CN107323595A - A kind of power assist vehicle velocity response formula power assist control method - Google Patents
A kind of power assist vehicle velocity response formula power assist control method Download PDFInfo
- Publication number
- CN107323595A CN107323595A CN201710495823.XA CN201710495823A CN107323595A CN 107323595 A CN107323595 A CN 107323595A CN 201710495823 A CN201710495823 A CN 201710495823A CN 107323595 A CN107323595 A CN 107323595A
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- CN
- China
- Prior art keywords
- power assist
- control method
- response formula
- velocity response
- obliquity sensor
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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
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of power assist vehicle velocity response formula power assist control method, for power assist vehicle technical field, it is based on original velocity response formula power assist control method, measure the gradient on road surface in real time by increasing obliquity sensor, inputted using the output of obliquity sensor as the compensation of system, so that system possesses the ability that different power-assisted outputs are realized under identical speed and different road conditions that original velocity response formula power assist control method does not possess, it optimizes power-assisted, lifting customer experience/experience of riding.
Description
Technical field
The present invention relates to electric driving-aid two-wheel car technical field, more particularly to a kind of power assist vehicle velocity response formula Power assisted control
Method.
Background technology
Existing power assist vehicle, which is used, mainly two ways：One is torque induction type, and this mode is mainly by torque
Sensor sensing ride people pedalling force size control moment motor output torque, in high, medium and low speed all the time according to certain
Assist rate output, experience of riding is preferable, but cost is higher；Two be velocity response formula, and this mode mainly leans on revolution speed sensing
The output speed of the common brushless buncher of stepping frequency control of device sensing bicyclist, it is characterized in that the size and speed of power-assisted
Positive correlation, if that must improve assist rate setting if the power-assisted output for increasing upward slope chronic states, but this can bring level road to go slowly
When preshoot sense and step on empty sense when riding at a high speed, otherwise powerlessness when going up a slope chronic can be brought again, this mode is difficult simultaneous
The experience of riding under high, low speed and different road conditions is turned round and look at, but due to low cost, is used widely on low side power assist vehicle.
The content of the invention
The main technical problem to be solved in the present invention is to provide a kind of power assist vehicle velocity response formula power assist control method, its
Optimize power-assisted, lift customer experience.
In order to solve the above technical problems, the present invention provides a kind of power assist vehicle velocity response formula power assist control method, based on speed
Spend induction type power assist control method；It increases the gradient for setting obliquity sensor to measure road surface in real time；Pass through obliquity sensor
Measure inclination degree, and using measurement result as compensation rate and velocity sensor output quantity collective effect in drive and control of electric machine
Device.So that system possesses the ability that different power-assisted outputs are realized under identical speed and different road conditions.
It is described using measurement result as compensation rate and velocity sensor output quantity collective effect in motor drive controller, tool
Body：When measurement result is that then expanded motor is exported uphill angle, when measurement result is that upper lower angle then reduces motor output, incline
Slope angle is more big, increase/reduction amplitude is bigger.
The obliquity sensor is electronic type obliquity sensor.
After the obliquity sensor is arranged on the power assist vehicle, it senses two-wheeled of the direction perpendicular to the power assist vehicle
Line between axle center.
The motor drive controller includes：Voltage-controlled type motor driver and frequency-control-type motor driver.
When the motor drive controller is voltage-controlled type motor driver, it is by integrating circuit by speed probe
The square wave model of output is converted to voltage output uX, obliquity sensor output uy is multiplied with uX by multiplier after being compensated
Control voltage uo, pass through the output of uo controlled motor drivers.
When the motor drive controller is frequency-control-type motor driver；It is passed through using obliquity sensor output uy
Voltage-controlled FM circuit change speed probe output ω X frequency be compensated after control signal ω o, pass through ω o control electricity
The output of machine driver.
For velocity response formula power assist control method, by introducing the compensation rate that road slope value is inputted as system, reach
The effect more consistent with user's impression is more smoothed out in different road conditions and friction speed to the power-assisted of power assist vehicle is exported.
The beneficial effects of the invention are as follows：A kind of power assist vehicle velocity response formula power assist control method, it is based on original speed
Induction type power assist control method, the gradient on road surface is measured by increasing obliquity sensor in real time, with the output of obliquity sensor
Inputted as the compensation of system so that system possess that original velocity response formula power assist control method do not possess in identical speed
With the ability that different power-assisted outputs are realized under different road conditions, it optimizes power-assisted, lifting customer experience/experience of riding.
Brief description of the drawings
Fig. 1 is the System Working Principle figure of an embodiment of the present invention；
Fig. 2 is a kind of voltage-controlled type motor driver implementation principle figure of the invention；
Fig. 3 is a kind of frequency-control-type motor driver implementation principle figure of the invention.
Embodiment
The present invention is described in further detail below by embodiment combination accompanying drawing.
It refer to shown in Fig. 1, a kind of velocity response formula power assist control method, based on velocity response formula power assist control method,
Characterized in that, increase obliquity sensor measures the gradient on road surface in real time；Inclination degree is measured by obliquity sensor, and
Using measurement result as compensation rate and velocity sensor output quantity collective effect in motor drive controller.So that system possesses
What original velocity response formula power assist control method did not possessed realizes the energy of different power-assisted outputs under identical speed and different road conditions
Power.We can also be referred to as gradient compensation.
It is described using measurement result as compensation rate and velocity sensor output quantity collective effect in motor drive controller, tool
Body：When measurement result is that then expanded motor is exported uphill angle, when measurement result is that upper lower angle then reduces motor output, incline
Slope angle is more big, increase/reduction amplitude is bigger.
The obliquity sensor is electronic type obliquity sensor.
After the obliquity sensor is arranged on the power assist vehicle, it senses two-wheeled of the direction perpendicular to the power assist vehicle
Line between axle center.
In practical application, motor drive controller has been generally included：Voltage-controlled type motor driver and frequency-control-type
Motor driver.
As shown in Fig. 2 implementation one:
For voltage-controlled type motor driver, pass through integrating circuit（It is not limited to）The square wave model that speed probe is exported turns
Voltage output uX is changed to, passes through multiplier（It is not limited to）The obliquity sensor output uy controls after being compensated that are multiplied with uX is electric
Uo is pressed, by the output of uo controlled motor drivers, so that realize improves velocity response formula Power assisted control by gradient compensation
Power-assisted output effect and ride experience, concrete principle.
As shown in figure 3, implementation two:
For frequency-control-type motor driver, export uy using obliquity sensor and pass through voltage-controlled FM circuit change revolution speed sensing
Device output ω X frequency be compensated after control signal ω o, by the output of ω o controlled motor drivers, so as to realize logical
Crossing gradient compensation improves the power-assisted output effect of velocity response formula Power assisted control and experience of riding.
Above content is to combine specific embodiment further description made for the present invention, it is impossible to assert this hair
Bright specific implementation is confined to these explanations.For general technical staff of the technical field of the invention, do not taking off
On the premise of from present inventive concept, some simple deduction or replace can also be made, the protection of the present invention should be all considered as belonging to
Scope.
Claims (7)
1. a kind of power assist vehicle velocity response formula power assist control method, based on velocity response formula power assist control method, its feature exists
In increase setting obliquity sensor measures the gradient on road surface in real time；Inclination degree is measured by obliquity sensor, and will be surveyed
Result is measured as compensation rate and velocity sensor output quantity collective effect in motor drive controller.
2. power assist vehicle velocity response formula power assist control method as claimed in claim 1, it is characterised in that described by measurement result
As compensation rate and velocity sensor output quantity collective effect in motor drive controller, specifically：When measurement result is upward slope
Then expanded motor is exported angle, and when measurement result is that upper lower angle then reduces motor output, gradient angle is more big, increases/subtracts
It is bigger by a small margin.
3. power assist vehicle velocity response formula power assist control method as claimed in claim 1, it is characterised in that the obliquity sensor
For electronic type obliquity sensor.
4. power assist vehicle velocity response formula power assist control method as claimed in claim 1, it is characterised in that the obliquity sensor
After on the power assist vehicle, it senses line of the direction between the two-wheeled axle center of the power assist vehicle.
5. the power assist vehicle velocity response formula power assist control method as described in any one of Claims 1-4, it is characterised in that described
Motor drive controller includes：Voltage-controlled type motor driver and frequency-control-type motor driver.
6. power assist vehicle velocity response formula power assist control method as claimed in claim 5, it is characterised in that the motor driving control
Device processed is voltage-controlled type motor driver, and the square wave model that speed probe is exported is converted to voltage by it by integrating circuit
UX is exported, obliquity sensor output uy is multiplied the control voltage uo after being compensated with uX by multiplier, passes through uo controls
The output of motor driver.
7. power assist vehicle velocity response formula power assist control method as claimed in claim 5, it is characterised in that the motor driving control
Device processed is frequency-control-type motor driver；It exports uy using obliquity sensor and passes through voltage-controlled FM circuit change revolution speed sensing
Device output ω X frequency be compensated after control signal ω o, pass through the output of ω o controlled motor drivers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710495823.XA CN107323595A (en) | 2017-06-26 | 2017-06-26 | A kind of power assist vehicle velocity response formula power assist control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710495823.XA CN107323595A (en) | 2017-06-26 | 2017-06-26 | A kind of power assist vehicle velocity response formula power assist control method |
Publications (1)
| Publication Number | Publication Date |
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| CN107323595A true CN107323595A (en) | 2017-11-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710495823.XA Pending CN107323595A (en) | 2017-06-26 | 2017-06-26 | A kind of power assist vehicle velocity response formula power assist control method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108820123A (en) * | 2018-08-20 | 2018-11-16 | 门德君 | Bicycle power-assisted device |
| CN111071063A (en) * | 2019-12-30 | 2020-04-28 | 厦门兴联智控科技有限公司 | Vehicle speed control method and motor vehicle with vehicle speed control function |
| WO2021109174A1 (en) * | 2019-12-05 | 2021-06-10 | 南京溧水电子研究所有限公司 | Climb compensation processing method for electric power-assisted bicycle |
| CN115447705A (en) * | 2021-06-08 | 2022-12-09 | 纳恩博（常州）科技有限公司 | Motor control method and device, electric moped, electronic device and medium |
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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 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108820123A (en) * | 2018-08-20 | 2018-11-16 | 门德君 | Bicycle power-assisted device |
| WO2021109174A1 (en) * | 2019-12-05 | 2021-06-10 | 南京溧水电子研究所有限公司 | Climb compensation processing method for electric power-assisted bicycle |
| CN111071063A (en) * | 2019-12-30 | 2020-04-28 | 厦门兴联智控科技有限公司 | Vehicle speed control method and motor vehicle with vehicle speed control function |
| CN111071063B (en) * | 2019-12-30 | 2021-09-10 | 厦门兴联智控科技有限公司 | Vehicle speed control method and motor vehicle with vehicle speed control function |
| CN115447705A (en) * | 2021-06-08 | 2022-12-09 | 纳恩博（常州）科技有限公司 | Motor control method and device, electric moped, electronic device and medium |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171107 |
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| RJ01 | Rejection of invention patent application after publication |