CN102785745B

CN102785745B - Power-assisted bicycle having rotary disk type sensor with non-uniformity distribution of multi-magnetic block positions

Info

Publication number: CN102785745B
Application number: CN201210263506.2A
Authority: CN
Inventors: 黄强
Original assignee: Chengdu Kind Technology Co Ltd
Current assignee: Jiangsu Jinggong Pump Industry Co., Ltd.
Priority date: 2012-07-28
Filing date: 2012-07-28
Publication date: 2014-02-05
Anticipated expiration: 2032-07-28
Also published as: CN102785745A

Abstract

The invention discloses a motorized bicycle having a rotary disk type sensor with non-uniformity distribution of multi-magnetic block positions, in particular to an electric motorized bicycle for providing an assisting signal by multi-point magnetic induction. The sensor comprises a sensing element, an assisting model processor, a digital/analogue converter and an operational amplifier which are sequentially connected, wherein a plurality of permanent magnet blocks of which adjacent permanent magnet blocks are opposite in magnetic polarities are arranged on a rotary disk of the sensing element; spaces between every two permanent magnet blocks are different; the rotary disk is arranged on a central shaft of a wheel of the bicycle; a Hall of the sensing element is arranged on a frame adjacent to the permanent magnet block; and the operational amplifier is connected with a motor controller. The motorized bicycle has the advantages that the Hall can acquire a rectangular wave signal which is conveniently and digitally processed and output by the sensor; and the assisting model is manually set, and thus an assisting starting point, finishing point and strength are reasonable, a person and a machine can be optimally matched and electricity is saved.

Description

Fill the moped of many magnetic patch position uneven distribution rotating disc type sensor

Technical field

The invention belongs to the technical field of moped, particularly relate on rotatable parts and carry out the electric assisted bicycle that multi-point magnetic induction provides power-assisted signal.

Background technology

The Chinese patent 201020295192.0 < < of Yebao Vehicle Material Industry's application hook pawl formula moment sensor > > and disclose a kind of moped sensing device, sensing device comprises that magnetic part and elastic component coordinate, and experience the sensing device of moment.After service time is long, the elasticity coefficient variation of elastic component will cause the control effect of transducing signal and controlled motor to change, and power-assisted effect becomes and need to mismatch with people's power-assisted.And complicated with the project organization of elastic component, manufacturing cost is high.

The Chinese patent 01201843.0 < < automatic detecting device of electric booster bicycle > > of University of Science & Technology, Beijing's application discloses a kind of automatic detecting device of electric booster bicycle, power is pedaled in contactless detection, speed and turning to, this device is in relative motion, on outer wheel disc, establish respectively magnetic sheet, on interior wheel disc, there is spring, in, between outer wheel disc, use spring reset, in surveying with two Halls on support, the signal indication that on outer wheel disc, the magnetic sheet of relative motion produces is pedaled power, speed and turning to.

Shortcoming (1) is not durable with elastic component: after service time is long, the elasticity coefficient variation of elastic component will cause the control effect of transducing signal and controlled motor to change, and power-assisted effect becomes and need to mismatch with people's power-assisted, complex structure, and cost is high.

Each magnetic sheet group of shortcoming (2) is identical and magnetic pole set-up mode is all identical, and can not represent the position separately of different magnetic sheet groups, can not express the special power-assisted demand of diverse location: from Fig. 3 of 01201843.0 patent, 4, 5, 6 and the record explanation of the 2nd section of Instructions Page 2, each magnetic sheet group (comprises a magnetic sheet 4, a magnetic sheet 5, a magnetic sheet 6) magnetic pole set-up mode is all identical, be only simply from being provided with again identical magnetic sheet group at interior diverse location of taking turns, the position separately that can not represent different magnetic sheet groups, the motion state that can not represent ad-hoc location, and people is by bike time, pedal with each position corresponding with pedal in motion state, there is own special power-assisted demand, but the identical structure of this each magnetic sheet group of this patent, can not give expression to the special power-assisted demand of each diverse location on pedal.

Each site signal indifference of shortcoming (3) makes man-machine mismatching: each magnetic sheet group is the same, each magnetic sheet group can not represent this position of magnetic sheet group on interior wheel, the signal that Hall is exported can not represent the position of pedal and other magnetic sheet group, the signal that is Hall output can not represent the demand of different foot positions to power-assisted, cause the demand of power-assisted and provide the time of power-assisted to mismatch, man-machine cooperation is undesirable.

Shortcoming (4) sine wave output makes magnetic sheet group Edge Distance can not be less than 4 centimetres, generally take 5 centimetres as good, and make to establish magnetic sheet group number very little, man-machine cooperation is undesirable: each magnetic sheet group is identical, Hall output is sinusoidal wave as control signal, as control signal sine wave, must there is certain peak valley difference, because the magnetic sheet group of this patent needs certain length to represent forward and reverse motion, at diameter, be to establish at most 8 magnetic sheet groups in the rolling disc circular trace of 20 centimetres, generally take 5 as good, Hall just can have the sine wave signal of controlling function.That is to say, this technical scheme of 01201843.0 patent, for moped, magnetic sheet group limited amount is only in 8, and very little, man-machine cooperation is undesirable for control signal.If but more than 8 magnetic sheet groups, when people's treadmill is very fast, the signal graph of Hall output is close to a horizontal line, this signal is not controlled function, can not control motor, while making it need power-assisted especially, loses assist function.

Shortcoming (5) signal blind zone reaches miter angle, when needing power-assisted during startup, really can not get power-assisted: well-known, it is minimum in summit moment that people steps on bicycle pedal, from leaving 10-45 degree angle, summit, it is the region that needs most power-assisted, but the angle between each magnetic sheet group of this patent is 45 degree, at pedal, leave summit 10-45 degree angular zone neither one magnetic sheet group, also with regard to neither one control signal, when consequently needing most power-assisted, but the motor of moped really can not power-assisted.

In a word, except with the not durable complex structure again of elastic component, fit structure feature because of Hall and magnetic sheet group, rotating disk size diameter is in 20 centimetres, and having placed restrictions on magnetic sheet group quantity is 8 groups, and magnetic sheet group number can not arbitrarily increase, make man-machine cooperation undesirable, and can not get power-assisted while starting, and power-assisted demand is not mated with power-assisted is provided, and cyclist's comfortableness is poor; As increased by force magnetic sheet group quantity, its transducing signal loses again Power assisted control function.

The Chinese patent 03264387.X < < timing sensor of electric boosting bicycle > > of Wang Naikang application discloses without elastic component, only with moving, fixed two rotating disks, above Moving plate, inlay two permanent magnetic steels, above price fixing, inlay three Hall elements, bicycle pedal circles, each Hall produces two pulses, and three Hall elements produce six pulses.Divide folding can obtain three features, four shortcomings are as follows:

Feature (1) is for obtaining six pulse signals, can only be each permanent magnetic steel same pole in one side: each Hall will produce two pulses, can only be the same face that the same pole of two permanent magnetic steels is located at Moving plate,, in certain one side of Moving plate, two permanent-magnet magnetic steel capital be the Huo Doushi South Pole, the arctic.If at the same face of Moving plate, a permanent magnetic steel is the arctic, another is the South Pole, and pedal circles, and each Hall just can only produce a pulse, and three Halls just only have three pulses, and this does not just conform with this patent specification and has recorded.In order to increase umber of pulse, improve and control effect, can only be that each permanent magnetic steel same pole is in one side.

Feature (2) permanent magnetic steel is used for representing pedal fixed position, three Halls represent pedal travel position: because pedal and Moving plate are to synchronize rotation, so a permanent magnetic steel is fixed respectively in two positions on the Moving plate corresponding with two pedals, where some pedals turn, and where corresponding permanent magnetic steel also turns; But only turn in the position that has Hall, could send control signal by Hall, the motor of commander's moped produces the power-assisted needing and rotates.

The position of feature (3) middle different period pedal travels because Hall can not represent to circle, just can not be only with a Hall: the different periods of pedal in circling, power-assisted demand is had to very big difference, embody the variation of this power-assisted demand, this patent is located at respectively 180 degree angles with three interior positions with three Halls, two permanent magnetic steels are located at respectively two pedal positions, pedal turns in the position that has Hall, and this Hall represents that with regard to output signal pedal has arrived the position of this Huo Yuan.But there is again shortcoming below with a plurality of Halls.

These features as moped sensor have three shortcomings:

Shortcoming (1) represents respectively the fixed position of two pedals with two permanent magnetic steels that there is no an otherness, just can only represent with a plurality of Halls the turned position of pedal: two permanent magnetic steels do not have otherness, advantage is can be regardless of the fixed position that represents respectively two pedals of left and right pin, make the raw power-assisted demand of its left and right human hair combing waste, can produce identical motor power-assisted effect; But shortcoming is permanent magnetic steel itself just can not represent the turned position of pedal, and can only be located at the turned position that different angle positions represents pedal with a plurality of Halls, thus can not be only with a Hall, and must use a plurality of Halls.

Shortcoming (2) can not be only with a Hall, and three Halls must cause three control signals to have original segmentation error, make the distortion of power-assisted demand model, naturally produce power-assisted output inconsistent with power-assisted demand: no matter moped is one or two motor, its transducing signal of controlling motor can only just can reach the object of controlling motor with a transducing signal input electric machine controller; And three Halls are controlled motors for this patent, three control signals of three Halls must be merged into one and could input electric machine controller after merging control signal.The parameter sensing of three Halls can not be the same, particularly due to after growing variation of ambient temperature, service time, the parameter sensing of three Halls may be widely different, when its result causes identical power-assisted demand, the output of different Halls be different voltages, cause motor to produce different power-assisted output, power-assisted output is inconsistent with power-assisted demand; In like manner during identical power-assisted demand, the output of different Halls may be identical voltage again, cause motor to produce the output of same power-assisted, also produce power-assisted output and the inconsistent problem of power-assisted demand.

Shortcoming (3) merges control signal and easily produces signal drift, making to merge control signal does not mate with electric machine controller, power-assisted demand model distortion: due to variation of ambient temperature, after service time is long, the parameter sensing of three Halls may be widely different, three control signal tie points of three Halls must change, the merging control signal that identical power-assisted demand produces will produce the signal drift of segmenting, merge control signal as a whole distorted signals that produces, it is the distortion of power-assisted demand model, any one that causes that electric machine controller selects three control signals all can produce power-assisted output and the inconsistent problem of power-assisted demand as benchmark.

Shortcoming (4) sensing site can not arbitrarily increase, sensing site very little, motor operation is just not steady, make people by bike feel very uncomfortable: owing to having shortcoming (1) and shortcoming (2) all to cause because Hall quantity is greater than one, clearly Hall quantity is measured more and more, and shortcoming (1) and shortcoming (2) performance are more serious.So the moped that this patent provides can only be to make people by bike feel the moped that comfortableness is very bad.

Shortcoming (5) signal blind zone reaches 42 degree angles, when needing power-assisted during startup, really can not get power-assisted: well-known, it is minimum in summit moment that people steps on bicycle pedal, from leaving 10-45 degree angle, summit, it is the region that needs most power-assisted, but the angle between each Hall of this patent is 42.5-43.5 degree, at pedal, leave summit 10-42 degree angular zone neither one Hall, also with regard to neither one control signal, when consequently needing most power-assisted, but the motor of moped really can not power-assisted.

In a word, this patent is with a plurality of Halls, to control the technical scheme of assistant mode, because can only represent with a plurality of Halls the turned position of pedal, a plurality of control signals of a plurality of Halls must have initial error, it merges control signal and easily produces again signal drift, all can cause the distortion of power-assisted demand model, i.e. the identical power-assisted demand of different time, but obtain different power-assisted effects; Hall quantity is measured more and more, and the distortion of power-assisted demand model is more serious, the quantity of having placed restrictions on Hall, Hall small number and to produce motor operation just not steady, make people by bike feel very uncomfortable, and can not get power-assisted while starting.Make it want power-assisted demand model undistorted, and want motor to operate steadily in these two problems and always look after these that, can not get both.

Summary of the invention

Only the object of this invention is to provide with the speed of the unequal acquisition bicycle pedal of distance and position signalling signal is carried out to digitized processing become the moped that has best power-assisted model signals sensor between each permanent magnets on a Hall and rolling disc; Be a kind ofly in Hall can induction region, can increase permanent magnets quantity as far as possible, utilize to greatest extent bicycle displacement information, how again sensor output information pinpoint moped; The power-assisted that cyclist's power-assisted demand provides with motor is mated well, the moped that motor operates steadily.

Design of the present invention is: in a Hall can receptive field, on a rolling disc, by a plurality of permanent magnets, carry out different variation pattern settings, make an one Hall can experience the motor message of whole permanent magnets.The variation pattern of a plurality of permanent magnets is mainly that magnetic polarity changes, change in location, object make Hall can obtain ad-hoc location more accurately, control with better function, more permanent magnets motor message.A plurality of permanent magnets magnetic polarities alternately change with the arctic, the South Pole, and the signal that Hall is produced is square wave, controls with better function, more; It is more accurate that a plurality of permanent magnets change in location make signal that Hall produces can express the position of permanent magnets, thereby can express the motion state of ad-hoc location.For moped, the ad-hoc location of expressing pedal is extremely important in what motion state because the motion state direct representation of pedal the power-assisted need state of people to car.

The square-wave signal of Hall output is become to digital signal, side makes the digital signal of Hall carry out digitized processing, in digitized processing process, can add moped needs, make the power-assisted mathematical model of people's function best fit, power-assisted mathematical model can be undertaken arbitrarily adjusting by man-machine cooperation.The sine wave signal that can overcome the output of prior art Hall is difficult to carry out digitized processing, can only carry out simulated signal processing and can not add the power-assisted model that can arbitrarily adjust, overcome and can only extract the power-assisted model that placed restrictions on by rate signal condition, make man-machine problem that can not best fit.

Structure of the present invention is:

Fill the moped of many magnetic patch position uneven distribution rotating disc type sensor, comprise electric bicycle and sensor, the wheel center axle 51 of electric bicycle, the two ends of central shaft 51 are fixedly connected with the vehicle frame of electric bicycle 53, central shaft 51 overcoats have band cover flower-drum 52, band cover flower-drum 52 is in the outer rotation of central shaft 51, and band cover flower-drum 52 is fixedly connected with the wheel 54 of bicycle, and band overlaps flower-drum 52 synchronizes rotation with wheel 54; The battery 55 of electric bicycle connects electric machine controller 29, the motor 30 that electric machine controller 29 connects on wheel; It is characterized in that:

The structure of sensor and the annexation of parts are as follows:

Sensor comprises sensing element, power-assisted model processor 21, digital to analog converter 27 and the operational amplifier 28 connecting successively;

［ 1 ］ sensing element is the rotational motion of rolling disc 1 to be become to the element of square-wave signal output;

Sensing element comprises a rolling disc 1 and a plurality of permanent magnets 2, on rolling disc 1, be fixedly installed a plurality of

permanent magnets

2,2 one-tenth annulars of a plurality of permanent magnets distribute, and 2 one-tenth of a plurality of permanent magnets are dislocatedly distributed, and being dislocatedly distributed is radius mode or spacing a certain of mode that be dislocatedly distributed that be dislocatedly distributed; Or there are the radius mode that is dislocatedly distributed, an array mode that has again spacing to be dislocatedly distributed;

The radius mode of being dislocatedly distributed is: the plurality of permanent magnets 2 is distributed in annular 6 scopes, between the interior circular trajectory 5-1 of annular 6 and outer ring trajectory 5-2, has at least a circular rail trace to run through whole permanent magnets 2; Interior circular trajectory 5-1 and outer ring trajectory 5-2 are concentric circles, have at least two permanent magnets 2 not identical to the distance at circle center, interior circular trajectory 5-1 place;

The spacing mode of being dislocatedly distributed is: the distance between adjacent permanent magnets 2 is permanent magnets spacing 7; Have at least the length of two permanent magnets spacing 7 not identical;

In certain one side of rolling disc 1, the magnetic polarity of adjacent permanent magnets 2 is contrary, and simultaneously to go up the magnetic polarity distribution mode of whole permanent magnets 2 be the N utmost point, the S utmost point, the N utmost point, the S utmost point, the N utmost point, the S utmost point for certain of rolling disc 1

Also comprise a Hall 3, certain one or both sides that Hall 3 is positioned at rolling disc 1 have Hall 3, and Hall 3 is located at the position that approaches permanent magnets 2, between Hall 3 and permanent magnets 2, have spacing; Hall 3 is opposite magnetic polarities to be produced to the Hall of square wave output signal;

［ 2 ］ power-assisted model processor 21 is the digital signal of rolling disc 1 rotation to be become to the signal form converter of power-assisted model digital signal;

Power-assisted model processor 21 comprises analog to digital conversion and the wide recognizer 22 of ripple, power-assisted starting point selector switch 23, magnetic patch rotating speed counter 24, power-assisted model storer 25 and power-assisted model counter 26;

Analog to digital conversion is connected with sensing element with the wide recognizer 22 of ripple, the width of each square wave identified the square-wave signal of 3 inputs of Hall in sensing element by the wide recognizer 22 of analog to digital conversion and ripple, each square-wave signal is become to different digital signals, each square wave is marked, and the wide recognizer 22 output marks of analog to digital conversion and ripple have the magnetic patch motion digital signal of magnetic patch position order;

Analog to digital conversion is connected with magnetic patch rotating speed counter 24 with power-assisted starting point selector switch 23 respectively with the wide recognizer 22 of ripple, and power-assisted starting point selector switch 23 is connected with magnetic patch rotating speed counter 24; The mark of wide recognizer 22 inputs of magnetic patch rotating speed counter 24 use analog to digital conversion and ripple has the magnetic patch motion digital signal of magnetic patch position order to calculate the rotating speed of rolling disc 1, and the rotating speed digital signal of rolling disc 1 is passed to power-assisted starting point selector switch 23, power-assisted starting point selector switch 23 use marks have the magnetic patch motion digital signal of magnetic patch position order, determine some square waves corresponding to power-assisted starting point under certain speed conditions with these two signals of rotating speed digital signal of rolling disc 1, determine power-assisted starting point magnetic patch;

Power-assisted starting point selector switch 23 is all connected with power-assisted model counter 26 respectively with magnetic patch rotating speed counter 24, and power-assisted model storer 25 is also connected with power-assisted model counter 26; The power-assisted starting point magnetic patch of power-assisted model counter 26 use power-assisted starting point selector switchs 23, select a certain power-assisted pattern function in power-assisted model storer 25 with these two conditions of rolling disc 1 rotating speed with magnetic patch rotating speed counter 24, and by power-assisted starting point magnetic patch and these two condition substitution power-assisted pattern functions of rolling disc 1 rotating speed, calculate the power-assisted model digital signal that is applicable to these two conditions, i.e. power-assisted model counter 26 output power-assisted model digital signals;

［ 3 ］ digital to analog converter 27 is power-assisted model digital signal to be converted to the simulating signal of power-assisted model;

Power-assisted model counter 26 is connected with digital to analog converter 27, and digital to analog converter 27 converts power-assisted modeling signal to the power-assisted model digital signal of power-assisted model counter 26;

［ 4 ］ operational amplifier 28 is the power-assisted modeling signal of digital to analog converter 27 to be converted to the power-assisted modeling signal of the range of nominal tension.

The annexation of sensor and electric bicycle is: it is outer fixing that the rolling disc 1 of sensor is enclosed within band cover flower-drum 52, rolling disc 1 is synchronizeed rotation with band cover flower-drum 52, all the interior circular trajectory 5-1 center of rotation of permanent magnets 2 is identical with band cover flower-drum 52 centers of rotation, Hall 3 is fixed on the position that can experience permanent magnets 2 magnetic flux on the vehicle frame 53 that approaches permanent magnets 2, and in sensor, the signal input part of the signal output lead of operational amplifier 28 and the electric machine controller 29 of electric bicycle is connected;

Central shaft 51 overcoats have band cover flower-drum 52, and rolling disc 1 and band overlap flower-drum 52 synchronizes rotation.

One, the explanation to working sensor principle: with principle of work, sensor is divided into signal acquisition and signal processing, so that structural relation and the effect of all parts of explanation sensor.Signal acquisition is rationally arranged and is carried out and obtain semiotic function by rolling disc 1, permanent magnets 2 and the Hall 3 of sensing element; Signal is processed by power-assisted model processor 21, digital to analog converter 27 and operational amplifier 28 and is connected successively the power-assisted modeling signal that electric machine controller 29 that the signal that Hall 3 is exported is processed into electric bicycle can use.

［ one ］ explanation to sensing element:

Rolling disc 1 can be the on-deformable plate of material such as plastic plate, the exhausted plate of high strength, copper coin, aluminium sheet.While using sensing element, rolling disc 1 will rotate, and the center of rotation is exactly Yuan center, 2 one-tenth annular distribution places of a plurality of permanent magnets.

A plurality of permanent magnets 2 are in annular 6 scopes, the object that becomes annular to distribute is only with a Hall 3, to experience the motion state of whole permanent magnets 2 on rolling disc, experience movement position and the speed of whole permanent magnets 2 on rolling disc, and the variation of speed, or title acceleration, this Hall 3 just can be expressed the motion state of permanent magnets 2 with a continuous signal, because it is on rolling disc 1 that whole permanent magnets 2 is separately fixed at rolling disc, the continuous signal that Hall 3 produces just can be expressed the total movement state of rolling disc again.If this continuous signal is used for controlling other object, this continuous signal is exactly control signal.If for controlling the motor 30 of moped, also need with single-chip microcomputer or other electron component as sensing signal processor, position in control signal, speed, acceleration key element are converted to the power-assisted signal that needs the how many amounts of power-assisted, the function converting is exactly power-assisted demand model, or claims power-assisted model.

2 one-tenth meanings that are dislocatedly distributed of a plurality of permanent magnets are: making in signal that Hall 3 produces is not duplicate pulse signal, but the different pulse signal of pulse width, with distinguishing pulse signal, distinguish the diverse location of permanent magnets 2, thereby can obtain the motion state of diverse location permanent magnets 2.Reaching can certain position of accurate expression rolling disc, or each has the motion state of permanent magnets 2.As for moped, can ride the demand to power-assisted at diverse location by accurate expression, make the expression of power-assisted demand more accurate, car is just more consistent with people's cooperation.

The permanent magnets 2 radius modes of being dislocatedly distributed are: the permanent magnets 2 having is close to the center of rotation of rolling disc, and some permanent magnets 2 are away from the center of rotation of rolling disc.No matter but far and near, permanent magnets 2 must can be experienced, can produce in the scope of signal 3 of Halls.The scope that can produce signal is exactly the scope between interior circular trajectory 5-1 and outer ring trajectory 5-2.For guaranteeing that Hall 3 can produce signal, in requiring in structure, between circular trajectory 5-1 and outer ring trajectory 5-2, have at least a circular rail trace to run through whole permanent magnets 2.Have at least two permanent magnets 2 not identical to the distance at circle center, interior circular trajectory 5-1 place, certainly distance that can each permanent magnets 2 Dao Yuan center is not identical, the radius that is each permanent magnets 2 is not identical, so that each pulse of Hall 3 signals can represent specific permanent magnets 2, make each pulse can represent a rolling disc position.

The permanent magnets 2 spacing modes of being dislocatedly distributed are: using the outward flange of permanent magnets 2 as the basis of measuring spacing, have at least the length of two permanent magnets spacing 7 not identical, certainly length that can every permanent magnets spacing 7 is not identical, so that each pulse of Hall 3 signals can represent specific permanent magnets 2, make each pulse can represent a rolling disc position.

Hall 3 is located at the position that approaches permanent magnets 2 and can experience permanent magnets 2 magnetic flux, and object is to experience with Hall 3 motion state of permanent magnets 2, thereby experiences the motion state of rolling disc 1, i.e. movement position, speed, acceleration.

The magnetic polarity of adjacent permanent magnets 2 is very important technical characterictic on the contrary, all the magnetic polarity distribution mode of permanent magnets 2 is the N utmost point, the S utmost point, the N utmost point, the S utmost point, the N utmost point, the S utmost point ... make the high and low alternate square-wave signal of Hall 3 output, because the rolling disc stopping as limited size, rotating and within one week, will obtain as far as possible many accurate variable signals, should be to select square wave certainly.The time that the peak-to-valley value of square-wave signal changes is short, can, within the regular hour, produce as far as possible many signals that has control meaning.The contrary structure generation square wave of magnetic polarity of adjacent permanent magnets 2, and the identical structure generation sine wave of the magnetic polarity of adjacent permanent magnets 2, during especially for moped, as the rolling disc of sensing element, generally placing restrictions at diameter is 10-15 centimetre, in this limit scope, to obtain the signal of controlling function, rotate one week, produce square wave than producing the many 7-9 of sinusoidal wave available pulse number doubly.Nature, to the control effect of moped more, people coordinates with car better for the magnetic polarity of adjacent permanent magnets 2 contrary structure, and rider people feels more comfortable.

［ two ］ explanation of power-assisted model processor 21: power-assisted model processor 21 is the digital signal of rolling disc 1 rotation to be become to the signal form converter of power-assisted model digital signal;

Power-assisted model processor 21 comprises analog to digital conversion and the wide recognizer 22 of ripple, power-assisted starting point selector switch 23, magnetic patch rotating speed counter 24, power-assisted model storer 25 and power-assisted model counter 26, these parts to the processing thinking of signal are: the square-wave signal of Hall in sensing element 3 is decomposited to the position digital signal that represents magnetic patch 2 positions, with the speed digital signal that represents rolling disc 1 rotating speed, because position and speed are all digital signals, just can by power-assisted mathematical model, process position and speed, can design power-assisted mathematical model by people's best perception, make the power-assisted model digital signal of its power-assisted model processor 21 outputs there is best power-assisted mathematical model, the start-up point and the terminating point that have again this power-assisted mathematical model, because there is the position digital signal of magnetic patch 2, so start-up point and terminating point are accurate to the power-assisted demand Complete Synchronization with people.Having solved prior art does not have magnetic patch 2 position signallings and causes people's power-assisted demand and power-assisted unmatched models, postpone in the problem of power-assisted demand with the operation of power-assisted model, having solved prior art wants power not to power, to only give energetically little power, want little power again to energetically, do not want power again to man-machine ill-matched problems such as power.In power-assisted model processor 21, annexation and the function of each parts are as follows:

Analog to digital conversion is connected with sensing element with the wide recognizer 22 of ripple, the width of each square wave identified the square-wave signal of 3 inputs of Hall in sensing element by the wide recognizer 22 of analog to digital conversion and ripple, each square-wave signal is become to different digital signals, each square wave is marked, and the wide recognizer 22 output marks of analog to digital conversion and ripple have the square-wave signal of magnetic patch position order.Like this, there is other square-wave signal of length field to become the square-wave signal with data mark waveform, convenient in digitized processing process below, square wave length is become to square wave position data and carry out calculation process.So the wide recognizer 22 of analog to digital conversion and ripple is square wave length to be represented to the signal of magnetic patch position, become the processor by the digital signal of data mark magnetic patch position.This is the important inventive point that the present invention is different from existing moped, there is the digital signal with data mark magnetic patch position, the present invention just can find some or each magnetic patch position on the rolling disc 1 of circulation circular motion, for starting, motor 30 produces power-assisted, increase power-assisted, reduce power-assisted, stop 30 work of the motors such as power-assisted and found starting point and terminal, people's power-assisted demand and motor 30 power-assisted behaviors can be matched, avoided existing moped to be difficult to realize man-machine cooperation, while occurring needing power-assisted, motor 30 does not rotate, while not needing power-assisted, motor 30 also keeps motion not stop, even cause the problem of collision accident.

Analog to digital conversion is connected with magnetic patch rotating speed counter 24 with power-assisted starting point selector switch 23 respectively with the wide recognizer 22 of ripple, and power-assisted starting point selector switch 23 is connected with magnetic patch rotating speed counter 24; The mark of wide recognizer 22 inputs of magnetic patch rotating speed counter 24 use analog to digital conversion and ripple has the magnetic patch motion digital signal of magnetic patch position order to calculate the rotating speed of rolling disc 1, and the rotating speed digital signal of rolling disc 1 is passed to power-assisted starting point selector switch 23, power-assisted starting point selector switch 23 use marks have the magnetic patch motion digital signal of magnetic patch position order, determine some square waves corresponding to power-assisted starting point under certain speed conditions with these two signals of rotating speed digital signal of rolling disc 1, determine power-assisted starting point magnetic patch.Due to, definite power-assisted starting point magnetic patch is the square wave that has data mark, power-assisted starting point magnetic patch has magnetic patch 2 positions of unique correspondence, like this, power-assisted starting point selector switch 23 has completed magnetic patch 2 positions of finding out power-assisted starting point, also, in the time of just can determining certain magnetic patch 2 where, start or finish motor and carry out certain power-assisted model sport.This just reaches the specific magnetic patch 2 that people controls rolling disc 1 and is synchronized with the movement, specific magnetic patch 2 is controlled motor 30 and is carried out specific synchronous rotation, realize the object of people's synchro control motor, there will not be the starting point of control and terminal inaccurate, there will not be the starting point of control and the problem that terminal postpones.But existing moped, when opening only power-assisted, all can not find the stop bit that opens of synchronizeing with people and puts, so all can produce the starting point of control and the problem that terminal postpones.

Power-assisted starting point selector switch 23 is all connected with power-assisted model counter 26 respectively with magnetic patch rotating speed counter 24, and power-assisted model storer 25 is also connected with power-assisted model counter 26; The power-assisted starting point magnetic patch of power-assisted model counter 26 use power-assisted starting point selector switchs 23, select a certain power-assisted pattern function in power-assisted model storer 25 with these two conditions of rolling disc 1 rotating speed with magnetic patch rotating speed counter 24, and by power-assisted starting point magnetic patch and these two condition substitution power-assisted pattern functions of rolling disc 1 rotating speed, calculate the power-assisted model digital signal that is applicable to these two conditions, power-assisted model counter 26 just can be exported power-assisted model digital signal.

［ three ］ explanation of logarithmic mode converter 27: digital to analog converter 27 is power-assisted model digital signal to be converted to the simulating signal of power-assisted model.

Power-assisted model counter 26 is connected with digital to analog converter 27, and digital to analog converter 27 converts power-assisted modeling signal to the power-assisted model digital signal of power-assisted model counter 26.So that the simulating signal to electric machine controller 29 output power-assisted models that can only Analog signals.

［ four ］ explanation to operational amplifier 28: operational amplifier 28 is the power-assisted modeling signal of digital to analog converter 27 to be converted to the power-assisted modeling signal of the range of nominal tension.

Digital to analog converter 27 is connected with operational amplifier 28, although the power-assisted modeling signal of digital to analog converter 27 has solved power-assisted model problem, but the voltage of power-assisted model signals can't meet the needs of electric machine controller 29, so also will power-assisted modeling signal be converted to the power-assisted modeling signal that the range of nominal tension needs with operational amplifier 28, just can be transferred to electric machine controller 29.

Two, sensor and electric bicycle are connected to form the explanation of moped:

For in kind installation is described, from aspect in kind sensor, be divided into mechanical part and sensing element, so that each material object and each relevant structural relation in kind of electric bicycle of sensor to be described.Mechanical part is fixed on rolling disc 1 on the band cover flower-drum 52 outside the wheel center axle 51 of electric bicycle, make rolling disc 1 and band overlap flower-drum 52 and synchronize rotation, thereby rolling disc 1 is synchronizeed rotation with wheel 54.Sensing element comprises Hall 3, power-assisted model processor 21, digital to analog converter 27 and operational amplifier 28, Hall 3 is fixed on to vehicle frame 53 positions that approach permanent magnets 2, makes Hall 3 can experience the turn signal of permanent magnets 2 on rolling disc 1.Also the Hall 3 of sensing element, power-assisted model processor 21, digital to analog converter 27 and operational amplifier 28 can be fixed on a device.But because Hall 3 will be fixed on the peculiar position that can experience permanent magnets 2 magnetic flux, Hall 3 and power-assisted model processor 21, digital to analog converter 27 and operational amplifier 28 these three isolation of components can be opened, only power-assisted model processor 21, digital to analog converter 27 and operational amplifier 28 these three parts are fixed on a device.Power-assisted model processor 21, digital to analog converter 27 and operational amplifier 28 these three parts in whole sensing elements or sensing element are fixed on a device, be conducive to a tangible device carrying sensing element, with carrier, sensing element be fixed on the vehicle frame 53 of electric bicycle.

Hall 3 can be experienced with a fixed position turned position of whole permanent magnets 2, thereby cyclist all can be become to electric signal to the mechanical action of power-assisted demand, again by sensing element power-assisted model processor 21, digital to analog converter 27 and operational amplifier 28, the power-assisted demand electric signal of Hall 3 is become to the power-assisted model electric signal of man-machine coupling, operational amplifier 28 is passed to electric machine controller 29 the power-assisted model electric signal of man-machine coupling, electric machine controller 29 is controlled motor 30 and is rotated by the mode of man-machine coupling, finally realize moped by people's best demand mode motion, realize the effect of man-machine coupling.

In sensor of the present invention, the signal of each Signal Processing Element output is:

Hall 3 output square-wave signals;

Power-assisted model processor 21 output power-assisted model digital signals;

The wide recognizer 22 output marks of analog to digital conversion and ripple have the magnetic patch motion digital signal of magnetic patch position order;

The start position signal of the power-assisted starting point magnetic patch that 23 outputs of power-assisted starting point selector switch are definite;

Magnetic patch rotating speed counter 24 calculates and exports the rotating speed digital signal of rolling disc 1;

It is standby that power-assisted model storer 25 has multiple power-assisted pattern function, exports the digital signal of selected power-assisted pattern function;

Power-assisted model counter 26 calculates and exports for controlling the power-assisted model digital signal of function;

The power-assisted modeling signal that digital to analog converter 27 outputs convert power-assisted model digital signal to;

Operational amplifier 28 outputs convert power-assisted modeling signal to the power-assisted modeling signal of the range of nominal tension;

What thermistor R6 guaranteed operational amplifier 28 outputs is the power-assisted modeling signal of the range of nominal tension, i.e. standard power-assisted modeling signal.

For solving power-assisted modeling signal drift problem, be provided with thermistor R6, thermistor R6 is connected between the input end and output terminal of operational amplifier 28.

Hall 3, digital to analog converter 27 and operational amplifier 28 are all semiconductor devices, there is again Analog signals function, very easily vary with temperature and make signal parameter produce drift, particularly summer and winter, moped is again all outdoor, temperature variation produces the successful of signal parameter drift, so, preferably the signal of operational amplifier 28 outputs is carried out to signal drift correction, obtain the standard power-assisted modeling signal that is not subject to influence of temperature change, standard power-assisted modeling signal is controlled to motor 30 operations by electric machine controller 29, the people who rides moped just can not feel summer and the different problem of power-assisted effect in winter.

Power-assisted model processor 21 is single-chip microcomputers 31, is connected with clock circuit 32 on single-chip microcomputer 31.With single-chip microcomputer 31, complete the function of analog to digital conversion and the wide recognizer 22 of ripple, power-assisted starting point selector switch 23, magnetic patch rotating speed counter 24, power-assisted model storer 25 and power-assisted model counter 26.The clock signal of clock circuit 32 is the effects for the square-wave signal of Hall 3 inputs is distinguished, and preferably the length of each clock signal is 0.001 second.

The mechanical part of sensor and sensing element structural relation: the mechanical part of sensor comprises rolling disc 1, the sensing element of sensor comprises a plurality of permanent magnets 2, Hall 3, single-chip microcomputer 31, digital to analog converter 27 and operational amplifier 28; In sensing element, connected Hall 3, single-chip microcomputer 31, digital to analog converter 27 and 28 4 electronic components of operational amplifier are located on a circuit board 59 successively; The position that circuit board 59 is located on vehicle frame 52 can make Hall 3 experience the magnetic flux of permanent magnets 2, and the position of circuit board 59 makes the Hall 3 can be according to the movement output electric signal of permanent magnets 2.

The preferred model of each parts of sensor of the present invention and concrete connected mode are: Hall 3 is UGN3075, and power-assisted model processor 21 is AT89S52 single-chip microcomputers 31, and digital to analog converter 27 is ADC-C8E; Operational amplifier 28 is OF-17F, between input end 2 pin of OF-17F operational amplifier 28 and output terminal 6 pin, is connected with thermistor R6; Each parts annexation is as follows:

Signal output part 3 pin of Hall 3 connect 12 pin INTO ［ P32 ］ of single-chip microcomputer 31;

12 pin B8 of 39 pin P00 linking number weighted-voltage D/A converters 27 of single-chip microcomputer 31;

11 pin B7 of 38 pin P01 linking number weighted-voltage D/A converters 27 of single-chip microcomputer 31;

10 pin B6 of 37 pin P02 linking number weighted-voltage D/A converters 27 of single-chip microcomputer 31;

9 pin B5 of 36 pin P03 linking number weighted-voltage D/A converters 27 of single-chip microcomputer 31;

8 pin B4 of 35 pin P04 linking number weighted-voltage D/A converters 27 of single-chip microcomputer 31;

7 pin B3 of 34 pin P05 linking number weighted-voltage D/A converters 27 of single-chip microcomputer 31;

6 pin B2 of 33 pin P06 linking number weighted-voltage D/A converters 27 of single-chip microcomputer 31;

5 pin B1 of 32 pin P07 linking number weighted-voltage D/A converters 27 of single-chip microcomputer 31;

2 pin of 4 pin concatenation operation amplifiers 28 of digital to analog converter 27;

3 pin of 2 pin concatenation operation amplifiers 28 of digital to analog converter 27;

6 pin of operational amplifier 28 are analog signal output.

Between input end 2 pin of OF-17F operational amplifier 28 and output terminal 6 pin, be connected with thermistor R6, and thermistor R6 two ends are also parallel with capacitor C 6.Preferably thermistor R6 is 5K, and capacitor C 6 is 8P, uses the R5 ground connection of 1.25k between 4 pin of digital to analog converter 27 and 2 pin of operational amplifier 28.Make its available temperature-sensitive resistance R 6 regulate the analog signal voltage scope of operational amplifier 286 pin outputs to be stabilized between 0.8--4.2V.

Hall 3 is located between interior circular trajectory 5-1 and outer ring trajectory 5-2.Because Hall 3 is to have spacing to experience permanent magnets 2 magnetic flux and the parts of output signal, again in order to reduce the volume of permanent magnets 2 as far as possible, make its many permanent magnets 2 that arrange as far as possible on rolling disc 1, the permanent magnets 2 as far as possible reducing can be responded to by Hall 3; Hall 3 should be located between interior circular trajectory 5-1 and outer ring trajectory 5-2, and is preferably located at the position that approaches the circular rail trace that can run through whole permanent magnets 2.

Rolling disc 1 is provided with center pit in the circle scope of the interior circular trajectory 5-1 place of a plurality of permanent magnets 2.If rolling disc 1 will be set on a rotation axis and use, on rolling disc 1, will establish a hole that wears rotation axis; For guaranteeing that rolling disc 1 is when rotating with rotation axis, Hall 3 can be experienced the motor message of each permanent magnets 2 on rolling disc 1, on rolling disc 1, wear the center that hole should be located at the interior circular trajectory 5-1 place circle scope of a plurality of permanent magnets 2, because interior circular trajectory 5-1 and outer ring trajectory 5-2 are concentric circles, certainly wear the center of circular rail trace 5-2 place circle scope outside, hole, wearing hole is the hole, center of interior circular trajectory 5-1 and outer ring trajectory 5-2, i.e. center pit.That is to say, center pit is not necessarily circular, can be the shapes such as square, triangle, to can be nested with the rotation axis of the shapes such as square, triangle, but the interior sky of center pit necessarily comprises Yuan center, interior circular trajectory 5-1 place, could use a Hall 3 to experience the motor message of whole permanent magnets 2 on rolling disc 1 rolling disc.

Have at least the length of a permanent magnets spacing 7 to be not equal to other any one permanent magnets spacing 7.Be not equal to other length, the permanent magnets spacing 7 of particular length can be used for representing the position of bicycle pedal.Preferably have at least the length of two permanent magnets spacing 7 to be not equal to other any one permanent magnets spacing 7, the permanent magnets spacing 7 of these two particular length corresponds respectively to two pedals, for representing the position of two pedals of bicycle.Because the circular motion of bicycle pedal, judges that pedal position is for the speed that obtains this circular motion, determine that the power-assisted model of circular motion is extremely important next time.

Rolling disc 1 is plastic plate, aluminum board, copper material plate a certain of non-magnet_conductible material.Because the present invention is the contrary structure of magnetic polarity of adjacent permanent magnets 2, can make the edge of adjacent permanent magnets 2 almost can be affixed the signal that also can make Hall 3 outputs have control function.

Rolling disc 1 is provided with visable indicia.Visable indicia is a certain or its combination of color mark, body form mark or rotational angle mark.

Ride the moped used time of the present invention, the method that makes the pedal of bicycle command electronic function to coordinate with sensor: the mark of being used as one or more location on the wheel that has rolling disc 1 and permanent magnets 2, mark can be material object or color, and mark also can be located on rolling disc 1.With protecting the position objects of reference such as a certain position relationship of mud plate or mark and horizontal sextant angle position relationship on a certain position relationship of vehicle frame of mark and bicycle or the tire of mark and bicycle, determine on rolling disc 1 position relationship of each permanent magnets 2 and the pedal of bicycle, that is to say, pedal, when certain position, represents that the permanent magnets 2 of pedal position is also in a certain position.Realize the object that specific a certain permanent magnets 2 represents pedal position.If ride people, think that the power-assisted time of moped motor and the requirement of oneself do not match, as the power-assisted time starts too soon or too slow, can change the position of mark and vehicle frame, change and represent the permanent magnets 2 of pedal position and the relative angle position relationship of pedal, just can regulate the power-assisted time to start speed, make people's power-assisted required time provide the time of power-assisted to match with motor.But the power-assisted model of controlling motor is constant.

Advantage of the present invention: simple in structure, cost is low, the permanent magnets quantity on permanent magnets ring is not placed restrictions on, the pulse signal of outputting standard, there is no signal blind zone, only by one group of output signal of a Hall, just the total movement state, output signal of energy perfect representation Moving plate can distortion drift about, by permanent magnets change in location, represent can have in fixed position, place, output signal the movement position of each permanent magnets, for moped, make power-assisted output can highly coordinate with power-assisted demand and cyclist is felt well.

(1) simple in structure, without elastic component, machinery-free fault: experience a plurality of permanent magnets with Hall and rotate output signal, the speed providing with Chinese patent 01201843.0 can be calculated the principle of moment, available multiple mathematical model is calculated the moment parameter of moped, for controlling the motor of moped, realize power-assisted.Without elastic component, simple in structure, cost lower than with elastic component and mechanically stressed sensor.Each mechanical part distortion, machinery-free fault, the not good problem of cooperation have been avoided after long-time use.

(2) magnetic polarity is contrary, output square-wave signal, there is accurate control function: because the magnetic polarity of adjacent permanent magnets is contrary, and Hall is selected the Hall that opposite magnetic polarities is produced to square wave output signal, no matter spacing is how many for adjacent permanent magnets, even very close to each other between adjacent permanent magnets, Hall can be exported square-wave signal too.As for moped, the motor of controlling moped by the output signal of square wave is better than with sinusoidal wave, because rectangle wave energy is accomplished signal point at any time, the signal implication that represents movement position and speed is accurate, thereby movement position and speed that can Precise Representation booster bicycle pedal, to go out with the accurate position of pedal and speed calculation the power-assisted demand that this motion state is correct.

(3) magnetic polarity of adjacent permanent magnets is contrary, permanent magnets quantity is not placed restrictions on, can increase sensing point position: because magnetic polarity is contrary as far as possible, output square-wave signal, even adjacent permanent magnets gapless, the signal of its output has remained number, differentiable square-wave signal, still has control function, that is to say and can not export the unchanged linear signal of not controlling function.As for moped, because the rolling disc diameter with pedal linkage is placed restrictions on, just can be on the rolling disc of prescribed level, increase permanent magnets quantity as far as possible, increase sensing point position as far as possible, with as far as possible many transducing signals, represent bicycle pedal movement position and speed, Precise Representation motion state.

(4) magnetic polarity of adjacent permanent magnets is contrary, can arrange that permanent magnets is many, sensing point position is many, the motion state of rolling disc is represented accurately: to for moped, fixedly the rolling disc size of permanent magnets is strictly placed restrictions on, general rolling disc diameter can only be in 10-15 centimetre, in order to make Hall have the magnetic pole signal that obtains permanent magnets under the condition of spacing, the diameter of its permanent magnets is at least Ф 0.6-0.8 centimetre, gapless 35-73 permanent magnets ［ (10-1) the * 3.14/0.8=35 that arranges of the periphery of the rolling disc of diameter 10-15 centimetre; (15-1) * 3.14/0.6=73 ］, pedal circles, and Hall can obtain 35-73 signal for controlling the motor of moped.But if the identical prior art of adjacent permanent magnets magnetic polarity, adjacent permanent magnets, by 5 centimetres of spacing,, on diameter 10-15 centimetre rolling disc, can only arrange at most 5-8 permanent magnets ［ (10-1) * 3.14/5.8=5; (15-1) * 3.14/5.6=8 ］.Visible, the art of this patent can arrange doubly ［ 35/5=6 of permanent magnets 7-9 than prior art more; 73/8=9 ］, 30-65 permanent magnets ［ 35-5=30 is set more; 73-8=65 ］.So rolling disc circles, the art of this patent has increased 7-9 turn disc site signal doubly than prior art.The Electric Machine Control degree of accuracy of moped has been improved to 7-9 doubly naturally, make cyclist also improve 7-9 doubly to power-assisted demand degree of accuracy, car and people's cooperate degree improves greatly, and cyclist's comfort increases greatly, is no longer that fast slow uncomfortable sensation of vehicle using motor of prior art.The present invention asks someone according to actual experience, while roughly 15 permanent magnets being set uniformly on rolling disc, substantially having eliminated prior art and has only established 5-8 permanent magnets and make that fast slow uncomfortable sensation of vehicle using motor; While roughly 20 permanent magnets being set uniformly on rolling disc, car coordinates oneself can meet human needs with people's, and the sensation of riding vehicle using motor is very comfortable.

(5) there is no signal blind zone, power-assisted demand whenever all can obtain the power-assisted matching: this patent can arrange at most 35-73 permanent magnets at the rolling disc periphery of diameter 10-15 centimetre, and between each permanent magnets, average angle is 5-10 degree.For moped, when starting or move, pedal is from leaving in the 35 degree regions at 10-45 degree angle, summit, there is 4-7 permanent magnets (just having had a signal in the position of leaving 10Du angle, summit), the exportable 4-7 of Hall control signal reacted power-assisted demand, can realize any position, have power-assisted just can obtain the excellent technique effect of corresponding power-assisted any time, make car and people's no-float, it is laborsaving comfortable again that cyclist feels.

(6) only with a Hall, a control signal represents the total movement state of rolling disc, the motion state of control signal and rolling disc is in full accord, control signal and people's demand is in full accord: a plurality of permanent magnets are fixed on rolling disc, permanent magnets is synchronizeed and is rotated with rolling disc, with a Hall, experience whole permanent magnets motor messages, the control signal of Hall output and the motion state of rolling disc are in full accord, just in full accord with people's demand, control signal does not have original segmentation error and signal drift problem yet.Even if hall sensing parameter changes, be also whole control signal parallel, as long as it is wider to receive the range of receiving of electric machine controller (29) of Hall control signal, the control effect of the Hall control signal having changed becomes systematicness to change.As for moped, power-assisted demand model can distortion, and power-assisted output and power-assisted demand still keep the matching relationship of original model, and the systematicness that cyclist is easy to grasp this power-assisted ability changes.

(7) between permanent magnets, have dislocation, dislocation permanent magnets can represent the motion state of specific site: because permanent magnets is in radial direction dislocation or the dislocation of circular arc line spacing, dislocation permanent magnets makes Hall export the control signal of peculiar wave space, the motion state in a certain fixedly permanent magnets site that control signal of peculiar wave space just can direct representation rolling disc; As each permanent magnets has oneself specific dislocation site, can reach and have how many permanent magnets, just can obtain the motion state signal of how many specific sites.As for moped, rolling disc diameter is in 10-15 centimetre, and rolling disc circles, and Hall can obtain the control signal of 35-73 different loci motion state, naturally knows the power-assisted demand in 35-73 site.Clearly, rolling disc circles, and prior art can only have at most 5-8 power-assisted demand, and being nothing like the maximum available 35-73 of a this patent power-assisted desired signal more can be truly, react cyclist's power-assisted demand multiple data quantity.That is to say, moped the art of this patent, it is consistent that Che Gengneng and people's demand match, and cyclist experiences pedal in any turned position, and oneself all completely can regulation speed, and comfortableness is good.And the moped of prior art can only be at most 5-8 turned positions ability can regulation speed.

(8) can carry out digitized processing to hall signal, make to add in control signal the control model of man-machine best fit: the digital signal that the square-wave signal with magnetic patch position and magnetic patch rotating speed is become to this two key element, with the mathematics power-assisted model of setting, be applicable to man-machine no-float, the digital signal of this two key element is converted to power-assisted model digital signal, again power-assisted model digital signal is converted to power-assisted modeling signal, finally power-assisted modeling signal is become to the control signal that electric machine controller burning voltage scope, that have rated power can be used.In a word, the signal exactly magnetic patch being rotated carries out digitized processing, in digitized processing processing procedure, adds the power-assisted model of mathematics, makes, in the control signal of the last output of sensor, to contain the power-assisted model adding.Because the power-assisted model of mathematics is artificial setting, so, always the power-assisted model specification of mathematics can be become to the model of the most applicable man-machine cooperation, the exportable control signal that can realize best man-machine cooperation of sensor of the present invention.And the magnetic patch same pole of existing moped sensor is at the same face, Hall can not obtain square-wave signal, also just cannot carry out digitized processing to hall signal, it controls model can only be hall signal to be carried out to part revise, so can not realize the control signal of the man-machine best fit of output.

(9) finally the control signal of output does not have signal drift: with thermistor R6, the output signal of operational amplifier is carried out to feedback regulation, can solve the problem that the semiconductor devices such as Hall, digital to analog converter and operational amplifier make power-assisted modeling signal drift, what make the last output of sensor is the standard power-assisted modeling signal that is not subject to variation of ambient temperature.

(10) can realize the machine operation mode of man-machine best fit: the wide recognizer of analog to digital conversion and ripple becomes different digital signals by each square-wave signal, power-assisted model counter is with regard to available power-assisted starting point selector switch selected and power-assisted mathematical model power-assisted demand best fit in power-assisted model storer, and the speed parameter substitution power-assisted mathematical model that magnetic patch rotating speed counter is provided, power-assisted model counter just can calculate the power-assisted model digital signal of pedal under certain situation.This power-assisted model digital signal is exactly to make people and control signal electric bicycle energy best fit, that use for controlling motor.Power-assisted model counter is digital processing unit, it can accept any digitized mathematical model, power-assisted model storer just can provide to power-assisted model counter the mathematical model of any artificial setting, had people to set arbitrarily this condition of mathematical model, people just can set the mathematical model that can make people and electric bicycle energy best fit.Power-assisted model storer has people to set, and can make the mathematical model of people and electric bicycle energy best fit, just can realize the machine operation mode of people and electric bicycle best fit; People sets that mathematical model can also make motor have the most reasonably to start and the working method of the model that turns round, power saving.So moped of the present invention is province's electric booster bicycle of people and electric bicycle best fit.

But in a rotation period of existing power-assisted bike pedal plate, Hall can only be exported less than 10 sine wave signals, sine wave signal can not become digital signal, can not people add best power-assisted model to control the motor of electric bicycle, the power-assisted model of this moped can not realize man-machine best fit, can not make motor have working method the most reasonable, power saving.

(11) power saving effect and meaning: with in moped of the present invention and city, buy to have 8 permanent magnets coplanars be same pole as the moped of sensing element, carries out power saving comparison, with same electric bicycle, use the mode of different sensors instead, identical cyclist rides and surveys in fact in same road segment, result is: after riding 110 kilometers with moped of the present invention, battery has a small amount of electricity more than also; After the moped of buying in Dan Yonggai city is ridden 45 kilometers, battery has not had remaining electricity.The meaning of this power saving is: the moped of the present invention that is full of electricity can meet whole day to be ridden and not charge, solved people on the way and car can not this existing moped of power-assisted hang-up.

Accompanying drawing explanation

Fig. 1 is the sensing element structural representation that on rolling disc, a plurality of N-S of uneven distribution replace permanent magnets;

Fig. 2 is the sensing element structural representation that on rolling disc, a plurality of N-S of high density uneven distribution replace permanent magnets;

Fig. 3 is the annexation cross-sectional view of rolling disc and the Hall of bicycle quick and vehicle frame and sensor;

Fig. 4 is that the signal of Hall, power-assisted model processor, digital to analog converter, operational amplifier flows to block scheme;

Fig. 5 is the circuit diagram of Hall, single-chip microcomputer, digital to analog converter, operational amplifier;

Fig. 6 is that sensor is located at the annexation schematic diagram that forms moped of the present invention on wheel of electric bicycle and vehicle frame.

In figure, 1 is rolling disc, the 2nd, permanent magnets, the 3rd, Hall, 5-1 is interior circular trajectory, 5-2 is outer ring trajectory, the 6th, annular, the 7th, permanent magnets spacing, the 21st, power-assisted model processor, the 22nd, the wide recognizer of analog to digital conversion and ripple, the 23rd, power-assisted starting point selector switch, the 24th, magnetic patch rotating speed counter, the 25th, power-assisted model storer, the 26th, power-assisted model counter, the 27th, digital to analog converter, the 28th, operational amplifier, the 29th, electric machine controller, the 30th, motor, the 31st, single-chip microcomputer, the 32nd, clock circuit, the 51st, central shaft, the 52nd, band cover flower-drum, the 53rd, vehicle frame, the 54th, wheel, the 55th, battery, the 59th, circuit board.

Embodiment

Embodiment 1, fill the moped of many magnetic patch position uneven distribution rotating disc type sensor

As Fig. 1,3,4,6,

One, the electric bicycle parts and structure relevant with sensor installation: the two ends of wheel center axle 51 and the vehicle frame of electric bicycle 53 of electric bicycle are fixedly connected with, central shaft 51 overcoats have band cover flower-drum 52, band cover flower-drum 52 is in the outer rotation of central shaft 51, band cover flower-drum 52 is fixedly connected with the wheel 54 of bicycle, and band overlaps flower-drum 52 synchronizes rotation with wheel 54; The battery 55 of electric bicycle connects electric machine controller 29, the motor 30 that electric machine controller 29 connects on wheel;

Two, the structure of sensor and the annexation of parts are as follows:

Sensing element is that 20 permanent magnets 2 of 0.8 centimetre of diameter are set with a face of highstrenghtpiston's rolling disc 1 of 10.0 centimetres of diameters, and magnetic flux is 146---279 (BH) max/KJm ^-3in some values.The structure of rolling disc 1, permanent magnets 2, Hall 3 is as follows:

Each permanent magnets 2 is fixed in 8.5 centimetres of diameters in annular 6 scopes between centimetre outer ring trajectory 5-2 of circular trajectory 5-1-9.5, has 2 one-tenth radiuses of a plurality of permanent magnets to be dislocatedly distributed, and has 2 one-tenth spacing of a plurality of permanent magnets to be dislocatedly distributed.

The spacing mode of being dislocatedly distributed is: the distance between adjacent permanent magnets 2 is permanent magnets spacing 7; Have at least the length of two permanent magnets spacing 7 not identical.

Have the length of two permanent magnets spacing 7 to be not equal to the length of other any one permanent magnets spacing 7, and the length of these two permanent magnets spacing 7 is also unequal.The position that has two permanent magnets 2 at these two permanent magnets spacing 7 places is just in time at the two ends of 1 one diameters of rolling disc, and these two permanent magnets 2 for representing the movement position of two pedals on moped.

The contrary mode of magnetic polarity in 2 one-tenth adjacent permanent magnets 2 of whole permanent magnets of 1 one face settings of rolling disc is arranged, and on 1 one faces of rolling disc, all the magnetic polarity distribution mode of permanent magnets 2 is the N utmost point, the S utmost point, the N utmost point, the S utmost point, the N utmost point, the S utmost point ...

With a Hall 3, be located at the side that rolling disc 1 has permanent magnets 2, Hall 3 is located at the position that approaches permanent magnets 2, be Hall 3 be located at each permanent magnets 2 circular rail trace 5-1 and annular 6 scopes between outer ring trajectory 5-2 in, Hall 3 keeps the spacing distance of 0.3 centimetre with each permanent magnets 2 of rotary state, make each permanent magnets 2 of rotating when through Hall 3, Hall 3 can produce a corresponding square-wave signal output.

Rolling disc 1 is provided with center pit at the interior circular trajectory 5-1 center of these whole permanent magnets 2, and center pit is fixedly connected with the wheel 54 band cover flower-drum 52 of electric bicycle.

［ 2 ］ power-assisted model processor 21 is the digital signal of rolling disc 1 rotation to be become to the converter of the signal form of power-assisted model digital signal;

Analog to digital conversion is connected with magnetic patch rotating speed counter 24 with power-assisted starting point selector switch 23 respectively with the wide recognizer 22 of ripple, and power-assisted starting point selector switch 23 is connected with magnetic patch rotating speed counter 24; The magnetic patch motion digital signal of wide recognizer 22 inputs of magnetic patch rotating speed counter 24 use analog to digital conversion and ripple calculates the rotating speed of rolling disc 1, and the rotating speed digital signal of rolling disc 1 is passed to power-assisted starting point selector switch 23, power-assisted starting point selector switch 23 use marks have the magnetic patch motion digital signal of magnetic patch position order, determine some square waves corresponding to power-assisted starting point under certain speed conditions with these two signals of rotating speed digital signal of rolling disc 1, determine power-assisted starting point magnetic patch; Power-assisted starting point selector switch 23 has completed the starting point magnetic patch of finding out power-assisted, namely determine and come into effect power-assisted from certain square wave, accurately say be exactly at rolling disc 1 under certain speed conditions, from certain magnetic patch, in certain position, start to carry out power-assisted, or from certain magnetic patch certain position, the power-assisted model of original power-assisted model being changed into next step selection carries out power-assisted.

［ 3 ］ digital to analog converter 27 is power-assisted model digital signal to be converted to the simulating signal of power-assisted model.

Power-assisted model counter 26 is connected with digital to analog converter 27, and digital to analog converter 27 converts power-assisted modeling signal to the power-assisted model digital signal of power-assisted model counter 26.So that the simulation letter to electric machine controller 29 output power-assisted models that can only Analog signals.

Digital to analog converter 27 is connected with operational amplifier 28, although the power-assisted modeling signal of digital to analog converter 27 has solved power-assisted model problem, but the voltage of power-assisted model signals can't meet the needs of electric machine controller 29, so also will power-assisted modeling signal be converted to the power-assisted modeling signal that the range of nominal tension needs with operational amplifier 28, just can be transferred to electric machine controller 29, reach electric machine controller 29 control motors 30 and carry out the operation that power-assisted is object.

Three, sensor and electric bicycle connect into moped: it is outer fixing that the rolling disc 1 of sensor is enclosed within band cover flower-drum 52, rolling disc 1 is synchronizeed rotation with band cover flower-drum 52, all the interior circular trajectory 5-1 center of rotation of permanent magnets 2 is identical with band cover flower-drum 52 centers of rotation, central shaft 51 overcoats have band cover flower-drum 52, and rolling disc 1 and band overlap flower-drum 52 synchronizes rotation.Hall 3 is fixed on the position that can experience permanent magnets 2 magnetic flux on the vehicle frame 53 that approaches permanent magnets 2; After the power-assisted model processor 21 of Signal Processing Element, digital to analog converter 27 are connected successively with operational amplifier 28, Hall 3 is connected with power-assisted model processor 21, and operational amplifier 28 is connected with the electric machine controller 29 of electric bicycle.Realize the object of sensor electricity consumption signal controlling electric bicycle, used the power-assisted modeling signal of operational amplifier 28, or claimed standard power-assisted modeling signal controlling electric bicycle, obtained moped.

Embodiment 2, high density fill the moped of many magnetic patch position uneven distribution rotating disc type sensor

As a face of the high strength aluminium rolling disc 1 of 10.0 centimetres of Fig. 2,3,4,6, diameters arranges 40 permanent magnets 2 of 0.6 centimetre of diameter.The magnetic flux of permanent magnets 2 is 146---279 (BH) max/KJm ^-3in some values, Hall 3 keeps the spacing distance of 0.2 centimetre with each permanent magnets 2 of rotary state, makes each permanent magnets 2 of rotating when through Hall 3, Hall 3 can produce a corresponding square-wave signal output.Other structure is same as embodiment 1.

Embodiment 3, there is the moped that fills many magnetic patch position uneven distribution rotating disc type sensor of physical circuit

As Fig. 1,3,5,6, as embodiment 1, sensor comprises sensing element, power-assisted model processor 21, digital to analog converter 27 and the operational amplifier 28 connecting successively;

［ 1 ］ Hall in sensing element 3 is selected UGN3075; In sensing element, the structure of other element and element is same as embodiment 1;

［ 2 ］ power-assisted model processor 21 selects single-chip microcomputer 31 to complete repertoire, and single-chip microcomputer 31 is selected AT89S52.It is the repertoire that AT89S52 single-chip microcomputer 31 completes analog to digital conversion and the wide recognizer 22 of ripple, power-assisted starting point selector switch 23, magnetic patch rotating speed counter 24, power-assisted model storer 25 and power-assisted model counter 26.

［ 3 ］ digital to analog converter 27 is selected ADC-C8E.

［ 4 ］ operational amplifier 28 is selected OF-17F, is connected with the thermistor R6 of 5k between input end 2 pin of OF-17F operational amplifier 28 and output terminal 6 pin; And thermistor R6 two ends are also parallel with 8P capacitor C 6.Between 4 pin of digital to analog converter 27 and 2 pin of operational amplifier 28, use the R5 ground connection of 1.25k.Make its available temperature-sensitive resistance R 6 regulate the analog signal voltage scope of operational amplifier 286 pin outputs to be stabilized between 0.8--4.2V.

Each electronic unit annexation is as follows:

6 pin of operational amplifier 28 are analog signal output.

［ 5 ］ mechanical part of sensor and sensing element structural relation: the mechanical part of sensor comprises rolling disc 1, the sensing element of sensor comprises a plurality of permanent magnets 2, Hall 3, single-chip microcomputer 31, digital to analog converter 27 and operational amplifier 28; In sensing element, connected Hall 3, single-chip microcomputer 31, digital to analog converter 27 and 28 4 electronic components of operational amplifier are located on a circuit board 59 successively; Hall 3 on circuit board 59 is located at the magnetic flux that can experience permanent magnets 2, and Hall 3 can be according to the position of magnetic flux change exporting change electric signal.Connected successively Hall 3, single-chip microcomputer 31, digital to analog converter 27 and 28 4 electronic components of operational amplifier are located on a circuit board 59, be conducive to these four electronic component integrations, modularization, miniaturization, convenient whole unified being fixed on vehicle frame 53 of these four electronic components.

Claims

1. fill the moped of many magnetic patch position uneven distribution rotating disc type sensor, comprise electric bicycle and sensor, the wheel center axle (51) of electric bicycle, the two ends of central shaft (51) are fixedly connected with the vehicle frame (53) of electric bicycle, central shaft (51) overcoat has band cover flower-drum (52), band cover flower-drum (52) rotates central shaft (51) outside, and band cover flower-drum (52) is fixedly connected with the wheel (54) of bicycle, is with to overlap flower-drum (52) and synchronize rotation with wheel (54); The battery of electric bicycle (55) connects electric machine controller (29), and electric machine controller (29) connects the motor (30) on wheel; It is characterized in that:

The structure of sensor and the annexation of parts are as follows:

Sensor comprises sensing element, power-assisted model processor (21), digital to analog converter (27) and the operational amplifier (28) connecting successively;

［ 1 ］ sensing element is the rotational motion of rolling disc (1) to be become to the element of square-wave signal output;

Sensing element comprises a rolling disc (1) and a plurality of permanent magnets (2), on rolling disc (1), be fixedly installed a plurality of permanent magnets (2), a plurality of permanent magnets (2) become annular to distribute, and a plurality of permanent magnets (2) become to be dislocatedly distributed, being dislocatedly distributed is radius mode or spacing a certain of mode that be dislocatedly distributed that be dislocatedly distributed; Or there are the radius mode that is dislocatedly distributed, an array mode that has again spacing to be dislocatedly distributed;

The radius mode of being dislocatedly distributed is: the plurality of permanent magnets (2) is distributed in an annular (6) scope, between the interior circular trajectory (5-1) of annular (6) and outer ring trajectory (5-2), has at least a circular rail trace to run through whole permanent magnets (2); Interior circular trajectory (5-1) and outer ring trajectory (5-2) are concentric circles, have at least two permanent magnets (2) not identical to the distance at circle center, interior circular trajectory (5-1) place;

The spacing mode of being dislocatedly distributed is: the distance between adjacent permanent magnets (2) is permanent magnets spacing (7); Have at least the length of two permanent magnets spacing (7) not identical;

In certain one side of rolling disc (1), the magnetic polarity of adjacent permanent magnets (2) is contrary, and simultaneously to go up the magnetic polarity distribution mode of whole permanent magnets (2) be the N utmost point, the S utmost point, the N utmost point, the S utmost point, the N utmost point, the S utmost point for certain of rolling disc (1)

Also comprise a Hall (3), certain one or both sides that Hall (3) is positioned at rolling disc (1) have Hall (3), and Hall (3) is located at the position that approaches permanent magnets (2), between Hall (3) and permanent magnets (2), have spacing; Hall (3) is opposite magnetic polarities to be produced to the Hall of square wave output signal;

［ 2 ］ power-assisted model processor (21) is the digital signal of rolling disc (1) rotation to be become to the signal form converter of power-assisted model digital signal;

Power-assisted model processor (21) comprises analog to digital conversion and the wide recognizer of ripple (22), power-assisted starting point selector switch (23), magnetic patch rotating speed counter (24), power-assisted model storer (25) and power-assisted model counter (26);

Analog to digital conversion is connected with sensing element with the wide recognizer of ripple (22), the width of each square wave identified the square-wave signal of Hall in sensing element (3) input by the wide recognizer of analog to digital conversion and ripple (22), each square-wave signal is become to different digital signals, each square wave is marked, and the wide recognizer of analog to digital conversion and ripple (22) output mark has the magnetic patch motion digital signal of magnetic patch position order;

Analog to digital conversion is connected with magnetic patch rotating speed counter (24) with power-assisted starting point selector switch (23) respectively with the wide recognizer of ripple (22), and power-assisted starting point selector switch (23) is connected with magnetic patch rotating speed counter (24); Magnetic patch rotating speed counter (24) has the magnetic patch motion digital signal of magnetic patch position order to calculate the rotating speed of rolling disc (1) with the mark of analog to digital conversion and the wide recognizer of ripple (22) input, and the rotating speed digital signal of rolling disc (1) is passed to power-assisted starting point selector switch (23), power-assisted starting point selector switch (23) has the magnetic patch motion digital signal of magnetic patch position order with mark, with these two signals of the rotating speed digital signal of rolling disc (1) determine some square waves corresponding to power-assisted starting point under certain speed conditions, determine power-assisted starting point magnetic patch;

Power-assisted starting point selector switch (23) is all connected with power-assisted model counter (26) respectively with magnetic patch rotating speed counter (24), and power-assisted model storer (25) is also connected with power-assisted model counter (26); The power-assisted starting point magnetic patch of power-assisted starting point selector switch (23) for power-assisted model counter (26), select a certain power-assisted pattern function in power-assisted model storer (25) with these two conditions of rolling disc (1) rotating speed with magnetic patch rotating speed counter (24), and by power-assisted starting point magnetic patch and these two condition substitution power-assisted pattern functions of rolling disc (1) rotating speed, calculate the power-assisted model digital signal that is applicable to these two conditions, i.e. power-assisted model counter (26) output power-assisted model digital signal;

［ 3 ］ digital to analog converter (27) is power-assisted model digital signal to be converted to the simulating signal of power-assisted model;

Power-assisted model counter (26) is connected with digital to analog converter (27), and digital to analog converter (27) converts power-assisted modeling signal to the power-assisted model digital signal of power-assisted model counter (26);

［ 4 ］ operational amplifier (28) is the power-assisted modeling signal of digital to analog converter (27) to be converted to the power-assisted modeling signal of the range of nominal tension;

The annexation of sensor and electric bicycle is: it is outer fixing that the rolling disc of sensor (1) is enclosed within band cover flower-drum (52), rolling disc (1) is synchronizeed rotation with band cover flower-drum (52), all interior circular trajectory (5-1) center of rotation of permanent magnets (2) is identical with band cover flower-drum (52) center of rotation, Hall (3) is fixed on the position that can experience permanent magnets (2) magnetic flux on the vehicle frame (53) that approaches permanent magnets (2), and the signal output lead of operational amplifier in sensor (28) is connected with the signal input part of the electric machine controller (29) of electric bicycle;

Central shaft (51) overcoat has band cover flower-drum (52), and rolling disc (1) and band overlap flower-drum (52) synchronizes rotation.

2. the moped that fills many magnetic patch position uneven distribution rotating disc type sensor according to claim 1, is characterized in that: also comprise thermistor R6, thermistor R6 is connected between the input end and output terminal of operational amplifier (28).

3. the moped that fills many magnetic patch position uneven distribution rotating disc type sensor according to claim 2, is characterized in that: power-assisted model processor (21) is single-chip microcomputer (31), is connected with clock circuit (32) on single-chip microcomputer (31);

The mechanical part of sensor and sensing element structural relation: the mechanical part of sensor comprises rolling disc (1), the sensing element of sensor comprises a plurality of permanent magnets (2), Hall (3), single-chip microcomputer (31), digital to analog converter (27) and operational amplifier (28); In sensing element, connected Hall (3), single-chip microcomputer (31), digital to analog converter (27) and (28) four electronic components of operational amplifier are located on a circuit board (59) successively; The position that circuit board (59) is located on vehicle frame (52) can make Hall (3) experience the magnetic flux of permanent magnets (2), and the position of circuit board (59) makes the Hall (3) can be according to the movement output electric signal of permanent magnets (2).

4. the moped that fills many magnetic patch position uneven distribution rotating disc type sensor according to claim 3, it is characterized in that: Hall (3) is UGN3075, power-assisted model processor (21) is AT89S52 single-chip microcomputer (31), and digital to analog converter (27) is ADC-C8E; Operational amplifier (28) is OF-17F, between input end 2 pin of OF-17F operational amplifier (28) and output terminal 6 pin, is connected with thermistor R6; Each parts annexation is as follows:

Signal output part 3 pin of Hall (3) connect 12 pin INTO ［ P32 ］ of single-chip microcomputer (31);

12 pin B8 of 39 pin P00 linking number weighted-voltage D/A converters (27) of single-chip microcomputer (31);

11 pin B7 of 38 pin P01 linking number weighted-voltage D/A converters (27) of single-chip microcomputer (31);

10 pin B6 of 37 pin P02 linking number weighted-voltage D/A converters (27) of single-chip microcomputer (31);

9 pin B5 of 36 pin P03 linking number weighted-voltage D/A converters (27) of single-chip microcomputer (31);

8 pin B4 of 35 pin P04 linking number weighted-voltage D/A converters (27) of single-chip microcomputer (31);

7 pin B3 of 34 pin P05 linking number weighted-voltage D/A converters (27) of single-chip microcomputer (31);

6 pin B2 of 33 pin P06 linking number weighted-voltage D/A converters (27) of single-chip microcomputer (31);

5 pin B1 of 32 pin P07 linking number weighted-voltage D/A converters (27) of single-chip microcomputer (31);

2 pin of 4 pin concatenation operation amplifiers (28) of digital to analog converter (27);

3 pin of 2 pin concatenation operation amplifiers (28) of digital to analog converter (27);

6 pin of operational amplifier (28) are analog signal output.

5. the moped that fills many magnetic patch position uneven distribution rotating disc type sensor described in any one according to claim 1-4, is characterized in that: Hall (3) is located between interior circular trajectory (5-1) and outer ring trajectory (5-2).

6. the moped that fills many magnetic patch position uneven distribution rotating disc type sensor according to claim 5, is characterized in that: rolling disc (1) is provided with center pit in the circle scope of interior circular trajectory (5-1) place of a plurality of permanent magnets (2).

7. the moped that fills many magnetic patch position uneven distribution rotating disc type sensor described in any one according to claim 1-4, is characterized in that: have at least the length of a permanent magnets spacing (7) to be not equal to other any one permanent magnets spacing (7).

8. the moped that fills many magnetic patch position uneven distribution rotating disc type sensor described in any one according to claim 1-4, is characterized in that: rolling disc (1) is plastic plate, aluminum board, copper material plate a certain of non-magnet_conductible material.

9. the moped that fills many magnetic patch position uneven distribution rotating disc type sensor described in any one according to claim 1-4, is characterized in that: rolling disc (1) is provided with visable indicia.