CN104129468A - Voltage differential assisted bicycle system with requirement of inputting gear signal and speed signal into differential distributor - Google Patents
Voltage differential assisted bicycle system with requirement of inputting gear signal and speed signal into differential distributor Download PDFInfo
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Abstract
The invention provides a voltage differential assisted bicycle system with the requirement of inputting a gear signal and a speed signal into a differential distributor, and belongs to an assisted bicycle power supply controller system for distributing the differential of a front wheel and a back wheel which are used for supplying assisted power in a differentiation manner. The system comprises two wheels and two motors of the assisted bicycle, manual gear signal controllers, and a differential distributor, wherein the differential distributor comprises three modules which are successively connected; the first module is used for comparing the values of an average speed signal IS of the bicycle and feedback control signal currents IA and IB; the second module is used for processing the data through a model function by utilizing a gear signal ID to select a model function; and the third module is used for obtaining the control data which comprise the four elements, such as the feedback control signal currents IA and IB, the gear signal ID, and the average speed signal IS of the bicycle through the controllers A and B. The system has the advantages that the front wheel, the back wheel and the two motors of the assisted bicycle are supplied with the power in a differentiation control manner, and the differentiation control is performed by previously processing set model function.
Description
Technical field
The assist controller system, particularly front wheel and the trailing wheel that the invention belongs to electric assisted bicycle are all given and the differential front-wheel for power-assisted electricity and trailing wheel difference distribution morpet power-supply controller system.
Background technology
The Chinese patent 201210011641.8 of Hunan Shengtong Technology Group Co.,Ltd's application has proposed a kind of double wheel hub motor driven systems adaptive equalization rotating direction control method, but the technical design of electronic differential application specific processor is not provided.
201110358020.2 1 kinds of double wheel hub motor electronic differentials of Chinese patent and the speed governing Centralized Controller of Hunan Shengtong Technology Group Co.,Ltd application, but there is no the specific design of electronic differential module.
Hitachi Co., Ltd 01122460.6 herein disclosed is a kind of change-speed box, and it comprises for the mechanism to many boxs of tricks by the energy distribution of a drive source; The many motors that are connected with described many boxs of tricks respectively; With the mechanism from the energy of described many boxs of tricks outputs for combination.But the specific design that there is no electronic differential module.
The Chinese patent 201210399458.X that Chengdu connection is risen the application of power control technology Co., Ltd discloses a kind of Double Motor Control device that has electronic differential function, but there is no the specific design of electronic differential module.
The multinomial Chinese patents such as Chinese patent 03123625.1 automatic shifting controller for bicycle of Shimano KK's application, are all the methods that machinery is controlled speed change, are not electron steering speed changes.
Summary of the invention
The object of this invention is to provide two key elements of front-wheel and trailing wheel dynamic stress, speed of a motor vehicle key element, and this four elements of power-assisted gear key element of manually setting determines that front-wheel and trailing wheel difference distribute the morpet power-supply controller system of power supply.And be not computing in is revised the control pattern function of powering of four elements, but four elements is removed minute, some key elements avoid participating in computing by the mode of preference pattern function, its pattern function is simplified, arithmetic speed is faster, can accomplish to revise the morpet difference power-supply controller system of front and back wheel coupling power supply in good time.
Structure of the present invention is:
Want all voltage difference boosted vehicle systems of input difference device of gear and speed signal, two wheels that comprise electric booster bicycle: wheel A and wheel B, and the motor A and the motor B that drives wheel B that drive wheel A, the shift signal manual mode controller 3 that comprises electric booster bicycle, it is characterized in that: also comprise differential distributing box 1, vehicle speed signal sensor 12 and average rate device 20; Vehicle speed signal sensor 12 is connected with average rate device 20, and average rate device 20 is the speed signal of vehicle speed signal sensor 12 in certain hour to be become to the signal processor of average velociity in this certain hour.
Between differential distributing box 1 and motor A, with controller A, be connected, controller A with differential distributing box 1 give with control signal control electrical source of power wheel A powered;
Between differential distributing box 1 and motor B, with controller B, be connected, controller B with differential distributing box 1 give with control signal control electrical source of power wheel B powered.
The current values comparator 9 of negate feedforward control signal electric current I A input differential distributing box 1 between motor A and controller A;
The current values comparator 9 of negate feedforward control signal electric current I B input differential distributing box 1 between motor B and controller B;
The current values comparator 9 of the shift signal ID input differential distributing box 1 of shift signal manual mode controller 3;
The current values comparator 9 of the car average rate signal IS input differential distributing box 1 of average rate device 20.
On morpet, shift signal manual mode controller 3 is exactly the gear rotary switc being fixed on handle-bar cross bar, and people is with the moving shift signal manual mode controller 3 of hand-screw, selects various from the car bumper position as automobile.The gear of morpet is stirred the transmitting ratio alternative pack machinery that bar itself is the physical construction relation of foot-operated chain drum and a plurality of gear multiplications of trailing wheel, in the present invention, shift signal manual mode controller 3 is electronicies package, and it is stirred gear the transmitting ratio selection mode of bar and by electronic signal, exports to the electronic unit that needs control.
On morpet, vehicle speed signal sensor 12 be fixed on morpet, experience this morpet moving velocity, output represents the sensor of speed of a motor vehicle electric signal.
The average velociity of average rate device 20 outputs is unsteady signals, the unsteady meaning is: if set average rate device 20, get front 5 seconds at that time with interior average velociity, the average velociity of latter a second will add this speed of latter one second and remove the speed of first the 6th second, calculates for 5 seconds with interior average velociity.The unsteady meaning is exactly that average velociity floats and changes with the speed of a motor vehicle at any time.
Differential distributing box 1 comprises three modules that are connected successively;
The first module is that car average rate signal IS, the feedback control signal electric current I A of average rate device 20 and feedback control signal electric current I B carry out numeric ratio and process to the original input signal for controlling;
The second module is chosen in the shift signal of shift signal manual mode controller 3 pattern function of having set in pattern function holder 11 data of the first module is carried out to pattern function processing;
The 3rd module processes to pattern function that to distribute to controlled electrical equipment be the key element that control data that controller A and controller B are obtained not only have feedback control signal electric current I A and feedback control signal electric current I B, also has the four elementses such as shift signal ID and car average rate signal IS.
The first module: three input ends of current values comparator 9 connect respectively car average rate signal IS, feedback control signal electric current I A and the feedback control signal electric current I B of average rate device 20; IS, IA and IB are respectively the original control current signals of received current digital comparator 9; Two mouths of current values comparator 9 connect respectively IA > IB difference model data handler 7 and IA < IB difference model data handler 8.
Its effect is; Current values comparator 9 is the two-way continually varying feedback control signal electric current I A of input, the digital signal that feedback control signal electric current I B becomes one group of difference value, with two kinds of vector signals a certain of obtaining IA > IB or IA < IB, the digital signal of this difference value adds the average rate signal IS value of getting on the bus and obtains the digital signal containing car average rate; By this, digital signal, IA, IB and the IA > IB vector signal containing car average rate is transferred to difference model data handler 7 to current values comparator 9, or digital signal, IA, IB and IA < IB vector signal that current values comparator 9 contains car average rate by this are transferred to difference model data handler 8; Containing the digital signal of car average rate under referred to as digital signal.
Current values comparator 9 use IA subtract IB, the plus or minus of its difference is as vector, and the absolute value of difference adds that the absolute value of car average rate signal IS of average rate device 20 is as the digital signal containing the speed of a motor vehicle, also referred to as digital signal, so digital signal is a value, is scalar.This is convenient at digital signal value identical, and vector is different, also can obtain different control model output, makes to control model and more can adapt to the needs of being controlled thing.
IA and IB are for controlling two target electric appliances, as electrical motor, or for controlling two current controling signals of two strong power controllers; Digital signal is the scalar numeric value that current values comparator 9 couples of IS, IA, IB carry out arithmetic processing, so digital signal can enter follow-up function numerical calculation as scalar, processes.Current controling signal IS, IA and IB not only can have size variation, can also direction change, but digital signal only have size variation.
A certain moment front and back wheel that feedback control signal electric current I A and IB represent morpet is strained condition respectively, and IA and IB are to give respectively different power matchings to the front and back wheel of strained condition this moment for controlled reset object.Car average rate signal IS represents the motoring condition of morpet in nearest very short time, while adding this key element object of car average rate signal IS to be to make morpet to run into the state that produces IA and IB, by difference, control the adjusting of boosted vehicle system, still make morpet keep producing that speed of a motor vehicle state of car average rate signal IS, reach and make speed of a motor vehicle held stationary, people feels comfortable object.Current controling signal IS, IA and IB send into differential distributing box 1 and carry out data processing, its differential distributing box 1 is exported to strong power controller A, the control voltage signal of B just can be realized when road makes the stressed variation of front and back wheel and the power of front and back wheel is not mated, differential distributing box 1 can be exported the control signal that the power of front and back wheel can be mated, make the power of front and back wheel can keep matchingly IS average uniform velocity pointed, both made respectively two motors power to front and back wheel output matching respectively, reach the front and back wheel object that average uniform velocity is travelled reposefully of morpet.
The second module: IA > IB difference model data handler 7 connects respectively current values comparator 9 and pattern function holder 11; And IA < IB difference model data handler 8 also connects respectively current values comparator 9 and pattern function holder 11.
Pattern function holder 11 also connects shift signal manual mode controller 3, the shift signal ID input model function holder 11 of shift signal manual mode controller 3, in pattern function holder 11, select in the pattern function input IA > IB difference model data handler 7 and input IA < IB difference model data handler 8 that belongs to some shift signal ID
Its effect is;
When IA > IB, start IA > IB difference model data handler 7, by the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, the IA > IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution shift signal ID selects, carry out calculation process; And by the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, the IA > IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution shift signal ID selects, carry out calculation process; The two groups of IA > IB type of two control use that acquisition is corresponding with IA and IB difference are controlled data, the IA that obtains IA > IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA > IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA > IB vector, digital signal n, IAn);
Y IBn=f(IA > IB vector, digital signal n, IBn).
Digital signal n and IAn are the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn are the control current signal value IBn about this same time point corresponding to some digital signal n.
Or, when IA < IB, start IA < IB difference model data handler 8, by the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, the IA < IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution shift signal ID selects, carry out calculation process; And by the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, the IA < IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution shift signal ID selects, carry out calculation process; The two groups of IA < IB type of two control use that acquisition is corresponding with IA and IB difference are controlled data, the IA that obtains IA < IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA < IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA < IB vector, digital signal n, IAn);
Y IBn=f(IA < IB vector, digital signal n, IBn).
Digital signal n and IAn are the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn are the control current signal value IBn about this same time point corresponding to some digital signal n.
Above-mentioned pattern function can be at identical vectorial sum digital signal value, when different I A and IB, obtains different one group of control signal y IAn and y IBn.In function y IAn, digital signal is implied with IBn and IS content, and IBn and ISn do not participate in pattern function calculating, make it more easily set up pattern function, or pattern function are fairly simple; And if without digital signal, directly with IA, IB, IS, be difficult for setting up very much pattern function, the pattern function of foundation is very complicated.In like manner, in function y IBn, digital signal is implied with IAn and IS content, is for simplifying the method that pattern function is drawn of setting up.
Shift signal ID does not participate in the calculating of pattern function like this, but has selected pattern function with shift signal ID,, in the result of calculation of pattern function, has shift signal ID key element, and ID is also the variable of pattern function.So more easily set up pattern function, computation speed is faster, is more conducive to mobile morpet to make in good time front and back wheel power configuration.
The 3rd module: the input end of data distributor 10 is connected with IA < IB difference model data handler 8 with IA > IB difference model data handler 7 respectively, the mouth of data distributor 10 is connected with D and A converter 16, and the mouth of D and A converter 16 is connected with strong power controller B with strong power controller A respectively; Realize the object of difference controller to strong power controller A and strong power controller B control.
Its effect is; Data distributor 10 is distributed to respectively strong power controller A and strong power controller B the y IAn of control data in groups and the y IBn of 7 inputs of IA > IB difference model data handler, or the y IAn of control data in groups and the y IBn of 8 inputs of IA < IB difference model data handler distribute to respectively strong power controller A and strong power controller B, be that y IAn distributes to strong power controller A, y IBn distributes to strong power controller B; D and A converter 16 is carried out respectively digital to analogy conversion the digital signal y IAn and the y IBn that distribute control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can be used, finally these two, control voltage signals and send two corresponding strong power controllers to.
Realize the shift signal ID of shift signal manual mode controller 3, the car average rate signal IS of average rate device 20, the difference that feedback control signal electric current I A and feedback control signal electric current I B carry out regulation pattern function by difference controller to strong power controller A and strong power controller B is controlled, when reaching front and back wheel and being subject to force unbalance, also can make the power of front and back wheel can keep matchingly within the scope of the gear of ID regulation, with IS average uniform velocity pointed, both made respectively two motors power to front and back wheel output matching respectively, reach the front and back wheel object that average uniform velocity is travelled reposefully of morpet.
Control in groups data y IAn and y IBn and contain that shift signal ID, car average rate signal IS, feedback control signal electric current I A and feedback control signal electric current I B calculate through pattern function, there is this morpet to travel gear, speed state to the integrated demand of powering, although front and back wheel different stressed variations in a flash in other words, but car can also keep original speed as far as possible, the speed of a motor vehicle can be steadily like this.
General trailing wheel is stressed many, and power supply is many, and front-wheel is stressed few, and power supply is few.For different car average rates, the difference size of powering how many is different again, so want ID, IS, IA and tetra-of IB to control former key element.The weight of people on morpet is constant, certain wheel of front-wheel or trailing wheel is stressed when large, power consumption electric current can increase at once, feedback control signal electric current also increases at once, the former difference relation of IA and IB is changed, new ID, IS, tetra-of IA and IB control former key element input difference and control boosted vehicle system, difference is controlled boosted vehicle system process and is controlled with these four the pattern function calculating that former key elements match, two of matching with these four controlling elements of output control voltage signals respectively to the motor of front-wheel and trailing wheel, even if make wheel A and wheel B stressed unequal, also can obtain the work of two motor couplings, two wheel balance motions, the effect that morpet held stationary speed is travelled.
Due to different electric controller A and strong power controller B, require the control voltage signal of different voltage ranges, D and A converter 16 is exactly according to different electric controller A and strong power controller B, and digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can be used.So D and A converter 16 is indispensable.
Can also be, IA > IB difference model data handler 7 is connected with data distributor 10 by corner parameter Processor 30 with IA < IB difference model data handler 8, and corner parameter Processor 30 is also connected with leading rotary angle transmitter 31.
The leading rotational angle of bicycle substantially can representative at the bicycle state stable in whether, if leading rotational angle has rotated the angles of 80 degree to 90 degree while comparing just forward, bicycle is in unstable motoring condition, at this moment feedback control signal electric current I A and IB are no matter be any signal, can not, again to motor power supply, must stop immediately motor to power.If leading rotational angle has rotated the angles of 30 degree to 80 degree than just forward time, feedback control signal electric current I A and IB require should increase and reduce the delivery to motor with leading rotational angle motor power supply.General leading rotational angle is at 0 degree during to the angle of 30 degree, and bicycle is that feedback control signal electric current I A and IB require the delivery of motor can, completely according to execution, not needed to revise in completely normal motoring condition.
For the speed of a motor vehicle that differential distributing box 1 controls and cyclist's body weight are matched, namely, under the condition of the same group of feedback control signal electric current I A changing and feedback control signal electric current I B, two control voltage signals that differential distributing box 1 is exported can change with cyclist's body weight difference.As controlled voltage signal with former two of should export of differential distributing box 1, be to match with 50 kilograms of body weights, when cyclist's body weight is 40 kilograms, control voltage signal and all reduce 20% for two of the 1 actual output of differential distributing box, or when cyclist's body weight is 70 kilograms, controls voltage signal and all reduce 40% for two of the 1 actual output of differential distributing box.Reaching the speed of a motor vehicle that differential distributing box 1 controls and cyclist's body weight matches.For achieving this end technical scheme, be: on the human body cushion of morpet, or on the elastomeric element being connected with cushion, pressure sensor is set, this pressure sensor is connected with the data distributor 10 in differential distributing box 1, the pressure signal of pressure sensor respectively in data distributor 10 two control voltage signal and carry out the processing that same ratio increase or same ratio reduce.
Advantage of the present invention: differential distributing box of the present invention can carry out the processing of digital model function to car average rate signal IS, feedback control signal electric current I A and the feedback control signal electric current I B of the shift signal ID of shift signal manual mode controller, average rate device, to will control two controlled things, two motors of front and back wheel of morpet carry out differential control power supply, and the content of differential control is exactly that the pattern function of setting is in advance processed.Namely differential distributing box Neng Dui tetra-road analog current signals of the present invention carry out pattern function and are processed into the independently voltage control signal output respectively of differential two-way, can Dui Si road analog signal add digital model function content, two motors of front and back wheel are distinguished and independently controlled power supply, also claim difference to control power supply.The work of two motor couplings of front and back wheel, both the strained condition that front and back wheel changes, two motors of front and back wheel mate to the power supply from different, reach front and back wheel velocity of rotation identical, and be to make morpet substantially keep being limited within the scope of gear by ID, form the state of the average velociity of IS.The people who rides on this morpet feels comfortably cool, the identical electric power of not wasting again of front and back wheel velocity of rotation.
By the shift signal ID value of shift signal manual mode controller 3, in pattern function holder, select to be applicable at first the pattern function of ID value, under identical IA and IB condition, the gear that morpet travels is different, and the control power-assisted effect that last difference is controlled the output of boosted vehicle system is different.Car average rate signal IS participates in pattern function and calculates, and makes the control signal of last output the speed of a motor vehicle can be controlled to the average velociity that produces IS.Even speed of a motor vehicle held stationary.
Difference of the present invention is controlled boosted vehicle system through ID, IS, IA and IB and these four the pattern function calculating that the former key element of control matches, output and these four two of controlling that former key elements match control voltage signals respectively to the motor of front-wheel and trailing wheel, even if make wheel A and wheel B stressed unequal, also can obtain the work of two motor couplings, the effect of two wheel balance motions.
In the situation that identical ID, IS, IA and tetra-of IB control former key elements is identical, as long as change the digital model function of setting, just can obtain the different control signal outputs of multiple artificial setting, solved by IA and two analog signals of IB and directly controlled two analog electronics, only have a kind of mode, can not adjust by human needs the shortcoming of mode.
Can infer the bicycle state stable in whether with leading rotational angle, and by the size of leading rotational angle, feedback control signal electric current I A and the desired difference delivery of IB that cycle racing state is produced are revised, to guarantee when bicycle plays pendulum, no longer bicycle is increased to labile factor, use morpet of the present invention more humane, safer.
Accompanying drawing explanation
Annexation and the signal of Fig. 1, each parts of differential distributing box of the present invention flow to schematic diagram;
Annexation and the signal of Fig. 2, each parts of the present invention flow to schematic diagram;
Fig. 3, there are annexation and the signal of each parts of differential distributing box of the present invention of corner parameter Processor to flow to schematic diagram;
Fig. 4, there are annexation and the signal of each parts of the present invention of leading rotary angle transmitter to flow to schematic diagram.
In figure, the 1st, differential distributing box, the 3rd, shift signal manual mode controller, the 7th, IA > IB difference model data handler, the 8th, IA < IB difference model data handler, the 9th, current values comparator, the 10th, data distributor, the 11st, pattern function holder, the 12nd, vehicle speed signal sensor, the 16th, D and A converter, the 20th, average rate device, the 30th, corner parameter Processor, the 31st, leading rotary angle transmitter.
The specific embodiment
Embodiment 1, want all voltage difference boosted vehicle systems of input difference device of gear and speed signal
As Fig. 1,2, two wheels that comprise electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and the motor B of driving wheel B, comprise the shift signal manual mode controller 3 of electric booster bicycle, also comprise differential distributing box 1, vehicle speed signal sensor 12 and average rate device 20; Vehicle speed signal sensor 12 is connected with average rate device 20, and average rate device 20 is the speed signal of vehicle speed signal sensor 12 in certain hour to be become to the signal processor of average velociity in this certain hour.
Between differential distributing box 1 and motor A, with controller A, be connected, controller A with differential distributing box 1 give with control signal control electrical source of power wheel A powered;
Between differential distributing box 1 and motor B, with controller B, be connected, controller B with differential distributing box 1 give with control signal control electrical source of power wheel B powered.
The current values comparator 9 of negate feedforward control signal electric current I A input differential distributing box 1 between motor A and controller A;
The current values comparator 9 of negate feedforward control signal electric current I B input differential distributing box 1 between motor B and controller B.
The current values comparator 9 of the shift signal ID input differential distributing box 1 of shift signal manual mode controller 3;
The current values comparator 9 of the car average rate signal IS input differential distributing box 1 of average rate device 20.
Differential distributing box 1 comprises three modules that are connected successively;
The first module is that car average rate signal IS, the feedback control signal electric current I A of average rate device 20 and feedback control signal electric current I B carry out numeric ratio and process to the original input signal for controlling;
The second module is chosen in the shift signal of shift signal manual mode controller 3 pattern function of having set in pattern function holder 11 data of the first module is carried out to pattern function processing;
The 3rd module processes to pattern function that to distribute to controlled electrical equipment be the key element that control data that controller A and controller B are obtained not only have feedback control signal electric current I A and feedback control signal electric current I B, also has the four elementses such as shift signal ID and car average rate signal IS.
The first module: three input ends of current values comparator 9 connect respectively car average rate signal IS, feedback control signal electric current I A and the feedback control signal electric current I B of average rate device 20; IS, IA and IB are respectively the original control current signals of received current digital comparator 9; Two mouths of current values comparator 9 connect respectively IA > IB difference model data handler 7 and IA < IB difference model data handler 8.
Its effect is; Current values comparator 9 is the two-way continually varying feedback control signal electric current I A of input, the digital signal that feedback control signal electric current I B becomes one group of difference value, with two kinds of vector signals a certain of obtaining IA > IB or IA < IB, the digital signal of this difference value adds the average rate signal IS value of getting on the bus and obtains the digital signal containing car average rate; By this, digital signal, IA, IB and the IA > IB vector signal containing car average rate is transferred to difference model data handler 7 to current values comparator 9, or digital signal, IA, IB and IA < IB vector signal that current values comparator 9 contains car average rate by this are transferred to difference model data handler 8; Containing the digital signal of car average rate under referred to as digital signal.
The second module: IA > IB difference model data handler 7 connects respectively current values comparator 9 and pattern function holder 11; And IA < IB difference model data handler 8 also connects respectively current values comparator 9 and pattern function holder 11.
Pattern function holder 11 also connects shift signal manual mode controller 3, the shift signal ID input model function holder 11 of shift signal manual mode controller 3 is selected in the pattern function input IA > IB difference model data handler 7 and input IA < IB difference model data handler 8 that belongs to some shift signal ID in pattern function holder 11.
Its effect is;
When IA > IB, start IA > IB difference model data handler 7, by the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, the IA > IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution shift signal ID selects, carry out calculation process; And by the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, the IA > IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution shift signal ID selects, carry out calculation process; The two groups of IA > IB type of two control use that acquisition is corresponding with IA and IB difference are controlled data, the IA that obtains IA > IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA > IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA > IB vector, digital signal n, IAn);
Y IBn=f(IA > IB vector, digital signal n, IBn).
Digital signal n and IAn are the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn are the control current signal value IBn about this same time point corresponding to some digital signal n.
Or, when IA < IB, start IA < IB difference model data handler 8, by the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, the IA < IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution shift signal ID selects, carry out calculation process; And by the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, the IA < IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution shift signal ID selects, carry out calculation process; The two groups of IA < IB type of two control use that acquisition is corresponding with IA and IB difference are controlled data, the IA that obtains IA < IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA < IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA < IB vector, digital signal n, IAn);
Y IBn=f(IA < IB vector, digital signal n, IBn).
Digital signal n and IAn are the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn are the control current signal value IBn about this same time point corresponding to some digital signal n.
The 3rd module: the input end of data distributor 10 is connected with IA < IB difference model data handler 8 with IA > IB difference model data handler 7 respectively, the mouth of data distributor 10 is connected with D and A converter 16, and the mouth of D and A converter 16 is connected with strong power controller B with strong power controller A respectively; Realize the object of difference controller to strong power controller A and strong power controller B control.
Its effect is; Data distributor 10 is distributed to respectively strong power controller A and strong power controller B the y IAn of control data in groups and the y IBn of 7 inputs of IA > IB difference model data handler, or the y IAn of control data in groups and the y IBn of 8 inputs of IA < IB difference model data handler distribute to respectively strong power controller A and strong power controller B, be that y IAn distributes to strong power controller A, y IBn distributes to strong power controller B; D and A converter 16 is carried out respectively digital to analogy conversion the digital signal y IAn and the y IBn that distribute control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can be used, finally these two, control voltage signals and send two corresponding strong power controllers to.
Realize the shift signal ID of shift signal manual mode controller 3, the car average rate signal IS of average rate device 20, the difference that feedback control signal electric current I A and feedback control signal electric current I B carry out regulation pattern function by difference controller to strong power controller A and strong power controller B is controlled, when reaching front and back wheel and being subject to force unbalance, also can make the power of front and back wheel can keep matchingly within the scope of the gear of ID regulation, with IS average uniform velocity pointed, both made respectively two motors power to front and back wheel output matching respectively, reach the front and back wheel object that average uniform velocity is travelled reposefully of morpet.
Embodiment 2, with corner parameter Processor, want all voltage difference boosted vehicle systems of input difference device of gear and speed signal
As Fig. 3,4, as the entire infrastructure of embodiment 1, and IA > IB difference model data handler 7 is connected with data distributor 10 by corner parameter Processor 30 with IA < IB difference model data handler 8, and corner parameter Processor 30 is also connected with leading rotary angle transmitter 31.
On the human body cushion of morpet, or on the elastomeric element being connected with cushion, pressure sensor is set, this pressure sensor is connected with the data distributor 10 in differential distributing box 1, the pressure signal of pressure sensor respectively in data distributor 10 two control voltage signal and carry out the processing that same ratio increase or same ratio reduce.
Claims (2)
1. want all voltage difference boosted vehicle systems of input difference device of gear and speed signal, two wheels that comprise electric booster bicycle: wheel A and wheel B, and the motor A and the motor B that drives wheel B that drive wheel A, the shift signal manual mode controller (3) that comprises electric booster bicycle, it is characterized in that: also comprise differential distributing box (1), vehicle speed signal sensor (12) and average rate device (20); Vehicle speed signal sensor (12) is connected with average rate device (20), and average rate device (20) is the speed signal of vehicle speed signal sensor (12) in certain hour to be become to the signal processor of average velociity in this certain hour;
Between differential distributing box (1) and motor A, with controller A, be connected, controller A with differential distributing box (1) give with control signal control electrical source of power wheel A powered;
Between differential distributing box (1) and motor B, with controller B, be connected, controller B with differential distributing box (1) give with control signal control electrical source of power wheel B powered;
The current values comparator (9) of negate feedforward control signal electric current I A input differential distributing box (1) between motor A and controller A;
The current values comparator (9) of negate feedforward control signal electric current I B input differential distributing box (1) between motor B and controller B;
The current values comparator (9) of the shift signal ID input differential distributing box (1) of shift signal manual mode controller (3);
The current values comparator (9) of the car average rate signal IS input differential distributing box (1) of average rate device (20);
Differential distributing box (1) comprises three modules that are connected successively;
The first module is that car average rate signal IS, the feedback control signal electric current I A of average rate device (20) and feedback control signal electric current I B carry out numeric ratio and process to the original input signal for controlling;
The shift signal ID of shift signal manual mode controller for the second module (3) is chosen in the pattern function of having set in pattern function holder (11) data of the first module is carried out to pattern function processing;
The 3rd module processes to pattern function that to distribute to controlled electrical equipment be the key element that control data that controller A and controller B are obtained not only have feedback control signal electric current I A and feedback control signal electric current I B, also has the four elementses such as shift signal ID and car average rate signal IS;
The first module: three input ends of current values comparator (9) connect respectively car average rate signal IS, feedback control signal electric current I A and the feedback control signal electric current I B of average rate device (20); IS, IA and IB are respectively the original control current signals of received current digital comparator (9); Two mouths of current values comparator (9) connect respectively IA > IB difference model data handler (7) and IA < IB difference model data handler (8);
Its effect is; Current values comparator (9) is the two-way continually varying feedback control signal electric current I A of input, the digital signal that feedback control signal electric current I B becomes one group of difference value, with two kinds of vector signals a certain of obtaining IA > IB or IA < IB, the digital signal of this difference value adds the average rate signal IS value of getting on the bus and obtains the digital signal containing car average rate; By this, digital signal, IA, IB and the IA > IB vector signal containing car average rate is transferred to difference model data handler (7) to current values comparator (9), or digital signal, IA, IB and IA < IB vector signal that current values comparator (9) contains car average rate by this are transferred to difference model data handler (8); Containing the digital signal of car average rate under referred to as digital signal;
The second module: IA > IB difference model data handler (7) connects respectively current values comparator (9) and pattern function holder (11); And IA < IB difference model data handler (8) also connects respectively current values comparator (9) and pattern function holder (11);
Pattern function holder (11) also connects shift signal manual mode controller (3), the shift signal ID input model function holder (11) of shift signal manual mode controller (3), in pattern function holder (11), select in the pattern function input IA > IB difference model data handler (7) and input IA < IB difference model data handler (8) that belongs to some shift signal ID
Its effect is;
When IA > IB, start IA > IB difference model data handler (7), by the digital signal data of current values comparator (9), the IA data corresponding with this digital signal, the IA > IB vector signal data of current values comparator (9) output, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder (11) that substitution shift signal ID selects, carry out calculation process; And by the digital signal data of current values comparator (9), the IB data corresponding with this digital signal data, the IA > IB vector signal data of current values comparator (9) output, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder (11) that substitution shift signal ID selects, carry out calculation process; The two groups of IA > IB type of two control use that acquisition is corresponding with IA and IB difference are controlled data, the IA that obtains IA > IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA > IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA > IB vector, digital signal n, IAn);
Y IBn=f(IA > IB vector, digital signal n, IBn);
Digital signal n and IAn are the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn are the control current signal value IBn about this same time point corresponding to some digital signal n;
Or, when IA < IB, start IA < IB difference model data handler (8), by the digital signal data of current values comparator (9), the IA data corresponding with this digital signal, the IA < IB vector signal data of current values comparator (9) output, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder (11) that substitution shift signal ID selects, carry out calculation process; And by the digital signal data of current values comparator (9), the IB data corresponding with this digital signal data, the IA < IB vector signal data of current values comparator (9) output, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder (11) that substitution shift signal ID selects, carry out calculation process; The two groups of IA < IB type of two control use that acquisition is corresponding with IA and IB difference are controlled data, the IA that obtains IA < IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA < IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA < IB vector, digital signal n, IAn);
Y IBn=f(IA < IB vector, digital signal n, IBn);
Digital signal n and IAn are the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn are the control current signal value IBn about this same time point corresponding to some digital signal n;
The 3rd module: the input end of data distributor (10) is connected with IA < IB difference model data handler (8) with IA > IB difference model data handler (7) respectively, the mouth of data distributor (10) is connected with D and A converter (16), and the mouth of D and A converter (16) is connected with strong power controller B with strong power controller A respectively; Realize the object of difference controller to strong power controller A and strong power controller B control;
Its effect is; Data distributor (10) is distributed to respectively strong power controller A and strong power controller B the y IAn of control data in groups and the y IBn of IA > IB difference model data handler (7) input, or the y IAn of control data in groups and the y IBn of IA < IB difference model data handler (8) input distribute to respectively strong power controller A and strong power controller B, be that y IAn distributes to strong power controller A, y IBn distributes to strong power controller B; D and A converter (16) is carried out respectively digital to analogy conversion the digital signal y IAn and the y IBn that distribute control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can be used, finally these two, control voltage signals and send two corresponding strong power controllers to;
Realize the shift signal ID of shift signal manual mode controller (3), the car average rate signal IS of average rate device (20), the difference that feedback control signal electric current I A and feedback control signal electric current I B carry out regulation pattern function by difference controller to strong power controller A and strong power controller B is controlled, when reaching front and back wheel and being subject to force unbalance, also can make the power of front and back wheel can keep matchingly within the scope of the gear of ID regulation, with IS average uniform velocity pointed, both made respectively two motors power to front and back wheel output matching respectively, reach the front and back wheel object that average uniform velocity is travelled reposefully of morpet.
2. all voltage difference boosted vehicle systems of input difference device of gear and speed signal of wanting according to claim 1, it is characterized in that: IA > IB difference model data handler (7) is connected with data distributor (10) by corner parameter Processor (30) with IA < IB difference model data handler (8), and corner parameter Processor (30) is also connected with leading rotary angle transmitter (31).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410408430.7A CN104129468A (en) | 2014-08-20 | 2014-08-20 | Voltage differential assisted bicycle system with requirement of inputting gear signal and speed signal into differential distributor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410408430.7A CN104129468A (en) | 2014-08-20 | 2014-08-20 | Voltage differential assisted bicycle system with requirement of inputting gear signal and speed signal into differential distributor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105836040A (en) * | 2015-03-21 | 2016-08-10 | 成都宽和科技有限责任公司 | Digital differential booster bike system with gear and speed signals input to differential mechanism |
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| CN101204956A (en) * | 2006-12-19 | 2008-06-25 | 比亚迪股份有限公司 | Motor vehicle drive agency and its shift speed change method |
| CN203996754U (en) * | 2014-08-20 | 2014-12-10 | 成都宽和科技有限责任公司 | Want all voltage difference boosted vehicle systems of input difference device of gear and speed signal |
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| CN101204956A (en) * | 2006-12-19 | 2008-06-25 | 比亚迪股份有限公司 | Motor vehicle drive agency and its shift speed change method |
| CN203996754U (en) * | 2014-08-20 | 2014-12-10 | 成都宽和科技有限责任公司 | Want all voltage difference boosted vehicle systems of input difference device of gear and speed signal |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105836040A (en) * | 2015-03-21 | 2016-08-10 | 成都宽和科技有限责任公司 | Digital differential booster bike system with gear and speed signals input to differential mechanism |
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