CN104149656A - Voltage differential control assisting system of model processor with speed signal added - Google Patents
Voltage differential control assisting system of model processor with speed signal added Download PDFInfo
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Abstract
The invention discloses a voltage differential control assisting system of a model processor with a speed signal added and belongs to a front wheel and rear wheel differential allocation type moped power supply controller system with a front wheel and a rear wheel supplied with assisting power differentially. The system comprises two wheels of an electric moped, two motors of the electric moped, a gear position signal manual controller and a differential distributor, wherein the differential distributor comprises three modules which are connected in sequence, the first module is used for conducting numeric comparison on original input signals for control, namely the feedback control signal current IA and the feedback control signal current IB, the second module is used for conducting model function processing on the data of the first module by means of a model function set in a model function storer and selected by a vehicle uniform velocity signal of a uniform velocity device, and the third module is used for allocating the processed model function to controlled electric devices, namely the controller A and the controller B. The system has the advantage that differential control power supply is conducted on the two motors of the front wheel and rear wheel of the moped, and the content of differential control is the processing of the preset model function.
Description
Technical field
The assist controller system, particularly front wheel and the trailing wheel that the invention belongs to electric assisted bicycle are all given and the differential front-wheel for power-assisted electricity and trailing wheel difference distribution morpet power-supply controller system.
Background technology
The Chinese patent 201210011641.8 of Hunan Shengtong Technology Group Co.,Ltd's application has proposed a kind of double wheel hub motor driven systems adaptive equalization rotating direction control method, but the technical design of electronic differential application specific processor is not provided.
201110358020.2 1 kinds of double wheel hub motor electronic differentials of Chinese patent and the speed governing Centralized Controller of Hunan Shengtong Technology Group Co.,Ltd application, but there is no the specific design of electronic differential module.
Hitachi Co., Ltd 01122460.6 herein disclosed is a kind of change-speed box, and it comprises for the mechanism to many boxs of tricks by the energy distribution of a drive source; The many motors that are connected with described many boxs of tricks respectively; Mechanism with the energy in conjunction with from described many box of tricks outputs.But there is no the specific design of electronic differential module.
The Chinese patent 201210399458.X of Chengdu Lian Teng power control Technology Co., Ltd. application discloses a kind of Double Motor Control device that has electronic differential function, but there is no the specific design of electronic differential module.
The multinomial Chinese patents such as Chinese patent 03123625.1 automatic shifting controller for bicycle of Shimano KK's application, are all the methods that machinery is controlled speed change, are not electron steering speed changes.
Summary of the invention
The object of this invention is to provide two key elements of front-wheel and trailing wheel dynamic stress, and these three key elements of the boosted vehicle average rate key element of the speed of a motor vehicle determine that front-wheel and trailing wheel difference distribute the morpet power-supply controller system of power supply.And be that speed of a motor vehicle key element is selected control pattern function, speed of a motor vehicle key element does not participate in pattern function and calculates, only two key elements of front-wheel and trailing wheel dynamic stress are calculated with controlling pattern function, and pattern function is simplified, the morpet difference power-supply controller system that computation speed is fast.
Structure of the present invention is:
Speed signal adds the voltage difference of model treater to divide control force aid system, it is characterized in that: two wheels that comprise electric booster bicycle: wheel A and wheel B, and the motor B of the motor A of driving wheel A and driving wheel B, the average rate device 20 that comprises electric booster bicycle, is characterized in that: also comprise differential distributing box 1, vehicle speed signal sensor 12 and average rate device 20; Vehicle speed signal sensor 12 is connected with average rate device 20, and average rate device 20 is the signal processors that the speed signal of vehicle speed signal sensor 12 in certain hour become to average velociity in this certain hour.
Between differential distributing box 1 and motor A, be connected with controller A, controller A with differential distributing box 1 give with control signal control electrical source of power wheel A is powered;
Between differential distributing box 1 and motor B, be connected with controller B, controller B with differential distributing box 1 give with control signal control electrical source of power wheel B is powered;
The current values comparator 9 of negate feedforward control signal electric current I A input differential distributing box 1 between motor A and controller A;
The current values comparator 9 of negate feedforward control signal electric current I B input differential distributing box 1 between motor B and controller B;
The pattern function holder 11 of the car average rate signal IS input differential distributing box 1 of average rate device 20.
On morpet, vehicle speed signal sensor 12 be fixed on morpet, experience this morpet moving velocity, output represents the sensor of speed of a motor vehicle electric signal.
The average velociity that average rate device 20 is exported is unsteady signal, the unsteady meaning is: get front 5 seconds at that time with interior average velociity if set average rate device 20, the average velociity of latter a second will add this speed of latter one second and the speed removed first the 6th second will calculate for 5 seconds with interior average velociity.The unsteady meaning is exactly that average velociity floats and changes with the speed of a motor vehicle at any time.
Differential distributing box 1 comprises three modules that are connected successively;
The first module is carried out numeric ratio to the original input signal feedback control signal electric current I A for controlling and feedback control signal electric current I B and is processed;
The second module is chosen in the car average rate signal of average rate device 20 pattern function of having set in pattern function holder 11 data of the first module is carried out to pattern function processing;
The 3rd module to pattern function processing to distribute to controlled electrical equipment be controller A and controller B.
The first module: two input ends of current values comparator 9 connect respectively feedback control signal electric current I A and feedback control signal electric current I B; IA and IB are respectively the original control current signals of received current digital comparator 9; Two mouths of current values comparator 9 connect respectively IA > IB difference model data handler 7 and IA < IB difference model data handler 8.
Its effect is, current values comparator 9 is the two-way continually varying feedback control signal electric current I A of input, feedback control signal electric current I B becomes the digital signal of one group of difference value, with two kinds of vector signals a certain of 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 are transferred to difference model data handler 7, or current values comparator 9 is by the digital signal of this difference value, IA, IB and IA < IB vector signal are transferred to difference model data handler 8, the digital signal of difference value under referred to as digital signal.
Current values comparator 9 is exactly to subtract IB with IA, and the plus or minus of its difference is as vector, and the absolute value of difference, as digital signal, so digital signal is a value, is scalar.This is convenient at digital signal value identical, and vector is different, also can obtain different control model output, makes to control the needs that model more can adapt to be controlled thing.
IA and IB are for controlling two target electric appliances, as electrical motor, or for controlling two current controling signals of two strong power controllers; Digital signal is current values comparator 9 carries out reduction algorithms processing difference to IA, IB, so digital signal can enter follow-up function numerical calculation processing as scalar.Current controling signal IA and IB not only can have size variation, can also direction change, but digital signal only have size variation.
The second module: IA > IB difference model data handler 7 connects respectively current values comparator 9 and pattern function holder 11; And IA < IB difference model data handler 8 also connects respectively current values comparator 9 and pattern function holder 11.
Pattern function holder 11 also connects average rate device 20, the car average rate signal IS input model function holder 11 of average rate device 20 is selected in the pattern function input IA > IB difference model data handler 7 and input IA < IB difference model data handler 8 that belongs to some car average rate signal IS in pattern function holder 11.
Its effect is;
In the time of IA > IB, start IA > IB difference model data handler 7, by the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, the IA > IB vector signal data that current values comparator 9 is exported, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution car average rate signal IS selects, carry out calculation process; And by the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, the IA > IB vector signal data that current values comparator 9 is exported, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution car average rate signal IS selects, carry out calculation process; Acquisition and IA and the IB two group control of the IA > IB type data of two corresponding control use respectively, the IA that obtains IA > IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA > IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA > IB vector, digital signal n, IAn);
Y IBn=f(IA > IB vector, digital signal n, IBn).
Digital signal n and IAn are the control current signal value IAn of this same time point corresponding about some digital signal n; Digital signal n and IBn are the control current signal value IBn of this same time point corresponding about some digital signal n.
Or, in the time of IA < IB, start IA < IB difference model data handler 8, by the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, the IA < IB vector signal data that current values comparator 9 is exported, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution car average rate signal IS selects, carry out calculation process; And by the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, the IA < IB vector signal data that current values comparator 9 is exported, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution car average rate signal IS selects, carry out calculation process; Acquisition and IA and the IB two group control of the IA < IB type data of two corresponding control use respectively, the IA that obtains IA < IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA < IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA < IB vector, digital signal n, IAn);
Y IBn=f(IA < IB vector, digital signal n, IBn).
Digital signal n and IAn are the control current signal value IAn of this same time point corresponding about some digital signal n; Digital signal n and IBn are the control current signal value IBn of this same time point corresponding about some digital signal n.
Digital signal in above-mentioned pattern function includes the content of IS, IA and IB, and digital signal is again the function of IS, IA and IB.Digital signal=f(IS, IA, IB).
The calculating of above-mentioned pattern function is: first in pattern function holder 11, remove to select pattern function corresponding to IS value by IS value, the value of IS does not participate in pattern function, then in the pattern function input IA > IB difference model data handler 7 and IA < IB difference model data handler 8 of IS being selected, select the some difference model data handlers in IA > IB difference model data handler 7 or IA < IB difference model data handler 8 according to vector, in some difference model data handlers, calculate y IAn and y IBn.Y IAn and y IBn are last for controlling the original data of former and later two motors of morpet.
Above-mentioned pattern function can be at identical vectorial sum digital signal value, when different I A and IB, obtains different one group of control signal y IAn and y IBn.In function y IAn, digital signal is implied with IBn and IS content, and IBn and ISn do not participate in pattern function calculating, make it more easily set up pattern function, or pattern function are fairly simple; And if without digital signal, be directly difficult for setting up very much pattern function with IA, IB, IS, the pattern function of foundation is very complicated.In like manner, in function y IBn, digital signal is implied with IAn and IS content, is for simplifying the method that pattern function is drawn of setting up.
The 3rd module: the input end of data distributor 10 is connected with IA > IB difference model data handler 7 and IA < IB difference model data handler 8 respectively, the mouth of data distributor 10 is connected with D and A converter 16, and the mouth of D and A converter 16 is connected with strong power controller A and strong power controller B respectively; Realize the object of difference controller to strong power controller A and strong power controller B control.
Its effect is; The y IAn of control data in groups and y IBn that data distributor 10 is inputted IA > IB difference model data handler 7 distribute to respectively strong power controller A and strong power controller B, or the y IAn of control data in groups and y IBn that IA < IB difference model data handler 8 is inputted distribute to respectively strong power controller A and strong power controller B, be that y IAn distributes to strong power controller A, y IBn distributes to strong power controller B; D and A converter 16 is carried out respectively digital to analogy conversion the digital signal y IAn and the y IBn that distribute control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can use, finally control voltage signals these two and send two corresponding strong power controllers to;
Car average rate signal IS, the feedback control signal electric current I A and the feedback control signal electric current I B that realize average rate device 20 carry out the difference control power supply of regulation pattern function to strong power controller A and strong power controller B by difference controller, the electrical source of power of controlling well provides different power supplies to wheel A and wheel B, even if make wheel A and wheel B stressed unequal, also can obtain the work of two motor couplings, the effect of two wheel balance motions of morpet.
General trailing wheel is stressed many, and power supply is many, and front-wheel is stressed few, and power supply is few.For different car average rates, the difference size of powering how many is different again, so want IS, IA and tri-of IB to control former key element.The weight of people on morpet is constant, certain wheel of front-wheel or trailing wheel is stressed when large, power consumption electric current can increase at once, feedback control signal electric current also increases at once, the former difference relation of IA and IB is changed, new IS, tri-of IA and IB control former key element input difference control boosted vehicle system, difference control boosted vehicle system process controls with these three the pattern function calculating that former key elements match, output is controlled former key elements match two and is controlled voltage signals respectively to the motor of front-wheel and trailing wheel with these three, even if make wheel A and wheel B stressed unequal, also can obtain the work of two motor couplings, the effect of two wheel balance motions of morpet.
Due to different electric controller A and strong power controller B, require the control voltage signal of different voltage ranges, D and A converter 16 is exactly according to different electric controller A and strong power controller B, and digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can use.So D and A converter 16 is indispensable.
All right, IA > IB difference model data handler 7 is connected with data distributor 10 by corner parameter Processor 30 with IA < IB difference model data handler 8, and corner parameter Processor 30 is also connected with leading rotary angle transmitter 31.
The leading rotational angle of bicycle substantially can representative at the bicycle state stable in whether, if leading rotational angle has rotated the angles of 80 degree to 90 degree while comparing just forward, bicycle is in unstable motoring condition, at this moment feedback control signal electric current I A and IB are no matter be any signal, can not, again to motor power supply, must stop immediately motor to power.If leading rotational angle has rotated the angles of 30 degree to 80 degree than just forward time, feedback control signal electric current I A and IB require increasing the delivery that reduce motor with leading rotational angle to motor power supply.General leading rotational angle is at 0 degree during to the angle of 30 degree, and bicycle is that feedback control signal electric current I A and IB require can be completely according to execution to the delivery of motor, do not need to revise in completely normal motoring condition.
For the speed of a motor vehicle that differential distributing box 1 controls and cyclist's body weight are matched, namely, under the condition of the same group of feedback control signal electric current I A changing and feedback control signal electric current I B, two control voltage signals that differential distributing box 1 is exported can change with cyclist's body weight is different.To match with 50 kilograms of body weights as controlled voltage signal with former two of should export of differential distributing box 1, in the time that cyclist's body weight is 40 kilograms, control voltage signal and all reduce 20% for two of the 1 actual output of differential distributing box, or in the time that cyclist's body weight is 70 kilograms, controls voltage signal and all reduce 40% for two of the 1 actual output of differential distributing box.Reaching the speed of a motor vehicle that differential distributing box 1 controls and cyclist's body weight matches.For achieving this end technical scheme be: on the human body cushion of morpet, or on the elastomeric element being connected with cushion, pressure sensor is set, this pressure sensor is connected with the data distributor 10 in differential distributing box 1, the pressure signal of pressure sensor respectively in data distributor 10 two control voltage signal and carry out the processing that same ratio increase or same ratio reduce.
Advantage of the present invention: differential distributing box of the present invention can carry out the processing of digital model function to car average rate signal IS, feedback control signal electric current I A and the feedback control signal electric current I B of average rate device, to will control two controlled things, two motors of front and back wheel of morpet carry out differential control power supply, and the content of differential control is exactly the pattern function processing of setting in advance.Namely differential distributing box Neng Dui tri-road analog current signals of the present invention carry out pattern function and are processed into the independently voltage control signal output respectively of differential two-way, can add digital model function content to three two-way analog signals, two motors of front and back wheel are distinguished and independently controlled power supply, also claim difference control power supply.The work of two motor couplings of front and back wheel, both the strained condition that front and back wheel changes, two motors of front and back wheel mate to from different power supply, reach front and back wheel velocity of rotation identical, the people who rides on this morpet feels comfortably cool, the identical electric power of not wasting again of front and back wheel velocity of rotation.
In pattern function holder, select to be applicable at first the pattern function of IS value by the car average rate signal IS value of average rate device 20, under identical IA and IB condition, the car average rate difference that morpet travels, the control power-assisted effect difference of last difference control boosted vehicle system output.Owing to there being the car average rate signal IS of average rate device 20 to participate in the synthetic final control signal of differential distributing box, make morpet in the front and back moment when stressed overbalance, the final control signal of differential distributing box output can make the morpet held stationary of trying one's best travel, both kept the speed of a motor vehicle of going into car average rate signal IS to travel, people drives the morpet of this mode can be more comfortable as far as possible.
Difference control boosted vehicle system of the present invention is through IS, IA and IB and these three the pattern function calculating that the former key element of control matches, output is controlled former key elements match two and is controlled voltage signals respectively to the motor of front-wheel and trailing wheel with these three, even if make wheel A and wheel B stressed unequal, also can obtain the work of two motor couplings, the effect of two wheel balance motions.
In the case of tri-former key elements of control of identical IS, IA and IB are identical, as long as change the digital model function of setting, just can obtain the different control signal outputs of multiple artificial setting, solve by IA and directly two analog electronics of control of two analog signals of IB, only have a kind of mode, can not adjust by human needs the shortcoming of mode.
Can infer the bicycle state stable in whether with leading rotational angle, and by the size of leading rotational angle, feedback control signal electric current I A and the desired difference delivery of IB that cycle racing state is produced are revised, to ensure in the time that bicycle plays pendulum, no longer bicycle is increased to labile factor, use morpet of the present invention more humane, safer.
Brief description of the drawings
Annexation and the signal of Fig. 1, the each parts of differential distributing box of the present invention flow to schematic diagram;
Annexation and the signal of Fig. 2, the each parts of the present invention flow to schematic diagram;
Fig. 3, there are annexation and the signal of the each parts of differential distributing box of the present invention of corner parameter Processor to flow to schematic diagram;
Fig. 4, there are annexation and the signal of the each parts of the present invention of leading rotary angle transmitter to flow to schematic diagram.
In figure, the 1st, differential distributing box, the 7th, IA > IB difference model data handler, the 8th, IA < IB difference model data handler, the 9th, current values comparator, the 10th, data distributor, the 11st, pattern function holder, the 12nd, vehicle speed signal sensor, the 16th, D and A converter, the 20th, average rate device, the 30th, corner parameter Processor, the 31st, leading rotary angle transmitter.
Detailed description of the invention
Embodiment 1, speed signal add the voltage difference of model treater to divide control force aid system
As Fig. 1,2, comprise two wheels of electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and the motor B of driving wheel B, and comprise the average rate device 20 of electric booster bicycle, it is characterized in that: also comprise differential distributing box 1, vehicle speed signal sensor 12 and average rate device 20; Vehicle speed signal sensor 12 is connected with average rate device 20, and average rate device 20 is the signal processors that the speed signal of vehicle speed signal sensor 12 in certain hour become to average velociity in this certain hour.
Between differential distributing box 1 and motor A, be connected with controller A, controller A with differential distributing box 1 give with control signal control electrical source of power wheel A is powered;
Between differential distributing box 1 and motor B, be connected with controller B, controller B with differential distributing box 1 give with control signal control electrical source of power wheel B is powered.
The current values comparator 9 of negate feedforward control signal electric current I A input differential distributing box 1 between motor A and controller A;
The current values comparator 9 of negate feedforward control signal electric current I B input differential distributing box 1 between motor B and controller B;
The pattern function holder 11 of the car average rate signal IS input differential distributing box 1 of average rate device 20.
Differential distributing box 1 comprises three modules that are connected successively;
The first module is carried out numeric ratio to the original input signal feedback control signal electric current I A for controlling and feedback control signal electric current I B and is processed;
The second module is chosen in the car average rate signal of average rate device 20 pattern function of having set in pattern function holder 11 data of the first module is carried out to pattern function processing;
The 3rd module to pattern function processing to distribute to controlled electrical equipment be controller A and controller B.
The first module: two input ends of current values comparator 9 connect respectively feedback control signal electric current I A and feedback control signal electric current I B; IA and IB are respectively the original control current signals of received current digital comparator 9; Two mouths of current values comparator 9 connect respectively IA > IB difference model data handler 7 and IA < IB difference model data handler 8.
Its effect is, current values comparator 9 is the two-way continually varying feedback control signal electric current I A of input, feedback control signal electric current I B becomes the digital signal of one group of difference value, with two kinds of vector signals a certain of 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 are transferred to difference model data handler 7, or current values comparator 9 is by the digital signal of this difference value, IA, IB and IA < IB vector signal are transferred to difference model data handler 8, the digital signal of difference value under referred to as digital signal.
The second module: IA > IB difference model data handler 7 connects respectively current values comparator 9 and pattern function holder 11; And IA < IB difference model data handler 8 also connects respectively current values comparator 9 and pattern function holder 11.
Pattern function holder 11 also connects average rate device 20, the car average rate signal IS input model function holder 11 of average rate device 20 is selected in the pattern function input IA > IB difference model data handler 7 and input IA < IB difference model data handler 8 that belongs to some car average rate signal IS in pattern function holder 11.
Its effect is;
In the time of IA > IB, start IA > IB difference model data handler 7, by the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, the IA > IB vector signal data that current values comparator 9 is exported, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution car average rate signal IS selects, carry out calculation process; And by the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, the IA > IB vector signal data that current values comparator 9 is exported, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution car average rate signal IS selects, carry out calculation process; Acquisition and IA and the IB two group control of the IA > IB type data of two corresponding control use respectively, the IA that obtains IA > IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA > IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA > IB vector, digital signal n, IAn);
Y IBn=f(IA > IB vector, digital signal n, IBn).
Digital signal n and IAn are the control current signal value IAn of this same time point corresponding about some digital signal n; Digital signal n and IBn are the control current signal value IBn of this same time point corresponding about some digital signal n.
Or, in the time of IA < IB, start IA < IB difference model data handler 8, by the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, the IA < IB vector signal data that current values comparator 9 is exported, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution car average rate signal IS selects, carry out calculation process; And by the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, the IA < IB vector signal data that current values comparator 9 is exported, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution car average rate signal IS selects, carry out calculation process; Acquisition and IA and the IB two group control of the IA < IB type data of two corresponding control use respectively, the IA that obtains IA < IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA < IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA < IB vector, digital signal n, IAn);
Y IBn=f(IA < IB vector, digital signal n, IBn).
Digital signal n and IAn are the control current signal value IAn of this same time point corresponding about some digital signal n; Digital signal n and IBn are the control current signal value IBn of this same time point corresponding about some digital signal n; IAn and IBn are computing values, are digital signals.
The 3rd module: the input end of data distributor 10 is connected with IA > IB difference model data handler 7 and IA < IB difference model data handler 8 respectively, the mouth of data distributor 10 is connected with D and A converter 16, and the mouth of D and A converter 16 is connected with strong power controller A and strong power controller B respectively; Realize the object of difference controller to strong power controller A and strong power controller B control.
Its effect is; The y IAn of control data in groups and y IBn that data distributor 10 is inputted IA > IB difference model data handler 7 distribute to respectively strong power controller A and strong power controller B, or the y IAn of control data in groups and y IBn that IA < IB difference model data handler 8 is inputted distribute to respectively strong power controller A and strong power controller B, be that y IAn distributes to strong power controller A, y IBn distributes to strong power controller B; D and A converter 16 is carried out respectively digital to analogy conversion the digital signal y IAn and the y IBn that distribute control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can use, finally control voltage signals these two and send two corresponding strong power controllers to; .
Car average rate signal IS, the feedback control signal electric current I A and the feedback control signal electric current I B that realize average rate device 20 carry out the difference control power supply of regulation pattern function to strong power controller A and strong power controller B by difference controller, the electrical source of power of controlling well provides different power supplies to wheel A and wheel B, even if make wheel A and wheel B stressed unequal, also can obtain the work of two motor couplings, the effect of two wheel balance motions of morpet.
Embodiment 2, add the voltage difference of model treater to divide control force aid system with the speed signal of corner parameter Processor
As Fig. 3,4, as the entire infrastructure of embodiment 1, and IA > IB difference model data handler 7 is connected with data distributor 10 by corner parameter Processor 30 with IA < IB difference model data handler 8, and corner parameter Processor 30 is also connected with leading rotary angle transmitter 31.
On the human body cushion of morpet, or on the elastomeric element being connected with cushion, pressure sensor is set, this pressure sensor is connected with the data distributor 10 in differential distributing box 1, the pressure signal of pressure sensor respectively in data distributor 10 two control voltage signal and carry out the processing that same ratio increase or same ratio reduce.
Claims (2)
1. speed signal adds the voltage difference of model treater to divide control force aid system, comprise two wheels of electric booster bicycle: wheel A and wheel B, and the motor B of the motor A of driving wheel A and driving wheel B, the average rate device (20) that comprises electric booster bicycle, is characterized in that: also comprise differential distributing box (1), vehicle speed signal sensor (12) and average rate device (20); Vehicle speed signal sensor (12) is connected with average rate device (20), and average rate device (20) is the signal processor that the speed signal of vehicle speed signal sensor (12) in certain hour is become to average velociity in this certain hour;
Between differential distributing box (1) and motor A, be connected with controller A, controller A with differential distributing box (1) give with control signal control electrical source of power wheel A is powered;
Between differential distributing box (1) and motor B, be connected with controller B, controller B with differential distributing box (1) give with control signal control electrical source of power wheel B is powered;
The current values comparator (9) of negate feedforward control signal electric current I A input differential distributing box (1) between motor A and controller A;
The current values comparator (9) of negate feedforward control signal electric current I B input differential distributing box (1) between motor B and controller B;
The pattern function holder (11) of the car average rate signal IS input differential distributing box (1) of average rate device (20);
Differential distributing box (1) comprises three modules that are connected successively;
The first module is carried out numeric ratio to the original input signal feedback control signal electric current I A for controlling and feedback control signal electric current I B and is processed;
The car average rate signal of average rate device for the second module (20) is chosen in the pattern function of having set in pattern function holder (11) data of the first module is carried out to pattern function processing;
The 3rd module to pattern function processing to distribute to controlled electrical equipment be controller A and controller B;
The first module: two input ends of current values comparator (9) connect respectively feedback control signal electric current I A and feedback control signal electric current I B; IA and IB are respectively the original control current signals of received current digital comparator (9); Two mouths of current values comparator (9) connect respectively IA > IB difference model data handler (7) and IA < IB difference model data handler (8);
Its effect is, current values comparator (9) is the two-way continually varying feedback control signal electric current I A of input, feedback control signal electric current I B becomes the digital signal of one group of difference value, with two kinds of vector signals a certain of 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 are transferred to difference model data handler (7), or current values comparator (9) is by the digital signal of this difference value, IA, IB and IA < IB vector signal are transferred to difference model data handler (8), the digital signal of difference value under referred to as digital signal,
The second module: IA > IB difference model data handler (7) connects respectively current values comparator (9) and pattern function holder (11); And IA < IB difference model data handler (8) also connects respectively current values comparator (9) and pattern function holder (11);
Pattern function holder (11) also connects average rate device (20), the car average rate signal IS input model function holder (11) of average rate device (20), in pattern function holder (11), select in the pattern function input IA > IB difference model data handler (7) and input IA < IB difference model data handler (8) that belongs to some car average rate signal IS
Its effect is;
In the time of IA > IB, start IA > IB difference model data handler (7), by the digital signal data of current values comparator (9), the IA data corresponding with this digital signal, the IA > IB vector signal data of current values comparator (9) output, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder (11) that substitution car average rate signal IS selects, carry out calculation process; And by the digital signal data of current values comparator (9), the IB data corresponding with this digital signal data, the IA > IB vector signal data of current values comparator (9) output, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder (11) that substitution car average rate signal IS selects, carry out calculation process; Acquisition and IA and the IB two group control of the IA > IB type data of two corresponding control use respectively, the IA that obtains IA > IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA > IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA > IB vector, digital signal n, IAn);
Y IBn=f(IA > IB vector, digital signal n, IBn);
Digital signal n and IAn are the control current signal value IAn of this same time point corresponding about some digital signal n; Digital signal n and IBn are the control current signal value IBn of this same time point corresponding about some digital signal n;
Or, in the time of IA < IB, start IA < IB difference model data handler (8), by the digital signal data of current values comparator (9), the IA data corresponding with this digital signal, the IA < IB vector signal data of current values comparator (9) output, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder (11) that substitution car average rate signal IS selects, carry out calculation process; And by the digital signal data of current values comparator (9), the IB data corresponding with this digital signal data, the IA < IB vector signal data of current values comparator (9) output, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder (11) that substitution car average rate signal IS selects, carry out calculation process; Acquisition and IA and the IB two group control of the IA < IB type data of two corresponding control use respectively, the IA that obtains IA < IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA < IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA < IB vector, digital signal n, IAn);
Y IBn=f(IA < IB vector, digital signal n, IBn);
Digital signal n and IAn are the control current signal value IAn of this same time point corresponding about some digital signal n; Digital signal n and IBn are the control current signal value IBn of this same time point corresponding about some digital signal n; IAn and IBn are computing values, are digital signals;
The 3rd module: the input end of data distributor (10) is connected with IA > IB difference model data handler (7) and IA < IB difference model data handler (8) respectively, the mouth of data distributor (10) is connected with D and A converter (16), and the mouth of D and A converter (16) is connected with strong power controller A and strong power controller B respectively; Realize the object of difference controller to strong power controller A and strong power controller B control;
Its effect is; Data distributor (10) is distributed to respectively strong power controller A and strong power controller B the y IAn of control data in groups and the y IBn of IA > IB difference model data handler (7) input, or the y IAn of control data in groups and the y IBn of IA < IB difference model data handler (8) input distribute to respectively strong power controller A and strong power controller B, be that y IAn distributes to strong power controller A, y IBn distributes to strong power controller B; D and A converter (16) is carried out respectively digital to analogy conversion the digital signal y IAn and the y IBn that distribute control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can use, finally control voltage signals these two and send two corresponding strong power controllers to;
Car average rate signal IS, the feedback control signal electric current I A and the feedback control signal electric current I B that realize average rate device (20) carry out the difference control power supply of regulation pattern function to strong power controller A and strong power controller B by difference controller, the electrical source of power of controlling well provides different power supplies to wheel A and wheel B, even if make wheel A and wheel B stressed unequal, also can obtain the work of two motor couplings, the effect of two wheel balance motions of morpet.
2. speed signal according to claim 1 adds the voltage difference of model treater to divide control force aid system, it is characterized in that: IA > IB difference model data handler (7) is connected with data distributor (10) by corner parameter Processor (30) with IA < IB difference model data handler (8), and corner parameter Processor (30) is also connected with leading rotary angle transmitter (31).
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