor of the front wheel and a high-speed, high-efficiency motor of the rear wheel, so that the electric two-wheeled vehicle can be operated in a rear wheel failure mode, a front wheel failure mode, and a motor normal according to the failure of any one motor. Efficient control is possible by giving different commands to the two in-wheel motors in the following driving modes: normal mode, high-speed mode, and turbo mode. In particular, in the motor failure driving mode due to motor failure, stability is improved by controlling the one normal motor out of the two. The purpose is to provide a guaranteed control method for an electric two-wheeled vehicle with a dual in-wheel motor.

In order to achieve the above object, the control method of an electric two-wheeled vehicle using a dual in-wheel motor of the present invention includes the detection value from the first sensor of the first in-wheel motor installed on the rear wheel and the second in-wheel motor installed on the front wheel when driving the electric two-wheeled vehicle. A step in which the motor controller reads the detection value of the second sensor; Diagnosing a failure of the first in-wheel motor and the second in-wheel motor using the detection value; Confirming failure states of the first in-wheel motor and the second in-wheel motor; determining which of the first in-wheel motor and the second in-wheel motor is in a faulty state; A step of performing a rear wheel failure mode in which, when the first in-wheel motor fails, the failure of the first in-wheel motor is replaced by driving of the second in-wheel motor and a speed limit is set to maintain driving of the electric two-wheeled vehicle; And when the second in-wheel motor fails, the operation of the electric two-wheeled vehicle is maintained by replacing the failure of the second in-wheel motor with the operation of the first in-wheel motor.

In a preferred embodiment, the first in-wheel motor has a high efficiency point at high speed, and the second in-wheel motor has a high efficiency point at low speed.

In a preferred embodiment, each of the first and second sensors is a Hall sensor and a current sensor.

In a preferred embodiment, the step of the rear wheel failure mode includes setting the speed limit, turning the motor connection switch of the first in-wheel motor to the off position of the first gate driver, and turning the second in-wheel motor off. The torque or speed of the electric two-wheeled vehicle is set.

In a preferred embodiment, the speed limit setting is 70%.

In a preferred embodiment, the step of the front wheel failure mode is a step in which the motor connection switch of the second in-wheel motor is disconnected by turning the second gate driver off, and the torque of the first in-wheel motor or the speed of the electric two-wheeled vehicle is carried out in the setting stage.

In addition, the control method of an electric two-wheeled vehicle equipped with a dual in-wheel motor of the present invention to achieve the above object is based on the detection value from the first sensor of the first in-wheel motor installed on the rear wheel and the second in-wheel installed on the front wheel when driving the electric two-wheeled vehicle. A motor controller reading the detection value of the second sensor of the motor; Diagnosing a failure of the first in-wheel motor and the second in-wheel motor using the detection value; Confirming normal states of the first in-wheel motor and the second in-wheel motor; Setting the torque of the first in-wheel motor and the second in-wheel motor or setting the speed of the electric two-wheeled vehicle; Determining the required torque of the electric two-wheeled vehicle; When the required torque is smaller than the current motor torque, switching from a normal mode by driving control of the second in-wheel motor to a high-speed mode by driving control of the first in-wheel motor to drive the electric two-wheeled vehicle; And when the required torque is greater than the current motor torque, the electric two-wheeled vehicle is driven in a turbo mode by driving control of the first in-wheel motor and the second in-wheel motor.

In a preferred embodiment, the switching speed between the normal mode and the high-speed mode applies a switching speed, and the switching speed applies an intermediate speed starting point between the speed of the electric two-wheeled vehicle in the normal mode and the speed of the electric two-wheeled vehicle in the high-speed mode.

In order to achieve the above object, the electric two-wheeled vehicle of the present invention is composed of a first in-wheel motor driving the rear wheel, a first sensor sensing the motor, and a first gate driver turning the motor connection on/off. Wheel drive motor section; A front-wheel drive motor unit consisting of a second in-wheel motor that drives the front wheels, a second sensor that senses the motor, and a second gate driver that turns on/off the motor connection; and after diagnosing a motor failure for the first in-wheel motor from sensor data detected by the first sensor and the first in-wheel motor from sensor data detected by the second sensor, the first gate driver or the second It is characterized by including a motor controller that disconnects the faulty motor with a gate driver and controls the operation of one normal motor to maintain the operation of the electric two-wheeled vehicle.

In a preferred embodiment, the motor controller compares the current motor torque with the first in-wheel motor and the required torque in a normal state of the first in-wheel motor, and drives and controls the second in-wheel motor when the required torque is small, When the required torque is large, both the first in-wheel motor and the second in-wheel motor are controlled to drive, and when the switching speed while driving the second in-wheel motor is greater than the current speed, the drive control is changed to the first in-wheel motor.

Control of an electric two-wheeled vehicle using a dual in-wheel motor according to the present invention implements the following actions and effects.

First, dual control is possible when using an in-wheel motor with two in-wheel motors mounted on the front and rear wheels respectively, thereby maximizing the benefits of controlling the drive motor of an electric two-wheeled vehicle. Second, the use of dual in-wheel motors allows the electric two-wheeled vehicle to be driven efficiently and regenerative braking of the battery according to braking is possible. Third, the operation mode is divided into normal mode using 100% of low-speed high-efficiency motor 1, high-speed mode using 100% of high-speed high-efficiency motor 2, and turbo mode using simultaneous use of motors 1 and 2 according to the torque required above a certain level, resulting in a dual motor driving method. This can be implemented in various ways depending on the driving mode. Fourth, stability against drive motor failure can be guaranteed even if one of the dual motors fails. Fifth, the front wheel failure mode is controlled by dividing the motor failure drive mode into front wheel operation with gate driver off/motor connection off and rear wheel operation with regenerative braking performance/drive control applied, regenerative braking performance/driving control/speed It can be diversified into a rear-wheel failure mode that is controlled by dividing into front-wheel operation with restrictions and rear-wheel operation with gate driver off/motor connection off.

Figure 1 is a flow chart of a control method of an electric two-wheeled vehicle equipped with a dual in-wheel motor according to the present invention, Figure 2 is a diagram showing the configuration of an in-wheel motor system of an electric two-wheeled vehicle equipped with a dual in-wheel motor according to the present invention, and Figure 3 is a front wheel side according to the present invention. When the motor or the rear motor fails, the motor failure drive mode of the dual in-wheel motor is in the state. Figure 4 shows the normal (low speed) mode and high speed mode in which only one of the front and rear wheel motors is driven during the motor normal operation mode according to the present invention. , Figure 5 is a turbo mode state in which the front and rear wheel motors are driven together among the motor normal operation modes according to the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached illustration drawings. These embodiments are examples and can be implemented in various different forms by those skilled in the art to which the present invention pertains, so they are described herein. It is not limited to the embodiment.

Referring to Figure 1, the control method of an electric two-wheeled vehicle equipped with a dual in-wheel motor reads sensor data from a sensor installed on the motor (S11), performs a fault diagnosis on the dual motor of the in-wheel motor system (S12), and then checks whether the motor is broken. If the faulty motor for the front/rear wheels is checked (S22) at (S21), the motor fault drive mode is performed (S31~S33/S41~S42) to drive and control only one motor in normal condition excluding the faulty motor. Or, after setting (or inputting) the torque or speed for the two motors in a normal state (S51), the required torque condition (S52) is confirmed, and then the motor normal operation mode (S60 to S90) to drive and control both motors is confirmed. It is characterized by being carried out.

In particular, the motor failure drive mode stage divides the front/rear wheel motors into the main motor and the sub motor, and the rear wheel failure mode (S31~S33) responds to the main motor failure with the sub motor and responds to the sub motor failure with the main motor. It is classified into front wheel failure modes (S41~S42).

In addition, the motor normal operation modes (S60 to S90) include a normal mode (S60) in which drive control is performed only by the sub motor, a high-speed mode (S80) in which drive control of the sub motor is converted to drive control of the main motor, and a main motor and It is divided into turbo mode (S90), which also performs drive control for the sub motor.

Therefore, the control method of the electric two-wheeled vehicle with the dual in-wheel motor uses a dual motor drive method by mounting the front and rear wheels respectively, thereby utilizing the advantages of controlling the drive motor of the dual electric two-wheeled vehicle and enabling efficient driving and regenerative braking, In particular, if one of the dual in-wheel motors fails, it has the advantage of guaranteeing stability against drive motor failure by driving the front and rear wheels.

Meanwhile, referring to FIG. 2, the electric two-wheeled vehicle 1 includes an in-wheel motor system 10, and the in-wheel motor system 10 is configured to drive and control both the front wheel 3 and the rear wheel 5.

From this, the electric two-wheeled vehicle 1 is characterized as an electric two-wheeled vehicle with a dual in-wheel motor, and through this, the motor controller 40 of the in-wheel motor system 10 operates in the rear wheel failure mode (S30), the front wheel failure mode (S40), and the general mode. (S60), high-speed mode (S80), and turbo mode (S90) can be implemented as a control method for an electric two-wheeled vehicle with a dual in-wheel motor.

For example, the electric two-wheeled vehicle (1) is a motorcycle that runs on two wheels, the front wheel (3) and the rear wheel (5). It can be a scooter, an electric bicycle, or personal mobility, which is a means of personal transportation.

However, the electric two-wheeled vehicle 1 further includes a battery (not shown), and the battery supplies power to the first and second in-wheel motors 21 and 31 under the control of the motor controller 40 and operates the motor controller during braking. SOC (State Of Charge) charging is achieved through the regenerative braking control in (40).

Specifically, the in-wheel motor system 10 includes a rear-wheel drive motor unit 20 mounted on the rear wheel 5, a front-wheel drive motor unit 30 mounted on the front wheel 3, and rear/front-wheel drive motor units 20 and 30. ) is composed of a motor controller (40) that controls all.

For example, the rear wheel drive motor unit 20 consists of a first in-wheel motor 21, a first sensor 23, and a first gate driver 25, and the first in-wheel motor 21 is connected to the rear wheel 5. It is an integrated structure built into the rear wheel 5 under the control of the motor controller 40, and the first sensor 23 is composed of a hall sensor built into the motor and a current sensor to rotate the first in-wheel motor 21. The number and current magnitude are detected and transmitted to the motor controller 40, and the first gate driver 25 is a connection switch that connects the first in-wheel motor 21 and the motor controller 40 through an electric circuit. ) operates by turning the disconnection switch OFF and the connection continuation switch ON.

In particular, the first in-wheel motor 21 has high efficiency at high speeds, and functions as a main motor, so it operates preferentially when the electric two-wheeled vehicle 1 is keyed on.

For example, the front wheel drive motor unit 30 is composed of a second in-wheel motor 31, a second sensor 33, and a second gate driver 35, and the second in-wheel motor 31 is connected to the front wheel 3. It has an integrated structure built into the front wheel (3) and drives the front wheel (3) under the control of the motor controller (40), and the second sensor (33) consists of a hall sensor built into the motor and a current sensor to rotate the second in-wheel motor (31). The number and current magnitude are detected and transmitted to the motor controller 40, and the second gate driver 35 is a connection switch that connects the second in-wheel motor 31 and the motor controller 40 through an electric circuit. ) operates by turning the disconnection switch OFF and the connection continuation switch ON.

In particular, the second in-wheel motor 21 has a high efficiency point at low speeds, and functions as a sub-motor, so it operates under the control of the motor controller 40 rather than the key on of the electric two-wheeled vehicle 1.

For example, the motor controller 40 preferentially supplies power from the battery to the first in-wheel motor 21 when the electric two-wheeled vehicle 1 is keyed on, and the hole of the first and second sensors 23 and 33 The signal values of the sensor and current sensor are read to determine whether the first and second in-wheel motors (21 and 31) are malfunctioning, and control is performed by on/off control of the first and second gate drivers (35). Controls the battery power for each of the 1 and 2 in-wheel motors (21 and 31). In this case, the memory lists sensor reference values matching sensor detection values and further includes a motor efficiency/speed/torque map including motor high efficiency points.

In particular, the motor controller 40 checks the failure of the first and second in-wheel motors 21 and 31 (S10 to S20) and operates each of the motor failure drive modes (S30 to S40)/motor normal operation modes (S50 to S90). It operates as a central processing unit with a memory that stores the control logic for the program.

Furthermore, the motor controller 40 controls the SOC (State Of Charge) of the battery through regenerative braking control when decelerating or braking the electric two-wheeled vehicle 1. In this case, the regenerative braking control is performed by applying the same principles as hybrid vehicles or electric vehicles.

Hereinafter, the control method of the electric two-wheeled vehicle equipped with the dual in-wheel motor will be described in detail with reference to FIGS. 2 to 5. In this case, the control subject is the motor controller 40, and the control object is the first and second in-wheel motors 21 and 31.

First, the motor controller 40 checks the status of the in-wheel motor system when the electric two-wheeled vehicle 1 is keyed on through the motor sensor data reading step of S11 and the motor failure diagnosis step of S12.

Referring to FIG. 2, the motor sensor data reading (S11) includes the detection values of the Hall sensor and current sensor, which are the first sensors 23 of the first in-wheel motor 21 on the rear wheel 5 side, and the front wheel 3 side. The motor failure is performed by reading the detection values of the Hall sensor and current sensor, which are the second sensors 33 of the second in-wheel motor 31, and matching the sensor detection values with the sensor reference value in the motor efficiency/speed/torque map. Perform diagnosis (S12).

Next, the motor controller 40 performs failure confirmation for each motor in the motor failure confirmation step of S21 and the failure motor location classification step of S22.

For example, the motor failure confirmation (S21) is made when the sensor detection value in the motor efficiency/speed/torque map deviates from the sensor reference value, that is, there is a mismatch, and the failure motor location classification (S22) is performed by the sensor detection value in the mismatch state. From the first sensor 23 and the second sensor 33, the first in-wheel motor 21 and the second in-wheel motor 31 are identified and determined.

As a result, the motor controller 40 divides the front/rear wheel motors into the main motor and the sub motor through the fault motor position classification (S22), and sets the motor fault drive mode to one motor in a normal state by excluding the faulty motor (i.e. , main motor or sub-motor) and is divided into rear wheel failure mode (S31~S33) and front wheel failure mode (S41~S42).

Specifically, the rear wheel failure mode (S31 to S33) is a control that responds to the main motor failure (i.e., the first in-wheel motor 21) with a normal sub motor (i.e., the second in-wheel motor 31), which is the control of S31. This is performed through the speed limit setting step, the motor connection switch disconnection step in S32, and the torque or speed input step in S33.

For example, the speed limit is set (31) to about 70% of the driving speed of the electric two-wheeled vehicle (1) that can be achieved by the second in-wheel motor (31), and the motor connection switch is turned off (Off) by the first in-wheel motor (31). 21), the torque input (or setting) is applied to the second in-wheel motor 31, and the speed input (or setting) is applied to the traveling speed of the electric two-wheeled vehicle 1 (S33).

Specifically, the front wheel failure mode (S41 to S42) is a control that responds to a sub motor failure (i.e., the second in-wheel motor 31) with a normal main motor (i.e., the first in-wheel motor 21), which is the control of S41. Perform the motor connection switch disconnection step and the torque or speed input step of S42.

For example, the motor connection switch off is applied to the second in-wheel motor 31 (S41), the torque input (or setting) is applied to the first in-wheel motor 21 and the speed input (or setting) is applied to the second in-wheel motor 31 (S41). is applied to the driving speed of the electric two-wheeled vehicle (1) (S42).

Referring to FIG. 3, in the electric two-wheeled vehicle 1, the second in-wheel motor 31, which operates as the main motor for the front wheel 3 in the rear wheel failure mode (S30), operates at a speed limit of about 70% compared to 100%. While driving control is performed while regenerative braking is also performed, the first in-wheel motor 21, which was the main motor of the rear wheel 3, is in a motor disconnected state due to the first gate driver 25 being turned off.

On the other hand, in the electric two-wheeled vehicle (1), in the front wheel failure mode (S40), the second in-wheel motor (31), which was the sub motor of the front wheel (3), is in a motor disconnected state due to the OFF of the first gate driver (35), but the rear wheel (5) The first in-wheel motor 21 operating as the main motor continuously performs the same drive control.

In this way, when any one motor fails, the failed motor runs as a free wheel after turning off the gate driver (25, 35) and disconnecting the motor, while the normal motor performs general drive control and regenerative braking in a speed limit situation. Perform. In this case, if front-wheel drive is used, the center of gravity may shift forward during braking, so an additional speed limit is necessary.

Meanwhile, when the motor failure is not confirmed (S21), the motor controller 40 diagnoses both the first and second in-wheel motors 21 and 31 as normal because the sensor detection value matches the sensor reference value in the motor efficiency/speed/torque map. After that, switch to the torque or speed input stage of S51.

For example, the torque or speed input (S51) is a torque input (or setting) for each of the first and second in-wheel motors 21 and 31 or a speed input (or setting) for driving the electric two-wheeled vehicle 1. do.

Subsequently, the motor controller 40 performs the required torque confirmation step of S52 and applies the following required torque confirmation equation.

Required torque confirmation formula: Required torque > A?

Here, “required torque” is the motor torque according to the driver's acceleration operation or the acceleration judgment of the motor controller 40 according to the driving situation of the electric two-wheeled vehicle (1), “A” is the detected value of the current motor torque, and “>“ is The size relationship between the two values is an inequality sign. In this case, the driving situation is classified as a flat road or a downhill road, and the current motor torque is the first in-wheel motor when both the first and second in-wheel motors 21 and 31 are in a normal state. (21) and/or the motor output of the second in-wheel motor 31.

As a result, in “required torque > current motor torque (A)”, if the required torque is smaller than the current motor torque (A), that is, in a situation where the required torque is below a certain level, the normal mode stage of S60 is entered and the second in-wheel, which is a sub motor, is entered. The motor 31 is driven and controlled, and whether the high-speed mode execution step of S80 is entered is checked through the mode conversion condition check step of S70.

Specifically, the mode switching condition check (S70) is applied between normal mode performance (S60) and high-speed mode performance (S80), and the mode switch is determined for the change in speed of the electric two-wheeled vehicle 1 while performing the normal mode (S60). Apply the formula. In this case, the speed change is a result of the driver's intention to accelerate.

Mode switching judgment formula: Switching speed > B?

Here, “transition speed” is the speed of the electric two-wheeled vehicle according to the driver's acceleration operation or acceleration judgment of the motor controller 40 according to the driving situation of the electric two-wheeled vehicle (1), “B” is the detected value of the current speed of the electric two-wheeled vehicle, and “ >“ is an inequality sign in the size relationship between the two values. In this case, the driving situation is classified as an uphill road compared to a flat or downhill road.

In particular, the transition speed applies an intermediate speed starting point based on the speed of the electric two-wheeled vehicle 1 in the normal mode (S60) and the speed of the electric two-wheeled vehicle 1 in the high-speed mode (S80).

As a result, in “Transition Speed > Current Speed (B)”, if the transition speed is less than the current speed (B), the normal mode (S60) continues. On the other hand, in “Conversion Speed > Current Speed (B)”, if the conversion speed is greater than the current speed (B), the S80 switches to high-speed mode.

Referring to FIG. 4, when the required torque is below a certain level, the normal mode (S60) drives the electric two-wheeled vehicle 1 by 100% driving the second in-wheel motor 31, which has good low-speed efficiency, while the high-speed Mode (S80) is a state in which the electric two-wheeled vehicle 1 is driven by 100% driving of the first in-wheel motor 21, which has good high-speed efficiency.

In particular, the motor controller 40 operates the high-speed mode (S80) at 100% based on the mid-speed starting point of the motor efficiency/speed/torque map at the time of switching the second in-wheel motor 31 to the first in-wheel motor 21. The motor ratio of the second in-wheel motor (31) -> 100% of the first in-wheel motor (21) is changed.

Meanwhile, the motor controller 40 switches to the turbo mode of S90 when the required torque is greater than the current motor torque (A) in “required torque > current motor torque (A)”, that is, in a situation where the required torque is above a certain level.

Referring to FIG. 5, when the required torque is above a certain level, the turbo mode (S90) is a state in which the electric two-wheeled vehicle 1 is driven by driving both the first and second in-wheel motors 21 and 31. In this case, the first and second in-wheel motors 21 and 31 are driven by driving each of the first and second in-wheel motors 21 and 31 at 100% or by driving the first in-wheel motor 21, which is the main motor, at 100%. ) can be driven at 100% while the second in-wheel motor 31, which is a sub-motor, can be driven at about 50% or more.

As described above, the method of controlling an electric two-wheeled vehicle with a dual in-wheel motor according to this embodiment is to control the first in-wheel motor 21 on the rear wheel 5 and the front wheel 3 using sensor data from the first and second sensors 23 and 33. ) After diagnosing a motor failure of the second in-wheel motor 31, in the case of a motor failure, the connection between the failed motor among the first in-wheel motor 21 and the second in-wheel motor 31 is disconnected and only the normal motor is driven and controlled. Failure mode/front wheel failure mode (S31~S33/S41~S42) maintains driving of the electric two-wheeled vehicle, thereby ensuring driver and driving stability, while in case of normal motor, general mode ( S60), high-speed mode (S80) for driving and controlling the first in-wheel motor 21, and turbo mode (S90) for driving and controlling both the first in-wheel motor 21 and the second in-wheel motor 31. By performing either one, efficient control of the two in-wheel motors is possible.

1: Electric two-wheeled vehicle 3: Front wheel
5: Rear wheel 10: In-wheel motor system
20: Rear-wheel drive motor unit 21: First in-wheel motor
23: first sensor 25: first gate driver
30: Front-wheel drive motor unit 31: Second in-wheel motor
33: second sensor 35: second gate driver
40: motor controller

Claims (13)

When driving an electric two-wheeled vehicle, the motor controller reads the detection value from the first sensor of the first in-wheel motor installed on the rear wheel and the detection value from the second sensor of the second in-wheel motor installed on the front wheel;
Diagnosing a failure of the first in-wheel motor and the second in-wheel motor using the detection value;
Confirming failure states of the first in-wheel motor and the second in-wheel motor;
determining which of the first in-wheel motor and the second in-wheel motor is in a failure state;
When the first in-wheel motor fails, performing a rear wheel failure mode in which a speed limit is set to maintain driving of the electric two-wheeled vehicle by replacing the failure of the first in-wheel motor with driving of the second in-wheel motor; and
When the second in-wheel motor fails, the operation of the electric two-wheeled vehicle is maintained by replacing the failure of the second in-wheel motor with the operation of the first in-wheel motor.
A control method for an electric two-wheeled vehicle with a dual in-wheel motor, characterized in that performed by.
The method of claim 1, wherein the first in-wheel motor has a high efficiency point at high speed,
A control method for an electric two-wheeled vehicle applying a dual in-wheel motor, characterized in that the second in-wheel motor has a high efficiency point at low speed.
The control method of an electric two-wheeled vehicle with a dual in-wheel motor according to claim 1, wherein the first sensor and the second sensor are a hall sensor and a current sensor.
The method of claim 1, wherein the step of the rear wheel failure mode is
The step of setting the speed limit,
A step where the motor connection switch of the first in-wheel motor is disconnected by turning the first gate driver off, and
Setting the torque of the second in-wheel motor or the speed of the electric two-wheeled vehicle
A control method for an electric two-wheeled vehicle with a dual in-wheel motor, characterized in that performed by.
The method of claim 4, wherein the speed limit setting is 70%.
The method of claim 7, wherein the step of the front wheel failure mode is
A step where the motor connection switch of the second in-wheel motor is disconnected by turning the second gate driver off, and
Setting the torque of the first in-wheel motor or the speed of the electric two-wheeled vehicle
A control method for an electric two-wheeled vehicle with a dual in-wheel motor, characterized in that performed by.
When driving an electric two-wheeled vehicle, the motor controller reads the detection value from the first sensor of the first in-wheel motor installed on the rear wheel and the detection value from the second sensor of the second in-wheel motor installed on the front wheel;
Diagnosing a failure of the first in-wheel motor and the second in-wheel motor using the detection value;
Confirming normal states of the first in-wheel motor and the second in-wheel motor;
Setting the torque of the first in-wheel motor and the second in-wheel motor or setting the speed of the electric two-wheeled vehicle;
Determining the required torque of the electric two-wheeled vehicle;
When the required torque is smaller than the current motor torque, switching from a normal mode by driving control of the second in-wheel motor to a high-speed mode by driving control of the first in-wheel motor to drive the electric two-wheeled vehicle; and
When the required torque is greater than the current motor torque, the electric two-wheeled vehicle is driven in a turbo mode by driving control of the first in-wheel motor and the second in-wheel motor.
A control method for an electric two-wheeled vehicle with a dual in-wheel motor, characterized in that it includes.
The method of claim 7, wherein the first in-wheel motor has a high efficiency point at high speed,
A control method for an electric two-wheeled vehicle applying a dual in-wheel motor, characterized in that the second in-wheel motor has a high efficiency point at low speed.
The method of claim 7, wherein the first sensor and the second sensor are a hall sensor and a current sensor.
The method of claim 7, wherein switching between the normal mode and the high-speed mode applies a switching speed,
The switching speed is a method of controlling an electric two-wheeled vehicle with a dual in-wheel motor, characterized in that an intermediate speed starting point is applied between the speed of the electric two-wheeled vehicle in the normal mode and the speed of the electric two-wheeled vehicle in the high-speed mode.
A rear-wheel drive motor unit consisting of a first in-wheel motor that drives the rear wheels, a first sensor that senses the motor, and a first gate driver that turns on/off the motor connection;
A front-wheel drive motor unit consisting of a second in-wheel motor that drives the front wheels, a second sensor that senses the motor, and a second gate driver that turns on/off the motor connection; and
After diagnosing a motor failure for the first in-wheel motor from sensor data detected by the first sensor and the first in-wheel motor from sensor data detected by the second sensor, the first gate driver or the second gate A motor controller that maintains the operation of an electric two-wheeled vehicle by disconnecting the faulty motor with a driver and controlling the operation of one normal motor.
An electric two-wheeled vehicle comprising:
The electric two-wheeled vehicle according to claim 13, wherein the first sensor and the second sensor are a hall sensor and a current sensor.
The method of claim 11, wherein the motor controller
Current motor torque is compared with the required torque in a normal state of the first in-wheel motor and the second in-wheel motor,
If the required torque is small, the second in-wheel motor is driven and controlled,
When the required torque is large, both the first in-wheel motor and the second in-wheel motor are driven and controlled,
An electric two-wheeled vehicle, characterized in that when the switching speed while driving the second in-wheel motor is greater than the current speed, the driving control is changed to that of the first in-wheel motor.

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