CN106080943A - Bicycle boosting method and system - Google Patents
Bicycle boosting method and system Download PDFInfo
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- CN106080943A CN106080943A CN201610709686.0A CN201610709686A CN106080943A CN 106080943 A CN106080943 A CN 106080943A CN 201610709686 A CN201610709686 A CN 201610709686A CN 106080943 A CN106080943 A CN 106080943A
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- bicycle
- power
- output
- acceleration
- assisted
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- 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
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
A kind of bicycle boosting method, described bicycle is provided with the motor driving wheel, and described method includes: arrange heavy burden and power-assisted grade；Detect the current speed of described bicycle, acceleration and angular velocity；The value of slope of described bicycle is determined according to described acceleration and described angular velocity；Determine that pure manpower is ridden required output according to described speed, described value of slope and described heavy burden；The output of described motor is determined according to described power-assisted grade and described pure manpower required output of riding；Control described motor and export corresponding power according to described output.The present invention also provides for a kind of bicycle power-assisted system.By the heavy burden of current speed, acceleration, angular velocity and the bicycle of bicycle, the present invention determines that pure manpower is ridden required output, and then determine the output of motor, realize low cost, and Negotiation speed and acceleration determine power-assisted power jointly, acceleration can be made more steady, and booster response is fast.
Description
Technical field
The present invention relates to technical field of bicycles, particularly relate to a kind of bicycle boosting method and system.
Background technology
Moped, refers to using accumulator as supplementary energy on the basis of common compact bicycle, is mounted with electricity
The traffic work of the electromechanical integration of the control members such as machine, controller, accumulator, assistant sensor, brake lever and display instrument system
Tool, due to convenience and the practicality of moped, has obtained liking of more and more consumer.
The boosting method of existing moped mainly comes perception people's by the torque sensor on moped
Accelerate to be intended to, and then provide stronger auxiliary driving force by motor, reach power-assisted acceleration effect, but use torque sensor meeting
Causing car when riding startup, because strength is bigger when of starting to trample, the auxiliary driving force of whole drive system is also
Can be bigger, cause car initial acceleration too quickly, accelerate unstable.Additionally, torque sensor is necessarily mounted at certain of bicycle
Individual fixed position, as on the axis that moped is trampled, and is the data of torque sensor to be passed by the way of wiring
To master control borad, this installation resulting in whole force aid system is more complicated, and torque sensor is the most high
Expensive.
Summary of the invention
It is contemplated that at least solve one of technical problem present in prior art.To this end, one object of the present invention
Be to propose a kind of bicycle boosting method, have acceleration steadily, booster response is fast, the feature of low cost.
Bicycle boosting method according to embodiments of the present invention, including:
Heavy burden and power-assisted grade are set；
Detect the current speed of described bicycle, acceleration and angular velocity；
The value of slope of described bicycle is determined according to described acceleration and described angular velocity；
Determine that pure manpower is ridden required output according to described speed, described value of slope and described heavy burden；
The output work of described motor is determined according to described power-assisted grade and described pure manpower required output of riding
Rate；
Control described motor and export corresponding power according to described output.
Compared with prior art, the method that the present invention proposes is not related to moment commonly used on existing moped and passes
Sensor, but it is required to determine that pure manpower is ridden by the heavy burden of current speed, acceleration, angular velocity and the bicycle of bicycle
Output, and then determine the output of motor, it is achieved low cost, and Negotiation speed and acceleration determine power-assisted merit jointly
Rate, it is possible to making acceleration more steady, booster response is fast.
It addition, bicycle boosting method according to the above embodiment of the present invention, it is also possible to there is following additional technology special
Levy:
Further, in one embodiment of the invention, described value of slope is calculated as follows:
θ1=x1θ1+y1ω；
θ2=x2[θ2+(ω-θ1)T]+y2α；
In formula, θ2For described value of slope, ω is described angular velocity, and α is described acceleration, x1、y1、x2、y2For filter factor
Value；θ1For intermediate angle angle value, T is the filtering cycle.
Further, in one embodiment of the invention, calculate described pure manpower as follows and ride required defeated
Go out power and the output of described motor:
P1=(mgsin θ2+umgcosθ2)v；
P=β P1；
In formula, P1Riding required output for described pure manpower, P is the output of described motor, and m is described negative
Weight, described heavy burden m is the deadweight m of described bicycle1Weight m carried with described bicycle2Sum, g is acceleration of gravity, and u is
Ground friction factor, v is described speed, and β is described power-assisted grade.
Further, in one embodiment of the invention, the output P that described pure manpower is ridden required1For negative
Or when 0, described motor not output.
Further, in one embodiment of the invention, described method also includes:
The APP of one and described bicycle wireless connections is provided, heavy burden and power-assisted grade are set by described APP；
Receive heavy burden and power-assisted grade that described APP is arranged.
Further object is that a kind of bicycle power-assisted system of proposition, have acceleration steadily, booster response fast,
The feature of low cost.
Bicycle power-assisted system according to embodiments of the present invention, including:
Processor, is used for arranging heavy burden and power-assisted grade；
Velocity sensor, for detecting the speed that described bicycle is current；
Acceleration transducer, for detecting the current acceleration of described bicycle and angular velocity；
Motor, provides output for the wheel for described bicycle；
Described processor is additionally operable to determine the value of slope of described bicycle according to described acceleration and described angular velocity；
It is required that described processor is additionally operable to determine that pure manpower is ridden according to described speed, described value of slope and described heavy burden
Output；
Described processor is additionally operable to determine institute according to described power-assisted grade and described pure manpower required output of riding
State the output of motor；
Described processor is additionally operable to control described motor and exports corresponding power according to described output.
It addition, bicycle power-assisted system according to the above embodiment of the present invention, it is also possible to there is following additional technology special
Levy:
Further, in one embodiment of the invention, described processor calculates described value of slope as follows:
θ1=x1θ1+y1ω；
θ2=x2[θ2+(ω-θ1)T]+y2α；
In formula, θ2For described value of slope, ω is described angular velocity, and α is described acceleration, x1、y1、x2、y2For filter factor
Value；θ1For intermediate angle angle value, T is the filtering cycle.
Further, in one embodiment of the invention, described processor calculates described pure manpower as follows and rides
Output needed for row and the output of described motor:
P1=(mgsin θ2+umgcosθ2)v；
P=β P1；
In formula, P1Riding required output for described pure manpower, P is the output of described motor, and m is described negative
Weight, described heavy burden m is the deadweight m of described bicycle1Weight m carried with described bicycle2Sum, g is acceleration of gravity, and u is
Ground friction factor, v is described speed, and β is described power-assisted grade.
Further, in one embodiment of the invention, the described pure manpower that described processor calculates is ridden required
Output P1For negative or when 0, described processor controls described motor not output.
Further, in one embodiment of the invention, described system also includes:
APP, described APP are used for arranging heavy burden and power-assisted grade；
GSM data communication module, described GSM data communication module respectively with described APP and described processor wireless connections,
Described GSM data communication module is for receiving heavy burden and the power-assisted grade of described APP setting, and is set by the described APP received
The heavy burden put and power-assisted grade send to described processor.
The additional aspect of the present invention and advantage will part be given in the following description, and part will become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or the additional aspect of the present invention and advantage are from combining the accompanying drawings below description to embodiment and will become
Substantially with easy to understand, wherein:
Fig. 1 is the flow chart of bicycle boosting method according to an embodiment of the invention；
Fig. 2 is the flow chart of bicycle boosting method according to another embodiment of the present invention；
Fig. 3 is the structural representation of bicycle power-assisted system according to an embodiment of the invention；
Fig. 4 is the structural representation of moped according to an embodiment of the invention；
Fig. 5 is the combinative structure schematic diagram of wheel and median septum in Fig. 4；
Fig. 6 is the structural representation of median septum in Fig. 5.
Detailed description of the invention
Embodiments of the invention are described below in detail, and the example of described embodiment is shown in the drawings, the most from start to finish
Same or similar label represents same or similar element or has the element of same or like function.Below with reference to attached
The embodiment that figure describes is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
It should be noted that when element is referred to as " being fixedly arranged on " another element, and it can be directly on another element
Or element placed in the middle can also be there is.When an element is considered as " connection " another element, and it can be to be directly connected to
To another element or may be simultaneously present centering elements.Term as used herein " vertical ", " level ", " left ",
" right ", " on ", D score and similar statement for illustrative purposes only rather than instruction or the device of hint indication or unit
Part must have specific orientation, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.
In the present invention, unless otherwise clearly defined and limited, term " install ", " being connected ", " connection ", " fixing " etc.
Term should be interpreted broadly, and connects for example, it may be fixing, it is also possible to be to removably connect, or be integrally connected；It can be machine
Tool connects, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, can be two units
Connection within part.For the ordinary skill in the art, can understand that above-mentioned term is at this as the case may be
Concrete meaning in bright.Term as used herein " and/or " include the arbitrary of one or more relevant Listed Items and
All of combination.
The bicycle boosting method of first embodiment of the invention, described bicycle is provided with the motor driving wheel, please join
Readding Fig. 1, described method at least comprises the following steps:
S101, arranges heavy burden and power-assisted grade；
S102, detects the current speed of described bicycle, acceleration and angular velocity；
S103, determines the value of slope of described bicycle according to described acceleration and described angular velocity；
According to described speed, described value of slope and described heavy burden, S104, determines that pure manpower is ridden required output；
S105, determines the output of described motor according to described power-assisted grade and described pure manpower required output of riding
Power；
S106, controls described motor and exports corresponding power according to described output.
Compared with prior art, the method that the present invention proposes is not related to moment commonly used on existing moped and passes
Sensor, but it is required to determine that pure manpower is ridden by the heavy burden of current speed, acceleration, angular velocity and the bicycle of bicycle
Output, and then determine the output of motor, it is achieved low cost, and Negotiation speed and acceleration determine power-assisted merit jointly
Rate, it is possible to making acceleration more steady, booster response is fast.
An example according to the present invention, calculates described value of slope as follows:
θ1=x1θ1+y1ω； (1)
θ2=x2[θ2+(ω-θ1)T]+y2α； (2)
In formula (1) and formula (2), θ2For described value of slope, unit is radian, and ω is described angular velocity, and unit is radian, α
For described acceleration, unit is m/s2, x1、y1、x2、y2For filter coefficient values；θ1For intermediate angle angle value, unit is radian, and T is filter
Period of wave.It should be understood that ride described value of slope θ at upward slope2For on the occasion of, the described value of slope θ when descending is ridden2For negative value,
The described value of slope θ when level road is ridden2It is approximately equal to 0.
In this example, calculate described pure manpower as follows and ride required output and the output work of described motor
Rate:
P1=(mgsin θ2+umgcosθ2)v； (3)
P=β P1； (4)
In formula (3) and formula (4), P1Riding required output for described pure manpower, unit W, P is the defeated of described motor
Going out power, unit W, m is described heavy burden, units/kg, and described heavy burden m is the deadweight m of described bicycle1Carry with described bicycle
Weight m2Sum, i.e. m=m1+m2, when being embodied as, user can be arranged according to the weight of user body weight and bicycle
Described heavy burden m, g are acceleration of gravity, i.e. 9.8m/s2, u is ground friction factor, is generally defaulted as 0.017, and v is described speed
Degree, unit m/s, β is described power-assisted grade, such as arbitrary numeral that β is 0% to 99%.
The output P that described pure manpower is ridden required1For negative or when 0, described motor not output.It is appreciated that
, when user needs power-assisted to accelerate in ride, user will strengthen the dynamics of trampling, to car provide one to
Front acceleration, now acceleration alpha is identical with the direction of speed v, through the value of slope θ that formula (1) and (2) calculate2For
Positive number, makes the output P that pure manpower is ridden required1Also being positive number, finally, described motor is corresponding according to formula (4) output
Power P, it is achieved people accelerates in ride easily.When user need not in ride power-assisted accelerate time, as
When descending or brake, no longer pushes pedals, bicycle no longer has acceleration forward, now acceleration alpha and the direction of speed v
On the contrary, the value of slope θ calculated through formula (1) and (2)2For negative, make the output P that pure manpower is ridden required1Also it is
Negative, now, described motor no longer output, i.e. bicycle no longer carry out power-assisted.
Employing said method is described below in detail at the uniform velocity travel on level road, give it the gun on level road, at up-hill journey
Time detailed process:
When level road at the uniform velocity travels, owing to being now at the uniform velocity, so the acceleration of making a concerted effort that car is subject to is zero, i.e. do not have
Acceleration, carries out data fusion (i.e. formula 1 and public affairs from the data that acceleration transducer and angular-rate sensor obtain this time
Formula 2) after to obtain value of slope be θ2Zero, after substituting into formula 3 and formula 4, obtain the power P of motor output, now, motor output
Power P is a value the least, when i.e. at the uniform velocity travelling on level road, provides only less power-assisted；
When level road gives it the gun, owing to the dynamics of trampling of people becomes big, so car has an acceleration forward,
By formula 1 and formula 2, and regulate x1、y1、x2、y2Filter coefficient values so that when there being an acceleration forward, value of slope
θ2Have one little on the occasion of, pass through formula 3 and formula 4 this time, the power P of the motor drawn output can be compared the most capable
Increase when sailing, therefore, it is possible to make to accelerate easily, additionally, pass through x1、y1、x2、y2The regulation of filter factor, so that accelerate
Smooth, wherein, x1、y1、x2、y2The regulation of filter factor is to be mixed up by the method for experiment.
When up-hill journey, carry out, by acceleration transducer and angular-rate sensor, the value of slope θ that data fusion obtains2
Be one on the occasion of, obtain the power P of motor output after substituting into formula 3 and formula 4, at this moment at the uniform velocity travel relative on level road, slope
Angle value θ2Increase, so the output P of motor also increases, therefore can easily go up a slope.Additionally, when up-hill journey, if added
Great dynamics is trampled, the value of slope θ at this moment obtained2It is not only current real value of slope, also has by trampling the acceleration caused
Degree is to θ2Impact so that θ2Bigger, therefore bigger power-assisted will be provided, make upward slope lighter.
In the present embodiment, after step s 106, this method also includes:
Current speed, acceleration and the angular velocity of described bicycle after detection power-assisted, according to described in after described power-assisted voluntarily
Current speed, acceleration and the angular velocity of car carries out feedback regulation.
I.e. the present embodiment can carry out the change of described power of motor in real time according to current speed and acceleration, so that
Power-assisted is more steady.
Additionally, in step S101, arrange and bear a heavy burden and in the step of power-assisted grade, can be directly in the processor of bicycle
It is configured, it is also possible to wirelessly arrange, such as, the bicycle boosting method of another embodiment of the present invention, please join
Examining Fig. 2, the method for the present embodiment includes:
S201, it is provided that one and the APP of described bicycle wireless connections, arranges heavy burden and power-assisted grade by described APP；
S202, receives heavy burden and power-assisted grade that described APP is arranged.
S203, detects the current speed of described bicycle, acceleration and angular velocity；
S204, determines the value of slope of described bicycle according to described acceleration and described angular velocity；
According to described speed, described value of slope and described heavy burden, S205, determines that pure manpower is ridden required output；
S206, determines the defeated of described motor according to described power-assisted grade and described pure manpower required output of riding
Go out power；
S207, controls described motor and exports corresponding power according to described output.
Wherein, described APP is mobile phone terminal or the APP of pad end, the system of application can be IOS or Android or
Windows, i.e. be can use and is born a heavy burden and power-assisted grade by the APP wireless setting of mobile phone terminal or pad end, according to the actual feelings of user
Condition and individual like, and regulate different heavy burdens and power-assisted grade.
The meter of the output of required output and described motor additionally, described value of slope, described pure manpower are ridden
Calculation mode is identical with a upper embodiment, does not repeats them here.
Based on being same as same inventive concept, the embodiment of the present invention additionally provides a kind of bicycle power-assisted system, refer to figure
3, described system 10 includes:
Processor 11, is used for arranging heavy burden and power-assisted grade；
Velocity sensor 12, for detecting the speed that described bicycle is current；
Acceleration transducer 13, for detecting the current acceleration of described bicycle and angular velocity；
Motor 14, provides output for the wheel for described bicycle；
Described processor 11 is additionally operable to determine the value of slope of described bicycle according to described acceleration and described angular velocity；
Described processor 11 is additionally operable to determine that pure manpower is ridden institute according to described speed, described value of slope and described heavy burden
The output needed；
Described processor 11 is additionally operable to determine according to described power-assisted grade and described pure manpower required output of riding
The output of described motor；
Described processor 11 is additionally operable to control described motor 14 and exports corresponding power according to described output.
Described processor 11, velocity sensor 12, acceleration transducer 13 and motor 14 can be installed according to actual needs
On the correct position of described bicycle, the median septum of front wheel as described in be arranged on.
An example according to the present invention, described processor 11 calculates described value of slope as follows:
θ1=x1θ1+y1ω； (1)
θ2=x2[θ2+(ω-θ1)T]+y2α； (2)
In formula (1) and formula (2), θ2For described value of slope, unit is radian, and ω is described angular velocity, and unit is radian, α
For described acceleration, unit is m/s2, x1、y1、x2、y2For filter coefficient values；θ1For intermediate angle angle value, unit is radian, and T is filter
Period of wave.It should be understood that ride described value of slope θ at upward slope2For on the occasion of, the described value of slope θ when descending is ridden2It is negative
Value, the described value of slope θ when level road is ridden2It is approximately equal to 0.
Described processor 11 calculates described pure manpower as follows and rides required output and described motor 14
Output:
P1=(mgsin θ2+umgcosθ2)v； (3)
P=β P1； (4)
In formula (3) and formula (4), P1Riding required output for described pure manpower, unit W, P is described motor 14
Output, unit W, m is described heavy burden, units/kg, and described heavy burden m is the deadweight m of described bicycle1Hold with described bicycle
Weight m carried2Sum, i.e. m=m1+m2, when being embodied as, user can set according to the weight of user body weight and bicycle
Putting described heavy burden m, g is acceleration of gravity, i.e. 9.8m/s2, u is ground friction factor, is generally defaulted as 0.017, and v is described speed
Degree, unit m/s, β is described power-assisted grade, such as arbitrary numeral that β is 0% to 99%.
The output P that the described pure manpower that described processor 11 calculates is ridden required1For negative or when 0, described process
Device 11 controls described motor 14 not output.It should be understood that when user needs power-assisted to accelerate in ride, make
User will strengthen the dynamics of trampling, and provides an acceleration forward to car, and now acceleration alpha is identical with the direction of speed v,
Through the value of slope θ that formula (1) and (2) calculate2For positive number, make the output P that pure manpower is ridden required1Also it is positive number,
Finally, described motor 14 exports corresponding power P according to formula (4), it is achieved people accelerates in ride easily.Work as use
Person need not in ride power-assisted accelerate time, as descending or brake time, no longer pushes pedals, bicycle no longer have to
Before acceleration, now acceleration alpha and speed v is in opposite direction, through the value of slope θ that formula (1) and (2) calculate2For
Negative, makes the output P that pure manpower is ridden required1Also it is negative, now, described motor 14 no longer output, the most voluntarily
Car no longer carries out power-assisted.
Additionally, described processor 11 is additionally operable to detect speed, acceleration and the angular velocity that described bicycle is current after power-assisted,
Feedback regulation is carried out according to speed, acceleration and the angular velocity that bicycle described after described power-assisted is current.The most described processor 11
The change of described motor 14 power can be carried out in real time, so that power-assisted is more steady according to current speed and acceleration.
Please continue to refer to Fig. 3, described system 10 also includes:
APP 15, described APP 15 are used for arranging heavy burden and power-assisted grade；
GSM data communication module 16, described GSM data communication module 16 respectively with described APP 15 and described processor 11
Wireless connections, described GSM data communication module 16 is for receiving heavy burden and the power-assisted grade of described APP 15 setting, and will receive
Heavy burden and power-assisted grade that the described APP 15 arrived is arranged send to described processor 11.
Wherein, described APP 15 is the APP of mobile phone terminal or pad end, the system of application can be IOS or Android or
Windows, i.e. be can use and is born a heavy burden and power-assisted grade by the APP wireless setting of mobile phone terminal or pad end, according to the actual feelings of user
Condition and individual like, and regulate different heavy burdens and power-assisted grade.
Refer to Fig. 4 and Fig. 5, the embodiment of the present invention additionally provides a kind of moped 100, including wheel 101 and set
Median septum 102 in described wheel 101.
Refer to Fig. 6, the wherein one side of septum plate 102 is provided with master control borad 103, and described master control borad 103 is processor,
The centre of septum plate is provided with host cavity 104, and described host cavity 104 is annular host cavity, installs electricity in described host cavity 104
Machine (not shown), described motor and described master control borad 103 are positioned at the not coplanar of septum plate 102, described master control borad 103 and institute
Stating motor to connect, described motor is controlled by described master control borad 103, and the centre of septum plate 102 is provided with a motor shaft 105, institute
Stating motor shaft 105 to be connected with described motor, the centre of described motor shaft 105 is provided with a charge port 106, septum plate 102
At least one side is provided with set of cells 107, and in the present embodiment, described set of cells 107 is positioned at septum plate with described master control borad 103
The same face of 102, described set of cells 107 is electrically connected with described charge port 106, by described charge port 106 to described battery
Group 107 charging, it is possible to understand that, in other embodiments of the invention, described set of cells 107 can also be in described motor
Be respectively provided with described set of cells 107 in the not coplanar of median septum 102 or the two sides of septum plate 102, do not limit at this.
In the present embodiment, described set of cells 107 is annular battery group, and described set of cells 107 includes some pitch circle cylindricalitys electricity
Pond, described some pitch circle cylindrical batteries surround described annular battery group.
Described moped 100 also includes being arranged on the acceleration transducer on master control borad 103 on described motor, and (figure is not
Show), the velocity sensor 108 that is arranged on described master control borad 103 and the communication board 109 being arranged on septum plate 102, institute
Stating communication board 109 and described master control borad 103 and be positioned at the same face of septum plate 102, described communication board 109 includes gsm communication
Module and bluetooth communication, described communication board connects a GSM antenna 110.
Compared with prior art, the moped that the present embodiment proposes is used, it is not necessary to use torque sensor, pass through
Acceleration transducer and velocity sensor realize bicycle power-assisted, and acceleration transducer can be directly installed on master control borad, no
With device on the fixed position of car, installing simple, cost is relatively low, and by by two sensors with the use of, make
Accelerate more smooth steady.
Represent in flow charts or the logic described otherwise above at this and/or step, for example, it is possible to be considered as to use
In the sequencing list of the executable instruction realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (system such as computer based system, including processor or other can hold from instruction
Row system, device or equipment instruction fetch also perform the system instructed) use, or combine these instruction execution systems, device or set
Standby and use.For the purpose of this specification, " computer-readable medium " can be any can to comprise, store, communicate, propagate or pass
Defeated program is for instruction execution system, device or equipment or combines these instruction execution systems, device or equipment and the dress that uses
Put.
The more specifically example (non-exhaustive list) of computer-readable medium includes following: have one or more wiring
Electrical connection section (electronic installation), portable computer diskette box (magnetic device), random access memory (RAM), read only memory
(ROM), erasable read only memory (EPROM or flash memory), the fiber device edited, and portable optic disk is read-only deposits
Reservoir (CDROM).It addition, computer-readable medium can even is that and can print the paper of described program thereon or other are suitable
Medium, because then can carry out editing, interpreting or if desired with it such as by paper or other media are carried out optical scanning
His suitable method is processed to electronically obtain described program, is then stored in computer storage.
Should be appreciated that each several part of the present invention can realize by hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, the software that multiple steps or method in memory and can be performed by suitable instruction execution system with storage
Or firmware realizes.Such as, if realized with hardware, with the most the same, available well known in the art under
Any one or their combination in row technology realize: have the logic gates for data signal realizes logic function
Discrete logic, there is the special IC of suitable combination logic gate circuit, programmable gate array (PGA), on-the-spot
Programmable gate array (FPGA) etc..
In the description of this specification, reference term " embodiment ", " some embodiments ", " example ", " specifically show
Example " or the description of " some examples " etc. means to combine this embodiment or example describes specific features, structure, material or spy
Point is contained at least one embodiment or the example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.And, the specific features of description, structure, material or feature can be any
One or more embodiments or example in combine in an appropriate manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
These embodiments can be carried out multiple change in the case of departing from the principle of the present invention and objective, revise, replace and modification, this
The scope of invention is limited by claim and equivalent thereof.
Claims (10)
1. a bicycle boosting method, described bicycle is provided with the motor driving wheel, it is characterised in that described method bag
Include:
Heavy burden and power-assisted grade are set；
Detect the current speed of described bicycle, acceleration and angular velocity；
The value of slope of described bicycle is determined according to described acceleration and described angular velocity；
Determine that pure manpower is ridden required output according to described speed, described value of slope and described heavy burden；
The output of described motor is determined according to described power-assisted grade and described pure manpower required output of riding；
Control described motor and export corresponding power according to described output.
Bicycle boosting method the most according to claim 1, it is characterised in that calculate described value of slope as follows:
θ1=x1θ1+y1ω；
θ2=x2[θ2+(ω-θ1)T]+y2α；
In formula, θ2For described value of slope, ω is described angular velocity, and α is described acceleration, x1、y1、x2、y2For filter coefficient values；θ1
For intermediate angle angle value, T is the filtering cycle.
Bicycle boosting method the most according to claim 2, it is characterised in that calculate described pure manpower as follows and ride
Output needed for row and the output of described motor:
P1=(mgsin θ2+umgcosθ2)v；
P=β P1；
In formula, P1Riding required output for described pure manpower, P is the output of described motor, and m is described heavy burden, institute
State the deadweight m that heavy burden m is described bicycle1Weight m carried with described bicycle2Sum, g is acceleration of gravity, and u is ground
Friction factor, v is described speed, and β is described power-assisted grade.
Bicycle boosting method the most according to claim 3, it is characterised in that described pure manpower is ridden required output work
Rate P1For negative or when 0, described motor not output.
Bicycle boosting method the most according to claim 1, it is characterised in that described method also includes:
There is provided one to carry out the APP of network service with described bicycle, heavy burden and power-assisted grade are set by described APP；
Receive heavy burden and power-assisted grade that described APP is arranged.
6. a bicycle power-assisted system, it is characterised in that including:
Processor, is used for arranging heavy burden and power-assisted grade；
Velocity sensor, for detecting the speed that described bicycle is current；
Acceleration transducer, for detecting the current acceleration of described bicycle and angular velocity；
Motor, provides output for the wheel for described bicycle；
Described processor is additionally operable to determine the value of slope of described bicycle according to described acceleration and described angular velocity；
It is required defeated that described processor is additionally operable to determine that pure manpower is ridden according to described speed, described value of slope and described heavy burden
Go out power；
Described processor is additionally operable to determine described electricity according to described power-assisted grade and described pure manpower required output of riding
The output of machine；
Described processor is additionally operable to control described motor and exports corresponding power according to described output.
Bicycle power-assisted system the most according to claim 6, it is characterised in that described processor calculates institute as follows
State value of slope:
θ1=x1θ1+y1ω；
θ2=x2[θ2+(ω-θ1)T]+y2α；
In formula, θ2For described value of slope, ω is described angular velocity, and α is described acceleration, x1、y1、x2、y2For filter coefficient values；θ1
For intermediate angle angle value, T is the filtering cycle.
Bicycle power-assisted system the most according to claim 7, it is characterised in that described processor calculates institute as follows
State pure manpower to ride required output and the output of described motor:
P1=(mgsin θ2+umgcosθ2)v；
P=β P1；
In formula, P1Riding required output for described pure manpower, P is the output of described motor, and m is described heavy burden, institute
State the deadweight m that heavy burden m is described bicycle1Weight m carried with described bicycle2Sum, g is acceleration of gravity, and u is ground
Friction factor, v is described speed, and β is described power-assisted grade.
Bicycle power-assisted system the most according to claim 8, it is characterised in that the described pure manpower that described processor calculates
The output P riding required1For negative or when 0, described processor controls described motor not output.
Bicycle power-assisted system the most according to claim 6, it is characterised in that described system also includes:
APP, described APP are used for arranging heavy burden and power-assisted grade；
GSM data communication module, described GSM data communication module respectively with described APP and described processor wireless connections, described
Heavy burden that GSM data communication module is arranged for receiving described APP and power-assisted grade, and the described APP that receives is arranged
Bear a heavy burden and power-assisted grade sends to described processor.
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| CN201610709686.0A CN106080943A (en) | 2016-08-23 | 2016-08-23 | Bicycle boosting method and system |
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| CN201610709686.0A CN106080943A (en) | 2016-08-23 | 2016-08-23 | Bicycle boosting method and system |
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| CN106515985A (en) * | 2016-11-18 | 2017-03-22 | 海贝（天津）科技有限责任公司 | Method of speed adjustment by motor controller inclination sensing for electric aided-bicycle |
| CN106828758A (en) * | 2016-12-24 | 2017-06-13 | 深圳市珂荣信息技术有限公司 | A kind of Moped Scooter control method and system |
| CN107168323A (en) * | 2017-06-05 | 2017-09-15 | 深圳飞亮智能科技有限公司 | The control system and method for wheeled instrument power-assisted climbing |
| CN108357621A (en) * | 2018-04-03 | 2018-08-03 | 深圳奇新智能技术有限公司 | A kind of vehicle using motor system of wireless control |
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| CN109334840A (en) * | 2017-07-28 | 2019-02-15 | 卓楷涵 | Electric carrier and electric carrier power method for opening and closing |
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| CN111332405A (en) * | 2018-12-19 | 2020-06-26 | 财团法人自行车暨健康科技工业研究发展中心 | Auxiliary power ratio of intelligent control electric auxiliary bicycle |
| CN112249214A (en) * | 2020-11-19 | 2021-01-22 | 深圳市金宝冠科技有限公司 | Intelligent power-assisted hub of bicycle and control method |
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| CN107168323A (en) * | 2017-06-05 | 2017-09-15 | 深圳飞亮智能科技有限公司 | The control system and method for wheeled instrument power-assisted climbing |
| CN109334840A (en) * | 2017-07-28 | 2019-02-15 | 卓楷涵 | Electric carrier and electric carrier power method for opening and closing |
| CN108482566A (en) * | 2018-02-05 | 2018-09-04 | 浙江齐享科技有限公司 | A kind of method and system of electricity vehicle using motor auxiliary vehicle climb and fall |
| CN108357621A (en) * | 2018-04-03 | 2018-08-03 | 深圳奇新智能技术有限公司 | A kind of vehicle using motor system of wireless control |
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| CN108516041A (en) * | 2018-05-07 | 2018-09-11 | 重庆三叶花科技有限公司 | Electric bicycle output control of engine power method |
| CN108791676A (en) * | 2018-06-10 | 2018-11-13 | 余静远 | A kind of electric booster and control method |
| CN109060211A (en) * | 2018-07-12 | 2018-12-21 | 北京黑鸟科技有限公司 | A kind of power-measuring device for platform of riding |
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| CN111332405A (en) * | 2018-12-19 | 2020-06-26 | 财团法人自行车暨健康科技工业研究发展中心 | Auxiliary power ratio of intelligent control electric auxiliary bicycle |
| CN112249214A (en) * | 2020-11-19 | 2021-01-22 | 深圳市金宝冠科技有限公司 | Intelligent power-assisted hub of bicycle and control method |
| CN113415375A (en) * | 2021-08-05 | 2021-09-21 | 苏州万佳电器有限公司 | Motor control method and device of power-assisted bicycle and power-assisted bicycle |
| CN114475893A (en) * | 2022-01-07 | 2022-05-13 | 上海钧正网络科技有限公司 | Riding equipment control method and device and riding equipment |
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Application publication date: 20161109 |