CN107351969A - A kind of adaptive power-assisted adjusting method of electric booster bicycle - Google Patents
A kind of adaptive power-assisted adjusting method of electric booster bicycle Download PDFInfo
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- CN107351969A CN107351969A CN201710574588.5A CN201710574588A CN107351969A CN 107351969 A CN107351969 A CN 107351969A CN 201710574588 A CN201710574588 A CN 201710574588A CN 107351969 A CN107351969 A CN 107351969A
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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
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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
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Abstract
The invention provides a kind of adaptive power-assisted adjusting method of electric booster bicycle, belong to electric booster bicycle technical field.It solves the problems, such as that electric boosted regulative mode effect of the prior art can not meet that user's power-assisted is ridden purpose.A kind of adaptive power-assisted adjusting method of electric booster bicycle, electric booster bicycle includes pedal, motor control unit, the wheel hub motor being arranged on wheel and the vehicle speed sensor for detecting vehicle wheel vehicle speeds, the operating voltage of motor control unit control wheel hub motor adjusts the operating power of wheel hub motor, and this method comprises the following steps：The target power of wheel hub motor electrical output power is set A,；B, the manpower output mean power for completing a cycle is drawn；C, target power is drawn；D, the operating voltage of wheel hub motor is controlled.The adaptive power-assisted adjusting method of this electric booster bicycle can improve the effect of electric booster bicycle power-assisted regulation.
Description
Technical field
The invention belongs to electric booster bicycle technical field, is related to a kind of adaptive power-assisted regulation side of electric booster bicycle
Method.
Background technology
Electric booster bicycle refers to be arranged on the basis of ordinary bicycle using battery as supplementary energy, then installs electricity
The traffic work of the electromechanical integration of the control members such as mechanical, electrical machine administrative unit, battery, handle, brake lever and display instrument system
Tool.Motor is that wheel hub motor is arranged on wheel.Electric booster bicycle is mainly ridden as main power source using people, and motor is by storing
The power supply of battery and the control of motor administrative unit, auxiliary force is exported to help driver to ride.
Because electric booster bicycle more minimizes more light and fast compared to electric car, ridden again compared to bicycle
Row, which gets up, has electric power-assisted to aid in, and rides the advantages of lighter, so as to more be liked by people.
Output power of motor regulation in electric booster bicycle at present, mainly enters according to the speed of electric booster bicycle
Row regulation, as Chinese patent discloses a kind of Power assisted control machine of electric assisted bicycle of Application No. 201210157211.7
Structure, including front-wheel, trailing wheel, left and right are foot-operated, chain, flywheel, front-wheel rotating disk, front wheel rotation speed sensor, front wheel rotation speed sensor branch
Frame, Speed of Reaction Wheels sensor, Speed of Reaction Wheels sensor stand, microprocessor, Speed of Reaction Wheels sensor and front wheel rotation speed sensor
The tach signal of flywheel and front-wheel is constantly sent to microprocessor, microprocessor is calculated the rotating speed of flywheel and front-wheel, turned
Fast acceleration, automatically control adjustment power-assisted size.The acceleration that the patent detects user by velocity sensor is intended to, and is got in speed
Bigger output power of motor is provided when fast, but the bigger power-assisted of speed is bigger, this does not meet power-assisted requirement, because in speed
The power-assisted that needs is not necessarily big when degree is bigger, and people rides in the case where the frictional force such as upward slope or road bumpiness is very big
Gruelling car speed on do not come, and need larger power-assisted, but the power-assisted of now motor output be on the contrary it is small, therefore
The electric boosted regulative mode effect of existing electric booster bicycle can not meet the purpose that user's power-assisted is ridden.
The content of the invention
There is above mentioned problem in the present invention, it is proposed that a kind of adaptive power-assisted regulation of electric booster bicycle for existing technology
Method, the technical problem that this method solves are how to improve the effect of electric booster bicycle power-assisted regulation.
The present invention is realized by following technical proposal：A kind of adaptive power-assisted adjusting method of electric booster bicycle, electricity help
Force bike includes pedal, motor control unit, the wheel hub motor being arranged on wheel and the speed for detecting vehicle wheel vehicle speeds
Sensor, the operating voltage of motor control unit control wheel hub motor adjust the operating power of wheel hub motor, it is characterised in that
This method comprises the following steps：
The target power of wheel hub motor electrical output power is set A,：Sets target power is with completing people during a cycle
Power exports mean power into a fixed proportion, the above-mentioned fixed proportion all same after each end cycle, and target power is next
The power reached needed for the electrical output power of individual cycle wheel hub motor；
B, the manpower output mean power for completing a cycle is drawn：Motor administrative unit, which is connected with, is arranged on electric power-assisted certainly
Pressure sensor in driving, the manpower of motor administrative unit collection pressure sensor detection are ridden the power of output, and pass through public affairs
Formula f (x)=F (x) * S/t show that manpower exports mean power, and wherein f (x) represents manpower output mean power, and F (x) is this week
The manpower of collection is ridden the power of output in phase, and S represents the torque arm length of manpower active force, and t represents the duration in cycle；
C, target power is drawn：By the manpower output mean power of the completion a cycle drawn and the above-mentioned fixation of setting
Ratio, which is multiplied, draws target power；
D, the operating voltage of wheel hub motor is controlled：Motor administrative unit controls wheel hub motor according to work corresponding to target power
Make the electric power output work that voltage carries out next cycle.
The adaptive power-assisted adjusting method of this electric booster bicycle is used as wheel hub motor electricity power-assisted using manpower output mean power
The foundation of power output, mean power is exported with manpower during completion a cycle by sets target power and fixes ratio into one
Example, be several or several times that manpower exports several points of mean power so as to just set electric power-assisted power output, so as to
People ride the power used it is bigger when, the electric power-assisted of wheel hub motor output is also bigger so that people, which rides, lighter improves electric power-assisted
The effect of bicycle power-assisted regulation.Carried out calculating by the pressure parameter and the arm of force of pressure sensor detection and can accurately be drawn people
Power exports mean power, so that reference value is accurate, also make it that the calculating of wheel hub motor target power is more accurate, so as to improve
Adaptive power-assisted regulating effect.Motor administrative unit can control the operating voltage of wheel hub motor to change in electric booster bicycle
The operating power of wheel hub motor, so as to which wheel hub motor of the operating voltage corresponding to sets target power as next cycle works
Voltage, error can be reduced, improve electric power-assisted effect.Manpower output mean power refers to manually being made average work(when people rides
Rate.
In the above-mentioned adaptive power-assisted adjusting method of electric booster bicycle, in above-mentioned step D, when a cycle knot
Shu Hou, show that the operating power that wheel hub motor is actual in the cycle is integrated, and cycle manpower output mean power is entered
Row integration, and pass through formulaOrDraw this week
Interim motor administrative unit control wheel hub motor is represented by caused error power after the operating voltage work of setting, wherein Δ θ
The error power of current period, n represent the fixed proportion of setting,The integration of manpower output mean power is represented,The integration of the operating power that wheel hub motor is actual in the cycle is represented, t represents the duration of a cycle, motor management
The operational voltage value corresponding with error power of operating voltage corresponding to target power is added setting as wheel hub electricity by unit control
The electric power output operating voltage of machine next cycle.
Wheel hub motor when real work exports can due to factors such as the non-power consumption loss, inertia and delayed response of motor,
So as to produce error with target power, by showing that the operating power that wheel hub motor is actual in the cycle is integrated, and to this
Cycle manpower output mean power integrated, after above-mentioned actual operating power is integrated divided by above-mentioned fixed proportion or
Above-mentioned manpower output mean power is carried out to integrate the integration for being multiplied by above-mentioned fixed proportion and drawing the target cycle power, by upper
State formula and show that motor administrative unit control wheel hub motor is by caused error work(after the operating voltage work of setting in the cycle
Rate, to reduce operating error, by error power, corresponding operational voltage value is added respectively with target power, as next cycle
Electric power output operating voltage.
In the above-mentioned adaptive power-assisted adjusting method of electric booster bicycle, motor administrative unit passes through formula f (y)=π *
M (y) * n (y) be calculated complete a cycle at the end of wheel hub motor reality output instantaneous power or mean power as should
The actual operating power of wheel hub motor in cycle, when the instantaneous power of wheel hub motor reality output is calculated, f (y) represents electricity
The instantaneous power of machine reality output, π are wheel circumference rate, and a cycle that M (y) represents terminates rear instantaneous wheel hub motor moment of torsion ginseng
Number, n (y) represent that a cycle terminates the instantaneous rotary speed parameter that rear velocity sensor is passed back；It is real when wheel hub motor is calculated
F (y) represents the mean power of motor reality output during the mean power of border output, and π is wheel circumference rate, and M (y) represents a week
Phase terminates the average value of rear-wheel hub Motor torque parameter, and a cycle that n (y) represents terminates turn that rear picking rate sensor is passed back
Fast mean parameter.The power to be turned a wheel in wheel hub motor power output is only active power i.e. wheel hub motor is actual
Operating power, can effectively show that vehicle wheel rotation is made power by above-mentioned formula.So as to accurately draw wheel hub motor reality
The operating power on border.
In the above-mentioned adaptive power-assisted adjusting method of electric booster bicycle, motor administrative unit is connected with for detection wheel
The current sensor of the voltage sensor of hub motor output voltage and detection wheel hub motor output current, by by the electric current of detection
Be multiplied with voltage draw complete a cycle at the end of wheel hub motor reality output instantaneous power or mean power as this week
The actual operating power of interim wheel hub motor, list is managed when that need to draw the instantaneous power of wheel hub motor reality output by motor
The electric current that instantaneously gathers be multiplied drawing with voltage when member is according to end cycle, when need to draw putting down for wheel hub motor reality output
During equal power by motor administrative unit according to end cycle when the current average that gathers and average voltage carry out it is mutually multiplied
Go out.Voltage is multiplied with electric current can obtain power, detected for the voltage and current of wheel hub motor output, can be derived that wheel
The actual operating power of hub motor.
In the above-mentioned adaptive power-assisted adjusting method of electric booster bicycle, motor administrative unit show that a cycle terminates
Motor administrative unit control wheel hub motor by caused error power after the operating voltage work of setting and carries out proportion adjustment afterwards,
Increased power is needed after drawing proportion adjustment by formula PLL (Δ θ)=Δ θ * Kp/Kpdiv, wherein PLL (Δ θ) represents to need to increase
The power added, Kp and Kpdiv are the parameter of proportion adjustment, and motor administrative unit increases operating voltage corresponding to target power with needing
Operational voltage value corresponding to the power added is added electric power output operating voltage of the setting as wheel hub motor next cycle.Due to
Only it is excessive by the error power the being calculated change of above-mentioned error power, so as to motor control unit control wheel hub electricity
Machine work is not sufficiently stable, the proportion adjustment more than, is reduced the error power drawn and is changed excessive situation, makes motor control list
Member control wheel hub motor work is more stable.
In the above-mentioned adaptive power-assisted adjusting method of electric booster bicycle, motor control unit carries out integral adjustment,
After a cycle terminates, the error power of execution cycle is carried out cumulative and after multiplying with a coefficient and being multiplied to obtain integral adjustment
Error power, motor control unit according to aforementioned proportion adjust and integral adjustment after error power be added to obtain and need to increase
Power, specific formula be PLL (Δ θ)=Δ θ * Kp/Kpdiv+ ∑ Δ θ * Ki/Kidiv, wherein Ki and Kidiv be integration adjust
The parameter of section, motor administrative unit is by the operational voltage value phase corresponding with needing increased power of operating voltage corresponding to target power
Add the electric power output operating voltage being set for as wheel hub motor next cycle.By integral adjustment and by motor administrative unit
Control is using operating voltage corresponding to target power with needing increased wheel hub motor operational voltage value to be added setting as wheel hub motor
The electric power output operating voltage of next cycle can accurately eliminate error, so as to improve the accurate of adaptive power-assisted regulation
Property.
In the above-mentioned adaptive power-assisted adjusting method of electric booster bicycle, motor control unit carries out differential regulation, will
A cycle terminate after error power subtract the error power of a cycle and be multiplied by a coefficient obtain differential regulation
Error power, coefficient is divided by by two adjustment parameters to be drawn, the error power after proportion adjustment is added to the mistake after integral adjustment
Poor power needs increased power along with the error power after differential regulation obtains the next cycle, and specific formula is
PLL (Δ θ)=Δ θ * Kp/Kpdiv+ ∑ Δ θ * Ki/Kidiv+ (Δ θ-Δ (θ -1)) Kd/Kddiv, wherein Δ (θ -
1) it is the error power of upper a cycle, Kd and the parameter that Kddiv is integral adjustment, motor administrative unit are corresponding by target power
Operating voltage operational voltage value corresponding with needing increased power be added electric power of the setting as wheel hub motor next cycle
Output services voltage.Due to people ride electric booster bicycle be one motion dynamic change, after a cycle is terminated
Error power subtract the error power of a cycle and be multiplied by a coefficient obtain differential regulation error power, to draw
The variation tendency of manpower output, makes anticipation in advance, draws the lifting values with target power after manpower output mean power lifting,
And draw corresponding operational voltage value.Make the operating voltage of next cycle wheel hub motor, by proportion adjustment, integral adjustment and
Magnitude of voltage and along with magnitude of voltage corresponding to target power is drawn corresponding to error power after differential regulation, it is suitable so as to improve
The accuracy and validity for answering power-assisted to adjust.
In the above-mentioned adaptive power-assisted adjusting method of electric booster bicycle, pressure sensor is arranged on electric booster bicycle
On pedal, the manpower of motor administrative unit collection pressure sensor detection is ridden the power of output, and S represents the torque arm length of pedal.
It is arranged on by pressure sensor on pedal, so that people rides, the torque arm length of pedal power output determines, so as to simple accurate
Really calculate manpower output mean power.
In the above-mentioned adaptive power-assisted adjusting method of electric booster bicycle, the cycle when a length of 10 to 100 milliseconds.By week
The duration in the when long-press above-mentioned setting cycle of phase is shorter, changes not so as to the manpower output mean power difference in two neighboring cycle
Greatly, so as to by the target power that draws of the manpower in the previous cycle output mean power also target power phase with next cycle
Almost, can so as to the wheel hub motor power output that the target power drawn by the previous cycle is used as next cycle
The accuracy of electric power-assisted regulation is further improved to a certain extent.
In the above-mentioned adaptive power-assisted adjusting method of electric booster bicycle, fixed proportion is to be less than 5 more than 0.Fixed ratio
Example refers to that as target power the ratio of manpower output mean power during with completing a cycle is a fixed value, fixed
Ratio shows that the power of wheel hub motor power-assisted output is more than 5 times of manpower output mean power when more than 5, is not now
Based on manpower is ridden, the purpose of electric booster bicycle realization is not met.
Compared with prior art, the adaptive power-assisted adjusting method of this electric booster bicycle has advantages below：
1st, the present invention using manpower by exporting mean power as the foundation of wheel hub motor electricity power-assisted power output, so as to just
Several or several times that electric power-assisted power output is several points of manpower output mean power can be set, so as to be ridden use in people
Power it is bigger when, the electric power-assisted of wheel hub motor output is also bigger, realizes electric booster bicycle based on manpower, and the output of electric power-assisted is
Auxiliary effect.
2nd, the operating voltage of next cycle wheel hub motor of the present invention, adjusted by proportion adjustment, integral adjustment and differential
Magnitude of voltage corresponding to error power afterwards and along with magnitude of voltage corresponding to target power is drawn, adapt to power-assisted so as to improve and adjust
The accuracy and validity of section.
3rd, the present invention is calculated the signal of pressure sensor, speed sensor feedback, so as to draw the following cycle
Wheel hub motor operating voltage, so as to carry out self feed back regulation, accurate power-assisted regulation is carried out in ride.
Brief description of the drawings
Fig. 1 is schematic flow sheet of the present invention.
Fig. 2 is circuit connection diagram of the present invention.
In figure, 1, motor administrative unit；2nd, wheel hub motor；3rd, pressure sensor；4th, velocity sensor.
Embodiment
It is the specific embodiment of the present invention below, and with reference to accompanying drawing, technical scheme is further described,
But the present invention is not limited to these embodiments.
Electric booster bicycle includes pedal, motor control unit, the wheel hub motor 2 being arranged on wheel and for detecting car
The velocity sensor 4 of speed is taken turns, as shown in Fig. 2 velocity sensor 4 connects motor control unit, motor control unit control wheel
The operating voltage of hub motor 2 adjusts the operating power of wheel hub motor 2.
As shown in figure 1, a kind of adaptive power-assisted adjusting method of electric booster bicycle, this method comprise the following steps：
Step A, the target power of the electrical output power of wheel hub motor 2 is set：Sets target power is with completing a cycle
When manpower export mean power into a fixed proportion, the above-mentioned fixed proportion all same after each end cycle, target power
For the power reached needed for the electrical output power of next cycle wheel hub motor 2.Fixed proportion refer to for target power with
The ratio of manpower output mean power when completing a cycle is a fixed value, and fixed proportion is to be less than 5 more than 0.This
Fixed proportion is 0.5 in embodiment, that is, manpower output mean power during completion a cycle is twice of target power.
Set the cycle when a length of 10 to 100 milliseconds.As preferred the present embodiment selection cycle when a length of 20 milliseconds.
Step B, the manpower output mean power for completing a cycle is drawn：As shown in Fig. 2 motor administrative unit 1 connects
There is the pressure sensor 3 being arranged on electric booster bicycle.Motor administrative unit 1 gathers the manpower that pressure sensor 3 detects and ridden
The power of row output, and show that manpower exports mean power by formula f (x)=F (x) * S/t, wherein f (x) represents manpower output
Mean power, F (x) are that the manpower of collection in the cycle is ridden the power of output, and S represents the torque arm length of manpower active force, and t is represented
The duration in cycle.Pressure sensor 3 is arranged on electric booster bicycle pedal in the present embodiment, the collection pressure of motor administrative unit 1
The manpower that force snesor 3 detects is ridden the power of output, and S represents the torque arm length of pedal.Alternatively pressure sensor 3
It is arranged on the linking arm of electric booster bicycle pedal and car body, S represents the torque arm length of linking arm.Motor pipe in the present embodiment
The signal that multi collect pressure sensor 3 is sent in a cycle of unit 1 is managed, average value is calculated and show that manpower is ridden output
Power, the instantaneous signal that pressure sensor 3 is sent alternatively is gathered when completing a cycle, is ridden as manpower defeated
The force spent.
Step C, target power is drawn：The manpower output mean power of the completion a cycle drawn is above-mentioned with setting
Fixed proportion, which is multiplied, draws target power.
Step D, the operating voltage of wheel hub motor 2 is controlled：After a cycle terminates, wheel hub motor in the cycle is first drawn
2 actual operating powers are integrated, and cycle manpower output mean power is integrated, and pass through formulaOrShow that motor administrative unit 1 is controlled in the cycle
Wheel hub motor 2 processed represents the error power in the cycle, n by caused error power after the operating voltage work of setting, wherein Δ θ
The fixed proportion of setting is represented,The integration of manpower output mean power is represented,Represent wheel hub in the cycle
The integration of the actual operating power of motor 2, t represent the duration of a cycle.
Motor administrative unit 1 is calculated by formula f (y)=π * M (y) * n (y) in the present embodiment completes cycle knot
The operating power of the instantaneous power of the reality output of wheel hub motor 2 or mean power as the reality of wheel hub motor in the cycle 2 during beam,
When the instantaneous power of the reality output of wheel hub motor 2 is calculated, f (y) represents the instantaneous power of motor reality output, and π is wheel
Pi, M (y) represent that a cycle terminates the rear instantaneous torque parameter of wheel hub motor 2, speed after a cycle that n (y) represents terminates
The instantaneous rotary speed parameter that degree sensor 4 is passed back；When the mean power of the reality output of wheel hub motor 2 is calculated, f (y) is represented
The mean power of motor reality output, π are wheel circumference rate, and M (y) represents that a cycle terminates the torque parameter of rear-wheel hub motor 2
Average value, n (y) represent a cycle terminate the rotary speed parameter average value that rear picking rate sensor 4 is passed back.
Alternatively motor administrative unit 1 is connected with the voltage sensor for detecting the output voltage of wheel hub motor 2
The current sensor of device and the detection output current of wheel hub motor 2, completion one is drawn by the way that the electric current of detection is multiplied with voltage
The work of the instantaneous power of the reality output of wheel hub motor 2 or mean power as the reality of wheel hub motor in the cycle 2 during end cycle
The rate of doing work, when the instantaneous power of the reality output of wheel hub motor 2 need to be drawn by motor administrative unit 1 according to end cycle when wink
When the electric current that gathers be multiplied drawing with voltage, pass through motor when the mean power of the reality output of wheel hub motor 2 need to be drawn
The current average gathered when administrative unit 1 is according to end cycle be multiplied drawing with average voltage.
Motor administrative unit 1 draws the cycle wheel hub motor 2 by caused error power after the operating voltage work of setting
And proportion adjustment is carried out, increased power is needed after drawing proportion adjustment by formula PLL (Δ θ)=Δ θ * Kp/Kpdiv, wherein
PLL (Δ θ) expressions need increased power, Kp and the parameter that Kpdiv is proportion adjustment, and motor control unit continues integration and adjusted
Section, after a cycle terminates, the error power for having completed current period add up and with a coefficient multiply being multiplied to obtain
Error power after integral adjustment, motor control unit are added according to the error power after aforementioned proportion regulation and integral adjustment
Obtain needing increased power, specific formula be PLL (Δ θ)=Δ θ * Kp/Kpdiv+ ∑ Δ θ * Ki/Kidiv, wherein Ki and
Kidiv is the parameter of integral adjustment, and motor control unit continues differential regulation, current error power is subtracted into upper one
The error power in cycle is simultaneously multiplied by a coefficient and obtains the error power of differential regulation, and coefficient is divided by by two adjustment parameters
Go out, the error power after proportion adjustment is added to the error power after the error power after integral adjustment is adjusted along with differential most
After obtain next cycle and need increased power, specific formula is：
PLL (Δ θ)=Δ θ * Kp/Kpdiv+ ∑ Δ θ * Ki/Kidiv+ (Δ θ-Δ (θ -1)) Kd/Kddiv
Wherein Δ (θ -1) is the error power of upper a cycle, Kd and the parameter that Kddiv is integral adjustment, and according to need
Increased error power, which draws to correspond to, needs the increased operational voltage value of wheel hub motor 2, and motor administrative unit 1 is corresponding by target power
Operating voltage with needing the increased operational voltage value of wheel hub motor 2 to be added the electric power set as the next cycle of wheel hub motor 2
Output services voltage.
It is arranged on below by way of 20 milliseconds of regulating cycle of setting and pressure sensor 3 on pedal to workflow of the present invention
Illustrate：
Electric booster bicycle sets fixed proportion before dispatching from the factory, and is 0.5 as preferred fixed proportion, that is, complete one
Manpower output mean power during the individual cycle is twice of target power.When user starts to ride electric booster bicycle, pressure
Sensor 3 starts to detect that user's manpower exports, and now motor control unit is started working.
In the acting of manpower output one 20 millisecond period of completion, motor administrative unit 1 is sent by pressure sensor 3
Signal obtain manpower and ride the power of output, manpower rides the power of output can be by the multi collect pressure sensor within to the cycle
3 signals sent, calculate average value and show that manpower is ridden the power of output, also can be gathered pressure sensor 3 when completing the cycle and be sent out
The instantaneous signal sent, the power for output of being ridden as manpower.Because after pressure sensor 3 is arranged on pedal, user acts on
The torque arm length of pedal is certain when being ridden on pedal, so as to draw the average work(of manpower output by f (x)=F (x) * S/t
Rate, f (x) represent manpower output mean power, and F (x) is that the manpower of collection in the cycle is ridden the power of output, and S represents pedal
Torque arm length, t represent namely 20 milliseconds of the duration in cycle.
After the manpower for obtaining the above-mentioned cycle exports mean power, target power is obtained by the fixed proportion set, such as
Manpower output mean power is 100 watts, then the target power of the output power power of wheel hub motor 2 is 50 watts.Motor control unit
The operating voltage of wheel hub motor 2 can be controlled so as to adjust the power output of wheel hub motor 2, be 50 by target power
Watt draw the operational voltage value of corresponding control wheel hub motor 2.Motor control unit control wheel hub motor 2 is carried out by the voltage of setting
Work and do not repeated again for prior art.
Because the work of wheel hub motor 2 has the factors such as non-power consumption loss, inertia power, delayed response, wheel hub motor 2 can be caused
Generation error is operated by the voltage of setting.Therefore first calculating error power and drawing needs increased power, it would be desirable to increases
The power added is added to obtain the next operating voltage controlling value of cycle wheel hub motor 2 with target power.
While target power is obtained, to wheel hub motor in the cycle 2, actual operating power integrates, and to the cycle
Manpower output mean power is integrated, and passes through formulaOr
Show that motor administrative unit 1 controls wheel hub motor 2 by caused error power (this after the operating voltage work of setting in the cycle
The operating voltage set as this cycle upper a cycle after the completion of operation setup of wheel hub motor 2 in cycle to this for being calculated
Operating voltage), wherein Δ θ represents the error power in the cycle, and n represents the fixed proportion of setting,Represent manpower output
The integration of mean power,The integration of the operating power that wheel hub motor 2 is actual in the cycle is represented, t represents a cycle
Duration.
Wheel hub electricity when completing the end cycle is calculated by formula f (y)=π * M (y) * n (y) for motor administrative unit 1
The instantaneous power or mean power of the reality output of machine 2 operating power actual as wheel hub motor in the cycle 2, when being calculated
F (y) represents the instantaneous power of motor reality output during the instantaneous power of the reality output of wheel hub motor 2, and π is wheel circumference rate, M
(y) represent that a cycle terminates the rear instantaneous torque parameter of wheel hub motor 2, n (y) represents that a cycle terminates rear velocity sensor
The 4 instantaneous rotary speed parameters passed back；When the mean power of the reality output of wheel hub motor 2 is calculated, f (y) represents that motor is actual
The mean power of output, π are wheel circumference rate, and M (y) represents that a cycle terminates the average value of the torque parameter of rear-wheel hub motor 2,
N (y) represents that a cycle terminates the rotary speed parameter average value that rear picking rate sensor 4 is passed back.
Caused by after motor administrative unit 1 in drawing the cycle controls wheel hub motor 2 by the operating voltage work of setting
After error power Δ θ, proportion adjustment first is carried out to error power, that is, error power Δ θ is multiplied with a proportionality coefficient, it
Afterwards to carrying out cumulative by the error power of execution cycle and multiplying the error power after being multiplied to obtain integral adjustment with a coefficient,
By the error power of execution cycle carry out the cumulative cycle referred to before this cycle caused by error power all carry out phase
Add including this cycle.Motor control unit continues differential regulation, and current error power is subtracted to the mistake of upper a cycle
Poor power and be multiplied by a coefficient obtain differential regulation error power, coefficient is divided by by two adjustment parameters to be drawn, by ratio
Error power after regulation is plus the error power after integral adjustment along with the error power after differential regulation finally obtains down
The individual cycle needs increased power, and specific formula is：
PLL (Δ θ)=Δ θ * Kp/Kpdiv+ ∑ Δ θ * Ki/Kidiv+ (Δ θ-Δ (θ -1)) Kd/Kddiv
Wherein Kp, Kpdiv, Ki, Kidiv, Kd and Kddiv are the parameter of integral adjustment, are drawn according to experiment, Kp,
Kpdiv, Ki, Kidiv, Kd and Kddiv scope are 10 to 100, preferably, Kp is 53, Kpdiv 100, Ki 21,
Kidiv is 100, Kd 33, Kddiv 100.Corresponding increased wheel hub motor 2 is needed to work electricity according to needing increased power to draw
Pressure value, motor administrative unit 1 are controlled operating voltage corresponding to target power with needing the increased operational voltage value phase of wheel hub motor 2
Add the electric power output operating voltage being set for as the next cycle of wheel hub motor 2.
Motor control unit persistently carries out adaptive electric power-assisted regulation, and next cycle show that manpower output is flat again when completing
Equal power, target power, the actual power of wheel hub motor 2, error power and under the next cycle need increased power, so as to
Next cycle wheel hub motor 2 needs the magnitude of voltage of work under going out.Namely often complete a cycle motor control unit all according to
Above-mentioned process is adjusted.Until user stops electric booster bicycle of riding.
The present invention using manpower by exporting mean power as the foundation of the electric power-assisted power output of wheel hub motor 2, so as to just
Several or several times that electric power-assisted power output is several points of manpower output mean power can be set, so as to be ridden use in people
Power it is bigger when, wheel hub motor 2 export electric power-assisted it is also bigger so that people ride it is lighter raising electric booster bicycle power-assisted
The effect of regulation.And the signal fed back by pressure sensor 3, velocity sensor 4 is calculated, so as to draw following week
The operating voltage of wheel hub motor 2 of phase, so as to carry out self feed back regulation, accurate power-assisted regulation is carried out in ride.
Specific embodiment described herein is only to present invention explanation for example.The technical field of the invention
Technical staff can be made various modifications or supplement to described specific embodiment or be substituted using similar mode, but
Without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Although motor administrative unit 1, wheel hub motor 2, pressure sensor 3, velocity sensor 4 etc. have more been used herein
Term, but it is not precluded from the possibility using other terms.It is used for the purpose of more easily describing and explaining using these terms
The essence of the present invention；Any additional limitation is construed as all to disagree with spirit of the present invention.
Claims (10)
1. a kind of adaptive power-assisted adjusting method of electric booster bicycle, electric booster bicycle includes pedal, motor control unit, set
Put the wheel hub motor (2) on wheel and the velocity sensor (4) for detecting vehicle wheel vehicle speeds, motor control unit control wheel hub
The operating voltage of motor (2) adjusts the operating power of wheel hub motor (2), it is characterised in that this method comprises the following steps：
The target power of wheel hub motor (2) electrical output power is set A,：Sets target power is with completing people during a cycle
Power exports mean power into a fixed proportion, the above-mentioned fixed proportion all same after each end cycle, and target power is next
The power reached needed for the electrical output power of individual cycle wheel hub motor (2)；
B, the manpower output mean power for completing a cycle is drawn：Motor administrative unit (1), which is connected with, is arranged on electric power-assisted certainly
Pressure sensor (3) in driving, the manpower of motor administrative unit (1) collection pressure sensor (3) detection are ridden the power of output,
And showing that manpower exports mean power by formula f (x)=F (x) * S/t, wherein f (x) represents manpower output mean power, F
(x) manpower for collection in the cycle is ridden the power of output, and S represents the torque arm length of manpower active force, t represent the cycle when
It is long；
C, target power is drawn：By the manpower output mean power and the above-mentioned fixed proportion of setting of the completion a cycle drawn
Multiplication draws target power；
D, the operating voltage of wheel hub motor (2) is controlled：Motor administrative unit (1) control wheel hub motor (2) is according to target power pair
The operating voltage answered carries out the electric power output work of next cycle.
2. the adaptive power-assisted adjusting method of electric booster bicycle according to claim 1, it is characterised in that in above-mentioned step D
In, after a cycle terminates, show that the operating power that wheel hub motor (2) is actual in the cycle is integrated, and it is defeated to the cycle manpower
Go out mean power to be integrated, and pass through formulaOr
Show that motor administrative unit (1) control wheel hub motor (2) is by caused error work(after the operating voltage work of setting in the cycle
Rate, wherein Δ θ represent the error power of current period, and n represents the fixed proportion of setting,Represent that manpower output is average
The integration of power,The integration of the operating power that wheel hub motor (2) is actual in the cycle is represented, t represents a cycle
Duration, motor administrative unit (1) are controlled the operational voltage value phase corresponding with error power of operating voltage corresponding to target power
Add the electric power output operating voltage being set for as wheel hub motor (2) next cycle.
3. the adaptive power-assisted adjusting method of electric booster bicycle according to claim 2, it is characterised in that motor management is single
First (1) is calculated by formula f (y)=π * M (y) * n (y) completes wheel hub motor (2) reality output at the end of a cycle
Instantaneous power or the mean power operating power actual as wheel hub motor (2) in the cycle, when wheel hub motor (2) is calculated
F (y) represents the instantaneous power of motor reality output during the instantaneous power of reality output, and π is wheel circumference rate, and M (y) represents one
Instantaneous wheel hub motor (2) torque parameter after end cycle, n (y) represent that a cycle terminates what rear velocity sensor (4) was passed back
Instantaneous rotary speed parameter；When the mean power of wheel hub motor (2) reality output is calculated, f (y) represents motor reality output
Mean power, π is wheel circumference rate, and M (y) represents that a cycle terminates the average value of rear-wheel hub motor (2) torque parameter, n
(y) represent that a cycle terminates the rotary speed parameter average value that rear picking rate sensor (4) is passed back.
4. the adaptive power-assisted adjusting method of electric booster bicycle according to claim 2, it is characterised in that motor management is single
First (1) is connected with the voltage sensor for detecting wheel hub motor (2) output voltage and detects wheel hub motor (2) output current
Current sensor, by the electric current of detection is multiplied with voltage draw complete a cycle at the end of wheel hub motor (2) it is actual defeated
The instantaneous power or mean power gone out the operating power actual as wheel hub motor (2) in the cycle, when wheel hub motor need to be drawn
(2) during the instantaneous power of reality output by motor administrative unit (1) according to end cycle when the electric current and voltage that instantaneously gather
Carry out multiplication to draw, when the mean power of wheel hub motor (2) reality output need to be drawn by motor administrative unit (1) according to week
The current average gathered at the end of phase be multiplied drawing with average voltage.
5. the adaptive power-assisted adjusting method of electric booster bicycle according to Claims 2 or 3, it is characterised in that motor pipe
The a cycle that reason unit (1) draws terminates operating voltage work of rear motor administrative unit (1) the control wheel hub motor (2) by setting
Caused error power and proportion adjustment is carried out afterwards, needed after drawing proportion adjustment by formula PLL (Δ θ)=Δ θ * Kp/Kpdiv
Increased power, wherein PLL (Δ θ) represent to need increased power, Kp and the parameter that Kpdiv is proportion adjustment, motor management list
The operational voltage value corresponding with needing increased power of operating voltage corresponding to target power is added setting as wheel hub electricity by first (1)
The electric power output operating voltage of machine (2) next cycle.
6. the adaptive power-assisted adjusting method of electric booster bicycle according to claim 5, it is characterised in that motor control list
Member carries out integral adjustment, after a cycle terminates, carries out cumulative by the error power of execution cycle and multiplies with a coefficient
Multiplication obtains the error power after integral adjustment, and motor control unit is according to the error after aforementioned proportion regulation and integral adjustment
Power, which is added to obtain, needs increased power, and specific formula is PLL (Δ θ)=Δ θ * Kp/Kpdiv+ ∑ Δ θ * Ki/Kidiv, wherein
Ki and Kidiv is the parameter of integral adjustment, and motor administrative unit (1) is by operating voltage corresponding to target power with needing increased work(
Operating voltage corresponding to rate is added electric power output operating voltage of the setting as wheel hub motor (2) next cycle.
7. the adaptive power-assisted adjusting method of electric booster bicycle according to claim 6, it is characterised in that motor control list
Member carries out differential regulation, and the error power after a cycle is terminated, which subtracts the error power of upper a cycle and is multiplied by one, is
Number obtains the error power of differential regulation, and coefficient is divided by by two adjustment parameters to be drawn, the error power after proportion adjustment is added
Error power after upper integral regulation needs increased power along with the error power after differential regulation obtains the next cycle, specifically
Formula is
PLL (Δ θ)=Δ θ * Kp/Kpdiv+ ∑ Δ θ * Ki/Kidiv+ (Δ θ-Δ (θ -1)) Kd/Kddiv, wherein Δ (θ -1) are
The error power of upper a cycle, Kd and Kddiv are the parameter of integral adjustment, and motor administrative unit (1) is corresponding by target power
Operating voltage operational voltage value corresponding with needing increased power be added electricity of the setting as wheel hub motor (2) next cycle
Power output services voltage.
8. the adaptive power-assisted adjusting method of electric booster bicycle according to claim 1 or 2 or 3, it is characterised in that pressure
Sensor (3) is arranged on electric booster bicycle pedal, the manpower of motor administrative unit (1) collection pressure sensor (3) detection
Ride the power of output, S represents the torque arm length of pedal.
9. the adaptive power-assisted adjusting method of electric booster bicycle according to claim 8, it is characterised in that the duration in cycle
For 10 to 100 milliseconds.
10. the adaptive power-assisted adjusting method of electric booster bicycle according to claim 8, it is characterised in that fixed proportion
To be less than 5 more than 0.
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| CN112623099A (en) * | 2020-12-23 | 2021-04-09 | 布鲁莱斯(太仓)电动科技有限公司 | Power control system and method for electric bicycle |
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Denomination of invention: Self-adaption assistant power adjusting method for electric assistant power bicycle Effective date of registration: 20200117 Granted publication date: 20190830 Pledgee: Zhejiang Tyrone commercial bank Limited by Share Ltd Taizhou Wenling branch Pledgor: Wenling Nine Continent Motor Manufacturing Co., Ltd. Registration number: Y2020330000045 |
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