CN106476974A - A kind of power-assisted carries out method, electric motor car and its controller - Google Patents
A kind of power-assisted carries out method, electric motor car and its controller Download PDFInfo
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- CN106476974A CN106476974A CN201610921020.1A CN201610921020A CN106476974A CN 106476974 A CN106476974 A CN 106476974A CN 201610921020 A CN201610921020 A CN 201610921020A CN 106476974 A CN106476974 A CN 106476974A
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- electric motor
- motor car
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- power
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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
- B60L15/28—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 without contact making and breaking, e.g. using a transductor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
-
- 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
-
- 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
- B60L2200/00—Type of vehicles
- B60L2200/46—Vehicles with auxiliary ad-on propulsions, e.g. add-on electric motor kits for bicycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K2204/00—Adaptations for driving cycles by electric motor
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- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention provides a kind of power-assisted to carry out method, electric motor car and its controller, by judging whether electric motor car meets default implementation condition；If electric motor car meets default implementation condition, the motor of the speed controlling electric motor car according to electric motor car, so that the drive wheel works of Motor drive electric motor car, electric motor car power-assisted in the range of pre-set velocity is made to carry out；Pre-set velocity scope is the velocity interval corresponding with the speed of electric motor car；Achieve the function that intelligent power-assisted implementation is provided for electric motor car user.
Description
Technical field
The present invention relates to vehicle technology field, carry out method, electric motor car and its controller particularly to a kind of power-assisted.
Background technology
The electric motor car such as Segway Human Transporter and electric bicycle in the market, needs people to help under non-riding condition and pushes away
Car, form is consistent with form when pushing the machine, and remains a need for manual hand in the case that electric motor car possesses dynamical system, is pushing away
Cannot be played it under row state and possess the advantage of power.
And electric motor car is because possess dynamical system and electric power system, vehicle body possesses certain weight in itself, so carrying out
When need laborious；Meanwhile, if electric motor car now on the market accelerates to produce certain power-assisted effect using less throttle,
User is needed to make car unexpected by carrying out trickle control to the throttle being arranged on handle during carrying out
Acceleration-deceleration, this in the case that handle is exerted oneself, simultaneously need to the trickle control that the throttle being arranged on handle is carried out
System, not only easily causes the unexpected acceleration of car body and then brings danger, simultaneously for the user's body brought of this operation of handle
Test difference.
Content of the invention
The present invention provides a kind of power-assisted to carry out method, electric motor car and its controller, to provide intelligence for electric motor car user
Power-assisted carries out function.
For realizing described purpose, the technical scheme that the application provides is as follows：
A kind of power-assisted carries out method, is applied to the controller of electric motor car, and described power-assisted is carried out method and included：
Judge whether described electric motor car meets default implementation condition；
If described electric motor car meets described default implementation condition, electric motor car described in the speed controlling according to described electric motor car
Motor, to drive the drive wheel works of described electric motor car, make described electric motor car in the range of pre-set velocity power-assisted carry out；Described
Pre-set velocity scope is the velocity interval corresponding with the speed of described electric motor car.
By implementing this inventive embodiments, can be implemented as the function that electric motor car user provides intelligent power-assisted to carry out,
Can be played it under implementation state and possess the advantage of power；Avoid the shortcoming costing power when carrying out under vehicle body weight itself；
And need not be accelerated by trickle control throttle, it is to avoid danger that the trickle control under firmly is brought and user's body
Test poor problem.
Preferably, described default implementation condition is：
The speed of described electric motor car is not zero, the Throttle Opening Control amount of described electric motor car is zero and brakeless；
Or, the speed of described electric motor car is not zero, the testing result of pedal detection switch is empty, handle detection switch
Testing result is to hold and brakeless；
Or, receive power-assisted and carry out enabled instruction.
The basis for estimation of the pattern automatic identification of described electric motor car by implementing this inventive embodiments, can be obtained.
Preferably, be not zero when the speed that described default implementation condition is described electric motor car, the detection of pedal detection switch
Result is empty, handle detection switch testing result is to hold and during brakeless, if meet described in described electric motor car
After default implementation condition, also include：
According to the stress size of handle different directions, generate or adjust the control for described motor.
By implementing this inventive embodiments, it is capable of the monitoring to people's go-cart, increase the safety guarantor that power-assisted carries out function
Barrier property.
Preferably, in the motor of electric motor car described in the described speed controlling according to described electric motor car, make described Motor drive
The drive wheel works of described electric motor car, so that after described electric motor car power-assisted implementation in the range of pre-set velocity, also include：
Carry out the present speed of regulating command, car body angle or described electric motor car according to the power-assisted receiving, adjustment for
The control of described motor, so that described electric motor car carries out regulating command, car body angle or described electric motor car according to described power-assisted
Present speed, accelerate or slow down carry out power-assisted implementation；
When the speed of described electric motor car exceedes preset security speed or described car body angle exceedes preset security angle,
Adjustment is for the control of described motor, so that described electric motor car is pushed row in preset security velocity interval wife or stopped power-assisted
Carry out.
By implementing this inventive embodiments, can be given according to user during described electric motor car provides power-assisted to carry out
Fixed speed, voluntarily realizes the speed follower of power-assisted implementation；And the power-assisted being received according to it carry out regulating command realize corresponding
The action accelerate, slowed down, stop implementation；And can assist people when climb and fall by vehicle body attitude sensor autonomous classification to
The gradient, the action so that Segway Human Transporter is made a response；In addition, on the basis realizing power-assisted implementation, according to practical situation
Increase speed-limiting protection function and/or over-angle defencive function, by increasing capacitance it is possible to increase the security performance of electric motor car.
A kind of controller of electric motor car, including：
Judging unit, for judging whether described electric motor car meets default implementation condition；
First control unit, if meet described default implementation condition for described electric motor car, according to described electric motor car
The motor of electric motor car described in speed controlling, so that the drive wheel works of electric motor car described in described Motor drive, makes described electric motor car
In the range of pre-set velocity, power-assisted is carried out；Described pre-set velocity scope is the speed model corresponding with the speed of described electric motor car
Enclose.
By implementing this inventive embodiments, can be implemented as the function that electric motor car user provides intelligent power-assisted to carry out,
Can be played it under implementation state and possess the advantage of power；Avoid the shortcoming costing power when carrying out under vehicle body weight itself；
And need not be accelerated by trickle control throttle, it is to avoid danger that the trickle control under firmly is brought and user's body
Test poor problem.
Preferably, when described judging unit is used for judging whether described electric motor car meets default implementation condition, specifically for：
Whether the speed judging described electric motor car is not zero, no whether whether the Throttle Opening Control amount of described electric motor car be zero and
Braking；
Or, judge whether the speed of described electric motor car is not zero, the testing result of pedal detection switch be whether empty,
Whether the testing result of handss detection switch is to hold and whether brakeless；
Or, judge whether that receiving power-assisted carries out enabled instruction.
The basis for estimation of the pattern automatic identification of described electric motor car by implementing this inventive embodiments, can be obtained.
Preferably, when described judging unit is used for judging whether the speed of described electric motor car is not zero, pedal detection switch
Testing result be whether empty, handle detection switch testing result be whether hold and whether brakeless when, described electronic
The controller of car also includes：
Second control unit, for the stress size according to handle different directions, generates or adjustment is for described motor
Control.
By implementing this inventive embodiments, it is capable of the monitoring to people's go-cart, increase the safety guarantor that power-assisted carries out function
Barrier property.
Preferably, also include：
Adjustment unit, for carrying out the current of regulating command, car body angle or described electric motor car according to the power-assisted receiving
Speed, adjustment for described motor control so that described electric motor car according to described power-assisted carry out regulating command, car body angle or
The present speed of electric motor car described in person, accelerating or slowing down carries out power-assisted implementation；
Protection location, for when the speed of described electric motor car exceed preset security speed or described car body angle exceed pre-
If during security standpoint, adjust the control for described motor, so that described electric motor car is pushed in preset security velocity interval wife
Row or stopping power-assisted being carried out.
By implementing this inventive embodiments, can be given according to user during described electric motor car provides power-assisted to carry out
Fixed speed, voluntarily realizes the speed follower of power-assisted implementation；And the power-assisted being received according to it carry out regulating command realize corresponding
The action accelerate, slowed down, stop implementation；And can assist people when climb and fall by vehicle body attitude sensor autonomous classification to
The gradient, the action so that Segway Human Transporter is made a response；In addition, on the basis realizing power-assisted implementation, according to practical situation
Increase speed-limiting protection function and/or over-angle defencive function, by increasing capacitance it is possible to increase the security performance of electric motor car.
A kind of electric motor car, including：Driving wheel, driven pulley, velocity sensor, motor, pedal, handle and controller；Wherein：
The velocity sensor of described electric motor car is used for the speed of electric motor car described in real-time detection；
The velocity sensor of described electric motor car is arranged on described driving wheel or described driven pulley；
The velocity sensor of described electric motor car is motor Hall test sensor, encoder is tested outside sensor or wheel
Portion's code-disc；
Described controller applies any of the above-described described power-assisted to carry out method.
By implementing this inventive embodiments, can be implemented as the function that electric motor car user provides intelligent power-assisted to carry out,
Can be played it under implementation state and possess the advantage of power；Avoid the shortcoming costing power when carrying out under vehicle body weight itself；
And need not be accelerated by trickle control throttle, it is to avoid danger that the trickle control under firmly is brought and user's body
Test poor problem.
Preferably, also include：
Command reception button and/or wireless communication module, for receiving, power-assisted carries out enabled instruction or power-assisted is carried out adjusting
Section instruction；
Whether the pedal detection switch in setting and described pedal, be empty for pedal described in real-time detection；
It is arranged at the handle detection switch on described handle, whether hold for handle described in real-time detection；
It is arranged at the pressure transducer on described handle different directions, for being subject to of handle different directions described in real-time detection
Power size；
It is arranged at the vehicle body attitude sensor on the pedal of described electric motor car or handlebar stem, for electricity described in real-time detection
The car body angle of motor-car；
Described vehicle body attitude sensor is accelerometer or the gyroscope of measuring unit IMU inertial navigation self-balancing system.
By implementing this inventive embodiments, corresponding signal or instruction can be provided for described controller, using as institute
State controller and carry out the foundation that power-assisted is carried out controlling.
The described power-assisted that the present invention provides carries out method, by judging whether described electric motor car meets default implementation condition；
If described electric motor car meets described default implementation condition, the motor of electric motor car described in the speed controlling according to described electric motor car,
So that the drive wheel works of electric motor car described in described Motor drive, described electric motor car power-assisted in the range of pre-set velocity is made to carry out；
Described pre-set velocity scope is the velocity interval corresponding with the speed of described electric motor car；Achieve and provide for electric motor car user
The function that intelligent power-assisted is carried out.
Brief description
In order to be illustrated more clearly that the technical scheme in the embodiment of the present invention or prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, below description in accompanying drawing be only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, acceptable
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the flow chart that power-assisted provided in an embodiment of the present invention carries out method；
Fig. 2 is another flow chart that the power-assisted that another embodiment of the present invention provides carries out method；
Fig. 3 is another flow chart that the power-assisted that another embodiment of the present invention provides carries out method；
Fig. 4 is the normal implementation schematic diagram that another embodiment of the present invention provides；
Fig. 5 is that the upward slope that another embodiment of the present invention provides carries out schematic diagram；
Fig. 6 is that the descending that another embodiment of the present invention provides carries out schematic diagram；
Fig. 7 is the structural representation of the controller of electric motor car that another embodiment of the present invention provides；
Fig. 8 is another structural representation of the controller of electric motor car that another embodiment of the present invention provides；
Fig. 9 is another structural representation of the controller of electric motor car that another embodiment of the present invention provides；
Figure 10 is the part-structure schematic diagram of the electric motor car that another embodiment of the present invention provides；
Figure 11 is the part-structure schematic diagram of the electric motor car that another embodiment of the present invention provides.
Specific embodiment
Understandable for enabling the above objects, features and advantages of the present invention to become apparent from, below in conjunction with the accompanying drawings to the present invention
Specific embodiment be described in detail.
The present invention provides a kind of power-assisted to carry out method, is applied to the controller of electric motor car, to provide for electric motor car user
Intelligent power-assisted carries out function.
Specifically, described power-assisted carries out method, as shown in figure 1, including：
S101, judge whether described electric motor car meets default implementation condition；
If described electric motor car meets described default implementation condition, execution step S102；
S102, according to the speed controlling of described electric motor car electric motor car motor so that described in described Motor drive electricity
The drive wheel works of motor-car, make described electric motor car power-assisted in the range of pre-set velocity carry out.
Described pre-set velocity scope can be set as the case may be, is selected with the average walking speed of the mankind for preferable
Select；It is not specifically limited, all in the protection domain of the application herein.
Preferably, described pre-set velocity scope is the velocity interval corresponding with the speed of described electric motor car.
The speed of described electric motor car can be the traveling speed of the rotating speed, the rotating speed of driving wheel or described electric motor car of motor
Degree, is not specifically limited herein, can be depending on its concrete application environment；The speed selection being different will correspond to different
Pre-set velocity scope, this pre-set velocity scope is the scope being adapted with people's walking speed, is not specifically limited herein, all permissible
Set according to practical situation.
In actual application, the walking speed due to different people has differences, and therefore, sets described pre-set velocity scope
It is the velocity interval corresponding with the speed of described electric motor car (namely walking speed of the current people carrying out) so that for described
The power-assisted implementation speed of electric motor car is close with people's walking speed, improves the comfort level that power-assisted is carried out.
The described electric motor car that the present embodiment provides, by said process, it is possible to achieve provide intelligence for electric motor car user
The function that power-assisted is carried out, can play it under implementation state and possess the advantage of power；Avoid and push away under vehicle body weight itself
The shortcoming costing power during row；And need not be accelerated by trickle control throttle, it is to avoid the trickle control institute under firmly
The danger bringing and the problem of poor user experience.
What deserves to be explained is, described electric motor car includes but is not limited to Segway Human Transporter, electric bicycle, battery-operated motor cycle,
And the electric motor car with seat etc., all in the protection domain of the application.
Preferably, described default implementation condition is：
The speed of described electric motor car is not zero, the Throttle Opening Control amount of described electric motor car is zero and brakeless；
Or, the speed of described electric motor car is not zero, the testing result of pedal detection switch is empty, handle detection switch
Testing result is to hold and brakeless；
Or, receive power-assisted and carry out enabled instruction.
In specific practical application, described default implementation condition can be used as the pattern automatic identification of described electric motor car
Basis for estimation.I.e. when Throttle Opening Control amount is not zero, described electric motor car will enter the pattern ridden；Speed when described electric motor car
When degree is not zero, the Throttle Opening Control amount of described electric motor car is zero and has braking, described electric motor car will stop；And described electric motor car
Speed be not zero, the Throttle Opening Control amount of described electric motor car is zero and brakeless, or, the speed of described electric motor car is not zero,
The testing result of pedal detection switch is empty, handle detection switch testing result is to hold and brakeless, or, described
When electric motor car carries out enabled instruction by the power-assisted that button or APP software and wireless communication technique receive user's transmission, described
Electric motor car then can judge to meet described default implementation condition, and acquiescence enters the pattern that power-assisted is carried out.
Preferably, be not zero when the speed that described default implementation condition is described electric motor car, the detection of pedal detection switch
Result is empty, handle detection switch testing result is to hold and during brakeless, on the basis of Fig. 1, referring to Fig. 2,
Also include after step S101：
S103, the stress size according to handle different directions, generate or adjust the control for described motor.
The present embodiment can realize the monitoring to people's go-cart, staff depart from handle when motor be not driven, only when
The hand steered power-assisted of just can realizing on handle of people carries out function, by increasing capacitance it is possible to increase the safety guarantee of this function.
Generation for the control of described motor and adjustment can also determine according to the stress on handle different directions, than
On rear side of handle during stress, described electric motor car can be controlled to realize power-assisted and to carry out, or adjustment is for the control of described motor, real
Now accelerate to carry out；On front side of handle during stress, deceleration can be realized according to its stress size or stop the function of carrying out.
Certainly the functions such as acceleration-deceleration can also be realized according to the stress of other angles, no longer repeat one by one herein.
In another preferred embodiment of the present invention, on the basis of Fig. 1, referring to Fig. 3, after execution step S102, also
Including：
S104, the present speed according to power-assisted implementation regulating command, car body angle or the described electric motor car receiving, adjustment
For the control of described motor, so that described electric motor car carries out regulating command, car body angle or described electricity according to described power-assisted
The present speed of motor-car, accelerating or slowing down carries out power-assisted implementation；
S105, exceed preset security speed or described car body angle exceedes preset security angle when the speed of described electric motor car
When spending, adjustment is for the control of described motor, so that described electric motor car is pushed row in preset security velocity interval wife or stopped
Only power-assisted is carried out.
When electric motor car is in non-riding condition, by people when car zero-speed state (or low speed inertia advance) go-cart,
After allowing electric motor car produce an initially smaller speed, this electric motor car completes current speed by the velocity sensor of itself
Closed-loop drive in degree smaller range controls, and the power output close with people can be kept to ensure car thus realizing electric motor car
Autonomous dynamic runs.
When people accelerates, what its hand motion can more be exerted oneself makes body speed of vehicle forward, so that drive wheel speed to be more than working as
Front value, makes motor complete a new windage jump, to reach a new velocity balance.That is, only very important person passes through to send to help
Push row regulating command or in acceleration and deceleration change body speed of vehicle of exerting oneself somewhat, car body also can follow people speed reach one
Individual new velocity balance is so that the speed follower of power-assisted implementation can be voluntarily realized in this electric motor car.
Specifically, step S104 includes：
When receive power-assisted carry out regulating command be accelerate carry out instruction or described electric motor car speed be more than current
During pre-set velocity range limit, adjust the control for described motor, so that described electric motor car is than current pre-set velocity model
Enclose power-assisted in the range of higher one grade of pre-set velocity to carry out；
Carrying out regulating command when the power-assisted of reception is the speed slowed down and carry out instruction or described electric motor car less than current
During pre-set velocity range lower limit, adjust the control for described motor, so that described electric motor car is than current pre-set velocity model
Enclose power-assisted in the range of lower one grade of pre-set velocity to carry out；
Carry out regulating command when the power-assisted receiving to be less than in advance for the speed of power-assisted implementation halt instruction or described electric motor car
If during cut-off velocity, adjustment is for the control of described motor, so that the speed of described electric motor car is gradually decrease to zero, stops power-assisted
Carry out；
And, according to receive car body angle, adjustment for described motor control, can make described electric motor car with work as
On the corresponding pre-set velocity scope of front speed, accelerating according to preset value corresponding with described car body angle or slowing down is carried out
Power-assisted is carried out.
The described electric motor car that the present embodiment provides, illustrates taking Segway Human Transporter as a example, as shown in Figure 4 normal before
In the case of entering, it is possible to achieve provide, for Segway Human Transporter user, the function that intelligent power-assisted carries out, it is to avoid in this heavy sensation of the body of vehicle body
Amount is lower to cost the shortcoming of power when carrying out, and avoids asking of the danger that the trickle control under firmly brought and poor user experience
Topic.
In addition, the present embodiment provide described electric motor car, described electric motor car provide power-assisted carry out during, according to
The speed that family gives, can voluntarily realize the speed follower of power-assisted implementation；That is, people's change car body of exerting oneself somewhat in acceleration and deceleration
Speed, the speed that car body also can follow people reaches a new velocity balance；Or can also be carried out according to the power-assisted that it receives
Regulating command can realize the action accelerating accordingly, slowing down, stop implementation；Again or, in implementation as shown in Figure 5 and Figure 6
In the case of climb and fall, can assist people when climb and fall by vehicle body attitude sensor autonomous classification to the gradient so that electric
Dynamic scooter is made a response action, and when such as upward slope, motor can go out more power, during descending can also controlled motor anti-
To exerting oneself, reach car body can with oneself accelerate on slope and slight brake effect, be not in need firmly to go to carry out electronic
The situation of scooter, can easily go-cart climb and fall it is not easy to allow to lose control of one's vehicle.In go-cart descending as shown in Figure 6, no
With to be slowed down by brake, exert oneself to control vehicle not glide without by staff simultaneously, more can easily allow vehicle stay slope.
For reaching the effect that intelligent power-assisted is carried out, described electric motor car can on the basis realizing power-assisted implementation, according to
Practical situation increases speed-limiting protection function and/or over-angle defencive function, that is, pass through step S105, whether identification car body is normal
The state carried out, to distinguish the mode of operation that motor should be at, further increases the safety of described electric motor car.
Another embodiment of the present invention additionally provides a kind of controller of electric motor car, as shown in fig. 7, comprises：
Judging unit 201, for judging whether described electric motor car meets default implementation condition；
First control unit 202, if meet described default implementation condition for described electric motor car, according to described electric motor car
Electric motor car described in speed controlling motor so that the drive wheel works of electric motor car described in described Motor drive, so that described electricity
Motor-car power-assisted in the range of pre-set velocity is carried out；Described pre-set velocity scope is the speed corresponding with the speed of described electric motor car
Scope.
Preferably, when judging unit 201 is used for judging whether described electric motor car meets default implementation condition, specifically for：
Whether the speed judging described electric motor car is not zero, no whether whether the Throttle Opening Control amount of described electric motor car be zero and
Braking；
Or, judge whether the speed of described electric motor car is not zero, the testing result of pedal detection switch be whether empty,
Whether the testing result of handss detection switch is to hold and whether brakeless；
Or, judge whether that receiving power-assisted carries out enabled instruction.
Preferably, when judging unit 201 is used for judging whether the speed of described electric motor car is not zero, pedal detection switch
Testing result be whether empty, handle detection switch testing result be whether hold and whether brakeless when, described electric motor car
Controller as shown in figure 8, on the basis of Fig. 7, also including：
Second control unit 203, for the stress size according to handle different directions, generates or adjustment is for described motor
Control.
Preferably, as shown in figure 9, the controller of described electric motor car, on the basis of Fig. 7, also includes：
Adjustment unit 204, for carrying out working as of regulating command, car body angle or described electric motor car according to the power-assisted receiving
Front speed, adjustment is for the control of described motor, so that described electric motor car carries out regulating command, car body angle according to described power-assisted
Or the present speed of described electric motor car, accelerating or slowing down carries out power-assisted implementation；
Protection location 205, for surpassing when the speed of described electric motor car exceedes preset security speed or described car body angle
When crossing preset security angle, adjust the control for described motor, so that described electric motor car is in preset security velocity interval wife
Push row or stop power-assisted implementation.
The controller of the described electric motor car that the present embodiment provides, it is possible to achieve provide intelligent power-assisted to push away for electric motor car user
The function of row, can play it under implementation state and possess the advantage of power；Avoid and need when carrying out under vehicle body weight itself
Laborious shortcoming；And need not be accelerated by trickle control throttle, it is to avoid the trickle control under firmly is brought
Danger and the problem of poor user experience.
Specific operation principle is same as the previously described embodiments, no longer repeats one by one herein.
Another embodiment of the present invention additionally provides a kind of electric motor car, as shown in Figure 10, including：Driving wheel 101, driven pulley
102nd, velocity sensor 103, motor 105, pedal, handle and controller 104；Wherein：
Controller 104 applies the arbitrary described power-assisted of above-described embodiment to carry out method；
Velocity sensor 103 is used for the speed of electric motor car described in real-time detection；
Velocity sensor 103 is arranged on driving wheel 101 or driven pulley 102；
Velocity sensor 103 is motor Hall test sensor, sensor tested by encoder or the outside code-disc of wheel.
Driving wheel 101 and driven pulley 102 do not limit both particular locations, and velocity sensor 103 realize shape
Formula is simultaneously not specifically limited, can be according to its specific applied environment depending on, all in the protection domain of the application.
Preferably, described electric motor car, on the basis of Figure 10, referring to Figure 11, also includes：
Command reception button and/or wireless communication module, for receiving, power-assisted carries out enabled instruction or power-assisted is carried out adjusting
Section instruction (accelerates implementation instruction, slows down and carry out instruction or power-assisted implementation halt instruction)；
Whether the pedal detection switch in setting and described pedal, be empty for pedal described in real-time detection；
It is arranged at the handle detection switch on described handle, whether hold for handle described in real-time detection；
It is arranged at the pressure transducer 106 on described handle different directions, for handle different directions described in real-time detection
Stress size；
It is arranged at the vehicle body attitude sensor 107 on the pedal of described electric motor car or handlebar stem, for real-time detection institute
State the car body angle of electric motor car；
Described vehicle body attitude sensor is accelerometer or the gyroscope of measuring unit IMU inertial navigation self-balancing system；
The outfan of pressure transducer 106 is connected with the second control unit 203 shown in Fig. 8.
In specific application, described pedal detection switch and described handle detection switch can be pressure/pressure-responsive
Device, travel switch, touch chip or slide rheostat etc., are not specifically limited herein, are capable of accordingly detecting function
Device is all in the protection domain of the application.
Pressure transducer 106 (can be multiple) is increased on the handle of electric motor car act on handle for experiencing staff
The pressure of different directions, is realized motor 105 and rotates by interface pressure, realizes the effect of power-assisted implementation.Such as, work as upward slope
When, the pressure that staff acts on relevant position on handle becomes big, and motor 105 will accelerate to make the given certain speed of car body enter
Row power-assisted is climbed.
In the present embodiment, the foundation that controller 104 generated or adjusted the control for described motor can derive from speed
The speed of the described electric motor car of sensor 103 real-time detection is it is also possible to derive from described of pressure transducer 106 real-time detection
The stress size of handss different directions；It is not specifically limited herein, can be selected depending on its concrete application environment, all in the application
Protection domain in.
The outfan of vehicle body attitude sensor 107 is connected with the adjustment unit 204 in Fig. 9 and protection location 205, specifically may be used
Think accelerometer or the gyroscope of measuring unit IMU inertial navigation self-balancing system.Herein and be not specifically limited, can be regarded it
Depending on concrete application environment.
Certainly, in specific practical application, vehicle body attitude sensor 107 can also be arranged at other of described electric motor car
Position, no longer repeats herein one by one.
In the present invention, each embodiment is described by the way of going forward one by one, and what each embodiment stressed is real with other
Apply the difference of example, between each embodiment identical similar portion mutually referring to.For device disclosed in embodiment
Speech, because it corresponds to the method disclosed in Example, so description is fairly simple, referring to method part illustration in place of correlation
?.
The above, be only presently preferred embodiments of the present invention, and not the present invention is made with any pro forma restriction.Though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention.Any it is familiar with those skilled in the art
Member, without departing under technical solution of the present invention ambit, can be utilized the methods and techniques content of the disclosure above to the present invention
Technical scheme makes many possible variations and modification, or the Equivalent embodiments being revised as equivalent variations.Therefore, every without departing from
The content of technical solution of the present invention, according to the present invention technical spirit to any simple modification made for any of the above embodiments, equivalent
Change and modification, all still fall within the range of technical solution of the present invention protection.
Claims (10)
1. a kind of power-assisted carries out method it is characterised in that being applied to the controller of electric motor car, and described power-assisted is carried out method and included：
Judge whether described electric motor car meets default implementation condition；
If described electric motor car meets described default implementation condition, the electricity of electric motor car described in the speed controlling according to described electric motor car
Machine, to drive the drive wheel works of described electric motor car, makes described electric motor car power-assisted in the range of pre-set velocity carry out；Described default
Velocity interval is the velocity interval corresponding with the speed of described electric motor car.
2. power-assisted according to claim 1 carries out method it is characterised in that described default implementation condition is：
The speed of described electric motor car is not zero, the Throttle Opening Control amount of described electric motor car is zero and brakeless；
Or, the speed of described electric motor car is not zero, the testing result of pedal detection switch is the empty, detection of handle detection switch
Result is to hold and brakeless；
Or, receive power-assisted and carry out enabled instruction.
3. power-assisted according to claim 2 carries out method it is characterised in that it is described electronic for working as described default implementation condition
The speed of car is not zero, the testing result of pedal detection switch is sky, the testing result of handle detection switch is to hold and nothing
During braking, if after described electric motor car meets described default implementation condition, also including：
According to the stress size of handle different directions, generate or adjust the control for described motor.
4. power-assisted according to claim 1 carries out method it is characterised in that in the described speed control according to described electric motor car
Make the motor of described electric motor car, make the drive wheel works of electric motor car described in described Motor drive, so that described electric motor car is default
After velocity interval wife pushes row, also include：
Carry out the present speed of regulating command, car body angle or described electric motor car according to the power-assisted receiving, adjustment is for described
The control of motor, so that described electric motor car carries out working as of regulating command, car body angle or described electric motor car according to described power-assisted
Front speed, accelerating or slowing down carries out power-assisted implementation；
When the speed of described electric motor car exceedes preset security speed or described car body angle exceedes preset security angle, adjustment
For the control of described motor, so that described electric motor car pushes row in preset security velocity interval wife or stopping power-assisted pushing away
OK.
5. a kind of controller of electric motor car is it is characterised in that include：
Judging unit, for judging whether described electric motor car meets default implementation condition；
First control unit, if meet described default implementation condition for described electric motor car, according to the speed of described electric motor car
Control the motor of described electric motor car, so that the drive wheel works of electric motor car described in described Motor drive, make described electric motor car pre-
If velocity interval wife pushes row；Described pre-set velocity scope is the velocity interval corresponding with the speed of described electric motor car.
6. the controller of electric motor car according to claim 5 is it is characterised in that described judging unit is used for judging described electricity
When whether motor-car meets default implementation condition, specifically for：
Whether the speed judging described electric motor car is not zero, whether whether the Throttle Opening Control amount of described electric motor car be zero and no make
Dynamic；
Or, judge whether the speed of described electric motor car is not zero, whether the testing result of pedal detection switch is empty, handle inspection
Whether the testing result of slowdown monitoring switch is to hold and whether brakeless；
Or, judge whether that receiving power-assisted carries out enabled instruction.
7. electric motor car according to claim 6 controller it is characterised in that when described judging unit be used for judging described
Whether the speed of electric motor car is not zero, whether the testing result of pedal detection switch is the empty, testing result of handle detection switch
Be whether hold and whether brakeless when, the controller of described electric motor car also includes：
Second control unit, for the stress size according to handle different directions, generates or adjusts the control for described motor.
8. the controller according to the arbitrary described electric motor car of claim 5 to 7 is it is characterised in that also include：
Adjustment unit, for carrying out the present speed of regulating command, car body angle or described electric motor car according to the power-assisted receiving,
Adjustment is for the control of described motor, so that described electric motor car carries out regulating command, car body angle or institute according to described power-assisted
State the present speed of electric motor car, accelerating or slowing down carries out power-assisted implementation；
Protection location, for exceeding preset security speed or described car body angle exceedes default peace when the speed of described electric motor car
During full angle, adjustment for described motor control so that described electric motor car preset security velocity interval wife push row or
Person stops power-assisted and carries out.
9. a kind of electric motor car is it is characterised in that include：Driving wheel, driven pulley, velocity sensor, motor, pedal, handle and control
Device processed；Wherein：
The velocity sensor of described electric motor car is used for the speed of electric motor car described in real-time detection；
The velocity sensor of described electric motor car is arranged on described driving wheel or described driven pulley；
The velocity sensor of described electric motor car is motor Hall test sensor, encoder tests sensor or wheel foreign key
Disk；
The arbitrary described power-assisted of described controller application Claims 1-4 carries out method.
10. electric motor car according to claim 9 is it is characterised in that also include：
Command reception button and/or wireless communication module, for receiving, power-assisted carries out enabled instruction or power-assisted is carried out regulation and referred to
Order；
Whether the pedal detection switch in setting and described pedal, be empty for pedal described in real-time detection；
It is arranged at the handle detection switch on described handle, whether hold for handle described in real-time detection；
It is arranged at the pressure transducer on described handle different directions, the stress for handle different directions described in real-time detection is big
Little；
It is arranged at the vehicle body attitude sensor on the pedal of described electric motor car or handlebar stem, for electric motor car described in real-time detection
Car body angle；
Described vehicle body attitude sensor is accelerometer or the gyroscope of measuring unit IMU inertial navigation self-balancing system.
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