CN104149650B - Shift signal processes the digital differential of output signal and controls force aid system - Google Patents
Shift signal processes the digital differential of output signal and controls force aid system Download PDFInfo
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Abstract
Shift signal of the present invention processes the digital differential control force aid system of output signal and belongs to the differential front wheels and rear wheels difference distribution moped power-supply controller system for power-assisted electricity。Including two wheels and two motors, the shift signal manual controller of electric booster bicycle, also including difference controller, difference controller includes three modules being sequentially connected；Original input signal feedback control signal electric current IA and the IB being used for controlling is carried out numerical value comparison process by the first module；The data of the first module are carried out pattern function process by the second module pattern function set；Three module, by the data distributor of the shift signal ID input difference controller of shift signal manual controller, makes controller A and the B control data obtained not only have feedback control signal, also has the key element of shift signal ID。Advantage: two motors of front and back wheel of moped are carried out differential control power supply, the content of differential control is exactly that the pattern function set in advance processes。
Description
Technical field
The invention belongs to the assist controller system, particularly front wheel of electric assisted bicycle and trailing wheel is all given and the differential front wheels and rear wheels difference distribution moped power-supply controller system for power-assisted electricity。
Background technology
The Chinese patent 201210011641.8 of Hunan Shengtong Technology Group Co., Ltd's application proposes a kind of double wheel hub motor driven systems adaptive equalization rotating direction control method, but does not provide the Technology design of electronic differential application specific processor。
201110358020.2 1 kinds of double wheel hub motor electronic differentials of Chinese patent of Hunan Shengtong Technology Group Co., Ltd's application and speed governing Centralized Controller, but there is no the specific design of electronic differential module。
Hitachi Co., Ltd 01122460.6 disclosed herein is a kind of variator, and it includes the mechanism for the energy of a drive source is distributed to many boxs of tricks;The many motors being connected with described many boxs of tricks respectively;With the mechanism for combining the energy from the output of described many boxs of tricks。But there is no the specific design of electronic differential module。
The Chinese patent 201210399458.X of Chengdu Lian Teng dynamic Control Technology Co., Ltd. application discloses a kind of Double Motor Control device having electronic differential function, but does not have 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 of Mechanical course speed change, are not Electronic Control speed changes。
Summary of the invention
It is an object of the invention to provide two key elements of front wheels and rear wheels dynamic stress, and the power-assisted gear key element these three key element manually set determines the moped power-supply controller system of front wheels and rear wheels difference distribution power supply。And after the difference distribution control signal being that two key elements of front wheels and rear wheels dynamic stress are had calculated that by power-assisted gear key element, to be output calculates with alternate model function again, then export the moped power-supply controller system of power-assisted signal。It it is power-assisted gear key element moped power-supply controller system that the control signal first obtained is reprocessed。
The structure of the present invention is:
Shift signal processes the digital differential of output signal and controls force aid system, it is characterized in that: include two wheels of electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and drive the motor B of wheel B, shift signal manual controller 3 including electric booster bicycle, it is characterized in that: also include difference controller 1
Be connected with controller A between difference controller 1 with motor A, controller A difference controller 1 give with control signal control electrical source of power wheel A powered；
Be connected with controller B between difference controller 1 with motor B, controller B difference controller 1 give with control signal control electrical source of power wheel B powered。
The current values comparator 9 of feedforward control signal electric current IA input difference controller 1 is negated between motor A and controller A；
The current values comparator 9 of feedforward control signal electric current IB input difference controller 1 is negated between motor B and controller B；
The data distributor 10 of the shift signal ID input difference controller 1 of shift signal manual controller 3。
On moped, shift signal manual controller 3 is just integrally fixed at the gear rotary switc on handle-bar cross bar, and people, with the dynamic shift signal manual controller 3 of hand-screw, selects various the same from car bumper position as automobile。The gear of moped stirs the ratio selection parts machinery that bar itself is foot-operated chain drum and the frame for movement relation of the multiple gear ratio of trailing wheel, in the present invention, shift signal manual controller 3 is an electronic device, and the ratio selection state electronic signal that it stirs bar gear exports to the electronic unit needing control。
Difference controller 1 includes three modules being sequentially connected；
Original input signal feedback control signal electric current IA for controlling and feedback control signal electric current IB is carried out numerical value comparison process by the first module；
The data of the first module are carried out pattern function process by the second module pattern function set；
Three module is by the data distributor 10 of the shift signal ID input difference controller 1 of shift signal manual controller 3, pattern function is processed the control data will distributed to before controlled electrical equipment is controller A and controller B and carries out adding the process of shift signal key element respectively, make controller A and the controller B control data obtained not only have the key element of feedback control signal electric current IA and feedback control signal electric current IB, also there is the key element of shift signal ID。
First module: two inputs of current values comparator 9 connect feedback control signal electric current IA and feedback control signal electric current IB respectively；IA and IB is the original control current signal of input current digital comparator 9 respectively；Two outfans of current values comparator 9 connect IA > IB difference model data processor 7 and IA < IB difference model data processor 8 respectively。
Its effect is；The two-way continually varying feedback control signal electric current IA of current values comparator 9 input, feedback control signal electric current IB becomes the digital signal of one group of difference value, a certain kind with the two kinds of vector signals obtaining IA > IB or IA < IB, current values comparator 9 is by the digital signal of this difference value, IA, IB and IA > IB vector signal is transferred to difference model data processor 7, or current values comparator 9 is by the digital signal of this difference value, IA, IB and IA < IB vector signal is transferred to difference model data processor 8；The digital signal of difference value under referred to as digital signal。
Current values comparator 9 subtracts IB with IA exactly, and the plus or minus of its difference is as vector, and the absolute value of difference is as digital signal, so digital signal is a value, is scalar。This is easy at digital signal value identical, and vector is different, it is also possible to obtain different Controlling model output, makes Controlling model be suitable for being controlled the needs of thing。
IA and IB is for controlling two target electric appliances, such as motor, or for controlling two current controling signals of two strong power controllers；Digital signal is that IA, IB are carried out the difference of reduction algorithms process by current values comparator 9, so digital signal can enter follow-up function value computing as scalar。Current controling signal IA and IB has been possible not only to size variation, it is also possible to direction changes, but digital signal only has size variation。
Second module: IA > IB difference model data processor 7 connects current values comparator 9 and pattern function bin 11 respectively；And IA < IB difference model data processor 8 also connects current values comparator 9 and pattern function bin 11 respectively。
Its effect is；
As IA > IB, start IA > IB difference model data processor 7, by the IA > IB vector signal data of the digital signal data of current values comparator 9 IA data corresponding with this digital signal, current values comparator 9, substitute in the function mated with this digital signal and this vector signal stored in pattern function bin 11 and carry out calculation process；And by the IA > IB vector signal data of the digital signal data of current values comparator 9 IB data corresponding with this digital signal data, current values comparator 9, substitute in the function mated with this digital signal and this vector signal stored in pattern function bin 11 and carry out calculation process；Obtain two the IA > IB type that the control double; two groups corresponding respectively with IA and IB and control data, namely the IA obtaining IA > IB controls data yIAn, the data that data yIBn, yIAn and yIBn the two subsequent module will use are controlled with the IB of IA > IB；Its function line of yIAn and yIBn is:
YIAn=f(IA > IB vector, digital signal n, IAn)；
YIBn=f(IA > IB vector, digital signal n, IBn)。
Above-mentioned the two is in the formula of a group, and digital signal subtracts the absolute value of IB equal to IA；
Digital signal n with IA corresponding control current signal value IAn；Digital signal n with IB corresponding control current signal value IBn。
Or, as IA < IB, start IA < IB difference model data processor 8, by the IA < IB vector signal data of the digital signal data of current values comparator 9 IA data corresponding with this digital signal, current values comparator 9, substitute in the function mated with this digital signal and this vector signal stored in pattern function bin 11 and carry out calculation process；And by the IA < IB vector signal data of the digital signal data of current values comparator 9 IB data corresponding with this digital signal data, current values comparator 9, substitute in the function mated with this digital signal and this vector signal stored in pattern function bin 11 and carry out calculation process；Obtain two the IA < IB type that the control double; two groups corresponding respectively with IA and IB and control data, namely the IA obtaining IA < IB controls data yIAn, the data that data yIBn, yIAn and yIBn the two subsequent module will use are controlled with the IB of IA < IB；Its function line of yIAn and yIBn is:
YIAn=f(IA < IB vector, digital signal n, IAn)；
YIBn=f(IA < IB vector, digital signal n, IBn)。
Above-mentioned the two is in the formula of a group, and digital signal subtracts the absolute value of IB equal to IA；
Digital signal n with IA corresponding control current signal value IAn；Digital signal n with IB corresponding control current signal value IBn；IAn and IBn is value of calculation, is digital signal。
Above-mentioned pattern function can at identical vector sum digital signal value, during different IA and IB, it is thus achieved that one group of different control signal yIAn and yIBn。Such as IAn=10 and IBn=5, digital signal=5；With IAn-1=20 and IBn-1=15, the Controlling model that these two groups of primary current signals of digital signal=5 obtain differs, and this can represent Controlling model the demand of IA and IB more accurately。In function yIAn, digital signal is implied with IBn content so that it is be easier to set up pattern function, or pattern function is fairly simple；And if without digital signal, directly very not easily set up pattern function with IA, IB, the pattern function of foundation is very complicated。In like manner, in function yIBn, digital signal is implied with IAn content, is for simplifying the method setting up pattern function and draw。
Three module: the input of data distributor 10 is connected with pattern function bin 11, shift signal manual controller 3, IA > IB difference model data processor 7 and IA < IB difference model data processor 8 respectively, the outfan of data distributor 10 is connected with data normalization transducer 16, and the outfan of data normalization transducer 16 is connected with strong power controller A and strong power controller B respectively；Realize difference controller to strong power controller A and the strong power controller B purpose controlled。
Its effect is；The data distributor 10 of the shift signal ID input difference controller 1 of shift signal manual controller 3, pattern function is processed the control data will distributed to before controlled electrical equipment is controller A and controller B and carries out adding the process of pattern function again of shift signal key element respectively, make controller A and the controller B control data obtained not only have the key element of feedback control signal electric current IA and feedback control signal electric current IB, also there is the key element of shift signal ID。
The pattern function of data yIAn and yIBn carries out adding respectively shift signal ID key element that what 10 IA > IB difference model data processors 7 of data distributor inputted control in groups becomes yIAnID and yIBnID after processing, then is respectively allocated to strong power controller A and strong power controller B；Or IA < IB difference model data processor 8 input in groups control data yIAn and yIBn respectively carry out add shift signal ID key element pattern function process after become yIAnID and yIBnID, it is respectively allocated to strong power controller A and strong power controller B again, namely yIAnID distributes to strong power controller A, then yIBnID distributes to strong power controller B；Data normalization transducer 16 has distributed digital signal yIAnID and the yIBnID of control object and has carried out data normalization respectively, the digital signal calculated is converted to strong power controller A and the strong power controller B control digital signal that can use, finally the two is controlled digital signal and send two strong power controllers of correspondence to。
Realize the shift signal ID of shift signal manual controller 3, feedback control signal electric current IA and feedback control signal electric current IB and by difference controller, strong power controller A and strong power controller B is carried out the difference control power supply of regulation pattern function, the power supply that wheel A and wheel B is provided different by electrical source of power of controlling well, even if making wheel A and wheel B stress unequal, also two motor coupling work can be obtained, the effect of two wheel balance motions。
Control data yIAn and yIBn feedback control signal electric current IA and feedback control signal electric current IB in groups to calculate through pattern function, the moped front and back wheel different stress demand to power supply in a flash can only be represented, this moped does not travel the integrated demand in this section, and the integrated demand in this section is exactly that moped travels in a certain gear condition。So being modified into yIAnID and the yIBnID of control data in groups with gear element information with the shift signal ID of shift signal manual controller 3 controlling data yIAn and yIBn in groups。
General trailing wheel stress is many, and power supply is many, and front-wheel stress is few, and power supply is few。For different gears, the difference size powering how many is different again, so wanting ID, IA and IB three to control former key element。People's weight on moped is constant, when front-wheel or certain wheel stress of trailing wheel are big, power consumption electric current can increase at once, feedback control signal electric current also increases at once, the former difference relationship of IA and IB is changed, new ID, IA and IB three controls former key element input difference and controls vehicle using motor system, difference controls vehicle using motor system through controlling, with these three, the pattern function calculating that former key element matches, two control digital signals that output and these three the former key elements of control match are respectively to the motor of front wheels and rear wheels, even if making wheel A and wheel B stress unequal, also two motor coupling work can be obtained, the effect of two wheel balance motions。
Due to different electric controller A and strong power controller B, require the control digital signal of different digital scope, data normalization transducer 16 is exactly according to different electric controller A and strong power controller B, and the digital signal calculated is converted to strong power controller A and the strong power controller B control digital signal that can use。So data normalization transducer 16 is indispensable。
All right, IA > IB difference model data processor 7 and IA < IB difference model data processor 8 are connected with data distributor 10 by corner parameter Processor 30, and corner parameter Processor 30 is also connected with tap rotary angle transmitter 31。
Whether stable the leading rotational angle of bicycle representative can be in state at bicycle substantially, if tap rotational angle have rotated the angle of 80 degree to 90 degree than time just forward, then bicycle is in unstable transport condition, at this moment feedback control signal electric current IA and IB is regardless of signal, again motor can not be powered, it is necessary to stop immediately motor is powered。If tap rotational angle have rotated the angle of 30 degree to 80 degree than time just forward, feedback control signal electric current IA and IB requires to reduce the delivery to motor with tap rotational angle increase to what motor was powered。General tap rotational angle is when the angle of 0 degree to 30 degree, and bicycle is in completely normally transport condition, and feedback control signal electric current IA and IB requirement is to can fully according to execution to the delivery of motor, it is not necessary to revise。
In order to make the body weight of speed that difference controller 1 controls and cyclist match, namely when the same group of feedback control signal electric current IA changed and feedback control signal electric current IB, two control digital signals that difference controller 1 exports can change with the body weight difference of cyclist。It is match with 50 kilograms of body weights as controlled digital signal with former two should exported of difference controller 1, when the body weight of cyclist is 40 kilograms, two of the actual output of difference controller 1 control digital signal and all reduce 20%, or when the body weight of cyclist is 70 kilograms, two of the actual output of difference controller 1 control digital signal and all reduce 40%。The body weight reaching speed that difference controller 1 controls and cyclist matches。For realizing this purpose technical scheme it is: on the human body medicated cushion of moped, or pressure transducer is set on the elastomeric element being connected with medicated cushion, this pressure transducer is connected with the data distributor 10 in difference controller 1, and the pressure signal of pressure transducer controls digital signal respectively and carries out same ratio increase or the process of same ratio minimizing in data distributor 10 two。
Advantages of the present invention: the shift signal ID of shift signal manual controller 3, feedback control signal electric current IA and feedback control signal electric current IB can be digitized pattern function and process by the difference controller 1 of the present invention, to two the controlled things to control, two motors of the front and back wheel of moped carry out differential control and power, and the content of differential control is exactly that the pattern function set in advance processes。Namely the difference controller Neng Dui tri-road analog current signal of the present invention carry out pattern function be processed into differential two-way independently digital controlled signal output, three two-way analogue signals can be added digital model function content, the control that two motors of front and back wheel are carried out independently is powered, and controls power supply also referred to as difference。Two motor coupling work of front and back wheel, both front and back wheel change stress, two motors of front and back wheel mate to from different power supplies, reach front and back wheel velocity of rotation identical, the people ridden on this moped feels comfortably cool, and front and back wheel velocity of rotation is identical does not waste again electric power。
IA and IB is calculated, with pattern function, data yIAn and the yIBn that controls in groups obtained at difference controller and processes control data yIAnID and yIBnID in groups with the shift signal ID of shift signal manual controller again by the present invention, namely control signal to be output is reprocessed, model data is calculated dispersion process, namely difference model data processor and data distributor two secondary data it is divided into process, the pattern function that the pattern function of twice process all processes than a secondary data is made more to simplify, total calculating speed is faster, it is more suitable for the front and back wheel power of moped in motion is made more in good time difference electric power to join and hold, make the moped that people rides at the volley more comfortable。
Difference of the present invention controls vehicle using motor system and controls, through ID, IA and IB and these three, the pattern function calculating that former key element matches, two control digital signals that output and these three the former key elements of control match are respectively to the motor of front wheels and rear wheels, even if making wheel A and wheel B stress unequal, also two motor coupling work can be obtained, the effect of two wheel balance motions。
When identical ID, IA and IB three control former key element identical, as long as changing the digital model function set, it is achieved with the output of the multiple different control signals being manually set, solve and directly control two analog electronics by two analogue signals of IA and IB, only a kind of control mode, it is impossible to by the shortcoming that human needs adjusts control mode。
Whether stable state can be in tap rotational angle presumption bicycle, and with tap rotational angle size, the difference delivery required by feedback control signal electric current IA and IB produce cycling state is modified, to ensure when bicycle plays pendulum, no longer bicycle is increased unstable factor, the moped using the present invention is more humane, safer。
Accompanying drawing explanation
Fig. 1, the annexation of each parts of difference controller of the present invention and signal flow to schematic diagram；
Annexation and the signal of each parts of Fig. 2, the present invention flow to schematic diagram；
Fig. 3, the annexation of each parts of difference controller of the present invention of corner parameter Processor and signal is had to flow to schematic diagram；
Fig. 4, the annexation of each parts of the present invention of leading rotary angle transmitter and signal is had to flow to schematic diagram。
In figure, 1 be difference controller, 3 be shift signal manual controller, 7 be IA > IB difference model data processor, 8 be IA < IB difference model data processor, 9 be current values comparator, 10 be data distributor, 11 be pattern function bin, 16 be data normalization transducer, 30 be corner parameter Processor, 31 be tap rotary angle transmitter。
Detailed description of the invention
Embodiment 1, shift signal process the digital differential of output signal and control force aid system
As Fig. 1,2, including two wheels of electric booster bicycle: wheel A and wheel B, and drive wheel A motor A and drive wheel B motor B, including the shift signal manual controller 3 of electric booster bicycle, also include difference controller 1,
Be connected with controller A between difference controller 1 with motor A, controller A difference controller 1 give with control signal control electrical source of power wheel A powered；
Be connected with controller B between difference controller 1 with motor B, controller B difference controller 1 give with control signal control electrical source of power wheel B powered。
The current values comparator 9 of feedforward control signal electric current IA input difference controller 1 is negated between motor A and controller A；
The current values comparator 9 of feedforward control signal electric current IB input difference controller 1 is negated between motor B and controller B；
The data distributor 10 of the shift signal ID input difference controller 1 of shift signal manual controller 3。
Difference controller 1 includes three modules being sequentially connected；
Original input signal feedback control signal electric current IA for controlling and feedback control signal electric current IB is carried out numerical value comparison process by the first module；
The data of the first module are carried out pattern function process by the second module pattern function set；
Three module is by the data distributor 10 of the shift signal ID input difference controller 1 of shift signal manual controller 3, pattern function is processed the control data will distributed to before controlled electrical equipment is controller A and controller B and carries out adding the process of shift signal key element respectively, make controller A and the controller B control data obtained not only have the key element of feedback control signal electric current IA and feedback control signal electric current IB, also there is the key element of shift signal ID。
First module: two inputs of current values comparator 9 connect feedback control signal electric current IA and feedback control signal electric current IB respectively；IA and IB is the original control current signal of input current digital comparator 9 respectively；Two outfans of current values comparator 9 connect IA > IB difference model data processor 7 and IA < IB difference model data processor 8 respectively。
Its effect is；The two-way continually varying feedback control signal electric current IA of current values comparator 9 input, feedback control signal electric current IB becomes the digital signal of one group of difference value, a certain kind with the two kinds of vector signals obtaining IA > IB or IA < IB, current values comparator 9 is by the digital signal of this difference value, IA, IB and IA > IB vector signal is transferred to difference model data processor 7, or current values comparator 9 is by the digital signal of this difference value, IA, IB and IA < IB vector signal is transferred to difference model data processor 8；The digital signal of difference value under referred to as digital signal。
Second module: IA > IB difference model data processor 7 connects current values comparator 9 and pattern function bin 11 respectively；And IA < IB difference model data processor 8 also connects current values comparator 9 and pattern function bin 11 respectively。
Its effect is；
As IA > IB, start IA > IB difference model data processor 7, by the IA > IB vector signal data of the digital signal data of current values comparator 9 IA data corresponding with this digital signal, current values comparator 9, substitute in the function mated with this digital signal and this vector signal stored in pattern function bin 11 and carry out calculation process；And by the IA > IB vector signal data of the digital signal data of current values comparator 9 IB data corresponding with this digital signal data, current values comparator 9, substitute in the function mated with this digital signal and this vector signal stored in pattern function bin 11 and carry out calculation process；Obtain two the IA > IB type that the control double; two groups corresponding respectively with IA and IB and control data, namely the IA obtaining IA > IB controls data yIAn, the data that data yIBn, yIAn and yIBn the two subsequent module will use are controlled with the IB of IA > IB；Its function line of yIAn and yIBn is:
YIAn=f(IA > IB vector, digital signal n, IAn)；
YIBn=f(IA > IB vector, digital signal n, IBn)。
Above-mentioned the two is in the formula of a group, and digital signal subtracts the absolute value of IB equal to IA。
Digital signal n with IA corresponding control current signal value IAn；Digital signal n with IB corresponding control current signal value IBn。
Or, as IA < IB, start IA < IB difference model data processor 8, by the IA < IB vector signal data of the digital signal data of current values comparator 9 IA data corresponding with this digital signal, current values comparator 9, substitute in the function mated with this digital signal and this vector signal stored in pattern function bin 11 and carry out calculation process；And by the IA < IB vector signal data of the digital signal data of current values comparator 9 IB data corresponding with this digital signal data, current values comparator 9, substitute in the function mated with this digital signal and this vector signal stored in pattern function bin 11 and carry out calculation process；Obtain two the IA < IB type that the control double; two groups corresponding respectively with IA and IB and control data, namely the IA obtaining IA < IB controls data yIAn, the data that data yIBn, yIAn and yIBn the two subsequent module will use are controlled with the IB of IA < IB；Its function line of yIAn and yIBn is:
YIAn=f(IA < IB vector, digital signal n, IAn)；
YIBn=f(IA < IB vector, digital signal n, IBn)。
Above-mentioned the two is in the formula of a group, and digital signal subtracts the absolute value of IB equal to IA。
Digital signal n with IA corresponding control current signal value IAn；Digital signal n with IB corresponding control current signal value IBn；IAn and IBn is value of calculation, is digital signal。
Three module: the input of data distributor 10 is connected with pattern function bin 11, shift signal manual controller 3, IA > IB difference model data processor 7 and IA < IB difference model data processor 8 respectively, the outfan of data distributor 10 is connected with data normalization transducer 16, and the outfan of data normalization transducer 16 is connected with strong power controller A and strong power controller B respectively；Realize difference controller to strong power controller A and the strong power controller B purpose controlled。
Its effect is；The data distributor 10 of the shift signal ID input difference controller 1 of shift signal manual controller 3, process carrying out IA, IB pattern function, the control data before controlled electrical equipment is controller A and controller B will be distributed to and carry out adding the process of pattern function again of shift signal key element respectively, make controller A and the controller B control data obtained not only have the key element of feedback control signal electric current IA and feedback control signal electric current IB, also there is the key element of shift signal ID。
The pattern function of data yIAn and yIBn carries out adding respectively shift signal ID key element that what 10 IA > IB difference model data processors 7 of data distributor inputted control in groups becomes yIAnID and yIBnID after processing, then is respectively allocated to strong power controller A and strong power controller B；Or IA < IB difference model data processor 8 input in groups control data yIAn and yIBn respectively carry out add shift signal ID key element pattern function process after become yIAnID and yIBnID, it is respectively allocated to strong power controller A and strong power controller B again, namely yIAnID distributes to strong power controller A, then yIBnID distributes to strong power controller B；Data normalization transducer 16 has distributed digital signal yIAnID and the yIBnID of control object and has carried out data normalization respectively, the digital signal calculated is converted to strong power controller A and the strong power controller B control digital signal that can use, finally the two is controlled digital signal and send two strong power controllers of correspondence to；
Realize the shift signal ID of shift signal manual controller 3, feedback control signal electric current IA and feedback control signal electric current IB and by difference controller, strong power controller A and strong power controller B is carried out the difference control power supply of regulation pattern function, the power supply that wheel A and wheel B is provided different by electrical source of power of controlling well, even if making wheel A and wheel B stress unequal, also two motor coupling work can be obtained, the effect of two wheel balance motions。
Embodiment 2, shift signal with corner parameter Processor process the digital differential of output signal and control force aid system
As Fig. 3,4, entire infrastructure such as embodiment 1, and IA > IB difference model data processor 7 and IA < IB difference model data processor 8 are connected with data distributor 10 by corner parameter Processor 30, corner parameter Processor 30 is also connected with tap rotary angle transmitter 31。
On the human body medicated cushion of moped, or pressure transducer is set on the elastomeric element being connected with medicated cushion, this pressure transducer is connected with the data distributor 10 in difference controller 1, and the pressure signal of pressure transducer controls digital signal respectively and carries out same ratio increase or the process of same ratio minimizing in data distributor 10 two。
Claims (2)
1. shift signal processes the digital differential control force aid system of output signal, two wheels including electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and drive the motor B of wheel B, shift signal manual controller (3) including electric booster bicycle, it is characterized in that: also include difference controller (1)
Be connected with controller A between difference controller (1) and motor A, controller A difference controller (1) give with control signal control electrical source of power wheel A is powered；
Be connected with controller B between difference controller (1) and motor B, controller B difference controller (1) give with control signal control electrical source of power wheel B is powered；
The current values comparator (9) of feedforward control signal electric current IA input difference controller (1) is negated between motor A and controller A；
The current values comparator (9) of feedforward control signal electric current IB input difference controller (1) is negated between motor B and controller B；
The data distributor (10) of shift signal ID input difference controller (1) of shift signal manual controller (3)；
Difference controller (1) includes three modules being sequentially connected；
Original input signal feedback control signal electric current IA for controlling and feedback control signal electric current IB is carried out numerical value comparison process by the first module；
The data of the first module are carried out pattern function process by the second module pattern function set；
Three module is by the data distributor (10) of shift signal ID input difference controller (1) of shift signal manual controller (3), pattern function is processed the control data will distributed to before controlled electrical equipment is controller A and controller B and carries out adding the process of shift signal key element respectively, make controller A and the controller B control data obtained not only have the key element of feedback control signal electric current IA and feedback control signal electric current IB, also there is the key element of shift signal ID；
First module: two inputs of current values comparator (9) connect feedback control signal electric current IA and feedback control signal electric current IB respectively；IA and IB is the original control current signal of input current digital comparator (9) respectively；Two outfans of current values comparator (9) connect IA > IB difference model data processor (7) and IA < IB difference model data processor (8) respectively；
Its effect is: current values comparator (9) is the two-way continually varying feedback control signal electric current IA of input, feedback control signal electric current IB becomes the digital signal of one group of difference value, a certain kind with the two kinds of vector signals obtaining IA > IB or IA < IB, current values comparator (9) is by the digital signal of this difference value, IA, IB and IA > IB vector signal is transferred to difference model data processor (7), or current values comparator (9) is by the digital signal of this difference value, IA, IB and IA < IB vector signal is transferred to difference model data processor (8)；The digital signal of difference value is hereinafter referred to as digital signal；
Second module: IA > IB difference model data processor (7) connects current values comparator (9) and pattern function bin (11) respectively；And IA < IB difference model data processor (8) also connects current values comparator (9) and pattern function bin (11) respectively；
Its effect is:
As IA > IB, start IA > IB difference model data processor (7), by the digital signal data of current values comparator (9) IA data corresponding with this digital signal, current values comparator (9) IA > IB vector signal data, substitute in the function mated with this digital signal and this vector signal stored in pattern function bin (11) and carry out calculation process；And by the digital signal data of current values comparator (9) IB data corresponding with this digital signal data, current values comparator (9) IA > IB vector signal data, substitute in the function mated with this digital signal and this vector signal stored in pattern function bin (11) and carry out calculation process；Obtain two the IA > IB type that the control double; two groups corresponding respectively with IA and IB and control data, namely the IA obtaining IA > IB controls data yIAn, the data that data yIBn, yIAn and yIBn the two subsequent module will use are controlled with the IB of IA > IB；Its function line of yIAn and yIBn is:
YIAn=f(IA > IB vector, digital signal n, IAn)；
YIBn=f(IA > IB vector, digital signal n, IBn)；
Above-mentioned the two is in the formula of a group, and digital signal subtracts the absolute value of IB equal to IA；
Digital signal n with IA corresponding control current signal value IAn；Digital signal n with IB corresponding control current signal value IBn；
Or, as IA < IB, start IA < IB difference model data processor (8), by the digital signal data of current values comparator (9) IA data corresponding with this digital signal, current values comparator (9) IA < IB vector signal data, substitute in the function mated with this digital signal and this vector signal stored in pattern function bin (11) and carry out calculation process；And by the digital signal data of current values comparator (9) IB data corresponding with this digital signal data, current values comparator (9) IA < IB vector signal data, substitute in the function mated with this digital signal and this vector signal stored in pattern function bin (11) and carry out calculation process；Obtain two the IA < IB type that the control double; two groups corresponding respectively with IA and IB and control data, namely the IA obtaining IA < IB controls data yIAn, the data that data yIBn, yIAn and yIBn the two subsequent module will use are controlled with the IB of IA < IB；Its function line of yIAn and yIBn is:
YIAn=f(IA < IB vector, digital signal n, IAn)；
YIBn=f(IA < IB vector, digital signal n, IBn)；
Above-mentioned the two is in the formula of a group, and digital signal subtracts the absolute value of IB equal to IA；
Digital signal n with IA corresponding control current signal value IAn；Digital signal n with IB corresponding control current signal value IBn；IAn and IBn is value of calculation, is digital signal；
Three module: the input of data distributor (10) is connected with pattern function bin (11), shift signal manual controller (3), IA > IB difference model data processor (7) and IA < IB difference model data processor (8) respectively, the outfan of data distributor (10) is connected with data normalization transducer (16), and the outfan of data normalization transducer (16) is connected with strong power controller A and strong power controller B respectively；Realize difference controller to strong power controller A and the strong power controller B purpose controlled；
Its effect is: the data distributor (10) of shift signal ID input difference controller (1) of shift signal manual controller (3), process carrying out IA, IB pattern function, the control data before controlled electrical equipment is controller A and controller B will be distributed to and carry out adding the process of pattern function again of shift signal key element respectively, make controller A and the controller B control data obtained not only have the key element of feedback control signal electric current IA and feedback control signal electric current IB, also there is the key element of shift signal ID；
Data yIAn and the yIBn that controls in groups that data distributor (10) inputs IA > IB difference model data processor (7) carries out respectively adding after the pattern function of shift signal ID key element processes and becomes yIAnID and yIBnID, then is respectively allocated to strong power controller A and strong power controller B；Or IA < IB difference model data processor (8) input in groups control data yIAn and yIBn respectively carry out add shift signal ID key element pattern function process after become yIAnID and yIBnID, it is respectively allocated to strong power controller A and strong power controller B again, namely yIAnID distributes to strong power controller A, then yIBnID distributes to strong power controller B；Data normalization transducer (16) carries out data normalization respectively digital signal yIAnID and the yIBnID distributing control object, the digital signal calculated is converted to strong power controller A and the strong power controller B control digital signal that can use, finally the two is controlled digital signal and send two strong power controllers of correspondence to；
Realize the shift signal ID of shift signal manual controller (3), feedback control signal electric current IA and feedback control signal electric current IB and by difference controller, strong power controller A and strong power controller B is carried out the difference control power supply of regulation pattern function, the power supply that wheel A and wheel B is provided different by electrical source of power of controlling well, even if making wheel A and wheel B stress unequal, also two motor coupling work can be obtained, the effect of two wheel balance motions。
2. shift signal according to claim 1 processes the digital differential control force aid system of output signal, it is characterized in that: IA > IB difference model data processor (7) and IA < IB difference model data processor (8) is connected with data distributor (10) by corner parameter Processor (30), corner parameter Processor (30) is also connected with tap rotary angle transmitter (31)。
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| US6367833B1 (en) * | 2000-09-13 | 2002-04-09 | Shimano, Inc. | Automatic shifting control device for a bicycle |
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| JP2003285657A (en) * | 1998-02-19 | 2003-10-07 | Hitachi Ltd | Transmission device, vehicle and bicycle using the same |
| CN103204180A (en) * | 2012-01-15 | 2013-07-17 | 湖南晟通科技集团有限公司 | Self-adaptive balance steering control method of double-hub motor driving system |
| CN102874129A (en) * | 2012-10-19 | 2013-01-16 | 成都联腾动力控制技术有限公司 | Double-motor controller with electronic differential function |
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Effective date of registration: 20171207 Address after: Fengxian County 221700 Jiangsu city of Xuzhou province Zhao Zhuang Zhen single Xifeng Road North Patentee after: JIANGSU HONGXUN ELECTRIC VEHICLE CO., LTD. Address before: 610000, Sichuan District, Longquanyi City, Chengdu District Street, Jackie Chan Road, paragraph two, No. 888, Chengdu open area A10 (building) 3, No. 301 Co-patentee before: Huang Qiang Patentee before: Chengdu Kind Technology Co., Ltd. Co-patentee before: Gao Song Co-patentee before: Ouyang Yanxiong |