The invention relates to a scooter parking control method and device, and relates to the scooter parking control technology, the scooter control method before braking comprises the steps that before a scooter enters a braking mode, kp is made to be equal to k1, ki is made to be equal to 0, the braking speed ring output piout is made to be equal to 0, and k1 is a constant value; after the scooter enters a brake mode, the given speed is zero, and the output of the speed loop is given to the input of the current loop; judging whether the current speed is greater than the target speed; if the current speed is greater than the target speed, gradually increasing the kp value from the moment that the scooter enters the braking mode until the speed of the scooter is reduced to the target speed (3km/h); if the current speed is not larger than the target speed, kp is kept unchanged at the moment, the ki value is gradually increased until the speed of the scooter is reduced to zero, and the problem that the speed of the scooter is zero when the scooter is parked on the ramp is solved through PI control over the speed ring.
本发明涉及一种滑板车驻车控制方法和装置,涉及滑板车驻车控制技术,该方法刹车前的滑板车控制:在滑板车进入刹车模式前,令kp=k1,ki=0,刹车的速度环输出pi_out=0,其中,k1是一个常数值;在滑板车进入刹车模式后,给定速度为零,速度环的输出会给到电流环的输入;判断当前速度是否大于目标速度;若当前速度大于目标速度,则从滑板车进入刹车模式开始,逐渐增加kp值,直至使滑板车速度降到目标速度(3km/h);若当前速度不大于目标速度,此时保持kp不变,逐渐增加ki值,直至使滑板车速度降为零,通过对速度环的PI控制解决了在坡道上驻车使其速度为0的问题。
Scooter parking control method and device
滑板车驻车控制方法和装置
2023-05-23
Patent
Elektronische Ressource
Chinesisch
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |