CN108820118B - Pedal load control method based on speed closed loop - Google Patents

Pedal load control method based on speed closed loop Download PDF

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Publication number
CN108820118B
CN108820118B CN201810717709.1A CN201810717709A CN108820118B CN 108820118 B CN108820118 B CN 108820118B CN 201810717709 A CN201810717709 A CN 201810717709A CN 108820118 B CN108820118 B CN 108820118B
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pedal
speed
pedal load
load control
real
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CN108820118A (en
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王翀
王方明
陈文博
熊国强
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Longkou Jiayuan Dongsheng Thermal Power Co.,Ltd.
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Beijing Qiaoqi Technology Co ltd
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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

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Eletrric Generators (AREA)

Abstract

The invention discloses a pedal load control method based on a speed closed loop, which is used in a pedal load control system and comprises the following steps: s10: inputting PWM with an initial fixed duty ratio as a reference load of a pedal, and setting a speed fluctuation coefficient; s20: detecting a current speed of a pedal as a target speed; s30: detecting the real-time speed of the pedal rotating at the next moment; s40: judging whether the real-time speed of the pedal rotating at the next moment is zero or not; s50: according to the judgment result, if the real-time speed is zero, ending the continuous pedaling mode; if the real-time speed is not zero, calculating the difference value between the real-time speed and the target speed, and judging whether the difference value is within the range set by the fluctuation coefficient; s60: and adjusting the duty ratio of the PWM or resetting the target speed according to the comparison result. The invention adjusts the pedal load by adopting a speed closed-loop method, prevents the sudden change of the pedal speed, and provides better riding and body-building experience.

Description

Pedal load control method based on speed closed loop
Technical Field
The invention relates to the technical field of riding control, in particular to a pedal load control method based on a speed closed loop.
Background
A general electric bicycle or an electric power-assisted bicycle includes an electric motor for rotating a wheel and a battery for powering the electric motor, and travels by means of the rotation of the wheel by the electric motor. The common electric bicycle is not provided with a pedal, and the advancing speed of the bicycle is controlled by setting different fixed gears through rotating a speed regulating handle; the electric power-assisted bicycle is provided with a torque sensor and a motor controller, and whether the driver needs motor power assistance and the required power assistance is judged by detecting the pedal torque of a user.
These electric bicycles do not support the user to autonomously adjust the pedal load of the pedals. When the user reduces the pedal load for saving physical strength or increases the pedal load for exercising the body, the actual demand thereof cannot be satisfied.
The traditional bicycle adopts a chain structure, and the treading force is transmitted to the wheels to realize running. The bicycle with speed changing function has complicated fluted disc and other parts, and the load of the pedal can be regulated by regulating the size of the front fluted disc and the rear fluted disc, but the chain and the gear have complicated structure, inconvenient maintenance, easy pollution and other problems.
Disclosure of Invention
The invention aims to provide a pedal load control method based on a speed closed loop, which is used for solving the problem that the actual experience of riding or body building is influenced because the driver feels like stepping empty due to the sudden change of the speed of the existing pedal.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a closed-loop speed-based pedal load control method for use in a pedal load control system, comprising the steps of:
s10: inputting an initial fixed duty ratio pulse width modulation control as a reference load of a pedal, setting a speed fluctuation coefficient, and defining a continuous pedaling mode in which the pedal speed is maintained within a range set by the fluctuation coefficient;
s20: detecting the current speed of the pedal through a speed detection unit, and taking the current speed as a target speed;
s30: detecting the real-time speed of the pedal rotating at the next moment through a speed detection unit;
s40: judging whether the real-time speed of the pedal rotating at the next moment is zero or not;
s50: according to the judgment result, if the real-time speed is zero, ending the continuous pedaling mode; if the real-time speed is not zero, calculating the difference value between the real-time speed and the target speed, and judging whether the difference value is within the range set by the fluctuation coefficient;
s60: and adjusting the duty ratio of the pulse width modulation control or resetting the target speed according to the comparison result.
And when the difference exceeds the set range of the fluctuation coefficient, keeping the pulse width modulation control unchanged, taking the real-time speed as the target speed of the next period, and exiting the current continuous pedaling mode.
When the difference value is within the set range of the fluctuation coefficient, if the real-time speed is greater than the target speed, increasing the pulse width modulation control duty ratio to increase the pedal load; and if the real-time speed is lower than the target speed, reducing the pulse width modulation control duty ratio to reduce the pedal load.
The pedal load control system includes: a storage battery; the generator is connected with the pedal and generates alternating voltage through the driving of the pedal; and a pedal load adjusting portion that adjusts a pedal load of the pedal by an amount of electric power charged into the battery by the alternating-current voltage generated by the engine.
The pedal load adjustment portion includes: a rectifying unit that rectifies an alternating-current voltage generated by the generator into a direct-current voltage, an input side of the rectifying unit being connected to the generator; the rectifier comprises a Boost circuit, a first rectifying unit and a second rectifying unit, wherein the Boost circuit comprises an inductor L, a switch S and a diode D, and the output side of the rectifying unit is connected between the input side and the ground side of the inductor L; the inductor L is connected with the output side of the rectifying unit and the input side of the diode D; the diode D is connected between the input side of the inductor L and the input side of the storage battery; the switch S is connected between a junction of the output side of the inductor L and the input side of the diode D and the ground side.
The pedal load control system further comprises a main control unit, wherein the main control unit is used for carrying out pulse width modulation control on the pedal load adjusting part and adjusting the electric quantity of the storage battery charged by the voltage generated by the generator so as to adjust the pedal load of the pedal.
The riding pedal load control system further comprises a position detection unit, wherein the position detection unit is used for detecting the pedal position of the pedal, and the pedal position refers to the position of a rotor inside the generator.
The pedal load control system further comprises a speed detection unit for detecting the pedal speed of the pedal; the pedal speed refers to the rotational speed of a drive shaft connected to the pedal.
The pedal load control system further comprises a power detection unit, and the power detection unit is used for detecting the electric quantity and the charging power charged to the storage battery in real time, namely detecting the generated power and the generated energy of a driver.
The pedal load control system further comprises an interface device, wherein the interface device is used for setting the pulse width modulation duty ratio of the pedal load adjusting part according to a user input value, and displaying a real-time speed curve of the pedal and the generated power and the generated energy output by the power detection unit.
The invention has the following advantages: the pedal load control system supports the user to independently adjust the load of the pedal, can be applied to the electric bicycle and the power riding platform, simplifies the existing mechanical structure, and greatly improves the experience of riding and body building of the user; by controlling the pedal load of the pedal connected to the generator, a driver can feel the pedal feeling as if a chain exists when stepping on the pedal, and the size of the pedal load can be automatically adjusted by the driver according to the physical strength and the intention of the driver; meanwhile, based on the riding pedal load control system, a chainless electric transmission bicycle is developed; the pedal load can be controlled by controlling the boosting proportion of a Boost circuit to adjust the electric quantity charged into the storage battery by the generator, so that a driver feels the feeling of riding the pedal like a chain when pedaling; meanwhile, the pedal load control method based on the speed closed loop carries out feedback regulation according to the real-time speed of the pedal. In this way, compensation for pedal loading is achieved, abrupt changes in pedal speed are prevented, and the driver experiences uniform pedal loading and smooth pedal speed during 360 degrees of pedaling, thereby providing a better riding and fitness experience.
Drawings
Fig. 1 is a schematic perspective view illustrating a pedal load control system applied to an electric bicycle according to an embodiment of the present invention.
FIG. 2 is a general block diagram of a pedal load control system provided by an embodiment of the present invention.
Fig. 3 is a schematic block diagram of a pedal load adjusting portion of the pedal load control system according to the embodiment of the present invention.
Fig. 4 and 5 are charging and discharging process diagrams of a pedal load adjusting part of the pedal load control system according to the embodiment of the present invention.
Fig. 6 is a timing chart of switches of the pedal load adjusting portion of the pedal load control system according to the embodiment of the present invention.
FIG. 7 is a schematic diagram illustrating the variation of pedal speed at a fixed pedal load for a pedal load control system according to an embodiment of the present invention.
FIG. 8 is a flow chart of a method for closed-loop pedal load control based on speed according to an embodiment of the present invention.
Detailed Description
The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1 to 8, the pedal load control system according to the embodiment of the present invention can be applied to an electric bicycle, which includes a front frame 19, a rear frame 18, a battery 13, a generator 10, pedals 21, a main control unit 22, and an interface device 20, as shown in fig. 1.
A generator 10 is provided in the front frame 19, and pedals 21 are rotatably mounted on both sides of the generator 10. When the driver rotates the pedal 21, the rotational force of the pedal 21 is converted into electric energy in the generator 10, and the electric energy of such generator 10 can be stored in the battery 13.
A battery 13 for storing the electric power converted by the generator 10 and a main control unit 22 may be installed in the front frame 19. The interface device 20 displays the driving state and riding data of the electric bicycle to the driver, and may transmit parameters such as pedal load to the main control unit 22 through an input means such as a button or a touch screen. Such interface devices 20 are either wired or wirelessly connected to the master control unit 22.
As shown in fig. 2, a pedal load control system according to an embodiment of the present invention includes: a storage battery 13; a generator 10, wherein the generator 10 is connected with a pedal 21, and generates alternating voltage through the driving of the pedal 21; and a pedal load adjusting portion 15, the pedal load adjusting portion 15 adjusting a pedal load of the pedal 21 by an amount of electric power charged into the battery 13 by the alternating-current voltage generated by the engine 10, the pedal load adjusting portion 15 including: a rectifying unit 11, wherein the rectifying unit 11 rectifies an alternating-current voltage generated by the generator 10 into a direct-current voltage, and an input side of the rectifying unit 11 is connected to the generator 10; the rectifier circuit comprises a Boost circuit 12, wherein the Boost circuit 12 comprises an inductor L, a switch S and a diode D, and the output side of the rectifier unit 11 is connected between the input side of the inductor L and the ground side; the inductor L is connected to the output side of the rectifying unit 11 and the input side of the diode D; the diode D is connected between the input side of the inductor L and the input side of the battery 13; the switch S is connected between the junction P of the output side of the inductor L and the input side of the diode D and the ground side.
When the switch S is turned on, a voltage is supplied from the rectifying unit 11 to the inductor L to charge it, and when the switch S is turned off, the current flowing through the inductor L does not jump due to the current holding characteristic of the inductor L, and the inductor L charges the secondary battery 13 through the diode D, and the terminal voltage of the secondary battery 13 rises.
The switch S is a transistor or a field effect transistor MOSFET.
The pedal load control system according to the embodiment of the present invention further includes a main control unit 22, wherein the main control unit 22 performs Pulse Width Modulation (PWM) control on the pedal load adjusting portion 15, and adjusts the amount of electricity charged into the battery 13 by the voltage generated by the generator 10, so as to adjust the pedal load of the pedal 21.
The main control unit 22 performs Pulse Width Modulation (PWM) control on the switch S, and when the duty ratio of the switch S is increased, the pedal load of the pedal 21 is increased accordingly; when the duty ratio of the switch S is decreased, the pedal load of the pedal 21 is decreased accordingly.
The riding pedal load control system provided by the embodiment of the invention further comprises a position detection unit 24, wherein the position detection unit 24 is used for detecting the pedal position of the pedal 21, and the pedal position refers to the position of the rotor inside the generator.
The pedal load control system provided by the embodiment of the invention further comprises a speed detection unit 23, wherein the speed detection unit 23 is used for detecting the pedal speed of the pedal 21; the pedal speed refers to the rotational speed of a drive shaft connected to the pedal. The speed detection unit may be a hall sensor built into the generator.
The pedal load control system provided by the embodiment of the invention further comprises a power detection unit, wherein the power detection unit is used for detecting the electric quantity and the charging power charged to the storage battery in real time, namely detecting the generated power and the generated energy of a driver.
The power detection unit is one of a power meter, a resistance sampler or a current sensor.
The pedal load control system provided by the embodiment of the invention further comprises an interface device 20, wherein the interface device 20 is used for setting the pulse width modulation duty ratio of the pedal load adjusting part according to the user input value and displaying the real-time speed curve of the pedal and the generated power and the generated energy output by the power detection unit.
The pedal load adjusting unit 15 adjusts the load of the pedal 21 so that the driver feels a pedal feel with different loads when stepping on the pedal as necessary. The pedal load adjustment portion may adjust the amount of electricity charged into the battery 13 by the generator 10 of the electric power generated from the driving of the pedal 21 to adjust the pedal load of the pedal 21. When the pedal load adjusting unit applies the pedal load to the pedal 21, the driver must depress the pedal 21 to rotate the vehicle, and feel the pedal. Also, the pedal load adjusting portion may apply different pedal loads by controlling a duty ratio through Pulse Width Modulation (PWM). When the PWM duty is 0, that is, the step-up ratio of the pedal load adjusting portion 15 is set to 0, thereby releasing the pedal load supplied to the pedal 21; when the PWM duty ratio is 1, three phases of the generator are in short circuit, and therefore the pedal load is maximum.
As shown in fig. 3, the pedal load adjusting unit includes a generator 10 that generates an ac voltage by being driven by a pedal connected thereto, a rectifying unit 11 that rectifies the ac voltage generated in the generator 10 into a dc voltage, a Boost circuit 12 (including an inductor L, a diode D, and a switch S) that boosts the rectified dc voltage, and a battery 13 that limits an output voltage of the Boost circuit 12 and charges the same. The switch S is connected between the output side of the inductor L and the input side of the diode D. The voltage output by the Boost circuit 12 for charging the battery 13 is adjusted by duty ratio control for variably controlling the on time and the off time of the switch S, and the generator 10 generates electric power to charge the battery 13 when the driver steps on the pedal, so as to provide the pedal load feeling when the driver steps on the pedal. According to the Boost principle of a Boost circuit, when the PWM duty ratio d is changed from small to large, the output voltage is gradually increased, and the pedal load feeling is gradually enhanced.
The switch S may be an electronic switching element such as a Field Effect Transistor (FET), a Transistor (Transistor), or the like. The inductance L is provided between the output side of the rectifying unit 11 and the input side of the switch S. The diode D is provided between the output side of the switch S and the input side of the battery 13. When the switch S is turned on, the inductor L is charged by the output voltage of the rectifying unit 11. Due to the reverse blocking characteristic of the diode D, the battery 13 does not discharge to charge the inductor L. When the switch S is turned off, the amount of electricity stored in the inductor L is transmitted to the battery 13 through the diode D, and the battery 13 is charged.
FIGS. 4 to 5 are switch operation diagrams of a pedal load adjusting portion of the pedal load control system according to the embodiment of the invention; referring to fig. 4 and 5, when the driver steps on the pedal, the pedal load of the control pedal is adjusted by setting the duty ratio d of the control switch S, i.e., pulse-width modulating it.
Specifically, as shown in fig. 4, when the switch S is turned on, the output current of the rectifying unit 11 is conducted to the ground side through the inductor L and the switch S as shown by the arrow direction. At this time, the circuit connected to the generator 10 forms a closed circuit, stores energy into the inductor L, and generates a counter electromotive force in the generator 10, thereby generating a pedal load.
As shown in fig. 5, when the switch S is turned off, the energy stored in the inductor L flows into the battery 13 as indicated by the arrow, charges the battery 13, and generates a voltage difference across the diode, which causes heat loss in the diode D.
When the switch S is turned on and off alternately, the driver continuously steps on the pedal to rotate the pedal, and the pedal feel is always felt.
Fig. 6 is a timing chart of switches of the pedal load adjusting portion of the pedal load control system according to the embodiment of the present invention. The main control unit 22 pulse-width-modulates the switch S of the pedal load adjusting unit 15 to control the duty ratio d (0< d <1), and controls the on time and the off time of the switch S to be alternately changed. With a fixed PWM duty cycle, the pedal load of the pedal will remain unchanged.
When the pedal load of the pedal is increased, the duty ratio d of the switch S is increased. At this time, the on time of the switch S is correspondingly increased, and the energy stored in the inductor L by the generator 10 in one switching period T is increased, so that a larger back electromotive force can be provided.
When the pedal load of the pedal is reduced, the duty ratio d of the switch S is reduced. At this time, the on time of the switch S is reduced accordingly, the energy stored in the inductor L by the generator 10 in one switching period T is reduced, and the generated back electromotive force is reduced accordingly.
Fig. 7 is a reference diagram of the change in pedal speed at a fixed pedal load for the pedal load control system according to the embodiment of the invention. Referring to fig. 7, when the step-up ratio of the pedal load adjusting portion, i.e., the PWM duty is fixed, the pedal load will remain unchanged.
During 360 deg. rotation of the pedal, when the pedal is in a position where the foot is easy to apply force, the pedal speed will show an alternation of peaks and valleys as shown in the figure, i.e. the pedal speed will have a sudden change.
When the pedal connected to the generator is rotated in the forward direction by the driver, the user inputs a different boosting ratio, and the pedal load of the pedal is adjusted by the pedal load adjusting portion as a booster that can adjust the amount of electric power charged in the battery by the generator. When the boosting ratio of the pedal load adjusting part is fixed, the rotating speed of the pedal is suddenly changed when the pedal is positioned at a position where the foot part is convenient to exert force, so that a driver feels like stepping empty, and the actual experience of riding or body building is influenced.
In order to solve the problem, the embodiment of the invention provides a control method for pedal load adjustment based on a speed closed loop, which comprises the following steps:
s10: inputting PWM with an initial fixed duty ratio as a reference load of a pedal, setting a speed fluctuation coefficient, and defining a continuous pedaling mode in which the pedal speed is maintained within a range set by the fluctuation coefficient;
s20: detecting the current speed v of the pedal by means of a speed detection unittAnd the current speed v is adjustedtAs a target velocity v0；
S30: detecting the real-time speed v of the pedal at the next moment by a speed detection unitt+1；
S40: judging whether the real-time speed of the pedal rotating at the next moment is zero or not;
s50: according to the judgment result, if the real-time speed is zero, the continuous pedaling mode is ended, namely the rider does not need to pedal the pedal any more; if the real-time speed is not zero, calculating the difference value between the real-time speed and the target speed, and judging whether the difference value is within the range set by the fluctuation coefficient;
s60: adjusting the duty ratio of PWM in a proportional or proportional-integral-derivative manner according to the comparison result, or resetting the target speed v0＝vt+1。
When the difference exceeds the set range of the fluctuation coefficient, the PWM is kept unchanged, the real-time speed is used as the target speed of the next period, and the current continuous pedaling mode is exited; and when the difference value is within the fluctuation coefficient setting range, if the real-time speed is greater than the target speed, increasing the PWM duty ratio to increase the pedal load, and otherwise, reducing the PWM duty ratio to decrease the pedal load.
The load control method based on the speed closed loop provided by the embodiment of the invention carries out feedback regulation according to the real-time speed of the pedal. In this way, compensation for pedal loading is achieved, abrupt changes in pedal speed are prevented, and the driver experiences uniform pedal loading and smooth pedal speed during 360 degrees of pedaling, thereby providing a better riding and fitness experience.
The pedal control system and the speed-based closed-loop load control method provided by the invention can control the pedal load by adjusting the PWM duty ratio of the pedal load adjusting part, and adjust the pedal load by adopting the speed-based closed-loop method, and have the advantages of simple structure, convenience in control, high conversion efficiency and the like.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims (9)

1. A pedal load control method based on a speed closed loop is characterized in that the pedal load control method based on the speed closed loop is used in a pedal load control system and comprises the following steps:
s10: inputting an initial fixed duty ratio pulse width modulation control as a reference load of a pedal, setting a speed fluctuation coefficient, and defining a continuous pedaling mode in which the pedal speed is maintained within a range set by the fluctuation coefficient;
s20: detecting the current speed of a pedal through a speed detection unit, and taking the current speed as a target speed;
s30: detecting the real-time speed of the pedal rotating at the next moment through a speed detection unit;
s40: judging whether the real-time speed of the pedal rotating at the next moment is zero or not;
s50: according to the judgment result, if the real-time speed is zero, ending the continuous pedaling mode; if the real-time speed is not zero, calculating the difference value between the real-time speed and the target speed, and judging whether the difference value is within the range set by the fluctuation coefficient;
s60: adjusting the duty ratio of pulse width modulation control or resetting the target speed according to the comparison result; and when the difference exceeds the range set by the fluctuation coefficient, keeping the pulse width modulation control unchanged, taking the real-time speed as the target speed of the next period, and exiting the current continuous pedaling mode.
2. The closed-loop speed-based pedal load control method according to claim 1, wherein when the difference is within the fluctuation coefficient setting range, if the real-time speed is greater than the target speed, the pulse width modulation control duty ratio is increased to increase the pedal load; and if the real-time speed is lower than the target speed, reducing the pulse width modulation control duty ratio to reduce the pedal load.
3. The closed-loop speed-based pedal load control method of claim 1 wherein the pedal load control system comprises: a storage battery; the generator is connected with the pedal and generates alternating voltage through the driving of the pedal; and a pedal load adjusting portion that adjusts a pedal load of the pedal by an amount of electricity charged into the battery by the alternating-current voltage generated by the generator.
4. The closed-loop speed-based pedal load control method according to claim 3, wherein the pedal load adjusting portion includes: a rectifying unit that rectifies an alternating-current voltage generated by the generator into a direct-current voltage, an input side of the rectifying unit being connected to the generator; the rectifier comprises a Boost circuit, a first rectifying unit and a second rectifying unit, wherein the Boost circuit comprises an inductor L, a switch S and a diode D, and the output side of the rectifying unit is connected between the input side and the ground side of the inductor L; the inductor L is connected with the output side of the rectifying unit and the input side of the diode D; the diode D is connected between the input side of the inductor L and the input side of the storage battery; the switch S is connected between a junction of the output side of the inductor L and the input side of the diode D and the ground side.
5. The closed-loop speed-based pedal load control method according to claim 3, wherein the pedal load control system further comprises a main control unit that performs pulse width modulation control on the pedal load adjustment portion to adjust an amount of electricity charged into the battery by the voltage generated by the generator, thereby adjusting the pedal load of the pedal.
6. The closed-loop speed-based pedal load control method according to claim 3, wherein the pedal load control system further comprises a position detection unit for detecting a pedal position of the pedal, wherein the pedal position is a position of a rotor inside the generator.
7. The closed-loop speed-based pedal load control method according to claim 3, wherein the pedal load control system further comprises a speed detection unit for detecting a pedal speed of the pedal; the pedal speed refers to the rotational speed of a drive shaft connected to the pedal.
8. The pedal load control method based on speed closed loop according to claim 3, characterized in that the pedal load control system further comprises a power detection unit for detecting the amount of electricity charged to the battery and the charging power in real time, that is, detecting the generated power and the generated amount of electricity of the driver.
9. The closed-loop speed-based pedal load control method according to claim 8, wherein the pedal load control system further comprises an interface device for setting a pulse width modulation duty ratio of the pedal load adjusting part according to a user input value and displaying a real-time speed profile of the pedal and the generated power and the generated amount output from the power detecting unit.
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