CN107344586A - The method of controlling security and system that a kind of electric bicycle turns to - Google Patents

The method of controlling security and system that a kind of electric bicycle turns to Download PDF

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Publication number
CN107344586A
CN107344586A CN201710432237.0A CN201710432237A CN107344586A CN 107344586 A CN107344586 A CN 107344586A CN 201710432237 A CN201710432237 A CN 201710432237A CN 107344586 A CN107344586 A CN 107344586A
Authority
CN
China
Prior art keywords
steering angle
torque
degree
angular transducer
controller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710432237.0A
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Chinese (zh)
Inventor
熊炜
卢小波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kale Environmental Technology (shanghai) Ltd By Share Ltd
Original Assignee
Kale Environmental Technology (shanghai) Ltd By Share Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kale Environmental Technology (shanghai) Ltd By Share Ltd filed Critical Kale Environmental Technology (shanghai) Ltd By Share Ltd
Priority to CN201710432237.0A priority Critical patent/CN107344586A/en
Publication of CN107344586A publication Critical patent/CN107344586A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • 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
    • B60L15/2072—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 for drive off
    • 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
    • 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
    • B60L2240/40—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
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/44—Control modes by parameter estimation
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention discloses the safety control system that a kind of electric bicycle turns to, including present control system of electric-bike, increase sets angular transducer on the headstock of existing electric bicycle, angular transducer is connected by wire with controller, angular transducer gathers steering angle information, by steering angle feedback of the information to controller, controller passes information to motor driver, motor driver motor output torque again.Also disclose the method for controlling security that a kind of electric bicycle turns to.For the present invention when steering angle is bigger, torque is smaller, and then Tout is smaller, and speed lowers, and solves potential safety hazard.

Description

The method of controlling security and system that a kind of electric bicycle turns to
Technical field
The present invention relates to electric bicycle field, and in particular to the method for controlling security and be that a kind of electric bicycle turns to System.
Background technology
Assuming that standard vehicle brilliance degree when electric bicycle is parked is 0 degree, then headstock has more than 30 degree of steering to the left When, then it is difficult starting, may be fallen down when particularly electric bicycle accelerates to maximum, there are serious potential safety hazard.Separately Outer electric bicycle turns to when running at high speed, and when headstock has more than 30 degree of steering to the left or to the right, there is also the peace fallen down Full hidden danger.
The content of the invention
For above technical problem, the present invention proposes a kind of method of controlling security and system of electric bicycle steering, Increase an angular transducer on headstock, angular transducer is connected with controller, increases method of controlling security in the controller, reach The purpose of safety is arrived.
The technical scheme taken of the present invention is as follows：
The control method that a kind of electric bicycle turns to safely, including：
Step 101：For the angle of headstock 1 from when being changed because turning to for normal 0 degree, angular transducer collects steering angle Change information, pass to controller；
Step 102：After controller receives the information of angular transducer transmission, after security strategy, then pass information to Motor driver；
Step 103：Motor driver motor output torque；
The security strategy is：Tmax*S%*C%=Tout formula（1）；
Formula（1）In：Tmax represents physics maximum moment, and S represents safe torque, C corresponding to steering angle and represents cyclist Instruction torque；Tout represents final output torque；
Moment conditions corresponding to steering angle：
When steering angle is 0 degree, torque A；
When steering angle is 5 degree, torque 95%A；
When steering angle is 10 degree, torque 90%A；
When steering angle is 15 degree, torque 85%A；
When steering angle is 20 degree, torque 80%A；
When steering angle is 25 degree, torque 65%A；
When steering angle is 30 degree, torque 50%A；
When steering angle is 35 degree, torque 35%A；
When steering angle is 40 degree, torque 20%A；
When steering angle is more than 45 degree, torque 10%A；
According to formula（1）, when steering angle is bigger, torque is smaller, and then Tout is smaller, and speed lowers, and solves safety Hidden danger.
In addition the present invention also proposes the safety control system that a kind of electric bicycle turns to, including present electric bicycle Control system, increase setting angular transducer, angular transducer pass through wire and control on the headstock of existing electric bicycle Device connection processed, angular transducer collection steering angle information, by steering angle feedback of the information to controller, controller is again by information Pass to motor driver, motor driver motor output torque；The change of steering angle is obtained by angular transducer Change, reinform controller, take steering angle bigger, speed lower strategy slows down.
Beneficial effect
The present invention in headstock by setting angular transducer, and bigger, the speed that by method of controlling security reached steering angle Smaller purpose, solves potential safety hazard.
Brief description of the drawings
Fig. 1 is the structural representation for the safety control system that a kind of electric bicycle of the present invention turns to；
Fig. 2 is the structured flowchart for the safety control system that a kind of electric bicycle of the present invention turns to；
Fig. 3 is the graph of a relation that steering angle corresponds to torque in the present invention.
Embodiment
Embodiment 1
As shown in Figure 1-2, the safety control system that a kind of electric bicycle turns to, including present electric bicycle control system System, sets angular transducer 2 on the headstock 1 of existing electric bicycle, and angular transducer 2 is connected by wire and controller 5 Connect, angular transducer 2 gathers steering angle information, and steering angle feedback of the information is again passed information to controller 5, controller 5 Pass motor driver, the output torque of motor driver motor 4.Motor 4 is arranged on trailing wheel or front-wheel or double drives （Front and back wheel is respectively mounted motor）, then the change of steering angle is obtained by increased angular transducer, reinforms controller 5 Slow down；Battery 6 is angular transducer 2, motor driver, motor 4, the offer power supply of controller 5, because it is a dynamic to ride Process, an important factor for being safely to be solved.
Embodiment 2
As shown in Figure 1-2, the safety control system that a kind of electric bicycle turns to, including present electric bicycle control system System, sets angular transducer 2 on the headstock 1 of existing electric bicycle, and angular transducer 2 is connected by wire and controller 5 Connect, angular transducer 2 gathers steering angle information, and steering angle feedback of the information is again passed information to controller 5, controller 5 Pass motor driver, the output torque of motor driver motor 4.Motor is arranged on trailing wheel or front-wheel or double drives （Front and back wheel is respectively mounted motor）, then the change of angle is obtained by increased angular transducer 2, reinforms controller 5 Method of controlling security reaches the purpose of deceleration；Battery 6 is angular transducer 2, motor driver, motor 4, controller 5 provide Power supply；
The control method that a kind of electric bicycle turns to safely, including：
Step 101：For the angle of headstock 1 from when being changed because turning to for normal 0 degree, angular transducer 2 collects steering angle Change information, pass to controller 5；
Step 102：After controller 5 receives the information of the transmission of angular transducer 2, after security strategy, then pass the information on To motor driver；
Step 103：The output torque of motor driver motor 4；
The security strategy is：Tmax*S%*C%=Tout formula（1）；
Formula（1）In：Tmax represents physics maximum moment, and S represents safe torque, C corresponding to steering angle and represents cyclist Instruction torque；Tout represents final output torque；
As shown in figure 3, moment conditions corresponding to steering angle：
When steering angle is 0 degree, torque A；
When steering angle is 5 degree, torque 95%A；
When steering angle is 10 degree, torque 90%A；
When steering angle is 15 degree, torque 85%A；
When steering angle is 20 degree, torque 80%A；
When steering angle is 25 degree, torque 65%A；
When steering angle is 30 degree, torque 50%A；
When steering angle is 35 degree, torque 35%A；
When steering angle is 40 degree, torque 20%A；
When steering angle is more than 45 degree, torque 10%A；
According to formula（1）, when steering angle is bigger, torque is smaller, and then Tout is smaller, and speed lowers, and solves safety Hidden danger.

Claims (2)

1. the safety control system that a kind of electric bicycle turns to, including present control system of electric-bike, its feature exist In：Increase sets angular transducer on the headstock of existing electric bicycle, and angular transducer is connected by wire and controller Connect, angular transducer collection steering angle information, steering angle feedback of the information is passed information to again to controller, controller Motor driver, motor driver motor output torque；The change of steering angle is obtained by angular transducer, then is led to Know controller, take steering angle bigger, speed lower strategy slows down.
A kind of 2. control method that electric bicycle turns to safely, it is characterised in that：Comprise the following steps：
Step 101：For the angle of headstock 1 from when being changed because turning to for normal 0 degree, angular transducer collects steering angle Change information, pass to controller；
Step 102：After controller receives the information of angular transducer transmission, after security strategy, then pass information to Motor driver；
Step 103：Motor driver motor output torque；
The security strategy is：Tmax*S%*C%=Tout formula（1）；
Formula（1）In：Tmax represents physics maximum moment, and S represents safe torque, C corresponding to steering angle and represents cyclist Instruction torque；Tout represents final output torque；
Moment conditions corresponding to steering angle：
When steering angle is 0 degree, torque A；
When steering angle is 5 degree, torque 95%A；
When steering angle is 10 degree, torque 90%A；
When steering angle is 15 degree, torque 85%A；
When steering angle is 20 degree, torque 80%A；
When steering angle is 25 degree, torque 65%A；
When steering angle is 30 degree, torque 50%A；
When steering angle is 35 degree, torque 35%A；
When steering angle is 40 degree, torque 20%A；
When steering angle is more than 45 degree, torque 10%A；
According to formula（1）, when steering angle is bigger, torque is smaller, and then Tout is smaller, and speed lowers, and solves safety Hidden danger.
CN201710432237.0A 2017-06-09 2017-06-09 The method of controlling security and system that a kind of electric bicycle turns to Pending CN107344586A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710432237.0A CN107344586A (en) 2017-06-09 2017-06-09 The method of controlling security and system that a kind of electric bicycle turns to

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710432237.0A CN107344586A (en) 2017-06-09 2017-06-09 The method of controlling security and system that a kind of electric bicycle turns to

Publications (1)

Publication Number Publication Date
CN107344586A true CN107344586A (en) 2017-11-14

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CN201710432237.0A Pending CN107344586A (en) 2017-06-09 2017-06-09 The method of controlling security and system that a kind of electric bicycle turns to

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1276313A (en) * 2000-07-27 2000-12-13 田文杰 Multifunctional electric steering gear
JP2004120843A (en) * 2002-09-25 2004-04-15 Mitsubishi Automob Eng Co Ltd Electrically propelled vehicle having controller based on triaxial acceleration sensor
JP2007297053A (en) * 2007-08-23 2007-11-15 Kawasaki Heavy Ind Ltd Throttle device for vehicle
CN101312874A (en) * 2006-01-27 2008-11-26 株式会社村田制作所 Overturn prevention control device for two-wheel vehicle
JP2011004842A (en) * 2009-06-24 2011-01-13 Tamaden Kogyo Kk Unmanned two-wheeler with attitude control
CN201737102U (en) * 2010-07-28 2011-02-09 捷奥比电动车有限公司 Electric vehicle
CN201895745U (en) * 2010-11-25 2011-07-13 浙江绿源电动车有限公司 Turning speed limiting device for vehicle
JP2016088374A (en) * 2014-11-07 2016-05-23 株式会社ブリヂストン Electric power-assisted bicycle
JP2016107738A (en) * 2014-12-04 2016-06-20 株式会社ブリヂストン Electric power-assisted bicycle

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1276313A (en) * 2000-07-27 2000-12-13 田文杰 Multifunctional electric steering gear
JP2004120843A (en) * 2002-09-25 2004-04-15 Mitsubishi Automob Eng Co Ltd Electrically propelled vehicle having controller based on triaxial acceleration sensor
CN101312874A (en) * 2006-01-27 2008-11-26 株式会社村田制作所 Overturn prevention control device for two-wheel vehicle
JP2007297053A (en) * 2007-08-23 2007-11-15 Kawasaki Heavy Ind Ltd Throttle device for vehicle
JP2011004842A (en) * 2009-06-24 2011-01-13 Tamaden Kogyo Kk Unmanned two-wheeler with attitude control
CN201737102U (en) * 2010-07-28 2011-02-09 捷奥比电动车有限公司 Electric vehicle
CN201895745U (en) * 2010-11-25 2011-07-13 浙江绿源电动车有限公司 Turning speed limiting device for vehicle
JP2016088374A (en) * 2014-11-07 2016-05-23 株式会社ブリヂストン Electric power-assisted bicycle
JP2016107738A (en) * 2014-12-04 2016-06-20 株式会社ブリヂストン Electric power-assisted bicycle

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Application publication date: 20171114