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1. 发明授权

US08346417B2 Method and apparatus for controlling motor for skid mode of electric vehicle 有权
标题翻译：用于控制电动车辆滑行模式的电动机的方法和装置
公开(公告)号：US08346417B2
公开(公告)日：2013-01-01
申请号：US12521424
申请日：2007-12-25
申请人： Xiaohua Tang , Ming Yu , Xuguang Zhou , Jian Gong , Nan Liu , Guangming Yang
发明人： Xiaohua Tang , Ming Yu , Xuguang Zhou , Jian Gong , Nan Liu , Guangming Yang
IPC分类号： B60L15/20 , B60L3/10 , B60L9/18
CPC分类号： B60L15/10 , B60L3/106 , B60L15/025 , B60L2240/12 , B60L2240/421 , B60L2240/423 , B60L2250/26 , B60L2270/145 , B60T8/1764 , B60T2210/124 , Y02T10/643 , Y02T10/7258
摘要： The present invention discloses a method and apparatus for controlling a motor for an electric vehicle. The method and apparatus calculates the current acceleration α of the motor according to the detected rotor position values in real-time, and if the current acceleration α is greater than a predetermined forward acceleration α0, the output torque of the motor is decreased. If the acceleration α is less than a predetermined backward acceleration α1, then the output torque of the motor is decreased. Thus, when the vehicle travels from a normal road surface to a smooth road surface, the decrease or increase output torque may suppress the abrupt speed variations.
摘要翻译：本发明公开了一种电动汽车用电动机的控制方法和装置。该方法和装置实时地根据检测到的转子位置值来计算电动机的当前加速度α，并且如果当前加速度α大于预定的正向加速度α0，则马达的输出转矩降低。如果加速度α小于预定的后退加速度α1，则马达的输出转矩降低。因此，当车辆从正常路面行驶到平滑的路面时，输出转矩的减小或增加可以抑制突然的速度变化。

2. 发明申请

US20100000815A1 Control Method of Electromotor 有权
标题翻译：电机控制方法
公开(公告)号：US20100000815A1
公开(公告)日：2010-01-07
申请号：US12447429
申请日：2006-10-31
申请人： Xiaohua Tang , Xuguang Zhou , Hongbin Luo , Ming Yu , Nan Liu , Jian Gong , Guangming Yang
发明人： Xiaohua Tang , Xuguang Zhou , Hongbin Luo , Ming Yu , Nan Liu , Jian Gong , Guangming Yang
IPC分类号： B60W20/00 , H02P21/14
CPC分类号： H02P29/0016 , G01D21/00 , G01P3/48 , H02P21/22
摘要： A control method of the electromotor comprises: setting a target alternating axis current based on the rotor angular velocity of the electromotor and a target direct axis current based on the torque of the motor; simultaneously detecting three-phase currents and current rotor position angle of the electromotor; converting the three-phase currents to an actual alternating axis current and an actual direct axis current by Park and Clark conversions; inputting the difference between the target current and the actual current to a current loop, outputting the required direct axis current and the required alternating axis current; determining the three phase voltages according to the required direct axis current and alternating axis current and the angle of the electromotor rotor position; obtaining PWM control waveform through three-phase voltages, wherein said PWM control waveform is configured to control the conversion from direct current to alternating current and drives the electromotor.
摘要翻译：电动机的控制方法包括：基于电动机的转矩，基于电动机的转子角速度和目标直轴电流来设定目标交变轴电流; 同时检测电动机的三相电流和电流转子位置角; 通过Park和Clark转换将三相电流转换为实际交流轴电流和实际直轴电流; 将目标电流和实际电流之间的差分输入到电流回路，输出所需的直轴电流和所需的交变轴电流; 根据所需的直轴电流和交流轴电流以及电动机转子位置的角度确定三相电压; 通过三相电压获得PWM控制波形，其中所述PWM控制波形被配置为控制从直流到交流的转换并驱动电动机。

3. 发明授权

US08214096B2 Apparatus and method for controlling an accelerator for electric vehicles 有权
标题翻译：用于控制电动车辆的加速器的装置和方法
公开(公告)号：US08214096B2
公开(公告)日：2012-07-03
申请号：US12518731
申请日：2007-12-11
申请人： Yingwu Xu , Xuguang Zhou , Xiaohua Tang , Jian Gong , Nan Liu , Guangming Yang , Ming Yu
发明人： Yingwu Xu , Xuguang Zhou , Xiaohua Tang , Jian Gong , Nan Liu , Guangming Yang , Ming Yu
IPC分类号： G06F7/00 , G06F17/00
CPC分类号： B60L15/20 , B60L2240/12 , B60L2240/16 , B60L2240/423 , B60L2250/28 , B60L2270/145 , Y02T10/645 , Y02T10/7275 , Y10S903/914 , Y10T477/23 , Y10T477/30 , Y10T477/635 , Y10T477/679
摘要： The present invention provides an apparatus and method for controlling an accelerator for electric vehicles. The method comprises steps of: acquiring an actual accelerator pedal depth value and a current vehicle speed; determining a maximum output torque of motor under the current vehicle speed based on the current vehicle speed; and controlling the output torque of motor in such a way that the growth rate of the output torque higher than that of the actual accelerator pedal depth value at the beginning and then closed to that of the actual accelerator pedal depth value during the actual accelerator pedal depth value growing. The invention makes the output torque grown rapidly within the shallow range of accelerator pedal depth, while makes the output torque grown closed to that of the accelerator pedal depth within the relative deep range of accelerator pedal depth. Thus during the initial stage of acceleration, the vehicle may rapidly output a bigger torque, with an excellent dynamic response, to improve the driving comfort.
摘要翻译：本发明提供一种用于控制电动车辆的加速器的装置和方法。该方法包括以下步骤：获取实际加速踏板深度值和当前车速; 基于当前车速确定当前车速下的电动机的最大输出转矩; 并且以这样的方式控制电动机的输出转矩，使得输出转矩的增长率高于开始时的实际加速器踏板深度值的增长速率，然后在实际加速器踏板深度期间闭合至实际加速器踏板深度值价值增长。本发明使得输出扭矩在加速踏板深度的浅范围内快速生长，同时使加速踏板深度的相对深度范围内的输出转矩增加到加速踏板深度的输出转矩。因此，在加速的初始阶段，车辆可以快速输出更大的转矩，具有出色的动态响应，以提高驾驶舒适性。

4. 发明授权

US08207701B2 Control method of electromotor 有权
标题翻译：电动机控制方法
公开(公告)号：US08207701B2
公开(公告)日：2012-06-26
申请号：US12447429
申请日：2006-10-31
申请人： Xiaohua Tang , Xuguang Zhou , Hongbin Luo , Ming Yu , Nan Liu , Jian Gong , Guangming Yang
发明人： Xiaohua Tang , Xuguang Zhou , Hongbin Luo , Ming Yu , Nan Liu , Jian Gong , Guangming Yang
IPC分类号： H02P23/00
CPC分类号： H02P29/0016 , G01D21/00 , G01P3/48 , H02P21/22
摘要： A control method of the electromotor comprises: setting a target alternating axis current based on the rotor angular velocity of the electromotor and a target direct axis current based on the torque of the motor; simultaneously detecting three-phase currents and current rotor position angle of the electromotor; converting the three-phase currents to an actual alternating axis current and an actual direct axis current by Park and Clark conversions; inputting the difference between the target current and the actual current to a current loop, outputting the required direct axis current and the required alternating axis current; determining the three phase voltages according to the required direct axis current and alternating axis current and the angle of the electromotor rotor position; obtaining PWM control waveform through three-phase voltages, wherein said PWM control waveform is configured to control the conversion from direct current to alternating current and drives the electromotor.
摘要翻译：电动机的控制方法包括：基于电动机的转矩，基于电动机的转子角速度和目标直轴电流来设定目标交变轴电流; 同时检测电动机的三相电流和电流转子位置角; 通过Park和Clark转换将三相电流转换为实际交流轴电流和实际直轴电流; 将目标电流和实际电流之间的差分输入到电流回路，输出所需的直轴电流和所需的交变轴电流; 根据所需的直轴电流和交流轴电流以及电动机转子位置的角度确定三相电压; 通过三相电压获得PWM控制波形，其中所述PWM控制波形被配置为控制从直流到交流的转换并驱动电动机。

5. 发明授权

US08073583B2 Apparatus and method for controlling energy feedback for electric vehicle 有权
标题翻译：用于控制电动汽车能量反馈的装置和方法
公开(公告)号：US08073583B2
公开(公告)日：2011-12-06
申请号：US12521038
申请日：2007-12-21
申请人： Xiaohua Tang , Xuguang Zhou , Ming Yu , Jian Gong , Nan Liu , Guangming Yang
发明人： Xiaohua Tang , Xuguang Zhou , Ming Yu , Jian Gong , Nan Liu , Guangming Yang
IPC分类号： G05D1/00
CPC分类号： B60L7/18 , B60L7/14 , B60L11/1803 , B60L15/2009 , B60L2240/12 , B60L2240/423 , B60L2240/427 , B60L2250/26 , B60W10/08 , B60W10/18 , B60W2540/12 , Y02T10/645 , Y02T10/7005 , Y02T10/7275
摘要： An apparatus and method for controlling energy feedback for electric vehicles includes acquiring an accelerator-pedal travel value, a brake-pedal travel value and a current vehicle speed value, and determining whether the brake-pedal travel value is equal to 0%. Feedback torque based on the current vehicle speed value and the brake-pedal travel value with various conditions is then calculated. Mechanical energy generated by the feedback torque T is converted into electric energy and transmitted to battery of the electric vehicle for storing. Accordingly, the endurance mileage of electric vehicle may be effectively prolonged and the utilization efficiency of battery is improved.
摘要翻译：用于控制电动车辆的能量反馈的装置和方法包括获取加速踏板行驶值，制动踏板行程值和当前车速值，以及确定制动踏板行程值是否等于0％。然后计算出基于当前车速值和各种条件的制动踏板行程值的反馈转矩。由反馈转矩T产生的机械能转换为电能并传递到电动车辆的蓄电池。因此，能够有效地延长电动汽车的耐久性里程，提高电池的利用效率。

6. 发明授权

US07755317B2 Methods for electric vehicle motor control and rotor position detection fault-tolerant processing 有权
标题翻译：电动汽车电机控制和转子位置检测方法容错处理
公开(公告)号：US07755317B2
公开(公告)日：2010-07-13
申请号：US11951305
申请日：2007-12-05
申请人： Ming Yu , Xiaohua Tang , Nan Liu , Jian Gong , Yingwu Xu , Ting Luo , Kai Liu , Xianhong Jiang , Qiaoqiao Wu , Xuguang Zhou , Guangming Yang
发明人： Ming Yu , Xiaohua Tang , Nan Liu , Jian Gong , Yingwu Xu , Ting Luo , Kai Liu , Xianhong Jiang , Qiaoqiao Wu , Xuguang Zhou , Guangming Yang
IPC分类号： H02H7/08
CPC分类号： H02P29/032 , H02P2203/05
摘要： This invention provides methods for electric vehicle motor control and rotor position detection and fault-tolerant processing. The rotor position signal sampled by the system is compared with the previous rotor position θ0. When there is a sudden change, the current position signal acquired is discarded. Instead, a fault-tolerant processing strategy for use during an error condition is employed where the previous sampled rotor position θ0 is used as a base to determine the corrected current rotor position angle Θ1′. Then the correcting value is used to control the electric motor. Thus, during the motor operation, when the detection of the motor rotor position is erroneous because of a sensor such as a revolver that may be interfered by external conditions such as electromagnetic fields or vibrations or when there is a breakdown in other related hardware components or transmitting circuits, the fault-tolerant processing methods of this invention can effectively prevent the motor from losing control and allow it to maintain its continuity and stability.
摘要翻译：本发明提供电动车辆电动机控制和转子位置检测和容错处理的方法。将系统采样的转子位置信号与先前的转子位置进行比较; 0。当发生突然变化时，取消当前位置信号。相反，采用在错误状态期间使用的容错处理策略，其中先前采样的转子位置和角度0用作确定校正的当前转子位置角度θ1'的基准。然后使用校正值来控制电动机。因此，在电动机运转中，当电动机转子位置的检测由于诸如电动机或振动之类的外部条件等受到干扰的左轮传感器或者其他相关的硬件部件的故障而导致错误时，传输电路，本发明的容错处理方法可以有效地防止电机失去控制并使其保持其连续性和稳定性。

7. 发明申请

US20100082189A1 APPARATUS AND METHOD FOR CONTROLLING AN ACCELERATOR FOR ELECTRIC VEHICLES 有权
标题翻译：用于控制电动车辆加速器的装置和方法
公开(公告)号：US20100082189A1
公开(公告)日：2010-04-01
申请号：US12518731
申请日：2007-12-11
申请人： Yingwu Xu , Xuguang Zhou , Xiaohua Tang , Jian Gong , Nan Liu , Guangming Yang , Ming Yu
发明人： Yingwu Xu , Xuguang Zhou , Xiaohua Tang , Jian Gong , Nan Liu , Guangming Yang , Ming Yu
IPC分类号： B60L15/20
CPC分类号： B60L15/20 , B60L2240/12 , B60L2240/16 , B60L2240/423 , B60L2250/28 , B60L2270/145 , Y02T10/645 , Y02T10/7275 , Y10S903/914 , Y10T477/23 , Y10T477/30 , Y10T477/635 , Y10T477/679
摘要： The present invention provides an apparatus and method for controlling an accelerator for electric vehicles. The method comprises steps of: acquiring an actual accelerator pedal depth value and a current vehicle speed; determining a maximum output torque of motor under the current vehicle speed based on the current vehicle speed; and controlling the output torque of motor in such a way that the growth rate of the output torque higher than that of the actual accelerator pedal depth value at the beginning and then closed to that of the actual accelerator pedal depth value during the actual accelerator pedal depth value growing. The invention makes the output torque grown rapidly within the shallow range of accelerator pedal depth, while makes the output torque grown closed to that of the accelerator pedal depth within the relative deep range of accelerator pedal depth. Thus during the initial stage of acceleration, the vehicle may rapidly output a bigger torque, with an excellent dynamic response, to improve the driving comfort.
摘要翻译：本发明提供一种用于控制电动车辆的加速器的装置和方法。该方法包括以下步骤：获取实际加速踏板深度值和当前车速; 基于当前车速确定当前车速下的电动机的最大输出转矩; 并且以这样的方式控制电动机的输出转矩，使得输出转矩的增长率高于开始时的实际加速器踏板深度值的增长速率，然后在实际加速器踏板深度期间闭合至实际加速器踏板深度值价值增长。本发明使得输出扭矩在加速踏板深度的浅范围内快速生长，同时使加速踏板深度的相对深度范围内的输出转矩增加到加速踏板深度的输出转矩。因此，在加速的初始阶段，车辆可以快速输出更大的转矩，具有出色的动态响应，以提高驾驶舒适性。

8. 发明申请

US20100138091A1 APPARATUS AND METHOD FOR CONTROLLING ENERGY FEEDBACK FOR ELECTRIC VEHICLE 有权
标题翻译：用于控制电动车能量反馈的装置和方法
公开(公告)号：US20100138091A1
公开(公告)日：2010-06-03
申请号：US12521038
申请日：2007-12-21
申请人： Xiaohua Tang , Ming Yu , Xuguang Zhou , Jian Gong , Nan Liu , Guangming Yang
发明人： Xiaohua Tang , Ming Yu , Xuguang Zhou , Jian Gong , Nan Liu , Guangming Yang
IPC分类号： B60L7/10 , G06F7/00
CPC分类号： B60L7/18 , B60L7/14 , B60L11/1803 , B60L15/2009 , B60L2240/12 , B60L2240/423 , B60L2240/427 , B60L2250/26 , B60W10/08 , B60W10/18 , B60W2540/12 , Y02T10/645 , Y02T10/7005 , Y02T10/7275
摘要： The present invention discloses an apparatus and method for controlling energy feedback for electric vehicles. The method includes: acquiring an accelerator-pedal travel value, a brake-pedal travel value and a current vehicle speed value; determining whether the brake-pedal travel value is equal to 0%, and calculating a feedback torque based on the current vehicle speed value and the brake-pedal travel value if the brake-pedal travel value is not equal to 0%; or comparing the accelerator-pedal travel value with a given feedback value if the brake-pedal travel value is equal to 0%; and calculating a feedback torque based on the current vehicle speed value if the accelerator-pedal travel value is not greater than the given feedback value; and converting mechanical energy generated by the feedback torque T into electric energy, and transmitting the electric energy to battery of the electric vehicle for storing. According to the present invention, the endurance mileage of electric vehicle may he effectively prolonged and the utilization efficiency of battery is improved.
摘要翻译：本发明公开了一种用于控制电动车辆的能量反馈的装置和方法。该方法包括：获取加速踏板行驶值，制动踏板行程值和当前车速值; 确定所述制动踏板行程值是否等于0％，并且如果所述制动踏板行程值不等于0％，则根据当前车速值和所述制动踏板行程值计算反馈转矩; 或者如果制动踏板行程值等于0％，则将加速器踏板行程值与给定反馈值进行比较; 以及如果所述加速踏板行程值不大于所述给定反馈值，则基于所述当前车速值计算反馈转矩; 并且将由反馈扭矩T产生的机械能转换为电能，并将电能传输到电动车辆的蓄电池。根据本发明，可以有效地延长电动车辆的耐久性里程，提高电池的利用效率。

9. 发明申请

US20100057284A1 METHOD AND APPARATUS FOR CONTROLLING MOTOR FOR SKID MODE OF ELECTRIC VEHICLE 有权
标题翻译：用于控制电动车辆模式的电动机的方法和装置
公开(公告)号：US20100057284A1
公开(公告)日：2010-03-04
申请号：US12521424
申请日：2007-12-25
申请人： Xiaohua Tang , Ming Yu , Xuguang Zhou , Jian Gong , Nan Liu , Guangming Yang
发明人： Xiaohua Tang , Ming Yu , Xuguang Zhou , Jian Gong , Nan Liu , Guangming Yang
IPC分类号： G06F19/00 , H02P3/06
CPC分类号： B60L15/10 , B60L3/106 , B60L15/025 , B60L2240/12 , B60L2240/421 , B60L2240/423 , B60L2250/26 , B60L2270/145 , B60T8/1764 , B60T2210/124 , Y02T10/643 , Y02T10/7258
摘要： The present invention discloses a method and apparatus for controlling a motor for an electric vehicle. The method and apparatus calculates the current acceleration a of the motor according to the detected rotor position values in real-time, and if the current acceleration a is greater than a predetermined forward acceleration a0, the output torque of the motor is decreased. If the acceleration a is less than a predetermined backward acceleration a1, then the output torque of the motor is decreased. Thus, when the vehicle travels from a normal road surface to a smooth road surface, the decrease or increase output torque may suppress the abrupt speed variations.
摘要翻译：本发明公开了一种电动汽车用电动机的控制方法和装置。该方法和装置实时地根据检测到的转子位置值来计算电动机的当前加速度a，如果当前加速度a大于预定的正向加速度a0，则电动机的输出转矩减小。如果加速度a小于预定的后退加速度a1，则马达的输出转矩降低。因此，当车辆从正常路面行驶到平滑的路面时，输出转矩的减小或增加可以抑制突然的速度变化。

10. 发明申请

US20080129241A1 Methods for Electric Vehicle Motor Control and Rotor Position Detection Fault-Tolerant Processing 有权
标题翻译：电动汽车电机控制和转子位置检测方法容错处理
公开(公告)号：US20080129241A1
公开(公告)日：2008-06-05
申请号：US11951305
申请日：2007-12-05
申请人： Ming Yu , Xiaohua Tang , Nan Liu , Jian Gong , Yingwu Xu , Ting Luo , Kai Liu , Xianhong Jiang , Qiaoqiao Wu , Xuguang Zhou , Guangming Yang
发明人： Ming Yu , Xiaohua Tang , Nan Liu , Jian Gong , Yingwu Xu , Ting Luo , Kai Liu , Xianhong Jiang , Qiaoqiao Wu , Xuguang Zhou , Guangming Yang
IPC分类号： G05B21/02 , G05B19/31 , G05B1/04
CPC分类号： H02P29/032 , H02P2203/05
摘要： This invention provides methods for electric vehicle motor control and rotor position detection and fault-tolerant processing. The rotor position signal sampled by the system is compared with the previous rotor position θ0. When there is a sudden change, the current position signal acquired is discarded. Instead, a fault-tolerant processing strategy for use during an error condition is employed where the previous sampled rotor position θ0 is used as a base to determine the corrected current rotor position angle Θ1′. Then the correcting value is used to control the electric motor. Thus, during the motor operation, when the detection of the motor rotor position is erroneous because of a sensor such as a revolver that may be interfered by external conditions such as electromagnetic fields or vibrations or when there is a breakdown in other related hardware components or transmitting circuits, the fault-tolerant processing methods of this invention can effectively prevent the motor from losing control and allow it to maintain its continuity and stability.
摘要翻译：本发明提供电动车辆电动机控制和转子位置检测和容错处理的方法。将由系统采样的转子位置信号与先前的转子位置θ0比较。当发生突然变化时，取消当前位置信号。相反，使用在错误状态期间使用的容错处理策略，其中先前采样的转子位置θ0作为基准来确定校正的当前转子位置角Theta1 < / SUB>'。然后使用校正值来控制电动机。因此，在电动机运转中，当电动机转子位置的检测由于诸如电动机或振动之类的外部条件等受到干扰的左轮传感器或者其他相关的硬件部件的故障而导致错误时，传输电路，本发明的容错处理方法可以有效地防止电机失去控制并使其保持其连续性和稳定性。

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