CN102795304A - Booster bicycle provided with magnetic flux sensor with multiple magnetic blocks arranged on keyboard - Google Patents
Booster bicycle provided with magnetic flux sensor with multiple magnetic blocks arranged on keyboard Download PDFInfo
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- CN102795304A CN102795304A CN2012102634750A CN201210263475A CN102795304A CN 102795304 A CN102795304 A CN 102795304A CN 2012102634750 A CN2012102634750 A CN 2012102634750A CN 201210263475 A CN201210263475 A CN 201210263475A CN 102795304 A CN102795304 A CN 102795304A
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Abstract
The invention discloses a booster bicycle provided with a magnetic flux sensor with multiple magnetic blocks arranged on a keyboard, and the booster bicycle is driven by power and can provide booster signals by virtue of multiple-point position magnetic sensing. The sensor comprises a sensing element, a booster model processor, a digital-analog converter and an operational amplifier which are connected in sequence, wherein a plurality of permanent magnetic blocks with opposite adjacent magnetic polarities are fixedly arranged on a keyboard which is taken as the sensing element, the magnetic fluxes of the permanent magnetic blocks are different, a hall of the sensing element is arranged on a frame close to the permanent magnetic blocks, the operational amplifier is connected with a motor controller. The booster bicycle has the advantages that the hall can obtain square wave signals, the sensor can be used for outputting after the digital processing, a booster model can be set artificially, the booster start point, the booster finishing point, and the booster power are reasonable, so that a user and a machine can be best matched, and the power is saved.
Description
Technical field
The invention belongs to the technical field of morpet, particularly relate on rotatable parts and carry out the electric assisted bicycle that the magnetic induction of multiple spot position provides the power-assisted signal.
Background technology
The Chinese patent 201020295192.0 " colluding pawl formula moment sensor " of Yebao Vehicle Material Industry's application discloses a kind of morpet and has used sensing device; Sensing device comprises that magnetic part and elastic component cooperate, and experience the sensing device of moment.After period of service was long, the elasticity modulus variation of elastic component will cause the control effect of transducing signal and controlled motor to change, and the power-assisted effect becomes and people's power-assisted need be mismatched.And complicated with the project organization of elastic component, manufacturing cost is high.
The Chinese patent 01201843.0 " electric assisted bicycle automatic checkout equipment " of University of Science & Technology, Beijing's application discloses a kind of electric assisted bicycle automatic checkout equipment; The no touch detection is pedaled power, speed and is turned to; This device is established magnetic sheet respectively on the inside and outside wheel disc of relative motion; On the interior wheel disc spring is arranged, use spring reset between the inside and outside wheel disc, survey electric signal that the magnetic sheet of relative motion on the inside and outside wheel disc produces with two Halls on the support and represent to pedal power, speed and turn to.
Shortcoming (1) is not durable with elastic component: after period of service was long, the elasticity modulus variation of elastic component will cause the control effect of transducing signal and controlled motor to change, and the power-assisted effect becomes and people's power-assisted need be mismatched, complex structure, and cost is high.
Each magnetic sheet group of shortcoming (2) is identical and the 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. 3,4,5 of 01201843.0 patent, 6 and the record explanation of the 2nd section of Instructions Page 2, the magnetic pole set-up mode of each magnetic sheet group (comprising a magnetic sheet 4, magnetic sheet 5, a magnetic sheet 6) is all identical; Promptly only be that diverse location at interior wheel is simply from being provided with identical magnetic sheet group again; The state of kinematic motion of ad-hoc location can not be represented in the position separately that can not represent different magnetic sheet groups, and the people is by bike the time; Pedal and with corresponding each position of pedal at state of kinematic motion; Own special power-assisted demand is all arranged, 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 the pedal.
Each site signal indifference of shortcoming (3) makes man-machine mismatching: each magnetic sheet group is all the same; Then each magnetic sheet group can not be represented this position of magnetic sheet group on interior wheel; The signal that Hall is exported can not be represented the position of stretcher and other magnetic sheet group; The signal that is Hall output can not be represented different foot positions to power-assisted demand, cause to power-assisted demand with provide the power-assisted time to mismatch, promptly man-machine cooperation is undesirable.
Shortcoming (4) sine wave output makes the magnetic sheet group Edge Distance can not be less than 4 centimetres; Be good with 5 centimetres generally, can establish magnetic sheet group number very little and make, man-machine cooperation is undesirable: each magnetic sheet group is identical; Then Hall output is that sinusoidal waveform is as control signal; As the control signal sinusoidal waveform certain peak valley difference must be arranged, because the magnetic sheet group of this patent needs certain-length to represent forward and reverse motion, be to establish 8 magnetic sheet groups at most on 20 centimetres the rolling disc circular trace at diameter; Be good with 5 generally, Hall just can have the sine wave signal of controllable function.That is to say that this technical scheme of 01201843.0 patent is used for morpet, magnetic sheet group limited amount is ended in 8, control signal very little, man-machine cooperation is undesirable.If but more than 8 magnetic sheet groups, when people's treadmill was very fast, the signal graph of Hall output was close to a horizon, this signal does not have controllable function, can not the control motor, when making it need power-assisted especially, lose assist function.
Shortcoming (5) signal blind zone reaches miter angle, needs really to can not get power-assisted the time power-assisted during startup: well-known, the people step on bicycle pedal on the summit moment minimum; From leaving 10-45 degree angle, summit is to need most power-assisted zone; But the angle between each magnetic sheet group of this patent is 45 degree, leaves summit 10-45 degree angular zone neither one magnetic sheet group at stretcher, also with regard to the neither one control signal; Consequently need most power-assisted the time, but the motor of morpet really can not power-assisted.
In a word, except that with the not durable complex structure again of elastic component, the fit structure characteristics of Yin Huoer and magnetic sheet group; The 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 when starting, the power-assisted demand with provide power-assisted not match, cyclist's traveling comfort is poor; As increasing magnetic sheet group quantity by force, its transducing signal loses the power operated control function again.
The Chinese patent 03264387.X " time type electric assisted bicycle sensor " of Wang Naikang application discloses without elastic component; Only with moving, fixed two rotating disks; Inlay two magnetic magnet steel above the Moving plate, inlay three Hall elements above the price fixing, bicycle pedal circles; Each Hall produces two pulses, and then three Hall elements produce six pulses.Divide folding can get three characteristics, four shortcomings are following:
Characteristics (1) are for obtaining six impulse singlas; Can only be each permanent magnetic steel same pole in one side: each Hall will produce two pulses; Then can only be the same one side that the same pole of two magnetic magnet steel is located at Moving plate, promptly in certain one side of Moving plate, two magnetic magnet steel all be the arctic or all be the South Pole.If in the same one side of Moving plate, a permanent magnetic steel is the arctic, another is the South Pole, and then pedal circles, and each Hall just can only produce a pulse, and three Halls just have only three pulses, and this does not just conform with this patent specification and has put down in writing.In order to increase pulse count, improve the control effect, can only be that each permanent magnetic steel same pole is in one side.
Characteristics (2) permanent magnetic steel is used to represent the pedal fixed position; Three Halls are represented the pedal travel position: because pedal and Moving plate are synchronous rotations; So with two cooresponding Moving plates of pedal on the fixing respectively permanent magnetic steels in two positions; Where some pedals change, and where then cooresponding permanent magnetic steel also changes; But have only commentaries on classics in the position that Hall is arranged, could send control signal through Hall, the power-assisted that the motor generation of commander's morpet needs is rotated.
The position of different period pedal travels during characteristics (3) can not be represented to circle because of a Hall; Then just can not be only with a Hall: the different periods of pedal in circling, the power-assisted demand there is very big difference, embody the variation of this power-assisted demand; This patent is located at 180 degree angles respectively with three interior positions with three Halls; Two magnetic magnet steel are located at two pedal positions respectively, and pedal changes in the position that Hall is arranged, and this Hall representes that with regard to output signal pedal has arrived the position of this Huo Yuan.But there is following shortcoming again with a plurality of Halls.
These characteristics as the morpet sensor have three shortcomings:
Shortcoming (1) is represented the fixed position of two pedals respectively with two permanent magnetic steels that do not have an otherness; The turned position that just can only represent pedal with a plurality of Halls: two magnetic magnet steel do not have otherness; Advantage is the fixed position of representing two pedals respectively that can be regardless of left and right sides pin; Make its left and right sides human hair combing waste give birth to the power-assisted demand, can produce identical motor power-assisted effect; But shortcoming is a 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 is represented 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 that original segmentation error is arranged; Make the distortion of power-assisted demand model; Naturally it is inconsistent with the power-assisted demand to produce power-assisted output: no matter morpet is one or two motor, the transducing signal of its control motor can only just can reach the purpose of control motor with a transducing signal input electric machine controller; And this patent is with three Halls control motors, then must merge into one to three control signals of three Halls and could import electric machine controller after merging control signal.The parameter sensing of three Halls can not be the same; Particularly owing to after variation of ambient temperature, the period of service length; The parameter sensing of three Halls maybe 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 the power-assisted demand; During in like manner identical power-assisted demand, the output of different Halls possibly be identical voltage again, cause motor to produce with a kind of power-assisted output, also produce power-assisted output and the inconsistent problem of power-assisted demand.
Shortcoming (3) merges control signal and is prone to produce signal drift; Merging control signal and electric machine controller are not matched; The distortion of power-assisted demand model: after variation of ambient temperature, period of service length, the parameter sensing of three Halls maybe be widely different, and three control signal point of connection of three Halls must change; The merging control signal that then identical power-assisted demand produces will produce the signal drift of segmenting; Merge control signal as a whole signal distortion that produces, i.e. power-assisted demand model distortion, any one that causes that electric machine controller selects three control signals for use all can produce power-assisted output and the inconsistent problem of power-assisted demand as benchmark.
Shortcoming (4) sensing site can not arbitrarily increase; The sensing site very little; The motor operation is just not steady; Make people by bike feel very uncomfortable: owing to shortcoming (1) and shortcoming (2) are arranged all because Hall quantity causes greater than one, clearly Hall quantity is measured manyly more more, and shortcoming (1) and shortcoming (2) show serious more.So the morpet that this patent provides can only be to make people by bike feel the morpet that traveling comfort is very bad.
Shortcoming (5) signal blind zone reaches 42 degree angles, needs really to can not get power-assisted the time power-assisted during startup: well-known, the people step on bicycle pedal on the summit moment minimum; From leaving 10-45 degree angle, summit is to need most power-assisted zone; But the angle between each Hall of this patent is the 42.5-43.5 degree, leaves summit 10-42 degree angular zone neither one Hall at stretcher, also with regard to the neither one control signal; Consequently need most power-assisted the time, but the motor of morpet really can not power-assisted.
In a word; This patent is that because can only represent the turned position of pedal with a plurality of Halls, a plurality of control signals of a plurality of Halls must have original error with the technical scheme of a plurality of Hall control assistant modes; It merges control signal and is prone to produce signal drift again; 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 many more more, and the distortion of power-assisted demand model is serious more, the quantity of having placed restrictions on Hall, the Hall small number and to produce the motor operation just not steady, make people by bike feel very uncomfortable, and can not get power-assisted when starting.Make it want the power-assisted demand model undistorted and want motor to operate steadily and always attend to one thing and lose sight of another on these two problems, can not get both.
Summary of the invention
Only the purpose of this invention is to provide with the speed of the unequal acquisition bicycle pedal of magnetic flow of each permanent magnets on a Hall and the chain drum and position signal and to signal and carry out the morpet that digitized processing becomes has best power-assisted model signals sensor; But be a kind of in the Hall induction region, can increase permanent magnets quantity as far as possible, utilize the bicycle displacement information to greatest extent, sensor output information is pinpoint again morpet how; Cyclist's power-assisted demand and the power-assisted that motor provides coupling are good, the morpet that motor operates steadily.
Design of the present invention is: but in a Hall receptive field, carry out different variation pattern settings with identical a plurality of permanent magnets on the chain drum, make an one of which Hall can experience the motor message of whole permanent magnets.The variation pattern of a plurality of permanent magnets mainly is that magnetic polarity changes, magnetic flux change, purpose make Hall can obtain ad-hoc location more accurately, stronger, the more permanent magnets motor message of controllable function.A plurality of permanent magnets magnetic polarities are with the arctic, South Pole alternate, and the signal that Hall is produced is a square wave, and controllable function is stronger, more; It is more accurate that the signal that a plurality of permanent magnets magnetic flux change produce Hall can be expressed the position of permanent magnets, thereby can express the state of kinematic motion of ad-hoc location.For morpet, the ad-hoc location of expressing stretcher is extremely important at what state of kinematic motion because the state of kinematic motion direct representation of stretcher the power-assisted need state of people to car.
Become digital signal to the square-wave signal of Hall output; The side makes the digital signal of Hall is carried out digitized processing; In the digitized processing process, can add the morpet needs, make the power-assisted math modeling of people's function optimized matching, the power-assisted math modeling can arbitrarily be adjusted 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 conditioning 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 the speed signal condition, make man-machine problem that can not optimized matching.
Structure of the present invention is:
Establish the morpet of many magnetic patch uneven distribution magnetic flux transducer on the chain drum; Comprise Electrical Bicycle and sensor, be fixed with chain drum 1 on the axis 51 of Electrical Bicycle, the two ends of axis 51 are fixed with stretcher 54 respectively; The axis 51 outer sleeve pipes 52 that are with; Sleeve pipe 52 is captiveed joint with the vehicle frame 53 of Electrical Bicycle, and battery 55 connects electric machine controller 29 on the Electrical Bicycle, the motor 30 that electric machine controller 29 connects on the wheel; It is characterized in that:
The structure of sensor and the annexation of parts are following:
Sensor comprises bonded assembly sensitive member, power-assisted model treater 21, D and A converter 27 and op amp 28 successively;
［ 1 ］ sensitive member is the element that becomes the rotational motion of chain drum 1 square-wave signal output;
Comprise that sensitive member comprises chain drum 1 and many pieces of permanent magnets 2; Be set with many pieces of permanent magnets 2 on the chain drum 1; The rounded equably track of these many pieces of permanent magnets 2 distributes, and promptly every piece of permanent magnets 2 is identical to the distance between identical, the adjacent two pieces of permanent magnets 2 of distance at circle center, circular rail trace 5 place; In certain one side of chain drum 1, the magnetic polarity of adjacent two pieces of permanent magnets 2 is opposite, and promptly 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 chain drum 1 Have at least the magnetic flow of two pieces of permanent magnets 2 inequality;
Also comprise a Hall 3, Hall 3 is positioned at certain one side of chain drum 1, and Hall 3 is located at the position that also can experience permanent magnets 2 magnetic flow near permanent magnets 2, between Hall 3 and the permanent magnets 2 spacing is arranged; Hall 3 is the Halls that opposite magnetic polarities produced the square wave output signal;
［ 2 ］ power-assisted model treater 21 is the signal form convs that become the digital signal that chain drum 1 rotates power-assisted model digital signal;
Power-assisted model treater 21 comprises analogue to digital conversion and crest recognizer 22, power-assisted starting point finder 23, magnetic patch revolution speed calculating device 24, power-assisted model memory device 25 and power-assisted Model Calculation device 26;
Analogue to digital conversion is connected with sensitive member with crest recognizer 22; The peak value of each square wave discerned the square-wave signal of 3 inputs of Hall in the sensitive member by analogue to digital conversion and crest recognizer 22; Each square-wave signal is become different digital signals; Each square wave is marked, and analogue to digital conversion and crest recognizer 22 output marks have the magnetic patch motion digital signal of magnetic patch position order;
Analogue to digital conversion is connected with magnetic patch revolution speed calculating device 24 with power-assisted starting point finder 23 respectively with crest recognizer 22, and power-assisted starting point finder 23 is connected with magnetic patch revolution speed calculating device 24; The mark of magnetic patch revolution speed calculating device 24 usefulness analogue to digital conversions and 22 inputs of crest recognizer has the magnetic patch motion digital signal of magnetic patch position order to calculate the rotating speed of chain drum 1; And pass to power-assisted starting point finder 23 to the rotating speed digital signal of chain drum 1; Power-assisted starting point finder 23 usefulness mark has the magnetic patch motion digital signal of magnetic patch position order; Confirm the cooresponding some squares wave of power-assisted starting point under certain speed conditions with these two signals of rotating speed digital signal of chain drum 1, promptly confirm power-assisted starting point magnetic patch;
Power-assisted starting point finder 23 all is connected with power-assisted Model Calculation device 26 respectively with magnetic patch revolution speed calculating device 24, and power-assisted model memory device 25 also is connected with power-assisted Model Calculation device 26; The power-assisted starting point magnetic patch of power-assisted Model Calculation device 26 usefulness power-assisted starting point finders 23; Select a certain power-assisted pattern function in the power-assisted model memory device 25 with these two conditions of chain drum 1 rotating speed with magnetic patch revolution speed calculating device 24; And with power-assisted starting point magnetic patch and these two condition substitution power-assisted pattern functions of chain drum 1 rotating speed; Calculate the power-assisted model digital signal of these two conditions of being fit to, i.e. power-assisted Model Calculation device 26 output power-assisted model digital signals;
［ 3 ］ D and A converter 27 is the analog signals that convert power-assisted model digital signal on the power-assisted model;
Power-assisted Model Calculation device 26 is connected with D and A converter 27, and D and A converter 27 converts the power-assisted model digital signal of power-assisted Model Calculation device 26 to power-assisted model simulation signal;
［ 4 ］ op amp 28 is the power-assisted model simulation signals that convert the power-assisted model simulation signal of D and A converter 27 to the range of nominal tension.
The annexation of sensor and Electrical Bicycle is: Hall 3 is fixed on the position that can experience permanent magnets 2 magnetic flow on the vehicle frame 53 near permanent magnets 2, and the signal output lead of op amp 28 is connected with the signal input part of the electric machine controller 29 of Electrical Bicycle in the sensor.
One, to the explanation of working sensor principle: be divided into sensor with principle of work that signal obtains and signal conditioning, so that the structural relation and the effect of each parts of explanation sensor.Signal obtains by the chain drum 1 of sensitive member, permanent magnets 2 and Hall 3 and rationally is provided with and carries out and obtain semiotic function; Signal conditioning is connected the electric machine controller 29 employable power-assisted model simulation signals that become the signal conditioning of Hall 3 outputs Electrical Bicycle successively by power-assisted model treater 21, D and A converter 27 and op amp 28.
［ one ］ to the explanation of sensitive member:
When using sensitive member, chain drum 1 will rotate, so chain drum 1 is claimed rolling disc again, the center of rotation is exactly the center of 2 one-tenth annular arrangements distributions of a plurality of permanent magnets place circle.
The purpose that 2 one-tenth annular arrangements of a plurality of permanent magnets distribute is only to experience with a Hall 3 state of kinematic motion of whole permanent magnets 2 on the rolling disc; Promptly experience the movement position and the speed of whole permanent magnets 2 on the rolling disc; And the variation of speed; Or title acceleration/accel; This Hall 3 just can be expressed the state of kinematic motion of permanent magnets 2 with a continuous electric signal, because it is on the chain drum 1 that whole permanent magnets 2 is separately fixed at rolling disc, then the continuous electric signal of Hall 3 generations just can be expressed the state of kinematic motion of rolling disc again.If be used to control other object to this continuous electric signal, this continuous electric signal is exactly a control signal.If be used to control the motor of morpet; Also need be with micro controller system or other electron component as sensing signal processor; Converting the position in the control signal, speed, acceleration/accel key element to needs what power-assisted signal of power-assisted; The function that converts is exactly the power-assisted demand model, or claims the power-assisted model.
A plurality of permanent magnets 2 magnetic flow meaning inequality is: making in the electric signal that Hall 3 produces is not duplicate impulse singla; But peak valley difference different pulse signal; Distinguish the diverse location of different permanent magnets 2 with distinguishing impulse singla, thereby can obtain the state of kinematic motion of diverse location permanent magnets 2.Reach and accurately to express certain position of rolling disc, or each there is the state of kinematic motion of permanent magnets 2.As be used for morpet, and can accurately express and ride at diverse location power-assisted demand, make the expression of power-assisted demand more accurate, then car is just more consistent with people's cooperation.
The magnetic flow of a plurality of permanent magnets 2 magnetic flow just a plurality of permanent magnets 2 inequality is vicissitudinous; The scope of its variation should be the same Hall 3 sensitive magnetic flow scopes of invariant position; That is to say that the peak of a plurality of permanent magnets 2 magnetic flow and minimum should be in Hall 3 sensitive magnetic flow scopes.
The magnetic polarity of adjacent two magnetic patch 2 is important techniques characteristic very 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 outputs; As the rolling disc that limited size is ended, rotate the accurate variable signal that will obtain in a week as much as possible, should be to select square wave for use certainly.Because the time that the peak-to-valley value of square-wave signal changes is short, can in the regular hour, produce the signal that control Significance is arranged as much as possible.The magnetic polarity opposite configuration of adjacent two magnetic patch 2 produces square wave; And the identical structure of the magnetic polarity of adjacent two magnetic patch 2 produces sinusoidal waveform; During especially for morpet, generally place restrictions at diameter as the rolling disc of sensing element and be 10-15 centimetre, will obtain the signal of controllable function in this limit scope; Rotate a week, produce square wave than producing the available pulse number of sinusoidal waveform and many 7-9 doubly.Nature, the magnetic polarity opposite configuration of adjacent two magnetic patch 2 to the control effect of morpet more, the people cooperates with car better, the rider people feels more comfortable.
［ two ］ explanation of power-assisted model treater 21: power-assisted model treater 21 is the signal form convs that become the digital signal that chain drum 1 rotates power-assisted model digital signal;
Power-assisted model treater 21 comprises analogue to digital conversion and crest recognizer 22, power-assisted starting point finder 23, magnetic patch revolution speed calculating device 24, power-assisted model memory device 25 and power-assisted Model Calculation device 26; These parts to the Signal Processing thinking are: the position digital signal that decomposites the square-wave signal of Hall in the sensitive member 3 expression magnetic patch 2 positions; Speed digital signal with expression chain drum 1 rotating speed; Because position and speed all are digital signals, just can handle with the power-assisted math modeling position and speed, can design the power-assisted math modeling by people's best perception; Make the power-assisted model digital signal of its power-assisted model treater 21 outputs promptly have best power-assisted math modeling; The actuation point and the terminating point of this power-assisted math modeling are arranged, because the position digital signal of magnetic patch 2 is arranged, so the actuation point can be accurate to people's power-assisted demand synchronous fully with termination again.Having solved prior art does not have magnetic patch 2 position signals and causes people's power-assisted demand and power-assisted model not to match; Postpone in the problem of power-assisted demand with the operation of power-assisted model; Having solved prior art wants power not give power; Will only give little power energetically, little power to give energetically again, power is not again to man-machine ill-matched problems such as power.The annexation and the function of each parts are following in the power-assisted model treater 21: peak value
Analogue to digital conversion is connected with sensitive member with crest recognizer 22; The peak value of each square wave discerned the square-wave signal of 3 inputs of Hall in the sensitive member by analogue to digital conversion and crest recognizer 22; Each square-wave signal is become different digital signals; Each square wave is marked, and analogue to digital conversion and crest recognizer 22 output marks have the square-wave signal of magnetic patch position order.Like this, there is waveform other square-wave signal of peak region to become square-wave signal with the data mark, convenient in the digitized processing process of back, become the square wave position data to the square wave peak value and carry out calculation process.So analogue to digital conversion and crest recognizer 22 are signals of representing the square wave peak value magnetic patch position, become treater with the digital signal of data mark magnetic patch position.This is the important inventive point that the present invention is different from existing morpet; Digital signal with data mark magnetic patch position has been arranged; The present invention just can find some on the chain drum 1 of circulation circular movement or each magnetic patch position, produces power-assisteds for motor 30 starts, increases power-assisted, reduces power-assisted, stops motor 30 work such as power-assisted and found starting point and terminal point, and people's power-assisted demand and motor 30 power-assisted behaviors can be complementary; Avoided existing morpet to be difficult to realize man-machine cooperation; Motor 30 did not rotate when appearance needed power-assisted, and motor 30 also keeps motion not stop when not needing power-assisted, even causes the problem of collision accident.
Analogue to digital conversion is connected with magnetic patch revolution speed calculating device 24 with power-assisted starting point finder 23 respectively with crest recognizer 22, and power-assisted starting point finder 23 is connected with magnetic patch revolution speed calculating device 24; The mark of magnetic patch revolution speed calculating device 24 usefulness analogue to digital conversions and 22 inputs of crest recognizer has the magnetic patch motion digital signal of magnetic patch position order to calculate the rotating speed of chain drum 1; And pass to power-assisted starting point finder 23 to the rotating speed digital signal of chain drum 1; Power-assisted starting point finder 23 usefulness mark has the magnetic patch motion digital signal of magnetic patch position order; Confirm the cooresponding some squares wave of power-assisted starting point under certain speed conditions with these two signals of rotating speed digital signal of chain drum 1, promptly confirm power-assisted starting point magnetic patch.Because; The power-assisted starting point magnetic patch of confirming is the square wave that the data mark is arranged; Then power-assisted starting point magnetic patch has unique cooresponding magnetic patch 2 positions, and like this, power-assisted starting point finder 23 has been accomplished magnetic patch 2 positions of finding out the power-assisted initial point; In the time of just can confirming also where certain magnetic patch 2 is, start or finish motor and carry out certain power-assisted model sport.This just reaches the specific magnetic patch 2 that the people controls chain drum 1 and is synchronized with the movement; Specific magnetic patch 2 control motors 30 carry out specific synchronous rotation; Realize the purpose of people's synchro control motor, the starting point and the terminal point that can not occur controlling be inaccurate, the problem that starting point that can not occur controlling and terminal point postpone.But existing morpet all can not find with the synchronous stop bit that opens of people and puts, so all can produce the starting point of control and the problem of terminal point delay when only opening power-assisted.
Power-assisted starting point finder 23 all is connected with power-assisted Model Calculation device 26 respectively with magnetic patch revolution speed calculating device 24, and power-assisted model memory device 25 also is connected with power-assisted Model Calculation device 26; The power-assisted starting point magnetic patch of power-assisted Model Calculation device 26 usefulness power-assisted starting point finders 23; Select a certain power-assisted pattern function in the power-assisted model memory device 25 with these two conditions of chain drum 1 rotating speed with magnetic patch revolution speed calculating device 24; And with power-assisted starting point magnetic patch and these two condition substitution power-assisted pattern functions of chain drum 1 rotating speed; Calculate the power-assisted model digital signal of these two conditions of being fit to, promptly power-assisted Model Calculation device 26 just can be exported power-assisted model digital signal.
［ three ］ explanation of logarithmic mode conv 27: D and A converter 27 is the analog signals that convert power-assisted model digital signal on the power-assisted model.
Power-assisted Model Calculation device 26 is connected with D and A converter 27, and D and A converter 27 converts the power-assisted model digital signal of power-assisted Model Calculation device 26 to power-assisted model simulation signal.So that analog signal to electric machine controller 29 output power-assisted models that can only Analog signals.
［ four ］ to the explanation of op amp 28: op amp 28 is the power-assisted model simulation signals that convert the power-assisted model simulation signal of D and A converter 27 to the range of nominal tension.
D and A converter 27 is connected with op amp 28; Though the power-assisted model simulation signal of D and A converter 27 has solved the power-assisted model problem; But the voltage of power-assisted model signals can't satisfy the needs of electric machine controller 29; So also will convert power-assisted model simulation signal to power-assisted model simulation signal that the range of nominal tension needs, just can be transferred to electric machine controller 29 with op amp 28.
Two, sensor and Electrical Bicycle are connected to form the explanation of morpet:
For in kind the installation is described, sensor is divided into mechanical part and sensing element from aspect in kind, with each structural relation in kind and each relevant material object of Electrical Bicycle of explanation sensor.Sensing element comprises Hall 3, power-assisted model treater 21, D and A converter 27 and op amp 28, is fixed on vehicle frame 53 positions near permanent magnets 2 to Hall 3, makes Hall 3 can experience the turn signal of permanent magnets 2 on the chain drum 1.Also can be fixed on the Hall 3 of sensing element, power-assisted model treater 21, D and A converter 27 and op amp 28 on the device.But because Hall 3 will be fixed on the peculiar position that can experience permanent magnets 2 magnetic flow; Then can open Hall 3 and power-assisted model treater 21, D and A converter 27 and op amp 28 these three isolation of components, only be fixed on power-assisted model treater 21, D and A converter 27 and op amp 28 these three parts on the device.Be fixed on power-assisted model treater 21, D and A converter 27 and op amp 28 these three parts in whole sensing elements or the sensing element on the device; Help a tangible device and carry sensing element, be fixed on sensing element on the vehicle frame 53 of Electrical Bicycle with carrier.
The signal of each Signal Processing Element output is in the sensor of the present invention:
Power-assisted model treater 21 output power-assisted model digital signals;
Analogue to digital conversion and crest recognizer 22 output marks 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 finder are confirmed;
Magnetic patch revolution speed calculating device 24 calculates and exports the rotating speed digital signal of chain drum 1;
It is subsequent use that power-assisted model memory device 25 has multiple power-assisted pattern function, and output is the digital signal of selected power-assisted pattern function;
Power-assisted Model Calculation device 26 calculates and exports the power-assisted model digital signal that will be used for controllable function;
The power-assisted model simulation signal that D and A converter 27 outputs convert power-assisted model digital signal to;
What thermally dependent resistor R6 guaranteed op amp 28 outputs is the power-assisted model simulation signal of the range of nominal tension, i.e. standard power-assisted model simulation signal.
Be provided with thermally dependent resistor R6 for solving power-assisted model simulation signal drift problem, thermally dependent resistor R6 is connected between the input end and mouth of op amp 28.
Power-assisted model treater 21 is micro controller systems 31, is connected with clock circuit 32 on the micro controller system 31.Accomplish the function of analogue to digital conversion and crest recognizer 22, power-assisted starting point finder 23, magnetic patch revolution speed calculating device 24, power-assisted model memory device 25 and power-assisted Model Calculation device 26 with micro controller system 31.The clock signal of clock circuit 32 is to be used for effect that the square-wave signal of Hall 3 input 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 chain drum 1, and the sensing element of sensor comprises a plurality of permanent magnets 2, Hall 3, micro controller system 31, D and A converter 27 and op amp 28; Hall 3, micro controller system 31, D and A converter 27 and 28 4 electronic components of op amp of linking to each other successively in the sensing element are located on the circuit card 59; The position that circuit card 59 is located on the vehicle frame 52 can make Hall 3 experience the magnetic flow of permanent magnets 2, and the position of circuit card 59 makes Hall 3 export electric signal according to the motion of permanent magnets 2.
The preferred model of each parts of sensor of the present invention with concrete connection mode is: Hall 3 is UGN3075, and power-assisted model treater 21 is AT89S52 micro controller systems 31, and D and A converter 27 is ADC-C8E; Op amp 28 is OF-17F, is connected with thermally dependent resistor R6 between input end 2 pin of OF-17F op amp 28 and mouth 6 pin; Each parts annexation is following:
12 pin B8 of 39 pin P00 linking number weighted-voltage D/A converters 27 of micro controller system 31;
11 pin B7 of 38 pin P01 linking number weighted-voltage D/A converters 27 of micro controller system 31;
10 pin B6 of 37 pin P02 linking number weighted-voltage D/A converters 27 of micro controller system 31;
9 pin B5 of 36 pin P03 linking number weighted-voltage D/A converters 27 of micro controller system 31;
8 pin B4 of 35 pin P04 linking number weighted-voltage D/A converters 27 of micro controller system 31;
7 pin B3 of 34 pin P05 linking number weighted-voltage D/A converters 27 of micro controller system 31;
6 pin B2 of 33 pin P06 linking number weighted-voltage D/A converters 27 of micro controller system 31;
5 pin B1 of 32 pin P07 linking number weighted-voltage D/A converters 27 of micro controller system 31;
2 pin of 4 pin concatenation operation amplifiers 28 of D and A converter 27;
3 pin of 2 pin concatenation operation amplifiers 28 of D and A converter 27;
6 pin of op amp 28 are analog signal output.
Be connected with thermally dependent resistor R6 between input end 2 pin of OF-17F op amp 28 and mouth 6 pin, and thermally dependent resistor R6 two ends also are parallel with capacitor C 6.Preferred thermally dependent resistor R6 is 5K, and capacitor C 6 is 8P, between 4 pin of D and A converter 27 and 2 pin of op amp 28 with the R5 ground connection of 1.25k.The analog signal voltage scope that makes its available temperature-sensitive resistance R 6 regulate the output of op amp 286 pin is stabilized between the 0.8--4.2V.
Have at least the magnetic flow of a permanent magnets 2 to be not equal to the magnetic flow of other any one permanent magnets 2.The magnetic flow that is not equal to other, promptly special magnetic flow can be used for representing the position of bicycle pedal.Preferably have at least the magnetic flow of two each and every one permanent magnets 2 to be not equal to the magnetic flow of other any one permanent magnets 2, the permanent magnets 2 of these two special magnetic flow corresponds respectively to two stretchers, is used to represent the position of two stretchers of bicycle.Because the circular movement of bicycle pedal is judged the stretcher position for the speed that obtains this circular movement, confirm that the power-assisted model of circular movement is extremely important next time.
Advantage of the present invention: simple in structure, cost is low, the permanent magnets quantity on the permanent magnets ring not restricted, outputting standard impulse singla, do not have signal blind zone, only just total movement state, the output signal of ability perfect representation Moving plate can distortion not drift about, represent to belong to the movement position that each permanent magnets can be arranged in fixed position, the output signal with the magnetic flux change of permanent magnets with one group of output signal of a Hall; Be used for morpet, power-assisted output can be highly cooperated with the power-assisted demand and the cyclist is felt well.
(1) simple in structure; Without elastic component; Do not have mechanical fault: experience a plurality of permanent magnets with Hall and rotate output signal, can calculate torque principle with the speed that Chinese patent 01201843.0 provides, available multiple math modeling is calculated the moment parameter of morpet; Be used to control the motor of morpet, realize power-assisted.Be lower than with elastic component and mechanically stressed sensor without elastic component, simple in structure, cost.After having avoided long-time use, each mechanical part is out of shape, does not have mechanical fault, cooperates not good problem.
(2) magnetic polarity is opposite; The output square-wave signal has the accuracy control function: because the magnetic polarity of adjacent two pieces of permanent magnets is opposite; And Hall is selected the Hall that opposite magnetic polarities is produced the square wave output signal for use; Then adjacent two pieces of permanent magnets no matter spacing what, even very close to each other between adjacent two pieces of permanent magnets, Hall can be exported square-wave signal too.As be used for morpet; The motor of controlling morpet with the output signal of square wave is superior to using sinusoidal waveform; Because the rectangle wave energy is accomplished signal point at any time; The signal implication of expression movement position and speed is accurate, thereby can accurately represent the movement position and the speed of booster bicycle pedal, so that go out the correct power-assisted demand of this state of kinematic motion with accurate position of pedal and speed calculation.
(3) magnetic polarity of adjacent permanent magnets is opposite; Permanent magnets quantity is restricted not, can increase the sensing point position as far as possible: because magnetic polarity is opposite, and the output square-wave signal; Even adjacent permanent magnets does not have the gap; The signal of its output has remained number, differentiable square-wave signal, still has controllable function, and that is to say can not export does not have the no change of controllable function linear signal.As be used for morpet; Because rolling disc diameter restricted with the pedal interlock; Just can be on the rolling disc of prescribed level; Increase as far as possible permanent magnets quantity, as far as possible increase the sensing point position, represent bicycle pedal movement position and speed with as much as possible transducing signal, accurately represent state of kinematic motion.
(4) magnetic polarity of adjacent permanent magnets is opposite; Can be provided with that permanent magnets is many, the sensing point position is many; The state of kinematic motion of rolling disc is represented accurately: to being used for morpet; Fixedly the rolling disc size of permanent magnets receives strictness and places restrictions on, and general rolling disc diameter can only have the magnetic pole signal that obtains permanent magnets under the condition of spacing in order to make Hall in 10-15 centimetre; The diameter of its permanent magnets is at least Ф 0.6-0.8 centimetre, then peripheral zero-lash 35-73 permanent magnets ［ (10-1) the * 3.14/0.8=35 that is provided with of diameter 10-15 centimetre rolling disc; (15-1) * 3.14/0.6=73 ］, promptly stretcher circles, and Hall can obtain the motor that 35-73 signal is used to control morpet.But if the identical prior art of adjacent permanent magnets magnetic polarity, adjacent permanent magnets then on diameter 10-15 centimetre rolling disc, can only be provided with 5-8 permanent magnets ［ (10-1) * 3.14/5.8=5 at most by 5 centimetres of spacings; (15-1) * 3.14/5.6=8 ］.It is thus clear that patent art can be provided with 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, patent art has increased 7-9 turn disc site signal doubly than prior art.Electric machine control accuracy rate to morpet has improved 7-9 doubly naturally; Make the cyclist also improve 7-9 doubly to power-assisted demand accuracy rate; Car and people's cooperate degree improves greatly, and cyclist's comfort increases greatly, no longer is the boosted vehicle the sort of one fast one slow uncomfortable feeling of prior art.The present invention asks someone according to the experience of reality, when on the rolling disc 15 permanent magnets being set uniformly roughly, having eliminated prior art basically and has only established 5-8 permanent magnets and make boosted vehicle the sort of one fast one slow uncomfortable feeling; When on the rolling disc 20 permanent magnets being set uniformly roughly, car cooperates oneself can satisfy human needs with the people's, and the sensation of riding boosted vehicle is very comfortable.
(5) do not have signal blind zone, the power-assisted that power-assisted demand whenever all can obtain to be complementary: this patent can be provided with 35-73 permanent magnets at most at diameter 10-15 centimetre rolling disc periphery, and average angle is the 5-10 degree between each permanent magnets.Be used for morpet; When starting or move, stretcher has 4-7 permanent magnets (just there has been a signal position leaving 10 degree angles, summit) in the 35 degree zones of leaving 10-45 degree angle, summit; Then the exportable 4-7 of Hall control signal reacts the power-assisted demand; Can realize any position, have power-assisted just can obtain corresponding power-assisted excellent technique effect any time, make car and people's no-float, it is laborsaving comfortable again that the cyclist feels.
(6) only with a Hall; A control signal is represented the total movement state of rolling disc; The state of kinematic motion of control signal and rolling disc is in full accord, and control signal and people's demand is in full accord: a plurality of permanent magnets are fixed on the rolling disc, and permanent magnets and rolling disc rotate synchronously; With a whole permanent magnets motor message of Hall impression; Then the state of kinematic motion of the control signal of Hall output and rolling disc is in full accord, and just in full accord with people's demand, control signal does not have original segmentation sum of errors signal drift problem yet.Even the hall sensing parameter changes, also being that the The whole control signal is parallel moves, as long as receive the range of receiving broad of the electric machine controller of Hall control signal, the control effect of the Hall control signal that has changed becomes systematicness to change.As be used for morpet, and the 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 the cyclist is easy to grasp this power-assisted ability changes.
(7) magnetic flow of each permanent magnets changes; The vicissitudinous permanent magnets of magnetic flow can be represented the state of kinematic motion of specific site: because the magnetic flow of each permanent magnets changes; Each permanent magnets makes Hall export the control signal of peculiar peak valley difference waveform, the state of kinematic motion in a certain fixedly permanent magnets site that the control signal of then peculiar peak valley difference waveform just can the direct representation rolling disc; Like each permanent magnets oneself given magnetic flux is arranged all, what permanent magnets can reach has, and just can obtain the motion state signal of what specific sites.As be used for morpet, and the rolling disc diameter is in 10-15 centimetre, and rolling disc circles, and Hall can obtain the control signal of 35-73 different loci state of kinematic motion, knows the power-assisted demand in 35-73 site naturally.Clearly, rolling disc circles, and prior art can only have 5-8 power-assisted demand at most, and being nothing like the maximum available 35-73 of a this patent power-assisted desired signal more can be truly, multiple data quantity ground reaction cyclist's power-assisted demand.That is to say that morpet is used patent art, it is consistent that Che Gengneng and people's demand match, and the cyclist experiences stretcher at any turned position, and oneself is the may command speed of a motor vehicle fully all, and traveling comfort is good.And the morpet of prior art can only be in maximum 5-8 turned positions ability may command speed of a motor vehicle.
(8) can carry out digitized processing to hall signal; Make the controlling models that adds man-machine optimized matching in the control signal: the digital signal that becomes square-wave signal this two key element with magnetic patch position and magnetic patch rotating speed; Mathematics power-assisted model with setting, be fit to man-machine no-float converts the digital signal of this two key element to power-assisted model digital signal; Convert power-assisted model digital signal to power-assisted model simulation signal again, become the control signal that the electric machine controller burning voltage scope, that have rating horsepower can be used to power-assisted model simulation signal at last.In a word, the signal that rotates magnetic patch exactly carries out digitized processing, in the digitized processing treating process, adds the power-assisted model of mathematics, makes in the control signal of the last output of sensor, contains the power-assisted model of adding.Because the power-assisted model of mathematics is artificial the setting, so, the model of the most suitable man-machine cooperation, the exportable control signal that can realize that best human cooperates of sensor then of the present invention always can be become the power-assisted model specification of mathematics.And the magnetic patch same pole of existing morpet sensor is in same one side; Hall can not obtain square-wave signal; Also just can't carry out digitized processing to hall signal; Its controlling models can only be that hall signal is carried out local modification, so can not realize exporting the control signal of man-machine optimized matching.
(9) control signal of output does not have signal drift at last: with thermally dependent resistor R6 the output signal of op amp is carried out feedback regulation; Can solve the problem that semiconductor devices such as Hall, D and A converter and op amp make power-assisted model simulation signal drift, what make the last output of sensor is the standard power-assisted model simulation signal that does not receive variation of ambient temperature.
(10) can realize the machine operation mode of man-machine optimized matching: analogue to digital conversion becomes different digital signals with the crest recognizer with each square-wave signal; Power-assisted Model Calculation device is with regard to available power-assisted starting point finder selected and power-assisted math modeling power-assisted demand optimized matching in power-assisted model memory device; And the speed parameter substitution power-assisted math modeling that magnetic patch revolution speed calculating device is provided, power-assisted Model Calculation device just can calculate the power-assisted model digital signal of stretcher under certain situation.This power-assisted model digital signal be exactly can make that people and Electrical Bicycle can optimized matching, be used to control the control signal that motor is used.Power-assisted Model Calculation device is a digital processor; It can accept any digitized math modeling; Then power-assisted model memory device just can provide the math modeling of any artificial setting to power-assisted Model Calculation device; Had the people to set this condition of math modeling arbitrarily, the people just can set the math modeling that can make people and Electrical Bicycle ability optimized matching.Power-assisted model memory device has the people to set, and can make the math modeling of people and Electrical Bicycle ability optimized matching, then just can realize the machine operation mode of people and Electrical Bicycle optimized matching; The people sets that math modeling can also make motor have the most reasonably to start and the mode of operation of running model, power saving.So morpet of the present invention is province's electric booster bicycle of people and Electrical Bicycle optimized matching.
But in the 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 artificially add the motor of best power-assisted model control Electrical Bicycle, the power-assisted model of this morpet promptly can not be realized man-machine optimized matching, can not make motor that mode of operation the most reasonable, power saving is arranged.
(11) power saving effect and meaning: use 8 the permanent magnets coplanars of buying in morpet of the present invention and the city that have to carry out power saving relatively as the morpet of sensing element as same pole; Use the mode of different sensors instead with same Electrical Bicycle; Identical cyclist rides in same road segment and surveys in fact; The result is: after riding 110 kilometers with morpet of the present invention, battery is also surplus have a spot of; But behind 45 kilometers of the morpet riders of buying in this city, battery has not had surplus.The meaning of this power saving is: the morpet of the present invention that is full of electricity can satisfy whole day to be ridden and not to charge, solved the people on the way and car can not this existing morpet of power-assisted hang-up.
Description of drawings
Fig. 1 is many magnetic patch position and an each point magnetic flow uneven distribution on the chain drum, and the sensitive member structural representation that replaces of permanent magnets N-S, and the different expression of permanent magnets line weight magnetic flow are different among the figure;
Fig. 2 is high density magnetic patch position and an each point magnetic flow uneven distribution on the chain drum, and the permanent magnets sensitive member structural representation that becomes N-S to replace, and the different expression of permanent magnets line weight magnetic flow are different among the figure;
Fig. 3 is the annexation cross-sectional view of the rolling disc and the Hall of bicycle chain drum and vehicle frame and sensor;
Fig. 4 is that the signal flow of Hall, power-assisted model treater, D and A converter, op amp is to block scheme;
Fig. 5 is the circuit diagram of Hall, micro controller system, D and A converter, op amp;
Fig. 6 is that sensor is located at the annexation scheme drawing of forming morpet of the present invention on electronic chain drum voluntarily and the vehicle frame.
1 is chain drum among the figure; The 2nd, permanent magnets; The 3rd, Hall; The 5th, the circular rail trace; The 21st, power-assisted model treater; The 22nd, the wide crest recognizer of analogue to digital conversion and ripple; The 23rd, power-assisted starting point finder; The 24th, magnetic patch revolution speed calculating device; The 25th, power-assisted model memory device; The 26th, power-assisted Model Calculation device; The 27th, D and A converter; The 28th, op amp; The 29th, electric machine controller; The 30th, motor; The 31st, micro controller system; The 32nd, clock circuit; The 51st, axis; The 52nd, sleeve pipe; The 53rd, vehicle frame; The 54th, stretcher; The 55th, battery; The 59th, circuit card.
The specific embodiment
Establish the morpet of many magnetic patch uneven distribution magnetic flux transducer on embodiment 1, the chain drum
Like Fig. 1,3,4,6,
One, Electrical Bicycle parts and the structure relevant: comprise Electrical Bicycle and sensor with sensor installation; Be fixed with chain drum 1 on the axis 51 of Electrical Bicycle; The two ends of axis 51 are fixed with stretcher 54 respectively, are with sleeve pipe 52 outside the axis 51, and sleeve pipe 52 is captiveed joint with the vehicle frame 53 of Electrical Bicycle; Battery 55 connects electric machine controller 29 on the Electrical Bicycle, the motor 30 that electric machine controller 29 connects on the wheel.
Two, the annexation of the structure of sensor and parts is following:
Sensor comprises bonded assembly sensitive member, power-assisted model treater 21, D and A converter 27 and op amp 28 successively;
［ 1 ］ sensitive member is the element that becomes the rotational motion of chain drum 1 square-wave signal output;
Sensitive member is 20 permanent magnets 2 that 0.8 centimetre of diameter is set with a face of chain drum 1, and magnetic flow is 146---279 (BH) max/KJm
-3Different selective value in the scope, and it is unequal to face the magnetic flow of permanent magnets 2 mutually.The structure of chain drum 1, permanent magnets 2, Hall 3 is following:
All the rounded equably track of permanent magnets 2 distributes, and each permanent magnets 2 is fixed on 9.0 centimetres of circular rail traces 5 of diameter, and promptly each permanent magnets 2 is identical to the distance between identical, the adjacent permanent magnets 2 of distance at circle center, circular rail trace 5 place.
There is the magnetic flow of two permanent magnets 2 to be not equal to the magnetic flow of other any one permanent magnets 2; And the magnetic flow of these two permanent magnets 2 is also unequal; The position of these two permanent magnets 2 is just in time at the two ends of 1 one diameters of chain drum, and these two permanent magnets 2 are used for the movement position of two stretchers of expression on morpet.
The opposite mode of magnetic polarity in 2 one-tenth adjacent permanent magnets 2 of whole permanent magnets of 1 one face settings of chain drum is arranged, promptly on 1 one faces of chain drum all the magnetic polarity distribution mode of 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 ...
Be located at that one side that chain drum 1 has permanent magnets 2 with a Hall 3; Hall 3 is located at the position near permanent magnets 2; Be that Hall 3 is located in each permanent magnets 2 place circular rail trace 5 scope; Hall 3 keeps 0.3 centimetre spacing distance with each permanent magnets 2 of rotary state, and each permanent magnets 2 that makes rotation is through Hall 3 time, and Hall 3 can produce a cooresponding square wave electric signal output.
［ 2 ］ power-assisted model treater 21 is the convs that become the digital signal that chain drum 1 rotates the signal form of power-assisted model digital signal;
Power-assisted model treater 21 comprises analogue to digital conversion and crest recognizer 22, power-assisted starting point finder 23, magnetic patch revolution speed calculating device 24, power-assisted model memory device 25 and power-assisted Model Calculation device 26;
Analogue to digital conversion is connected with sensitive member with crest recognizer 22; The peak value of each square wave discerned the square-wave signal of 3 inputs of Hall in the sensitive member by analogue to digital conversion and crest recognizer 22; Each square-wave signal is become different digital signals; Each square wave is marked, and analogue to digital conversion and crest recognizer 22 output marks have the magnetic patch motion digital signal of magnetic patch position order;
Analogue to digital conversion is connected with magnetic patch revolution speed calculating device 24 with power-assisted starting point finder 23 respectively with crest recognizer 22, and power-assisted starting point finder 23 is connected with magnetic patch revolution speed calculating device 24; The magnetic patch motion digital signal of magnetic patch revolution speed calculating device 24 usefulness analogue to digital conversions and 22 inputs of crest recognizer calculates the rotating speed of chain drum 1; And pass to power-assisted starting point finder 23 to the rotating speed digital signal of chain drum 1; Power-assisted starting point finder 23 usefulness mark has the magnetic patch motion digital signal of magnetic patch position order; Confirm the cooresponding some squares wave of power-assisted starting point under certain speed conditions with these two signals of rotating speed digital signal of chain drum 1, promptly confirm power-assisted starting point magnetic patch; Power-assisted starting point finder 23 has been accomplished and has been found out power-assisted initial point magnetic patch; Just confirm to come into effect power-assisted from certain square wave; Accurately say to be exactly to be under certain speed conditions at chain drum 1; Begin to carry out power-assisted in certain position from certain magnetic patch, or begin in certain position from certain magnetic patch, the power-assisted model of original power-assisted model being changed into next step selection carries out power-assisted.
Power-assisted starting point finder 23 all is connected with power-assisted Model Calculation device 26 respectively with magnetic patch revolution speed calculating device 24, and power-assisted model memory device 25 also is connected with power-assisted Model Calculation device 26; The power-assisted starting point magnetic patch of power-assisted Model Calculation device 26 usefulness power-assisted starting point finders 23; Select a certain power-assisted pattern function in the power-assisted model memory device 25 with these two conditions of chain drum 1 rotating speed with magnetic patch revolution speed calculating device 24; And with power-assisted starting point magnetic patch and these two condition substitution power-assisted pattern functions of chain drum 1 rotating speed; Calculate the power-assisted model digital signal of these two conditions of being fit to, i.e. power-assisted Model Calculation device 26 output power-assisted model digital signals;
［ 3 ］ D and A converter 27 is the analog signals that convert power-assisted model digital signal on the power-assisted model.
Power-assisted Model Calculation device 26 is connected with D and A converter 27, and D and A converter 27 converts the power-assisted model digital signal of power-assisted Model Calculation device 26 to power-assisted model simulation signal.So that simulation letter to electric machine controller 29 output power-assisted models that can only Analog signals.
［ 4 ］ op amp 28 is the power-assisted model simulation signals that convert the power-assisted model simulation signal of D and A converter 27 to the range of nominal tension.
D and A converter 27 is connected with op amp 28; Though the power-assisted model simulation signal of D and A converter 27 has solved the power-assisted model problem; But the voltage of power-assisted model signals can't satisfy the needs of electric machine controller 29; So also will convert power-assisted model simulation signal to power-assisted model simulation signal that the range of nominal tension needs with op amp 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 a purpose.
Three, sensor and Electrical Bicycle connect into morpet: Hall 3 is fixed on the position that can experience permanent magnets 2 magnetic flow on the vehicle frame 53 near permanent magnets 2; Power-assisted model treater 21, the D and A converter 27 of Signal Processing Element and after op amp 28 links to each other successively, Hall 3 links to each other with power-assisted model treater 21, and op amp 28 links to each other with the electric machine controller 29 of Electrical Bicycle.Realize the purpose of sensor electricity consumption signal control Electrical Bicycle, promptly used the power-assisted model simulation signal of op amp 28, or claimed standard power-assisted model simulation signal control Electrical Bicycle, obtained morpet.
Establish the morpet of many magnetic patch uneven distribution magnetic flux transducer on embodiment 2, the high density chain drum
40 permanent magnets 2 of 0.6 centimetre of diameter are set like a face of the chain drum 1 of 10.0 centimetres of Fig. 2,3,4,6, diameters.The magnetic flow of permanent magnets 2 is 146---279 (BH) max/KJm
-3Different selective value in the scope; And the magnetic flow that faces permanent magnets 2 mutually is unequal; Hall 3 keeps 0.2 centimetre spacing distance with each permanent magnets 2 of rotary state, and each permanent magnets 2 that makes rotation is through Hall 3 time, and Hall 3 can produce a cooresponding square-wave signal output.Other structure is same as embodiment 1.
Like Fig. 1,3,5,6, like embodiment 1, sensor comprises bonded assembly sensitive member, power-assisted model treater 21, D and A converter 27 and op amp 28 successively;
［ 1 ］ Hall in the sensitive member 3 is selected UGN3075 for use; The structure of other element and element is same as embodiment 1 in the sensitive member;
［ 2 ］ power-assisted model treater 21 selects for use micro controller system 31 to accomplish repertoire, and micro controller system 31 is selected AT89S52 for use.It is the repertoire that AT89S52 micro controller system 31 is accomplished analogue to digital conversion and crest recognizer 22, power-assisted starting point finder 23, magnetic patch revolution speed calculating device 24, power-assisted model memory device 25 and power-assisted Model Calculation device 26.
［ 3 ］ ADC-C8E is selected in D and A converter 27 for use.
［ 4 ］ op amp 28 is selected OF-17F for use, is connected with the thermally dependent resistor R6 of 5k between input end 2 pin of OF-17F op amp 28 and mouth 6 pin; And thermally dependent resistor R6 two ends also are parallel with 8P capacitor C 6.Between 4 pin of D and A converter 27 and 2 pin of op amp 28 with the R5 ground connection of 1.25k.The analog signal voltage scope that makes its available temperature-sensitive resistance R 6 regulate the output of op amp 286 pin is stabilized between the 0.8--4.2V.
Each electronic unit annexation is following:
12 pin B8 of 39 pin P00 linking number weighted-voltage D/A converters 27 of micro controller system 31;
11 pin B7 of 38 pin P01 linking number weighted-voltage D/A converters 27 of micro controller system 31;
10 pin B6 of 37 pin P02 linking number weighted-voltage D/A converters 27 of micro controller system 31;
9 pin B5 of 36 pin P03 linking number weighted-voltage D/A converters 27 of micro controller system 31;
8 pin B4 of 35 pin P04 linking number weighted-voltage D/A converters 27 of micro controller system 31;
7 pin B3 of 34 pin P05 linking number weighted-voltage D/A converters 27 of micro controller system 31;
6 pin B2 of 33 pin P06 linking number weighted-voltage D/A converters 27 of micro controller system 31;
5 pin B1 of 32 pin P07 linking number weighted-voltage D/A converters 27 of micro controller system 31;
2 pin of 4 pin concatenation operation amplifiers 28 of D and A converter 27;
3 pin of 2 pin concatenation operation amplifiers 28 of D and A converter 27;
6 pin of op amp 28 are analog signal output.
［ 5 ］ mechanical part of sensor and sensing element structural relation: the mechanical part of sensor comprises chain drum 1, and the sensing element of sensor comprises a plurality of permanent magnets 2, Hall 3, micro controller system 31, D and A converter 27 and op amp 28; Hall 3, micro controller system 31, D and A converter 27 and 28 4 electronic components of op amp of linking to each other successively in the sensing element are located on the circuit card 59; Hall 3 on the circuit card 59 is located at the magnetic flow that can experience permanent magnets 2, and Hall 3 can change the position of electric signal according to magnetic flux change output.Be located at Hall 3, micro controller system 31, D and A converter 27 and 28 4 electronic components of op amp of linking to each other successively on the circuit card 59; Help that these four electronic components are integrated, modularization, miniaturization, convenient whole unified being fixed on the vehicle frame 53 of these four electronic components.
Claims (6)
1. establish the morpet of many magnetic patch uneven distribution magnetic flux transducer on the chain drum; Comprise Electrical Bicycle and sensor; Be fixed with chain drum (1) on the axis of Electrical Bicycle (51); The two ends of axis (51) are fixed with stretcher (54) respectively, and axis (51) is outer to be with sleeve pipe (52), and sleeve pipe (52) is captiveed joint with the vehicle frame (53) of Electrical Bicycle; Battery on the Electrical Bicycle (55) connects electric machine controller (29), and electric machine controller (29) connects the motor (30) on the wheel; It is characterized in that:
The structure of sensor and the annexation of parts are following:
Sensor comprises bonded assembly sensitive member, power-assisted model treater (21), D and A converter (27) and op amp (28) successively;
［ 1 ］ sensitive member is the element that becomes the rotational motion of chain drum (1) square-wave signal output;
Comprise that sensitive member comprises chain drum (1) and many pieces of permanent magnets (2); Be set with many pieces of permanent magnets (2) on the chain drum (1); The rounded equably track of these many pieces of permanent magnets (2) distributes, and promptly every piece of permanent magnets (2) is identical to the distance between identical, the adjacent two pieces of permanent magnets of distance (2) at circle center, circular rail trace (5) place; In certain one side of chain drum (1), the magnetic polarity of adjacent two pieces of permanent magnets (2) is opposite, and promptly 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 chain drum (1) Have at least the magnetic flow of two pieces of permanent magnets (2) inequality;
Also comprise a Hall (3), Hall (3) is positioned at certain one side of chain drum (1), and Hall (3) is located at the position that also can experience permanent magnets (2) magnetic flow near permanent magnets (2), between Hall (3) and the permanent magnets (2) spacing is arranged; Hall (3) is the Hall that opposite magnetic polarities is produced the square wave output signal;
［ 2 ］ power-assisted model treater (21) is the signal form conv that becomes the digital signal that chain drum (1) rotates power-assisted model digital signal;
Power-assisted model treater (21) comprises analogue to digital conversion and crest recognizer (22), power-assisted starting point finder (23), magnetic patch revolution speed calculating device (24), power-assisted model memory device (25) and power-assisted Model Calculation device (26);
Analogue to digital conversion is connected with sensitive member with crest recognizer (22); The peak value of each square wave discerned the square-wave signal of Hall in the sensitive member (3) input by analogue to digital conversion and crest recognizer (22); Each square-wave signal is become different digital signals; Each square wave is marked, and analogue to digital conversion and crest recognizer (22) output mark have the magnetic patch motion digital signal of magnetic patch position order;
Analogue to digital conversion is connected with magnetic patch revolution speed calculating device (24) with power-assisted starting point finder (23) respectively with crest recognizer (22), and power-assisted starting point finder (23) is connected with magnetic patch revolution speed calculating device (24); Magnetic patch revolution speed calculating device (24) has the magnetic patch motion digital signal of magnetic patch position order to calculate the rotating speed of chain drum (1) with the mark of analogue to digital conversion and crest recognizer (22) input; And pass to power-assisted starting point finder (23) to the rotating speed digital signal of chain drum (1); Power-assisted starting point finder (23) has the magnetic patch motion digital signal of magnetic patch position order with mark; And these two signals of the rotating speed digital signal of chain drum (1) are confirmed the cooresponding some squares wave of power-assisted starting point under certain speed conditions, promptly definite power-assisted starting point magnetic patch;
Power-assisted starting point finder (23) all is connected with power-assisted Model Calculation device (26) respectively with magnetic patch revolution speed calculating device (24), and power-assisted model memory device (25) also is connected with power-assisted Model Calculation device (26); Power-assisted Model Calculation device (26) is with the power-assisted starting point magnetic patch of power-assisted starting point finder (23); Select a certain power-assisted pattern function in the power-assisted model memory device (25) with these two conditions of chain drum (1) rotating speed with magnetic patch revolution speed calculating device (24); And with power-assisted starting point magnetic patch and these two condition substitution power-assisted pattern functions of chain drum (1) rotating speed; Calculate the power-assisted model digital signal of these two conditions of being fit to, i.e. power-assisted Model Calculation device (26) output power-assisted model digital signal;
［ 3 ］ D and A converter (27) is the analog signal that converts power-assisted model digital signal on the power-assisted model;
Power-assisted Model Calculation device (26) is connected with D and A converter (27), and D and A converter (27) converts the power-assisted model digital signal of power-assisted Model Calculation device (26) to power-assisted model simulation signal;
［ 4 ］ op amp (28) is the power-assisted model simulation signal that converts the power-assisted model simulation signal of D and A converter (27) to the range of nominal tension;
The annexation of sensor and Electrical Bicycle is: Hall (3) is fixed on the position that can experience permanent magnets (2) magnetic flow on the vehicle frame (53) near permanent magnets (2), and the signal output lead of op amp in the sensor (28) is connected with the signal input part of the electric machine controller (29) of Electrical Bicycle.
2. establish the morpet of many magnetic patch uneven distribution magnetic flux transducer on the chain drum according to claim 1, it is characterized in that: also comprise thermally dependent resistor R6, thermally dependent resistor R6 is connected between the input end and mouth of op amp (28).
3. establish the morpet of many magnetic patch uneven distribution magnetic flux transducer on the chain drum according to claim 2, it is characterized in that: power-assisted model treater (21) is micro controller system (31), is connected with clock circuit (32) on the micro controller system (31);
The mechanical part of sensor and sensing element structural relation: the mechanical part of sensor comprises chain drum (1), and the sensing element of sensor comprises a plurality of permanent magnets (2), Hall (3), micro controller system (31), D and A converter (27) and op amp (28); Hall (3), micro controller system (31), D and A converter (27) and (28) four electronic components of op amp of linking to each other successively in the sensing element are located on the circuit card (59); The position that circuit card (59) is located on the vehicle frame (52) can make Hall (3) experience the magnetic flow of permanent magnets (2), and the position of circuit card (59) makes Hall (3) export electric signal according to the motion of permanent magnets (2).
4. establish the morpet of many magnetic patch uneven distribution magnetic flux transducer on the chain drum according to claim 3; It is characterized in that: Hall (3) is UGN3075; Power-assisted model treater (21) is AT89S52 micro controller system (31), and D and A converter (27) is ADC-C8E; Op amp (28) is OF-17F, is connected with thermally dependent resistor R6 between input end 2 pin of OF-17F op amp (28) and mouth 6 pin; Each parts annexation is following:
Signal output part 3 pin of Hall (3) connect 12 pin INTO ［ P32 ］ of micro controller system (31);
12 pin B8 of 39 pin P00 linking number weighted-voltage D/A converters (27) of micro controller system (31);
11 pin B7 of 38 pin P01 linking number weighted-voltage D/A converters (27) of micro controller system (31);
10 pin B6 of 37 pin P02 linking number weighted-voltage D/A converters (27) of micro controller system (31);
9 pin B5 of 36 pin P03 linking number weighted-voltage D/A converters (27) of micro controller system (31);
8 pin B4 of 35 pin P04 linking number weighted-voltage D/A converters (27) of micro controller system (31);
7 pin B3 of 34 pin P05 linking number weighted-voltage D/A converters (27) of micro controller system (31);
6 pin B2 of 33 pin P06 linking number weighted-voltage D/A converters (27) of micro controller system (31);
5 pin B1 of 32 pin P07 linking number weighted-voltage D/A converters (27) of micro controller system (31);
2 pin of 4 pin concatenation operation amplifiers (28) of D and A converter (27);
3 pin of 2 pin concatenation operation amplifiers (28) of D and A converter (27);
6 pin of op amp (28) are analog signal output.
5. according to the morpet of establishing many magnetic patch uneven distribution magnetic flux transducer on any one described chain drum of claim 1-4, it is characterized in that: Hall (3) is located between interior circular rail trace and the outer ring trajectory.
6. according to the morpet of establishing many magnetic patch uneven distribution magnetic flux transducer on any one described chain drum of claim 1-4, it is characterized in that: have at least the magnetic flow of one piece of permanent magnets (2) to be not equal to the magnetic flow of other any one piece of permanent magnets (2).
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| EP1612564A2 (en) * | 2001-09-11 | 2006-01-04 | Koyo Seiko Company, Ltd. | Magnetic pulser ring |
| US20080111511A1 (en) * | 2006-11-13 | 2008-05-15 | Matsushita Electric Industrial Co. Ltd. | Electric power-assist system for manually-operated vehicle |
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Effective date of registration: 20171218 Address after: 221600 east side of West Road of Peixian distillery in Xuzhou, Jiangsu Patentee after: Jiangsu Zhong Shui Guan Pai equipment Co., Ltd Address before: 610000, Sichuan District, Longquanyi City, Chengdu District Street, Jackie Chan Road, paragraph two, No. 888, Chengdu open area A10 (building) 3, No. 301 Co-patentee before: Huang Qiang Patentee before: Chengdu Kind Technology Co., Ltd. Co-patentee before: Gao Song Co-patentee before: Ouyang Yanxiong |
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