CN108820118A - A kind of pedal duty control method based on speed closed loop - Google Patents
A kind of pedal duty control method based on speed closed loop Download PDFInfo
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- CN108820118A CN108820118A CN201810717709.1A CN201810717709A CN108820118A CN 108820118 A CN108820118 A CN 108820118A CN 201810717709 A CN201810717709 A CN 201810717709A CN 108820118 A CN108820118 A CN 108820118A
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- pedal
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- closed loop
- load
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/60—Rider propelled cycles with auxiliary electric motor power-driven at axle parts
-
- 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
- B62M6/80—Accessories, e.g. power sources; Arrangements thereof
- B62M6/90—Batteries
Abstract
The invention discloses a kind of pedal duty control method based on speed closed loop, the control method is for including the following steps in pedal load control system：S10：Reference load of the PWM as pedal of initial fixed duty cycle is inputted, speed fluctuation coefficient is set；S20：The present speed of pedal is detected as target velocity；S30：Detect the real-time speed of pedal subsequent time rotation；S40：Whether the real-time speed for judging the rotation of pedal subsequent time is zero；S50：According to judging result, if real-time speed is zero, terminate continuously to scrunch mode；If real-time speed is not zero, the difference of real-time speed and target velocity is calculated, judges the range whether difference sets in coefficient of variation；S60：The duty ratio of PWM is adjusted according to comparison result or resets target velocity.The present invention is adjusted pedal load by using the method for speed closed loop, and pedal speed is prevented to be mutated, so that offer is preferably ridden and exercise experience.
Description
Technical field
The present invention relates to control technology fields of riding, and in particular to a kind of pedal load control system side based on speed closed loop
Method.
Background technique
Common electric bicycle or electric booster bicycle include provide for the motor of swivel wheel and for motor it is dynamic
The battery of power is rotated by means of the wheel of motor and is travelled.Common electric bicycle is fitted without pedal, is adjusted the speed by rotation
Different fixation gears is arranged to control vehicle travel speed in handle；Electric booster bicycle is equipped with torque sensor and motor control
Device processed, the size by detecting user's pedal moment judge whether driver needs motor power-assisted and required power-assisted size.
These electric bicycles do not support pedal load of the user from main regulation pedal.When user is to save physical strength reduction to step on
Plate load, or be when taking exercises to improve pedal load, to be unable to satisfy its actual demand.
Standard bicycle uses chain structure, and pedal force is transferred to wheel to realize traveling.With speed changing function from
The components such as the complicated fluted disc of driving installation, can adjust the load of pedal by adjusting the size of forward and backward fluted disc, but this
The problems such as chain and gear structure are complex, and maintenance and repair is inconvenient, are easy to produce pollution.
Summary of the invention
The purpose of the present invention is to provide a kind of pedal duty control method based on speed closed loop, to solve existing step on
Plate velocity jump makes driver generate the feeling for seemingly " stepping on sky ", and then influences to ride or the problem of the real experiences of body-building.
To achieve the above object, the technical scheme is that：
A kind of pedal duty control method based on speed closed loop, the pedal duty control method based on speed closed loop
For including the following steps in pedal load control system：
S10：Reference load of the pulse width modulation control of initial fixed duty cycle as pedal is inputted, speed wave is set
Dynamic coefficient, definition continuously scrunch mode, and pedal speed maintains the range of the coefficient of variation setting in this mode；
S20：The present speed of pedal is detected by speed detection unit, and using the present speed as target velocity；
S30：The real-time speed of pedal subsequent time rotation is detected by speed detection unit；
S40：Whether the real-time speed for judging the rotation of pedal subsequent time is zero；
S50：According to judging result, if real-time speed is zero, terminate continuously to scrunch mode；If real-time speed is not
Zero, then the difference of real-time speed and target velocity is calculated, judges the range whether difference sets in coefficient of variation；
S60：The duty ratio of pulse width modulation control is adjusted according to comparison result or resets target velocity.
When the difference exceeds the coefficient of variation setting range, maintain pulse width modulation control constant, and should
Target velocity of the real-time speed as next period exits current continuously scrunching mode.
When the difference is in the coefficient of variation setting range, if real-time speed is greater than target velocity, increase arteries and veins
It rushes width modulated control duty ratio and improves pedal load；If real-time speed is less than target velocity, reduce pulse width modulation control
Duty ratio processed reduces pedal load.
The pedal load control system includes：Battery；Generator, the engine are connected with pedal, pass through pedal
Driving generate alternating voltage；And pedal Load Regulation portion, pedal Load Regulation portion are generated by the engine
The electricity that alternating voltage charges in the battery adjusts the pedal load of the pedal.
The pedal Load Regulation portion includes：Rectification unit, the friendship that the rectification unit generates the generator
Flowing voltage commutation becomes DC voltage, and the input side of the rectification unit is connect with the generator；Boost circuit, it is described
Boost circuit includes inductance L, switch S and diode D, and the outlet side of the rectification unit is connected to the input of the inductance L
Between side and ground side；The inductance L is connected to the outlet side of the rectification unit and the input side of the diode D；It is described
Diode D is connected between the input side of the inductance L and the input side of battery；The switch S is connected to the inductance L's
Between outlet side and the convergence point and ground side of diode D input side.
The pedal load control system further includes main control unit, the main control unit to pedal Load Regulation portion into
Row pulse width modulation control adjusts the electricity that the voltage that the generator generates charges in the battery, to adjust
The pedal load of the pedal.
The pedal load control system of riding further includes position detection unit, and the position detection unit is used for described
The pedal position of pedal is detected, wherein the pedal position refers to the position of generator rotor.
The pedal load control system further includes speed detection unit, and the speed detection unit is used for the pedal
Pedal speed detected；The pedal speed refers to the revolving speed for being connected to the drive shaft of pedal.
The pedal load control system further includes power detecting unit, the power detecting unit be used for charge to store
The electricity and charge power of battery are measured in real time, that is, detect the generated output and generated energy of driver.
The pedal load control system further includes interface device, and the interface device according to user input values for being arranged
The pulse width modulated duty cycle in pedal Load Regulation portion, and show the real-time speed curve and the function of the pedal
The generated output and generated energy of rate detection unit output.
The invention has the advantages that：Pedal load control system of the invention supports user from main regulation foot pedal
Load, can be applicable on electric bicycle, can also be applied to power and ride on platform, simplify existing machinery structure, be substantially improved
The experience that user rides with body-building；It is connected to the foot pedal load of the foot pedal of generator by controlling, steps on driver foot-operated
Can be felt when plate just like the foot pedal in the presence of chain is felt, at the same can by driver according to from body forces and wish from
The size of main modulation foot pedal load；Meanwhile based on foot-operated load control system of riding of the invention, no chain fax is developed
Dynamic bicycle；The electricity in battery can be charged to by control Boost circuit boosting ratio regulator generator to control foot
Pedal load experiences the feeling just like the foot pedal of riding as chain presence when scrunching driver；Meanwhile base of the invention
It is that feedback regulation is carried out according to the real-time speed of pedal in the pedal duty control method of speed closed loop.By this method may be used
It realizes the compensation to pedal load, prevents pedal speed from being mutated, experience driver during scrunching pedal 360 degree rotation
To uniform pedal load and smooth pedal speed, so that offer is preferably ridden and exercise experience.
Detailed description of the invention
Fig. 1 is that the stereochemical structure that pedal load control system provided in an embodiment of the present invention is applied on electric bicycle is shown
It is intended to.
Fig. 2 is the general frame of pedal load control system provided in an embodiment of the present invention.
Fig. 3 is the functional block diagram in the pedal Load Regulation portion of pedal load control system provided in an embodiment of the present invention.
Fig. 4 and Fig. 5 is the charge and discharge in the pedal Load Regulation portion of pedal load control system provided in an embodiment of the present invention
Procedure chart.
Fig. 6 is the timing of the switch in the pedal Load Regulation portion of pedal load control system provided in an embodiment of the present invention
Figure.
Fig. 7 is pedal speed variation of the pedal load control system provided in an embodiment of the present invention in fixed pedestal load
Reference view.
Fig. 8 is the flow chart of the pedal duty control method provided in an embodiment of the present invention based on speed closed loop.
Specific embodiment
The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention..
Embodiment 1
As described in Fig. 1 to Fig. 8, a kind of pedal load control system provided in an embodiment of the present invention, pedal of the invention is born
Lotus control system can be applicable on electric bicycle, as shown in Figure 1, electric bicycle includes front frame 19, Rear frame 18, electric power storage
Pond 13, generator 10, pedal 21, main control unit 22 and interface device 20.
Generator 10 is set in front frame 19, is rotatably mounted pedal 21 in the two sides of the generator 10.Work as driving
When member's rotary pedal 21, the rotary force of the pedal 21 is converted into electric energy in generator 10, and the electric energy of this generator 10 can store up
It stores in battery 13.
The battery 13 and main control unit 22 for the electric energy that savings can be disposed to convert in front frame 19 by generator 10.Boundary
Face device 20 shows the driving status of electric bicycle and data of riding to driver, and can be defeated by key or touch screen etc.
Enter mode and pedal load etc. parameter is transmitted to main control unit 22.Had between this interface device 20 and main control unit 22
Line electrical connection is wirelessly connected.
As shown in Fig. 2, a kind of pedal load control system provided in an embodiment of the present invention includes：Battery 13；Generator
10, the engine 10 is connected with pedal 21, generates alternating voltage by the driving of pedal 21；And pedal Load Regulation portion
15, pedal Load Regulation portion 15 charges to the electricity in the battery 13 by the alternating voltage that the engine 10 generates
It measures to adjust the pedal load of the pedal 21, pedal Load Regulation portion 15 includes：Rectification unit 11, the rectification unit
11 ac voltage rectifiers for generating the generator 10 become DC voltage, the input side and the hair of the rectification unit 11
Motor 10 connects；Boost circuit 12, the Boost circuit 12 include inductance L, switch S and diode D, the rectification unit
11 outlet side is connected between the input side and ground side of the inductance L；The inductance L is connected to the rectification unit 11
The input side of outlet side and the diode D；The diode D is connected to the defeated of the input side of the inductance L and battery 13
Enter between side；The switch S be connected to the inductance L outlet side and diode D input side convergence point P and ground side it
Between.
When the switch S is connected, voltage is provided to the inductance L from the rectification unit 11 and charges to it,
When the switch S is disconnected, due to the electric current retention performance of inductance L, the electric current for flowing through inductance L will not be jumped, and inductance L passes through
Diode D charges to battery 13, and 13 end voltage of battery increases.
The switch S is transistor or field-effect tube MOSFET.
Pedal load control system provided in an embodiment of the present invention further includes main control unit 22,22 pairs of institutes of the main control unit
It states pedal Load Regulation portion 15 and carries out pulse width modulation control (Pulse Width Modulation, PWM), adjust the hair
The voltage that motor 10 generates charges to the electricity in the battery 13, to adjust the pedal load of the pedal 21.
The main control unit 22 carries out pulse width modulation control (PWM) to the switch S, when the duty for increasing switch S
Than when, increase accordingly the pedal load of the pedal 21；When reducing the duty ratio of switch S, make the pedal of the pedal 21
Load accordingly reduces.
Pedal load control system provided in an embodiment of the present invention of riding further includes position detection unit 24, the position inspection
Unit 24 is surveyed for detecting to the pedal position of the pedal 21, wherein the pedal position refers to that generator turns
The position of son.
Pedal load control system provided in an embodiment of the present invention further includes speed detection unit 23, the velocity measuring list
Member 23 is for detecting the pedal speed of the pedal 21；The pedal speed refers to turning for the drive shaft for being connected to pedal
Speed.Speed detection unit can be the Hall sensor in built-in generator.
Pedal load control system provided in an embodiment of the present invention further includes power detecting unit, the power detecting unit
For being measured in real time to the electricity and charge power that charge to battery, i.e. the generated output of detection driver and power generation
Amount.
The power detecting unit is one of power meter, resistance sampling device or current sensor.
Pedal load control system provided in an embodiment of the present invention further includes interface device 20, and the interface device 20 is used for
The pulse width modulated duty cycle in pedal Load Regulation portion is set according to user input values, and shows the real-time of the pedal
Rate curve and the generated output and generated energy of power detecting unit output.
Pedal Load Regulation portion 15 adjusts the load of pedal 21, as needed, makes to feel different when driver's pedal
The pedal sense of load.The generator 10 of the adjustable electric power generated from the driving of pedal 21 in pedal Load Regulation portion charges to storage
Electricity in battery 13 adjusts the pedal load of pedal 21.If pedal Load Regulation portion applies pedal load to pedal 21,
Driver pedal 21 could must rotate with strength, feel the feeling of pedal.Also, pedal Load Regulation portion can pass through arteries and veins
It rushes width modulated (PWM) and control is carried out to apply different pedal loads to duty ratio.When PWM duty cycle is 0, that is, it is arranged
The boosting ratio in pedal Load Regulation portion 15 is 0, to release the pedal load of supply pedal 21；When PWM duty cycle is 1,
That is the three-phase of generator is shorted, to reach maximum pedal load.
As shown in figure 3, pedal Load Regulation portion includes the power generation for generating alternating voltage by the pedal-driven being attached thereto
The ac voltage rectifier generated in the generator 10 is become the rectification part 11 of DC voltage, to the direct current after rectification by machine 10
The Boost circuit 12 (including inductance L, diode D and switch S) that voltage boosts, and it is defeated for limiting Boost circuit 12
Voltage and the battery 13 to charge out.Switch S is connected between the outlet side of inductance L and the input side of diode D.Pass through
Turn-on time is carried out to switch S and turn-off time carries out variable control duty ratio control, adjusts pair that Boost circuit 12 exports
Generator 10 when driver's pedal is generated electric power and is charged to battery 13, driven with providing by the voltage that battery 13 charges
Pedal load when the person's of sailing pedal is felt.According to Boost circuit boosting principle, when PWM duty cycle d is changed from small to large
When, output voltage will gradually rise, and pedal load is felt to gradually increase.
Above-mentioned switch S can be field effect transistor (Field Effect Transistor；FET), transistor
(Transistor) the electronics switching element such as.Inductance L is set between the outlet side of rectification unit 11 and the input side of switch S.
Diode D is set between the outlet side of switch S and the input side of battery 13.When switch S is connected, inductance L is single by rectification
The output voltage of member 11 charges.Due to the reversed cut-off characteristics of diode D, battery 13, which will not discharge, carries out inductance L
Charging.When switch S is disconnected, the electricity that is stored in inductance L is transferred to battery 13 by diode D, to battery 13 into
Row charging.
Fig. 4 to Fig. 5 is the switch motion figure in the pedal Load Regulation portion of the pedal load control system of the embodiment of the present invention；
Referring to Fig. 4 and Fig. 5, when driver's pedal, the duty ratio d by the way that control switch S is arranged carries out pulse width tune to it
System, to adjust the pedal load of control pedal.
Specifically, as shown in figure 4, the output electric current of rectification unit 11 is passed through as shown in arrow direction when switch S is connected
Inductance L and switch S is crossed to be connected to ground side.At this point, the circuit connecting with generator 10 forms closed circuit, extremely by energy storage
In inductance L, and counter electromotive force is generated in generator 10, to generate pedal load.
As shown in figure 5, the energy stored in inductance L flows to battery 13 as shown in arrow direction when switch S is disconnected
In, it charges to battery 13, and generate voltage difference at diode both ends, which will lead to diode D and generate heat waste
It loses.
When switch S is alternately switched on and off, driver is continuously stepping on plate and is allowed to rotate, and just can feel always
Pedal sense.
Fig. 6 is the timing diagram of the switch in the pedal Load Regulation portion of the pedal load control system of the embodiment of the present invention.Benefit
Pulse width modulation is carried out with switch S of the main control unit 22 to pedal Load Regulation portion 15 to control duty ratio d (0<d<
1), the turn-on time and turn-off time of control switch S alternately changes.When PWM duty cycle is fixed, the pedal load of pedal will be tieed up
It holds constant.
When improving the pedal load of pedal, then increase the duty ratio d of switch S.At this point, the turn-on time of switch S is corresponding
Increase, generator 10 stores the increase of the energy into inductance L in a switch periods T, can provide bigger counter electromotive force.
When lowering the pedal load of pedal, then reduce the duty ratio d of switch S.At this point, the turn-on time of switch S is corresponding
It reduces, generator 10 stores the energy into inductance L in a switch periods T and tails off, and the counter electromotive force of generation accordingly becomes smaller.
Fig. 7 is the ginseng of pedal speed variation of the pedal load control system of the embodiment of the present invention in fixed pedestal load
Examine schematic diagram.Referring to Fig. 7, when the boosting ratio in pedal Load Regulation portion, that is, PWM duty cycle is fixed, pedal load will be maintained not
Become.
During pedal rotates 360 °, when pedal, which is in foot, is convenient for the position having an effect, pedal speed meeting
The alternating variation of wave crest and trough shown in figure is presented, i.e., pedal speed can generate mutation.
When the pedal for being connected to generator rotates in the forward direction under the driving of driver, user inputs different step-up ratios
Example, adjusts pedal using electricity of the adjustable generator charging in pedal Load Regulation portion as booster into battery
Pedal load.When the boosting ratio in pedal Load Regulation portion is fixed, foot is in pedal, the position having an effect is convenient for will lead to
The rotation speed of pedal is mutated, and so that driver is generated the feeling for seemingly " stepping on sky ", influence is ridden or the real experiences of body-building.
For this problem, the embodiment of the present invention proposes a kind of control that pedal load adjustment is carried out based on speed closed loop
Method comprising following steps：
S10：Reference load of the PWM as pedal of initial fixed duty cycle is inputted, speed fluctuation coefficient is set, definition connects
Continuous to scrunch mode, pedal speed maintains the range of the coefficient of variation setting in this mode；
S20：The present speed v of pedal is detected by speed detection unitt, and by present speed vtAs target velocity
v0；
S30：The real-time speed v of pedal subsequent time is detected by speed detection unitt+1；
S40：Whether the real-time speed for judging the rotation of pedal subsequent time is zero；
S50：According to judging result, if real-time speed is zero, terminate continuously to scrunch mode, i.e. bicyclist no longer needs
Scrunch pedal；If real-time speed is not zero, calculate the difference of real-time speed and target velocity, judge the difference whether
In the range of coefficient of variation setting；
S60：The duty of PWM is adjusted using ratio or proportional, integral or proportional-integral-differential mode according to comparison result
Than, or reset target velocity v0=vt+1。
When the difference exceeds the coefficient of variation setting range, maintain PWM constant, and using the real-time speed as under
The target velocity in one period exits current continuously scrunching mode；When the difference is in the coefficient of variation setting range,
If real-time speed is greater than target velocity, increases PWM duty cycle and improve pedal load, is stepped on conversely, then reducing PWM duty cycle reduction
Plate load.
Duty control method provided in an embodiment of the present invention based on speed closed loop is carried out according to the real-time speed of pedal
Feedback regulation.It can realize the compensation to pedal load by this method, pedal speed is prevented to be mutated, step on driver scrunching
Uniform pedal load and smooth pedal speed are experienced during plate 360 degree rotation, thus provide preferably ride and
Exercise experience.
Foot-operated panel control system provided by the invention and be based on speed closed loop duty control method, can pass through adjust pedal
The PWM duty cycle in Load Regulation portion carrys out control pedal load, and is adjusted using the method based on speed closed loop to pedal load
Section, has many advantages, such as simple structure, convenient control and high conversion efficiency.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (10)
1. a kind of pedal duty control method based on speed closed loop, which is characterized in that the pedal based on speed closed loop is negative
Lotus control method is for including the following steps in pedal load control system：
S10：Reference load of the pulse width modulation control of initial fixed duty cycle as pedal is inputted, velocity perturbation system is set
Number, definition continuously scrunch mode, and pedal speed maintains the range of the coefficient of variation setting in this mode；
S20：The present speed of pedal is detected by speed detection unit, and using the present speed as target velocity；
S30：The real-time speed of pedal subsequent time rotation is detected by speed detection unit；
S40：Whether the real-time speed for judging the rotation of pedal subsequent time is zero；
S50：According to judging result, if real-time speed is zero, terminate continuously to scrunch mode；If real-time speed is not zero,
The difference for then calculating real-time speed and target velocity judges the range whether difference sets in coefficient of variation；
S60：The duty ratio of pulse width modulation control is adjusted according to comparison result or resets target velocity.
2. the pedal duty control method according to claim 1 based on speed closed loop, which is characterized in that when the difference
When range beyond coefficient of variation setting, maintain pulse width modulation control constant, and using the real-time speed as next
The target velocity in period exits current continuously scrunching mode.
3. the pedal duty control method according to claim 1 based on speed closed loop, which is characterized in that when the difference
When in the coefficient of variation setting range, if real-time speed is greater than target velocity, increase pulse width modulation control duty
Than improving pedal load；If real-time speed is less than target velocity, it is negative to reduce pulse width modulation control duty ratio reduction pedal
Lotus.
4. the pedal duty control method according to claim 1 based on speed closed loop, which is characterized in that the pedal is negative
Lotus control system includes：Battery；Generator, the engine are connected with pedal, generate alternating voltage by the driving of pedal；
And pedal Load Regulation portion, pedal Load Regulation portion charge to the storage by the alternating voltage that the engine generates
Electricity in battery adjusts the pedal load of the pedal.
5. the pedal duty control method according to claim 4 based on speed closed loop, which is characterized in that described to step on
Plate Load Regulation portion includes：Rectification unit, the ac voltage rectifier that the rectification unit generates the generator become direct current
Voltage, the input side of the rectification unit are connect with the generator；Boost circuit, the Boost circuit include inductance L, open
S and diode D is closed, the outlet side of the rectification unit is connected between the input side and ground side of the inductance L；The electricity
Sense L is connected to the outlet side of the rectification unit and the input side of the diode D；The diode D is connected to the inductance L
Input side and battery input side between；The switch S is connected to the outlet side and diode D input side of the inductance L
Convergence point and ground side between.
6. the pedal duty control method according to claim 4 based on speed closed loop, which is characterized in that the pedal is negative
Lotus control system further includes main control unit, and the main control unit carries out pulse width modulation control to pedal Load Regulation portion
System adjusts the electricity that the voltage that the generator generates charges in the battery, so that the pedal for adjusting the pedal is negative
Lotus.
7. the pedal duty control method according to claim 4 based on speed closed loop, which is characterized in that described ride is stepped on
Plate load control system further includes position detection unit, and the position detection unit is used to carry out the pedal position of the pedal
Detection, wherein the pedal position refers to the position of generator rotor.
8. the pedal duty control method according to claim 4 based on speed closed loop, which is characterized in that the pedal is negative
Lotus control system further includes speed detection unit, and the speed detection unit is for examining the pedal speed of the pedal
It surveys；The pedal speed refers to the revolving speed for being connected to the drive shaft of pedal.
9. the pedal duty control method according to claim 4 based on speed closed loop, which is characterized in that the pedal is negative
Lotus control system further includes power detecting unit, and the power detecting unit is used for the electricity and charging function for charging to battery
Rate is measured in real time, that is, detects the generated output and generated energy of driver.
10. the pedal duty control method according to claim 4 based on speed closed loop, which is characterized in that the pedal
Load control system further includes interface device, and the interface device is used to that the pedal Load Regulation to be arranged according to user input values
The pulse width modulated duty cycle in portion, and show what the real-time speed curve of the pedal and the power detecting unit exported
Generated output and generated energy.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113966296A (en) * | 2020-05-20 | 2022-01-21 | 株式会社万都 | Speed control device and method for electric bicycle |
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| CN104670408A (en) * | 2013-11-26 | 2015-06-03 | 株式会社万都 | Chainless electric bicycle |
| CN105774594A (en) * | 2014-11-20 | 2016-07-20 | 株式会社万都 | Electric bicycle and method of controlling the same |
| CN108025796A (en) * | 2015-09-17 | 2018-05-11 | 日本电产株式会社 | Power assist apparatus and the vehicle with the power assist apparatus |
| KR20170119376A (en) * | 2016-04-19 | 2017-10-27 | 주식회사 만도 | Load adjust apparatus of pedal generator in electric bicycle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113966296A (en) * | 2020-05-20 | 2022-01-21 | 株式会社万都 | Speed control device and method for electric bicycle |
| CN113966296B (en) * | 2020-05-20 | 2023-05-12 | 汉拿万都株式会社 | Speed control device and method for electric bicycle |
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