CN104139826A - Voltage differential control moped system for gear signal feeding comparator - Google Patents
Voltage differential control moped system for gear signal feeding comparator Download PDFInfo
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Abstract
The invention discloses a voltage differential control moped system for a gear signal feeding comparator and belongs to a power supply controller system for differentially supplying assistance power for a power-assisted bicycle with parameters distributed to a front wheel and a rear wheel. The voltage differential control moped system for the gear signal feeding comparator comprises two wheels and two motors of an electric power-assisted bicycle, a manual gear signal controller and a differential controller, wherein the differential controller comprises three modules which are sequentially connected with one another; a first module is used for comparing values of a gear signal ID taken as an original input signal for controlling in the manual gear signal controller, feedback control signal current IA and feedback control signal IB; a second module is used for carrying out model function treatment on data of the first module by using a set model function; a third module is used for distributing the model function treatment to a controller A and a controller B which are taken as controlled electric appliances. The voltage differential control moped system for the gear signal feeding comparator has the advantages that the two motors of the front and rear wheels of the power-assisted bicycle are differentially controlled and powered; the differential control content is the predetermined model function treatment.
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; Mechanism with the energy in conjunction with from described many box of tricks outputs.But there is no the specific design of electronic differential module.
The Chinese patent 201210399458.X of Chengdu Lian Teng power control Technology Co., Ltd. application 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 a 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, and these three key elements of power-assisted gear key element of manually setting are determined the morpet power-supply controller system of front-wheel and trailing wheel differentiation distribution power supply.And be that power-assisted gear key element is only carried out pre-process to front-wheel and two key elements of trailing wheel dynamic stress, calculate and participate in control pattern function, reducing after the variable that participates in calculating, then pattern function few with variable, that simplify calculates the morpet difference power-supply controller system that difference distributes control signal; It is power-assisted gear key element is carried out pre-process mode morpet power-supply controller system to front-wheel and two key elements of trailing wheel dynamic stress.
Structure of the present invention is:
Shift signal adds the voltage difference of comparator to divide control boosted vehicle system, comprise two wheels of electric booster bicycle: wheel A and wheel B, and the motor B of the motor A of driving wheel A and driving wheel B, comprise the shift signal manual mode controller 3 of electric booster bicycle, it is characterized in that: also comprise difference controller 1
Between difference controller 1 and motor A, be connected with controller A, controller A with difference controller 1 give with control signal control electrical source of power wheel A is powered.
Between difference controller 1 and motor B, be connected with controller B, controller B with difference controller 1 give with control signal control electrical source of power wheel B is powered.
The current values comparator 9 of negate feedforward control signal electric current I A input difference controller 1 between motor A and controller A;
The current values comparator 9 of negate feedforward control signal electric current I B input difference controller 1 between motor B and controller B.
The current values comparator 9 of the shift signal ID input difference controller 1 of shift signal manual mode controller 3;
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 the multiple gear multiplications of trailing wheel, in the present invention, shift signal manual mode controller 3 is electronicies package, and the transmitting ratio selection mode electronic signal that it stirs bar gear is exported to the electronic unit that needs control.
Difference controller 1 comprises three modules that are connected successively;
The first module is to being that shift signal ID, the feedback control signal electric current I A of shift signal manual mode controller 3 and feedback control signal electric current I B carry out numeric ratio and process for the original input signal of controlling;
The second module is carried out pattern function processing with the pattern function of having set to the data of the first module;
The 3rd module to pattern function processing to distribute to controlled electrical equipment be controller A and controller B.
The first module: three input ends of current values comparator 9 connect respectively shift signal ID, feedback control signal electric current I A and the feedback control signal electric current I B of shift signal manual mode controller 3; Shift signal ID, 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 that shift signal ID value obtains the digital signal containing gear; This digital signal, IA, IB and IA > IB vector signal containing gear is transferred to difference model data handler 7 by current values comparator 9, or this digital signal, IA, IB and IA < IB vector signal containing gear is transferred to difference model data handler 8 by current values comparator 9; Containing the digital signal of gear 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 shift signal ID of shift signal manual mode controller 3 is as the digital signal containing gear, 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 the needs that model more can adapt to be 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 current values comparator 9 carries out arithmetic processing scalar numeric value to ID, IA, IB, so digital signal can enter follow-up function numerical calculation processing as scalar.Current controling signal ID, IA and IB not only can have size variation, can also direction change, but digital signal only have size variation.
Feedback control signal electric current I A and IB represent a certain moment front and back wheel strained condition respectively of morpet, 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.The people that shift signal ID representative drives this morpet requires this morpet to travel with certain basic demand, as shift signal ID represents that requiring speed per hour is 10-20 kilometer/hour, or 30-40 kilometer/hour travelled, or require to travel under the gradient condition at 4-10 degree.Shift signal ID is artificial setting, artificially changeable.Current controling signal ID, IA and IB send into difference controller 1 and carry out data processing, the control voltage signal that its difference controller 1 is exported to strong power controller A, B just can be embodied under the gear condition of artificial requirement, in the time that road makes the stressed variation of front and back wheel and the power of front and back wheel is not mated, difference controller 1 can be exported the control signal that the power of front and back wheel can be mated, make respectively two motors power to front and back wheel output matching respectively, reach the object of the front and back wheel smooth-ride 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.
Its effect is;
In the time of 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, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder 11, 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, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder 11, carry out calculation process; Acquisition and IA and the IB two group control of the IA > IB type data of two corresponding control use respectively, 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 of this same time point corresponding about some digital signal n; Digital signal n and IBn are the control current signal value IBn of this same time point corresponding about some digital signal n.
Or, in the time of 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, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder 11, 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, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder 11, carry out calculation process; Acquisition and IA and the IB two group control of the IA < IB type data of two corresponding control use respectively, 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 of this same time point corresponding about some digital signal n; Digital signal n and IBn are the control current signal value IBn of this same time point corresponding about some digital signal n; IAn and IBn are computing values, are digital signals.
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.As IAn=10 and IBn=5, digital signal=5; With IAn-1=20 and IBn-1=15, the control model that these two groups of primary current signals of digital signal=5 obtain is not identical, and this can represent control model the demand of IA and IB more accurately.In function y IAn, digital signal is implied with IBn content, make it more easily set up pattern function, or pattern function is fairly simple; And if without digital signal, be directly difficult for setting up very much pattern function with IA, IB, the pattern function of foundation is very complicated.In like manner, in function y IBn, digital signal is implied with IAn content, is for simplifying the method that pattern function is drawn of setting up.
The 3rd module: the input end of data distributor 10 is connected with IA > IB difference model data handler 7 and IA < IB difference model data handler 8 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 A and strong power controller B respectively; Realize difference controller to strong power controller A and strong power controller B, thereby control the object of morpet held stationary speed.
Its effect is; The y IAn of control data in groups and y IBn that data distributor 10 is inputted IA > IB difference model data handler 7 distribute to respectively strong power controller A and strong power controller B, or the y IAn of control data in groups and y IBn that IA < IB difference model data handler 8 is inputted 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 use, finally control voltage signals these two and send two corresponding strong power controllers to; Realize ID, IA and IB carry out regulation pattern function to strong power controller A and strong power controller B difference control by difference controller.
Shift signal ID, the feedback control signal electric current I A and the feedback control signal electric current I B that realize shift signal manual mode controller 3 carry out the difference control power supply of regulation pattern function to strong power controller A and strong power controller B by difference controller, the electrical source of power of controlling well provides different power supplies to wheel A and wheel B, 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 of morpet.
General trailing wheel is stressed many, and power supply is many, and front-wheel is stressed few, and power supply is few.For different gears, the difference size of powering how many is different again, so want ID, IA and tri-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, tri-of IA and IB control former key element input difference control boosted vehicle system, difference control boosted vehicle system process controls with these three the pattern function calculating that former key elements match, output is controlled former key elements match two and is controlled voltage signals respectively to the motor of front-wheel and trailing wheel with these three, 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.
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 use.So D and A converter 16 is indispensable.
All right, 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 increasing the delivery that reduce motor with leading rotational angle to 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 can be completely according to execution to the delivery of motor, do not need to revise in completely normal motoring condition.
For the speed of a motor vehicle that difference controller 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 difference controller 1 is exported can change with cyclist's body weight is different.To match with 50 kilograms of body weights as controlled voltage signal with former two of should export of difference controller 1, in the time that cyclist's body weight is 40 kilograms, control voltage signal and all reduce 20% for two of difference controller 1 actual output, or in the time that cyclist's body weight is 70 kilograms, controls voltage signal and all reduce 40% for two of difference controller 1 actual output.Reaching the speed of a motor vehicle that difference controller 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 difference controller 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: difference controller of the present invention can carry out the processing of digital model function to the shift signal ID of shift signal manual mode controller, feedback control signal electric current I A and feedback control signal electric current I B, 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 the pattern function processing of setting in advance.Namely difference controller Neng Dui tri-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 add digital model function content to three two-way analog signals, two motors of front and back wheel are distinguished and independently controlled power supply, also claim difference 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 from different power supply, reach front and back wheel velocity of rotation identical, 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.
Difference control boosted vehicle system of the present invention is through ID, IA and IB and these three the pattern function calculating that the former key element of control matches, output is controlled former key elements match two and is controlled voltage signals respectively to the motor of front-wheel and trailing wheel with these three, 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 case of tri-former key elements of control of identical ID, IA and IB are identical, as long as change the digital model function of setting, just can obtain the different control signal outputs of multiple artificial setting, solve by IA and directly two analog electronics of control of two analog signals of IB, 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 ensure in the time that bicycle plays pendulum, no longer bicycle is increased to labile factor, use morpet of the present invention more humane, safer.
Brief description of the drawings
Annexation and the signal of Fig. 1, the each parts of difference controller of the present invention flow to schematic diagram;
Annexation and the signal of Fig. 2, the each parts of the present invention flow to schematic diagram;
Fig. 3, there are annexation and the signal of the each parts of difference controller of the present invention of corner parameter Processor to flow to schematic diagram;
Fig. 4, there are annexation and the signal of the each parts of the present invention of leading rotary angle transmitter to flow to schematic diagram.
In figure, the 1st, difference controller, 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 16th, D and A converter, the 30th, corner parameter Processor, the 31st, leading rotary angle transmitter.
Detailed description of the invention
Embodiment 1, shift signal add the voltage difference of comparator to divide control boosted vehicle system
As Fig. 1,2, comprise two wheels of electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and the motor B of driving wheel B, and comprise the shift signal manual mode controller 3 of electric booster bicycle, also comprise difference controller 1,
Between difference controller 1 and motor A, be connected with controller A, controller A with difference controller 1 give with control signal control electrical source of power wheel A is powered.
Between difference controller 1 and motor B, be connected with controller B, controller B with difference controller 1 give with control signal control electrical source of power wheel B is powered;
The current values comparator 9 of negate feedforward control signal electric current I A input difference controller 1 between motor A and controller A;
The current values comparator 9 of negate feedforward control signal electric current I B input difference controller 1 between motor B and controller B;
The current values comparator 9 of the shift signal ID input difference controller 1 of shift signal manual mode controller 3.
Difference controller 1 comprises three modules that are connected successively;
The first module is to being that shift signal ID, the feedback control signal electric current I A of shift signal manual mode controller 3 and feedback control signal electric current I B carry out numeric ratio and process for the original input signal of controlling;
The second module is carried out pattern function processing with the pattern function of having set to the data of the first module;
The 3rd module to pattern function processing to distribute to controlled electrical equipment be controller A and controller B.
The first module: three input ends of current values comparator 9 connect respectively shift signal ID, feedback control signal electric current I A and the feedback control signal electric current I B of shift signal manual mode controller 3; ID, 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 that shift signal ID value obtains the digital signal containing gear; This digital signal, IA, IB and IA > IB vector signal containing gear is transferred to difference model data handler 7 by current values comparator 9, or this digital signal, IA, IB and IA < IB vector signal containing gear is transferred to difference model data handler 8 by current values comparator 9; Containing the digital signal of gear 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.
Its effect is;
In the time of 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, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder 11, 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, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder 11, carry out calculation process; Acquisition and IA and the IB two group control of the IA > IB type data of two corresponding control use respectively, 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 of this same time point corresponding about some digital signal n; Digital signal n and IBn are the control current signal value IBn of this same time point corresponding about some digital signal n.
Or, in the time of 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, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder 11, 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, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder 11, carry out calculation process; Acquisition and IA and the IB two group control of the IA < IB type data of two corresponding control use respectively, 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 of this same time point corresponding about some digital signal n; Digital signal n and IBn are the control current signal value IBn of this same time point corresponding about some digital signal n; IAn and IBn are computing values, are digital signals.
The 3rd module: the input end of data distributor 10 is connected with IA > IB difference model data handler 7 and IA < IB difference model data handler 8 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 A and strong power controller B respectively; Realize the object of difference controller to strong power controller A and strong power controller B control;
Its effect is; The y IAn of control data in groups and y IBn that data distributor 10 is inputted IA > IB difference model data handler 7 distribute to respectively strong power controller A and strong power controller B, or the y IAn of control data in groups and y IBn that IA < IB difference model data handler 8 is inputted 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 use, finally control voltage signals these two and send two corresponding strong power controllers to;
Shift signal ID, the feedback control signal electric current I A and the feedback control signal electric current I B that realize shift signal manual mode controller 3 carry out the difference control power supply of regulation pattern function to strong power controller A and strong power controller B by difference controller, the electrical source of power of controlling well provides different power supplies to wheel A and wheel B, 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.
Embodiment 2, add the voltage difference of comparator to divide with the shift signal of corner parameter Processor to control boosted vehicle system
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 difference controller 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. shift signal adds the voltage difference of comparator to divide control boosted vehicle system, comprise two wheels of electric booster bicycle: wheel A and wheel B, and the motor B of the motor A of driving wheel A and driving wheel B, comprise the shift signal manual mode controller (3) of electric booster bicycle, it is characterized in that: also comprise difference controller (1)
Between difference controller (1) and motor A, be connected with controller A, controller for A difference controller (1) give with control signal control electrical source of power wheel A is powered;
Between difference controller (1) and motor B, be connected with controller B, controller for B difference controller (1) give with control signal control electrical source of power wheel B is powered;
The current values comparator (9) of negate feedforward control signal electric current I A input difference controller (1) between motor A and controller A;
The current values comparator (9) of negate feedforward control signal electric current I B input difference controller (1) between motor B and controller B;
The current values comparator (9) of the shift signal ID input difference controller (1) of shift signal manual mode controller (3);
Difference controller (1) comprises three modules that are connected successively;
The first module is to being that shift signal ID, the feedback control signal electric current I A of shift signal manual mode controller (3) and feedback control signal electric current I B carry out numeric ratio and process for the original input signal of controlling;
The second module is carried out pattern function processing with the pattern function of having set to the data of the first module;
The 3rd module to pattern function processing to distribute to controlled electrical equipment be controller A and controller B;
The first module: three input ends of current values comparator (9) connect respectively shift signal ID, feedback control signal electric current I A and the feedback control signal electric current I B of shift signal manual mode controller (3); ID, 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 that shift signal ID value obtains the digital signal containing gear; This digital signal, IA, IB and IA > IB vector signal containing gear is transferred to difference model data handler (7) by current values comparator (9), or this digital signal, IA, IB and IA < IB vector signal containing gear is transferred to difference model data handler (8) by current values comparator (9); Containing the digital signal of gear 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);
Its effect is;
In the time of IA > IB, start IA > IB difference model data handler (7), by the digital signal data of current values comparator (9), IA data, current values comparator (9) IA > IB vector signal data corresponding with this digital signal, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder (11), carry out calculation process; And by the digital signal data of current values comparator (9), IB data, current values comparator (9) IA > IB vector signal data corresponding with this digital signal data, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder (11), carry out calculation process; Acquisition and IA and the IB two group control of the IA > IB type data of two corresponding control use respectively, 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 of this same time point corresponding about some digital signal n; Digital signal n and IBn are the control current signal value IBn of this same time point corresponding about some digital signal n;
Or, in the time of IA < IB, start IA < IB difference model data handler (8), by the digital signal data of current values comparator (9), IA data, current values comparator (9) IA < IB vector signal data corresponding with this digital signal, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder (11), carry out calculation process; And by the digital signal data of current values comparator (9), IB data, current values comparator (9) IA < IB vector signal data corresponding with this digital signal data, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder (11), carry out calculation process; Acquisition and IA and the IB two group control of the IA < IB type data of two corresponding control use respectively, 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 of this same time point corresponding about some digital signal n; Digital signal n and IBn are the control current signal value IBn of this same time point corresponding about some digital signal n; IAn and IBn are computing values, are digital signals;
The 3rd module: the input end of data distributor (10) is connected with IA > IB difference model data handler (7) and IA < IB difference model data handler (8) 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 A and strong power controller B 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 use, finally control voltage signals these two and send two corresponding strong power controllers to;
Shift signal ID, the feedback control signal electric current I A and the feedback control signal electric current I B that realize shift signal manual mode controller (3) carry out the difference control power supply of regulation pattern function to strong power controller A and strong power controller B by difference controller, the electrical source of power of controlling well provides different power supplies to wheel A and wheel B, 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.
2. shift signal according to claim 1 adds the voltage difference of comparator to divide control boosted vehicle system, 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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| CN109426162A (en) * | 2017-08-25 | 2019-03-05 | 中兴通讯股份有限公司 | A kind of interlocking method and device of electric car gear signal |
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