CN100358774C

CN100358774C - Controlling method of auxiliary motor for electromotion power aided bicycle

Info

Publication number: CN100358774C
Application number: CNB2004100640748A
Authority: CN
Inventors: 小栗浩; 上符敏昭
Original assignee: Ming Electric Eco Drive Kk; Meidensha Electric Manufacturing Co Ltd
Current assignee: Central Products Co
Priority date: 2003-06-24
Filing date: 2004-06-24
Publication date: 2008-01-02
Anticipated expiration: 2024-06-24
Also published as: JP2005014869A; CN1572579A

Abstract

In a part where a value of human-powered torque generated in a pedal half cycle is not less than a torque set value set in advance, torque of an assist motor is generated in proportion to the human-powered torque, and in a part where it is not greater than the torque set value, brake torque that is set in advance is generated by the assist motor. The magnitude of the brake torque generated by the assist motor is changed depending on whether there is human-powered torque or the bicycle is in inertial traveling without human-powered torque, thereby reducing a sense of resistance felt by a rider, and achieving power saving. Furthermore, velocity energy including human-powered energy not less than a set velocity is absorbed in a drive source as brake torque.

Description

The servo-motor control method of electric assisted bicycle

Technical field

The present invention relates to the electric assisted bicycle servo-motor control method that driving power can be regenerated.

Background technology

Electric assisted bicycle energy regenerated electric power of the prior art, but all when descending, show the effect of using regeneration function.In this case, people are desirably in when having braking effect and can be charged to power-supply battery by regenerated energy.

But when travelling with auxiliary rate 100% in standard driving mode shown in Figure 5 (pattern), the descending regeneration electric weight that the consumption electric weight occurs is 3.1W, account for that power running travels electric power=(ratio among 2 * 3+6.7)=12.7W is 24.6%.

If the consumption electric power when nothing regeneration is travelled is 12.7W, the consumption electric power when having regeneration to travel is 9.6W, and operating range is 12.7/9.6=1.32 times, just can not eliminate the possibility of battery runs down.

Summary of the invention

The present invention studies in view of above-mentioned defective, and the problem of solution is, the control method of regeneration is provided, and can not worry battery runs down with the charging of travelling of the mode of not helplessness power sense.

Electric assisted bicycle servo-motor control method of the present invention is characterised in that, the manpower torque value that produces in the pedal half cycles in the part more than default torque settings value, makes servo-motor produce torque with the manpower torque pro rata; In the manpower torque part below the torque settings value, produce predetermined braking torque by servo-motor.

In aforementioned control method, cause when carrying out inertia traveling under the situation of manpower torque and with no manpower torque that at pedal force because the braking torque that servo-motor produces becomes big, and then moving velocity makes braking torque become big, the drivers feels that resistance reduces.

The feature of electric assisted bicycle servo-motor control method also is, can carry out aforementioned control with the speed more than the stable moving velocity.

The feature of electronic servo-motor control method also is, states in the use in the electric assisted bicycle of control, and the above speed energy of setting speed absorbs into drive source as the braking torque that is comprising manpower energy.

Description of drawings

The diagrammatic sketch of manpower legpower and motor auxiliary force relation when Fig. 1 represents to travel usually;

Fig. 2 represents that the present invention is at the charging diagrammatic sketch that manpower legpower and motor auxiliary force concern when travelling that travels;

The method diagrammatic sketch that additional different regeneration amounts were controlled during with no legpower when Fig. 3 represented legpower is arranged;

Fig. 4 represents to change the diagrammatic sketch that the absorption torque value is controlled by moving velocity;

Fig. 5 is illustrated in the diagrammatic sketch of different interval consumption electric power when travelling in the standard running section.

Label declaration

1 manpower legpower, 2 auxiliary forces, 3 regeneration powers, the regeneration power when 3a does not have legpower, the regeneration power when 3b has legpower, 4 critical values, 5 drive sides, 6 regeneration sides, 7 moving velocitys, 8 braking torques.

The specific embodiment

Below, embodiments of the present invention are described.

Fig. 1 represents not have the existing general electric assisted bicycle legpower of regeneration function and the diagrammatic sketch of motor auxiliary force relation.Among Fig. 1, legpower 1 and auxiliary force 2 control to below 1: 1 the relation.

Fig. 2 represents the diagrammatic sketch that legpower 1 of the present invention and auxiliary force 2 concern, to closing with auxiliary force 2 by legpower 1 in the preset critical 4 above legpower parts is to assist below 1: 1, legpower 1 is when critical value 4 is following, with the servo-motor is that electrical generator is controlled, the energy absorbing that travels as regenerated electric power 3.

Among Fig. 2,, drive side is expressed as 5, absorbs side and be expressed as 6 with time diagram corresponding to the legpower in the servo-motor energy position 1.As shown in the figure, represent in critical value 4 scopes, can switch at drive side 5 and 6 liang of directions of regeneration (absorption) side with the corresponding servo-motor of the time legpower of composing size that treadles.

Do not treadle in no legpower 1 or the inertia traveling state situation that the energy that travels when also being expressed as regenerating motoring condition is absorbed by power supply.

Need be with above-mentioned legpower 1 during with big propulsive effort, by the servo-motor auxiliary driving force, hour absorb inertia energy at propulsive effort, and storing electricity, in control power supply consumption energy, also meaning can aux. controls.

In Fig. 3, with identical, in this case,, absorb torque when legpower is arranged and diminish when legpower being arranged because of the sense of slowing down becomes big by situation about absorbing below the critical value when not having legpower in the torque value by Fig. 2 control, can improve and reduce the satisfaction that deceleration is felt.

Among Fig. 4, moving velocity changes braking torque, when moving velocity makes controlling torque reach certain value, proportional because of absorbing electric power and end measure, be set at the degree value of no legpower burden sense in the low-speed region, along with speed improves, torque value increases dies down the sense of slowing down, and, set the value that increases and only absorb electric power.

When carrying out above-mentioned control, stablize motoring condition, preferably by being roughly the above speed of 5～7km/H when travelling at bicycle.

So far, in illustrated control, though can subdue the consumption energy of power supply, but except descent run, can not storing energy. just in case power supply energy do not had, if can regenerate the charging of travelling, promptly use existing electric assisted bicycle, also do not worry battery runs down.

At this problem, reach certain speed when above in bicycle running speed, inertia traveling is diverted oneself, and in the above zone of the speed with speed sense effect, absorb under the situation of equal electric power, inversely proportional because of people's legpower burden with speed, utilize burden to feel the phenomenon that also diminishes, as the regenerated energy that comprises manpower energy, absorb drive source and carry out electric power storage.

Carrying out under this control, Yin Pingtan travels in the highway section and can electric power storage during the little motoring condition of manpower torque, does not worry battery runs down.

The present invention, travelling and manpower burden hour in smooth highway section, carries out electric power storage with manpower energy as electric energy; The slope road travel and manpower burden big travel the time, by the energy of electric power storage servo-motor is used as auxiliary force, so, can realize the original desired function of electrically assisted bicycle, do not worry the prolongation and the battery runs down of operating range.

Carry out electric power storage with manpower energy as electric energy, become the situation of being loaded by human body, many local users that travels in smooth highway section use the light weight accessory, are another kind of pastime methods.

The charging owing to can travel, use be stopped, be ridden in the place of need not charging just can on and off duty, go to school and leave school etc., enlarged the purposes of Electrical Bicycle.

Claims

1, a kind of electric assisted bicycle servo-motor control method is characterized in that, the manpower torque value that produces in the pedal half cycles in the part more than default torque settings value, produces torque by servo-motor pro rata with the manpower torque; In the manpower torque part below the torque settings value, produce predetermined braking torque by servo-motor, and,

Cause under the situation of manpower torque and carry out coherence when travelling that by changing the size of the braking torque that servo-motor produces, the drivers feels that resistance reduces with no manpower torque at pedal force.

2, electric assisted bicycle servo-motor control method as claimed in claim 1 is characterized in that, according to moving velocity, changes the size of braking torque, and the drivers can feel that resistance reduces.

3, a kind of electric assisted bicycle servo-motor control method is characterized in that the speed more than steady speed is carried out the control of claim 1 and claim 2.

4, a kind of electronic servo-motor control method is characterized in that, be applicable to claim 1,2 and the electric assisted bicycle of claim 3 in, the above speed energy of predetermined set speed comprises manpower energy and absorbs into drive source as braking torque.