CN106515985A - 电动助力自行车电机控制器倾角传感调速方法 - Google Patents

电动助力自行车电机控制器倾角传感调速方法 Download PDF

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CN106515985A
CN106515985A CN201611014563.1A CN201611014563A CN106515985A CN 106515985 A CN106515985 A CN 106515985A CN 201611014563 A CN201611014563 A CN 201611014563A CN 106515985 A CN106515985 A CN 106515985A
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riding
motor
road surface
parameter
motor controller
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李珍昆
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Tianjin Jinlun Group Xinde Vehicle Industry Co ltd
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Seashells (tianjin) Technology Co Ltd
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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
    • 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
    • B60L2200/12—Bikes
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/429—Current
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions
    • B60L2240/642—Slope of road
    • 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)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

本发明公开了一种电动助力自行车电机控制器倾角传感调速方法，其特征在于：至少包括如下步骤：步骤1、采集骑行脚踏频率X、路面坡度Y；并将上述骑行脚踏频率X、路面坡度Y发送给电机控制器；步骤2、电机控制器根据下列公式计算电机驱动电流L；L＝K(A*X+B*Y+C)；其中：K为电机电流控制参数；A为踏频驱动比例参数；B为路面坡度启动参数；C为骑行常数；步骤3、电机控制器根据电机驱动电流L对车速进行调节控制。通过采用上述技术方案，该发明专利根据电机倾角传感器测量路面倾角，把倾角作为除了踏频之外另外一个调节电机输出功率的输入参数，进而克服了路面坡度较大时造成的骑行困难和平路正常骑行速度波动问题。

Description

电动助力自行车电机控制器倾角传感调速方法
技术领域
本发明涉及电动助力自行车技术领域，特别是涉及一种电动助力自行车电机控制器倾角传感调速方法。
背景技术
目前，电动助力自行车助力模式多为踏频助力模式和扭矩助力模式。踏频模式在上坡路面由于阻力增大，骑行者踏频减少导致电机输出功率也随之降低，与坡路情况下电机输出功率增加背道而驰，造成助力自行车坡路骑行困难。扭矩模式克服了坡路骑行的问题，但在正常骑行过程中，由于踏频过程中扭矩波动造成骑行速度随之成轻微正玄曲线震荡，骑行体验过程中能够感觉到时快时慢，车速不够稳定。
发明内容
本发明要解决的技术问题是：提供一种电动助力自行车电机控制器倾角传感调速方法，该电动助力自行车电机控制器倾角传感调速方法根据电机倾角传感器测量路面倾角，把倾角作为除了踏频之外另外一个调节电机输出功率的输入参数，进而克服了路面坡度较大时造成的骑行困难和平路正常骑行速度波动问题。
本发明为解决公知技术中存在的技术问题所采取的技术方案是：
一种电动助力自行车电机控制器倾角传感调速方法，至少包括如下步骤：
步骤101、采集骑行脚踏频率X、路面坡度Y；并将上述骑行脚踏频率X、路面坡度Y发送给电机控制器；
步骤102、电机控制器根据下列公式计算电机驱动电流L；
L＝K(A*X+B*Y+C)；其中：K为电机电流控制参数；A为踏频驱动比例参数；B为路面坡度启动参数；C为骑行常数；
步骤103、电机控制器根据电机驱动电流L对车速进行调节控制。
本发明具有的优点和积极效果是：
通过采用上述技术方案，电动助力自行车根据不同路面的坡度进行骑行助力控制功能，当助力车正常骑行过程中，随着路面坡度的增加，控制器根据电机内置倾角传感器测量参数自动调节增大电机输出功率；当路面坡度件小或下坡时，控制器根据倾角传感器测量路面坡度参数自动减少电机功率输出。更符合运动控制实际情况，提高了骑行的安全性，进一步改善了骑行的体验感。
附图说明
图1是本发明优选实施例的硬件结构框图；
图2是本发明优选实施例的流程图。
具体实施方式
为能进一步了解本发明的发明内容、特点及功效，兹例举以下实施例，并配合附图详细说明如下：
请参阅图1至图2，一种电动助力自行车电机控制器倾角传感调速方法，
如图1所示，本优选实施例在传统技术的硬件设计上增加了坡路倾角传感器，即在传统踏频信号、刹车信号和车速反馈三个信号基础上增加了倾角传感器输入信号，感知实际骑行过程中路面坡度变化，为电机驱动控制器软件算法提供了一个输入变量。骑行者正常骑行的过程中，当路面坡度为正值，电机驱动器增大电机输出功率；当坡度微负值时电机驱动器减小电机输出功率。
如图2所示：具体的调速方法包括如下步骤：
步骤101、采集骑行脚踏频率X、路面坡度Y；并将上述骑行脚踏频率X、路面坡度Y发送给电机控制器；
步骤102、电机控制器根据下列公式计算电机驱动电流L；
L＝K(A*X+B*Y+C)；其中：K为电机电流控制参数；A为踏频驱动比例参数；B为路面坡度启动参数；C为骑行常数；
步骤103、电机控制器根据电机驱动电流L对车速进行调节控制。
电机电流控制参数K受刹车型号和踏频信号共同控制，当刹车信号有效或脚踏频率为0Hz时，K＝0,即电机驱动输出电流为0；当刹车信号无效同时脚踏频率不为0Hz，K＝1，即电机驱动器输出电流受脚踏频率、路面坡度和骑行常数共同作用。
以上对本发明的实施例进行了详细说明，但所述内容仅为本发明的较佳实施例，不能被认为用于限定本发明的实施范围。凡依本发明申请范围所作的均等变化与改进等，均应仍归属于本发明的专利涵盖范围之内。

Claims (1)

1.一种电动助力自行车电机控制器倾角传感调速方法；其特征在于：至少包括如下步骤：
步骤101、采集骑行脚踏频率X、路面坡度Y；并将上述骑行脚踏频率X、路面坡度Y发送给电机控制器；
步骤102、电机控制器根据下列公式计算电机驱动电流L；
L＝K(A*X+B*Y+C)；其中：K为电机电流控制参数；A为踏频驱动比例参数；B为路面坡度启动参数；C为骑行常数；
步骤103、电机控制器根据电机驱动电流L对车速进行调节控制。
CN201611014563.1A 2016-11-18 2016-11-18 电动助力自行车电机控制器倾角传感调速方法 Pending CN106515985A (zh)

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Cited By (5)

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CN106904244A (zh) * 2017-04-24 2017-06-30 成都步共享科技有限公司 一种共享单车的助力装置
CN107323595A (zh) * 2017-06-26 2017-11-07 深圳前海优时科技有限公司 一种助动车速度感应式助力控制方法
CN108556998A (zh) * 2018-04-24 2018-09-21 必革出行（北京）科技有限公司 助力自行车及其变速装置
CN109983907A (zh) * 2017-12-29 2019-07-09 苏州宝时得电动工具有限公司 电动工具
CN112249214A (zh) * 2020-11-19 2021-01-22 深圳市金宝冠科技有限公司 一种自行车智能助力轮毂及控制方法

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CN106904244A (zh) * 2017-04-24 2017-06-30 成都步共享科技有限公司 一种共享单车的助力装置
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CN112249214A (zh) * 2020-11-19 2021-01-22 深圳市金宝冠科技有限公司 一种自行车智能助力轮毂及控制方法

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