CN104149655B - Gear and rate signal is had all to add the voltage differential vehicle using motor system of processor - Google Patents
Gear and rate signal is had all to add the voltage differential vehicle using motor system of processor Download PDFInfo
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Abstract
The voltage differential vehicle using motor system that the present invention has gear and rate signal to add processor 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 include three modules that differential allotter, differential allotter include being sequentially connected；First couple of car average rate signal IS, feedback current IA and IB carry out numerical value comparison process；The data of second pair of the first module carry out pattern function process；Shift signal ID is inputted data distributor by the 3rd, and the control data making controller A and controller B obtain have feedback current IA and IB, the key element of shift signal ID.Advantage: carry out differential control power supply to taking turns two motors before and after moped, the content of differential control is exactly that the pattern function being previously set processes.
Description
Technical field
The invention belongs to the assist controller system of electric assisted bicycle, particularly front wheel and trailing wheel all give with
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 the Technology design of electronic differential application specific processor is not provided.
201110358020.2 1 kinds of double wheel hub motor electricity of the Chinese patent of Hunan Shengtong Technology Group Co., Ltd's application
Sub-differential 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 for by a driving
The energy in source distributes to the mechanism of many boxs of tricks;The many motors being connected with described many boxs of tricks respectively;Be used for
Mechanism in conjunction with the energy 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 dynamic Control Technology Co., Ltd. application discloses one
There is the Double Motor Control device of electronic differential function, but there is no the specific design of electronic differential module.
The multinomial China such as Chinese patent 03123625.1 automatic shifting controller for bicycle of Shimano KK's application
Patent, is all the method for Mechanical course speed change, is not Electronic Control speed change.
Summary of the invention
It is an object of the invention to provide two key elements of front wheels and rear wheels dynamic stress, speed key element, and manually set
Power-assisted this four elements of gear key element determines the moped power-supply controller system of front wheels and rear wheels difference distribution power supply.And
And be difference that two key elements of front wheels and rear wheels dynamic stress and speed key element are had calculated that by power-assisted gear key element, to be output
Distribution control signal, after carrying out calculating with alternate model function again, then the moped power-supply controller system exported.It is to help
Power gear key element carries out the moped power-supply controller system of post processing to control signal.
The structure of the present invention is:
Gear and rate signal is had all to add the voltage differential vehicle using motor system of processor, including the two of electric booster bicycle
Individual wheel: wheel A and wheel B, and drive the motor A of wheel A and drive the motor B of wheel B, including electric booster bicycle
Shift signal manual controller 3, it is characterised in that: also include differential allotter 1, GES sensor 12 and average rate device 20；
GES sensor 12 is connected with average rate device 20, and average rate device 20 is the speed letter of GES sensor 12 in certain time
Number become the signal processor of average speed in this certain time.
Be connected with controller A between differential allotter 1 with motor A, controller A with differential allotter 1 give with control letter
Number control electrical source of power wheel A is powered；
Be connected with controller B between differential allotter 1 with motor B, controller B with differential allotter 1 give with control letter
Number control electrical source of power wheel B is powered.
The current values negating feedforward control signal electric current IA input differential allotter 1 between motor A with controller A compares
Device 9；
The current values negating feedforward control signal electric current IB input differential allotter 1 between motor B with controller B compares
Device 9.
The current values comparator 9 of the shift signal ID input differential allotter 1 of shift signal manual controller 3；
The current values comparator 9 of the car average rate signal IS input differential allotter 1 of average rate device 20.
On moped, the gear rotation that shift signal manual controller 3 is just integrally fixed on handle-bar cross bar
Dynamic switch, people moves shift signal manual controller 3 with hand-screw, selects various as car bumper position as automobile.Moped
Gear stir the ratio selection parts that bar itself is foot-operated chain drum and the frame for movement relation of the multiple gear ratio of trailing wheel
Machinery, in the present invention, shift signal manual controller 3 is an electronic device, and it stirs the ratio selection of bar gear
State electronic signal exports to the electronic unit needing control.
On moped, GES sensor 12 is integrally fixed on moped experiences this moped row
Sail speed, output represent the sensor of the speed signal of telecommunication.
The average speed of average rate device 20 output is the signal floated, and floats and means that if setting average rate device 20 and taking at that time
First 5 seconds within average speed, the average speed of latter one second to add this speed of latter one second and remove first 6th second
Speed, the average speed within calculating 5 seconds.The floating meaning is exactly that average speed is at any time with speed floating change.
Differential allotter 1 includes three modules being sequentially connected；
First module is the car average rate signal IS of average rate device 20, feedback control signal to the original input signal for controlling
Electric current IA and feedback control signal electric current IB carries out numerical value comparison process；
The second module pattern function set carries out pattern function process to the data of the first module；
The shift signal ID of shift signal manual controller 3 is inputted the data distributor of differential allotter 1 by three module
10, pattern function is processed the control data will distributed to before controlled electrical equipment is controller A and controller B and enters respectively
Row adds the process of shift signal key element, and the control data making controller A and controller B obtain do not only have feedback control signal electricity
Stream IA and the key element of feedback control signal electric current IB, also have shift signal ID and the key element of car average rate signal IS.
First module: three inputs of current values comparator 9 connect the car average rate signal IS of average rate device 20, anti-respectively
Feedforward control signal electric current IA and feedback control signal electric current IB；IS, IA and IB are the former of input current digital comparator 9
Begin to control current signal；Two outfans of current values comparator 9 connect IA ＞ IB difference model data processor 7 He respectively
IA ＜ IB difference model data processor 8.
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, and certain of two kinds of vector signals of acquirement IA ＞ IB or IA ＜ IB
One, the digital signal of this difference value adds average rate signal IS value of getting on the bus and obtains the digital signal containing car average rate；Current values compares
This is transferred to difference model data processor 7, or electricity containing the digital signal of car average rate, IA, IB and IA ＞ IB vector signal by device 9
This is transferred at difference model data by stream digital comparator 9 containing the digital signal of car average rate, IA, IB and IA ＜ IB vector signal
Reason device 8；The lower referred to as digital signal of digital signal containing car average rate.
Current values comparator 9 subtracts IB with IA, and the plus or minus of its difference adds average rate device as vector, the absolute value of difference
The absolute value of the car average rate signal IS of 20 is as the digital signal containing speed, also referred to as digital signal, so digital signal is only
It 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,
Controlling model is made to 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 of two strong power controllers
Current controling signal；Digital signal is that current values comparator 9 carries out the scalar numeric value of arithmetic processing to IS, IA, IB, so number
Word signal can enter follow-up function value calculating as scalar and process.Current controling signal IS, IA and IB have been possible not only to greatly
Little change, it is also possible to direction changes, but digital signal only has size variation.
Feedback control signal electric current IA and IB represents a certain moment front and back wheel respectively stress of moped, IA and
IB is to give different power matchings respectively to taking turns before and after stress this moment for feedback control purpose.Car average rate signal
IS represents the transport condition in moped nearest very short time, adds car this key element purpose of average rate signal IS and is to make to help
When force bike runs into the state producing IA and IB, controlled the regulation of vehicle using motor system by difference, still make moped
Keep that speed state producing car average rate signal IS, reach to make speed held stationary, the purpose that people is comfortable on.Electric current control
Signal IS, IA and IB processed send into differential allotter 1 and carry out data process, and its differential allotter 1 exports to strong power controller A, B
The voltage signal that controls can be achieved with making the change of front and back wheel stress and when making the power of front and back wheel not mate, differential distributes when road
Device 1 can export the control signal making the power of front and back wheel to mate, and makes the power of front and back wheel can keep IS indication matchingly
To average uniform velocity, make two motors power respectively to front and back wheel output matching the most respectively, before reaching moped
The trailing wheel purpose that smoothly average uniform velocity travels.
Second module: IA ＞ IB difference model data processor 7 connects current values comparator 9 and pattern function storage respectively
Storage 11；And IA ＜ IB difference model data processor 8 connects current values comparator 9 and pattern function bin the most respectively
11。
Its effect is；
As IA ＞ IB, start IA ＞ IB difference model data processor 7, with the digital signal of current values comparator 9
Data IA data corresponding with this digital signal, the IA ＞ IB vector signal data of current values comparator 9, substitute into model letter
The pattern function mated with this digital signal and this vector signal stored in number bin 11 carries out calculation process；And use
IB data that the digital signal data of current values comparator 9 is corresponding with this digital signal data, current values comparator 9
IA ＞ IB vector signal data, substitute into mating with this digital signal and this vector signal of storing in pattern function bin 11
Pattern function carries out calculation process；The double group of IA ＞ IB type obtaining two controls the most corresponding with IA and IB controls number
According to, the IA i.e. obtaining IA ＞ IB controls data y IAn, and the IB of IA ＞ IB controls data y IBn, y IAn and y IBn the two
The data that subsequent module will use；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 with IAn is the control current signal value of this identical time point corresponding about some digital signal n
IAn；Digital signal n with IBn is control current signal value IBn of this identical time point corresponding about some digital signal n.
Or, as IA ＜ IB, start IA ＜ IB difference model data processor 8, by the numeral of current values comparator 9
IA data that signal data is corresponding with this digital signal, the IA ＜ IB vector signal data of current values comparator 9, substitute into mould
The pattern function mated with this digital signal and this vector signal stored in type function bin 11 carries out calculation process；And
And with the digital signal data of current values comparator 9 IB data corresponding with this digital signal data, current values comparator
The IA ＜ IB vector signal data of 9, substitute into pattern function bin 11 stores with this digital signal and this vector signal
The pattern function joined carries out calculation process；The double group of IA ＜ IB type obtaining two controls the most corresponding with IA and IB controls
Data, i.e. obtain IA ＜ IB IA control data y IAn, and IA ＜ IB IB control data y IBn, y IAn and y IBn this two
The data that individual subsequent module will use；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 with IAn is the control current signal value of this identical time point corresponding about some digital signal n
IAn；Digital signal n with IBn is control current signal value IBn of this identical time point corresponding about some digital signal n；
IAn and IBn is value of calculation, is digital signal.
Above-mentioned pattern function can be at identical vector sum digital signal value, during different IA and IB, it is thus achieved that one group of different controls
Signal y IAn and y IBn processed.In function y IAn, digital signal is implied with IBn and IS content, and IBn and ISn does not participates in
Pattern function calculates so that it is be easier to set up pattern function, or pattern function is fairly simple；And if without digital signal, directly
Connecing and be difficult to set up very much pattern function with IA, IB, IS, the pattern function of foundation is the most complicated.In like manner, in function y IBn, numeral letter
Number it is implied with IAn and IS content, is for simplifying the method setting up pattern function and draw.
Three module: the input of data distributor 10 respectively with pattern function bin 11, shift signal Non-follow control
Device 3, IA ＞ IB difference model data processor 7 and IA ＜ IB difference model data processor 8 connect, data distributor 10 defeated
Going out end to be connected with digital to analog converter 16, the outfan of digital to analog converter 16 is respectively with strong power controller A and strong power controller B even
Connect；Realize the purpose that strong power controller A and strong power controller B is controlled by difference controller.
Its effect is；The data distributor of the shift signal ID input differential allotter 1 of shift signal manual controller 3
10, pattern function is processed the control data will distributed to before controlled electrical equipment is controller A and controller B and enters respectively
Row adds the second time pattern function of shift signal ID key element and processes, and makes the control data that controller A and controller B obtains not only
There are feedback control signal electric current IA and the key element of feedback control signal electric current IB, also there is the key element of shift signal ID.
The y IAn of control data in groups that 10 IA ＞ IB difference model data processors 7 of data distributor input and y IBn
Become y IAnID and y IBnID after carrying out the pattern function process of addition shift signal ID key element respectively, then be respectively allocated to strong
Electric controller A and strong power controller B；Or IA ＜ IB difference model data processor 8 input the y IAn of control data in groups and
Y IBn carries out adding after the pattern function of shift signal ID key element processes respectively becomes y IAnID and y IBnID, then divides respectively
Dispensing strong power controller A and strong power controller B, i.e. y IAnID distributes to strong power controller A, then y IBnID distributes to forceful electric power control
Device B processed；Digital to analog converter 16 has distributed the digital signal y IAnID and y IBnID of control object and has carried out digital-to-analogue respectively
Conversion, is converted into, digital signal, the control voltage signal that strong power controller A and strong power controller B can use, finally this two
Individual control voltage signal sends two strong power controllers of correspondence to.
Realize the shift signal ID of shift signal manual controller 3, the car average rate signal IS of average rate device 20, feedback control letter
Strong power controller A and strong power controller B is specified by number electric current IA and feedback control signal electric current IB by difference controller
The difference of pattern function controls, and when reaching front and back wheel by force unbalance, the power of front and back wheel also can be made can to keep ID matchingly
In the range of the gear of regulation, with the average uniform velocity pointed by IS, make two motors respectively to front and back wheel output matching the most respectively
Power, take turns the purpose that smoothly average uniform velocity travels before and after reaching moped.
Controlling data y IAn and y IBn in groups is by car average rate signal IS, feedback control signal electric current IA and feedback control
Signal code IB calculates through pattern function, represents moped front and back wheel a certain speed moment difference stress to power supply
Demand, this moped does not travels integrated demand in this section, the integrated demand in this section be exactly power-assisted from
Driving travels in a certain gear condition.So the shift signal ID of shift signal manual controller 3 to be used is controlling data y in groups
IAn and y IBn calculates with alternate model function again, it is thus achieved that with y IAnID and y of control data in groups of gear element information
IBnID。
General trailing wheel stress is many, and power supply is many, and front-wheel stress is few, and power supply is few.For different car average rates, how many difference of powering
Size is the most different, so wanting ID, IS, IA and IB tetra-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, and feedback control signal electric current increases the most at once, IA and
The former difference relationship of IB is changed, and new ID, IS, IA and IB tetra-controls former key element input difference and control vehicle using motor system, poor
Sub-control vehicle using motor system is through controlling, with these four, the pattern function calculating that former key element matches, and output controls to want with these four
Two control voltage signals that element matches are respectively to the motor of front wheels and rear wheels, even if making wheel A and wheel B stress not phase
Deng, also can obtain two motor coupling work, two wheel balance motions, the effect that moped held stationary speed travels
Really.
Due to different electric controller A and strong power controller B, it is desirable to the control voltage signal of different voltage ranges, digital-to-analogue
Transducer 16 is exactly according to different electric controller A and strong power controller B, and digital signal is converted into strong power controller A with strong
The control voltage signal that electric controller B can use.So digital to analog converter 16 is indispensable.
It is also possible that IA ＞ IB difference model data processor 7 and IA ＜ IB difference model data processor 8 passes through corner
Parameter Processor 30 is connected with data distributor 10, and corner parameter Processor 30 is also connected with tap rotary angle transmitter 31.
The leading rotational angle of bicycle representative can be in the most stable state at bicycle substantially, if tap turns
Dynamic angle have rotated the angle of 80 degree to 90 degree than time the most forward, then bicycle is in unstable transport condition, at this moment feeds back control
Motor, regardless of signal, can not be powered by signal code IA and IB processed again, it is necessary to stops immediately powering motor.If
Tap rotational angle have rotated the angle of 30 degree to 80 degree than time the most forward, and feedback control signal electric current IA and IB requires to electricity
What machine was powered should increase with tap rotational angle and reduce the delivery to motor.General tap rotational angle is at 0 degree to 30
During the angle spent, bicycle is in the most normal transport condition, and feedback control signal electric current IA and IB requires to motor
Delivery can be fully according to execution, it is not necessary to revise.
In order to make speed that differential allotter 1 controlled match with the body weight of cyclist, namely change at same group
Feedback control signal electric current IA and feedback control signal electric current IB under conditions of, two controls that differential allotter 1 is exported
Voltage signal can change with the body weight difference of cyclist.As with former two the control voltage signals that should export of differential allotter 1
It is to match with 50 kilograms of body weights, when the body weight of cyclist is 40 kilograms, two controls of the actual output of differential allotter 1
Voltage signal processed all reduces 20%, or when the body weight of cyclist is 70 kilograms, two controls of the actual output of differential allotter 1
Voltage signal all reduces 40%.The body weight reaching speed that differential allotter 1 controlled and cyclist matches.For realizing this
Purpose technical scheme is: on the human body medicated cushion of moped, or arranges pressure biography on the elastomeric element being connected with medicated cushion
Sensor, this pressure transducer is connected with the data distributor 10 in differential allotter 1, and the pressure signal of pressure transducer is the most right
In data distributor 10, two control voltage signals carry out same ratio increase or the process of same ratio minimizing.
Advantages of the present invention: the differential allotter of the present invention can be to the shift signal ID of shift signal manual controller, all
Car average rate signal IS, feedback control signal electric current IA and the feedback control signal electric current IB of speed device are digitized at pattern function
Reason, to two controlled things to be controlled, takes turns two motors and carries out differential control power supply, differential control before and after moped
The content of system is exactly that the pattern function being previously set processes.The namely differential allotter Neng Dui tetra-road analog current letter of the present invention
Number carry out twice pattern function process respectively, it is thus achieved that have the voltage control signal output independently of differential two-way,
Four tunnel analogue signals can be added digital model function content, two motors of front and back wheel be carried out control independently and supplies
Electricity, also referred to as difference control power supply.Two motor coupling work of front and back wheel, the both stress of front and back wheel change, front and back wheel two
Motor mate to from different power supplies, reach front and back wheel velocity of rotation identical, and be to make moped substantially keep by ID
In the range of limited gear, form the state of the average speed of IS.The people ridden on this moped feels comfortably cool, front and back wheel
Velocity of rotation is identical does not the most waste electric power.
In function y IAn, it is implied with IBn, IS content, and IBn, IS do not participate in pattern function and calculate so that it is be easier to
Set up pattern function, or pattern function is fairly simple；And if without digital signal, being directly difficult to very much with IA, IB, IS set up mould
Type function, the pattern function of foundation is the most complicated.ID and the value of function y IAn, then calculate y with another pattern function
IAnID, adds shift signal ID in the control signal of output, and multiple variablees are decomposed in the side of twice pattern function calculating
Method, makes twice pattern function calculate having a bowel movement the most greatly, containing IA, IB, ID, IS key element in the control signal of last output, but
Setting up each pattern function and calculate and variable does not has four, being to simplify to set up pattern function, calculate speed faster, it is right to adapt to
The data that movement velocity is adjusted handle method well.
Difference of the present invention controls vehicle using motor system and controls, with these four, the mould that former key element matches through ID, IS, IA and IB
Type function calculates, and exports two the control voltage signals matched with these four the former key elements of control respectively to the electricity of front wheels and rear wheels
Machine, even if making wheel A and wheel B stress unequal, also can obtain two motor coupling work, the effect of two wheel balance motions
Really.
In the case of the former key element of identical ID, IS, IA and IB tetra-control is identical, as long as changing the digitized mould set
Type function, so that it may obtain the output of the multiple different control signals being manually set, solve by two analogue signals of IA and IB direct
Control two analog electronics, only a kind of control mode, it is impossible to the shortcoming adjusting control mode by human needs.
The most stable state can be in tap rotational angle presumption bicycle, and big with leading rotational angle
Little, the difference delivery required by feedback control signal electric current IA and IB produce cycling state is modified, with
Ensure when bicycle plays pendulum, no longer bicycle is increased unstable factor, use the power-assisted of the present invention voluntarily
Car is more humane, safer.
Accompanying drawing explanation
Fig. 1, the annexation of each parts of differential allotter 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 having each parts of differential allotter of the present invention of corner parameter Processor and signal flow to show
It is intended to；
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 differential allotter 1,3 be shift signal manual controller, 7 be IA ＞ IB difference model data process
Device, 8 be IA ＜ IB difference model data processor, 9 be current values comparator, 10 be data distributor, 11 be pattern function
Bin, 12 be GES sensor, 16 be digital to analog converter, 20 be average rate device, 30 be corner parameter Processor, 31 be dragon
Head rotary angle transmitter.
Detailed description of the invention
Embodiment 1, gear and rate signal is had all to add the voltage differential vehicle using motor system of processor
As Fig. 1,2, including two wheels of electric booster bicycle: wheel A and wheel B, and drive wheel A motor A
With the motor B of driving wheel B, including the shift signal manual controller 3 of electric booster bicycle, also include differential allotter 1, car
Speed signal transducer 12 and average rate device 20；GES sensor 12 is connected with average rate device 20, and average rate device 20 is certain time
The rate signal of interior GES sensor 12 becomes the signal processor of average speed in this certain time.
Be connected with controller A between differential allotter 1 with motor A, controller A with differential allotter 1 give with control letter
Number control electrical source of power wheel A is powered；
Be connected with controller B between differential allotter 1 with motor B, controller B with differential allotter 1 give with control letter
Number control electrical source of power wheel B is powered.
The current values negating feedforward control signal electric current IA input differential allotter 1 between motor A with controller A compares
Device 9；
The current values negating feedforward control signal electric current IB input differential allotter 1 between motor B with controller B compares
Device 9.
The current values comparator 9 of the shift signal ID input differential allotter 1 of shift signal manual controller 3；
The current values comparator 9 of the car average rate signal IS input differential allotter 1 of average rate device 20.
Differential allotter 1 includes three modules being sequentially connected；
First module is the car average rate signal IS of average rate device 20, feedback control signal to the original input signal for controlling
Electric current IA and feedback control signal electric current IB carries out numerical value comparison process；
The second module pattern function set carries out pattern function process to the data of the first module；
The shift signal ID of shift signal manual controller 3 is inputted the data distributor of differential allotter 1 by three module
10, pattern function is processed the control data will distributed to before controlled electrical equipment is controller A and controller B and enters respectively
Row adds the second time pattern function of shift signal key element and processes, and the control data making controller A and controller B obtain do not only have
Feedback control signal electric current IA and the key element of feedback control signal electric current IB, also have the key element of shift signal ID.
First module: three inputs of current values comparator 9 connect the car average rate signal IS of average rate device 20, anti-respectively
Feedforward control signal electric current IA and feedback control signal electric current IB；IS, IA and IB are the former of input current digital comparator 9
Begin to control current signal；Two outfans of current values comparator 9 connect IA ＞ IB difference model data processor 7 He respectively
IA ＜ IB difference model data processor 8.
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, and certain of two kinds of vector signals of acquirement IA ＞ IB or IA ＜ IB
One, the digital signal of this difference value adds average rate signal IS value of getting on the bus and obtains the digital signal containing car average rate；Current values compares
This is transferred to difference model data processor 7, or electricity containing the digital signal of car average rate, IA, IB and IA ＞ IB vector signal by device 9
This is transferred at difference model data by stream digital comparator 9 containing the digital signal of car average rate, IA, IB and IA ＜ IB vector signal
Reason device 8；The lower referred to as digital signal of digital signal containing car average rate.
Second module: IA ＞ IB difference model data processor 7 connects current values comparator 9 and pattern function storage respectively
Storage 11；And IA ＜ IB difference model data processor 8 connects current values comparator 9 and pattern function bin the most respectively
11。
Its effect is；
As IA ＞ IB, start IA ＞ IB difference model data processor 7, with the digital signal of current values comparator 9
Data IA data corresponding with this digital signal, the IA ＞ IB vector signal data of current values comparator 9, substitute into model letter
The pattern function mated with this digital signal and this vector signal stored in number bin 11 carries out calculation process；And use
IB data that the digital signal data of current values comparator 9 is corresponding with this digital signal data, current values comparator 9
IA ＞ IB vector signal data, substitute into mating with this digital signal and this vector signal of storing in pattern function bin 11
Pattern function carries out calculation process；The double group of IA ＞ IB type obtaining two controls the most corresponding with IA and IB controls number
According to, the IA i.e. obtaining IA ＞ IB controls data y IAn, and the IB of IA ＞ IB controls data y IBn, y IAn and y IBn the two
The data that subsequent module will use；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 with IAn is the control current signal value of this identical time point corresponding about some digital signal n
IAn；Digital signal n with IBn is control current signal value IBn of this identical time point corresponding about some digital signal n.
Or, as IA ＜ IB, start IA ＜ IB difference model data processor 8, by the numeral of current values comparator 9
IA data that signal data is corresponding with this digital signal, the IA ＜ IB vector signal data of current values comparator 9, substitute into mould
The pattern function mated with this digital signal and this vector signal stored in type function bin 11 carries out calculation process；And
And with the digital signal data of current values comparator 9 IB data corresponding with this digital signal data, current values comparator
The IA ＜ IB vector signal data of 9, substitute into pattern function bin 11 stores with this digital signal and this vector signal
The pattern function joined carries out calculation process；The double group of IA ＜ IB type obtaining two controls the most corresponding with IA and IB controls
Data, i.e. obtain IA ＜ IB IA control data y IAn, and IA ＜ IB IB control data y IBn, y IAn and y IBn this two
The data that individual subsequent module will use；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 with IAn is the control current signal value of this identical time point corresponding about some digital signal n
IAn；Digital signal n with IBn is control current signal value IBn of this identical time point corresponding about some digital signal n；
IAn and IBn is value of calculation, is digital signal.
Three module: the input of data distributor 10 respectively with pattern function bin 11, shift signal Non-follow control
Device 3, IA ＞ IB difference model data processor 7 and IA ＜ IB difference model data processor 8 connect, data distributor 10 defeated
Going out end to be connected with digital to analog converter 16, the outfan of digital to analog converter 16 is respectively with strong power controller A and strong power controller B even
Connect；Realize the purpose that strong power controller A and strong power controller B is controlled by difference controller.
Its effect is；The data distributor of the shift signal ID input differential allotter 1 of shift signal manual controller 3
10, pattern function is processed the control data will distributed to before controlled electrical equipment is controller A and controller B and enters respectively
Row adds the pattern function of shift signal key element and processes, and the control data making controller A and controller B obtain the most only feed back control
Signal code IA processed and the key element of feedback control signal electric current IB, also have the key element of shift signal ID.
The y IAn of control data in groups that 10 IA ＞ IB difference model data processors 7 of data distributor input and y IBn
Become y IAnID and y IBnID after carrying out the pattern function process of addition shift signal ID key element respectively, then be respectively allocated to strong
Electric controller A and strong power controller B；Or IA ＜ IB difference model data processor 8 input the y IAn of control data in groups and
Y IBn carries out adding after the pattern function of shift signal ID key element processes respectively becomes y IAnID and y IBnID, then divides respectively
Dispensing strong power controller A and strong power controller B, i.e. y IAnID distributes to strong power controller A, then y IBnID distributes to forceful electric power control
Device B processed；Digital to analog converter 16 has distributed the digital signal y IAnID and y IBnID of control object and has carried out digital-to-analogue respectively
Conversion, is converted into, digital signal, the control voltage signal that strong power controller A and strong power controller B can use, finally this two
Individual control voltage signal sends two strong power controllers of correspondence to.
Realize the shift signal ID of shift signal manual controller 3, the car average rate signal IS of average rate device 20, feedback control letter
Strong power controller A and strong power controller B is specified by number electric current IA and feedback control signal electric current IB by difference controller
The difference of pattern function controls, and when reaching front and back wheel by force unbalance, the power of front and back wheel also can be made can to keep ID matchingly
In the range of the gear of regulation, with the average uniform velocity pointed by IS, make two motors respectively to front and back wheel output matching the most respectively
Power, take turns the purpose that smoothly average uniform velocity travels before and after reaching moped.
Embodiment 2, have gear and the rate signal of band corner parameter Processor all add the voltage differential power-assisted of processor
Car system
As Fig. 3,4, such as the entire infrastructure of embodiment 1, and 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 also with dragon
Head rotary angle transmitter 31 connects.
On the human body medicated cushion of moped, or pressure transducer is set on the elastomeric element being connected with medicated cushion, should
Pressure transducer is connected with the data distributor 10 in differential allotter 1, and data are divided by the pressure signal of pressure transducer respectively
In orchestration 10, two control voltage signals carry out same ratio increase or the process of same ratio minimizing.
Claims (2)
1. there are gear and rate signal all to add the voltage differential vehicle using motor system of processor, including two of electric booster bicycle
Wheel: wheel A and wheel B, and drive the motor A of wheel A and drive the motor B of wheel B, including the gear of electric booster bicycle
Position signalman's movement controller (3), it is characterised in that: also include differential allotter (1), GES sensor (12) and average rate device
(20)；GES sensor (12) is connected with average rate device (20), and average rate device (20) is that GES in certain time is sensed
The rate signal of device (12) becomes the signal processor of average speed in this certain time；
Be connected with controller A between differential allotter (1) and motor A, controller A with differential allotter (1) give with control letter
Number control electrical source of power wheel A is powered；
Be connected with controller B between differential allotter (1) and motor B, controller B with differential allotter (1) give with control letter
Number control electrical source of power wheel B is powered；
The current values comparator of feedforward control signal electric current IA input differential allotter (1) is negated between motor A and controller A
(9)；
The current values comparator of feedforward control signal electric current IB input differential allotter (1) is negated between motor B and controller B
(9)；
The current values comparator (9) of shift signal ID input differential allotter (1) of shift signal manual controller (3)；
The current values comparator (9) of car average rate signal IS input differential allotter (1) of average rate device (20)；
Differential allotter (1) includes three modules being sequentially connected；
First module is the car average rate signal IS of average rate device (20), feedback control signal electricity to the original input signal for controlling
Stream IA and feedback control signal electric current IB carries out numerical value comparison process；
The second module pattern function set carries out pattern function process to the data of the first module；
The shift signal ID of shift signal manual controller (3) is inputted the current values ratio of differential allotter (1) by three module
Relatively device (9), processing pattern function and will distributing to controlled electrical equipment is the control data before controller A and controller B
The second time pattern function carrying out adding shift signal key element respectively processes, and makes the control data that controller A and controller B obtains
Do not only have feedback control signal electric current IA and the key element of feedback control signal electric current IB, also there is the key element of shift signal ID；
First module: three inputs of current values comparator (9) connect the car average rate signal IS of average rate device (20), anti-respectively
Feedforward control signal electric current IA and feedback control signal electric current IB；IS, IA and IB are input current digital comparator (9)
Original control current signal；Two outfans of current values comparator (9) connect IA ＞ IB difference model data respectively and process
Device (7) and IA ＜ IB difference model data processor (8)；
Its effect is: current values comparator (9) is the two-way continually varying feedback control signal electric current IA of input, feedback control
Signal code IB processed becomes the digital signal of one group of difference value, and obtains two kinds of vector signals a certain of IA ＞ IB or IA ＜ IB
Kind, the digital signal of this difference value adds average rate signal IS value of getting on the bus and obtains the digital signal containing car average rate；Current values comparator
(9) this is transferred to difference model data processor (7) containing the digital signal of car average rate, IA, IB and IA ＞ IB vector signal, or
This is transferred to difference model number containing the digital signal of car average rate, IA, IB and IA ＜ IB vector signal by current values comparator (9)
According to processor (8)；The lower referred to as digital signal of digital signal containing car average rate；
Second module: IA ＞ IB difference model data processor (7) connects current values comparator (9) and pattern function storage respectively
Storage (11)；And IA ＜ IB difference model data processor (8) connects current values comparator (9) and pattern function the most respectively
Bin (11)；
Its effect is:
As IA ＞ IB, start IA ＞ IB difference model data processor (7), with the digital signal of current values comparator (9)
Data IA data corresponding with this digital signal, current values comparator (9) IA ＞ IB vector signal data, substitute into model letter
The pattern function mated with this digital signal and this vector signal stored in number bin (11) carries out calculation process；And
With 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 into pattern function bin (11) store with this digital signal and this vector signal
The pattern function of coupling carries out calculation process；Obtain IA ＞ IB type double group control of two controls the most corresponding with IA and IB
Data processed, i.e. obtain IA ＞ IB IA control data y IAn, and IA ＞ IB IB control data y IBn, y IAn and y IBn this
The data that two subsequent module will use；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 with IAn is control current signal value IAn about the corresponding identical time point of some digital signal n；Numeral
Signal n with IBn is control current signal value IBn about the corresponding identical time point of some digital signal n；
Or, as IA ＜ IB, start IA ＜ IB difference model data processor (8), by the numeral of current values comparator (9)
IA data that signal data is corresponding with this digital signal, current values comparator (9) IA ＜ IB vector signal data, substitute into mould
The pattern function mated with this digital signal and this vector signal stored in type function bin (11) carries out calculation process；
And with the digital signal data of current values comparator (9), the IB data corresponding with this digital signal data, current values ratio
Relatively device (9) IA ＜ IB vector signal data, substitute into pattern function bin (11) store with this digital signal and this vector
The pattern function of Signal Matching carries out calculation process；The IA ＜ IB type obtaining two controls the most corresponding with IA and IB is double
Group controls data, and the IA i.e. obtaining IA ＜ IB controls data y IAn, and the IB of IA ＜ IB controls data y IBn, y IAn and y
The data that IBn the two subsequent module will use；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 with IAn is control current signal value IAn about the corresponding identical time point of some digital signal n；Numeral
Signal n with IBn is control current signal value IBn about the corresponding identical time point of some digital signal n；IAn and IBn is meter
Calculation value, is digital signal；
Three module: the input of data distributor (10) respectively with pattern function bin (11), shift signal Non-follow control
Device (3), IA ＞ IB difference model data processor (7) and IA ＜ IB difference model data processor (8) connect, data distributor
(10) outfan is connected with digital to analog converter (16), the outfan of digital to analog converter (16) respectively with strong power controller A and strong
Electric controller B connects；Realize the purpose that strong power controller A and strong power controller B is controlled by differential allotter；
Its effect is: the current values of shift signal ID input differential allotter (1) of shift signal manual controller (3) compares
Device (9), processes, to pattern function, the control data will distributed to before controlled electrical equipment is controller A and controller B and divides
The pattern function not carrying out adding shift signal key element processes, and the control data making controller A and controller B obtain do not only have anti-
Feedforward control signal electric current IA and the key element of feedback control signal electric current IB, also have the key element of shift signal ID；
The y IAn of control data in groups that data distributor (10) inputs IA ＞ IB difference model data processor (7) and y IBn
Become y IAnID and y IBnID after carrying out the pattern function process of addition shift signal ID key element respectively, then be respectively allocated to strong
Electric controller A and strong power controller B；Or the y IAn of control data in groups that IA ＜ IB difference model data processor (8) inputs
Become y IAnID and y IBnID carry out the pattern function process of addition shift signal ID key element respectively with y IBn after, then distinguish
Distribute to strong power controller A and strong power controller B, i.e. y IAnID and distribute to strong power controller A, then y IBnID distributes to forceful electric power
Controller B；Digital to analog converter (16) is carried out the digital signal y IAnID and y IBnID having distributed control object respectively
Digital-to-analogue conversion, is converted into the control voltage signal that strong power controller A and strong power controller B can use, finally handle digital signal
The two controls voltage signal and sends two strong power controllers of correspondence to；
Realize the shift signal ID of shift signal manual controller (3), the car average rate signal IS of average rate device (20), feedback control letter
Strong power controller A and strong power controller B is specified by number electric current IA and feedback control signal electric current IB by differential allotter
The difference of pattern function controls, and when reaching front and back wheel by force unbalance, the power of front and back wheel also can be made can to keep ID matchingly
In the range of the gear of regulation, with the average uniform velocity pointed by IS, make two motors respectively to front and back wheel output matching the most respectively
Power, take turns the purpose that smoothly average uniform velocity travels before and after reaching moped.
The voltage differential vehicle using motor system having gear and rate signal all to add processor the most according to claim 1, its
It is characterised by: IA ＞ IB difference model data processor (7) and IA ＜ IB difference model data processor (8) is joined by corner
Number processor (30) is connected with data distributor (10), and corner parameter Processor (30) is also with tap rotary angle transmitter (31) even
Connect.
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| CN104149655B true CN104149655B (en) | 2016-11-23 |
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| EP0937600A2 (en) * | 1998-02-19 | 1999-08-25 | Hitachi, Ltd. | Hybrid transmission, vehicle and bicycle using the same |
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