CN102785739A - Multi-magnetic block position-adjustable turntable sensor for assisted bicycle - Google Patents

Multi-magnetic block position-adjustable turntable sensor for assisted bicycle Download PDF

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CN102785739A
CN102785739A CN2012102634981A CN201210263498A CN102785739A CN 102785739 A CN102785739 A CN 102785739A CN 2012102634981 A CN2012102634981 A CN 2012102634981A CN 201210263498 A CN201210263498 A CN 201210263498A CN 102785739 A CN102785739 A CN 102785739A
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permanent magnet
model
signal
digital
power
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CN2012102634981A
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CN102785739B (en
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黄强
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成都宽和科技有限责任公司
欧阳焱雄
高松
黄强
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Abstract

The invention discloses a multi-magnetic block position-adjustable turntable sensor for an assisted bicycle, and belongs to the technology of providing a control signal by performing multi-point magnetic induction. The multi-magnetic block position-adjustable turntable sensor for the assisted bicycle comprises a sensing element, an assistance model processor, a digital-to-analogue converter and an operational amplifier which are connected in sequence; the sensing element is a plurality of permanent magnet blocks with adjustable space which are arranged on a turntable; the magnetic polarities of adjacent permanent magnet blocks are opposite, namely the distribution way is pole N, pole S, pole N, ellipsis; and a Hall element is arranged at the position close to the permanent magnet blocks. The multi-magnetic block position-adjustable turntable sensor for the assisted bicycle has the advantages that the Hall element can acquire square-wave signals by utilizing the NS opposite distribution way of the magnetic polarities of the adjacent permanent magnet blocks, and digital processing of the signals is facilitated; the square-wave signals can represent the positions of the permanent magnet blocks on the turntable by adjusting the distance among the permanent magnet blocks, and the application of different square waves are determined; and the sensor can output control model electric signals which are matched with the movement position of the permanent magnet blocks and are set artificially.

Description

助力自行车用多磁块位置可调节的转盘式传感器 Assisted bicycle with a plurality of magnetic blocks adjusted rotary position sensor

技术领域 FIELD

[0001] 本发明属于磁感应提供信号的技术领域,特别是涉及在一个转动部件上,进行多点位磁感应提供控制信号的技术。 [0001] The present invention belongs to the technical field of magnetic induction signal, and particularly relates to a rotatable member, multi-point magnetic induction technology to provide a control signal.

背景技术 Background technique

[0002] 野宝车料工业(昆山)有限公司申请的中国专利201020295192.0《勾爪式力矩传感装置》公开了一种助力自行车用传感装置,传感装置包括磁性件和弹性件配合,感受力矩的传感装置。 [0002] Chinese Patent Liu Po-car industry (Kunshan) application 201020295192.0 "hook jaw torque sensing device" discloses a power-assisted bicycle with a sensing device, the sensing device includes a magnetic member and the elastic member fit, feel torque sensing means. 使用时间长后,弹性件的弹性系数变化就会导致传感信号与被控电机的控制效果发生变化,助力效果变得与人的助力需要不配合。 After a long time use, the elastic coefficient of the elastic member will result in a change control signal to the motor controlled effect sensor is changed, the effect of boosting the human power becomes need not match. 而且用弹性件的设计结构复杂,制造成本高。 The elastic member and the design structures of complex, costly to manufacture.

[0003] 北京科技大学申请的中国专利01201843. 0《电动助力自行车自动检测装置》公开·了一种电动助力自行车自动检测装置,无接触检测蹬力、速度和转向,该装置在相对运动的内、外轮盘上分别设磁片,内轮盘上有弹簧,内、外轮盘之间用弹簧复位,用支架上的两个霍尔测内、外轮盘上相对运动的磁片产生的电信号表示蹬力、速度和转向。 [0003] Beijing China University of Science and Patent Application 01201843.0 "motor-assisted bicycle automatic detection device" discloses a motor-assisted bicycle automatically detecting means, non-contact detection of the pressing force, and the steering speed, the relative motion of the device , magnet pieces are disposed on the outer wheel, there is a reset spring between the spring, the inner and outer wheel to the inner wheel, with two Hall measurement on the holder, the magnet pieces on the outer wheel electric signal generated indicates the relative movement pedal power, speed and steering.

[0004] 缺点(I)用弹性件不耐久:使用时间长后,弹性件的弹性系数变化就会导致传感信号与被控电机的控制效果发生变化,助力效果变得与人的助力需要不配合,结构复杂,成本闻。 [0004] The drawback (I) is not durable elastic member: After a long time, the elastic coefficient of the elastic member will result in a change control signal to the motor controlled effect sensor is changed, the effect of boosting the human power becomes not need with the structural complexity, the cost of smell.

[0005] 缺点(2)各磁片组相同且磁极设置方式都相同,而不能表示不同磁片组的各自位置,不能表达不同位置特殊的助力需求:从01201843. 0专利的图3、4、5、6和说明书第2页第2段的记载说明,每一个磁片组(包括一个磁片4、一个磁片5、一个磁片6)的磁极设置方式都相同,即仅是在内轮的不同位置简单从复设置了完全相同的磁片组,不能表示不同磁片组的各自位置,不能表示特定位置的运动状态,而人骑自行车时,踏板和与踏板相对应的各位置在运动状态,都有自己特殊的助力需求,但该专利这种各磁片组相同的结构,不能表达出踏板上各个不同位置特殊的助力需求。 [0005] The drawback (2) and the same magnetic poles in each group of magnet pieces are disposed the same way, but not showing the respective positions of the different groups of magnet pieces, can not express a particular power needs of different positions: in Figure 3 and 4 patent 01201843.0, 6 and described in the specification on page 2 described in paragraph 2, each magnet piece group (including a 4 diskette, a magnetic sheet 5, a magnet plate 6) have the same pole arrangement, i.e., only the inner wheel simple multiplexing different positions from the group magnet pieces disposed exactly the same, different magnet pieces can not represent the respective positions of the group, can not represent a motion state of a specific position, while cyclists, pedal and the respective positions corresponding to the pedal motion state, has its own special power requirements, but the same structure of the magnet pieces in each group of such patent, can not express various special power demand pedal position.

[0006] 缺点(3)各位点信号无差异使人机不配合:每一个磁片组都一样,则每一个磁片组不能表示该磁片组在内轮上的位置,霍尔所输出的信号不能表示脚踏板和其它磁片组的位置,即霍尔输出的信号不能表示不同脚踏位置对助力的需求,造成对助力的需求和提供助力的时间不配合,即人机配合不理想。 [0006] The drawback (3) makes no difference signal at each site with no machine: each group of magnet pieces are the same, then each group of magnet pieces can not be represented on the inner position of the magnetic sheet set of wheels, the Hall output foot pedal position signal can not be expressed, and other groups of magnet pieces, i.e. the output signals of the Hall position of the foot can not be represented in different power requirements, resulting in demand for power and time are not provided with power, i.e., an ergonomically unsatisfactory .

[0007] 缺点输出正弦波使磁片组边缘距离不能小于4厘米,一般以5厘米为佳,而使可设磁片组数太少,人机配合不理想:各磁片组相同,则霍尔输出的是正弦波作为控制信号,作为控制信号正弦波必需有一定峰谷差值,由于该专利的磁片组需要一定长度表示正反向运动,在直径为20厘米的转动盘圆形轨迹上最多设8个磁片组,一般以5个为佳,霍尔才能有控制功能的正弦波信号。 [0007] disadvantage that the sine wave output from the set of edge magnet pieces can not less than 4 cm, preferably 5 cm generally, the number of magnet pieces may be disposed too group, an ergonomically unsatisfactory: the same set of magnet pieces, the Hall Seoul output as a control signal is a sine wave, a sine wave as the control signal must have a certain peak difference, because the patent requires a certain length of the magnetic sheet group represented by forward and reverse movement of the rotary disk in a circular path having a diameter of 20 cm up to 8 disposed on the magnetic sheet groups, generally preferably 5, in order to have a sine wave signal Hall control function. 也就是说,01201843. 0专利的这种技术方案,用于助力自行车,磁片组数量受限止在8个以内,控制信号太少,人机配合不理想。 That is, 01201843.0 patent of this aspect, a power-assisted bicycle, the number of magnet pieces within a limited set of stop 8, a control signal is too small, an ergonomically unsatisfactory. 但如果多于8个磁片组,在人踏车较快时,霍尔输出的信号图形接近为一条水平线,该信号没有控制功能,不能控制电动机,使其特别需要助力时,失去助力功能。 However, if more than 8 groups magnet pieces, when a person treadmill faster, the Hall output signal pattern close to a horizontal line, the signal is not the control function, can not control the electric motor, in particular when it needs power, power loss of function. [0008] 缺点(5)信号盲区达45度角,启动时需要助力的时候确得不到助力:众所周知,人踩自行车脚踏板在顶点力矩最小,从离开顶点10-45度角是最需要助力的区域,但该专利各磁片组之间的夹角为45度,在脚踏板离开顶点10-45度角区域没有一个磁片组,也就没有一个控制信号,其结果是最需要助力的时候,但助力自行车的电机确不能助力。 [0008] The drawback (5) blind zone of 45 degrees, when needed indeed not start assist power: we all know, at the apex of the minimum torque dislikes bicycle pedals, away from the apex angle of 10-45 degrees is most needed power region, but the angle between the magnet pieces in each group patent is 45 degrees, 10-45 degrees away from the apex region of a foot pedal magnet piece is not set, there is no control signal, which result is most needed when the booster, but can not determine the motor-assisted bicycle power.

[0009]总之,除用弹性件不耐久又结构复杂外,因霍尔与磁片组的配合结构特点,转盘大小直径为20厘米以内,限止了磁片组数量为8组,磁片组数不能随意增加,使人机配合不理想,而且启动时得不到助力,助力需求与提供助力不匹配,骑车人的舒适性差;如强行增加磁片组数量,其传感信号又失去助力控制功能。 [0009] In summary, except that the elastic member is not durable and complex structure, the structural characteristics of the Hall with the magnetic sheet group, the turntable having a diameter of less than 20 cm size, limiting, the group number of magnet pieces 8 groups, the number of magnet pieces Group You can not raise, make the machine undesirably complex and not power, power demand and start providing power does not match, the difference in the comfort of the rider; forced to increase the number of such groups magnet pieces, they lost their sense signal assist control Features.

[0010] 王乃康申请的中国专利03264387. X《时间型电动助力自行车传感器》公开了不用弹性件,只用动、定两个转盘,动盘上面镶嵌两个磁磁钢,定盘上面镶嵌三个霍尔元件,自行车踏板转一周,每个霍尔产生两个脉冲,则三个霍尔元件产生六个脉冲。 [0010] Wang Naikang Chinese patent application 03264387. X "time-of-power-assisted bicycle sensor" discloses a no elastic member, moving only, given two turntables, two magnetic plate mounted above the movable magnet, fixed plate mounted above three Hall elements, bicycle pedal revolution, each Hall two pulses are generated, the three Hall elements to produce six pulses. 分折可得三个特点,四个缺点如下:· 特点(I)为获得六个脉冲信号,只能是各永磁磁钢相同磁极在一面:每个霍尔要产生两个脉冲,则只能是两个磁磁钢的相同磁极设在动盘的同一面,即在动盘的某一面,两个磁磁钢都是北极或都是南极。 Three sub-off characteristics can be obtained, the following four disadvantages: · features (I) to obtain six pulse signals, only the permanent magnet poles on the same side: to produce two pulses each Hall, only can be the same magnetic poles of two magnets provided on the same side of the movable disc, i.e. one side of a movable platen, two magnets are magnetic north or both south. 假如在动盘的同一面,一个永磁磁钢为北极,另一个为南极,则踏板转一周,每个霍尔就只能产生一个脉冲,三个霍尔就只有三个脉冲,这就不合乎该专利说明书记载了。 If the same side of the movable plate, a permanent magnet north pole and the other a south pole, the pedal revolution, each Hall can only generate a pulse, three Hall only three pulses, this is not this patent specification describes desirable. 为了增加脉冲数,提高控制效果,只能是各永磁磁钢相同磁极在一面。 In order to increase the number of pulses, the effect to improve the control, only the permanent magnet poles in the same side.

[0011] 特点(2)永磁磁钢用于表示踏板固定位置,三个霍尔表示踏板运动位置:由于踏板与动盘是同步转动,所以在与两个踏板对应的动盘上两个位置分别固定一个永磁磁钢,某一个踏板转在什么位置,则对应的永磁磁钢也转在什么位置;但只有转在有霍尔的位置,才能通过霍尔发出控制信号,指挥助力自行车的电机产生需要的助力转动。 [0011] Features (2) represents a permanent magnet for fixing the pedal position, the pedal movement position representing the three Hall: Since the movable plate and the pedal is synchronously rotated, so the two pedals with two positions corresponding to the movable platen one permanent magnet are fixed, a certain turn in what position the pedal, corresponding to the permanent magnet can be turned in what position; but only the position of a Hall switch, in order to issue a control signal by the hall, command assisted bicycle the rotational power generated by the motor required.

[0012] 特点(3)因为一个霍尔不能表示转一周中不同时段踏板运动的位置,则就不能只用一个霍尔:踏板在转一周中的不同时段,对助力需求是有很大差别的,要体现这种助力需求的变化,该专利用三个霍尔分别设在180度角以内的三个位置,两个磁磁钢分别设在两个踏板位置,踏板转在有霍尔的位置,该霍尔就输出信号表示踏板到达了该霍元的位置。 [0012] Features (3) can not be represented as a Hall revolution motion of the pedal position at different times, then it is not only a Hall: pedal revolution in different times of the week, the demand for power is very different to reflect this change in power demand, which patents are provided with three Hall three positions within 180 degrees, the two magnetic magnets are provided at two pedal position, the pedal position switch in a Hall the Hall reaches the pedal output signal indicative of the position of the Hall element. 但用多个霍尔又存在下面的缺点。 However, the presence of a plurality of Hall and the following disadvantages.

[0013] 作为助力自行车传感器的这些特点会有三个缺点: [0013] These features assist bicycle as sensors have three disadvantages:

缺点(I)用两个没有差异性的永磁磁钢分别表示两个踏板的固定位置,就只能用多个霍尔来表示踏板的转动位置:两个磁磁钢没有差异性,优点是可以不分左右脚的分别表示两个踏板的固定位置,使其左右脚发生助力需求,可产生相同的电机助力效果;但缺点是永磁磁钢本身就不能表示踏板的转动位置,而只能用多个霍尔设在不同的转角位置来表示踏板的转动位置,所以不能只用一个霍尔,而必需用多个霍尔。 Disadvantages (I) with two permanent magnets no differences are represented by two fixed positions of the pedals, can only be used to indicate the rotational position of a plurality of Hall pedal: two magnet magnetic no difference, the advantage of can represent either right or left foot pedals of the two fixed positions, so that left and right foot power demand occurs, the motor can produce the same effect boosting; but the drawback is represented by the permanent magnet itself is not rotated position of the pedal, but only Hall provided with a plurality of different angular positions to indicate the rotational position of the pedal, it is not only a hall, and is necessary to use a plurality of Hall.

[0014] 缺点(2)不能只用一个霍尔,而三个霍尔必然造成三个控制信号有原始分段误差,使助力需求模型失真,自然产生助力输出与助力需求不一致:助力自行车不论是一个或两个电机,其控制电机的传感信号只能用一个传感信号输入电机控制器才能达到控制电机的目的;而该专利用三个霍尔控制电机,则必需把三个霍尔的三个控制信号合并为一个合并控制信号后才能输入电机控制器。 [0014] disadvantage (2) is not only a hall, and three Hall inevitably lead to the three control signals have the original segment error, so that the distortion power demand model, naturally occurring and assist power output demand is inconsistent: assisted bicycle either one or two motors, which control signal the motor sensing a sensing signal is input only with the motor controller controls the motor to achieve the purpose; and the patent uses three Hall control the motor, it is necessary to three Hall input to the motor controller controls the three signals into a combined control signal. 三个霍尔的传感参数不可能一样,特别是由于环境温度变化、使用时间长后,三个霍尔的传感参数可能差异很大,其结果造成相同的助力需求时,不同霍尔的输出的是不同电压,导致电机产生不同的助力输出,助力输出与助力需求不一致;同理相同的助力需求时,不同霍尔的输出的又可能是相同电压,导致电机产生同一种助力输出,也产生助力输出与助力需求不一致的问题。 Hall three sensing parameters can not be identical, in particular due to ambient temperature changes, after a long time, three Hall sensing parameters may vary greatly, resulting in that the same power requirements, the different Hall output voltages are different, resulting in different power outputs generated by the motor, it is inconsistent with the assist power output demand; Similarly when the same power requirements, and different Hall output voltage may be the same, cause the motor to produce the same power output, problem of inconsistent power output and power demand.

[0015] 缺点(3)合并控制信号易产生信号漂移,使合并控制信号与电机控制器不匹配,助力需求模型失真:由于环境温度变化、使用时间长后,三个霍尔的传感参数可能差异很大,三个霍尔的三个控制信号连接点必然变化,则相同的助力需求产生的合并控制信号就会产生分段性的信号漂移,合并控制信号作为一整体产生信号失真,即助力需求模型失真,造成电机控制器选用三个控制信号的任何一个作为基准都会产生助力输出与助力需求不一致的问题。 [0015] The drawback (3) easy to produce combined signal drift control signal, the combined control signal and the motor controller does not match the power demand model distortion: due to environmental temperature changes, a long time after use, three Hall sensing parameters may vary widely, three Hall three connection points bound to change the control signal, the control signal is the same as the combined demand for power generation will produce segments of signal drift, a control signal is combined signal distortion as a whole, i.e. power demand model distortion caused by the motor controller selects any one of three control signals produce inconsistent and power needs of power output as the reference city.

[0016] 缺点传感位点不能随意增加,传感位点太少,电机运行就不平稳,使骑车的人感觉很不舒服:由于有缺点(I)和缺点(2)都最因为霍尔数量大于一个造成的,很明显霍尔数量越量越多,缺点(I)和缺点(2 )表现越严重。 [0016] The disadvantage of sensing sites can not raise, the sensing site is too small, the motor will not run smoothly, so that people feel uncomfortable ride: disadvantageous because (I) and disadvantages (2) are the most because Fok Seoul larger than a number of causes, it is clear the number the more the amount Hall, the more serious shortcomings (I) and disadvantages (2) performance. 所以,该专利提供的助力自行车只能是使骑车的人感觉舒适性很不好的助力自行车。 Therefore, this patent provides only assisted bicycle rider to make people feel a very good comfort assisted bicycle.

·[0017] 缺点(5)信号盲区达42度角,启动时需要助力的时候确得不到助力:众所周知,人踩自行车脚踏板在顶点力矩最小,从离开顶点10-45度角是最需要助力的区域,但该专利各霍尔之间的夹角为42. 5-43. 5度,在脚踏板离开顶点10-42度角区域没有一个霍尔,也就没有一个控制信号,其结果是最需要助力的时候,但助力自行车的电机确不能助力。 * [0017] The drawback (5) blind zone of 42 degrees, when needed indeed not start assist power: we all know, at the apex of the minimum torque dislikes bicycle pedals, away from the apex angle of 10-45 degrees is most area needs help, but the angle between each of the Hall patent is 42. 5-43. 5 degrees, away from the apex of the foot pedal region is not a 10-42 degree angle Hall, there is no control signal, As a result, power is most needed, but can not determine the motor-assisted bicycle power.

[0018] 总之,该专利是用多个霍尔控制助力模式的技术方案,因为只能用多个霍尔来表示踏板的转动位置,多个霍尔的多个控制信号必然有原始误差,其合并控制信号又易产生信号漂移,都可造成助力需求模型失真,即不同时间的相同助力需求,但获得不同的助力效果;霍尔数量越量越多,助力需求模型失真越严重,限止了尔了数量,霍尔少数量了又产生电机运行就不平稳,使骑车的人感觉很不舒服,而且启动时得不到助力。 [0018] In summary, this patent is controlled by a plurality of Hall aspect assist mode, since only the rotation is represented by a plurality of Hall position of the pedal, the plurality of Hall plurality of control signals must have the original error, which merger control signal and prone to signal drift, can cause distortion boost demand model, that same power demand at different times, but get a different boosting effect; the amount Hall number, the more serious distortion boost demand model, limiting, the Er the number of Hall and produce a small number of the motor is not running smoothly, make people feel very uncomfortable ride, and get help when you start. 使其要助力需求模型不失真,和要电机运行平稳这两个问题上总是顾此失彼,不可兼得。 To help make demand model without distortion, and smooth on both issues to run the motor is always a loss, you can not have both.

发明内容 SUMMARY

[0019] 本发明的目的是提供只用一个霍尔和转动盘上各个永磁块获得速度和加速度信号的传感器,是一种在可感应区域内,能尽量增加永磁块数量,最大限度利用转动盘位移信息,输出信息多又精确定位,可调节输出信号模型的传感器。 [0019] The object of the present invention to provide a sensor using only the individual permanent magnet segments to obtain velocity and acceleration signals on a rotary disk and Hall, in a sensing region may be, can maximize the number of permanent magnet blocks, maximize the use of rotary disk displacement information, and outputs information of the multi precise positioning, the sensor output signal may be adjusted model. 使用在助力自行车上,不用弹性件和其它机械测定力矩,也能够使助力需求与提供的助力匹配良好,能实对不同人给与个性化助力,电机运行平稳的助力自行车传感器。 Used in assisted bicycle, the elastic member and the other without mechanical torque measurement, it is possible to match the power demand and provide a good booster can be given a personalized real power to different people, the smooth operation of the motor-assisted bicycle of the sensor.

[0020] 本发明的构思是:在一个霍尔可感受范围内,一个转动盘上用多个永磁块进行不同的变化方式设置,使其一个霍尔可感受全部永磁块的运动信号。 [0020] The concept of the present invention is: in a range perceptible Hall, a rotary disk that various changes provided with a plurality of permanent magnet segments, so that a Hall perceptible motion signals of all the permanent magnet blocks. 多个永磁块的变化方式主要是磁极性变化、错位变化、位置可由用户调节,目的使霍尔可获得有特定位置更精确、更适合个性化需求、控制功能更强、数量更多的永磁块运动信号。 Changes in the way the plurality of permanent magnet segments of the main magnetic pole changes, changes in displacement, the position adjustment by the user, there is obtained a specific object of the Hall position more accurate for individual needs, control more powerful, larger number of permanent magnetic block motion signal.

[0021] 多个永磁块磁极性用南极北极交替变化,使霍尔产生的信号为矩形波,控制功能更强、数量更多; [0021] The plurality of permanent magnet segments of alternating poles north south with variation of the signal generated by the Hall rectangular wave control more powerful, more number;

多个永磁块错位变化使霍尔产生的信号有不同的波间距离,能表达永磁块的运动位置更精确,从而可以表达特定位置的运动状态,对于助力自行车,表达脚踏板的特定位置是在什么运动状态非常重要,因为脚踏板的运动状态直接表示了人对车的助力需求状态; A plurality of permanent magnet segments of the signal of the Hall offset variations generated have different distances between wave motion capable of expressing a more precise position of the permanent block, thereby expressing the motion state of a specific position, for assisted bicycles, the expression of specific footboard the location is very important in what state of motion, because the motion of the pedals boost demand directly represents the people of the state of the vehicle;

永磁块位置可由用户调节,使霍尔产生的信号可用户调节,用户就可以通过户调节控制信号来调节控制方式和控制内容,具有按个性化方式进行控制的功能。 Adjusting the position of permanent magnet segments by a user, the Hall signal can be generated by a user to adjust, the user may adjust the control signal and the control content through the user adjustment control, by having a function of controlling a personalized manner.

[0022] 本发明的结构如下: [0022] The structure of the present invention is as follows:

助力自行车用多磁块位置可调节的转盘式传感器,包括依次连接的传感元件、助力模型处理器21、数模转换器27和运算放大器28 ;其特征在于: Assisted bicycle with a plurality of magnetic blocks adjusted rotary position sensor, comprising a sensor element connected in turn, help model processor 21, digital to analog converter 27 and an operational amplifier 28; wherein:

[1]传感元件是把转动盘I的转动运动变为矩形波信号输出的元件; [1] to the sensing element is a rotational movement of the rotary disk I becomes a rectangular wave signal output element;

传感兀件包括一块转动盘I和多枚永磁块2,转动盘I上固定设置有多枚永磁块2,该多枚永磁块2分布在一个圆环形6范围内,圆环形6的圆形轨迹线5-1与外圆形轨迹线5-2之间至少有一条圆形轨迹线贯穿全部永磁块2 ;内圆形轨迹线5-1和外圆形轨迹线5-2为同心圆,至少有两枚永磁块2成错位分布;错位分布是半径错位分布方式或间距错位分布方式的某一种;或即有半径错位分布方式,又有间距错位分布的组合方式;· 半径错位分布方式是:至少有两个磁块2到内圆形轨迹线5-1所在圆中心的距离不相 Wu sensing member comprises a rotary disk and a plurality of pieces of permanent magnet blocks I 2, a plurality pieces of permanent magnet segments arranged fixed on the rotary disk I 2, the plurality of pieces of permanent magnet segments 2 distribution in the range of 6 a circular, ring at least one circular trace through all shaped permanent magnet segments 2 between the circular trajectory line 6 and the outer circular trajectory 5-1 5-2; 5-1 circular trajectory and an outer circular trajectory 5 -2 concentric circles, with at least two permanent magnet blocks 2 to dislocation distribution; the radius of a certain kind of dislocation distribution is displaced or offset in a distributed fashion distributed fashion pitch; or radius that is offset in a distributed fashion, there are a combination of offset spacing distribution manner; and radius offset is distributed manner: from 5-1 where at least two of the center of the circle to the magnet 2 not in a circular trajectory

同; with;

间距错位分布方式是:相邻两个磁块2之间的距离为永磁块间距7 ;至少有两条永磁块间距7的长短不相同; Pitch offset distribution is: the distance between the two permanent magnet blocks to adjacent magnet blocks pitch 7; the permanent magnet segments with at least two pitches of different length 7;

在内圆形轨迹线5-1与外圆形轨迹线5-2之间至少有一个条形孔8,条形孔8中设有永磁块2,永磁块2能固定在条形孔8中的任何位置; Circular inner and outer circular trajectory line 5-1 5-2 trace between the at least one strip-shaped aperture 8, the aperture 8 is provided with strip-shaped permanent magnet segments 2, the permanent magnet blocks 2 can be fixed in the rectangular hole 8 anywhere;

在转动盘I的某一面,相邻两枚永磁块2的磁极性相反,即转动盘I的某一面上全部永 In one side of the rotary disk I, two adjacent poles of opposite permanent magnet segments 2, i.e. a surface of the rotary disk I all permanent

磁块2的磁极性分布方式是N极、S极、N极、S极、N极、S极......; Pole distribution block 2 is magnetically an N pole, S pole, N pole, S pole, N pole, S pole ......;

还包括一个霍尔3,霍尔3位于转动盘I的某一面,霍尔3设在接近永磁块2并能感受永磁块2磁通量的位置,霍尔3与永磁块2之间有间距;霍尔3是对相反磁极性产生矩形波输出信号的霍尔; 3 further comprises a Hall, Hall located at a side of the rotary disk 3 I, 3 is provided near the Hall permanent magnet segments 2 and permanent magnet segments 2 can feel the position of the magnetic flux, there are between 2 and 3 Hall permanent magnet segments pitch; Hall 3 is an opposite magnetic polarity to generate a rectangular wave output signal of the Hall;

[2]助力模型处理器21是把转动盘I转动的数字信号变为助力模型数字信号的信号形式转换器; [2] the model processor 21 is to assist the rotation of the rotation disk I signal becomes a digital signal form converter power model of the digital signal;

助力模型处理器21包括模数转换和波宽识别器22、助力起点选择器23、磁块转速计算器24、助力模型存储器25和助力模型计算器26 ; Power model processor 21 includes analog to digital conversion and pulse width discriminator 22, the selector 23 starting booster, magnetic blocks speed calculator 24, a memory 25 and power booster model model calculator 26;

模数转换和波宽识别器22与传感元件连接,模数转换和波宽识别器22把传感元件中霍尔3输入的矩形波信号进行识别各个矩形波的宽度,将各个矩形波信号变为不同的数字信号,对每个矩形波进行标注,模数转换和波宽识别器22输出标注有磁块位置秩序的磁块运动数字信号; Analog to digital conversion and pulse width discriminator 22 is connected with the sensing element, a rectangular wave signal analog-digital conversion and pulse width discriminator 22 Hall sensor element 3 identifying each inputted width of the rectangular wave, a rectangular wave signal to the respective becomes a different digital signal, annotate each rectangular wave, analog to digital conversion and output pulse width discriminator 22 magnet motion digital signals are denoted with a magnetic block position order;

模数转换和波宽识别器22分别与助力起点选择器23和磁块转速计算器24连接,助力起点选择器23与磁块转速计算器24连接;磁块转速计算器24用模数转换和波宽识别器22输入的标注有磁块位置秩序的磁块运动数字信号计算出转动盘I的转速,并把转动盘I的转速数字信号传给助力起点选择器23,助力起点选择器23用标注有磁块位置秩序的磁块运动数字信号,和转动盘I的转速数字信号这两个信号确定在某种转速条件下的助力起点对应的某一个矩形波,即确定助力起点磁块; Analog to digital conversion and pulse width discriminator 22, respectively booster starting magnet block selector 23 and the speed calculator 24 is connected to the starting point of the booster 24 is connected to the selector 23 speed calculator magnet; magnetic blocks speed calculator 24 with analog to digital conversion and the bandwidth of the input label 22 identifying the position of magnet has the magnetic order of the block motion digital signal I calculated speed of rotation of the disc, and the disc rotation speed digital I signal to the selector 23 the starting point of the booster, the booster 23 by selecting the starting point labeled with a rectangular wave of a magnetic magnet block position order motion digital signal, and the rotation speed of the disk I digital signals of the two signals is determined under certain conditions of rotational speed corresponding to the starting point of the booster, i.e. determines assist starting magnet block;

助力起点选择器23和磁块转速计算器24分别都与助力模型计算器26连接,助力模型存储器25也与助力模型计算器26连接;助力模型计算器26用助力起点选择器23的助力起点磁块,和用磁块转速计算器24的转动盘I转速这两个条件选择助力模型存储器25中的某一种助力模型函数,并将助力起点磁块和转动盘I转速这两个条件代入助力模型函数,计算出适合这两个条件的助力模型数字信号,即助力模型计算器26输出助力模型数字 Booster starting magnet block selector 23 and the speed calculator 24 are respectively connected to the power model calculator 26, the booster 25 is also connected to the memory model booster 26 model calculator; power booster model calculator 26 with a starting point selector 23 starting magnetic booster blocks, and the rotation speed of the magnetic disk I block the rotation speed calculator 24 of the two conditions are selected in a template memory booster is a booster 25 model function, and the power magnet block and starting disk rotation speed of these two conditions I substituting booster model function is calculated for the two conditions of the power model of the digital signal, i.e., the model calculator 26 outputs assist power model of the digital

信号; signal;

[3]数模转换器27是把助力模型数字信号转换成助力模型的模拟信号; [3] The digital to analog converter 27 is to convert digital signals into analog model booster power signal model;

助力模型计算器26与数模转换器27连接,数模转换器27把助力模型计算器26的助力模型数字信号转换成助力模型模拟信号;以便只能处理模拟信号的电机控制器能识别模拟信号; Model calculator 26 is connected to the power DAC 27, DAC converter 27 Model power booster model calculator 26 is a digital signal into an analog signal booster model; only for processing an analog signal the motor controller can recognize an analog signal ;

[4]运算放大器28是把数模转换器27的助力模型模拟信号转换成额定电压范围的助力模型模拟信号。 [4] of the operational amplifier 28 is converted to an analog signal DAC model booster into booster 27 model rated voltage range analog signal.

[0023][一]对传感元件的说明:· 转动盘I可以是塑料板、高强度绝板、铜板、铝板等不易变形的材料板。 [0023] [a] the description of the sensing element: I · rotatable disk may be a plastic plate, a high strength insulating board, copper, aluminum and other materials not easily deformed plate. 使用传感元件时,转动盘I要转动,所以转动盘I又称转动盘,转动的中心就是多个永磁块2成圆环形分布所在圆的中心。 When using the sensor element, the rotary disk is rotated to I, I, also known as rotary disk so that the disk rotates, the center of rotation is a plurality of permanent magnet segments 2 located in circular distribution center circle.

[0024] 多个永磁块2在圆环形6范围内,成圆环形分布的目的在于可以只用一个霍尔3感受转动盘上全部永磁块2的运动状态,即感受转动盘上全部永磁块2的运动位置和速度,以及速度的变化,或称加速度,这一个霍尔3就能把永磁块2的运动状态用一个连续的电信号来表达,又因为全部永磁块2是分别固定在转动盘即转动盘I上的,则霍尔3产生的连续电信号就能表达转动盘的运动状态。 [0024] The plurality of permanent magnet segments 2 in the range of 6 circular, circular object to be distributed only in that the entire motion of the permanent magnet segments 2 3 feel a Hall rotary disk, the rotary disk feel i.e. all permanent magnet segments 2 position and speed of movement, and the change in speed, acceleration, or said, that one of the Hall permanent magnet segments 3 will be able to use a motion state 2 to express a continuous electrical signal, and because all of the permanent magnet segments 2 are respectively fixed to the rotary disc plate is rotated on the I i.e., the continuous electrical signal generated by the Hall 3 can express the state of motion of the rotating disk. 如果把这个连续电信号用于控制其它物体,这个连续电信号就是控制信号。 If this continuous electrical signal used to control other objects, this is a continuous electrical control signal. 如果用于控制助力自行车的电机,还需要用单片机或其它电子元件作为传感信号处理器,把控制信号中的位置、速度、加速度要素转换成需要助力多少的助力信号,换算的函数就是助力需求模型,或称助力模型。 If for controlling the motor-assisted bicycle, need to use a microcontroller or other electronic components as a sensing signal processor, converts the position control signal, velocity, acceleration signal booster element into the number of required power, power demand is equivalent function model, also known as power models.

[0025] 多个永磁块2成错位分布的意义是:使霍尔3产生的电信号中不是完全一样的脉冲信号,而是脉冲宽度不同的脉冲信号,用有区别的脉冲信号来区别永磁块2的不同位置,从而可以获得不同位置永磁块2的运动状态。 Significance [0025] The plurality of permanent magnet segments 2 to offset distribution is: that the electric signal generated by the Hall 3 is not exactly the same as a pulse signal, the pulse width but different pulse signals, pulse signals are different to distinguish between permanent different position of the magnetic block 2, the motion state can be obtained at different positions of the permanent magnet segments 2. 达到可精确表达转动盘某个位置,或每个有永磁块2的运动状态。 Exact expressions may be rotatable disk reaches a certain position, the or each block has a motion state of the permanent 2. 如用于助力自行车,可精确表达脚踏在不同位置对助力的需求,使助力需求的表达更精确,则车与人的配合就更一致。 As for the power-assisted bicycle, the pedal may be precisely expressed at different positions on the power demand of the power demand for more precise expression, cars and people is more consistent fit.

[0026] 永磁块2半径错位分布方式是:有的永磁块2离转动盘的转动中心近,有的永磁块2离转动盘的转动中心远。 [0026] radius of the permanent magnet block 2 is offset in a distributed fashion: some permanent magnet segments 2 from the rotational center of the rotary disk near the center of rotation from the rotary disk 2 of a conventional permanent magnet segments away. 但不论远近,永磁块2必需在霍尔3所能感受、能产生电信号的范围内。 However, regardless of distance, it required two permanent magnet segments 3 can feel Hall, can generate the range signal. 能产生电信号的范围就是内圆形轨迹线5-1与外圆形轨迹线5-2之间的范围。 To produce an electrical signal range is the range between 5-2 and 5-1 within a circular outer circular trace trace. 为保证霍尔3能产生电信号,结构上要求内圆形轨迹线5-1与外圆形轨迹线5-2之间至少有一条圆形轨迹线贯穿全部永磁块2。 To ensure that the Hall 3 can generate an electrical signal, it requires a circular trajectory line 5-1 with the circular outer trajectory line structure has at least one circular trace through all of permanent magnet segments 2 between 5-2. 至少有两个磁块2到内圆形轨迹线5-1所在圆中心的距离不相同,当然可以每个永磁块2到圆中心的距离不相同,即每个永磁块2的半径不相同,以使霍尔3电信号的每个脉冲都可以表在永磁块2,使每个脉冲都可以表一个转动盘位置。 There are at least two magnet blocks 2 to a circular trajectory line 5-1 from the center of the circle where the same do not, of course, each permanent magnet segment may be from 2 to center of the circle are not the same, i.e., the radius of each permanent magnet segment is not 2 the same, so that each pulse of the electrical signal can be the hall 3 in table 2 block permanent magnet, so that each pulse may be a rotating disk table position.

[0027] 永磁块2间距错位分布方式是:以永磁块2的外边缘作为测定间距的基础,至少有两条永磁块间距7的长短不相同,当然可以每条永磁块间距7的长短不相同,以使霍尔3电信号的每个脉冲都可以表示在永磁块2,使每个脉冲都可以表示一个转动盘位置。 [0027] The pitch of the permanent magnet block 2 is offset in a distributed fashion: the outer edge of the permanent magnet segments 2 measured as a base pitch, the pitch of at least two permanent magnet segments 7 are not the same length, the spacing may of course be each permanent magnet segment 7 They are not the same length, so that each pulse of the Hall 3 are electrical block may represent a permanent magnet 2, so that each pulse may represent a position of the rotating disk.

[0028] 获得永磁块2成错位分布有两种方法,第一种是把永磁块2固定在转动盘I上时,就至少有两枚永磁块2成错位分布。 [0028] The permanent magnet segments 2 to obtain the distribution of misalignment in two ways, the first permanent magnet segments 2 are fixed to the rotary disc when the I, there are at least two permanent magnet blocks 2 to dislocation distribution. 第二种是利用条形孔8中有多个位置都可以设有永磁块2,在转动盘I上至少用一个条形孔8,把一个或多个永磁块2设在条形孔8中,随时可按人的需要改变永磁块2的位置,也就是调节永磁块2所在条形孔8中的位置,调节后将其固定,所以,有条形孔8就能随时调节永磁块2错位分布方式,可用同一个永磁块2使霍尔3产生不同的输出信号,产生不同的控制效果。 A second rectangular hole 8 is utilized in a plurality of positions may be provided with a permanent magnet blocks 2, on the rotary disk I by at least one strip-shaped aperture 8, the one or more permanent rectangular hole provided in the block 2 8, who may at any time to change the position of the permanent need to block 2, i.e. the permanent adjustment position of the block 2 where hole bar 8, fixed after adjustment, so that stripe-shaped hole 8 can be adjusted at any time 2 permanent magnet segment offset in a distributed fashion, a permanent magnet can be used with the Hall 3 block 2 produce different output signals, generate different control results. 如用于助力自行车,可使车给与人不同的助力效果。 As for the power-assisted bicycle, the vehicle can help people give different results.

[0029] 霍尔3设在接近永磁块2并能感受永磁块2磁通量的位置,目的在于用霍尔3感受永磁块2的运动状态,从而感受转动盘I的运动状态,即运动位置、速度、加速度。 [0029] 3 is provided near the Hall permanent magnet segments 2 and permanent magnet segments 2 can feel the position of the magnetic flux, is intended that the motion state of the permanent Hall 3 feel block 2, so that the rotary disk I feel motion, i.e. motion position, velocity, acceleration.

[0030] 相邻两个磁块2的磁极性相反是很重要的技术特征,全部永磁块2的磁极性分布方式是N极、S极、N极、S极、N极、S极……,使霍尔3输出高、低相间的矩形波信号,因为作为大小受限止的转动盘,转动一周要获得尽量多的精确变化信号,当然应是选用矩形波。 [0030] two adjacent poles of the magnet 2 is on the contrary very important technical features, all the permanent magnet magnetic pole distribution block 2 embodiment is an N pole, S pole, N pole, S pole, N pole, S pole ... ..., the Hall 3 outputs high, low white rectangular wave signal, as the size is limited because of the rotation of the stopper plate, one rotation to get as much accurate change signal, a rectangular wave of course should be selected. 矩形波信号的峰谷值变化的时间短,可在一定的时间内,产生尽量多的有控制意义的信号。 Peak value of the rectangular wave signal changes in a short time, within a certain period of time can produce as many control signal has significance. 相邻两个磁块2的磁极性相反的结构产生矩形波,而相邻两个磁块2的磁极性相同的结构产生正弦波,特别是用于助力自行车时,作为传感部件的转动盘一般限止在直径为10-15厘米,在这种限范围要获得有控制功能的信号,转动一周,产生矩形波比产生正弦波可提供·的脉冲个数多7-9倍。 Two adjacent poles of the magnet 2 opposite to the rectangular wave generating structure, the same structure as the magnetic poles of the two adjacent blocks 2 generates a sine wave, particularly when used in assisted bicycle, the sensing member as the rotary disk limiting, typically a diameter of 10-15 cm, in such a limited range to obtain a signal with a control function, one rotation, the number of pulses generated rectangular sine wave generated Bobby provides · 7-9 times. 自然,相邻两个磁块2的磁极性相反的结构对助力自行车的控制效果更的,人与车配合更好,乘骑人感觉更舒服。 Naturally, two adjacent poles of the magnetic structure 2 blocks assisted bicycle control effect is more, people and cars with better contrast, people feel more comfortable ride.

[0031] [二]助力模型处理器21的说明:助力模型处理器21是把转动盘I转动的数字信号变为助力模型数字信号的信号形式转换器; DESCRIPTION [0031] [II] booster 21 model processor: Power model processor 21 the rotary disk is rotated digital signal I becomes the signal power converter in the form of a model of the digital signal;

助力模型处理器21包括模数转换和波宽识别器22、助力起点选择器23、磁块转速计算器24、助力模型存储器25和助力模型计算器26 ;这些部件信号的处理思路是:把传感元件中霍尔3的矩形波信号分解出表示磁块2位置的位置数字信号,和表示转动盘I转速的速度数字信号,由于位置和速度都是数字信号,就可以对位置和速度用助力数学模型处理,可以按人的最佳感觉进行设计助力数学模型,使其助力模型处理器21输出的助力模型数字信号即具有最佳助力数学模型,又有该佳助力数学模型的启动点和终止点,因为有磁块2的位置数字信号,所以启动点和终止点可确到与人的助力需求完全同步。 Power model processor 21 includes analog to digital conversion and pulse width discriminator 22, the selector 23 starting booster, magnetic blocks speed calculator 24, a memory 25 and power booster model model calculator 26; roadmap signals of these components are: the pass Hall sensing elements 3 a rectangular wave signal of the digital signal representing the position of the decomposition the position of the magnet piece 2, and a digital signal representing the rotation speed of the disk rotation speed I, since the position and velocity signals are digital, it can be used to assist the position and velocity power model digital signal processing mathematical model, the mathematical model can be designed according to the best help people feel, making it 21 output power processor model that is the best booster mathematical model, but also help start point mathematical model of the good and termination point, digital signals because of the position of magnet 2, the starting point and end point may be determined with the help of people needs full synchronization. 解决了现有技术没有磁块2位置信号而导致人的助力需求与助力模型不匹配,和助力模型的运行延迟于助力需求的问题,解决了现有技术要力不给力,要大力只给小力,要小力又给大力,不要力又给力等人机不配合的问题。 The prior art does not solve the problem of the magnetic signal caused by the position of block 2 people and help boost demand model does not match the model run and help delay in power demand to solve the prior art to force not to force, we should vigorously only to small force, less force gave vigorously, do not force the issue and gave the force of human uncooperative. 助力模型处理器21中各部件的连接关系和功能如下: Power connection relationship and function of each component in the model processor 21 as follows:

模数转换和波宽识别器22与传感元件连接,模数转换和波宽识别器22把传感元件中霍尔3输入的矩形波信号进行识别各个矩形波的宽度,将各个矩形波信号变为不同的数字信号,对每个矩形波进行标注,模数转换和波宽识别器22输出标注有磁块位置秩序的矩形波信号。 Analog to digital conversion and pulse width discriminator 22 is connected with the sensing element, a rectangular wave signal analog-digital conversion and pulse width discriminator 22 Hall sensor element 3 identifying each inputted width of the rectangular wave, a rectangular wave signal to the respective becomes a different digital signal, annotate each rectangular wave, analog to digital conversion and output pulse width discriminator 22 denoted a rectangular wave signal with a magnetic block position order. 这样,把波形有长度区别的矩形波信号变为用数据标注的矩形波信号,方便在后面的数字化处理过程中,把矩形波长度变为矩形波位置数据进行运算处理。 Thus, there is a length difference between the waveform of the rectangular wave signal to a rectangular wave signal data labeled, conveniently in subsequent digitization process, the length of the rectangular wave to a rectangular wave position arithmetic processing data. 所以,模数转换和波宽识别器22是把矩形波长度表示磁块位置的信号,变为用数据标注磁块位置的数字信号的处理器。 Therefore, analog to digital conversion and pulse width discriminator 22 is the wave length of the rectangular block indicates the position of the magnetic signal becomes marked data processor magnet position digital signal. 这是本发明区别于现有助力自行车的重要发明点,有了用数据标注磁块位置的数字信号,本发明就能在循环圆周运动的转动盘I上找到某一个或每个磁块位置,为电机30启动产生助力、增加助力、减少助力、停止助力等电机30工作找到了起点和终点,使人的助力需求与电机30助力行为能相匹配,避免了现有助力自行车难以实现人机配合,出现需要助力时电机30不转动,不需要助力时电机30还保持运动不能停下来,甚至造成冲撞事故的问题。 This is distinguished from the conventional power-assisted bicycle of the present invention is an important point of the invention, with the data signal digital magnetic blocks marked positions, according to the present invention is to find a position of a magnet block or each cycle in a circular motion on the rotating disk I, the motor 30 starts generating power, increase power, reduce power, and so help to stop operation of the motor 30 to find the start and end points, people's power needs and 30 booster motor behavior can be matched to avoid human-assisted bicycle is difficult to achieve with existing when the need arises assist motor 30 does not rotate, the motor 30 also can not stop to keep moving when not needed help, and even cause problems collision accident. [0032] 模数转换和波宽识别器22分别与助力起点选择器23和磁块转速计算器24连接,助力起点选择器23与磁块转速计算器24连接;磁块转速计算器24用模数转换和波宽识别器22输入的标注有磁块位置秩序的磁块运动数字信号计算出转动盘I的转速,并把转动盘I的转速数字信号传给助力起点选择器23,助力起点选择器23用标注有磁块位置秩序的磁块运动数字信号,和转动盘I的转速数字信号这两个信号确定在某种转速条件下的助力起点对应的某一个矩形波,即确定助力起点磁块。 [0032] The analog to digital conversion and pulse width discriminator 22, respectively booster starting magnet block selector 23 and the speed calculator 24 is connected to the selector 23 and the booster starting magnet block 24 is connected to the speed calculator; magnet block mold speed calculator 24 marked digital converter 22 inputs and pulse width discriminator magnetic magnet block position order motion digital signal I calculated speed of rotation of the disc, and the disc rotation speed digital I signal to the selector 23 the starting point of the booster, the booster selecting the starting point 23 are marked with a position of the magnet moving magnet order digital signals, and the rotation speed of the disk I digital signals of the two signals is determined at a certain speed conditions a rectangular wave corresponding to the starting point of the booster, i.e. to determine the starting point of the magnetic booster Piece. 由于,确定的助力起点磁块是有数据标注的矩形波,则助力起点磁块有唯一对应的磁块2位置,这样,助力起点选择器23完成了找出助力起始点的磁块2位置,也就可以确定某个磁块2在什么位置时,启动或结束电机进行某种助力模型运动。 Because of determining the boosting starting magnet block is marked with a rectangular wave data, the assist starting magnet block has a unique magnetic blocks corresponding to the second position, so that, starting booster completed selector 23 to identify the starting point of the booster magnet second position, You can determine whether a magnetic block 2 at what position, motor start or end model sports some help. 这就达到人控制转动盘I的特定磁块2同步运动,特定磁块2控制电机30进行特定的同步转动,实现人同步控制电机的目的,不会出现控制的起点和终点不准确,不会出现控制的起点和终点延迟的问题。 This achieves-controlled rotary disc 2 specified magnet synchronous movement I, the particular magnet block 2 controls the motor 30 for synchronous rotation particular, people realize synchronous control object machine, the control will not start and end inaccurate, not It appears to control the start and end latency problems. 但现有助力自行车在启止助力时,都找不到与人同步的启止位置,所以都会产生控制的起点和终点延迟的问题。 However, the existing assisted bicycle at startup only power, can not find people with the start stop position to synchronize, so will have problems controlling the start and end delays.

[0033] 助力起点选择器23和磁块转速计算器24分别都与助力模型计算器26连接,助力模型存储器25也与助力模型计算器26连接;助力模型计算器26用助力起点选择器23的·助力起点磁块,和用磁块转速计算器24的转动盘I转速这两个条件选择助力模型存储器25中的某一种助力模型函数,并将助力起点磁块和转动盘I转速这两个条件代入助力模型函数,计算出适合这两个条件的助力模型数字信号,即助力模型计算器26就能输出助力模型数字信号。 [0033] The starting point for the booster magnet block selector 23 and the speed calculator 24 are respectively connected to the power model calculator 26, the booster 25 is also connected to the memory model booster 26 model calculator; power booster model calculator 26 starting with the selector 23 · assist starting magnet block, and select one of these two conditions power booster 25 model function in the model memory with magnetic blocks speed calculator 24 the speed of rotation of the disk I and the starting power magnet block and two rotational speed of the disk I substituting condition power function model to calculate the model of the digital signal power for these two conditions, i.e., the model calculator 26 can assist power output model of the digital signal.

[0034][三]对数模转换器27的说明:数模转换器27是把助力模型数字信号转换成助力模型的模拟信号。 [0034] [tris] description of the digital to analog converter 27: power DAC 27 converts the digital signal into an analog signal model power model.

[0035] 助力模型计算器26与数模转换器27连接,数模转换器27把助力模型计算器26的助力模型数字信号转换成助力模型模拟信号。 [0035] The booster 26 is connected to the DAC model calculator 27, boosting converter 27 Model DAC model power calculator 26 is a digital signal into an analog signal booster model. 以便向只能处理模拟信号的电机控制器29输出助力模型的模拟信号。 To an analog signal to the motor controller 29 outputs the model can assist in processing an analog signal.

[0036][四]对运算放大器28的说明:运算放大器28是把数模转换器27的助力模型模拟信号转换成额定电压范围的助力模型模拟信号。 [0036] [tetrakis] Description of operational amplifier 28: the operational amplifier 28 is converted to an analog signal DAC model booster into booster 27 model rated voltage range analog signal.

[0037] 数模转换器27与运算放大器28连接,数模转换器27的助力模型模拟信号虽然解决了助力模型问题,但助力模型信号的电压还不能满足电机控制器29的需要,所以还要用运算放大器28把助力模型模拟信号转换成额定电压范围需要的助力模型模拟信号,才能传输给电机控制器29。 [0037] DAC 27 is connected with the operational amplifier 28, an analog signal DAC model booster 27 model solves the problem of power, but the voltage model of the signal power can not meet the needs of the motor controller 29, so also 28 for converting analog signals of the operational amplifier model booster into booster model rated voltage range analog signal needs to be transmitted to the motor controller 29.

[0038] 本发明传感器中各信号处理部件输出的信号为: [0038] The sensor of the present invention, each of the signal processing section output signal:

霍尔3输出矩形波信号; Hall 3 outputs a rectangular wave signal;

助力模型处理器21输出助力模型数字信号; Model processor 21 outputs assist power model of the digital signal;

模数转换和波宽识别器22输出标注有磁块位置秩序的磁块运动数字信号; Analog to digital conversion and output pulse width discriminator 22 labeled with magnetic digital signal magnetic block motion block position order;

助力起点选择器23输出确定的助力起点磁块的起点位置信号; Starting position the starting point of the signal booster boosting starting magnet block 23 determines the output of the selector;

磁块转速计算器24计算并输出转动盘I的转速数字信号; Magnet rotational speed calculator 24 calculates and outputs the rotational speed of the disk digital signal I;

助力模型存储器25存有多种助力模型函数备用,输出已选定的助力模型函数的数字 Power model storage model 25 there more power standby function, the digital output of the booster selected model function

信号; signal;

助力模型计算器26计算并输出将用于控制功能的助力模型数字信号; Power calculator 26 calculates the model and model of the digital output signal for controlling the assist functions;

数模转换器27输出把助力模型数字信号转换成的助力模型模拟信号;运算放大器28输出把助力模型模拟信号转换成额定电压范围的助力模型模拟信号;热敏电阻R6保证运算放大器28输出的是额定电压范围的助力模型模拟信号,即标准助力模型模拟信号。 Output DAC 27 converts the digital signal into the booster boosting model models an analog signal; the output of the operational amplifier 28 converts the analog signals to power booster model model rated voltage range analog signal; R6 thermistor to ensure output of the operational amplifier 28 is power rated voltage range analog signal model, i.e., a standard model of the analog signal power.

[0039] 为解决助力模型模拟信号漂移问题设有热敏电阻R6,热敏电阻R6连接在运算放大器28的输入端和输出端之间。 [0039] In order to solve the problem of signal drift simulation model with help thermistor R6, R6 thermistor connected between the input terminal and the output terminal of the operational amplifier 28.

[0040] 霍尔3、数模转换器27和运算放大器28都是半导体器件,又有处理模拟信号功能,很易随温度变化而使信号参数产生漂移,特别是夏天和冬天,助力自行车又都在室外,温度变化产生信号参数漂移的效果明显,所以,最好对运算放大器28输出的信号进行信号漂移修正,获得不受温度变化影响的标准助力模型模拟信号,将标准助力模型模拟信号通过电机控制器29控制电机30运行,骑助力自行车的人就不会感到夏天和冬天助力效果不同的问题。 [0040] Hall 3, digital to analog converter 27 and an operational amplifier 28 is a semiconductor device, there are an analog signal processing functions, it is easy to change with temperature drift parameters of the signal, especially in winter and in summer, they are assisted bicycle standard analog signal booster model outdoor temperature changes of signal parameters drift effect is obvious, therefore, the best operation of the signal output from the amplifier 28 for signal drift correction, not affected by temperature changes is obtained, the standard model is an analog signal by the booster motor the controller 29 controls operation of the motor 30, riding a bike help people who will not feel different summer and winter boosting effect problem.

[0041] 助力模型处理器21是单片机31,单片机31上连接有时钟电路32。 [0041] The microcontroller 21 is a power model processor 31, a clock circuit 32 connected to the microcontroller 31. 用单片机31完成模数转换和波宽识别器22、助力起点选择器23、磁块转速计算器24、助力模型存储器25·和助力模型计算器26的功能。 Complete the MCU analog to digital converter 31 and the pulse width discriminator 22, the selector 23 starting booster, magnetic blocks speed calculator 24, a memory 25-power model and power of the model calculator 26. 时钟电路32的时钟信号是用于对霍尔3输入的矩形波信号进行区分的作用,优选每个时钟信号的长度为0. 001秒。 Clock signal from the clock circuit 32 is a rectangular wave signal of the Hall 3 inputted to distinguish the role of the length of each clock signal is preferably 0.001 seconds.

[0042] 本发明的传感器各部件的优选型号和具体连接方式为:霍尔3是UGN3075,助力模型处理器21是AT89S52单片机31,数模转换器27是ADC-C8E ;运算放大器28是0F-17F,0F-17F运算放大器28的输入端2脚与输出端6脚之间连接有热敏电阻R6 ;各部件连接关系如下: [0042] DETAILED preferred model and the components of the connection sensor of the present invention are: Hall 3 is UGN3075, booster 21 is AT89S52 microcontroller model processor 31, digital to analog converter 27 is ADC-C8E; operational amplifier 28 is 0F- 17F, the input of the operational amplifier 28 0F-17F pin terminal 2 and the output terminal thermistor R6 is connected between pin 6; each of the members is connected as follows:

霍尔3的信号输出端3脚连接单片机31的12脚INTO [P32]; Hall signal output terminal 3 connected to pin 3 of the microcontroller 31 pin 12 INTO [P32];

单片机31的39脚POO连接数模转换器27的12脚B8 ; POO microcontroller 39 pin 31 pin connector 12 B8 27 of the digital to analog converter;

单片机31的38脚POl连接数模转换器27的11脚B7 ; 38 feet POl microcontroller 31 is connected to a digital to analog converter 11 B7 27 feet;

单片机31的37脚P02连接数模转换器27的10脚B6 ; P02 pin 37 microcontroller 31 is connected to pin 10 B6 27 of the digital to analog converter;

单片机31的36脚P03连接数模转换器27的9脚B5 ; P03 pin 36 microcontroller 31 is connected to pin 9 B5 27 of the digital to analog converter;

单片机31的35脚P04连接数模转换器27的8脚B4 ; P04 pin 35 microcontroller 31 is connected to the digital-B4 27 8 feet;

单片机31的34脚P05连接数模转换器27的7脚B3 ; P05 pin 34 microcontroller 31 is connected to a digital to analog converter 7 B3 27 feet;

单片机31的33脚P06连接数模转换器27的6脚B2 ; P06 pin 33 microcontroller 31 is connected to a digital to analog converter 6 feet B2 27;

单片机31的32脚P07连接数模转换器27的5脚BI ; P07 pin 32 microcontroller 31 is connected to a digital to analog converter 5 feet BI 27;

数模转换器27的4脚连接运算放大器28的2脚; DAC 27 is connected to pin 4 of the operational amplifier 28 of the foot 2;

数模转换器27的2脚连接运算放大器28的3脚; DAC 27 is connected to pin 2 of the operational amplifier 28 of the pin 3;

运算放大器28的6脚为模拟信号输出端。 Pin 6 of the operational amplifier 28 to an analog signal output terminal.

[0043] OF-17F运算放大器28的输入端2脚与输出端6脚之间连接有热敏电阻R6,而且热敏电阻R6两端还并联有电容C6。 [0043] OF-17F input terminal of the operational amplifier 28 between the foot R6 thermistor and an output terminal connected to pin 26, and both ends of the resistor R6 is also connected in parallel thermal capacitance C6. 优选热敏电阻R6为5K,电容C6为8P,数模转换器27的4脚与运算放大器28的2脚之间用I. 25k的R5接地。 R6 is preferably a thermistor 5K, capacitor C6 is 8P, R5 I. 25k with the ground between the legs of the operational amplifier DAC 4 27 2 28 feet. 使其可用热敏电阻R6调节运算放大器286脚输出的模拟信号电压范围稳定在0. 8—4. 2V之间。 R6 adjustment made available thermistor output pin of the operational amplifier 286 of analog signal voltage range stabilized at 0. 8-4. 2V.

[0044] 条形孔8是弧形的结构,条形孔8的弧形所在圆与内圆形轨迹线5-1为同心圆。 [0044] rectangular hole 8 is arcuate configuration, with the rectangular hole circle arc located within a circular track concentric line 8 5-1. 这种结构使霍尔3产生的输出信号可改变波峰或波谷的长度。 This structure allows the output signal generated by the Hall 3 can change the length crest or trough. 可以用于一、改变了的波峰或波谷长度作为启动信号,使被控制物启用另一套工作程序。 It may be used for a change of the peak or trough length as the start signal to the object to be controlled to enable another set of procedures. 如果用于助力自行车,改变永磁块2在条形孔8中的位置,可改变助力模型,如可以选用小人用助力模型、女人用助力模型、青年用助力模型、运动用助力模型、休闲用助力模型等。 If a power-assisted bicycle, changing the position of the strip-shaped permanent magnet segments 2 in the hole 8, the model may change assist, as may be selected by the villain power model, the model woman with power, with young power model, the motion model with power, leisure with the power model. 可以用于二、改变了的波峰或波谷长度只用于改变这一个波峰或波谷的控制效果,如果用于助力自行车,只改变该永磁块2所在位置的助力效果。 Can be used for two, changing the peak or trough length control for changing only the effect of a peak or trough of this, if a power-assisted bicycle, only changing the location of the boosting effect of the two permanent magnet segments.

[0045] 条形孔8还可以是斜向的结构,即条形孔8两端分别与内圆形轨迹线5-1所在的圆心的距离不相等。 [0045] The strip 8 may also be an oblique hole structure, namely the center distance of the two ends of the bar 8 is located within a circular hole 5-1 is not equal to the trace. 但条形孔8应在内圆形轨迹线5-1与外圆形轨迹线5-2之间的范围内,以便霍尔3可感受到条形孔8中永磁块2的信号。 However, the rectangular hole 8 to be in a range between the inner circle and the outer circular trajectory line 5-1 5-2 trace, so that the Hall signal can feel the permanent magnet 3 block the hole 8 2 bar. 斜向条形孔8与上述的弧形条形孔8作用和效果相同。 Oblique holes 8 bar above the arcuate strip-shaped aperture 8 the same action and effect.

[0046] 至少有一个永磁块间距7的长度不等于其它任何一个永磁块间距7。 [0046] at least one permanent magnet block 7 is not equal to the pitch length of any other permanent magnet segments 7 pitch. 条形孔8是用于把永磁块2调节固定在不同位置的结构。 8 is a rectangular hole of the permanent magnet segment 2 fixed at different positions of adjustment structures. 通过调节永磁块2位置,可实现至少有一个永磁块间距7的长度不等于其它任何一个永磁块间距7。 By adjusting the position of the permanent magnet blocks 2, may be implemented with at least one permanent magnet block 7 is not equal to the pitch length of any other permanent magnet segments 7 pitch. 不等于其它长度,即特殊长度的永磁块间距7可用于表示自行车脚踏板的位置。 Is not equal to the length of the other, i.e., the length of the specific permanent magnet segments may be used to represent pitch 7 position of the bicycle pedals. 最好是至少有两个永磁块间距7的长度不等于其它任何一个永磁块间距7,这两个特殊长度的永磁块间距7分别对应于两个脚踏板,用于表示自行车两个脚踏板的位置。 Preferably there are at least two permanent magnet blocks pitch is not equal to the length of 7 to any other one permanent spacing block 7, permanent magnet segments of the two special length corresponding to the spacing 7 and two pedals respectively, for indicating two bicycles the position of a foot pedal. 因为自行车脚踏板的圆周运动,判定脚踏板位置对于获·得本次圆周运动的速度,确定下一次圆周运动的助力模型非常重要。 Because the bicycle pedals in a circular motion, it is determined eligible for foot pedal position · speed obtained in this circular motion, the circular motion model determined once power is very important.

[0047] 条形孔8的某一条内边缘设有两个或多个齿形凸9。 [0047] an inner edge of a rectangular hole 8 is provided with two or more toothed projections 9. 为了把永磁块2固定在条形孔8中多个位置中的某一个位置,防止在转动盘I转动时,永磁块2自行变位置,所以用条形孔8中的齿形凸9卡稳永磁块2在某一固定位置。 In order to block the permanent magnet 2 is fixed at a certain position in the strip a plurality of positions of holes 8, preventing the rotation of the disk I upon rotation, the permanent magnet block 2 becomes self-position, the toothed projections 9 with rectangular hole 8 Cards stable permanent magnet segments 2 in a fixed position.

[0048] 霍尔3设在内圆形轨迹线5-1与外圆形轨迹线5-2之间。 [0048] Hall 3 disposed between the inner and outer circular trace a circular trajectory line 5-1 5-2. 因为霍尔3是能有间距感受永磁块2磁通量而输出电信号的部件,又为了尽量减小永磁块2的体积,使其在转动盘I上尽量多的设置永磁块2,使尽量减小的永磁块2都能被霍尔3感应;霍尔3应设在内圆形轨迹线5-1与外圆形轨迹线5-2之间,而且最好设在接近能贯穿全部永磁块2的圆形轨迹线的位置。 Since Hall 3 is able to feel a distance from the magnetic flux of permanent magnet segments 2 and the electrical signal output member, and the permanent magnet in order to minimize the volume of block 2, so that as many permanent magnet segments 2 is provided on the rotating disc I, so 2 to minimize permanent block 3 can be a Hall sensor; Hall 3 should be provided with inner circular trajectory line 5-1 between the outer circular trajectory line 5-2, and is preferably provided in the proximity can penetrate positions of all permanent magnet segments 2 of a circular trajectory.

[0049] 转动盘I在多个永磁块2的内圆形轨迹线5-1所在圆范围内设有中心孔。 [0049] The rotary disk in a plurality of permanent magnet segments I trajectory line 5-1 is located within a circular range of the circular central hole 2 is equipped with. 如果转动盘I要穿套在一个转动轴上使用,转动盘I上就要设一个穿套转动轴的孔;为保证转动盘I在随转动轴转动时,霍尔3能感受转动盘I上每个永磁块2的运动信号,则转动盘I上的穿套孔应设在多个永磁块2的内圆形轨迹线5-1所在圆范围的中心,由于内圆形轨迹线5-1和外圆形轨迹线5-2为同心圆,当然穿套孔在外圆形轨迹线5-2所在圆范围的中心,穿套孔是内圆形轨迹线5-1和外圆形轨迹线5-2的中心位置孔,即中心孔。 If the rotation of the disk I wear sleeve on a rotating shaft of the use, it is necessary to wear a set of holes in the sleeve rotary shaft rotary disk I; I to ensure the rotation of the disc with the rotation axis when the Hall 3 I can feel the rotatable disk each permanent magnet segment 2 the motion signal, the rotation of the sleeve through holes in the plate should be located in the center where I circle plurality of permanent magnet segments within the scope of the circular trajectory line 5-1 2, since the inner circular trajectory 5 1 and outer concentric circular trajectory line 5-2, of course, through the outer sleeve aperture where the circle center of the range of 5-2 circular trajectory, through the sleeve aperture is circular trajectory and an outer circular trajectory 5-1 the central position of the hole line 5-2, i.e., the center hole. 也就是说,中心孔不一定是圆形,可以是方形、三角形等形状,以便可以与方形、三角形等形状的转动轴相套,但中心孔的内空一定包括内圆形轨迹线5-1所在圆的中心,才能使用一个霍尔3感受转动盘I转动盘上全部永磁块2的运动信号。 That is, the central hole may not be circular and may be square, triangular and other shapes, so as to be nestable with the shape of the rotary shaft square, triangular, etc., but the inner space comprising a central bore of constant circular trajectory 5-1 where the center of the circle, in order to use the motion signals of all the permanent magnet blocks 2, 3 on the rotary disk I feel a Hall plate is rotated.

[0050] 转动盘I是不导磁材料的塑料板、铝材板、铜材板的某一种。 [0050] The rotary disk I a non-permeable material is a plastic sheet, aluminum sheet, copper plate. 由于本发明是相邻两个磁块2的磁极性相反的结构,能使相邻两个磁块2的边缘几乎可相贴也能使霍尔3输出有控制功能的电信号。 Since the present invention is a magnetic structure with two opposite poles of the two adjacent blocks, two adjacent edges can almost magnet block 2 can also be attached with the electric signal output Hall 3 has control function.

[0051] 本发明的结构是: [0051] The structure of the present invention are:

本发明的优点:结构简单、成本低、永磁块环上的永磁块数量不受限止、输出标准的脉冲信号、没有信号盲区、只用一个霍尔的一组输出信号就能完全表示动盘的全部运动状态、输出信号不会失真不漂移、用永磁块位置变化和调节永磁块位之间置表示永磁块所在固定位置、输出信号中可以有每个永磁块的运动位置,输出信息模型可调节,用于助力自行车,使助力输出与助力需求能高度配合而使骑车人感觉很舒服,不仅可自动化助力,而且具有按个性化进行助力的功能。 The advantages: simple structure, low cost, the number of permanent magnet segments on the ring not limiting, the permanent magnet block, the output of the standard pulse signal, blind no signal, only a set of output signals can be completely represented by a Hall all motion of the movable platen, the output signal distortion does not drift, changes in the position of permanent magnet blocks and regulating block is located opposite the permanent magnet represent a fixed position between the permanent magnet segment, the output signal of each motion may have a permanent magnet block position, the output information model can be adjusted for the power-assisted bicycle, the power demand so that the output power with the height of the rider can feel comfortable, not only automatic power, but also has a function of boosting by personalized.

[0052] (I)结构简单,不用弹性件,无机械故障:用霍尔感受多个永磁块转动输出信号,用中国专利01201843. 0提供的速度可推算力矩的原理,可用多种数学模型推算助力自行车的力矩参数,用于控制助力自行车的电机,实现助力。 [0052] (I) simple structure, without the elastic member, no mechanical failure: a plurality of permanent magnet segments Hall feel rotation of the output signal, with the speed provided by the Chinese Patent 01201843.0 principle of torque can be calculated, using a variety of mathematical models estimating torque parameters assisted bicycle, for controlling the motor-assisted bicycle, to achieve power. 不用弹性件、结构简单、成本低于用弹性件和机械受力的传感器。 Without the elastic member, the structure is simple, the cost is lower than the elastic member and the sensors of mechanical force. 避免了长时间使用后,各机械部件变形、无机械故障、配合不佳的问题。 To avoid prolonged use, deformation of the respective mechanical parts, no mechanical failure, the problem with poor.

[0053] (2)磁极性相反,输出矩形波信号,具有精确控制功能:由于相邻两枚永磁块的磁极性相反,并且霍尔选用对相反磁极性产生矩形波输出信号的霍尔,则相邻两枚永磁块无论间距多少,即使相邻两枚永磁块之间没有间隙,霍尔也同样能输出矩形波信号。 [0053] (2) opposite magnetic polarity, it outputs a rectangular wave signal, having a precise control: Because of the two poles of the permanent magnet blocks adjacent to the opposite, and the Hall Hall selected pair of opposite magnetic polarity square wave to generate an output signal, how much of the adjacent two blocks, whether permanent pitch, even if there is no gap between two adjacent permanent magnet blocks, Hall also able to output a rectangular wave signal. 如用于助力自行车,用矩形波的输出信号来控制助力自行车的电机优于用正弦波,因为矩形波能作到信号在任何时间点,表示运动位置和速度的信号含义精确,从而可精确表示助力自行车踏板的运动位置和速度,以便用踏板精确的位置和速度推算出该运动状态正确的助力需求。 As for the power-assisted bicycle, a rectangular wave output signal to control the motor-assisted bicycle is better than a sine wave, a rectangular wave can be done because the signals at any point in time, a signal indicating the meaning of the motion velocity and the position accuracy, thereby accurately represent motion assist bicycle pedal position and speed in order to deduce the state of motion of the right pedal power demand accurate position and velocity. · ·

[0054] (3)相邻永磁块的磁极性相反,永磁块数量不受限止,可尽量增加传感点位:由于磁极性相反,输出矩形波信号,相邻永磁块即使无间隙,其输出的信号仍然是有个数、可区分的矩形波信号,仍然具有控制功能,也就是说不会输出没有控制功能的无变化直线形信号。 [0054] (3) adjacent opposite poles of the permanent magnet blocks, not limiting, the number of permanent magnet blocks, can maximize the sensing points: Since the opposite magnetic polarity, outputs a rectangular wave signal, even in the absence of adjacent permanent magnet segments gap, the signal output still has the number, can distinguish between the rectangular wave signal, still has a control function, that does not change the output signal is not linear control function. 如用于助力自行车,由于与踏板联动的转动盘直径大小受限止,就可在规定大小的转动盘上,尽量增加永磁块数量、尽量增加传感点位、用尽量多的传感信号表示自行车踏板运动位置和速度,精确表示运动状态。 As for assisted bicycle, since the pedal linkage restricted diameter rotary disk stops, the rotary disk can be in a predetermined size, to maximize the number of permanent magnet blocks so as to maximize the sensing points, the sensing signal by as much It represents motion of the pedal position and the speed of the bicycle, an accurate representation of the state of motion.

[0055] (4)相邻永磁块的磁极性相反,可设置永磁块多、传感点位多,对转动盘的运动状态表示精确:对用于助力自行车,固定永磁块的转动盘大小受到严格限止,一般转动盘直径只能在10-15厘米以内,为了使霍尔在有间距的条件下获得永磁块的磁极信号,其永磁块的直径至少为00. 6-0. 8厘米,则直径10-15厘米的转动盘的周边无间隙的可设置35-73个永磁块[(10-1) *3. 14/0. 8=35 ; (15-1) *3. 14/0. 6=73],即脚踏板转一周,霍尔可获得35-73个信号用于控制助力自行车的电机。 [0055] (4) adjacent to the opposite poles of the permanent magnet blocks, the permanent magnet may be provided multi-block, multi-point sensing, motion state of the rotary disc accurately represents: assisted bicycle for rotation of the fixed permanent magnet blocks strictly limiting, the disc size, the diameter of the rotary disk can generally, in order to obtain the Hall signals pole permanent magnet segments in a spaced condition within 10-15 cm, the diameter of the permanent magnet segments is at least 00. 6-0 8 cm, a diameter of 10-15 cm rotary disk periphery may be provided without a gap a permanent magnet segments 35-73 [(10-1) = 35 * 8 3 14/0;. (15-1) * 3. 14/0. 6 = 73], i.e., the foot pedal revolution, the Hall signals 35-73 is obtained for controlling the motor-assisted bicycle. 但如果是相邻永磁块磁极性相同的现有技术,相邻永磁块按5厘米间距,则在直径10-15厘米转动盘上,最多只能设置5-8个永磁块[(10-1) *3. 14/5. 8=5 ; (15-1) *3. 14/5.6=8]。 However, if the adjacent block the same permanent magnetic polarity of the prior art, the neighboring permanent magnet segments at 5 cm spacing is 10-15 cm in diameter rotating disk, only set up a permanent magnet blocks 5-8 [( .. 10-1) = 5 * 3 14/5 8;. (15-1) * 314 / 5.6 = 8]. 可见,本专利技术比现有技术可以多设置永磁块7-9倍[35/5=6 ;73/8=9],多设置30-65个永磁块[35-5=30 ;73_8=65]。 Be seen, the present patent can be more permanent set than prior art block 7-9 fold [35/5 = 6; 73/8 = 9], a plurality of permanent magnet segments disposed 30-65 [30 = 35-5; 73_8 = 65]. 所以,转动盘转一周,本专利技术比现有技术增加了7-9倍的转动盘转动位点信号。 Therefore, rotation of the disc revolution, the present patent increased 7-9 fold rotary disk rotation than the prior art site signals. 对助力自行车的电机控制精确度自然提高了7-9倍,使骑车人对助力需求精确度也提高了7-9倍,车与人的配合程度大大提高,骑车人的舒适感大大增加,不再是现有技术的助力车那种一快一慢不舒服的感觉。 For assisted bicycle motor control accuracy of the natural increase 7-9 times, the rider needs to boost accuracy also increased 7-9 times, the degree of cars and people with greatly improved rider comfort is greatly increased It is no longer the kind of bikes prior art fast and slow uncomfortable feeling. 本发明请人根据实际的体验,当转动盘上大致均匀的设置15个永磁块时,基本消除了现有技术只设5-8个永磁块使助力车那种一快一慢不舒服的感觉;当转动盘上大致均匀的设置20个永磁块时,车与人的配合己能满足人的需要,乘骑助力车的感觉已很舒服。 Please present invention is based on pragmatic experience substantially uniform when the permanent magnet segments 15 disposed on the rotary disk, substantially eliminated the prior art only provided that the permanent magnet segments 5-8 bicycle that fast and slow uncomfortable feel; substantially uniform when the permanent magnet segments 20 disposed on the rotary disk, with the cars and people have to meet people's needs, bicycle ride has been very comfortable feeling.

[0056] (5)没有信号盲区,任何时候的助力需求都会获得相匹配的助力:本专利在直径10-15厘米的转动盘周边最多可设置35-73个永磁块,各永磁块之间平均夹角为5-10度。 [0056] (5) blind no signal, the power demand at any time will receive power matches: 35-73 of this patent can be set up in a permanent magnet rotary disk surrounding blocks 10-15 cm in diameter, each of the permanent magnet segments The average angle of between 5-10 degrees. 用于助力自行车,在启动或运行时,脚踏板从离开顶点10-45度角的35度区域内,有4-7个永磁块(在离开顶点10度角的位置就有一个信号了),则霍尔可输出4-7个控制信号反应助力需求,能实现任何位置、任何时间有助力就能获得相应助力的优良技术效果,使车与人的配合良好,骑车人感到省力又舒适。 For assisted bicycle, in the starting or running, the footrest region 35 degrees away from the apex of 10-45 degrees with 4-7 permanent magnet segments (10 at a position away from the apex angle of the signal will have a ), the Hall output signals control the reaction 4-7 demand power, can be realized in any position, at any time there can be obtained the corresponding power booster excellent technical effect of the car and a good human fit, feel rider effort and comfort.

[0057] (6)只用一个霍尔,一个控制信号表不转动盘的全部运动状态,控制信号与转动盘的运动状态完全一致,控制信号与人的需求完全一致:多个永磁块是固定在转动盘上的,永磁块与转动盘同步转动,用一个霍尔感受全部的永磁块运动信号,则霍尔输出的控制信号与转动盘的运动状态完全一致,与人的需求也就完全一致,控制信号不会有原始分段误差和信号漂移问题。 [0057] (6) only one hall, a control signal is all of the motion state table does not rotate the disc, the state of the control signal to the rotational motion of the disc exactly the same, consistent with human demand control signal: a plurality of permanent magnet segments fixed to the rotary disk, a permanent magnet synchronous rotation block and the rotating disk, to feel the motion of all blocks of the permanent magnet with a Hall signal, the motion control signal output from the rotary disk Hall exactly the same with human demand on exactly the same, there will be no control signal drift error and the original signal segment. 即使霍尔传感参数发生变化,也是整个控制信号平行移动,只要接收霍尔控制信号的电机控制器的接收范围较宽,变化了的霍尔控制信号的控制效果成系统性改变。 Even Hall sensor parameters change, but also the entire movement of the control signals in parallel, as long as the motor controller receives a control signal reception Hall wider range, the effect of changes in the control signal into a control Hall systemic changes. 如用于助力自行车,助力需求模型不会失真,助力输出与助力需求仍然保持原来模型的匹配关系,骑车人很容易掌握这种助力性能的系统性改变。 As for assisted bicycles, power demand model without distortion, power output and power demand relationship remains match the original model, the rider can easily grasp the systemic change that boost performance.

[0058] ( 7 )永磁块之间有错位,错位永磁块可表示特定位点的运动状态:因为永磁块在半径方向错位、或圆弧线间距错位,错位永磁块使霍尔输出特有波形的控制信号,则特有波形的控制信号就可以直接表示转动盘的某一固定永磁块位点的运动状态;如每个永磁块都有自己的特定错位位点,可达到有多少个永磁块,就可获得多少个特定位点的运动状态信号。 [0058] (7) there is misalignment between the permanent magnet segment, the permanent magnet block dislocation motion state may represent a particular site: since the permanent magnet segments offset in the radial direction, or circular line spacing offset, the Hall offset permanent magnet segments unique waveform output control signal, the control signal peculiar waveform represents the motion state can be directly fixed to a permanent site block the rotary disk; as if each permanent magnet segment has its own particular dislocation sites, there can be achieved the number of permanent magnet blocks, the number of specific sites of the motion state signal can be obtained. ·如用于助力自行车,转动盘直径在10-15厘米以内,转动盘转一周,霍尔可获得35-73个不同位点运动状态的控制信号,自然知道35-73个位点的助力需求。 · As for the power-assisted bicycle, the rotation disc within 10-15 cm in diameter, the disk is rotated one revolution, the Hall signals obtained control 35-73 different sites of motion, power requirements will know loci 35-73 . 很明显,转动盘转一周,现有技术最多只能有5-8个助力需求,远远不如本专利最多可用35-73个助力需求信号更能真实地反应骑车人的助力需求。 Clearly, rotation of the disc revolution, the prior art can have up to 5-8 power demand, far less than a maximum available power needs of the present patent 35-73 th power demand signal more truly reflect the rider. 也就是说,助力自行车用本专利技术,车更能与人需求相配合一致,骑车人感受到脚踏板在任何转动位置,自己都完全可控制车速,舒适性好。 That is, consistent with the mating assisted bicycle of the present patent, the vehicle needs more human rider feel footboard at any rotational position themselves fully control the speed, and good comfort. 而现有技术的助力自行车只能在最多5-8个转动位置才能可控制车速。 Whereas the prior art may be assisted bicycle can only control the speed of at most 5-8 rotational position.

[0059] (8)可调节永磁块位置,就可按需要调节控制信号的模型,实现个性化控制:在转动盘上全部永磁块中,如调节部分永磁块之间的间距,霍尔输出的信号中,调节过间距的永磁块的波形就会发生波间距变化,即信号模型发生变化,就可以选择不同的信号模型控制被控制物体,实现个性化控制。 [0059] (8) the position of the adjustable permanent magnet segment, the model can be adjusted as needed to control signals, personalized control: all permanent magnets on the rotating disk blocks, the spacing between the blocks as the portion of the permanent adjustment, Huo Seoul output signal, the adjusted waveform of the pitch change pitch wave permanent magnet segments occur, i.e. a change in the signal model, you can choose different control signals are controlled object model, personalized control. 如用于助力自行车,可根据不同人的力气,或用力的习惯选择适合的信号模型,即根据不同的人调节助力模型,使助力自行车不仅可自动化助力,而且具有按个性化进行助力的功能。 As for the power-assisted bicycle, you can select the appropriate signal depending on the model of human effort, or force of habit, i.e. depending on the model of human power adjustment, can be automated so that not only the power-assisted bicycle, and has a function of boosting by the personalization.

[0060] (9)可以对霍尔信号进行数字化处理,使控制信号中加入人机最佳配合的控制模型:把具有磁块位置和磁块转速的矩形波信号变为该两要素的数字信号,用设定的、适合人机配合良好的数学助力模型把该两要素的数字信号转换成助力模型数字信号,再把助力模型数字信号转换成助力模型模拟信号,最后把助力模型模拟信号变为稳定电压范围的、具有额定功率的电机控制器可用的控制信号。 [0060] (9) can digitize the Hall signals, the control of the control signal added to the man-machine model best fit: the magnet block having a rectangular wave signal and the position magnet block into a digital signal of the rotational speed of the two elements , by setting, for an ergonomically good mathematical model of the power conversion element of the two digital signal into a digital signal booster model, then the model of the digital power signal into an analog signal booster model, and finally the power model becomes an analog signal stable voltage range, the motor controller has a power rating available control signal. 总之,就是把磁块转动的信号进行数字化处理,在数字化处理处理过程中,加入数学的助力模型,使传感器最后输出的控制信号中,含有加入的助力模型。 In short, the magnet block is rotated for digital signal processing, the digital processing process, power addition of the mathematical model of the control signal output from the sensor in the final, booster model containing added. 因为数学的助力模型是人为设定的,所以,总可以把数学的助力模型设定成最适合人机配合的模型,则本发明的传感器可输出能实现最佳人机配合的控制信号。 Because the mathematical model is set artificially boosting, therefore, always be the mathematical model of the power is set to be an ergonomically most suitable model of the sensor of the present invention may output a control signal to achieve the best fit of the display unit. 而现有助力自行车传感器的磁块相同磁极在同一面,霍尔不能获得矩形波信号,也就无法对霍尔信号进行数字化处理,其控制模型只能是对霍尔信号进行局部修改,所以不能实现输出人机最佳配合的控制信号。 The magnet poles of the same conventional assist bicycle on the same side of the sensor, Hall rectangular wave signal can not be obtained, will not be able to digitize the Hall signal which the Hall control model only locally modified signal, it can not output control signal to achieve the best fit of the display unit.

[0061] (10)最后输出的控制信号不会有信号漂移:用热敏电阻R6对运算放大器的输出信号进行反馈调节,可以解决霍尔、数模转换器和运算放大器等半导体器件使助力模型模拟信号漂移的问题,使传感器最后输出的是不受环境温度变化的标准助力模型模拟信号。 [0061] The control signal (10) will not have the final output signal drift: an output signal of the operational amplifier feedback adjustment thermistor R6, Hall semiconductor device can be solved, so that digital to analog converter and operational amplifier booster Model analog signal drift problem, the final output of the sensor model is a standard power analog signal from the ambient temperature changes.

附图说明 BRIEF DESCRIPTION

[0062] 图I是转动盘上不均匀分布多个NS交替永磁块,永磁块位置可调节的传感元件结构示意图; [0062] FIG. I is unevenly distributed on a plurality of permanent magnet segments of alternating NS rotary disk, a permanent magnet block schematic diagram of position adjustment of the sensing element structure;

图2是转动盘上高密度不均匀分布多个NS交替永磁块,永磁块位置可调节的传感元件结构示意图; FIG 2 is a high-density disk rotation uneven distribution NS plurality of permanent magnet segments alternately, the permanent magnet block schematic diagram of the position sensing element adjustable structure;

图3是霍尔、助力模型处理器、数模转换器、运算放大器的信号流向方框图; FIG 3 is a block diagram of the Hall, model processor power, digital to analog converter, the signal flow of the operational amplifier;

图4是霍尔、单片机、数模转换器、运算放大器的电路图。 FIG 4 is a circuit diagram of a Hall, microcontroller, digital to analog converter, operational amplifier.

[0063] 图中I是转动盘、2是永磁块、3是霍尔、5_1是内圆形轨迹线、5_2是外圆形轨迹·线、6是圆环形、7是永磁块间距、8是条形孔、9是齿形凸、21是助力模型处理器、22是模数转换和波宽识别器、23是助力起点选择器、24是磁块转速计算器、25是助力模型存储器、26是助力模型计算器、27是数模转换器、28是运算放大器、29是电机控制器、30是电机、31是单片机、32是时钟电路。 [0063] FIG. I is a rotary disk, a permanent magnet blocks 2, 3 Hall, within a circular trajectory 5_1, 5_2 outer circular trace-line, 6 is an annular, permanent magnet 7 is a block pitch , a strip-shaped aperture 8, 9 is convex tooth, a booster 21 model processor, analog-digital conversion and a 22 pulse width discriminator, a selector 23 is the starting point of the booster, the speed calculator 24 is a magnet, 25 is a power model a memory, a power model calculator 26, a digital to analog converter 27, an operational amplifier 28, a motor controller 29, the motor 30, microcontroller 31, a clock circuit 32.

具体实施方式 Detailed ways

[0064] 实施例I、助力自行车用多磁块位置可调节的转盘式传感器 [0064] Example I, with multiple magnetic blocks assisted bicycle adjustable rotary position sensor embodiment

如图1、3,本实施例传感器包括依次连接的传感元件、助力模型处理器21、数模转换器27和运算放大器28 ; 1 and 3, embodiments of the present embodiment comprises a sensing element sensor successively connected, power model processor 21, digital to analog converter 27 and an operational amplifier 28;

[I]传感元件是把转动盘I的转动运动变为矩形波信号输出的元件; [I] the sensor element is a rotational movement of the rotary disk I becomes a rectangular wave signal output element;

传感元件是用一块直径10. 0厘米的高强度塑料转动盘I的一个面设置直径0. 8厘米的20个永磁块2,磁通量为146279 (B • H)max/KJ • m_3中的某一个值。 A sensing element with a diameter of 10.0 cm of a high strength plastic surface I of the rotary disk diameter of 0.8 cm provided permanent magnets 20 of block 2, the magnetic flux is 146279 (B • H) max / KJ • m_3 in a certain value. 转动盘I、永磁块 Rotary disk I, permanent magnet segments

2、霍尔3的结构如下: 2, the structure of Hall 3 as follows:

每个永磁块2固定在直径8. 0厘米内圆形轨迹线5-1—9. 5厘米外圆形轨迹线5-2之间的圆环形6范围内,有多个永磁块2成半径错位分布,有多个永磁块2成间距错位分布。 Each permanent magnet segments 2 are fixed in the inner diameter of 8.0 cm within a range between the annular circular trajectory 5-1-9. 5 cm outer circular trajectory 5-26, a plurality of permanent magnet segments 2 to the radius of the dislocation distribution of a plurality of permanent magnet segments 2 to the distribution pitch misalignment.

[0065] 半径错位分布方式是:该多个永磁块2分布在一个圆环形6范围内,在圆环形6的内圆形轨迹线5-1与外圆形轨迹线5-2之间至少有一条圆形轨迹线贯穿全部永磁块2 ;内圆形轨迹线5-1和外圆形轨迹线5-2为同心圆,至少有两个永磁块2到内圆形轨迹线5-1所在圆中心的距离不相同; [0065] offset radius distribution is: The distribution of the plurality of permanent magnet segments 2 in the range of 6 a circular, a circular trajectory in a circular line 6 and the outer circular trajectory line 5-1 of 5-2 at least one circular path between the thread through all of the permanent magnet blocks 2; 5-1 a circular trajectory and outer concentric circular trajectory line 5-2, there are at least two permanent magnet blocks 2 to a circular trajectory They are not the same distance where the center of the circle 5-1;

间距错位分布方式是:相邻永磁块2之间的距离为永磁块间距7 ;至少有两条永磁块间距7的长短不相同。 Pitch offset distribution is: the distance between the permanent magnet is a permanent magnet blocks neighboring blocks 7 pitch; at least two permanent magnet segments 7 not the same as the length of the pitch.

[0066] 有两个永磁块间距7的长度不等于其它任何一个永磁块间距7的长度,而且这两个永磁块间距7的长度也不相等。 [0066] There are two permanent magnet blocks 7 is not equal to the pitch length of any other of the permanent magnet segments 7 pitch length, pitch length and the two permanent magnet segments is not equal to 7. 该两个永磁块间距7所在的有两个永磁块2的位置正好在转动盘I 一条直径的两端,这两个永磁块2用于在助力自行车上表示两个脚踏板的运动位置。 The two permanent magnet segments 7 where the distance two positions of the permanent magnet segments 2 I ends just a rotatable disk diameter, the two permanent magnet segments 2 used for the two footboard assisted bicycle on movement position.

[0067] 在内圆形轨迹线5-1与外圆形轨迹线5-2之间有两个弧形的条形孔8,条形孔8中设有永磁块2,该永磁块2能固定在条形孔8中的任何位置;该永磁块2与条形孔8是可撤卸的固定连接结构,即可在条形孔8中的永磁块2撤卸后换到条形孔8中的其它位置再固定连接,调节该永磁块2与相临永磁块2之间的永磁块间距7。 [0067] The inner circular trace has a circular outer trajectory line 5-1 between the two arcuate apertures 5-2 strip 8, the strip-shaped permanent magnet segments 2 is provided with holes 8, the permanent magnet segments 2 can be fixed at any position in the strip-shaped hole 8; after the strip-shaped permanent magnet segments 2 and the holes 8 are fixedly connected to the withdrawal and unloading of the structure, it can be strip-shaped hole 8 in the permanent magnet segments 2 to withdraw unloaded transducer the bar in the hole 8 connected to other locations and then fixed, adjusted and permanent magnet segments 2 between two adjacent permanent magnet blocks of the permanent spacing block 7. 条形孔8的内边缘设有两个或多个齿形凸9。 The inner edge of the rectangular hole 8 is provided with two or more toothed projections 9. 一个永磁块2卡在一个齿形凸9之中。 A permanent magnet segments in a second engagement projection 9 tooth. 条形孔8是斜向的结构,即条形孔8两端分别与内圆形轨迹线5-1所在的圆心的距离不相等。 8 is an oblique rectangular hole structure, namely the center distance of both ends of the bar 8 is located within a circular hole 5-1 is not equal to the trace. 使条形孔8的两个多个永磁块2成半径错位方式分布。 A plurality of holes so that two bar-shaped permanent magnet segments 2 to 8 radial displacement distribution manner.

[0068] 在转动盘I 一个面设置的全部永磁块2成相邻永磁块2的磁极性相反的方式排列,即转动盘I 一个面上全部永磁块2的磁极性分布方式是N极、S极、N极、S极、N极、S丰及。 Arrangement [0068] All the permanent magnet blocks in a rotary disk I surface disposed adjacent to the permanent magnet segments 2 of two opposite poles, i.e. a full rotation of the disk I pole of permanent magnet segments in a distributed manner is N 2 surface pole, S pole, N pole, S pole, N pole, S and abundance.

[0069] 用一个霍尔3设在转动盘I有永磁块2的那一面,霍尔3设在接近永磁块2的位置,即霍尔3设在每个永磁块2在的圆形轨迹线5-1与外圆形轨迹线5-2之间的圆环形6范围内,霍尔3与转动状态的每个永磁块2保持0. 3厘米的间隔距离,使转动的每个永磁块2在经过霍尔3时,霍尔3能产生一个对应的矩形波电信号输出。 [0069] 3 is provided with a Hall rotating disc with permanent block I that side 2, 3 is provided near the Hall permanent magnet segments 2 position, i.e. in Hall 3 disposed round each permanent magnet segment 2 shaped trajectory in the range of 5-1 and 5-2 between the annular outer circular trajectory line 6, and each permanent magnet segment 3 Hall state 2 is rotated separation distance of 0.3 cm, the rotating of each permanent magnet segments 2 through 3:00 Hall, Hall 3 produces a square wave electrical signal corresponding to the output.

[0070] 转动盘I在该全部永磁块2的内圆形轨迹线5-1中心设有中心孔,中心孔用于套在助力自行车的踏板中轴或转轮转轴上用。 [0070] I rotatable disk provided with a central hole in the center of all the permanent magnet blocks 5-1 of the circular trajectory 2, set in a central bore for the pedal-assisted bicycle or wheel axis with the rotation shaft. ·[0071] [2]助力模型处理器21是把转动盘I转动的数字信号变为助力模型数字信号的信号形式的转换器; * [0071] [2] Power model processor 21 the rotary disk is rotated digital signal I becomes the signal power in the form of a model of the digital signal converter;

助力模型处理器21包括模数转换和波宽识别器22、助力起点选择器23、磁块转速计算器24、助力模型存储器25和助力模型计算器26 ; Power model processor 21 includes analog to digital conversion and pulse width discriminator 22, the selector 23 starting booster, magnetic blocks speed calculator 24, a memory 25 and power booster model model calculator 26;

模数转换和波宽识别器22与传感元件连接,模数转换和波宽识别器22把传感元件中霍尔3输入的矩形波信号进行识别各个矩形波的宽度,将各个矩形波信号变为不同的数字信号,对每个矩形波进行标注,模数转换和波宽识别器22输出标注有磁块位置秩序的磁块运动数字信号; Analog to digital conversion and pulse width discriminator 22 is connected with the sensing element, a rectangular wave signal analog-digital conversion and pulse width discriminator 22 Hall sensor element 3 identifying each inputted width of the rectangular wave, a rectangular wave signal to the respective becomes a different digital signal, annotate each rectangular wave, analog to digital conversion and output pulse width discriminator 22 magnet motion digital signals are denoted with a magnetic block position order;

模数转换和波宽识别器22分别与助力起点选择器23和磁块转速计算器24连接,助力起点选择器23与磁块转速计算器24连接;磁块转速计算器24用模数转换和波宽识别器22输入的磁块运动数字信号计算出转动盘I的转速,并把转动盘I的转速数字信号传给助力起点选择器23,助力起点选择器23用标注有磁块位置秩序的磁块运动数字信号,和转动盘I的转速数字信号这两个信号确定在某种转速条件下的助力起点对应的某一个矩形波,即确定助力起点磁块;助力起点选择器23完成了找出助力的起始点磁块,也就是确定从某个矩形波开始实施助力,准确说就是在转动盘I处于某种转速条件下,从某个磁块在某个位置开始进行助力,或是从某个磁块在某个位置开始,将原来的助力模型改变为下一步选择的助力模型进行助力。 Analog to digital conversion and pulse width discriminator 22, respectively booster starting magnet block selector 23 and the speed calculator 24 is connected to the starting point of the booster 24 is connected to the selector 23 speed calculator magnet; magnetic blocks speed calculator 24 with analog to digital conversion and magnet block motion input digital signal pulse width discriminator 22 calculates the rotation speed of disk I, and the speed of rotation of the disk I digital signal to the selector 23 the starting point of the booster, the booster 23 by selecting the starting point labeled with a magnetic block position order magnetic block motion digital signal, and the rotation speed of the disk I digital signals of the two rectangular-wave signals to determine whether a starting power under certain conditions corresponding to the rotational speed, i.e. determines assist starting magnet block; booster finished selecting the starting point 23 to find a magnet assist starting point, that is determined from a boost started rectangular wave, that is to accurately rotating disc I is under certain conditions of rotational speed, from a magnet block in a position to start assist, or from a magnet block to start at a position of the original model changes for boosting power boost for the next model chosen.

[0072] 助力起点选择器23和磁块转速计算器24分别都与助力模型计算器26连接,助力模型存储器25也与助力模型计算器26连接;助力模型计算器26用助力起点选择器23的助力起点磁块,和用磁块转速计算器24的转动盘I转速这两个条件选择助力模型存储器25中的某一种助力模型函数,并将助力起点磁块和转动盘I转速这两个条件代入助力模型函数,计算出适合这两个条件的助力模型数字信号,即助力模型计算器26输出助力模型数字信号; [0072] The starting point for the booster magnet block selector 23 and the speed calculator 24 are respectively connected to the power model calculator 26, the booster 25 is also connected to the memory model booster 26 model calculator; power booster model calculator 26 starting with the selector 23 starting booster magnet, and a speed calculator block rotation of the magnetic disc 24 I speed two conditions are selected in a template memory booster is a booster 25 model function, and the power magnet block and starting disk rotation speed of both I substituting condition power function model to calculate the model of the digital signal power for these two conditions, i.e., a digital signal output power assist model model calculator 26;

[3]数模转换器27是把助力模型数字信号转换成助力模型的模拟信号。 [3] The power DAC 27 is converted into a digital signal an analog signal model power model.

[0073] 助力模型计算器26与数模转换器27连接,数模转换器27把助力模型计算器26的助力模型数字信号转换成助力模型模拟信号。 [0073] The booster 26 is connected to the DAC model calculator 27, boosting converter 27 Model DAC model power calculator 26 is a digital signal into an analog signal booster model. 以便向只能处理模拟信号的电机控制器29输出助力模型的模拟信。 An analog signal to the controller 29 outputs to the motor model can assist in processing an analog signal.

[0074] [4]运算放大器28是把数模转换器27的助力模型模拟信号转换成额定电压范围的助力模型模拟信号。 [0074] [4] of the operational amplifier 28 is converted to an analog signal DAC model booster into booster 27 model rated voltage range analog signal.

[0075] 数模转换器27与运算放大器28连接,数模转换器27的助力模型模拟信号虽然解决了助力模型问题,但助力模型信号的电压还不能满足电机控制器29的需要,所以还要用运算放大器28把助力模型模拟信号转换成额定电压范围需要的助力模型模拟信号,才能传输给电机控制器29,达到电机控制器29控制电机30进行助力为目的的运行。 [0075] DAC 27 is connected with the operational amplifier 28, an analog signal DAC model booster 27 model solves the problem of power, but the voltage model of the signal power can not meet the needs of the motor controller 29, so also 28 for converting analog signals of the operational amplifier model booster into booster model rated voltage range analog signal needs to be transmitted to the motor controller 29, to the motor controller 29 controls the assist motor 30 for the purpose of operation.

[0076] 实施例2、高密度助力自行车用多磁块位置可调节的转盘式传感器 Rotary Sensor [0076] Example 2, a high-density magnetic blocks assisted bicycle with a plurality of adjustable positions

如图2、3,一块直径10. 0厘米的高强度铝材转动盘I的一个面设置直径0. 6厘米的40个永磁块2。 2 and 3, a 10.0 cm diameter high-strength aluminum surface of a rotary disk provided I a diameter of 0.6 cm 2 40 permanent magnet segments. 永磁块2的磁通量为146279 (B -H) max/KJ ^nT3中的某一个值,霍尔3与转动状态的每个永磁块2保持0. 2厘米的间隔距离,使转动的每个永磁块2在经过霍尔3时,霍尔3能产生一个对应的矩形波信号输出。 2 is a block flux of the permanent 146279 (B -H) max / KJ ^ nT3 one of the values ​​of the Hall state 3 and the rotation holding each permanent magnet segment distance of 0.2 cm, the rotating each a permanent magnet segments 2 through 3:00 Hall, Hall 3 can generate a rectangular wave signal corresponding to the output. 其它结构同于实施例I。 Other structure was that of Example I. · ·

[0077] 实施例3、有具体电路的助力自行车用多磁块位置可调节的转盘式传感器 Rotary Sensor [0077] Example 3, a specific circuit-assisted bicycle with a plurality of magnet position adjustment

如图1、4,本实施例传感器包括依次连接的传感元件、助力模型处理器21、数模转换器27和运算放大器28 ; 1, 4, embodiments of the present embodiment comprises a sensing element sensor successively connected, power model processor 21, digital to analog converter 27 and an operational amplifier 28;

[1]传感元件中的霍尔3选用UGN3075 ;传感元件中其它的元件和元件的结构同于实施例I ; [1] a Hall sensor element 3 selected UGN3075; the sensing element and the structural element to other elements in the same in Example I;

[2]助力模型处理器21选用单片机31完成全部功能,单片机31选用AT89S52。 [2] Power model processor 31 to complete all 21 single chip computer functions, the microcontroller 31 choose AT89S52. 即AT89S52单片机31完成模数转换和波宽识别器22、助力起点选择器23、磁块转速计算器24、助力模型存储器25和助力模型计算器26的全部功能。 I.e. AT89S52 microcontroller 31 and the analog to digital converter pulse width discriminator 22, the selector 23 starting booster, the full functionality of magnetic blocks speed calculator 24, a memory 25 and power booster model model calculator 26.

[0078] [ 3 ]数模转换器27选用ADC-C8E。 [0078] [3] DAC 27 selected ADC-C8E.

[0079] [4]运算放大器28选用0F-17F,OF-17F运算放大器28的输入端2脚与输出端6脚之间连接有5k的热敏电阻R6 ;而且热敏电阻R6两端还并联有8P电容C6。 [0079] [4] of the operational amplifier 0F-17F, selection input 28 of the operational amplifier 28 OF-17F thermistor terminal. 5K between R6 and the output terminal pin 26 pin connector; and R6 both ends of the thermistor is also connected in parallel 8P has a capacitance C6. 数模转换器27的4脚与运算放大器28的2脚之间用I. 25k的R5接地。 I. 25k R5 ground with feet 4 between the DAC and operational amplifier 27 feet 2 28. 使其可用热敏电阻R6调节运算放大器286脚输出的模拟信号电压范围稳定在0. 8—4. 2V之间。 R6 adjustment made available thermistor output pin of the operational amplifier 286 of analog signal voltage range stabilized at 0. 8-4. 2V.

[0080] 各电子部件连接关系如下: [0080] each of the electronic components connected as follows:

霍尔3的信号输出端3脚连接单片机31的12脚INTO [P32]; Hall signal output terminal 3 connected to pin 3 of the microcontroller 31 pin 12 INTO [P32];

单片机31的39脚POO连接数模转换器27的12脚B8 ; POO microcontroller 39 pin 31 pin connector 12 B8 27 of the digital to analog converter;

单片机31的38脚POl连接数模转换器27的11脚B7 ; 38 feet POl microcontroller 31 is connected to a digital to analog converter 11 B7 27 feet;

单片机31的37脚P02连接数模转换器27的10脚B6 ; P02 pin 37 microcontroller 31 is connected to pin 10 B6 27 of the digital to analog converter;

单片机31的36脚P03连接数模转换器27的9脚B5 ; P03 pin 36 microcontroller 31 is connected to pin 9 B5 27 of the digital to analog converter;

单片机31的35脚P04连接数模转换器27的8脚B4 ; P04 pin 35 microcontroller 31 is connected to the digital-B4 27 8 feet;

单片机31的34脚P05连接数模转换器27的7脚B3 ; P05 pin 34 microcontroller 31 is connected to a digital to analog converter 7 B3 27 feet;

单片机31的33脚P06连接数模转换器27的6脚B2 ; P06 pin 33 microcontroller 31 is connected to a digital to analog converter 6 feet B2 27;

单片机31的32脚P07连接数模转换器27的5脚BI ; P07 pin 32 microcontroller 31 is connected to a digital to analog converter 5 feet BI 27;

数模转换器27的4脚连接运算放大器28的2脚; DAC 27 is connected to pin 4 of the operational amplifier 28 of the foot 2;

数模转换器27的2脚连接运算放大器28的3脚; DAC 27 is connected to pin 2 of the operational amplifier 28 of the pin 3;

运算放大器28的6脚为模拟信号输出端。 Pin 6 of the operational amplifier 28 to an analog signal output terminal.

Claims (10)

1.助力自行车用多磁块位置可调节的转盘式传感器,包括依次连接的传感元件、助力模型处理器(21)、数模转换器(27)和运算放大器(28);其特征在于: [1]传感元件是把转动盘(I)的转动运动变为矩形波信号输出的元件; 传感元件包括一块转动盘(I)和多枚永磁块(2),转动盘(I)上固定设置有多枚永磁块(2),该多枚永磁块(2)分布在一个圆环形(6)范围内,圆环形(6)的圆形轨迹线(5-1)与外圆形轨迹线(5-2)之间至少有一条圆形轨迹线贯穿全部永磁块(2);内圆形轨迹线(5-1)和外圆形轨迹线(5-2)为同心圆,至少有两枚永磁块(2)成错位分布;错位分布是半径错位分布方式或间距错位分布方式的某一种;或即有半径错位分布方式,又有间距错位分布的组合方式; 半径错位分布方式是:至少有两个磁块(2)到内圆形轨迹线(5-1)所在圆中心的距离不相同; 间距 1. assisted bicycle with a plurality of magnetic blocks adjusted rotary position sensor comprising a sensing element connected in turn, help model processor (21), digital to analog converter (27) and an operational amplifier (28); characterized in that: [1] the sensing element is rotatable disk (I) of the rotational motion into a rectangular wave signal output element; sensor element comprises a rotatable disc (I) and a plurality of pieces of permanent magnet blocks (2), rotating disk (I) fixing pieces provided with a plurality of permanent magnet segments (2), the plurality of pieces of permanent magnet blocks (2) distribution (6) within the range, the annular (6) is a circular trajectory in a circular line (5-1) between the outer circular trajectory (5-2) at least one circular trace through all of the permanent magnet segments (2); a circular trajectory (5-1) and an outer circular trajectory (5-2) concentric circles, with at least two permanent magnet blocks (2) into a displacement distribution; the radius of a certain kind of dislocation distribution is displaced or offset in a distributed fashion distributed fashion pitch; or radius that is offset in a distributed fashion, there are a combination of offset spacing distribution embodiment; offset radius distribution is: at least two magnetic blocks (2) into a circular trajectory (5-1) from the center of the circle where different; pitch 错位分布方式是:相邻两个磁块(2)之间的距离为永磁块间距(7);至少有两条永磁块间距(7)的长短不相同; 在内圆形轨迹线(5-1)与外圆形轨迹线(5-2)之间至少有一个条形孔(8),条形孔(8)中设有永磁块(2),永磁块(2)能固定在条形孔(8)中的任何位置; 在转动盘(I)的某一面,相邻两枚永磁块(2)的磁极性相反,即转动盘(I)的某一面上全部永磁块(2)的磁极性分布方式是N极、S极、N极、S极、N极、S极......; 还包括一个霍尔(3),霍尔(3)位于转动盘(I)的某一面,霍尔(3)设在接近永磁块(2)并能感受永磁块(2)磁通量的位置,霍尔(3)与永磁块(2)之间有间距;霍尔(3)是对相反磁极性产生矩形波输出信号的霍尔; [2]助力模型处理器(21)是把转动盘(I)转动的数字信号变为助力模型数字信号的信号形式转换器; 助力模型处理器(21)包括模数转换和波宽 Dislocation distribution is: the distance between (2) two blocks adjacent to the permanent magnet spacing blocks (7); at least two permanent magnet blocks pitch length (7) is not the same; the inner circular trajectory ( At least one hole between 5-1 bar) and the outer circular trajectory (5-2) (8), strip-shaped aperture (8) is provided with a permanent magnet blocks (2), the permanent magnet block (2) can fixing the rectangular hole (8) in any position; in a side of the rotating disk (I), the opposite two adjacent permanent magnet blocks (2) of the pole, i.e. rotary disc (I) is a permanent full surface magnetic block (2) is a distributed fashion magnetic polarity N pole, S pole, N pole, S pole, N pole, S pole ......; further comprises a Hall (3), Hall (3) located a rotary disc (I) side, a Hall (3) is provided between the permanent magnet close to the block (2) and to feel the permanent magnet segments (2) the position of the magnetic flux Hall (3) and the permanent magnet blocks (2) spaced; Hall (3) is a pair of opposite magnetic polarity to generate a rectangular wave output signal of the Hall; [2] power model processor (21) is the rotary disc (I) becomes the rotational power of the digital signal is a digital signal model signal form converter; booster model processor (21) including analog to digital conversion and pulse width 识别器(22)、助力起点选择器(23)、磁块转速计算器(24)、助力模型存储器(25)和助力模型计算器(26); 模数转换和波宽识别器(22)与传感元件连接,模数转换和波宽识别器(22)把传感元件中霍尔(3)输入的矩形波信号进行识别各个矩形波的宽度,将各个矩形波信号变为不同的数字信号,对每个矩形波进行标注,模数转换和波宽识别器(22)输出标注有磁块位置秩序的磁块运动数字信号; 模数转换和波宽识别器(22)分别与助力起点选择器(23)和磁块转速计算器(24)连接,助力起点选择器(23)与磁块转速计算器(24)连接;磁块转速计算器(24)用模数转换和波宽识别器(22)输入的标注有磁块位置秩序的磁块运动数字信号计算出转动盘(I)的转速,并把转动盘(I)的转速数字信号传给助力起点选择器(23),助力起点选择器(23)用标注有磁块位置秩序的磁块 Recognizer (22), selecting the starting point booster (23), the speed calculator magnetic blocks (24), power storage model (25) and the model power calculator (26); analog to digital conversion and pulse width discriminator (22) and the sensing element is connected, analog to digital conversion and pulse width discriminator (22) the rectangular wave signal sensing Hall element (3) identifying each inputted width of the rectangular wave, a rectangular wave signal to the respective digital signals to a different for tagging each rectangular wave, analog to digital conversion and pulse width discriminator (22) outputs digital signals are denoted magnet magnetic motion block position order; analog to digital conversion and pulse width discriminator (22) respectively selecting the starting point booster (23) and a magnetic speed calculator block (24) is connected, selecting the starting point booster (23) and the speed calculator magnet (24) is connected; speed calculator magnetic blocks (24) with the analog to digital conversion and pulse width discriminator labeling (22) the position of the block input order magnetic magnet block motion signal to calculate the speed of rotation of the digital disk (I) and the rotary disc speed digital signal (I) is selected to pass the starting point of the booster (23), the starting point of the booster a selector (23) labeled with magnetic magnet block position order 动数字信号,和转动盘(I)的转速数字信号这两个信号确定在某种转速条件下的助力起点对应的某一个矩形波,即确定助力起点磁块; 助力起点选择器(23)和磁块转速计算器(24)分别都与助力模型计算器(26)连接,助力模型存储器(25)也与助力模型计算器(26)连接;助力模型计算器(26)用助力起点选择器(23)的助力起点磁块,和用磁块转速计算器(24)的转动盘(I)转速这两个条件选择助力模型存储器(25)中的某一种助力模型函数,并将助力起点磁块和转动盘(I)转速这两个条件代入助力模型函数,计算出适合这两个条件的助力模型数字信号,即助力模型计算器(26)输出助力模型数字信号; [3]数模转换器(27)是把助力模型数字信号转换成助力模型的模拟信号; 助力模型计算器(26)与数模转换器(27)连接,数模转换器(27)把助力模型计算器(26)的助力模 Moving a digital signal, and the rotation disc (I) the rotational speed signals of the two digital signals to determine a starting point of a rectangular wave corresponding boost in speed under certain conditions, i.e. determines assist starting magnet block; booster selecting the starting point (23) and speed calculator magnetic blocks (24) are respectively connected to the power model calculator (26), power storage model (25) also connected to the power model calculator (26); booster model calculator (26) with booster origin selector ( 23) starting booster magnet, and a magnetic speed calculator block (24) of the rotary disc (I) both conditions are selected to assist rotation speed memory model (a model function is a booster 25), and the starting point of the magnetic power and rotating disk block (I) is substituted into the rotation speed of these two conditions help function model to calculate the model of the digital signal power for these two conditions, i.e., the model power calculator (26) outputs a digital signal booster model; [3] DAC (27) is converted into a digital signal power booster model models an analog signal; model power calculator (26) and digital to analog converter (27) connected to digital to analog converter (27) boosting the model calculator (26) the power module 数字信号转换成助力模型模拟信号; [4]运算放大器(28)是把数模转换器(27)的助力模型模拟信号转换成额定电压范围的助力模型模拟信号。 Converts the digital signal into an analog signal booster model; [4] of the operational amplifier (28) is to convert the analog signal digital to analog converter power model (27) into an analog signal booster model rated voltage range.
2.根据权利要求I所述的助力自行车用多磁块位置可调节的转盘式传感器,其特征在于:还包括热敏电阻R6,热敏电阻R6连接在运算放大器(28)的输入端和输出端之间。 The I-assisted bicycle according to claim plurality magnet rotary position sensor can be adjusted, characterized by: further comprising a thermistor R6, R6 thermistor connected operational amplifier (28) input and output end between.
3.根据权利要求2所述的助力自行车用多磁块位置可调节的转盘式传感器,其特征在于:助力模型处理器(21)是单片机(31),单片机(31)上连接有时钟电路(32)。 The assisted bicycle according to claim 2 with a plurality magnet rotary position sensor may be adjustable, wherein: the booster model processor (21) is a microcontroller clock circuit (31) connected to the microcontroller (31) ( 32).
4.根据权利要求3所述的助力自行车用多磁块位置可调节的转盘式传感器,其特征在于:霍尔(3)是UGN3075,助力模型处理器(21)是AT89S52单片机(31 ),数模转换器(27)是ADC-C8E ;运算放大器(28)是0F-17F,0F-17F运算放大器(28)的输入端2脚与输出端6脚之间连接有热敏电阻R6 ;各部件连接关系如下: 霍尔(3)的信号输出端3脚连接单片机(31)的12脚INTO [P32]; 单片机(31)的39脚POO连接数模转换器(27)的12脚B8 ; 单片机(31)的38脚POl连接数模转换器(27)的11脚B7 ; 单片机(31)的37脚P02连接数模转换器(27)的10脚B6 ; 单片机(31)的36脚P03连接数模转换器(27)的9脚B5 ; 单片机(31)的35脚P04连接数模转换器(27)的8脚B4 ; 单片机(31)的34脚P05连接数模转换器(27)的7脚B3 ; 单片机(31)的33脚P06连接数模转换器(27)的6脚B2 ; 单片机(31)的32脚P07连接数模转换器(27)的5脚BI ; 数模转换 According to claim rotary position sensor with multiple magnetic blocks adjustable assisted bicycle according to 3, characterized in that: a Hall (3) is UGN3075, power model processor (21) is AT89S52 microcontroller (31), the number of analog converter (27) is ADC-C8E; an operational amplifier (28) is 0F-17F, input 0F-17F operational amplifier (28) end of the thermistor between R6 and the output terminal pin 26 pin connector; each member is connected as follows: Hall (3) a signal output terminal 3 connected to pin microcontroller (31) is 12 feet INTO [P32]; the microcontroller (31) connected to the pin 39 POO-analog converter (27) of the foot 12 B8; SCM (31) a digital to analog converter 38 connected to POl foot (27) of the foot 11 B7; microcontroller (31) connected to a digital to analog converter 37 P02 pin (27) is 10 feet B6; microcontroller (31) connected to the 36 pin P03 digital to analog converter (27) of the pin 9 B5; the microcontroller (31) connected to the pin 35 P04-analog converter (27) 8-pin B4; the microcontroller (31) connected to a digital to analog converter 34 P05 pin (27) 7 B3 foot; the microcontroller (31) connected to a digital to analog converter 33 P06 pin (27) is 6 feet B2; the microcontroller (31) of the 32-pin connector P07-analog converter (27) in the BI 5 feet; DAC (27 )的4脚连接运算放大器(28 )的2脚; 数模转换器(27)的2脚连接运算放大器(28)的3脚; 运算放大器(28)的6脚为模拟信号输出端。 (27) is connected to pin 4 of the operational amplifier (28) of the foot 2; digital to analog converter (27) connected to pin 2 of an operational amplifier (28) is 3 feet; operational amplifier (28) of the pin 6 into an analog signal output terminal.
5.根据权利要求I所述的助力自行车用多磁块位置可调节的转盘式传感器,其特征在于:条形孔(8)是弧形的结构,条形孔(8)的弧形所在圆与内圆形轨迹线(5-1)为同心圆。 The rotary sensor according to I-assisted bicycle with a plurality of adjustable position of the magnet block as claimed in claim, wherein: the rectangular hole (8) is curved configuration, the curved rectangular hole (8) where the circle within the circular trajectory (5-1) are concentric.
6.根据权利要求I所述的助力自行车用多磁块位置可调节的转盘式传感器,其特征在于:条形孔(8)是斜向的结构,即条形孔(8)两端分别与内圆形轨迹线(5-1)所在的圆心的距离不相等。 Assisted bicycle according to claim I of the rotary position of the sensor magnet block multiple adjustable, wherein: the rectangular hole (8) is a diagonal structure, i.e., stripe-shaped aperture (8) with two ends circular trajectory (5-1) is not equal to the center distance is located.
7.根据权利要求1-6任何一项所述的助力自行车用多磁块位置可调节的转盘式传感器,其特征在于:至少有一个永磁块间距(7)的长度不等于其它任何一个永磁块间距(7)。 7. The rotary sensor of any 1-6-assisted bicycle with a plurality of the magnet block can be adjusted according to the position of the preceding claims, characterized in that: at least one permanent magnet block pitch lengths (7) is not equal to any of the other permanent magnet pitch (7).
8.根据权利要求7所述的助力自行车用多磁块位置可调节的转盘式传感器,其特征在于:条形孔(8)的某一条内边缘设有两个或多个齿形凸(9)。 Assisted bicycle according to claim 7 with said plurality magnet rotary position sensor may be adjustable, wherein: the one of a rectangular hole (8) is provided with two or more toothed edge projections (9 ).
9.根据权利要求7所述的助力自行车用多磁块位置可调节的转盘式传感器,其特征在于:霍尔(3)设在内圆形轨迹线(5-1)与外圆形轨迹线(5-2)之间。 Assisted bicycle according to claim 7, with the rotary position of the sensor magnet block multiple adjustable, characterized in that: a Hall (3) provided on an inner circular trajectory (5-1) with an outer circular trace between (5-2).
10.根据权利要求7所述的助力自行车用多磁块位置可调节的转盘式传感器,其特征在于:转动盘(I)在多个永磁块(2)的内圆形轨迹线(5-1)所在圆范围内设有中心孔。 Assisted bicycle according to claim 7, with the rotary position of the sensor magnet block multiple adjustable, wherein: the rotation plate (I) (2) is a circular trajectory in a plurality of permanent magnet segments (5- 1) where the range features a circular center hole.
CN201210263498.1A 2012-07-28 2012-07-28 Multi-magnetic block position-adjustable turntable sensor for power-assisted bicycle CN102785739B (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4785241A (en) * 1985-08-08 1988-11-15 Canon Denshi Kabushiki Kaisha Encoder unit using magnetoresistance effect element
JP2001235483A (en) * 2000-02-24 2001-08-31 Shibaura Mechatronics Corp Rotation sensor unit
CN2462356Y (en) * 2001-01-18 2001-11-28 北京科技大学 Automatic detecting device of electric booster bicycle
CN2640915Y (en) * 2003-06-23 2004-09-15 王乃康 Timing sensor of electric boosting bicycle
CN2775610Y (en) * 2005-03-04 2006-04-26 长沙锐星舞台声光设备厂 Angular transducer
CN202783633U (en) * 2012-07-28 2013-03-13 成都宽和科技有限责任公司 Boosting bicycle rotating disc type sensor with multiple magnetic block adjustable in position

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4785241A (en) * 1985-08-08 1988-11-15 Canon Denshi Kabushiki Kaisha Encoder unit using magnetoresistance effect element
JP2001235483A (en) * 2000-02-24 2001-08-31 Shibaura Mechatronics Corp Rotation sensor unit
CN2462356Y (en) * 2001-01-18 2001-11-28 北京科技大学 Automatic detecting device of electric booster bicycle
CN2640915Y (en) * 2003-06-23 2004-09-15 王乃康 Timing sensor of electric boosting bicycle
CN2775610Y (en) * 2005-03-04 2006-04-26 长沙锐星舞台声光设备厂 Angular transducer
CN202783633U (en) * 2012-07-28 2013-03-13 成都宽和科技有限责任公司 Boosting bicycle rotating disc type sensor with multiple magnetic block adjustable in position

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