CN104175906B - The digital differential vehicle using motor system of comparator is all added with gear and rate signal - Google Patents
The digital differential vehicle using motor system of comparator is all added with gear and rate signal Download PDFInfo
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Abstract
The digital differential vehicle using motor system that the present invention adds comparator with gear and rate signal belongs to the differential front wheels and rear wheels difference distribution moped power-supply controller system for power-assisted electricity。Including two wheels and two motors, the shift signal manual controller of electric booster bicycle, also including difference controller, difference controller includes three modules being sequentially connected；The shift signal ID of shift signal manual controller, the car average rate signal IS of average rate device, feedback control signal electric current IA and IB are carried out numerical value comparison process by the first module；The data of the first module are carried out pattern function process by the second module pattern function set；Three module controls data and does not only have the key element of shift signal ID, feedback control signal electric current IA and IB, also has the four elementses such as car average rate signal IS。Advantage: two motors of front and back wheel of moped are carried out differential control power supply, the content of differential control is exactly that the pattern function set in advance processes。
Description
Technical field
The invention belongs to the assist controller system, particularly front wheel of electric assisted bicycle and trailing wheel is all given and the differential front wheels and rear wheels difference distribution moped power-supply controller system for power-assisted electricity。
Background technology
The Chinese patent 201210011641.8 of Hunan Shengtong Technology Group Co., Ltd's application proposes a kind of double wheel hub motor driven systems adaptive equalization rotating direction control method, but does not provide the Technology design of electronic differential application specific processor。
201110358020.2 1 kinds of double wheel hub motor electronic differentials of Chinese patent of Hunan Shengtong Technology Group Co., Ltd's application and speed governing Centralized Controller, but there is no the specific design of electronic differential module。
Hitachi Co., Ltd 01122460.6 disclosed herein is a kind of variator, and it includes the mechanism for the energy of a drive source is distributed to many boxs of tricks;The many motors being connected with described many boxs of tricks respectively;With the mechanism for combining the energy from the output of described many boxs of tricks。But there is no the specific design of electronic differential module。
The Chinese patent 201210399458.X of Chengdu Lian Teng dynamic Control Technology Co., Ltd. application discloses a kind of Double Motor Control device having electronic differential function, but does not have the specific design of electronic differential module。
The multinomial Chinese patents such as Chinese patent 03123625.1 automatic shifting controller for bicycle of Shimano KK's application, are all the methods of Mechanical course speed change, are not Electronic Control speed changes。
Summary of the invention
It is an object of the invention to provide two key elements of front wheels and rear wheels dynamic stress, and the power-assisted gear key element manually set and moped this four elements of average speed this moment determine the moped power-supply controller system of front wheels and rear wheels difference distribution power supply。And it is that these four power-assisted key elements merge variable, after reducing variable, then calculates the moped difference power-supply controller system of difference distribution control signal with variable Controlling model function few, simple。
The structure of the present invention is:
The digital differential vehicle using motor system of comparator is all added with gear and rate signal, two wheels including electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and drive the motor B of wheel B, manual controller 3 including electric booster bicycle, it is characterized in that: also include difference controller 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 the rate signal of GES sensor 12 in certain time is become the signal processor of average speed in this certain time。
Be connected with controller A between difference controller 1 with motor A, controller A with described difference controller 1 give with control signal control electrical source of power wheel A powered；
Be connected with controller B between described difference controller 1 and motor B, controller B with described difference controller 1 give with control signal control electrical source of power wheel B powered。
Current values comparator 9, it negates feedforward control signal electric current IA between motor A and controller A, and this feedback control signal electric current IA is inputted described difference controller 1, and between motor B and controller B, negate feedforward control signal electric current IB, and this feedback control signal electric current IB is inputted described difference controller 1, the shift signal ID of manual controller 3 is also inputted described difference controller 1 by described current values comparator 9, and the car average rate signal IS of described average rate device 20 is inputted described difference controller 1。
On moped, manual controller 3 is just integrally fixed at the gear rotary switc on handle-bar cross bar, and people, with hand-screw hand control 3, selects various the same from car bumper position as automobile。The gear of moped stirs the ratio selection parts machinery that bar itself is foot-operated chain drum and the frame for movement relation of the multiple gear ratio of trailing wheel, in the present invention, manual controller 3 is an electronic device, and the ratio selection state electronic signal that it stirs bar gear exports to the electronic unit needing control。
On moped, GES sensor 12 be integrally fixed on moped to experience this moped travel speed, output represent the sensor of the speed signal of telecommunication。
The average speed of average rate device 20 output is the signal floated, floating means that if setting the average speed within average rate device 20 takes first 5 seconds at that time, then the average speed of latter one second to add this speed of latter one second and remove the speed of first 6th second, the average speed within calculating 5 seconds。The floating meaning is exactly that average speed is at any time with speed floating change。
Difference controller 1 includes three modules being sequentially connected；
First module carries out numerical value comparison process to being used for the original input signal that controls, described in be originally inputted be the shift signal ID of manual controller 3, car average rate signal IS, the feedback control signal electric current IA of average rate device 20 and feedback control signal electric current IB；
The data of the first module are carried out pattern function process by the second module pattern function set；
Pattern function is processed and distributes to controlled electrical equipment by three module is the key element making controller A and the controller B control data obtained not only have shift signal ID, feedback control signal electric current IA and feedback control signal electric current IB, also has the four elementses such as car average rate signal IS。
First module: four inputs of current values comparator 9 connect the shift signal ID of manual controller 3, car average rate signal IS, the feedback control signal electric current IA of average rate device 20 and feedback control signal electric current IB respectively；ID, IS, IA and IB are the original control current signal of input current digital comparator 9 respectively；Two outfans of current values comparator 9 connect IA > IB difference model data processor 7 and IA < IB difference model data processor 8 respectively。
Its effect is；Two-way continually varying feedback control signal electric current IA, the feedback control signal electric current IB of current values comparator 9 input becomes the digital signal of one group of difference value, with a certain kind of the two kinds of vector signals obtaining IA > IB or IA < IB, the digital signal of this difference value obtains containing gear and car average rate signal plus shift signal ID value and car average rate signal IS；This is transferred to difference model data processor 7 containing shift signal ID and car average rate signal IS, IA, IB and IA > IB vector signal by current values comparator 9, or this is transferred to difference model data processor 8 containing shift signal ID and car average rate signal IS, IA, IB and IA < IB vector signal by current values comparator 9；IA and IB difference signal containing shift signal ID and car average rate signal IS key element is hereinafter referred to as digital signal。
Current values comparator 9 subtracts IB with IA, and the plus or minus of its difference is as vector, and the absolute value of difference adds that the absolute value of the car average rate signal IS of average rate device 20 is as the digital signal containing car average rate, so digital signal is a value, is scalar。This is easy at digital signal value identical, and vector is different, it is also possible to obtain different Controlling model output, makes Controlling model be suitable for being controlled the needs of thing。
Current values comparator 9 subtracts IB with IA, and the plus or minus of its difference is as vector, and the absolute value of difference, plus the absolute value of the shift signal ID of manual controller 3, so digital signal is a value, is scalar。This is easy at digital signal value identical, and vector is different, it is also possible to obtain different Controlling model output, makes Controlling model be suitable for being controlled the needs of thing。
IA and IB is for controlling two target electric appliances, such as motor, or for controlling two current controling signals of two strong power controllers；Digital signal is that ID, IS, IA, IB are carried out the scalar numeric value of arithmetic processing by current values comparator 9, so digital signal can enter follow-up function value computing as scalar。Current controling signal ID, IS, IA and IB have been possible not only to size variation, 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 stress respectively of moped, for feedback control purpose, IA and IB is in that the front and back wheel to stress this moment gives different power matchings respectively。
Shift signal ID represents the people riding this moped and requires that this moped travels with certain basic demand, require that speed per hour is 10-20 kilometer/hour as shift signal ID represents, or 30-40 kilometer/hour of traveling, or require to travel when the gradient of 4-10 degree。Shift signal ID is manually set, artificially changeable。
Car average rate signal IS represents the transport condition in moped nearest very short time, when addition car this key element purpose of average rate signal IS is in that to make moped run into the state producing IA and IB, the adjustment of vehicle using motor system is controlled by difference, still moped is made to keep producing that speed state of car average rate signal IS, reach to make speed held stationary, the purpose that people is comfortable on。
ID, IS, IA and IB sends into difference controller 1 and carries out data process, its difference controller 1 exports to strong power controller A, when controlling the gear that digital signal just can be embodied in artificial requirement of B, when road makes the change of front and back wheel stress make the power of front and back wheel not mate, the control signal of difference controller 1 output, the power that can make front and back wheel can keep with the average uniform velocity pointed by the car average rate signal IS of average rate device 20 matchingly, make two motors power to front and back wheel output matching respectively respectively, the front and back wheel smoothly average uniform velocity reaching moped travels。
Second module: IA > IB difference model data processor 7 connects current values comparator 9 and pattern function bin 11 respectively；And IA < IB difference model data processor 8 also connects current values comparator 9 and pattern function bin 11 respectively。
Its effect is；
As IA > IB, start IA > IB difference model data processor 7, by the IA > IB vector signal data of the digital signal data of current values comparator 9 IA data corresponding with this digital signal, current values comparator 9, substitute in the pattern function mated with this digital signal and this vector signal stored in pattern function bin 11 and carry out calculation process；And by the IA > IB vector signal data of the digital signal data of current values comparator 9 IB data corresponding with this digital signal data, current values comparator 9, substitute in the pattern function mated with this digital signal and this vector signal stored in pattern function bin 11 and carry out calculation process；Obtain two the IA > IB type that the control double; two groups corresponding respectively with IA and IB and control data, namely the IA obtaining IA > IB controls data yIAn, the data that data yIBn, yIAn and yIBn the two subsequent module will use are controlled with the IB of IA > IB；Its function line of yIAn and yIBn is:
YIAn=f(IA > IB vector, digital signal n, IAn)；
YIBn=f(IA > IB vector, digital signal n, IBn)；
Digital signal n and IAn is the control current signal value IAn of the identical time point corresponding about some digital signal n；Digital signal n and IBn is the control current signal value IBn of the identical time point corresponding about some digital signal n。
Or, as IA < IB, start IA < IB difference model data processor 8, by the IA < IB vector signal data of the digital signal data of current values comparator 9 IA data corresponding with this digital signal, current values comparator 9, substitute in the pattern function mated with this digital signal and this vector signal stored in pattern function bin 11 and carry out calculation process；And by the IA < IB vector signal data of the digital signal data of current values comparator 9 IB data corresponding with this digital signal data, current values comparator 9, substitute in the pattern function mated with this digital signal and this vector signal stored in pattern function bin 11 and carry out calculation process；Obtain two the IA < IB type that the control double; two groups corresponding respectively with IA and IB and control data, namely the IA obtaining IA < IB controls data yIAn, the data that data yIBn, yIAn and yIBn the two subsequent module will use are controlled with the IB of IA < IB；Its function line of yIAn and yIBn is:
YIAn=f(IA < IB vector, digital signal n, IAn)；
YIBn=f(IA < IB vector, digital signal n, IBn)。
Digital signal n and IAn is the control current signal value IAn of the identical time point corresponding about some digital signal n；Digital signal n and IBn is the control current signal value IBn of the identical time point corresponding about some digital signal n；IAn and IBn is value of calculation, is digital signal。
Above-mentioned pattern function can at identical vector sum digital signal value, during different IA and IB, it is thus achieved that one group of different control signal yIAn and yIBn。In function yIAn, digital signal is implied with IBn, ID and IS content, and IBn, ID and ISn 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, directly very not easily set up pattern function with IA, IB, ID, IS, the pattern function of foundation is very complicated。In like manner, in function yIBn, digital signal is implied with IAn, ID and IS content, is for simplifying the method setting up pattern function and draw。
Three module: the input of data distributor 10 is connected with IA > IB difference model data processor 7 and IA < IB difference model data processor 8 respectively, the outfan of data distributor 10 is connected with data normalization transducer 16, and the outfan of data normalization transducer 16 is connected with strong power controller A and strong power controller B respectively；Realize difference controller to strong power controller A and the strong power controller B purpose controlled。
Its effect is；YIAn and the yIBn of control data in groups that 10 IA > IB difference model data processors 7 of data distributor input is respectively allocated to strong power controller A and strong power controller B, or yIAn and the yIBn of control data in groups of IA < IB difference model data processor 8 input is respectively allocated to strong power controller A and strong power controller B, namely yIAn distributes to strong power controller A, then yIBn distributes to strong power controller B；Data normalization transducer 16 has distributed digital signal yIAn and the yIBn of control object and has carried out data normalization respectively, the digital signal calculated is converted to strong power controller A and the strong power controller B control digital signal that can use, finally the two is controlled digital signal and send two strong power controllers of correspondence to。
Realize the shift signal ID of manual controller 3, the car average rate signal IS of average rate device 20, strong power controller A and strong power controller B is carried out the difference control of regulation pattern function by feedback control signal electric current IA and feedback control signal electric current IB by difference controller, when reaching front and back wheel by force unbalance, also the kinetic force that can make front and back wheel keeps within the scope of the ID gear specified matchingly, average uniform velocity with the average uniform velocity pointed by the car average rate signal IS of average rate device (20), namely two motors power to front and back wheel output matching respectively is made respectively, reach the front and back wheel purpose that smoothly average uniform velocity travels of moped。
Control data yIAn and yIBn in groups and contain shift signal ID, car average rate signal IS, feedback control signal electric current IA and what feedback control signal electric current IB calculated through pattern function, this moped is had to travel gear, the speed state integrated demand to power supply, although that is front and back wheel different stress in a flash change, but car can also keep original speed as far as possible, such speed can be steadily。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, the difference size powering how many is different again, so wanting ID, IS, IA and IB four to control former key element。People's weight on moped is constant, when front-wheel or certain wheel stress of trailing wheel are big, power consumption electric current can increase at once, feedback control signal electric current also increases at once, the former difference relationship of IA and IB is changed, new ID, IS, IA and IB four controls former key element input difference and controls vehicle using motor system, difference controls vehicle using motor system through controlling, with these four, the pattern function calculating that former key element matches, two control digital signals that output and these four controlling elements match are respectively to the motor of front wheels and rear wheels, even if making wheel A and wheel B stress unequal, also two motor coupling work can be obtained, two wheel balance motions, the effect of moped held stationary speeds。
Due to different electric controller A and strong power controller B, require the control digital signal of different digital scope, data normalization transducer 16 is exactly according to different electric controller A and strong power controller B, and the digital signal calculated is converted to strong power controller A and the strong power controller B control digital signal that can use。So data normalization transducer 16 is indispensable。
All right, IA > IB difference model data processor 7 and IA < IB difference model data processor 8 are connected with data distributor 10 by corner parameter Processor 30, and corner parameter Processor 30 is also connected with tap rotary angle transmitter 31。
Whether stable the leading rotational angle of bicycle representative can be in state at bicycle substantially, if tap rotational angle have rotated the angle of 80 degree to 90 degree than time just forward, then bicycle is in unstable transport condition, at this moment feedback control signal electric current IA and IB is regardless of signal, again motor can not be powered, it is necessary to stop immediately motor is powered。If tap rotational angle have rotated the angle of 30 degree to 80 degree than time just forward, feedback control signal electric current IA and IB requires to reduce the delivery to motor with tap rotational angle increase to what motor was powered。General tap rotational angle is when the angle of 0 degree to 30 degree, and bicycle is in completely normally transport condition, and feedback control signal electric current IA and IB requirement is to can fully according to execution to the delivery of motor, it is not necessary to revise。
In order to make the body weight of speed that difference controller 1 controls and cyclist match, namely when the same group of feedback control signal electric current IA changed and feedback control signal electric current IB, two control digital signals that difference controller 1 exports can change with the body weight difference of cyclist。It is match with 50 kilograms of body weights as controlled digital signal with former two should exported of difference controller 1, when the body weight of cyclist is 40 kilograms, two of the actual output of difference controller 1 control digital signal and all reduce 20%, or when the body weight of cyclist is 70 kilograms, two of the actual output of difference controller 1 control digital signal and all reduce 40%。The body weight reaching speed that difference controller 1 controls and cyclist matches。For realizing this purpose technical scheme it is: on the human body medicated cushion of moped, or pressure transducer is set on the elastomeric element being connected with medicated cushion, this pressure transducer is connected with the data distributor 10 in difference controller 1, and the pressure signal of pressure transducer controls digital signal respectively and carries out same ratio increase or the process of same ratio minimizing in data distributor 10 two。
Advantages of the present invention: the shift signal ID of manual controller, car average rate signal IS, the feedback control signal electric current IA of average rate device and feedback control signal electric current IB can be digitized pattern function and process by the difference controller of the present invention, to two the controlled things to control, two motors of the front and back wheel of moped carry out differential control and power, and the content of differential control is exactly that the pattern function set in advance processes。Namely the difference controller Neng Dui tetra-road analog current signal of the present invention carry out pattern function be processed into differential two-way independently digital controlled signal output, four tunnel analogue signals can be added digital model function content, the control that two motors of front and back wheel are carried out independently is powered, and controls power supply also referred to as difference。Two motor coupling work of front and back wheel, namely front and back wheel change stress, two motors of front and back wheel mate to from different power supplies, reach front and back wheel velocity of rotation identical, and it is make moped substantially keep by, within the scope of the limited gear of ID, forming the state of the average speed of IS。The people ridden on this moped feels comfortably cool, and front and back wheel velocity of rotation is identical does not waste again electric power。
In function yIAn, it is implied with IBn, ID and IS content, and IBn, ID and ISn 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, directly very not easily set up pattern function with IA, IB, ID, IS, the pattern function of foundation is very complicated。In like manner, in function yIBn, digital signal is implied with IAn, ID and IS content, is for simplifying the method setting up pattern function and draw。
Difference of the present invention controls the pattern function calculating that vehicle using motor system matches through ID, IS, IA and IB and these four the former key elements of control, two control digital signals that output and these four the former key elements of control match are respectively to the motor of front wheels and rear wheels, even if making wheel A and wheel B stress unequal, also two motor coupling work can be obtained, the effect of two wheel balance motions。
When the former key element of identical ID, IS, IA and IB four control is identical, as long as changing the digital model function set, it is achieved with the output of the multiple different control signals being manually set, solve and directly control two analog electronics by two analogue signals of IA and IB, only a kind of control mode, it is impossible to by the shortcoming that human needs adjusts control mode。
Whether stable state can be in tap rotational angle presumption bicycle, and with tap rotational angle size, the difference delivery required by feedback control signal electric current IA and IB produce cycling state is modified, to ensure when bicycle plays pendulum, no longer bicycle is increased unstable factor, the moped using the present invention is more humane, safer。
Accompanying drawing explanation
Fig. 1, the annexation of each parts of difference controller of the present invention and signal flow to schematic diagram；
Annexation and the signal of each parts of Fig. 2, the present invention flow to schematic diagram；
Fig. 3, the annexation of each parts of difference controller of the present invention of corner parameter Processor and signal is had to flow to schematic diagram；
Fig. 4, the annexation of each parts of the present invention of leading rotary angle transmitter and signal is had to flow to schematic diagram。
In figure, 1 be difference controller, 3 be manual controller, 7 be IA > IB difference model data processor, 8 be IA < IB difference model data processor, 9 be current values comparator, 10 be data distributor, 11 be pattern function bin, 12 be GES sensor, 16 be data normalization transducer, 20 be average rate device, 30 be corner parameter Processor, 31 be tap rotary angle transmitter。
Detailed description of the invention
Embodiment 1, all add the digital differential vehicle using motor system of comparator with gear and rate signal
As Fig. 1,2, two wheels including electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and drive the motor B of wheel B, including the manual controller 3 of electric booster bicycle, it is characterized in that: also include difference controller 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 the rate signal of GES sensor 12 in certain time is become the signal processor of average speed in this certain time。
Be connected with controller A between difference controller 1 with motor A, controller A with described difference controller 1 give with control signal control electrical source of power wheel A powered；
Be connected with controller B between described difference controller 1 and motor B, controller B with described difference controller 1 give with control signal control electrical source of power wheel B powered。
Current values comparator 9, it negates feedforward control signal electric current IA between motor A and controller A, and this feedback control signal electric current IA is inputted described difference controller 1, and between motor B and controller B, negate feedforward control signal electric current IB, and this feedback control signal electric current IB is inputted described difference controller 1, the shift signal ID of manual controller 3 is also inputted described difference controller 1 by described current values comparator 9, and the car average rate signal IS of described average rate device 20 is inputted described difference controller 1。
Difference controller 1 includes three modules being sequentially connected；
First module carries out numerical value comparison process to being used for the original input signal that controls, described in be originally inputted be the shift signal ID of manual controller 3, car average rate signal IS, the feedback control signal electric current IA of average rate device 20 and feedback control signal electric current IB；
The data of the first module are carried out pattern function process by the second module pattern function set；
Pattern function is processed and distributes to controlled electrical equipment by three module is the key element making controller A and the controller B control data obtained not only have shift signal ID, feedback control signal electric current IA and feedback control signal electric current IB, also has the four elementses such as car average rate signal IS；
First module: four inputs of current values comparator 9 connect the shift signal ID of manual controller 3, car average rate signal IS, the feedback control signal electric current IA of average rate device 20 and feedback control signal electric current IB respectively；ID, IS, IA and IB are the original control current signal of input current digital comparator 9 respectively；Two outfans of current values comparator 9 connect IA > IB difference model data processor 7 and IA < IB difference model data processor 8 respectively；
Its effect is；Two-way continually varying feedback control signal electric current IA, the feedback control signal electric current IB of current values comparator 9 input becomes the digital signal of one group of difference value, with a certain kind of the two kinds of vector signals obtaining IA > IB or IA < IB, the digital signal of this difference value obtains containing gear and car average rate signal plus shift signal ID value and car average rate signal IS；This is transferred to difference model data processor 7 containing shift signal ID and car average rate signal IS, IA, IB and IA > IB vector signal by current values comparator 9, or this is transferred to difference model data processor 8 containing shift signal ID and car average rate signal IS, IA, IB and IA < IB vector signal by current values comparator 9；IA and IB difference signal containing shift signal ID and car average rate signal IS key element is hereinafter referred to as digital signal。
Second module: IA > IB difference model data processor 7 connects current values comparator 9 and pattern function bin 11 respectively；And IA < IB difference model data processor 8 also connects current values comparator 9 and pattern function bin 11 respectively。
Its effect is；
As IA > IB, start IA > IB difference model data processor 7, by the IA > IB vector signal data of the digital signal data of current values comparator 9 IA data corresponding with this digital signal, current values comparator 9, substitute in the pattern function mated with this digital signal and this vector signal stored in pattern function bin 11 and carry out calculation process；And by the IA > IB vector signal data of the digital signal data of current values comparator 9 IB data corresponding with this digital signal data, current values comparator 9, substitute in the pattern function mated with this digital signal and this vector signal stored in pattern function bin 11 and carry out calculation process；Obtain two the IA > IB type that the control double; two groups corresponding respectively with IA and IB and control data, namely the IA obtaining IA > IB controls data yIAn, the data that data yIBn, yIAn and yIBn the two subsequent module will use are controlled with the IB of IA > IB；Its function line of yIAn and yIBn is:
YIAn=f(IA > IB vector, digital signal n, IAn)；
YIBn=f(IA > IB vector, digital signal n, IBn)。
Digital signal n and IAn is the control current signal value IAn of the identical time point corresponding about some digital signal n；Digital signal n and IBn is the control current signal value IBn of the identical time point corresponding about some digital signal n。
Or, as IA < IB, start IA < IB difference model data processor 8, by the IA < IB vector signal data of the digital signal data of current values comparator 9 IA data corresponding with this digital signal, current values comparator 9, substitute in the pattern function mated with this digital signal and this vector signal stored in pattern function bin 11 and carry out calculation process；And by the IA < IB vector signal data of the digital signal data of current values comparator 9 IB data corresponding with this digital signal data, current values comparator 9, substitute in the pattern function mated with this digital signal and this vector signal stored in pattern function bin 11 and carry out calculation process；Obtain two the IA < IB type that the control double; two groups corresponding respectively with IA and IB and control data, namely the IA obtaining IA < IB controls data yIAn, the data that data yIBn, yIAn and yIBn the two subsequent module will use are controlled with the IB of IA < IB；Its function line of yIAn and yIBn is:
YIAn=f(IA < IB vector, digital signal n, IAn)；
YIBn=f(IA < IB vector, digital signal n, IBn)。
Digital signal n and IAn is the control current signal value IAn of the identical time point corresponding about some digital signal n；Digital signal n and IBn is the control current signal value IBn of the 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 is connected with IA > IB difference model data processor 7 and IA < IB difference model data processor 8 respectively, the outfan of data distributor 10 is connected with data normalization transducer 16, and the outfan of data normalization transducer 16 is connected with strong power controller A and strong power controller B respectively；Realize difference controller to strong power controller A and the strong power controller B purpose controlled。
Its effect is；YIAn and the yIBn of control data in groups that 10 IA > IB difference model data processors 7 of data distributor input is respectively allocated to strong power controller A and strong power controller B, or yIAn and the yIBn of control data in groups of IA < IB difference model data processor 8 input is respectively allocated to strong power controller A and strong power controller B, namely yIAn distributes to strong power controller A, then yIBn distributes to strong power controller B；Data normalization transducer 16 has distributed digital signal yIAn and the yIBn of control object and has carried out data normalization respectively, the digital signal calculated is converted to strong power controller A and the strong power controller B control digital signal that can use, finally the two is controlled digital signal and send two strong power controllers of correspondence to。
Realize the shift signal ID of manual controller 3, the car average rate signal IS of average rate device 20, strong power controller A and strong power controller B is carried out the difference control of regulation pattern function by feedback control signal electric current IA and feedback control signal electric current IB by difference controller, when reaching front and back wheel by force unbalance, also the kinetic force that can make front and back wheel keeps within the scope of the ID gear specified matchingly, with the average uniform velocity pointed by the car average rate signal IS of average rate device 20, namely two motors power to front and back wheel output matching respectively is made respectively, reach the front and back wheel purpose that smoothly average uniform velocity travels of moped。
Embodiment 2, the digital differential vehicle using motor system all adding comparator with gear and rate signal with corner parameter Processor
As Fig. 3,4, entire infrastructure such as embodiment 1, and IA > IB difference model data processor 7 and IA < IB difference model data processor 8 are connected with data distributor 10 by corner parameter Processor 30, corner parameter Processor 30 is also connected with tap rotary angle transmitter 31。
On the human body medicated cushion of moped, or pressure transducer is set on the elastomeric element being connected with medicated cushion, this pressure transducer is connected with the data distributor 10 in difference controller 1, and the pressure signal of pressure transducer controls digital signal respectively and carries out same ratio increase or the process of same ratio minimizing in data distributor 10 two。
Claims (2)
1. the digital differential vehicle using motor system of comparator is all added with gear and rate signal, two wheels including electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and drive the motor B of wheel B, manual controller (3) including electric booster bicycle, it is characterized in that: also include difference controller (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 the rate signal of GES sensor (12) in certain time is become the signal processor of average speed in this certain time；
Be connected with controller A between difference controller (1) and motor A, controller A with described difference controller (1) give with control signal control electrical source of power wheel A is powered；
Be connected with controller B between described difference controller (1) and motor B, controller B with described difference controller (1) give with control signal control electrical source of power wheel B is powered；
Current values comparator (9), it negates feedforward control signal electric current IA between motor A and controller A, and this feedback control signal electric current IA is inputted described difference controller (1), and between motor B and controller B, negate feedforward control signal electric current IB, and this feedback control signal electric current IB is inputted described difference controller (1), the shift signal ID of manual controller (3) is also inputted described difference controller (1) by described current values comparator (9), and the car average rate signal IS of described average rate device (20) is inputted described difference controller (1)；
Difference controller (1) includes three modules being sequentially connected；
First module is that the shift signal ID of manual controller (3), car average rate signal IS, the feedback control signal electric current IA of average rate device (20) and feedback control signal electric current IB carry out numerical value comparison process to being used for the original input signal that controls；
The data of the first module are carried out pattern function process by the second module pattern function set；
Pattern function is processed and distributes to controlled electrical equipment by three module is the key element making controller A and the controller B control data obtained not only have the shift signal ID of manual controller (3), feedback control signal electric current IA and feedback control signal electric current IB, also has car average rate signal IS four elements；
First module: four inputs of current values comparator (9) connect the shift signal ID of manual controller (3), car average rate signal IS, the feedback control signal electric current IA of average rate device (20) and feedback control signal electric current IB respectively；The shift signal ID of manual controller (3), car average rate signal IS, feedback control signal electric current IA and feedback control signal electric current IB are the original control current signal of input current digital comparator (9) respectively；Two outfans of current values comparator (9) connect IA > IB difference model data processor (7) and IA < IB difference model data processor (8) respectively；
Its effect is；Current values comparator (9) becomes the digital signal of one group of difference value two-way continually varying feedback control signal electric current IA, the feedback control signal electric current IB of input, with a certain kind of the two kinds of vector signals obtaining IA > IB or IA < IB, the digital signal of this difference value obtains containing gear and car average rate signal plus shift signal ID value and the car average rate signal IS of manual controller (3)；The shift signal ID being somebody's turn to do containing manual controller (3) and car average rate signal IS, IA, IB and IA > IB vector signal are transferred to difference model data processor (7) by current values comparator (9), or the shift signal ID being somebody's turn to do containing manual controller (3) and car average rate signal IS, IA, IB and IA < IB vector signal are transferred to difference model data processor (8) by current values comparator (9)；Shift signal ID containing manual controller (3) and IA and the IB difference signal of car average rate signal IS key element are hereinafter referred to as digital signal；
Second module: IA > IB difference model data processor (7) connects current values comparator (9) and pattern function bin (11) respectively；And IA < IB difference model data processor (8) also connects current values comparator (9) and pattern function bin (11) respectively；
Its effect is；
As IA > IB, start IA > IB difference model data processor (7), by the digital signal data of current values comparator (9) IA data corresponding with this digital signal, current values comparator (9) IA > IB vector signal data, substitute in the pattern function mated with this digital signal and this vector signal stored in pattern function bin (11) and carry out calculation process；And by the digital signal data of current values comparator (9) IB data corresponding with this digital signal data, current values comparator (9) IA > IB vector signal data, substitute in the pattern function mated with this digital signal and this vector signal stored in pattern function bin (11) and carry out calculation process；Obtain two the IA > IB type that the control double; two groups corresponding respectively with IA and IB and control data, namely the IA obtaining IA > IB controls data yIAn, the data that data yIBn, yIAn and yIBn the two subsequent module will use are controlled with the IB of IA > IB；Its function line of yIAn and yIBn is:
YIAn=f(IA > IB vector, digital signal n, IAn)；
YIBn=f(IA > IB vector, digital signal n, IBn)；
Digital signal n and IAn is the control current signal value IAn of the identical time point corresponding about some digital signal n；Digital signal n and IBn is the control current signal value IBn of the identical time point corresponding about some digital signal n；
Or, as IA < IB, start IA < IB difference model data processor (8), by the digital signal data of current values comparator (9) IA data corresponding with this digital signal, current values comparator (9) IA < IB vector signal data, substitute in the pattern function mated with this digital signal and this vector signal stored in pattern function bin (11) and carry out calculation process；And by the digital signal data of current values comparator (9) IB data corresponding with this digital signal data, current values comparator (9) IA < IB vector signal data, substitute in the pattern function mated with this digital signal and this vector signal stored in pattern function bin (11) and carry out calculation process；Obtain two the IA < IB type that the control double; two groups corresponding respectively with IA and IB and control data, namely the IA obtaining IA < IB controls data yIAn, the data that data yIBn, yIAn and yIBn the two subsequent module will use are controlled with the IB of IA < IB；Its function line of yIAn and yIBn is:
YIAn=f(IA < IB vector, digital signal n, IAn)；
YIBn=f(IA < IB vector, digital signal n, IBn)；
Digital signal n and IAn is the control current signal value IAn of the identical time point corresponding about some digital signal n；Digital signal n and IBn is the control current signal value IBn of the 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) is connected with IA > IB difference model data processor (7) and IA < IB difference model data processor (8) respectively, the outfan of data distributor (10) is connected with data normalization transducer (16), and the outfan of data normalization transducer (16) is connected with strong power controller A and strong power controller B respectively；Realize difference controller to strong power controller A and the strong power controller B purpose controlled；
Its effect is；YIAn and the yIBn of control data in groups that data distributor (10) inputs IA > IB difference model data processor (7) is respectively allocated to strong power controller A and strong power controller B, or yIAn and the yIBn of control data in groups that IA < IB difference model data processor (8) inputs is respectively allocated to strong power controller A and strong power controller B, namely yIAn distributes to strong power controller A, then yIBn distributes to strong power controller B；Data normalization transducer (16) carries out data normalization respectively digital signal yIAn and the yIBn distributing control object, the digital signal calculated is converted to strong power controller A and the strong power controller B control digital signal that can use, finally the two is controlled digital signal and send two strong power controllers of correspondence to；
Realize the shift signal ID of manual controller (3), the car average rate signal IS of average rate device (20), strong power controller A and strong power controller B is carried out the difference control of regulation pattern function by feedback control signal electric current IA and feedback control signal electric current IB by difference controller, when reaching front and back wheel by force unbalance, also the kinetic force that can make front and back wheel keeps within the scope of the ID gear specified matchingly, with the average uniform velocity pointed by the car average rate signal IS of average rate device (20), namely two motors power to front and back wheel output matching respectively is made respectively, reach the front and back wheel purpose that smoothly average uniform velocity travels of moped。
2. the digital differential vehicle using motor system all adding comparator with gear and rate signal according to claim 1, it is characterized in that: IA > IB difference model data processor (7) and IA < IB difference model data processor (8) is connected with data distributor (10) by corner parameter Processor (30), corner parameter Processor (30) is also connected with tap rotary angle transmitter (31)。
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| JPH09286380A (en) * | 1996-04-19 | 1997-11-04 | Suzuki Motor Corp | Drive current controller for motor-operated bicycle |
| CA2259771C (en) * | 1998-02-19 | 2003-04-01 | Hitachi, Ltd. | Transmission, and vehicle and bicycle using the same |
| US6367833B1 (en) * | 2000-09-13 | 2002-04-09 | Shimano, Inc. | Automatic shifting control device for a bicycle |
| CN103101451B (en) * | 2011-11-13 | 2016-04-20 | 湖南晟通科技集团有限公司 | Double wheel hub motor electronic differential and speed governing Centralized Controller |
| CN103204180B (en) * | 2012-01-15 | 2017-03-29 | 晟通科技集团有限公司 | Double wheel hub motor driven systems adaptive equalization rotating direction control method |
| CN102874129A (en) * | 2012-10-19 | 2013-01-16 | 成都联腾动力控制技术有限公司 | Double-motor controller with electronic differential function |
| CN204161147U (en) * | 2014-08-20 | 2015-02-18 | 成都宽和科技有限责任公司 | The digital differential boosted vehicle system of comparator is all added with gear and speed signal |
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