CN108791676A - A kind of electric booster and control method - Google Patents
A kind of electric booster and control method Download PDFInfo
- Publication number
- CN108791676A CN108791676A CN201810591484.XA CN201810591484A CN108791676A CN 108791676 A CN108791676 A CN 108791676A CN 201810591484 A CN201810591484 A CN 201810591484A CN 108791676 A CN108791676 A CN 108791676A
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- CN
- China
- Prior art keywords
- power
- swing arm
- assisted
- force snesor
- electric booster
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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
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K2204/00—Adaptations for driving cycles by electric motor
Abstract
The present invention discloses a kind of electric booster and control method, belongs to electric automobiles, is more particularly to used for the electric booster and control method of Manpower propulsion of bicycle.Electric booster includes power-assisted wheel, power module, controller, force snesor and swing arm, and swing arm front is connect with vehicle frame, and swing arm rear portion is connect with power-assisted wheel, power-assisted wheel is contacted with ground, power-assisted wheel is controlled by controller and is rotated, and energy is provided by power module, and Manpower propulsion of bicycle is pushed to advance；It will produce deformation when swing arm Tensile or compressed trend, force snesor is mounted at deformation；Controller detects the numerical value of force snesor, judges whether force snesor is in tensional state；It is that controller driving power-assisted wheel stops power-assisted after rotating and continuing for some time and continues to judge the state of force snesor, repeats the above steps in tensional state.The present invention does not waste former vehicle component, at low cost, and riding for the personnel of riding can be followed to be intended in due course power-assisted automatically.
Description
Technical field
The present invention discloses a kind of electric booster, belongs to electric automobiles, is related to Manpower propulsion of bicycle, is more particularly to used for
The electric booster and control method of Manpower propulsion of bicycle.
Background technology
Manpower propulsion of bicycle (such as：Bicycle, pedicab and manpower vehicles etc., herein using bicycle as implementation
Example, principle are identical) it is only capable of driving by the muscle power of people itself, if can increase electric booster on it can reduce people's
Physical demands, or extend distance of riding in the case where consuming one's strength certain.It is logical with the process and green of urbanization
Capable advocates, more and more using Manpower propulsion of bicycle (bicycle) commuting, the people to play, since the distance for commuting and playing is usual
Longer, increasing distance of riding in the case of physical certain becomes a kind of demand.
The prior art is moved to how the rotary motion of motor being converted into Manpower propulsion of bicycle, there is following solution：
1, the wheel of available man-power driving vehicle is replaced with to the wheel for being integrated with wheel hub motor, hub assembly is located at core wheel
Place, hub motor shell rotation directly drive vehicle wheel rotation.But wheel hub motor needs to be pre-assembled in wheel center, Yong Huxu
Want assembly to buy, spent more the money of wheel, and the wheel of former vehicle remove after also without other use, cause waste and increase use
Family cost.In addition wheel hub can not be detached with vehicle wheel rotation automatically, and resistance is generated when causing to slide, and wasted energy, independently ridden
Resistance is big.
2, motor is driven into a steamboat rotation, steamboat, which is contacted by holder with car wheel covering face, uses frictional force drives vehicle
Wheel rotation, disadvantage are that the rotating speed of steamboat is very high, and the noise problem thus brought reduces comfort.In addition steamboat can not be certainly
It is dynamic to be detached with vehicle wheel rotation, resistance is generated when causing to slide, wastes energy, and autonomous riding resistance is big.
3, the intention of riding of the rotary motion of motor and the personnel that ride are independent from each other, and to be controlled respectively by the personnel of riding
System, motor can not follow riding for the personnel of riding to be intended in due course power-assisted automatically.
To sum up, in the prior art to Manpower propulsion of bicycle power-assisted scheme exist former vehicle part-waste, of high cost, assembly is complicated,
Autonomous riding resistance is big and motor can not follow the problem of being intended in due course power-assisted of riding of the personnel of riding automatically.
Invention content
Present invention is directed primarily to solve to there is former vehicle part-waste, cost to Manpower propulsion of bicycle power-assisted scheme in the prior art
High, assembly complexity and motor can not follow the problem of being intended in due course power-assisted of riding for the personnel of riding automatically, provide a kind of electricity
Dynamic power assisting device and control method.
To achieve the goals above, the scheme is as follows：
A kind of electric booster is provided, is connected with the vehicle frame of Manpower propulsion of bicycle, characterized in that electric booster includes
Power-assisted wheel, power module, controller, force snesor and swing arm, swing arm front are connect with vehicle frame, and swing arm rear portion connects with power-assisted wheel
It connects, power-assisted wheel is contacted with ground, and power-assisted wheel is controlled by controller and rotated, and energy is provided by power module, pushes Manpower propulsion of bicycle
Advance；It will produce deformation when swing arm Tensile or compressed trend, force snesor is mounted at deformation.
Further, a kind of electric booster, characterized in that further include driving intention detector.
Further, a kind of electric booster, characterized in that there are two swing certainly for swing arm and the connection of vehicle frame
It is the degree of freedom that swings up and down far from and close to ground direction respectively, and can swing in direction of advance both sides by spending
Swing degree of freedom.
Further, a kind of electric booster, characterized in that swing arm is connect by holder with vehicle frame, holder
Including first support and second support, first support is connected with vehicle frame；First support rear portion swings with second support front and connects,
The axis of swinging axle is parallel to the ground vertical with direction of advance；Second support rear portion swings with swing arm front and connects, swinging axle
Axis is substantially along the vertical direction.
Further, a kind of electric booster, characterized in that second support rear portion is swung with swing arm front to be connected
The axis connect is α with plumb line angle, and α is more than 0 ° and is no more than 30 °.
Further, a kind of electric booster, characterized in that swing arm is by the first swing arm and the second swing arm set
At one end of one end of the first swing arm and the second swing arm is mutually socketed, and the first swing arm and the second swing arm have and only along swing arm knot
The both ends of the degree of freedom of structure direction sliding, force snesor are connected with the first swing arm rear portion and the second swing arm front respectively.
Further, the control method of a kind of electric booster, characterized in that include the following steps：1) it controls
The numerical value of device detection force snesor processed, judges whether force snesor is in tensional state；
2) when controller detects that the numerical value of force snesor shows that force snesor is tensional state, controller drives power-assisted wheel
It rotates and stops power-assisted after continuing for some time C；
3) controller starts to detect the numerical value of force snesor again, repeats the above steps.
Further, the control method of a kind of electric booster, characterized in that step 1 increases following judgement
Condition, when controller detects force snesor numerical value, numerical value is more than threshold value A and the duration is more than B, then judges that force snesor is
No to be in tensional state, wherein A and B are calibration values.
Further, the control method of a kind of electric booster, characterized in that step 2 increases following strategy,
In the time C of power-assisted wheel power-assisted, the deceleration of power-assisted wheel is monitored, when deceleration is more than given threshold D, stops helping immediately
Power, and execute step 3.
Further, the control method of a kind of electric booster, characterized in that include the following steps：
1) controller detects driving intention detector, corresponding according to being intended to give when driving intention detector is actuated
Degree of power assistance, and whether detection driving intention detector is actuated in real time；When controller detect driving intention detector not by
It actuates, then stops power-assisted immediately, and execute step 2；
2) when controller detects force snesor numerical value, numerical value is more than threshold value A and the duration is more than B, then judgment passes
Whether sensor is in tensional state, and wherein A and B are calibration values.
3) when controller detects that the numerical value of force snesor shows that force snesor is tensional state, controller drives power-assisted wheel
It rotates and stops power-assisted after continuing for some time C；
In the time C of power-assisted wheel power-assisted, the deceleration of power-assisted wheel is monitored, when deceleration is more than given threshold D, is stood
Stop power-assisted；
4) it repeats the above steps.
The present invention need not dismantle former vehicle component, and at low cost, assembly is simply and motor can follow the personnel of riding automatically
Ride and be intended in due course power-assisted, solve the problems of the prior art.
Description of the drawings
The accompanying drawings which form a part of this application are used to provide further understanding of the present invention, and of the invention shows
Meaning property embodiment and its explanation are not constituted improper limitations of the present invention for explaining the present invention.Not show in disorder, attached drawing table
Up to when conceal wheel spoke after Manpower propulsion of bicycle, in the accompanying drawings,：
Fig. 1 electric boosters and Manpower propulsion of bicycle connection diagram；
Fig. 2 electric boosters and frame joint structure explosive view；
Fig. 3 is Fig. 1 top views, describes the wobbling action of electric booster；
When Fig. 4 is that Manpower propulsion of bicycle turns to, the wheel contact perpendicular to the ground of electric booster；
Fig. 5 is electric booster and Manpower propulsion of bicycle connection diagram (just in power-assisted state)；
Fig. 6 is the top view of Fig. 5；
Fig. 7 describes electric booster and ground contact principle (i.e. by power-assisted state)；
Fig. 8 is Fig. 7 normal direction opposite directions view (non-power-assisted state)；
Fig. 9 electric boosters and Manpower propulsion of bicycle connection diagram；
The structure one of Figure 10 electric booster application force snesors；
The structure two of Figure 11 electric booster application force snesors；
The structure three of Figure 12 electric booster application force snesors；
Figure 13 electric boosters and Manpower propulsion of bicycle connection diagram；
Figure 14 electric boosters connect three-dimensional view with Manpower propulsion of bicycle；
Figure 15 electric boosters control method one；
Figure 16 electric boosters control method two；
Figure 17 electric boosters control method three；
More than, Fig. 1 to 4 is embodiment one, and Fig. 5 and 8 is embodiment two, and Fig. 9 to 12 is embodiment three, and Figure 13 to 14 is real
Apply example four.
In figure label for：
1, electric booster；
11, swing arm；111, the first swing arm；112, the second swing arm；1121, the second swing arm leading portion；1122, babinet；1123
Two swing arm back segments；
12, holder；121, first support；122, second support；
13, power module；
14, power-assisted wheel；141, wheel；142, motor；
15, resetting apparatus；16, force snesor；17, driving intention detector；18, limiting device；
2, Manpower propulsion of bicycle；21, vehicle frame.
Specific implementation mode
Below against attached drawing, by the description of the embodiment, making to the specific implementation mode of the present invention further details of
Explanation, it is therefore an objective to those skilled in the art be helped to have more complete, accurate and deep reason to the design of the present invention, technical solution
Solution, and contribute to its implementation.
As shown in Figure 1, Manpower propulsion of bicycle refers to that bicycle, pedicab, manpower vehicles etc. rely on people from body
Power is the vehicle of power, certainly, only the vehicle of electric drive is leaned on to also belong to the present invention according to what conceptual design of the present invention came out
In protection domain.Above-mentioned Manpower propulsion of bicycle includes vehicle frame 21 and wheel, and the driving dress of driving vehicle wheel rotation is provided on vehicle frame 21
It sets, the brake apparatus for making vehicle slow down or stop, vehicle is made to change the transfer of travel direction, the also seat for people's seating, with
On belong to the description of the structure of the prior art, define the application field of the present invention.
As shown in Figure 1, core of the invention structure is, (defined herein, with direction of advance at the rear portion of Manpower propulsion of bicycle 2
Opposite direction is rear portion, and direction identical with direction of advance is front) one electric booster 1 of setting, electric boosted dress
It includes power-assisted wheel 14 and swing arm 11 to set 1, and swing arm 11 is connect with vehicle frame 21, and the driving of power-assisted wheel 14 contacts when rotating with ground, pushes
Manpower propulsion of bicycle 2 advances.
Embodiment one：
As shown in Figures 1 to 4, an electric booster 1 is arranged in the rear portion of Manpower propulsion of bicycle 2, and electric booster 1 wraps
Power-assisted wheel 14, power module 13 and swing arm 11 are included, 11 one end of swing arm is connect with vehicle frame 21, and 11 other end of swing arm connects with power-assisted wheel 14
It connects, power-assisted wheel 14 is contacted with ground, and by driving intention detector 17, (personnel that ride are turned by hand or stepped on foot power-assisted wheel 14
This part is stepped on, realizes the intention for detecting the personnel that ride, i.e. throttle) rotation is controlled, energy is provided by power module 13, and manpower is pushed to drive
Motor-car 2 advances.
It is detailed,
As shown in Figures 1 to 4, swing arm 11 is separate and close respectively with the connection of vehicle frame 21 there are two degree of freedom is swung
Ground direction swings up and down degree of freedom, and can be in the swing degree of freedom that direction of advance both sides swing, to adapt to people
The pitching (adapting to road surface to rise and fall) of power drive vehicle 2 and steering posture.
The two, which swing degree of freedom, to be rotary pair, can also be screw thread pairs, can be rotary pairs one with one
A is screw thread pair.
In more detail,
As shown in Fig. 2, swing arm 11 is connect by holder 12 with vehicle frame 21, holder 12 includes first support 121 and second
Frame 122, first support 121 are connected with vehicle frame 21, and a through-hole is arranged in 121 ontology of first support, for by after Manpower propulsion of bicycle 2
Pull rod is taken turns across being connected afterwards with vehicle frame 21, circumferential direction state is located at design point when being connected with vehicle frame 21 for first support 121, the
One holder 121 designs circumferential position limiting structure, and more specifically, the technique or structure space that a boss and vehicle frame 21 is arranged coordinate,
Realize circumferential limit function.121 rear body of first support swings with 122 front of second support and connects；Specifically, being upper and lower
To swing connection, the axis of swinging axle is parallel to the ground vertical with direction of advance；More specifically, 121 rear portion of first support is set
It is equipped with protruding shaft, protruding shaft is axial parallel with the axial direction of 2 wheel of Manpower propulsion of bicycle, and external screw thread is equipped at the top of protruding shaft, and external screw thread major diameter is small
In protruding shaft outer diameter, 122 front of second support is equipped with the hole coordinated with the protruding shaft minim gap at 121 rear portion of first support, first
The protruding shaft height at 121 rear portion of frame is slightly larger than the thickness in the hole of 122 front of second support, and nut is fastened on 121 rear portion of first support
Protruding shaft at the top of external screw thread on, realize first support 121 connect with the swing of second support 122 in above-below direction.
122 rear portion of second support swings with 11 front of swing arm and connects；Specifically, being the swing connection of left and right directions, swing
The axis of axis is substantially along the vertical direction；More specifically, 122 rear portion of second support is provided with protruding shaft, and protruding shaft is axial to be driven with manpower
2 wheel of vehicle it is axially vertical, be equipped with external screw thread at the top of protruding shaft, external screw thread major diameter is less than protruding shaft outer diameter, 11 front of swing arm be equipped with
The hole of the protruding shaft minim gap cooperation at 122 rear portion of second support, the protruding shaft height at 122 rear portion of second support is slightly larger than before swing arm 11
The thickness in the hole in portion, nut are fastened on the external screw thread at the top of the protruding shaft at 122 rear portion of second support, realize second support 122 with
The swing connection of swing arm 11 in left and right directions；It is further specifically, as shown in Figure 1 and Figure 4, in order to ensure in Manpower propulsion of bicycle
2 it is excessively curved when power-assisted wheel 14 the equatorial plane and ground or substantially vertical, 122 rear portion of second support is swung with 11 front of swing arm to be connected
The axis connect and plumb line angle are α, and α is acute angle, preferential to be more than 0 ° and the section no more than 30 °.
11 rear portion of swing arm and the main shaft of power-assisted wheel 14 are connected, and the direction of main shaft is parallel with the axial direction of 2 wheel of Manpower propulsion of bicycle
(when straight-line travelling), as shown in figure 3, in order to which when swing arm 11 swings, not wheel is interfered, preferably " L " shape of swing arm 11.
Power-assisted wheel 14 is made of wheel 141 and motor 142, and motor 142 drives wheel 141 in the main shaft being connected with swing arm 11
Upper rotation, it is preferable that motor 142 is located at the center of wheel 141, and the main shaft of motor 142 is stator, is connected with swing arm 11, motor 142
Shell be rotor, with wheel 141 be connected.
Power module 13 can provide energy for the rotation of power-assisted wheel 14, and energy is electric energy, and power module 13 can be combustion
Expect battery, oil-fired power generating unit or accumulator, preferably accumulator.Power module 13 may be mounted on vehicle frame 21, can also pacify
Optional for the modularized design of whole system in swing arm 11, power module 13 is connected with swing arm 11, it is preferable that swing arm 11
It is designed as tubulose, power module 13 is mounted on inside swing arm 11.In order to which 1 ride comfort of electric booster is more preferable, need to reduce electricity
The nonspring carried mass of dynamic power assisting device 1, it is preferable that power module 13 is located at the front of swing arm 11 as far as possible.
In order to which the personnel of riding can easily control the power-assisted of electric booster 1, in handle or other are easy to operation
Driving intention detector 17 is installed in position, and by personnel's rotation or the skid steer intention detector 17 of riding, control is electric boosted
The degree of power assistance or velocity amplitude of device 1.
Embodiment two：
It is more compact in order to design embodiment one, and reduce rolling resistance when pure manpower is ridden.As shown in Fig. 5 to 8,
For the earth point of power-assisted wheel 14 at the rear portion of 11 swinging axle of swing arm, there are one swing arm 11 and the connections of vehicle frame 21 only swings degree of freedom,
I.e. only far from and close to ground direction swing up and down degree of freedom, the pitching to adapt to Manpower propulsion of bicycle 2 (adapts to road surface to rise
Volt) posture；It can be rotary pair that this, which swings degree of freedom, can also be screw thread pair.
When the trailing wheel earth point close proximity in a forward direction of power-assisted wheel 14 and driving vehicle 2, the next power-assisted of steering ribbon
The sliding of wheel 14 on the ground is also smaller, in addition, not needing power-assisted in most cases when turning to, power-assisted wheel 14 can be certainly
It is dynamic to be disengaged with ground；When pure manpower is ridden, i.e., not power-assisted when, power-assisted wheel 14 does not rotate, under the action of returning place force with
Ground disengages；When needing power-assisted, feedback moment T that power-assisted wheel 14 is generated in own rotation2Under the action of be rocked to
Ground contacts, and is kept in contact with ground under the action of driving force, until power-assisted request disengages after releasing with ground.I.e.
Embodiment two.
As shown in Fig. 5 to 8, first support 121 is connected with vehicle frame 21, and a through-hole is arranged in 121 ontology of first support, is used for
It is passed through by 2 trailing wheel pull rod of Manpower propulsion of bicycle and is connected afterwards with vehicle frame 21, circumferential direction state when being connected with vehicle frame 21 for first support 121
Positioned at design point, first support 121 designs circumferential position limiting structure, more specifically, the technique that a boss and vehicle frame 21 are set
Or structure space cooperation, realize circumferential limit function.
First support 121 swings with swing arm 11 and connects；Specifically, being in separate and swinging up and down close to ground direction；
More specifically, 121 rear portion of first support is provided with protruding shaft, axial, the protruding shaft top parallel with the axial direction of 2 wheel of Manpower propulsion of bicycle of protruding shaft
Portion is equipped with external screw thread, and external screw thread major diameter is less than protruding shaft outer diameter, and swing arm 11 is equipped with the protruding shaft minim gap with 121 rear portion of first support
The hole of cooperation, the protruding shaft height at 121 rear portion of first support are slightly larger than the thickness in 11 hole of swing arm, and nut is fastened on first support 121
On external screw thread at the top of the protruding shaft at rear portion, realize that first support 121 is connect with the swing of swing arm 11 in above-below direction.
In order to realize that when not power-assisted, power-assisted wheel 14 is not contacted with ground, as shown in fig. 7, in 121 He of first support
Between swing arm 11 be arranged a resetting apparatus 15 so that power-assisted wheel 14 not power-assisted when do not contacted with ground, specifically, reset
Device 15 is extension spring, and one end is hooked on vehicle frame 21, i.e., the extension of first support 121, the other end are hooked on swing arm
On 11.The realization of identical function can also be torsionspring etc..Swing arm 11 can also be extended forward, be existed by power module 13
Installation site in swing arm 11 so that the center of gravity of electric booster 1 is located at before the swinging axle of swing arm 11, realizes in not power-assisted
When, power-assisted wheel 14 and the discontiguous purpose in ground.In addition, in order to rest on a determining position when power-assisted 14 return of wheel
It sets, power-assisted wheel 14 shakes when avoiding being jolted, in addition it is also necessary to limiting device 18 be arranged, as shown in Figure 8, limiting device 18 is installed in
121 side of first support, when power-assisted wheel 14 swings upwards into setting position, limiting device 18 is contacted with swing arm 11, realization pair
The limit of power-assisted wheel 14.
As shown in fig. 7, power-assisted wheel 14 receives the power-assisted signal that driving intention detector 17 is sent, start rotation (or by
The remaining rotation of previous cycle starts to accelerate rotation) moment, motor 142 can give wheel 141 to apply a driving moment T1,
This driving moment T1The stator for reacting on motor 142 generates oppositely oriented feedback moment T2, due to the stator of motor 142
It is connected with swing arm 11, i.e. feedback moment T2It acts in swing arm 11, so that swing arm 11 is swung around the swinging axle of swing arm 11, to drive
Power-assisted wheel 14 is contacted with ground；When power-assisted wheel 14 is contacted with ground and when power-assisted, ground 14 earth point of power-assisted wheel can be applied to
Preceding thrust, this thrust make power-assisted wheel 14 be affixed to ground；When power-assisted wheel 14 is contacted with ground and releases power-assisted, power-assisted wheel
The thrust that the ground of 14 earth points applies disappears, and power-assisted wheel 14 disengages under the action of reset force with ground, this reset
Power can be resetting apparatus 15 provide, can be electric booster 1 center of gravity component provide, can also be that the above two are carried jointly
For.
Embodiment three：
In order to realize that electric booster 1 can detect the intention for the personnel of riding automatically, to automatic power-assisted or do not help
Power, as shown in figure 9, on the basis of embodiment one, increases power sensing to be matched with the intention for the personnel of riding in swing arm 11
Device 16, controller (have the function of detecting and controlling the rotation of power-assisted wheel 14, are connected with swing arm 11, are not shown in figure, are existing skill
Art) detect whether power-assisted wheel 14 has the tendency that, away from or approaching Manpower propulsion of bicycle 2 and exact level, coordinating control strategy, it is real
Now matched with the intention for the personnel of riding.Further, the above problem can be converted to detection swing arm 11 Tensile or compressed, and tool
The problem of body degree.Further, that is, will produce the knot of deformation when swing arm 11 is designed to Tensile or compressed trend
Structure, installation force snesor 16 detects its trend at deformation.
Specifically,
Force snesor 16 is applied, and scheme one, as shown in Figure 9 and Figure 10, swing arm 11 is by the first swing arm 111 and the second swing arm
One end of 112 compositions, one end of the first swing arm 111 and the second swing arm 112 is mutually socketed, the first swing arm 111 and the second swing arm 112
Have and the only degree of freedom slided along 11 structure direction of swing arm, the both ends of force snesor 16 respectively with 111 rear portion of the first swing arm and
Second swing arm, 112 front is connected, and controller detects force snesor 16 by pressure or by pulling force and concrete numerical value, you can obtains power-assisted
Whether wheel 14 has the tendency that away from or approaching Manpower propulsion of bicycle 2 and exact level.
Force snesor 16 is applied, and scheme two, as shown in figure 11, swing arm 11 is by 112 groups of the first swing arm 111 and the second swing arm
Swing and connect on 11 top of swing arm at, the first swing arm 111 and the second swing arm 112, the first swing arm 111 and the second swing arm 112 have and
Only there are one the degree of freedom swung, the both ends of force snesor 16 are connected with the first swing arm 111 and the second swing arm 112 respectively, detection
Force snesor 16 is by pressure or by pulling force and concrete numerical value, you can obtains whether power-assisted wheel 14 has away from or approaching Manpower propulsion of bicycle
2 trend and exact level.
Force snesor 16 is applied, and scheme three, as shown in figure 12, swing arm 11 is by 112 groups of the first swing arm 111 and the second swing arm
At, the first swing arm 111 is connected with the second swing arm 112 in 11 side wobble of swing arm, the first swing arm 111 and the second swing arm 112 have and
Only there are one the degree of freedom swung, the both ends of force snesor 16 are connected with the first swing arm 111 and the second swing arm 112 respectively, control
Device detects force snesor 16 by pressure or by pulling force and concrete numerical value, you can obtains whether power-assisted wheel 14 has away from or approaching manpower
Drive the trend and exact level of vehicle 2.
Specific control method is as follows, control method one,
As shown in figure 15, after the system of electric booster 1 starts, controller immediately begins to the number of detection force snesor 16
Value, when the numerical value of detection is positive value, (it is assumed that positive value is pulling force, negative value is pressure, and those skilled in the art can be according to sensing
Device and specific assembling structure flexibly define, this definition in specification, claims, abstract should be understood by this annotation), sentence
Whether disconnected force snesor 16 is in tensional state, when controller detects that the numerical value of force snesor 16 is that positive value shows force snesor
16 be tensional state, that is, power-assisted wheel 14 has the tendency that separate Manpower propulsion of bicycle 2, to show being intended that for the personnel of riding
Advance or accelerate to advance, at this moment the controller of electric booster 1 starts that power-assisted wheel 14 is driven to rotate and continues for some time C seconds
(C is the value that can be demarcated, can be good with factory setting, can also be adjusted by user) gives 2 power-assisted of Manpower propulsion of bicycle, helps to ride
Personnel, which realize, to advance or the intention advanced is accelerated to stop power-assisted immediately as the power-assisted time duration C of power-assisted wheel 14, controls
Device processed starts to detect the numerical value of force snesor 16 again, repeats the above process.
Practical Manpower propulsion of bicycle 2 and electric booster 1 are during traveling, because road is not absolute smooth, meeting
It jolts and shakes generation, the numerical value that force snesor 16 is sent out has swing, can be intended to erroneous judgement to the personnel that ride, in order to avoid this
Kind happens, and increases other two condition in the control method described in epimere, when controller detects the number of force snesor 16
Value is positive value, numerical value be more than threshold value A and duration be more than B (A and B are the values that can be demarcated, can be good with factory setting,
Can be adjusted by user), then judge whether force snesor 16 is in tensional state, that is, the personnel's that ride is intended that advance or acceleration
Advance.
Control method two,
Above-mentioned control method one there are one operating mode can continue it is perfect, when electric booster 1 is in power-assisted
Duration C in, at this time if the driving intention for the personnel that ride just is changed into deceleration or is decelerated to static, this feelings
Condition, control method one can reduce the probability that this operating mode occurs by shortening duration C, but duration C is too short
If can influence the ride comfort of power-assisted again.
As shown in figure 16, control method two is on the basis of control method one, when the power-assisted wheel 14 of electric booster 1 helps
In the time C of power, during this period of time, also the deceleration of power-assisted wheel 14 is monitored in real time simultaneously, when deceleration is more than to set
When determining threshold value D (D is the value that can be demarcated, can be good with factory setting, can also be adjusted by user), even if power-assisted is also in time C
Interior, electric booster 1 can also stop power-assisted immediately, and controller starts to detect the numerical value of force snesor 16 again, repeat above-mentioned
Process.The deceleration for the personnel of riding thus may be implemented or be decelerated to static intention highest priority.
Prior art power-assisted wheel 14 can calculate deceleration using when brushless motor by reading the pulse signal that electricity is readjusted the distribution out
Value, need not additionally increase cost, and the share accounting of brushless motor is most in this field, is widely used；If using having
Brush motor, then need on the wheel of Manpower propulsion of bicycle 2 or power-assisted wheel 14 installs additional wheel speed sensors additional and is calculated and subtracts
Velocity amplitude.
Braking signal switch can also be increased in the braking system of Manpower propulsion of bicycle 2, when the personnel of riding actuate braking system
Unite work when, braking signal switch is actuated to be simultaneously emitted by brake signal that (braking signal switch actuation principle can join
According to automobile and motorcycle domain design, those skilled in the art have known), when electric booster 1 receives brake switch signal,
Even if power-assisted, also in time C, electric booster 1 can also stop power-assisted immediately, controller starts to detect force snesor again
16 numerical value, repeats the above process.The deceleration for the personnel of riding thus may be implemented or be decelerated to static intention priority most
It is high.
Control method three,
Control method one and control method two, due to need by condition judgment ride personnel acceleration be intended to, need
Certain response time, in addition the personnel of riding may also may require that more more options and Perceived control.
As shown in figure 17, it is based on control method one or control method two, judges force snesor 16 whether in drawing entering
Before stretching state, automatic mode is first determined whether, so-called automatic mode, which is exactly controller detection driving intention detector 17, is
No that (i.e. whether throttle is screwed) be actuated, it is not just automatic mode to be actuated, otherwise is that (throttle is located at free shape to automatic mode
State)；When the controller of electric booster 1 detects that driving intention detector 17 is actuated, then directly according to being intended to give pair
The degree of power assistance answered, and whether detection driving intention detector 17 is actuated in real time, if controller detects during power-assisted
It is not actuated to driving intention detector 17, then stops power-assisted immediately, return to program initial position, if controller is still examined
It measures driving intention detector 17 not to be actuated, then judges to enter automatic mode, be held according to control method one or control method two
Row.
Example IV：
In order to meet the needs of loading, on the basis of embodiment one or embodiment three, babinet 1122 and swing arm 11 are consolidated
Even, loading is realized,
Specifically,
On the basis of embodiment one, in the connected babinet 1122 in 11 middle part of swing arm, loading is realized.
It is also possible that
On the basis of embodiment three, in the connected babinet 1122 in 112 middle part of the second swing arm, i.e. the second swing arm leading portion
1121, babinet 1122 and the second swing arm back segment 1123 constitute the second swing arm 112.Power can be sensed in order to avoid loading different weights
Device 16 generates the component in addition to parallel direction of advance, and force snesor 16 wants horizontally disposed, preferably the application side of force snesor 16
Case one；The application scheme three of less preferred preferred force snesor 16.In addition, when force snesor 16 is arranged before babinet 1122, ride
When administrative staff accelerates or slows down, due to the influence of 1122 mass of babinet, the inertia force that force snesor 16 is born is larger, detection
It is intended to more acurrate, is preferred position.Optional force snesor 16 is arranged after babinet 1122.
It is contemplated that when example IV increases hopper on the basis of embodiment three, the control method one in embodiment three
Or control method two or control method three, it can be applicable in example IV.
Above example one to four can be applied to all wheels of Manpower propulsion of bicycle or partial wheel, structure
Scheme at piece wheel driving or a11wheel drive, and the embodiment of the different wheel application of the same Manpower propulsion of bicycle can appoint
Meaning combination.
It these are only the preferred embodiment of the present invention, be not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.Any modification made by all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of electric booster is connected, characterized in that electric booster (1) with the vehicle frame (21) of Manpower propulsion of bicycle (2)
Including power-assisted wheel (14), power module (13), controller, force snesor (16) and swing arm (11), swing arm (11) front and vehicle frame
(21) it connects, swing arm (11) rear portion is connect with power-assisted wheel (14), and power-assisted wheel (14) is contacted with ground, and power-assisted wheel (14) is by controller
Control rotation, energy are provided by power module (13), and Manpower propulsion of bicycle (2) is pushed to advance；
It will produce deformation when swing arm (11) Tensile or compressed trend, force snesor (16) is mounted at deformation.
2. a kind of electric booster according to claim 1, characterized in that further include driving intention detector (17).
3. a kind of electric booster according to claim 1, characterized in that swing arm (11) is connected with vehicle frame (21)
Two swing degree of freedom are the degree of freedom that swings up and down far from and close to ground direction respectively, and can be in direction of advance two
The swing degree of freedom that side swings.
4. a kind of electric booster according to claim 3, characterized in that
Swing arm (11) is connect by holder (12) with vehicle frame (21), and holder (12) includes first support (121) and second support
(122), first support (121) is connected with vehicle frame (21)；
First support (121) rear portion swings with second support (122) front and connects, and the axis of swinging axle is parallel to the ground and advances
Direction is vertical；
Second support (122) rear portion swings with swing arm (11) front and connects, and the axis of swinging axle is substantially along the vertical direction.
5. a kind of electric booster according to claim 4, characterized in that second support (122) rear portion and swing arm
(11) front swings the axis of connection and plumb line angle is α, and α is more than 0 ° and is no more than 30 °.
6. a kind of electric booster according to claim 1, characterized in that swing arm (11) by the first swing arm (111) and
Second swing arm (112) forms, and one end of the first swing arm (111) and one end of the second swing arm (112) are mutually socketed, the first swing arm
(111) have with the second swing arm (112) and only have the degree of freedom slided along swing arm (11) structure direction, the both ends of force snesor (16)
It is connected respectively with the first swing arm (111) rear portion and the second swing arm (112) front.
7. a kind of control method of electric booster according to claim 1 or 3 or 4 or 5 or 6, characterized in that including
Following steps：
1) numerical value of controller detection force snesor (16), judges whether force snesor (16) is in tensional state；
2) when controller detects that the numerical value of force snesor (16) shows that force snesor (16) is tensional state, controller driving helps
Wheels (14) rotates and stops power-assisted after continuing for some time C；
3) controller starts to detect the numerical value of force snesor (16) again, repeats the above steps.
8. a kind of control method of electric booster according to claim 7, characterized in that step 1, which increases, following to be sentenced
Broken strip part,
When controller detects force snesor (16) numerical value, numerical value is more than threshold value A and the duration is more than B, then judgment senses
Whether device (16) is in tensional state, and wherein A and B are calibration values.
9. a kind of control method of electric booster according to claim 7, characterized in that step 2 increases with very unwise move
Slightly,
In the time C of power-assisted wheel (14) power-assisted, the deceleration of power-assisted wheel (14) is monitored, when deceleration is more than given threshold D
When, stop power-assisted immediately, and execute step 3.
10. a kind of control method of electric booster according to claim 2, characterized in that include the following steps：
1) controller detection driving intention detector (17), when driving intention detector (17) is actuated, according to being intended to give pair
The degree of power assistance answered, and whether detection driving intention detector (17) is actuated in real time；When controller detects that driving intention is examined
It surveys device (17) not to be actuated, then stops power-assisted immediately, and execute step 2；
2) when controller detects force snesor (16) numerical value, numerical value is more than threshold value A and the duration is more than B, then judgment passes
Whether sensor (16) is in tensional state, and wherein A and B are calibration values；
3) when controller detects that the numerical value of force snesor (16) shows that force snesor (16) is tensional state, controller driving helps
Wheels (14) rotates and stops power-assisted after continuing for some time C；
In the time C of power-assisted wheel (14) power-assisted, the deceleration of power-assisted wheel (14) is monitored, when deceleration is more than given threshold D
When, stop power-assisted immediately；
4) it repeats the above steps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810591484.XA CN108791676A (en) | 2018-06-10 | 2018-06-10 | A kind of electric booster and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810591484.XA CN108791676A (en) | 2018-06-10 | 2018-06-10 | A kind of electric booster and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108791676A true CN108791676A (en) | 2018-11-13 |
Family
ID=64088076
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810591484.XA Pending CN108791676A (en) | 2018-06-10 | 2018-06-10 | A kind of electric booster and control method |
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| CN (1) | CN108791676A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR874619A (en) * | 1940-11-13 | 1942-08-13 | Joseph Vaux & Cie Ets | Autonomous powertrain adaptable to cycles and the like |
| US6042138A (en) * | 1998-06-03 | 2000-03-28 | Shreck; Richard D. | Motorcycle trailer apparatus |
| NL1036923C2 (en) * | 2008-05-07 | 2011-07-25 | Blake Christopher | One wheeled propelled trailer. |
| CN104395188A (en) * | 2012-04-18 | 2015-03-04 | 二加二有限公司 | Self-locking compact coupling |
| CN106080943A (en) * | 2016-08-23 | 2016-11-09 | 江西吕布科技有限公司 | Bicycle boosting method and system |
| WO2017144832A1 (en) * | 2016-02-25 | 2017-08-31 | Vallier Gilles | Power-operated trailer comprising a motor control device |
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2018
- 2018-06-10 CN CN201810591484.XA patent/CN108791676A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR874619A (en) * | 1940-11-13 | 1942-08-13 | Joseph Vaux & Cie Ets | Autonomous powertrain adaptable to cycles and the like |
| US6042138A (en) * | 1998-06-03 | 2000-03-28 | Shreck; Richard D. | Motorcycle trailer apparatus |
| NL1036923C2 (en) * | 2008-05-07 | 2011-07-25 | Blake Christopher | One wheeled propelled trailer. |
| CN104395188A (en) * | 2012-04-18 | 2015-03-04 | 二加二有限公司 | Self-locking compact coupling |
| WO2017144832A1 (en) * | 2016-02-25 | 2017-08-31 | Vallier Gilles | Power-operated trailer comprising a motor control device |
| CN106080943A (en) * | 2016-08-23 | 2016-11-09 | 江西吕布科技有限公司 | Bicycle boosting method and system |
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Application publication date: 20181113 |