CN101157343A - Electric assisted bicycle intelligent controller and controlling means - Google Patents
Electric assisted bicycle intelligent controller and controlling means Download PDFInfo
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- CN101157343A CN101157343A CNA2007101325763A CN200710132576A CN101157343A CN 101157343 A CN101157343 A CN 101157343A CN A2007101325763 A CNA2007101325763 A CN A2007101325763A CN 200710132576 A CN200710132576 A CN 200710132576A CN 101157343 A CN101157343 A CN 101157343A
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Abstract
The invention relates to an intelligent controller and a control method for electric moped bicycles, and aims at providing the intelligent controller with simple structure, and small size and light weight for electric moped bicycles, and realizing arbitrary combination of human-machine to achieve the purpose of energy conservation by the intelligent control method; the intelligent controller for electric moped bicycles comprises a motor sensor signal circuit, a pulse-width regulation circuit, a motor drive control circuit and a motor drive circuit; the intelligent controller also comprises a microcomputer control chip which can be used for analyzing the slight position change of a speed signal of a motor sensor, and for judging the change of the moment which the electric moped bicycle is loading; the microcomputer control chip also controls the output of the pulse-width regulation circuit according to the change of the moment, and controls the motor to change in opposite way of the change of the current generating and the moment which the electric moped bicycle is loading.
Description
Technical field
The present invention relates to a kind of controller and control method, particularly a kind of intelligent controller of electric assisted bicycle and control method.
Background technology
The battery-driven car assistant mode mainly is the ratio assistant mode on the market now, and promptly manpower and motor force are mixed with fixed proportion.But the road conditions that battery-driven car is ridden are very complicated, and the man-machine ratio that needs on the level road is higher, steps on sky otherwise can produce, and can't realize power-assisted; And on sloping road, man-machine ratio must reduce, otherwise the bicyclist can feel too tired; The different gradients, man-machine ratiometric need be different.
The applicant is in order to overcome the deficiencies in the prior art, the CN200710022137.7 patent application has been proposed, the technical scheme of this patent application is: a kind of Intellectualized electric assisted bicycle, electric booster system comprises storage battery, controller, digital sensor, DC machine and foot-operated, wherein, described digital sensor, it and motor coaxle are used for comprising to the transmission of digital dynamic force moment signal processing circuit the dynamic digital impulse singla of real-time moment dynamic-change information and velocity information; Be provided with in the described controller: the reference velocity digital signal generator, be used to set the standard digital speed pulse signal of described DC motor, and with this impulse singla as exporting to dynamic digital torque signals treatment circuit with reference to digital speed pulse signal; The digital dynamic force moment signal processing circuit, be used for described reference velocity impulse singla and described dynamic digital impulse singla are done the position relatively, obtain the vector of dynamic force moment variable, the pulse width signal of the pulse width stack back output power controlling changer conducting of again this dynamic force moment variable and this digital dynamic force moment signal processing circuit last time being exported; Digital Logic interface and power amplifier are used to receive the pulse width signal of digital dynamic force moment signal processing circuit output and modulate, and the power controlling pipe is exported corresponding pulse width and driven described DC motor.This technical scheme adopts the feedback signal of digital dynamic force moment variable quantity as closed loop system, be implemented under the unmodified prerequisite that maintains speed, the interaction of double dynamical output and balance, manpower and electric power can be helped each other, reduced power consumption, stroke after storage battery once charges prolongs greatly, and therefore also prolong the service life of storage battery.But this technical scheme exists controller architecture complexity, bulky defective, and present patent application promptly is the improvement to the aforementioned patent applications technical scheme.
Summary of the invention
The objective of the invention is to overcome existing electric assisted bicycle intelligent controller complex structure, bulky defective, provide a kind of simple in structure, volume is little, lightweight electric assisted bicycle intelligent controller, thereby and realize that by intelligence control method any mixing of man-machine strength reaches purpose of energy saving.
The objective of the invention is to be achieved through the following technical solutions: electric assisted bicycle intelligent controller, comprise electromechanical transducer signal circuit, pulse-width modulation circuit, motor driving controling circuit and motor-drive circuit, described electromechanical transducer signal circuit comprises: electromechanical transducer is used to gather the moment and the speed signal of rotor; With the electromechanical transducer signal processing circuit, be used for the electromechanical transducer signal is carried out shaping and processing and amplifying; Described pulse-width modulation circuit is modulated pulse width signal, and the power controlling pipe is exported corresponding pulse width and driven DC motor; Described intelligent controller also comprises a microcomputerized control chip, be used to analyze the small change in location of electromechanical transducer speed signal, judge the variation of the suffered moment of current battery-driven car, and according to the output of the size variation of moment control pulse-width modulation circuit, the control electric machine phase current produces the variation opposite with the variation of the suffered moment of battery-driven car; The described microcomputerized control chip signal of described electromechanical transducer signal processing circuit output termination test side, the three-phase control signal output ends of described microcomputerized control chip connects the controlled end of each phase Drive and Control Circuit respectively, the cooresponding motor-drive circuit of output termination of each phase Drive and Control Circuit; The controlled end of the described pulse-width modulation circuit of pulse width signal control termination of described microcomputerized control chip.
As a further improvement on the present invention, it also is provided with the speed-regulating signal circuit, is used to produce standard speed and selects signal, and this standard speed selects signal to import described microcomputerized control chip, realizes stepless time adjustment.
As a further improvement on the present invention, it also is provided with axis sensor signal circuit, and axis sensor signal circuit comprises middle axle sensor, is located on the battery-driven car axis, and the pin that is used to gather axis is stepped on speed signal; With the axis sensor signal processing circuit, be used for centering axle sensor signal and carry out shaping and processing and amplifying, it is continuous square-wave signal input microcomputerized control chip that pin is stepped on rate conversion; Described microcomputerized control chip is further used for stepping on speed signal choice criteria speed according to pin, and selects the output of pulse-width modulation circuit according to standard speed, and the control electric machine phase current makes motor according to the ratio output torque of setting.
As a further improvement on the present invention; between described microcomputerized control chip and described motor-drive circuit, be provided with protective circuit; protective circuit comprises voltage sampling circuit and current sampling circuit; the microcomputerized control chip prevents battery over-discharge by sampling cell pressure and the output of outgoing current control Driver Circuit.
The intelligence control method of electric assisted bicycle is as follows:
A kind of intelligence control method of electric assisted bicycle, the microcomputerized control chip is carried out the following step:
1) sets a standard speed impulse singla;
2) according to standard speed impulse singla pulse-width modulation circuit pulse width signal;
3) gather the electromechanical transducer speed signal;
4) described standard speed impulse singla and electromechanical transducer speed signal are done the position relatively, obtain the vector of dynamic force moment variable;
5) with the pulse width signal of this dynamic force moment variable with the control pulse-width modulation circuit pulse width signal stack back output of last time output.
As a further improvement on the present invention, above-mentioned steps 1) in also comprise the following steps:
(1) sets a plurality of standard speed impulse singlas;
(2) select signal to select a standard speed impulse singla according to standard speed.
Can form the continually varying speed signal, real stepless time adjustment between above-mentioned a plurality of standard speed impulse singla.
As a further improvement on the present invention, described microcomputerized control chip is further carried out the following step: shaft speed signal in the collection; According to middle shaft speed signal choice criteria speed; According to the output of standard speed selection pulse-width modulation circuit, the control electric machine phase current makes motor according to the ratio output torque of setting.
As a further improvement on the present invention, described microcomputerized control chip is also carried out the following step: axis real-time speed signal and standard speed impulse singla maxim are compared, when car (axis) speed of travelling surpasses established standards speed maxim, make the moment of motor be output as zero.This moment, battery-driven car was driven by manpower entirely, and the people who satisfies the friction speed needs rides and to the demand of mileage length.
As a further improvement on the present invention, described microcomputerized control chip is also carried out the following step: timely disable motor drives output when micro computer judges that by voltage sample cell pressure is lower than setting value, prevents battery over-discharge.When micro computer judges that by current sample the battery outgoing current is higher than setting value, in time regulate motor-driven output, battery output is no longer increased, prevent battery over-discharge by PWM.
Battery-driven car when operation stressed comprises friction force, windage, gravity and the people of motor-driven power, the tire power etc. of riding among the present invention.Battery-driven car is in the actual process of riding, and owing to reasons such as road conditions, power changes at any time.And when power changed, the speed of a motor vehicle can't in time change, so can't control by speed sampling.This patent is judged the variation of the suffered power of current battery-driven car by the subtle change of the position of micro computer analysis electromechanical transducer signal.When battery-driven car was set with the operation of a certain speed by the user, the power of system was in a certain state of equilibrium.Increase if pin is stepped on strength, system's strength changes immediately, and the electric machine built-in sensor sends corresponding signal and gives micro computer.Micro computer reduces motor by current closed-loop regulating control motor-drive circuit minimizing electric machine phase current exerts oneself, and keeps under original state unmodified situation in the speed of a motor vehicle, has realized people's power of riding and mixing of motor power, thereby has reduced the consumption of the energy content of battery.Because the mixing of this power is an arbitrary proportion, and regulates rapidly, so that the bicyclist feels is comfortable.The present invention's controller circuitry of microcomputerized control chip replace complex, structure is simpler, and volume reduces, and controllable function is more flexibly with powerful.In the microcomputerized control chip, deposit a plurality of continuous standard speeds in, can realize stepless time adjustment.
Description of drawings
Fig. 1 is the embodiment of the invention 1 an electric assisted bicycle intelligent controller structured flowchart
Fig. 2 is the embodiment of the invention 1 electric assisted bicycle stepless time adjustment, power-assisted Based Intelligent Control diagram of circuit
Fig. 3 is the embodiment of the invention 2 electric assisted bicycle ratio power-assisted Based Intelligent Control diagram of circuits
The specific embodiment
Be described further below in conjunction with embodiment.
As shown in Figure 1, electric assisted bicycle intelligent controller 1 comprises electromechanical transducer signal circuit, pulse-width modulation circuit, motor driving controling circuit, motor-drive circuit, axis sensor signal circuit, speed-regulating signal circuit and protective circuit.The electromechanical transducer signal circuit comprises electromechanical transducer and electromechanical transducer signal processing circuit, and electromechanical transducer is located near the rotor, is used to gather the moment and the speed signal of rotor; The electromechanical transducer signal processing circuit is used for the electromechanical transducer signal is carried out shaping and processing and amplifying; Pulse-width modulation circuit is modulated pulse width signal, and the power controlling pipe is exported corresponding pulse width and driven DC motor.Intelligent controller 1 also comprises a microcomputerized control chip PIC16F73, be used to analyze the change in location of electromechanical transducer speed signal, judge the variation of the suffered moment of current battery-driven car, and according to the output of the size variation of moment control pulse-width modulation circuit, the control electric machine phase current produces the variation opposite with the variation of the suffered moment of battery-driven car; Electromechanical transducer signal processing circuit output termination PIC16F73 chip signal test side, the three-phase control signal output ends of PIC16F73 chip connects the controlled end of each phase Drive and Control Circuit respectively, the cooresponding motor-drive circuit of output termination of each phase Drive and Control Circuit; The controlled end of the described pulse-width modulation circuit of pulse width signal control termination of PIC16F73 chip.
Axle sensor and axis sensor signal processing circuit during axis sensor signal circuit comprises, middle axle sensor is located on the battery-driven car axis, and the pin that is used to gather axis is stepped on speed signal; The axis sensor signal processing circuit is used for centering axle sensor signal and carries out shaping and processing and amplifying, and it is continuous square-wave signal input micro computer that pin is stepped on rate conversion.
The speed-regulating signal circuit is used to set a plurality of standard speeds, selects signal to import described microcomputerized control chip standard speed.
Protective circuit is located between PIC16F73 chip and the motor-drive circuit, and timely disable motor drives output when micro computer judges that by voltage sample cell pressure is lower than setting value, prevents battery over-discharge.When micro computer judges that by current sample the battery outgoing current is higher than setting value, in time regulate motor-driven output, battery output is no longer increased, prevent battery over-discharge by PWM (pulse-width modulation circuit).
As shown in Figure 2, the control method of electric assisted bicycle intelligent controller, the PIC16F73 chip is carried out the following step:
1) sets a plurality of standard speed impulse singlas;
2) select signal choice criteria speed pulse signal according to standard speed;
3) gather the electromechanical transducer speed signal;
4) select the pulse-width modulation circuit pulse width signal according to the standard speed impulse singla;
5) described standard speed impulse singla and electromechanical transducer speed signal are done the position relatively, obtain the vector of dynamic force moment variable;
6) with of the control pulse-width modulation circuit pulse width signal stack of this dynamic force moment variable with last time output;
7) Shu Chu pulse width signal.
Form continuous speed between a plurality of standard speed impulse singlas, the microcomputerized control chip is realized stepless time adjustment by Continuous Selection.The microcomputerized control chip is implemented under a certain speed by the pulse width signal width of the vector controlled drive motor of dynamic force moment variable, and the arbitrary proportion of electric power and manpower mixes.
Embodiment 2
As shown in Figure 3, the PIC16F73 chip is also carried out the following step in the present embodiment:
Shaft speed signal in the collection; According to middle shaft speed signal choice criteria speed; According to the output of standard speed selection pulse-width modulation circuit, the control electric machine phase current makes motor according to the ratio output torque of setting; The standard speed impulse singla of axis real-time speed signal and setting is compared, when car (axis) speed of travelling surpasses established standards speed, control the output of pulse-width modulation circuit, make electric machine phase current be reduced to zero, the moment of motor is output as zero.This moment, battery-driven car was driven by manpower entirely, and the people who satisfies the friction speed needs rides and to the demand of mileage length.
Claims (9)
1. electric assisted bicycle intelligent controller, comprise electromechanical transducer signal circuit, pulse-width modulation circuit, motor driving controling circuit and motor-drive circuit, described electromechanical transducer signal circuit comprises: electromechanical transducer is used to gather the moment and the speed signal of rotor; With the electromechanical transducer signal processing circuit, be used for the electromechanical transducer signal is carried out shaping and processing and amplifying; Described pulse-width modulation circuit is modulated pulse width signal, and the power controlling pipe is exported corresponding pulse width and driven DC motor; It is characterized in that, described intelligent controller also comprises a microcomputerized control chip, be used to analyze the small change in location of electromechanical transducer speed signal, judge the variation of the suffered moment of current battery-driven car, and according to the output of the size variation of moment control pulse-width modulation circuit, the control electric machine phase current produces the variation opposite with the variation of the suffered moment of battery-driven car; The described microcomputerized control chip signal of described electromechanical transducer signal processing circuit output termination test side, the three-phase control signal output ends of described microcomputerized control chip connects the controlled end of each phase Drive and Control Circuit respectively, the cooresponding motor-drive circuit of output termination of each phase Drive and Control Circuit; The controlled end of the described pulse-width modulation circuit of pulse width signal control termination of described microcomputerized control chip.
2. intelligent controller according to claim 1 is characterized in that it also is provided with the speed-regulating signal circuit, sets a plurality of standard speeds, and the standard speed signal is imported described microcomputerized control chip.
3. intelligent controller according to claim 1 is characterized in that, it also is provided with axis sensor signal circuit, and axis sensor signal circuit comprises middle axle sensor, and the pin that is used to gather axis is stepped on speed signal; With the axis sensor signal processing circuit, be used for centering axle sensor signal and carry out shaping and processing and amplifying, it is continuous square-wave signal input microcomputerized control chip that pin is stepped on rate conversion; Described microcomputerized control chip is further used for stepping on speed signal choice criteria speed according to pin, and selects the output of pulse-width modulation circuit according to standard speed, and the control electric machine phase current makes motor according to the ratio output torque of setting.
4. intelligent controller according to claim 1; it is characterized in that; between described microcomputerized control chip and described motor-drive circuit, be provided with protective circuit; protective circuit comprises voltage sampling circuit and current sampling circuit, and described microcomputerized control chip is by sampling cell pressure and the output of outgoing current control Driver Circuit.
5. the intelligence control method of an electric assisted bicycle is characterized in that, the microcomputerized control chip is carried out the following step:
1) sets a standard speed impulse singla;
2) according to standard speed impulse singla pulse-width modulation circuit pulse width signal;
3) gather the electromechanical transducer speed signal;
4) described standard speed impulse singla and electromechanical transducer speed signal are done the position relatively, obtain the vector of dynamic force moment variable;
5) with the pulse width signal of this dynamic force moment variable with the control pulse-width modulation circuit pulse width signal stack back output of last time output.
6. the control method of intelligent controller according to claim 5 is characterized in that, also comprises the following steps: in the described step 1)
1. set a plurality of standard speed impulse singlas;
2. select signal to select a standard speed impulse singla according to standard speed.
7. the control method of intelligent controller according to claim 5 is characterized in that, described microcomputerized control chip is further carried out the following step:
1. shaft speed signal in gathering;
2. shaft speed signal is selected a standard speed in the basis;
3. select the output of pulse-width modulation circuit according to standard speed, the control electric machine phase current makes motor according to the ratio output torque of setting.
8. the control method of intelligent controller according to claim 5, it is characterized in that, described microcomputerized control chip is also carried out the following step: axis real-time speed signal and standard speed impulse singla maxim are compared, when axis speed surpasses established standards speed maxim, make the moment of motor be output as zero.
9. the control method of intelligent controller according to claim 5 is characterized in that, described microcomputerized control chip is also carried out the following step: timely disable motor drives output when micro computer judges that by voltage sample cell pressure is lower than setting value; When judging that by current sample the battery outgoing current is higher than setting value, micro computer in time regulates motor-driven output by pulse-width modulation circuit.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2007101325763A CN100569556C (en) | 2007-09-21 | 2007-09-21 | Electric assisted bicycle intelligent controller and control method |
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| CNB2007101325763A CN100569556C (en) | 2007-09-21 | 2007-09-21 | Electric assisted bicycle intelligent controller and control method |
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| CN101157343A true CN101157343A (en) | 2008-04-09 |
| CN100569556C CN100569556C (en) | 2009-12-16 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101508252B (en) * | 2009-01-21 | 2012-07-04 | 深圳信隆实业股份有限公司 | Power assisted bicycle power control system and double-control electric power assisted bicycle |
| CN103879302A (en) * | 2012-12-19 | 2014-06-25 | 耀马车业(中国)有限公司 | Intelligent control system of electric tricycle |
| CN104875842A (en) * | 2015-05-29 | 2015-09-02 | 林骥 | Body-sensing electric sliding control method and system of personal sliding tool |
| CN107351969A (en) * | 2017-07-14 | 2017-11-17 | 温岭市九洲电机制造有限公司 | A kind of adaptive power-assisted adjusting method of electric booster bicycle |
| WO2018196312A1 (en) * | 2017-04-24 | 2018-11-01 | 太仓市悦博电动科技有限公司 | Motor control method, motor control device and electric bicycle |
| CN109599927A (en) * | 2018-12-07 | 2019-04-09 | 广州市昌菱电气有限公司 | Bicycle electric power-assisted driving control system and bicycle |
| CN112009270A (en) * | 2020-08-31 | 2020-12-01 | 安徽江淮汽车集团股份有限公司 | Motor output power control method, power automobile and readable storage medium |
| CN115303403A (en) * | 2022-08-22 | 2022-11-08 | 广东威灵电机制造有限公司 | Power device, control method, control device and electric bicycle |
-
2007
- 2007-09-21 CN CNB2007101325763A patent/CN100569556C/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101508252B (en) * | 2009-01-21 | 2012-07-04 | 深圳信隆实业股份有限公司 | Power assisted bicycle power control system and double-control electric power assisted bicycle |
| CN103879302A (en) * | 2012-12-19 | 2014-06-25 | 耀马车业(中国)有限公司 | Intelligent control system of electric tricycle |
| CN104875842A (en) * | 2015-05-29 | 2015-09-02 | 林骥 | Body-sensing electric sliding control method and system of personal sliding tool |
| CN104875842B (en) * | 2015-05-29 | 2017-10-10 | 纳恩博（北京）科技有限公司 | Individual slides the body-sensing power driven sliding control method and its system of instrument |
| WO2018196312A1 (en) * | 2017-04-24 | 2018-11-01 | 太仓市悦博电动科技有限公司 | Motor control method, motor control device and electric bicycle |
| CN107351969A (en) * | 2017-07-14 | 2017-11-17 | 温岭市九洲电机制造有限公司 | A kind of adaptive power-assisted adjusting method of electric booster bicycle |
| CN107351969B (en) * | 2017-07-14 | 2019-08-30 | 温岭市九洲电机制造有限公司 | A kind of adaptive power-assisted adjusting method of electric booster bicycle |
| CN109599927A (en) * | 2018-12-07 | 2019-04-09 | 广州市昌菱电气有限公司 | Bicycle electric power-assisted driving control system and bicycle |
| CN112009270A (en) * | 2020-08-31 | 2020-12-01 | 安徽江淮汽车集团股份有限公司 | Motor output power control method, power automobile and readable storage medium |
| CN115303403A (en) * | 2022-08-22 | 2022-11-08 | 广东威灵电机制造有限公司 | Power device, control method, control device and electric bicycle |
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| CN100569556C (en) | 2009-12-16 |
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