CN102346446A - Automatic gear shifting control system for bicycle - Google Patents
Automatic gear shifting control system for bicycle Download PDFInfo
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- CN102346446A CN102346446A CN2010102448743A CN201010244874A CN102346446A CN 102346446 A CN102346446 A CN 102346446A CN 2010102448743 A CN2010102448743 A CN 2010102448743A CN 201010244874 A CN201010244874 A CN 201010244874A CN 102346446 A CN102346446 A CN 102346446A
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Abstract
The invention relates to an automatic gear shifting control system for a bicycle. In the automatic gear shifting control system, at least two sensible numerical values (such as a wheel speed, a tread speed and the like) in the process of riding the bicycle are sensed by a microcomputer, a gear shifting control driver, a tread speed sensor and a wheel speed sensor; and a judgment principle is used for judging whether gear shifting is performed or not, and a gear shifting control signal is transmitted to the gear shifting controller of the bicycle for the gear shifting, wherein the judgment principle comprises the following steps of: performing blurring operation on sensed results to obtain a gain value; performing predetermined operation on the gain value and a gear accumulation value to obtain a new gear accumulation value; and judging whether the gear shifting is performed or not according to the latest gear accumulation value. Therefore, gear shifting results can meet the requirements of riders, and the uncomfortable feel generated by a gear shifting action can be relieved further.
Description
Technical field
The present invention is relevant with the transmission technology of bicycle, is meant a kind of automatic speed-transformation of bicycle control system especially.
Background technology
Known automatic speed-transformation of bicycle system, for example TaiWan, China is announced " automatic gear shifting control device of bicycle and method thereof " patent of invention case No. 583117, and the relative case of the U.S. is US6,774, No. 771.Expose in its prior art, the automatic transimission that can carry out suitable speed change according to the transport condition of bicycle be known speed change gear.
Yet present automatic bicycle speed variator on the mode of speed Control, is after the measured conversion of signals of detector (Sensor) is numerical value, to compare with the gear value of each gear more mostly, whether to determine shift.Yet because road conditions are changeable when driving, factors such as climb and fall and trample action all can cause gear shifting operation to seem unexpected or clumsy, so rider regular meeting produces uncomfortable sensation when the fluid drive action takes place.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of automatic speed-transformation of bicycle control system, the uncomfortable sensation when it can reduce the gear shifting operation generation.
In order to reach aforementioned purpose; According to a kind of automatic speed-transformation of bicycle control system provided by the present invention; Be to be connected with the controller for shifting of a bicycle with automatic transmission; Drive this automatic transmission of this controller for shifting control and carry out the gear shift action by seeing the gear shift control signal off, this automatic speed-transformation of bicycle control system includes: a micro computer; One gear shift Control Driver is electrically connected at the controller for shifting of this micro computer and bicycle, and this gear shift Control Driver is subjected to the control of this micro computer that this controller for shifting is seen off a gear shift control signal; At least two kinds of sensors; Be arranged at the precalculated position of bicycle and be electrically connected at this micro computer, in order to detecting trample speed, wheel velocity, wheel acceleration, trample acceleration, among legpower torque, assist motor torque, assist motor electric current, the gradient and the physiological status any at least two kinds; And a program and a rule data bank; Be electrically connected at this micro computer; This program and rule data bank have the judgement rule that the sensing result of comprehensive aforementioned at least two kinds of sensors is judged; Judge whether to need to change gear via this micro computer according to this judgement rule; When needs change gear, be the gear shift control signal that this gear shift Control Driver output of control changes gear; Wherein, This judgement rule be for: (a) with each gear of the automatic transmission of bicycle by big to little or by little to defining a gear value greatly respectively; And the sensing result of aforementioned at least two kinds of sensors of the time point that bicycle is begun to advance is through the calculating of fuzzy (Fuzzy) rule and obtain a yield value; Afterwards this yield value and the pairing gear value of the present gear of bicycle are done a predetermined operation and obtained a gear aggregate-value; And the gear value of this gear aggregate-value and each gear compared, to judge whether to need to change gear; (b) after the schedule time of being separated by, in next time point the sensing result of aforementioned at least two kinds of sensors is carried out computing and obtained next yield value again; And the gear aggregate-value of obtaining among the yield value that will newly obtain and above-mentioned (a) is done a predetermined operation and is obtained a new gear aggregate-value; And the gear value of this this gear aggregate-value of newly obtaining and each gear compared, to judge whether to need to change gear; (c) constantly repeat (b) till bicycle stops.Thus, can make the result of speed-change and gearshift can meet knight's demand, and then the uncomfortable sensation can reduce gear shifting operation and take place the time.
Description of drawings
In order to describe technical characterstic of the present invention place in detail, below enumerate the explanation of preferred embodiment and conjunction with figs. as after, wherein:
Fig. 1 is the structural representation of the present invention's first preferred embodiment.
Fig. 2 is the installing synoptic diagram of the present invention's first preferred embodiment.
Fig. 3 is the structural representation of the present invention's second preferred embodiment.
Fig. 4 is the installing synoptic diagram of the present invention's second preferred embodiment.
Embodiment
Extremely shown in Figure 2 like Fig. 1; A kind of automatic speed-transformation of bicycle control system 10 that the present invention's first preferred embodiment is provided; Be to be connected with the controller for shifting 94 of a bicycle 91 with automatic transmission 92; Drive this controller for shifting 94 these automatic transmission 92 of control and carry out the gear shift action by seeing the gear shift control signal off; This automatic speed-transformation of bicycle control system 10 mainly is made up of a micro computer 11, a gear shift Control Driver 21, two kind of sensor 31,41 and a program and 51 of rule data bank, wherein:
This micro computer 11 has the function of computing and control.
This gear shift Control Driver 21 is electrically connected at the controller for shifting 94 of this micro computer 11 and bicycle 91, and this gear shift Control Driver 21 is subjected to the control of this micro computer 11 that this controller for shifting 94 is seen off a gear shift control signal.
The sensor kind of the required use of this case is for more than at least two kinds, is used for detecting the speed of trampling, wheel velocity, wheel acceleration, tramples acceleration, among legpower torque, assist motor torque, assist motor electric current, the gradient and the physiological status any at least two kinds.In addition, aforesaid physiological status is the numerical value that has comprised breathing, heartbeat or blood pressure.Be to illustrate in present embodiment with two kinds of sensors.
These two kinds of sensors 31,41 are respectively one and trample a speed pickup 31 and a vehicle-wheel speed sensor 41.This is trampled the crank axle 96 (also can be located at crank) that speed pickup 31 is arranged at bicycle 91 and is electrically connected at this micro computer 11, in order to detecting bicycle knight's the speed of trampling.This vehicle-wheel speed sensor 41 is arranged at the wheel hub 93 of bicycle 91 and is electrically connected at this micro computer 11, in order to the wheel velocity of detecting bicycle 91.Wheel acceleration then can get wheel velocity according to the simple physics formula with respect to the time computing.
This program and rule data bank 51; Be electrically connected at this micro computer 11; This program and rule data bank 51 have the speed of trampling, wheel velocity that comprehensive sensor as aforementioned 31,41 sensed and the judgement rule of calculating the wheel acceleration of coming out; Judge whether to need to change gear via this micro computer 11 according to this judgement rule; When needs change gear, be the gear shift control signal that these gear shift Control Driver 21 outputs of control change gear.
Above-mentioned judgement rule, be for:
(a) with each gear of the automatic transmission 92 of bicycle 91 by big to little or by little to defining a gear value greatly respectively; Respectively this gear value has certain interval; And the speed of trampling of the time point that bicycle 91 is begun to advance, wheel acceleration and wheel velocity are through the calculating of fuzzy (Fuzzy) rule and obtain a yield value; Afterwards this yield value and the pairing gear value of bicycle 91 present gears are done a predetermined operation (being to be add operation in the present embodiment) and obtain a gear aggregate-value; And the gear value of this gear aggregate-value and each gear compared, to judge whether to need to change gear.
(b) in that (interval time can be between 5 milliseconds to 100 milliseconds after the schedule time of being separated by; Be to be example in the present embodiment) with 10 milliseconds; To trample speed, wheel acceleration and wheel velocity in next time point again carries out computing and obtains next yield value; And the gear aggregate-value of obtaining among the yield value that will newly obtain and above-mentioned (a) is done a predetermined operation (being to be additive operation in the present embodiment) and is obtained a new gear aggregate-value; And the gear value of this this gear aggregate-value of newly obtaining and each gear compared, to judge whether to need to change gear.
(c) constantly repeat (b) till bicycle 91 stops.
Present embodiment also includes: a display 61; Be electrically connected at this micro computer 11; And this micro computer 11 also is electrically connected at the automatic transmission 92 of bicycle 91; This micro computer 11 is the present gears that shown this automatic transmission 92 by this display 61; This display 61 can also show out of Memory, not to show that gear exceeds.
Next the mode of operation of this first embodiment is described.
Under the situation that bicycle 91 stops, bicycle the knight do not trample yet, and wheel velocity is 0, and wheel acceleration is 0, and the speed of trampling also is 0, therefore do not do any action.
Under the situation that bicycle 91 is advanced; Knight's pushes pedals; Wheel velocity is greater than 0; Wheel acceleration is greater than 0; And the speed of trampling is also greater than 0; This moment, this trampled the measured wheel velocity of the measured speed of trampling of speed pickup 31, this wheel acceleration and this vehicle-wheel speed sensor 41, all carried out computing accumulative total via this micro computer 11 with this judgements rule, and judged whether to need to change gear.
Below with three case the state of practical operation is described, in this three case, earlier wheel velocity, wheel acceleration and the speed of trampling are fixed on a definite value, in order to illustrating.
Set pairing gear value of each gear such as table one earlier.
Table one: gear value
Come again to see case 1 earlier: set out by flat road surface, run into the upward slope road surface after a period of time, and with reference to table two.
Table two
In the above-mentioned table two, the gain total value is that two-digit multiplies each other, and first digit is to be yield value, is according to wheel velocity, wheel acceleration and trample speed, through the fuzzy operation gained by above-mentioned judgement rule (b); Second digit is the execution number of times for above-mentioned judgement rule since the time interval in the present embodiment be 10 milliseconds, and the above-mentioned time interval be 400 milliseconds, so its number of times is 400 ÷ 10=40 time.
Interval 5 by the interval 1-of table two again, can find out that each gear aggregate-value is addition in regular turn, only added gain total value might be for negative, so the gear aggregate-value also might reduce.After obtaining the gear aggregate-value; Again that each is the interval gear aggregate-value and the gear value of table one compare; Can determine and whether will carry out the action of speed-change and gearshift, as need carry out gear shift on judging, then this micro computer 11 promptly drives this gear shift Control Driver 21 and sees a gear shift control signal off.
Next see case 2: set out by flat road surface, run into the descending road surface after a period of time, and with reference to table three.
Table three
By table three, owing to ran into the descending road surface afterwards, the total value that therefore gains constantly increases, and final gear also switches to 6 grades.
Saw case 3 the most afterwards: set out by flat road surface, quicken gradually, stop after bringing to a halt, and with reference to table four.
Table four
By table four, owing to set out after check after a while, therefore last gear rests on 1 grade.
Can find out by above-mentioned three case; This first embodiment is when practical operation; Main reference wheel velocity, wheel acceleration and trample speed; Obtain yield value through fuzzy rule calculating; Carry out totalling with the gear aggregate-value after converting the gain total value into this yield value again; Come and the comparison of gear value with this gear aggregate-value at last, judge whether to carry out speed-change and gearshift.
Hence one can see that; This first embodiment is the result of calculation with fuzzy rule gained in the judgement of speed-change and gearshift, handles with the mode of accumulative total; Therefore the result of resulting speed-change and gearshift can meet knight's demand, and then the uncomfortable sensation can reduce gear shifting operation and take place the time.
Please consult Fig. 3 to Fig. 4 again, a kind of automatic speed-transformation of bicycle control system 70 that the present invention's second preferred embodiment is provided is taken off first embodiment before mainly generally being same as, and difference is:
Also include: a torsion torque sensor 72, an amplifier 74 and an analog/digital converter 76.
This torsion torque sensor 72 is located on the crank 98 (also can be located at crank axle) of bicycle 91, the legpower torque when trampling in order to detecting bicycle knight.
This amplifier 74 is electrically connected at this torsion torque sensor 72.
This analog/digital converter 76 is electrically connected at this amplifier 74 and this micro computer 11 '.
Thus, the torsion signal that torsion torque sensor 72 records is the amplification via this amplifier 74, and after the signal Processing via the analog-to-digital of this analog/digital converter 76, sends this micro computer 11 ' again to.
This second embodiment mainly is the parameter that has had more the legpower torque than first embodiment, in the computing of fuzzy rule, also will add the parameter of legpower torque.And because computing and judgment mode are taken off first embodiment before generally being same as, therefore hold no longer with the experimental data explanation.
Below enumerate the present invention's the 3rd preferred embodiment again, a kind of automatic speed-transformation of bicycle control system that provides is taken off first embodiment before mainly also generally being same as, and difference is:
At (b) that judge rule with (c); Also added: (b1) in a longer schedule time (for example 1 second; Promptly 1000 milliseconds); If this gear aggregate-value did not all have the pairing gear value of gear at present; Just do not cause under the state of gear shift action, then this gear aggregate-value is reset to the interval midrange of the gear value of present gear.
Above-mentioned (b1), with in the aforementioned table 14 grades be example, its gear value interval is 40000-49999, so its interval midrange is 45000.
In a longer schedule time; With 1 second (promptly 1000 milliseconds) was example; Promptly being 2.5 intervals of above-mentioned table two to table four, when in the time of this one length, all not having the gear shift action, just probably is the action existence that the bicycle knight does not have the trend of acceleration shifting or tramples.Yet owing to still constantly blur the rule computing in during this; Therefore might make the gear aggregate-value accumulate very near another gear; In a single day begin again to trample the bicycle knight; Probably can trigger the gear shift action immediately, this also may cause user's lofty sense slightly.Therefore when not having the gear shift action through one period longer schedule time; The gear aggregate-value is reset to the interval midrange of the gear value of present gear; In the time of can avoiding the knight to recover to trample quickening possibly trigger the problem of gear shift immediately, and then more increased the comfortableness of gear shift.
Claims (10)
1. automatic speed-transformation of bicycle control system; Be to be connected with the controller for shifting of a bicycle with automatic transmission; Drive this automatic transmission of this controller for shifting control and carry out the gear shift action by seeing the gear shift control signal off, this automatic speed-transformation of bicycle control system includes:
One micro computer;
One gear shift Control Driver is electrically connected at the controller for shifting of this micro computer and bicycle, and this gear shift Control Driver is subjected to the control of this micro computer that this controller for shifting is seen off a gear shift control signal;
At least two kinds of sensors; Be arranged at the precalculated position of bicycle and be electrically connected at this micro computer, in order to detecting trample speed, wheel velocity, wheel acceleration, trample acceleration, among legpower torque, assist motor torque, assist motor electric current, the gradient and the physiological status any at least two kinds; And
One program and rule data bank; Be electrically connected at this micro computer; This program and rule data bank have the judgement rule that the sensing result of comprehensive aforementioned at least two kinds of sensors is judged; Judge whether to need to change gear via this micro computer according to this judgement rule; When needs change gear, control the gear shift control signal that this gear shift Control Driver output changes gear;
Wherein, this judgement rule is:
(a) with each gear of the automatic transmission of bicycle by big to little or by little to defining a gear value greatly respectively; And the sensing result of aforementioned at least two kinds of sensors of the time point that bicycle is begun to advance is through the calculating of fuzzy rule and obtain a yield value; Afterwards this yield value and the pairing gear value of the present gear of bicycle are done a predetermined operation and obtained a gear aggregate-value; And the gear value of this gear aggregate-value and each gear compared, to judge whether to need to change gear;
(b) sensing result that after the schedule time of being separated by, in next time point aforementioned at least two kinds of sensors is newly recorded is again carried out computing and is obtained next yield value; And the gear aggregate-value of obtaining among the yield value that will newly obtain and above-mentioned (a) is done a predetermined operation and is obtained a new gear aggregate-value; And the gear value of this this gear aggregate-value of newly obtaining and each gear compared, to judge whether to need to change gear;
(c) constantly repeat (b) till bicycle stops.
2. according to the described automatic speed-transformation of bicycle control system of claim 1, wherein: in judging rule, the predetermined operation that this yield value and gear value are done is to be additive operation.
3. according to the described automatic speed-transformation of bicycle control system of claim 1, wherein: in judging rule, (b) in being separated by the schedule time of definition, its time interval is between between the millisecond-100 millisecond.
4. according to the described automatic speed-transformation of bicycle control system of claim 1; Wherein: also include a display; Be electrically connected at this micro computer, and this micro computer also is electrically connected at the automatic transmission of bicycle, this micro computer is the present gear that is shown this automatic transmission by this display.
5. according to the described automatic speed-transformation of bicycle control system of claim 1, wherein: the sensor in order to detecting legpower torque is a torsion torque sensor, is located on crank or the crank axle of bicycle and is electrically connected at this micro computer.
6. according to the described automatic speed-transformation of bicycle control system of claim 5; Wherein: also include an amplifier and an analog/digital converter; This torsion torque sensor is electrically connected at this amplifier; This amplifier is electrically connected at this analog/digital converter, and this analog/digital converter is electrically connected at this micro computer; This torsion torque sensor is directly not to be electrically connected at this micro computer thus; But come to be electrically connected at indirectly this micro computer via this amplifier and this analog/digital converter; After the signal Processing of legpower torque that thus can this torsion torque sensor is measured through amplification and analog-to-digital, send this micro computer again to.
7. according to the described automatic speed-transformation of bicycle control system of claim 1, wherein: the sensor of trampling speed, wheel velocity in order to detecting is respectively one and tramples a speed pickup and a vehicle-wheel speed sensor.
8. according to the described automatic speed-transformation of bicycle control system of claim 1, wherein: this physiological status comprises the numerical value of breathing, heartbeat or blood pressure.
9. according to the described automatic speed-transformation of bicycle control system of claim 1, wherein: judge the gear value of each gear that defines in the rule, all have certain interval; Also more increase at (b) that judge rule with (c): (b1) in a longer schedule time; If this gear aggregate-value does not all surpass the pairing gear value of present gear; Just do not cause under the state of gear shift action, then this gear aggregate-value is reset to the interval midrange of the gear value of present gear.
10. according to the described automatic speed-transformation of bicycle control system of claim 9, wherein: this longer schedule time is between 500 milliseconds-2000 milliseconds.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102448743A CN102346446A (en) | 2010-07-26 | 2010-07-26 | Automatic gear shifting control system for bicycle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102448743A CN102346446A (en) | 2010-07-26 | 2010-07-26 | Automatic gear shifting control system for bicycle |
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| CN102346446A true CN102346446A (en) | 2012-02-08 |
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| CN2010102448743A Pending CN102346446A (en) | 2010-07-26 | 2010-07-26 | Automatic gear shifting control system for bicycle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110126955A (en) * | 2018-02-02 | 2019-08-16 | 宁波麦思动力系统有限公司 | A kind of Novel electric power-assisted bicycle |
| CN110654500A (en) * | 2019-10-17 | 2020-01-07 | 上海新案数字科技有限公司 | Automatic speed changing method and device for electric power-assisted bicycle |
| CN115071878A (en) * | 2019-02-15 | 2022-09-20 | 什拉姆有限责任公司 | Bicycle control system |
| CN115092307A (en) * | 2019-02-15 | 2022-09-23 | 什拉姆有限责任公司 | Bicycle control system |
| US11964731B2 (en) | 2019-02-15 | 2024-04-23 | Sram, Llc | Bicycle control system |
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| US5323318A (en) * | 1991-09-04 | 1994-06-21 | Honda Giken Kogyo Kabushiki Kaisha | System for controlling vehicle automatic transmission using fuzzy logic |
| CN1125667A (en) * | 1995-03-28 | 1996-07-03 | 王维德 | Method and device for bicycle automatic gearshift with computer control |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110126955A (en) * | 2018-02-02 | 2019-08-16 | 宁波麦思动力系统有限公司 | A kind of Novel electric power-assisted bicycle |
| CN115071878A (en) * | 2019-02-15 | 2022-09-20 | 什拉姆有限责任公司 | Bicycle control system |
| CN115092307A (en) * | 2019-02-15 | 2022-09-23 | 什拉姆有限责任公司 | Bicycle control system |
| CN115071878B (en) * | 2019-02-15 | 2023-10-03 | 什拉姆有限责任公司 | bicycle control system |
| CN115092307B (en) * | 2019-02-15 | 2024-04-19 | 什拉姆有限责任公司 | Bicycle control system |
| US11964731B2 (en) | 2019-02-15 | 2024-04-23 | Sram, Llc | Bicycle control system |
| CN110654500A (en) * | 2019-10-17 | 2020-01-07 | 上海新案数字科技有限公司 | Automatic speed changing method and device for electric power-assisted bicycle |
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Application publication date: 20120208 |