Method and device for controlling linear brakes of remote-controlled model racing cars

A device for controlling linear brakes of remote-controlled model racing cars comprising a remote controller, a motor control module, a brushless motor, and a transmission system;

• the remote controller is configured to receive a remote-control command selected by a user according to a condition of the model cars, and send the remote-control command to the motor control module of the model cars;
• the remote-control command includes a braking command;
• a braking command includes a current throttle value;
• the motor control module is configured to control the motor by receiving a remote-control command and selecting appropriate control algorithms;
• when a braking command is sent by the remote controller, the appropriate braking algorithm is selected according to a speed of a current brushless motor;
• if the speed of the current brushless motor is greater than a first threshold the braking current of the brushless motor is controlled by selecting a field-oriented control (Foc) brake control algorithm according to the received remote-control command;
• if the speed of the current brushless motor is less than or equal to the first threshold, the braking current of the brushless motor is controlled by switching to a braking algorithm based on a pulse width modulation (PWM) control according to the received remote-control command;
• and
• the first threshold is defined as a value greater than 0;
• the transmission system is configured to receive and control a braking torque of the brushless motor on the transmission system according to the braking current;
• the motor control module also includes a first brake control module, the first brake control module is configured to select a magnetic Foc brake control algorithm according to the received remote-control command and the braking current of the brushless motor is controlled if the speed of the current brushless motor is greater than the first threshold;
• and
• the first brake control module is also used under following conditions:
• a current throttle value is controlled in the braking command into a reference braking current Iq and input it to the current controller;
• the current controller determines the voltage required to maintain the reference value of the braking current, and outputs voltages Vd and Vq;
• based on a rotor angle information provided by a HALL sensor, a Valpha and Vbeta in a stator coordinate system are derived from inverse PARK transformation of the voltages Vd and Vq;
• and
• Valpha and Vbeta are input to a space vector pulse width modulation (SVPWM) to generate a control signal of the inverter and to control the brushless motor.