CN105846596B - A kind of motor and its intelligence control system for electric assisted bicycle - Google Patents

A kind of motor and its intelligence control system for electric assisted bicycle Download PDF

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Publication number
CN105846596B
CN105846596B CN201610406442.5A CN201610406442A CN105846596B CN 105846596 B CN105846596 B CN 105846596B CN 201610406442 A CN201610406442 A CN 201610406442A CN 105846596 B CN105846596 B CN 105846596B
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motor
magnet steel
end cap
card pedestal
rotation
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CN105846596A (en
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吴森泉
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Nanjing Yibaike Intelligent Technology Co Ltd
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Nanjing Yibaike Intelligent Technology Co Ltd
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K7/00Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a kind of motors for electric assisted bicycle, including trample drive part, and the card pedestal (1) for trampling drive part is rotated by ratchet and pawl arrangement (2) unidirectional drive end cap (3);Fixed ring (5) are equipped in the inner cavity of the card pedestal (1), and equipped with the magnet steel (6) that several are annularly arranged in fixed ring (5), the tread sensors (8) of face magnet steel (6) setting are provided on motor shaft (7), tread sensors (8) can sense the rotation direction and velocity of rotation of magnet steel (6) by the changes of magnetic field of magnet steel (5) in real time.Intelligence control system includes controller (15), battery (20) and motor (21), and controller (15) handles acquisition from the internal information of motor (21).The signal of motor and its intelligence control system of the invention is intensive, high sensitivity and that power-assisted starting angle is small, detection user stops the time trampling when starting to walk is short.

Description

A kind of motor and its intelligence control system for electric assisted bicycle
Technical field
The present invention relates to electric assisted bicycle technical field, specifically a kind of signal is intensive, high sensitivity, starting Shi Zhuli starting angle is small and detection user stops the time the trampling short motor and its intelligence for electric assisted bicycle Control system.
Background technique
Electric assisted bicycle has both cycling leisure and the light laborsaving feature of electric vehicle, in recent years increasingly It is received by the market.Currently, most of Power assisted control scheme, the assistant sensor of use and the wheel hub of electric bicycle are electric in the market Machine is independent two components respectively.Assistant sensor is generally mounted at bicycle rack axis, is measured by assistant sensor Cadence when user rides, and convert that information into digital signal and pass to controller, PWM duty is adjusted by controller Than finally realizing power-assisted.(1), the assistant sensor of axis but program disadvantage is more:, being limited to the cadence of user (being generally up to 120 rpms, generally between 50-90 rpms), signal is few, and sensitivity is limited;(2) wanted when, starting to walk Power-assisted can just be started by trampling certain angle (24 ° minimum);(3), stop trampling detection time length (100 milliseconds or more);(4), power-assisted The collected cadence information of sensor is single and the control mode of controller is limited;It is (5) current that there are mainly two types of controlling parties Formula, a kind of control mode are switched using trampling signal as power-assisted, detect that motor is adjusted after trampling signal reaches specified gear Speed, another control mode are that cadence is converted into certain PWM duty cycle value, and height steps on frequency and exports high motor speed, But its motor speed exported can not be adapted to very well user and trample rhythm, cause motor speed is advanced (to occur stepping on sky, sky Step on) or the cadence (power-assisted is too weak) of user is lagged behind, the experience of both the above is simultaneously bad;(6), match needed for assistant sensor Part is more, and installation accuracy is high, and fixed form is complicated, and it is naked be exposed on the external in environment, reliability and stability are poor.
Summary of the invention
When intensive, high sensitivity that in response to the problems existing in the prior art, the purpose of the present invention is to provide a kind of signals, starting Power-assisted starting angle is small and detects user and stops time for trampling short motor and its intelligence for electric assisted bicycle and controls System processed.
The purpose of the present invention is what is solved by the following technical programs:
A kind of motor for electric assisted bicycle, including motor driven part and drive part is trampled, feature exists In: the card pedestal for trampling drive part is rotated by ratchet and pawl arrangement unidirectional drive end cap, and end cap is fixed on motor wheel On hub and the two links;It is equipped with fixed ring in the inner cavity of the card pedestal, and is equipped with several in fixed ring along motor shaft The magnet steel that annularly arranges of circumferential direction, the tread sensors of face magnet steel setting are provided on motor shaft, tread sensors are logical The changes of magnetic field for crossing magnet steel can sense the rotation direction and velocity of rotation of magnet steel in real time.
The N of the magnet steel is extremely unified to be arranged towards the S of motor shaft or magnet steel is extremely unified towards motor shaft;The fixed ring In magnet steel number N < π r/W, wherein r be magnet steel constitute ring bodies internal diameter, W be single magnet steel width.
There are the gap of 2mm~5mm between magnet steel inner wall in the fixed ring and the outer wall of motor shaft, and fixed ring with Also gap is equipped between the driven member of ratchet and pawl arrangement.
The end cap is equipped with the wheel rotation sensor that can acquire faster rotating wheel in real time.
The ratchet and pawl arrangement includes being arranged on the inverse spine apparatus and column foot axle center part that are arranged on the inner wall of card pedestal Pawl or inner wall including card pedestal on the inverse spine apparatus that is arranged on the pawl and column foot axle center part that are arranged;The tower Standard shaft heart part and card pedestal constitute the column foot of the motor and column foot axle center part and end cap are fixedly linked, drive of the card pedestal in flywheel Lower rotation simultaneously transfers the motion to column foot axle center part, end cap and motor wheel hub by ratchet and pawl arrangement.
The ratchet and pawl arrangement include it is corresponding on the inverse spine apparatus and end cap that are arranged on the extension component of card pedestal should It is right on the pawl being arranged at the connecting portion of inverse spine apparatus or the pawl and end cap that are arranged on the extension component including card pedestal The inverse spine apparatus that should be arranged at the connecting portion of pawl;The card pedestal is corresponded on the extension component and end cap of the card pedestal The connecting portion of extension component constitutes the column foot of the motor, and card pedestal rotates under the drive of flywheel and passes through ratchet and pawl arrangement Movement is transferred directly to end cap and motor wheel hub.
The motor driving part point includes motor stator, rotor and the planetary gear speed-reduction being fixed on motor shaft Clutch mechanism, so that rotor rotates, rotor drives planetary gear reduction speed clutch machine for meeting after motor stator is powered Structure drives the motor wheel hub rotation engaged with planetary gear speed-reduction clutch mechanism.
A kind of intelligent motor control system for electric assisted bicycle, including controller, the electricity powered to controller Pond and motor, it is characterised in that: the controller includes single-chip microcontroller, tramples signal acquisition circuit and motor-drive circuit, is stepped on The rotation direction and velocity of rotation that user tramples can be obtained by the tread sensors being arranged in motor by stepping on signal acquisition circuit And pass to single-chip microcontroller, it is that the velocity of rotation and time state trampled by single-chip microcontroller according to the user of acquisition show that user tramples plus Speed;Single-chip microcontroller controls PWM duty cycle according to the acceleration that user tramples and exports and control electricity by motor-drive circuit The revolving speed of the motor driven part driving motor wheel hub of machine.
Vehicle wheel rotation signal acquisition circuit is additionally provided in the controller, vehicle wheel rotation signal acquisition circuit can pass through The wheel rotation sensor being arranged in motor obtains the velocity of rotation of wheel and passes to single-chip microcontroller.
The tread sensors use can identify that one or more Hall elements of positive and reverse steering are made, and wheel turns Dynamic sensor is also made of Hall element;The Hall element is latch Hall or Hall switch.
The present invention has the following advantages compared with prior art:
The present invention is equipped with several by being equipped with fixed ring in the inner cavity of card pedestal, and in fixed ring along motor shaft The magnet steel that annularly arranges of circumferential direction, the tread sensors of face magnet steel setting are provided on motor shaft, tread sensors are logical The changes of magnetic field for crossing magnet steel can sense the rotation direction and velocity of rotation of magnet steel in real time;What is be arranged inside motor tramples biography Sensor and magnet steel match that the power-assisted transducing signal for acquiring intelligence control system is intensive, high sensitivity, and user tramples minimum angle 5 ° of degree can start power-assisted, and the time that detection user stops trampling and stopping power-assisted output is as short as 20 milliseconds, and is turned by wheel The setting of dynamic sensor is so that power-assisted heat transfer agent is richer.
Intelligence control system of the invention can according to trample the information intelligents such as velocity and acceleration identification user accelerate and The intention of deceleration provides more intelligent power-assisted experience;The revolving speed of the motor driven part of controller driving motor follows user The speed trampled, be not in the motor driven part of motor revolving speed it is advanced or lag behind the case where user tramples speed;And Due to no longer needing to install assistant sensor at axis, power-assisted transducing signal derives from the inside of motor, and the information of acquisition is more It is reliable and stable.
Detailed description of the invention
Attached drawing 1 is the electric machine structure schematic diagram for electric assisted bicycle of the invention;
Attached drawing 2 is the electric machine structure cross-sectional view for electric assisted bicycle of the invention;
Attached drawing 3 is the fixed ring structural schematic diagram with magnet steel of the invention;
Attached drawing 4 is the intelligent motor control system functional block diagram for electric assisted bicycle of the invention.
Wherein: 1-card pedestal;2-ratchet and pawl arrangements;3-end caps;4-motor wheel hubs;5-fixed rings;6-magnet steel; 7-motor shafts;8-tread sensors;9-column foot axle center parts;10-column foots;11-motor stators;12-rotors;13— Planetary gear speed-reduction clutch mechanism;14-wheel rotation sensors;15-controllers;16-single-chip microcontrollers;17-trample signal Acquisition Circuit;18-vehicle wheel rotation signal acquisition circuits;19-motor-drive circuits;20-batteries;21-motors.
Specific embodiment
The present invention will be further described below with reference to the accompanying drawings and embodiments.
It is as shown in Figs. 1-3: a kind of motor for electric assisted bicycle, including motor driven part and trample driving portion Point, motor driving part point includes motor stator 11, rotor 12 and the planetary gear reduction speed clutch being fixed on motor shaft 7 Mechanism 13, so that rotor 12 rotates, rotor 12 drives planetary gear reduction speed clutch for meeting after motor stator 11 is powered Mechanism 13 drives the motor wheel hub 4 engaged with planetary gear speed-reduction clutch mechanism 13 to rotate;Trample the card pedestal 1 of drive part For installing cassette flywheel and being rotated under the drive of cassette flywheel by 2 unidirectional drive end cap 3 of ratchet and pawl arrangement, end cap 3 It is fixed on motor wheel hub 4 and the two links;It is equipped with fixed ring 5 in the inner cavity of card pedestal 1, is made of non-magnetic screen material The outer wall of fixed ring 5 be threaded into, bond or other means and be fixed on the inner wall of card pedestal 1, it is embedded in fixed ring 5 Several magnet steel 6 annularly arranged along the circumferential direction of motor shaft 7 are equipped with, outside 6 inner wall of magnet steel and motor shaft 7 in fixed ring 5 There are the gaps of 2mm~5mm between wall, and gap is also equipped between fixed ring 5 and the driven member of ratchet and pawl arrangement 2; In addition the number N < π r/W of the magnet steel 6 in fixed ring 5, wherein r is the internal diameter for the ring bodies that magnet steel 6 is constituted, and W is single magnet steel Width;And the N of magnet steel 6 is extremely unified extremely unified towards the setting of motor shaft 7 towards the S of motor shaft 7 or magnet steel 6, in motor shaft 7 On be provided with the tread sensors 8 of the setting of face magnet steel 6, tread sensors 8 can be incuded in real time by the changes of magnetic field of magnet steel 5 To the rotation direction and velocity of rotation of magnet steel 6.The wheel turn that can acquire faster rotating wheel in real time is equipped on end cap 3 simultaneously Dynamic sensor 14.Specific to the structure of ratchet and pawl arrangement 2 and the column foot 10 of the motor, a kind of scheme is: ratchet and pawl arrangement 2 The pawl that is arranged on the inverse spine apparatus and column foot axle center part 9 being arranged on inner wall including card pedestal 1 or including card pedestal 1 The inverse spine apparatus being arranged on the pawl and column foot axle center part 9 being arranged on inner wall;By pawl structures, end cap connection structure and bearing The column foot axle center part 9 and card pedestal 1 of the compositions such as component constitute the column foot 10 and 3 stationary phase of column foot axle center part 9 and end cap of the motor Even, card pedestal 1 rotates under the drive of flywheel and transfers the motion to the column foot axle center of synchronous rotation by ratchet and pawl arrangement 2 Part 9, end cap 3 and motor wheel hub 4.Another scheme is: ratchet and pawl arrangement 2 on the extension component of card pedestal 1 including being arranged Correspond to the pawl of setting or the extension component including card pedestal 1 at the connecting portion against spine apparatus on inverse spine apparatus and end cap 3 The inverse spine apparatus being arranged at the connecting portion of the pawl is corresponded on the pawl and end cap 3 of upper setting;The extension component of card pedestal 1 and The connecting portion that the extension component of the card pedestal 1 is corresponded on end cap 3 constitutes the column foot 10 of the motor, band of the card pedestal 1 in flywheel Movement is simultaneously transferred directly to the end cap 3 and motor wheel hub 4 that rotate synchronously by ratchet and pawl arrangement 2 by dynamic lower rotation.To sum up institute It states, i.e., the structure of so-called column foot 10: flying for the mono-directional overrun clutch structure with click and for connecting bicycle shift The component of wheel.
It is as shown in Figure 4: a kind of intelligent motor control system for electric assisted bicycle, including controller 15, to control The battery 20 and motor 21 that device 15 processed is powered, the controller 15 include single-chip microcontroller 16, trample signal acquisition circuit 17, vehicle wheel rotation Signal acquisition circuit 18 and motor-drive circuit 19, biography can be trampled by what is be arranged in motor 21 by trampling signal acquisition circuit 17 Sensor 8 obtains the rotation direction that user tramples and velocity of rotation and passes to single-chip microcontroller 16, by single-chip microcontroller 16 according to the use of acquisition The velocity of rotation and time state that family is trampled obtain the acceleration that user tramples;Single-chip microcontroller 16 according to the acceleration that user tramples come Control PWM duty cycle exports and controls the motor driven part driving motor wheel hub 4 of motor 21 by motor-drive circuit 19 Revolving speed.The real-time velocity of rotation for obtaining wheel can be passed to the vehicle wheel rotation in controller 15 by wheel rotation sensor 14 Signal acquisition circuit 18 simultaneously passes to single-chip microcontroller 16 by vehicle wheel rotation signal acquisition circuit 18, and single-chip microcontroller 16 can be according to wheel Real-time velocity of rotation is finely adjusted the revolving speed of motor driven part driving motor wheel hub 4.It is controlled in above-mentioned intelligent motor and is In system, tread sensors 8 are made of the one or more Hall elements that can identify positive and reverse steering, wheel rotation sensor 14 Also it is made of Hall element;Above-mentioned Hall element is latch Hall or Hall switch, and above-mentioned Hall element is distinguished By on lead-out wire and cable connection to the corresponding component of controller 15.
Motor 21 of the invention is in use, when user's forward direction is trampled, and foot pedal is successively with movable chain wheel, cassette flywheel, card Pedestal 1, fixed ring 5 rotate forward, and the tread sensors 8 on motor shaft 7 sense the rotation direction and rotation speed of magnet steel 6 at this time It spends and the situation sensed is exported into trampling signal acquisition circuit 17 and pass to monolithic to controller 15 by digital signal Machine 16, single-chip microcontroller 16 identifies digital signal and obtains the pulse frequency or umber of pulse of 6 signal of magnet steel, and single-chip microcontroller 16 is according to magnet steel 6 Time state between signal pulse obtains current acceleration;Single-chip microcontroller 16 controls PWM according to the acceleration that user tramples Duty ratio exports and controls by motor-drive circuit 19 revolving speed of the motor driven part driving motor wheel hub 4 of motor 21. By 2 unidirectional drive end cap 3 of ratchet and pawl arrangement motor wheel hub 4 is rotated synchronously additionally, due to card pedestal 1, is arranged in end cap The real-time velocity of rotation of wheel is passed to monolithic by vehicle wheel rotation signal acquisition circuit 18 by the wheel rotation sensor 14 on 3 Machine 16, single-chip microcontroller 16 can be according to the real-time velocities of rotation of wheel come the revolving speed to 19 driving motor wheel hub 4 of motor driven part It is finely adjusted.In above process, the revolving speed of the motor driven part of 15 driving motor 21 of controller follows the speed that user tramples Degree, be not in the motor driven part of motor 21 revolving speed it is advanced or lag behind the case where user tramples speed.When user exists When static starting, controller 15 can intelligent recognition user accelerate be intended to, and control motor 21 motor driven part improve turn round Power, cooperation user comfortably complete starting and accelerate and climb;When user is in climbing, controller 15 tramples the line of speed according to user Property fall and acceleration waving interval, differentiate that user is in climbing state, and controls the motor driven part of motor 21 Torsion is improved, user is helped easily to climb;When user stops trampling or reversely trampling, controller 15 can recognize that user's is dynamic Make and stop the power-assisted output of the motor driven part of motor 21, the fastest response time is 20 milliseconds.
The present invention is equipped with several by being equipped with fixed ring 5 in the inner cavity of card pedestal 1, and in fixed ring 5 along electricity The magnet steel 6 that the circumferential direction of arbor 7 annularly arranges is provided with the tread sensors 8 of the setting of face magnet steel 6 on motor shaft 7, tramples Sensor 8 can sense the rotation direction and velocity of rotation of magnet steel 6 by the changes of magnetic field of magnet steel 6 in real time;In motor 21 The tread sensors 8 and magnet steel 6 of portion's setting match that the power-assisted transducing signal for acquiring intelligence control system is intensive, sensitivity Height, user, which tramples 5 ° of minimum angles, can start power-assisted, and the time that detection user stops trampling and stopping power-assisted output is as short as 20 Millisecond, and by the setting of wheel rotation sensor 14 so that power-assisted heat transfer agent is richer.Intelligence control system of the invention The intention that can accelerate and slow down according to the information intelligents such as velocity and acceleration identification user is trampled, provides more intelligent power-assisted Experience;The revolving speed of the motor driven part of 15 driving motor 21 of controller follows the speed that user tramples, and is not in motor 21 Motor driven part revolving speed it is advanced or lag behind the case where user tramples speed;And it is helped due to no longer needing to install at axis Force snesor, power-assisted transducing signal derive from the inside of motor 21, and the information of acquisition is more reliable and more stable.
The above examples only illustrate the technical idea of the present invention, and this does not limit the scope of protection of the present invention, all According to the technical idea provided by the invention, any changes made on the basis of the technical scheme each falls within the scope of the present invention Within;The technology that the present invention is not directed to can be realized by the prior art.

Claims (8)

1. a kind of motor for electric assisted bicycle, including motor driven part and trample drive part, it is characterised in that: The card pedestal (1) for trampling drive part is rotated by ratchet and pawl arrangement (2) unidirectional drive end cap (3), and end cap (3) is fixed On motor wheel hub (4) and the two links;Fixed ring (5) are equipped in the inner cavity of the card pedestal (1), and in fixed ring (5) The magnet steel (6) annularly arranged equipped with several along the circumferential direction of motor shaft (7), is provided with face magnet steel on motor shaft (7) (6) tread sensors (8) being arranged, tread sensors (8) can sense magnet steel by the changes of magnetic field of magnet steel (5) in real time (6) rotation direction and velocity of rotation;The ratchet and pawl arrangement (2) includes the inverse spine that is arranged on the inner wall of card pedestal (1) The pawl being arranged on device and column foot axle center part (9) or the pawl and column foot being arranged on the inner wall including card pedestal (1) The inverse spine apparatus being arranged on axle center part (9);The column foot axle center part (9) and card pedestal (1) constitute the column foot (10) of the motor and Column foot axle center part (9) and end cap (3) are fixedly linked, and card pedestal (1) rotates under the drive of flywheel and passes through ratchet and pawl arrangement (2) column foot axle center part (9), end cap (3) and motor wheel hub (4) are transferred the motion to;Or ratchet and pawl arrangement (2) packet It includes the inverse spine apparatus being arranged on the extension component of card pedestal (1) and is corresponded on end cap (3) and is arranged at the connecting portion against spine apparatus Pawl or extension component including card pedestal (1) on the interconnecting piece of the pawl is corresponded on the pawl and end cap (3) that are arranged The inverse spine apparatus being arranged at position;The extension of the card pedestal (1) is corresponded on the extension component and end cap (3) of the card pedestal (1) The connecting portion of part constitutes the column foot (10) of the motor, and card pedestal (1) rotates under the drive of flywheel and by click machine Movement is transferred directly to end cap (3) and motor wheel hub (4) by structure (2).
2. the motor according to claim 1 for electric assisted bicycle, it is characterised in that: the pole N of the magnet steel (6) It is unified to be arranged towards the S of motor shaft (7) or magnet steel (6) is extremely unified towards motor shaft (7);Magnet steel in the fixed ring (5) (6) number N < π r/W, wherein r is the internal diameter for the ring bodies that magnet steel (6) are constituted, and W is the width of single magnet steel (6).
3. the motor according to claim 1 for electric assisted bicycle, it is characterised in that: on the fixed ring (5) Magnet steel (6) inner wall and motor shaft (7) outer wall between there are the gap of 2mm~5mm, and fixed ring (5) and click machine Also gap is equipped between the driven member of structure (2).
4. the motor according to claim 1 for electric assisted bicycle, it is characterised in that: on the end cap (3) Equipped with the wheel rotation sensor (14) that can acquire faster rotating wheel in real time.
5. the motor according to claim 1 for electric assisted bicycle, it is characterised in that: the motor driving part Dividing includes motor stator (11), rotor (12) and the planetary gear speed-reduction clutch mechanism being fixed on motor shaft (7) (13), motor stator (11) be powered after meeting so that rotor (12) rotate, rotor (12) driving planetary gear speed-reduction from Clutch mechanism (13) drives motor wheel hub (4) rotation engaged with planetary gear speed-reduction clutch mechanism (13).
6. a kind of intelligent motor control system according to claim 1 for electric assisted bicycle, including controller (15), the battery (20) and motor (21) powered to controller (15), it is characterised in that: the controller (15) includes monolithic Machine (16) tramples signal acquisition circuit (17) and motor-drive circuit (19), and electricity can be passed through by trampling signal acquisition circuit (17) The tread sensors (8) being arranged in machine (21) obtain the rotation direction that user tramples and velocity of rotation and pass to single-chip microcontroller (16), acceleration that user tramples is obtained by velocity of rotation and time state that single-chip microcontroller (16) is trampled according to the user of acquisition; Single-chip microcontroller (16) controls PWM duty cycle according to the acceleration that user tramples and exports and pass through motor-drive circuit (19) to control The revolving speed of the motor driven part driving motor wheel hub (4) of motor (21).
7. the intelligent motor control system according to claim 6 for electric assisted bicycle, it is characterised in that: described Controller (15) in be additionally provided with vehicle wheel rotation signal acquisition circuit (18), vehicle wheel rotation signal acquisition circuit (18) can pass through The wheel rotation sensor (14) being arranged in motor (21) obtains the velocity of rotation of wheel and passes to single-chip microcontroller (16).
8. the intelligent motor control system according to claim 6 for electric assisted bicycle, it is characterised in that: described Tread sensors (8) using can identify that one or more Hall elements of positive and reverse steering are made, and wheel rotation sensor (14) it is also made of Hall element;The Hall element is latch Hall or Hall switch.
CN201610406442.5A 2016-06-12 2016-06-12 A kind of motor and its intelligence control system for electric assisted bicycle Active CN105846596B (en)

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CN105966540A (en) * 2016-06-12 2016-09-28 南京壹佰克智能科技有限公司 Motor for electric power bicycle
CN107508431A (en) * 2017-09-05 2017-12-22 潘俊 A kind of motor of built-in booster sensor
CN108871639B (en) * 2018-05-07 2020-10-16 重庆三叶花科技有限公司 Center shaft moment detection system
CN108896090B (en) * 2018-06-28 2024-04-16 上海钧正网络科技有限公司 Electric bicycle pedal frequency detection system and detection method thereof
CN108725683A (en) 2018-06-29 2018-11-02 浙江超级电气科技有限公司 A kind of intelligent electric wheel hub
GB2597734B (en) * 2020-07-31 2023-01-11 Ebike Systems Ltd Electrically-assisted pedal cycles

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CN105599857A (en) * 2014-11-14 2016-05-25 麦克森发电机股份公司 Sensor assembly for controlling an auxiliary motor and wheel hub unit having such a sensor assembly
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JPH09309483A (en) * 1996-05-22 1997-12-02 Hokuto Seisakusho:Kk Bicycle with assist driving force
CN102826160A (en) * 2012-09-05 2012-12-19 苏州科易特自动化科技有限公司 Intelligent power-assisted controller of electric bicycle
CN202906660U (en) * 2012-11-15 2013-04-24 浙江超级电气科技有限公司 Integrated intelligent rear-drive wheel hub motor
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