CN104743044A - Voltage difference moped system with gear and speed signals added into comparator - Google Patents
Voltage difference moped system with gear and speed signals added into comparator Download PDFInfo
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- CN104743044A CN104743044A CN201510123980.9A CN201510123980A CN104743044A CN 104743044 A CN104743044 A CN 104743044A CN 201510123980 A CN201510123980 A CN 201510123980A CN 104743044 A CN104743044 A CN 104743044A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M25/00—Actuators for gearing speed-change mechanisms specially adapted for cycles
- B62M25/08—Actuators for gearing speed-change mechanisms specially adapted for cycles with electrical or fluid transmitting systems
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Abstract
The invention relates to a voltage difference moped system with gear and speed signals added into a comparator, and belongs to a differentiation assisted power supply bike power supply controller system which distributes power to a front wheel and a back wheel in a difference mode. The voltage difference moped system comprises the two wheels and two motors of an electric booster bike and a gear signal manual controller, and further comprises a differential distributor; the differential distributor comprises three modules which are sequentially connected; the first module conducts numeric comparison processing on a gear signal ID of the gear signal manual controller, a bike uniform velocity signal IS of a uniform velocity device and feedback control signal currents IA and IB; the second module conducts model function processing on data of the first module through a set model function; third module control data comprise the factors of the gear signal ID and the feedback control signal currents IA and IB, and also comprise four factors like the bike uniform velocity signal IS. The voltage difference moped system has the advantages that differentiation control power supply is carried out on the two motors of the front wheel and the back wheel of the booster bike, and differentiation control contents are model function processing set in advance.
Description
Technical field
The invention belongs to the assist controller system, particularly front wheel of electric assisted bicycle and trailing wheel all to give and distribute morpet power-supply controller system with the differential front-wheel for power-assisted electricity and trailing wheel difference.
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 technical design of electronic differential application specific processor.
Chinese patent 201110358020.2 1 kinds of double wheel hub motor electronic differentials 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 change-speed box, it comprise for by the energy distribution of a drive source to the mechanism of many boxs of tricks; The many motors be connected with described many boxs of tricks respectively; With the mechanism for combining the energy exported from 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 power 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, being all the method for Mechanical course speed change, is not electron steering speed change.
Summary of the invention
The object of this invention is to provide front-wheel and trailing wheel dynamic stress two key elements, and the morpet power-supply controller system of the power-assisted gear key element of manually setting and this four elements determination front-wheel of morpet average velociity this moment and trailing wheel difference distribution power supply.And be that these four power-assisted key elements carry out merging variable, after reducing variable, then calculate the morpet difference power-supply controller system of difference distribution control signal with few, the simple Controlling model function of variable.
Structure of the present invention is:
The voltage difference boosted vehicle system of comparator is all added with gear and speed signal, comprise two wheels of electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and drive the motor B of wheel B, comprise the shift signal manual mode controller 3 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 that the speed signal of vehicle speed signal sensor 12 in certain hour is become the signal processor of average velociity in this certain hour.
Be connected with controller A between differential distributing box 1 with motor A, controller A differential distributing box 1 give with control signal control electrical source of power wheel A powered;
Be connected with controller B between differential distributing box 1 with motor B, controller B differential distributing box 1 give with control signal control electrical source of power wheel B powered.
Between motor A and controller A, negate feedforward control signal electric current I A inputs the current values comparator 9 of differential distributing box 1;
Between motor B and controller B, negate feedforward control signal electric current I B inputs the current values comparator 9 of differential distributing box 1;
The shift signal ID of shift signal manual mode controller 3 inputs the current values comparator 9 of differential distributing box 1;
The car average rate signal IS of average rate device 20 inputs the current values comparator 9 of differential distributing box 1.
On morpet, shift signal manual mode controller 3 is exactly the gear rotary switc be fixed on handle-bar cross bar, and people moves shift signal manual mode controller 3 with hand-screw, selects various from the car bumper position as automobile.The gear of morpet stirs the ratio selection portion part machinery that bar itself is the physical construction relation of foot-operated chain drum and the multiple gear multiplication of trailing wheel, in the present invention, shift signal manual mode controller 3 is electronicies package, and it exports to the transmitting ratio selection mode electronic signal that gear stirs bar the electronic unit needing to control.
On morpet, vehicle speed signal sensor 12 is fixed on morpet to experience this morpet moving velocity, export the sensor representing speed of a motor vehicle electric signal.
The average velociity that average rate device 20 exports is floating signal, float and be meant to: if the average velociity within setting average rate device 20 is got at that time front 5 seconds, then the average velociity of latter a second will add this speed of latter one second and remove the speed of first 6th second, calculates the average velociity within 5 seconds.The floating meaning is exactly that average velociity is at any time with the floating change of the speed of a motor vehicle.
Differential distributing box 1 comprises three modules be connected successively;
First module to the original input signal for controlling be the shift signal ID of shift signal manual mode controller 3, the car average rate signal IS of average rate device 20, feedback control signal electric current I A and feedback control signal electric current I B carry out numeric ratio and comparatively process;
The second module pattern function set carries out pattern function process to the data of the first module;
It is the key element that the control data that controller A and controller B is obtained not only has shift signal ID, feedback control signal electric current I A and feedback control signal electric current I B that 3rd module distributes to controlled electrical equipment to pattern function process, also has the four elementses such as car average rate signal IS.
First module: four input ends of current values comparator 9 connect the shift signal ID of shift signal manual mode controller 3, the car average rate signal IS of average rate device 20, feedback control signal electric current I A and feedback control signal electric current I B respectively; ID, IS, IA and IB are the original control current signal of received current digital comparator 9 respectively; Two mouths of current values comparator 9 connect IA > IB difference model data handler 7 and IA < IB difference model data handler 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 I A, the feedback control signal electric current I B of input, with two kinds of vector signals a certain obtaining IA > IB or IA < IB, the digital signal of this difference value adds that shift signal ID value and car average rate signal IS obtain containing gear and car average rate signal; This is transferred to difference model data handler 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 handler 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 under 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 convenient at digital signal value identical, and vector is different, also can obtain different Controlling model and export, make Controlling model more can adapt to be 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 adds the absolute value of the shift signal ID of shift signal manual mode controller 3, so digital signal is a value, is scalar.This is convenient at digital signal value identical, and vector is different, also can obtain different Controlling model and export, make Controlling model more can adapt to be controlled the needs of thing.
IA and IB is for controlling two target electric appliances, as electrical motor, or two current controling signals for controlling two strong power controllers; Digital signal is the scalar numeric value that current values comparator 9 couples of ID, IS, IA, IB carry out arithmetic processing, so digital signal can enter follow-up function value computing as scalar.Current controling signal ID, IS, IA and IB not only can have size variation, can also change in direction, but digital signal only have size variation.
Feedback control signal electric current I A and IB represents a certain moment front and back wheel strained condition respectively of morpet, IA and IB is used for controlled reset object and is to give different power matchings respectively to the front and back wheel of strained condition this moment.
The people that shift signal ID representative drives this morpet requires that this morpet travels with certain basic demand, as shift signal ID representative requires that speed per hour is 10-20 kilometer/hour, or 30-40 kilometer/hour of traveling, or require to travel under the gradient condition of 4-10 degree.Shift signal ID is artificial setting, artificially changeable.
Car average rate signal IS represents the motoring condition in morpet nearest very short time, add this key element object of car average rate signal IS when being to make morpet to run into the state producing IA and IB, the adjustment of boosted vehicle system is controlled by difference, still morpet is made to keep producing that speed of a motor vehicle state of car average rate signal IS, reach and make speed of a motor vehicle held stationary, people feels comfortable object.
ID, IS, IA and IB send into differential distributing box 1 and carry out data processing, under the control voltage signal that its differential distributing box 1 exports to strong power controller A, B just can be embodied in the artificial gear condition required, when road makes the stressed change of front and back wheel and makes the power of front and back wheel not mate, the control signal that differential distributing box 1 exports, the average uniform velocity that the power of front and back wheel can keep pointed by IS matchingly can be made, make two motors respectively to the power of front and back wheel output matching respectively, reach the front and back wheel average uniform velocity traveling reposefully of morpet.
Second module: IA > IB difference model data handler 7 connects current values comparator 9 and pattern function holder 11 respectively, and IA < IB difference model data handler 8 also connects current values comparator 9 and pattern function holder 11 respectively.
Its effect is;
As IA > IB, start IA > IB difference model data handler 7, by the IA > IB vector signal data of the digital signal data of current values comparator 9, the 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 holder 11 and carry out calculation process; And by the IA > IB vector signal data of the digital signal data of current values comparator 9, the 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 holder 11 and carry out calculation process; Obtain two the IA > IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data y IAn of IA > IB is obtained, with the data that this two subsequent module of the IB control data y IBn of IA > IB, y IAn and y IBn will use; Its function line of y IAn and y IBn is:
Y IAn=f(IA > IB vector, digital signal n, IAn);
Y IBn=f(IA > IB vector, digital signal n, IBn);
Digital signal n and IAn is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n.
Or, as IA < IB, start IA < IB difference model data handler 8, by the IA < IB vector signal data of the digital signal data of current values comparator 9, the 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 holder 11 and carry out calculation process; And by the IA < IB vector signal data of the digital signal data of current values comparator 9, the 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 holder 11 and carry out calculation process; Obtain two the IA < IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data y IAn of IA < IB is obtained, with the data that this two subsequent module of the IB control data y IBn of IA < IB, y IAn and y IBn will use; Its function line of y IAn and y IBn is:
Y IAn=f(IA < IB vector, digital signal n, IAn);
Y IBn=f(IA < IB vector, digital signal n, IBn).
Digital signal n and IAn is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n; IAn and IBn is computing value, is digital signal.
Above-mentioned pattern function at identical vectorial sum digital signal value, during different I A and IB, can obtain one group of different control signal y IAn and y IBn.In function y IAn, digital signal is implied with IBn, ID and IS content, and IBn, ID and ISn do not participate in pattern function calculating, make its easier Modling model function, or pattern function are fairly simple; And if without digital signal, directly use IA, IB, ID, IS very not easily Modling model function, the pattern function of foundation is very complicated.In like manner, in function y IBn, digital signal is implied with IAn, ID and IS content, is the method for drawing for simplifying Modling model function.
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 that difference controller controls strong power controller A and strong power controller B.
Its effect is; The IAn of control data y in groups that data distributor 10 inputs IA > IB difference model data handler 7 and y IBn distributes to strong power controller A and strong power controller B respectively, or the IAn of control data y in groups and the y IBn of the input of IA < IB difference model data handler 8 distribute to strong power controller A and strong power controller B respectively, namely y IAn distributes to strong power controller A, then y IBn distributes to strong power controller B; D and A converter 16 carries out digital to analogy conversion respectively the digital signal y IAn and y IBn distributing control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can use, finally these two control voltage signals is sent to two corresponding strong power controllers.
Realize the shift signal ID of shift signal manual mode controller 3, the car average rate signal IS of average rate device 20, feedback control signal electric current I A and feedback control signal electric current I B is controlled the difference that strong power controller A and strong power controller B carries out regulation pattern function by difference controller, when reaching front and back wheel by force unbalance, within the scope of the gear that the power of front and back wheel also can be made to keep ID to specify matchingly, with the average uniform velocity pointed by IS, both made two motors respectively to the power of front and back wheel output matching respectively, the front and back wheel reaching morpet is the object that travels of average uniform velocity reposefully.
Control data y IAn and y IBn contains shift signal ID in groups, car average rate signal IS, feedback control signal electric current I A and feedback control signal electric current I B calculate through pattern function, this morpet is had to travel gear, speed state to the integrated demand of power supply, stressedly to change although front and back wheel is different in a flash in other words, but car can also keep original speed as far as possible, such speed of a motor vehicle can be steadily.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 rate, the difference size of powering how many is different again, so want ID, IS, IA and IB tetra-to control former key element.The weight of people on morpet is constant, front-wheel or certain wheel of trailing wheel stressed large time, 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 tetra-controls former key element input difference and controls boosted vehicle system, difference controls boosted vehicle system through controlling the pattern function that former key element matches calculate with these four, two control voltage signals that output and these four controlling elements match give the motor of front-wheel and trailing wheel respectively, even if make wheel A and wheel B stressed unequal, also the work of two motor couplings can be obtained, two wheel balance motions, the effect of morpet held stationary speeds.
Due to different electric controller A and strong power controller B, require the control voltage signal of different voltage range, 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.
Whether stable the leading rotational angle of bicycle representative can be in state at bicycle substantially, if leading rotational angle is than the angle that have rotated 80 degree to 90 degree time just forward, then bicycle is in unstable motoring condition, at this moment no matter feedback control signal electric current I A and IB is any signal, can not, again to feeding electric motors, must stop feeding electric motors immediately.If leading rotational angle is than the angle that have rotated 30 degree to 80 degree time just forward, feedback control signal electric current I A and IB requires to reduce the delivery to motor to should increasing with leading rotational angle of feeding electric motors.General leading rotational angle is when the angle of 0 degree to 30 degree, and bicycle is in completely normal motoring condition, and feedback control signal electric current I A and IB requires can, completely according to execution, not need to revise to the delivery of motor.
The speed of a motor vehicle controlled to make differential distributing box 1 and the body weight of cyclist match, namely under the condition of the same group of feedback control signal electric current I A changed and feedback control signal electric current I B, two control voltage signals that differential distributing box 1 exports can change with the body weight difference of cyclist.As being match with 50 kilograms of body weights with former two the control voltage signals that should export of differential distributing box 1, when the body weight of cyclist is 40 kilograms, two control voltage signals that differential distributing box 1 reality exports all reduce 20%, or when the body weight of cyclist is 70 kilograms, two control voltage signals that differential distributing box 1 reality exports all reduce 40%.The body weight reaching the speed of a motor vehicle that differential distributing box 1 controls and cyclist matches.For achieving this end technical scheme be: on the human body cushion of morpet, or pressure sensor is set on the elastomeric element be connected with cushion, this pressure sensor is connected with the data distributor 10 in differential distributing box 1, and the pressure signal of pressure sensor carries out to two control voltage signals in data distributor 10 process that same ratio increase or same ratio reduce respectively.
Advantage of the present invention: differential distributing box of the present invention can carry out the process of digital model function to car average rate signal IS, the feedback control signal electric current I A and feedback control signal electric current I B of the shift signal ID of shift signal manual mode controller, average rate device, to two controlled things that will control, front and back wheel two motors of morpet carry out differential control power supply, and the content of differential control is exactly the pattern function process of setting in advance.Namely differential distributing box Neng Dui tetra-road of the present invention analog current signal carries out pattern function and is processed into differential two-way voltage control signal independently and exports, digital model function content can be added to four tunnel analog signals, the control that front and back wheel two motors carry out independently is powered, also claims difference to control power supply.The work of front and back wheel two motor couplings, both front and back wheel change strained condition, front and back wheel two motors mate to from different power supplies, reach front and back wheel velocity of rotation identical, and be make morpet substantially keep being limited within the scope of gear by ID, form the state of the average velociity of IS.The people ridden on this morpet feels comfortably cool, the identical not wastes power again of front and back wheel velocity of rotation.
In function y IAn, be implied with IBn, ID and IS content, and IBn, ID and ISn do not participate in pattern function calculating, make its easier Modling model function, or pattern function are fairly simple; And if without digital signal, directly use IA, IB, ID, IS very not easily Modling model function, the pattern function of foundation is very complicated.In like manner, in function y IBn, digital signal is implied with IAn, ID and IS content, is the method for drawing for simplifying Modling model function.
Difference of the present invention controls boosted vehicle system and controls through ID, IS, IA and IB and these four pattern function that former key element matches and calculate, export and to control two control voltage signals that former key element matches with these four respectively to the motor of front-wheel and trailing wheel, even if make wheel A and wheel B stressed unequal, also the work of two motor couplings can be obtained, the effect of two wheel balance motions.
When the former key element of identical ID, IS, IA and IB tetra-control is identical, as long as change the digital model function of setting, the different control signals that just can obtain multiple artificial setting export, solve and directly control two analog electronics by IA and IB two analog signals, only have a kind of mode, the shortcoming of mode can not be adjusted by human needs.
Whether stable state can be in leading rotational angle presumption bicycle, and by the size of leading rotational angle, the feedback control signal electric current I A produce cycle racing state and the difference delivery required by IB are revised, to ensure when bicycle plays pendulum, no longer labile factor is increased to bicycle, use morpet of the present invention more humane, safer.
Accompanying drawing explanation
Annexation and the signal of Fig. 1, each parts of differential distributing box of the present invention flow to schematic diagram;
Annexation and the signal of Fig. 2, each parts of the present invention flow to schematic diagram;
Fig. 3, the annexation of each parts of differential distributing box 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 differential distributing box, 3 are shift signal manual mode controllers, 7 are IA > IB difference model data handlers, 8 are IA < IB difference model data handlers, 9 are current values comparators, 10 are data distributors, 11 are pattern function holders, 12 are vehicle speed signal sensors, 16 are D and A converters, 20 are average rate devices, 30 are corner parameter Processor, 31 is leading rotary angle transmitters.
Detailed description of the invention
Embodiment 1, all add the voltage difference boosted vehicle system of comparator with gear and speed signal
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 drive the motor B of wheel B, comprise the shift signal manual mode controller 3 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 that the speed signal of vehicle speed signal sensor 12 in certain hour is become the signal processor of average velociity in this certain hour.
Be connected with controller A between differential distributing box 1 with motor A, controller A differential distributing box 1 give with control signal control electrical source of power wheel A powered;
Be connected with controller B between differential distributing box 1 with motor B, controller B differential distributing box 1 give with control signal control electrical source of power wheel B powered.
Between motor A and controller A, negate feedforward control signal electric current I A inputs the current values comparator 9 of differential distributing box 1;
Between motor B and controller B, negate feedforward control signal electric current I B inputs the current values comparator 9 of differential distributing box 1;
The shift signal ID of shift signal manual mode controller 3 inputs the current values comparator 9 of differential distributing box 1;
The car average rate signal IS of average rate device 20 inputs the current values comparator 9 of differential distributing box 1.
Differential distributing box 1 comprises three modules be connected successively;
First module to the original input signal for controlling be the shift signal ID of shift signal manual mode controller 3, the car average rate signal IS of average rate device 20, feedback control signal electric current I A and feedback control signal electric current I B carry out numeric ratio and comparatively process;
The second module pattern function set carries out pattern function process to the data of the first module;
It is the key element that the control data that controller A and controller B is obtained not only has shift signal ID, feedback control signal electric current I A and feedback control signal electric current I B that 3rd module distributes to controlled electrical equipment to pattern function process, also has the four elementses such as car average rate signal IS;
First module: four input ends of current values comparator 9 connect the shift signal ID of shift signal manual mode controller 3, the car average rate signal IS of average rate device 20, feedback control signal electric current I A and feedback control signal electric current I B respectively; ID, IS, IA and IB are the original control current signal of received current digital comparator 9 respectively; Two mouths of current values comparator 9 connect IA > IB difference model data handler 7 and IA < IB difference model data handler 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 I A, the feedback control signal electric current I B of input, with two kinds of vector signals a certain obtaining IA > IB or IA < IB, the digital signal of this difference value adds that shift signal ID value and car average rate signal IS obtain containing gear and car average rate signal; This is transferred to difference model data handler 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 handler 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 under referred to as digital signal.
Second module: IA > IB difference model data handler 7 connects current values comparator 9 and pattern function holder 11 respectively; And IA < IB difference model data handler 8 also connects current values comparator 9 and pattern function holder 11 respectively.
Its effect is;
As IA > IB, start IA > IB difference model data handler 7, by the IA > IB vector signal data of the digital signal data of current values comparator 9, the 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 holder 11 and carry out calculation process; And by the IA > IB vector signal data of the digital signal data of current values comparator 9, the 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 holder 11 and carry out calculation process; Obtain two the IA > IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data y IAn of IA > IB is obtained, with the data that this two subsequent module of the IB control data y IBn of IA > IB, y IAn and y IBn will use; Its function line of y IAn and y IBn is:
Y IAn=f(IA > IB vector, digital signal n, IAn);
Y IBn=f(IA > IB vector, digital signal n, IBn).
Digital signal n and IAn is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n.
Or, as IA < IB, start IA < IB difference model data handler 8, by the IA < IB vector signal data of the digital signal data of current values comparator 9, the 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 holder 11 and carry out calculation process; And by the IA < IB vector signal data of the digital signal data of current values comparator 9, the 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 holder 11 and carry out calculation process; Obtain two the IA < IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data y IAn of IA < IB is obtained, with the data that this two subsequent module of the IB control data y IBn of IA < IB, y IAn and y IBn will use; Its function line of y IAn and y IBn is:
Y IAn=f(IA < IB vector, digital signal n, IAn);
Y IBn=f(IA < IB vector, digital signal n, IBn).
Digital signal n and IAn is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n; IAn and IBn is computing value, is digital signal.
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 that difference controller controls strong power controller A and strong power controller B.
Its effect is; The IAn of control data y in groups that data distributor 10 inputs IA > IB difference model data handler 7 and y IBn distributes to strong power controller A and strong power controller B respectively, or the IAn of control data y in groups and the y IBn of the input of IA < IB difference model data handler 8 distribute to strong power controller A and strong power controller B respectively, namely y IAn distributes to strong power controller A, then y IBn distributes to strong power controller B; D and A converter 16 carries out digital to analogy conversion respectively the digital signal y IAn and y IBn distributing control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can use, finally these two control voltage signals is sent to two corresponding strong power controllers.
Realize the shift signal ID of shift signal manual mode controller 3, the car average rate signal IS of average rate device 20, feedback control signal electric current I A and feedback control signal electric current I B is controlled the difference that strong power controller A and strong power controller B carries out regulation pattern function by difference controller, when reaching front and back wheel by force unbalance, within the scope of the gear that the power of front and back wheel also can be made to keep ID to specify matchingly, with the average uniform velocity pointed by IS, both made two motors respectively to the power of front and back wheel output matching respectively, the front and back wheel reaching morpet is the object that travels of average uniform velocity reposefully.
The voltage difference boosted vehicle system all adding comparator with gear and speed signal of embodiment 2, band 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 pressure sensor is set on the elastomeric element be connected with cushion, this pressure sensor is connected with the data distributor 10 in differential distributing box 1, and the pressure signal of pressure sensor carries out to two control voltage signals in data distributor 10 process that same ratio increase or same ratio reduce respectively.
Claims (2)
1. the voltage difference boosted vehicle system of comparator is all added with gear and speed signal, comprise two wheels of electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and drive the motor B of wheel B, comprise the shift signal manual mode controller (3) 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 that the speed signal of vehicle speed signal sensor (12) in certain hour is become the signal processor of average velociity in this certain hour;
Differential distributing box (1) is connected with controller A with between motor A, controller A differential distributing box (1) give with control signal control electrical source of power wheel A powered;
Differential distributing box (1) is connected with controller B with between motor B, controller B differential distributing box (1) give with control signal control electrical source of power wheel B powered;
Between motor A and controller A, negate feedforward control signal electric current I A inputs the current values comparator (9) of differential distributing box (1);
Between motor B and controller B, negate feedforward control signal electric current I B inputs the current values comparator (9) of differential distributing box (1);
The shift signal ID of shift signal manual mode controller (3) inputs the current values comparator (9) of differential distributing box (1);
The car average rate signal IS of average rate device (20) inputs the current values comparator (9) of differential distributing box (1);
Differential distributing box (1) comprises three modules be connected successively;
First module to the original input signal for controlling be the shift signal ID of shift signal manual mode controller (3), the car average rate signal IS of average rate device (20), feedback control signal electric current I A and feedback control signal electric current I B carry out numeric ratio and comparatively process;
The second module pattern function set carries out pattern function process to the data of the first module;
It is the key element that the control data that controller A and controller B is obtained not only has shift signal ID, feedback control signal electric current I A and feedback control signal electric current I B that 3rd module distributes to controlled electrical equipment to pattern function process, also has the four elementses such as car average rate signal IS;
First module: four input ends of current values comparator (9) connect the shift signal ID of shift signal manual mode controller (3), the car average rate signal IS of average rate device (20), feedback control signal electric current I A and feedback control signal electric current I B respectively; ID, IS, IA and IB are the original control current signal of received current digital comparator (9) respectively; Two mouths of current values comparator (9) connect IA > IB difference model data handler (7) and IA < IB difference model data handler (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 I A, the feedback control signal electric current I B of input, with two kinds of vector signals a certain obtaining IA > IB or IA < IB, the digital signal of this difference value adds that shift signal ID value and car average rate signal IS obtain containing gear and car average rate signal; This is transferred to difference model data handler (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 handler (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 under referred to as digital signal;
Second module: IA > IB difference model data handler (7) connects current values comparator (9) and pattern function holder (11) respectively; And IA < IB difference model data handler (8) also connects current values comparator (9) and pattern function holder (11) respectively;
Its effect is;
As 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, 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 holder (11) and carry out calculation process; And by the digital signal data of current values comparator (9), the 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 holder (11) and carry out calculation process; Obtain two the IA > IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data y IAn of IA > IB is obtained, with the data that this two subsequent module of the IB control data y IBn of IA > IB, y IAn and y IBn will use; Its function line of y IAn and y IBn is:
Y IAn=f(IA > IB vector, digital signal n, IAn);
Y IBn=f(IA > IB vector, digital signal n, IBn);
Digital signal n and IAn is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n;
Or, as 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, 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 holder (11) and carry out calculation process; And by the digital signal data of current values comparator (9), the 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 holder (11) and carry out calculation process; Obtain two the IA < IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data y IAn of IA < IB is obtained, with the data that this two subsequent module of the IB control data y IBn of IA < IB, y IAn and y IBn will use; Its function line of y IAn and y IBn is:
Y IAn=f(IA < IB vector, digital signal n, IAn);
Y IBn=f(IA < IB vector, digital signal n, IBn);
Digital signal n and IAn is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n; IAn and IBn is computing value, is digital signal;
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 that difference controller controls strong power controller A and strong power controller B;
Its effect is; The IAn of control data y in groups that data distributor (10) inputs IA > IB difference model data handler (7) and y IBn distributes to strong power controller A and strong power controller B respectively, or the IAn of control data y in groups that IA < IB difference model data handler (8) inputs and y IBn distributes to strong power controller A and strong power controller B respectively, namely y IAn distributes to strong power controller A, then y IBn distributes to strong power controller B; D and A converter (16) carries out digital to analogy conversion respectively the digital signal y IAn and y IBn distributing control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can use, finally these two control voltage signals is sent to two corresponding strong power controllers;
Realize the shift signal ID of shift signal manual mode controller (3), the car average rate signal IS of average rate device (20), feedback control signal electric current I A and feedback control signal electric current I B is controlled the difference that strong power controller A and strong power controller B carries out regulation pattern function by difference controller, when reaching front and back wheel by force unbalance, within the scope of the gear that the power of front and back wheel also can be made to keep ID to specify matchingly, with the average uniform velocity pointed by IS, both made two motors respectively to the power of front and back wheel output matching respectively, the front and back wheel reaching morpet is the object that travels of average uniform velocity reposefully.
2. the voltage difference boosted vehicle system all adding comparator with gear and speed signal according to claim 1, 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), corner parameter Processor (30) is also connected with leading rotary angle transmitter (31).
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| CN201510123980.9A CN104743044A (en) | 2014-08-20 | 2015-03-21 | Voltage difference moped system with gear and speed signals added into comparator |
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| CN201410408437 | 2014-08-20 | ||
| CN201510123980.9A CN104743044A (en) | 2014-08-20 | 2015-03-21 | Voltage difference moped system with gear and speed signals added into comparator |
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| JPH10167162A (en) * | 1996-12-06 | 1998-06-23 | Matsushita Electric Ind Co Ltd | Electric bicycle |
| CN103204180A (en) * | 2012-01-15 | 2013-07-17 | 湖南晟通科技集团有限公司 | Self-adaptive balance steering control method of double-hub motor driving system |
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