CN1095103C

CN1095103C - Hybrid power system with proportional control by symbiotic speed and torque difference detection device

Info

Publication number: CN1095103C
Application number: CN 96100579
Authority: CN
Inventors: 杨泰和
Original assignee: Individual
Current assignee: Individual
Priority date: 1996-07-01
Filing date: 1996-07-01
Publication date: 2002-11-27
Anticipated expiration: 2016-07-01
Also published as: CN1169550A

Abstract

A composite power system with active power source and auxiliary power source features that the rotation speed signal of active power source and the torque difference between active power source and output shaft are used as reference to control the auxiliary power source to make proportional rotation speed aid, proportional torque aid or generate reverse damping for regenerative braking.

Description

Borrow rotating-speed and torque differential detecting device to make the combined power system of proportional control

The present invention relates to a kind of power system, particularly be provided with the combined power system of main power source and auxiliary power source.

The combined power system of commonly using can not be controlled linearity or non-linear ratio's power-assist between active power source and the auxiliary power source effectively, can not provide effectively as the initiatively damping of power source, thereby limit its range of application.

Therefore, the objective of the invention is to solve above-mentioned the problems of the prior art, by active power source speed that rotating-speed and torque master detected and and output shaft between the torque difference be benchmark, with linearity or the non-linear ratio's power-assist between relative control active power source and auxiliary power source, and produce reverse torque by auxiliary power source, to provide, made it to use widely as the initiatively damping of power source.

According to the present invention, a kind of combined power system of borrowing rotating-speed and torque differential detecting device to make proportional control is provided, it is characterized in that comprising:

--the active power source, can be made the power generation arrangement that rotation drives for driving by manpower, electric power or other machine power, its power output revolving shaft is for doing direct coupling or pretend the power coupling through unidirectional transmission with auxiliary power source or load;

--rotating-speed and torque master, be analog or digital formula rotating speed and torque master, be used to detect the rotating shaft rotating speed of power source initiatively and turn to and and output shaft between the torque difference, be provided as the benchmark of control auxiliary power source; Its detection signal is by galvanomagnetic effect or photoelectric effect or the generation of other physical influences, and its symbiosis mode is for to produce rotating speed and torque difference composite signal simultaneously by single detection architecture; Or detect then synthetic signal respectively by two independent detection architecture;

--assist and use speed detector, be analog or digital formula speed detector, detect auxiliary power source tachometer value or output shaft tachometer value, so that the input central controller constitutes the output speed restriction or does other output speed control signals back couplings to provide;

--the rotating shaft of above-mentioned active power source and torque differences between output shaft produce and activate displacement and still keep the physical construction of both drive states relatively, constitute by axial two-way actuating displacement mechanism of commonly using or radially two-way actuating displacement mechanism, comprise can two-way actuating helical structure can two-way actuating inside spin formula or the external spiral formula do not have the bar helical structure, axially cut sth. askew coupling surface or helical teeth shape coupled structure that perhaps can two-way actuating, perhaps produce the detection architecture that two-way actuating displacement changes electric energy and rotation angle displacement commentaries on classics electric energy with torque differences, comprise by excuse me electrical effect such as analog or digital formula or interchange or direct current that galvanomagnetic effect or other physical influences constituted, brushless or have the brush or the induction type structure constitute, be linear or non-linear and can produce by relative rotary motion, the relative electric power signal value of direct ratio or inverse ratio, and be linear or nonlinear direct ratio or inverse ratio change its electric power signal ratio by coupling position to axial;

--output shaft is coupling between outgoing side and rotating speed and the torque master, for the transmission rotation function;

--the manual controller, be the control input device that is constituted by electromechanical compo or solid-state electronic element and the control gear interface of being correlated with, can produce numeral or simulation electric power signal with manual control, or accept other electric power signal, transfer to central controller by the interface input, set or do STOCHASTIC CONTROL with selective system function or work, its control signal is for transporting to central controller, and then the running power of control auxiliary power source, to provide ratio power-assist or ratio reverse damping;

--central controller, the analog or digital formula circuit arrangement that is constituted for electromechanical compo or solid-state electronic element or microprocessor, rotating-speed that is affected with the active power source and torque master are benchmark and with reference to manual controller's STOCHASTIC CONTROL instruction, control motor driver, and then the control auxiliary power source, do the driving of motor function running or turn round as the regenerative electric power generator function; Between active power source and auxiliary power source and output shaft, be the running of linearity or non-linear ratio's power-assist or proportional damping function according to need in the said system, system constitutes the system architecture of closed loop, open loop type or semi-closure ring type;

--motor driver, for the device of electromechanical compo or solid-state electronic element formation, accept central controller and manual controller's control, with output or the power input value and the sense of rotation in control auxiliary force source;

--auxiliary power source, be the electric rotating machine that has motor function or further have generator function, its structure kenel is for two ejector half electric rotating machines or have stator and the electric rotating machine of rotor, and its different structure kenel reaches with the coupling scheme of active power source has different operational functions;

--supply unit is supply auxiliary power source, central controller, motor driver, control input device and the required power supply of peripheral control device; Or further for the regenerative electric power electric energy that stores auxiliary power source;

--load is made of the revolution or the linear motion-type mechanism that accept the rotary motive power input.

The present invention borrow active power source speed signal value that rotating-speed and torque master detected and initiatively the torque difference between power source and output shaft be benchmark, with the control auxiliary power source active power source is made ratio rotating speed power-assist or ratio torsion power-assist or is produced the reverse damping that regenerative electric power is braked; Initiatively power source comprises following part or all of function with auxiliary power source and interaction that output shaft affects:

(1) the active power source speed signal that detected of auxiliary power source reference rotating-speed and torque master and and output shaft between the torque difference be benchmark, produce the relative scale power-assist and drive running with common driving load;

(2) by the load of active power source individual drive;

(3) by the load of auxiliary power source individual drive;

(4) the active power source speed signal that detected of auxiliary power source reference rotating-speed and torque master and and output shaft between the torque difference be benchmark, borrow the running of regenerative electric power effect or reverse drive, generation is reverse relative scale braking kinetic energy with output shaft and pins down output shaft and load;

(5) the active power source speed signal that detected of auxiliary power source reference rotating-speed and torque master and and output shaft between the torque difference be benchmark, borrow the running of regenerative electric power effect or reverse drive, generation provides reverse damping with the reverse kinetic energy that the active power source is relative scale;

(6) output shaft locks and has (5) function separately.

The present invention for borrow active power source speed signal that rotating-speed and torque master detected and and output shaft between the torque difference as benchmark, turn round according to setting relative scale kinetic energy for the control auxiliary power source, provide the same power-assist that turns to initiatively power source kinetic energy addition to drive, power-assist drives and comprises: (1) has unidirectional or two-way power-assist and drives, and the power-assist kinetic energy ratio between active power source and auxiliary power source, can according to active power source speed that rotating-speed and torque master detected and and output shaft between the torque difference do the power-assist running of preset proportion, or borrow the manual controller to make STOCHASTIC CONTROL; (2) at reverse damping function state as output inertia, auxiliary power source then by manual controller's control or according to active power source speed that rotating-speed and torque master detected and and output shaft between the torque difference, and borrow regenerative electric power effect or reverse drive running that reverse torque is provided to output shaft is damping, or (3) are in the load damping state as the active power source, auxiliary power source then according to manual controller's STOCHASTIC CONTROL or with reference to active power source speed that rotating-speed and torque master detected and be benchmark as the torque difference between the auxiliary power source of load, borrow running of regenerative electric power effect or reverse drive and generation load damping; Above function is progressive and novelty place of borrowing rotating-speed and torque differential detecting device to make the combined power system of proportional control of the present invention.

Describe characteristics of the present invention and advantage in detail below in conjunction with accompanying drawing:

Fig. 1 is a system of the present invention block schematic diagram.

Fig. 2 is one of synoptic diagram of rotating-speed of the present invention and torque master embodiment.

Fig. 3 be rotating-speed of the present invention and torque master embodiment synoptic diagram two.

Fig. 4 operates performance plot for Fig. 2 and Fig. 3.

Fig. 5 is the speed proportional power-assist block schematic diagram that is made of two ejector half electric rotating machines of the present invention.

Fig. 6 for of the present invention by torsion ratio power-assist block schematic diagram that motor constituted.

Fig. 7 is for of the present invention by one of motor and wandering star (or differential) block schematic diagram that train constituted.

Fig. 8 is for of the present invention by two of motor and wandering star (or differential) block schematic diagram that train constituted.

Component symbol is described as follows among the figure:

100: output shaft 101: the active power source

102: auxiliary power source 102A: two ejector half electric rotating machines

102B, 102C, 102D: 103: the first interactive rotary bodies of motor

104: the second interactive rotary bodies 105: initiatively power source rotating shaft

106: load 107: conducting ring

108: sun gear 109: the outer shroud wheel

110,110 ': erratic star wheel 111: rotating speed and torque master

112: auxiliary with speed detector 113: the manual controller

114: central controller 115: motor driver

116: supply unit 117: conduction brush

121,121 ': casing 122,122 ': one-way clutch

123: controllable clutch coupling 124: detent

126: rotation output connects 133: motor stator casing

134: rotor 201: the spiral interaction structure

202: spring 211: but the axial displacement rotor

212: winding 213: conducting magnet core

215: locking key structure 216: magnetic pole

300: drive 310: windings of speed detector

311: but axial displacement rotor 312: Secondary Winding

313: conducting magnet core

Fig. 1 is the combined power system block schematic diagram of borrowing rotating-speed and torque differential detecting device to make proportional control of the present invention, and its basic structure comprises:

--active power source 101, can be made the power generation arrangement that rotation drives for driving by manpower, electric power or other machine power, its power output revolving shaft 105 is for doing direct coupling or pretend the power coupling through unidirectional transmission with auxiliary power source 102 or load 106;

--rotating-speed and torque master 111, be analog or digital formula rotating speed and torque master, can detect rotating shaft 105 rotating speeds of power source 101 initiatively and turn to and and the torque difference of 100 of output shafts, be provided as the benchmark of control auxiliary power source; Its detection signal is by galvanomagnetic effect or photoelectric effect or the generation of other physical influences, and its symbiosis mode is for to produce rotating speed and torque difference composite signal simultaneously by single detection architecture; Or detect then synthetic signal respectively by two independent detection architecture;

--auxiliary with speed detector 112, be analog or digital formula speed detector, detect auxiliary power source tachometer value or output shaft tachometer value to provide, so that input central controller 114 constitutes the output speed restriction or makes other output speed control signals and feedback, if system is that open then can the omission need not;

--the torque differences of 100 of the rotating shaft 105 and the output shafts of above-mentioned main power source 101 produces and activates displacement and still keep the physical construction of both drive states relatively, constitute by axial two-way actuating displacement mechanism of commonly using or radially two-way actuating displacement mechanism, comprise can two-way actuating helical structure can two-way actuating inside spin formula or the external spiral formula do not have the bar helical structure, axially cut sth. askew coupling surface or helical teeth shape coupled structure that perhaps can two-way actuating, perhaps produce the detection architecture that two-way actuating displacement changes electric energy and rotation angle displacement commentaries on classics electric energy with torque differences, comprise by excuse me electrical effect such as analog or digital formula or interchange or direct current that galvanomagnetic effect or other physical influences constituted, brushless or have the brush or the induction type structure constitute, be linear or non-line bosom and can produce by relative rotary motion, the relative electric power signal value of direct ratio or inverse ratio, and be linear or nonlinear direct ratio or inverse ratio change its electric power signal ratio by coupling position to axial;

--output shaft 100 is coupling between output example and rotating speed and the torque master 111, for the transmission rotation function;

--the manual controller 113, be the control input device that is constituted by electromechanical compo or solid-state electronic element and the control gear interface of being correlated with, can produce numeral or simulation electric power signal with manual control, or accept other electric power signal, transfer to central controller 114 by the interface input, set or do STOCHASTIC CONTROL with selective system function or work, its control signal is for transporting to central controller 114, and then the running power of control auxiliary power source, to provide ratio power-assist or ratio reverse damping;

--central controller 114, the analog or digital formula circuit arrangement that is constituted for electromechanical compo or solid-state electronic element or microprocessor, rotating-speed that is affected with active power source 101 and torque master 111 are benchmark and with reference to manual controller 113 STOCHASTIC CONTROL instruction, control motor driver 115, and then control auxiliary power source 102, do the driving of motor function running or turn round as the regenerative electric power generator function; Active power source 101 and auxiliary power source 102 and output shaft are 100 in the said system, can be the running of linearity or non-linear ratio's power-assist or proportional damping function according to need, and system constitutes the system architecture that can be closed loop, open loop type or semi-closure ring type;

--motor driver 115, for the device of electromechanical compo or solid-state electronic element formation, accept central controller 114 and manual controller's 113 control, with output or the power input value and the sense of rotation in control auxiliary force source 102;

--auxiliary power source 102, be the electric rotating machine that has motor function or further have generator function, its structure kenel is for two ejector half electric rotating machine 102A or have stator and electric

rotating machine

102B, 102C or the 102D of rotor, and its different structure kenel reaches with the coupling scheme of active power source 101 has different operational functions;

--supply unit 116 is supply auxiliary power source, central controller, motor driver, control input device and the required power supply of peripheral control device; Or further for the regenerative electric power electric energy that stores auxiliary power source;

--load 106 is made of the revolution or the linear motion-type mechanism that accept the rotary motive power input.

Fig. 2 is one of synoptic diagram of rotating-speed of the present invention and torque master embodiment, and its main composition is as follows:

--initiatively power source rotating shaft 105, the rotation function of power source 101 drives by accepting initiatively, but the interaction structure 201 that initiatively has spiral between the axis hole of power source rotating shaft 105 and rotating-speed and torque differential detecting device axial displacement rotor 211, its spiral interaction structure 201 contains tooth spiral or anodontia tumbling-type spiral, and its helix angle can be done two-way interaction, can be by active power source rotating shaft 105 rotations so that but axial displacement rotor 211 is done axial displacement, but or reversely when axial displacement rotor 211 axial compressions affect initiatively power source rotating shaft 105 to produce rotation, but or axial displacement rotor 211 itself produce rotation; But 100 of the output shafts of axial displacement rotor 211 and confession driving outgoing side, have and to do axial displacement and the rotation plum blossom axle group of transmission or other and can be in axial sliding and rotate the locking key structure 215 of transmission, do displacement to axial and still keep both drive states when both do to rotate transmission, to allow;

--power source rotating shaft 105 itself and 101 of power sources of active pre-compressed spring 202 initiatively with radial effect power, so that but axial displacement rotor 211 is produced precompressed, when but active power source rotating shaft 105 is transmitted with axial displacement rotor 211 intercropping rotary powers, produce displacement to axial according to its direction and level of torque of transmitting torque; But axial displacement rotor 211 is coupled with the stator that is arranged on casing 121, when doing to rotate interaction, both produce the detection electric power signal of axial displacement, but it detects electric power signal intensity and is decided with relative rotation speed and axial relative coupling position between stator by axial displacement rotor 211, rotating speed depends on the absolute rotating speed of 121 of initiatively power sources 101 and casing, relative axial position then depends on the torque differences of 100 of initiatively power sources 101 and output shaft, but the axial swing offset that axial displacement rotor 211 and pre-compressed spring 202 are produced, but can so that the axial couple state of change axial displacement rotor 211 and stator;

But--above-mentioned axial displacement rotor 211 and rotating-speed and torque master 111 that stator constituted, can constitute stator by conducting magnet core 213 and the winding 212 that produce to detect electric energy, but and constitute axial displacement rotor 211 by having magnetic pole 216 and having the structure that can make the interactive axis hole of spiral; But can be cylindric between stator and axial displacement rotor or the oblique cone shape structure;

But--above-mentioned axial displacement rotor 211 and rotating-speed and torque master 111 that stator constituted, but no matter axial displacement rotor relative position wherein, its output signal can be zero when torque is zero, also can be set at greater than zero or less than zero;

But--above-mentioned axial displacement rotor 211 and rotating-speed and torque master 111 that stator constituted, when rotating speed was zero, its output signal can be zero, also can be set at greater than zero or less than zero;

--the signal that above-mentioned rotating-speed and torque master 111 are detected can be the analog or digital signal, wherein simulating signal can compare signal and synthetic with the simulation trial amplifying circuit, through the processing and then the control motor driver 115 of central controller 114, auxiliary power source 102 is done the driving of relative power and the restriction of maximum power value; If digital signal is then carried out signal Processing through numeric type central controller 114, and then the restriction of control relatively and maximum power value is done in 115 pairs of auxiliary force sources of control motor driver 102;

--the torque differences of 100 of the rotating shaft 105 and the output shafts of above-mentioned active power source 101 produces and activates displacement and still keep the physical construction of both drive states relatively, constitute by axial two-way actuating displacement mechanism of commonly using or radially two-way actuating displacement mechanism, contain can two-way actuating helical structure can two-way actuating inside spin formula or the external spiral formula do not have the bar helical structure, axially cut sth. askew coupling surface or helical teeth shape coupled structure that perhaps can two-way actuating, perhaps produce the detection architecture that two-way actuating displacement changes electric energy and rotation angle displacement commentaries on classics electric energy with torque, comprise by excuse me electrical effect such as analog or digital formula or interchange or direct current that galvanomagnetic effect or other physical influences constituted, brushless or have the brush or the induction type structure constitute, be linear or non-linear and can produce by relative rotary motion, the relative electric power signal value of direct ratio or inverse ratio, and be linear or nonlinear direct ratio or inverse ratio change its electric power signal ratio by coupling position to axial;

--output shaft 100, but accept the driving of active power source 101 rotation functions of axial displacement rotor 211, and the driving of accepting the rotation function of auxiliary power source 102, it is accepted auxiliary power source 102 rotation modes and comprises indirect type drives structure by 102 couplings of actuated element and auxiliary power source, or the direct-type drives structure that is directly combined by the output shaft 100 and the rotor of auxiliary power source 102; The mode of itself and load coupling comprises and is coupled directly to load, or drives load through device such as gearing such as gear, sprocket wheel, connecting rod indirectly.

Fig. 3 is two of the synoptic diagram of rotating-speed of the present invention and torque master embodiment, in Fig. 3 embodiment, but its primary structure is characterized as by axial displacement rotor 311 and stator and constitutes, from detecting initiatively power

source rotating shaft

105 and 100 torque differences of output shaft, to produce axial displacement and then to produce relative electric power signal, and in addition by one group be arranged on initiatively power source rotating shaft 105 and casing 121,121 ' driving speed detector 300 detect absolute rotating speed; Aforementioned both common rotating-speed and torque masters 111 that constitute, its main composition is as follows:

--initiatively power source rotating shaft 105, the rotation function of power source 101 drives by accepting initiatively, but initiatively has spiral interaction structure 201 between the axis hole of power source rotating shaft 105 and axial displacement rotor 311, its spiral interaction structure comprises tooth spiral or anodontia tumbling-type spiral, and helix angle can be done two-way interaction, can be by active power source rotating shaft 105 rotations, so that but axial displacement rotor 311 is done axial displacement, but or reversely when axial displacement rotor 311 axial compressions affect initiatively power source rotating shaft 105 to produce rotation, but or axial displacement rotor 311 itself produce rotation; But 100 of the output shafts of axial displacement rotor 311 and confession driving outgoing side, have and to do axial displacement and the rotation plum blossom axle group of transmission or other and can be in axial sliding and rotate the locking key structure 215 of transmission, do displacement to axial and still keep both drive states for when both do to rotate transmission, allowing;

--initiatively power source rotating shaft 105 itself and 101 of power sources of active are established a pre-compressed spring 202 that radial effect power arranged, so that but axial displacement rotor 311 is produced precompressed, when but active power source rotating shaft 105 is transmitted with axial displacement rotor 311 intercropping rotary powers, produce displacement to axial according to its direction and level of torque of transmitting torque; But axial displacement rotor 311 be arranged on casing 121,121 ' stator be coupled relatively, make the detection electric power signal that axial displacement produces axial displacement when interactive at both; But it detects electric power signal intensity and is determined with axial relative coupling position between stator by axial displacement rotor 311, relative axial position then depends on the torque differences of 100 of initiatively power sources 101 and output shaft, but the axial swing offset that axial displacement rotor 311 and pre-compressed spring 202 are produced, but the axial couple state of energy and then change axial displacement rotor 311 and stator, be arranged on initiatively power source 101 and casing 121 and drive speed detector 300,121 ', from detecting both absolute rotating speeds;

But--common rotating-speed and the torque master 111 that constitutes of above-mentioned axial displacement rotor 311 and stator, can constitute stator by conducting magnet core 313 and for winding 310 in input exchange signal source and for the Secondary Winding 312 that produces the displacement detecting electric power signal, but and constitute axial displacement rotor 311 by having conducting magnet core 313 and having the structure that can make the interactive axis hole of spiral;

--but above-mentioned axial displacement rotor 311 reaches and the stator of its coupling constitutes rotating-speed and torque master 111 jointly, no matter but axial displacement rotor relative position wherein, its output signal can be zero when torque is zero, also can be set at greater than zero or less than zero;

--when above-mentioned driving speed detector 300 was zero at rotating speed, its output signal can be zero;

--above-mentioned torque differences signal and absolute tach signal can be the analog or digital signal, wherein can to make signal by the simulation trial amplifying circuit synthetic for simulating signal, with the processing through central controller 114, and then control motor driver 115 is to do the driving and the peaked restriction of relative power to auxiliary power source 102; If digital signal, then through the signal Processing of numeric type central controller 114, and then 115 pairs of auxiliary power sources of control motor driver 102 are done control and peaked restriction relatively;

--the torque differences of 100 of the rotating shaft 105 and the output shafts of above-mentioned active power source 101 produces and activates displacement and still keep the physical construction of both drive states relatively, constitute by axial two-way actuating displacement mechanism of commonly using or radially two-way actuating displacement mechanism, comprise can two-way actuating helical structure can two-way actuating inside spin formula or the external spiral formula do not have the bar helical structure, axially cut sth. askew coupling surface or helical teeth shape coupled structure that perhaps can two-way actuating, perhaps produce the detection architecture that two-way actuating displacement changes electric energy and rotation angle displacement commentaries on classics electric energy with torque differences, comprise by excuse me electrical effect such as analog or digital formula or interchange or direct current that galvanomagnetic effect or other physical influences constituted, brushless or have the brush or the induction type structure constitute, be linear or non-linear and can produce by relative rotary motion, the relative electric power signal value of direct ratio or inverse ratio, and be linear or nonlinear direct ratio or inverse ratio change its electric power signal ratio by coupling position to axial;

--output shaft 100, but accept the driving of active power source 101 rotation functions of axial displacement rotor 311, and the driving of accepting the rotation function of auxiliary power source 102, it is accepted auxiliary power source 102 rotation modes and comprises indirect type drives structure by 102 couplings of actuated element and auxiliary power source, or the direct-type drives structure that is directly combined by the output shaft 100 and the rotor of auxiliary power source 102; The mode of itself and load coupling comprises and is coupled directly to load, or drives load through device such as gearing such as gear, sprocket wheel, connecting rod indirectly.

Fig. 4 is the running performance plot of Fig. 2 and Fig. 3.

Among Fig. 4, relatively reached interactive relationship generalized schematic between composite signal voltage and rotating speed and torque by what Fig. 2 or the described rotating speed of Fig. 3 and torque master 111 detected, its synthesising output voltage and rotating speed and torque differences are linearity or non-linear ratio's interaction, normality running is for to be directly proportional or inverse ratio with rotating speed, but and the coupling interaction between axial displacement rotor and stator can be proportional or inverse ratio.

Fig. 5～Fig. 8 is the application examples that auxiliary power source constituted by the different structure kenel of the present invention, now is described as follows:

(A) Figure 5 shows that the block schematic diagram of making the combined power system of proportional control by rotating-speed and torque master, its auxiliary power source is two ejector half electric rotating machine 102A, promptly have the first interactive rotary body 103 and the second interactive rotary body 104 that are constituted by magnetic field and rotor that to do mutually to drive, its structure can be cylindrical shape, cup-shaped, dish type or taper etc., its electric machine structure and running kenel comprise direct current or interchange, synchronous or asynchronous, brushless or the electric rotating machine of brush configuration kenel arranged, it is characterized by its first interactive rotary body 103 and be coupled in rotating-speed and torque master 111 through output shaft 100, and then with active power source rotating shaft 105 coupling, 104 of its second interactive rotary bodies are directly or through actuated element driven in rotation output interface 126; Initiatively power source rotating shaft 105 and casing 121,121 ', can add one-way clutch 122,122 ' according to need for preventing reverse affecting for a selected wherein direction, then one-way clutch must be set if give up this function; The first interactive rotary body 103 in the said structure kenel and 104 liang of unit of the second interactive rotary body, wherein a unit is the motor-field structure, another unit is a motor rotor construction, Unit two or one of them can be set up additional conductive ring 107, conduction brush 117 and brushgear housing according to the electric machine structure kenel, to mate two ejector half structure kenel electric energy transmittings in two moving drivings, its structure and functional character can be selected to have one of following function or be had several functions simultaneously:

(1) the speedup power-assist output function of controllable speed ratio: its first interactive rotary body 103 is coupled to rotating-speed and torque master 111 through output shaft 100, and then with active power source 101 coupling, 104 of the second interactive rotary bodies lead to rotation output interface 126;

(2) be reverse damping function with the active power source: its second 104 of interactive rotary body is stationary state, and provide and the initiatively opposite reverse torque of power source 101 rotation directions by the first interactive rotary body 103, this reverse torque can be according to need for to be reverse less than the torque of active power source 101 and with active power source 101;

(3) recover kinetic energy of load 106 inertia or provide damping function to load 106 passback power: its first interactive rotary body 103 is stationary state, and the second interactive rotary body 104 provides the regenerative electric power function and then produce damping.

(B) Figure 6 shows that by borrow rotating-speed and the torque differential detecting device that constitute auxiliary power source with the coaxial motor of active power source and make the combined power system block schematic diagram of proportional control: the motor stator casing 133 of its auxiliary power source motor 102B is fixed, rotor 134 is for driving load 106, the electric machine structure kenel comprises interchange or direct current, synchronous or asynchronous, brushless or the motor of brush is arranged, and its structure and functional character can select to have following partial function or repertoire:

(1) initiatively the rotating shaft 105 of power source 101 for driving load 106, is open as if system through one-way clutch 122,122 ' be the concentric structure with rotation output interface 126 rotating shafts of motor 102B, and then one-way clutch 122,122 ' can omit need not;

(2) the initiatively rotating shaft 105 of power source 101 or by between rotational structure and static structures that it affected, be provided with rotating-speed and torque master 111, for the rotating speed that detects power source 101 initiatively and and the torque difference of 100 of output shafts as the control benchmark of System Operation;

(3) make ratio power-assist function according to active power source speed that rotating-speed and torque master detected and with the torque difference of 100 of output shafts: initiatively the power source rotation is to affect rotating-speed and torque master 111, and then the generation relative signal is transported to central controller 114, and reach setting value when above at tach signal, drive auxiliary power source motor 102B by motor driver 115, produce and the power-assist torsion of active power source rotating shaft with sense of rotation, and according to the preset proportion of central controller 114 control power-assist torque value, or make STOCHASTIC CONTROL by manual controller 113 and

central controller

114 and 115 pairs of auxiliary power source motors of motor driver 102B, to determine its power-assist torque value;

(4) power-assist of auxiliary power source motor 102B drives and the initiatively synthetic driving of 101 pairs of loads 106 of power source, the active drive rotating speed that the rotating speed perseverance is produced less than main power source 101;

(5) be relative reverse damping function with active power source 101 rotating speeds: be the active power source speed of borrowing rotating-speed and torque master 111 to be detected, and and the torque difference of 100 of output shafts be benchmark, produce reverse damping with the motor 102B that controls as auxiliary power source through central controller 114, its control mode is identical with aforementioned power-assist control procedure, only the torsion direction is with initiatively power source 101 is opposite, reverse torque is for producing according to central controller 114 preset proportion, or by manual controller 113 and central controller 114 through motor driver 115, the motor 102B as auxiliary power source is made STOCHASTIC CONTROL to control its reverse level of torque;

(6) maximal value of the contrary torsion damping of auxiliary power source motor 102B may command is permanent driving torsion less than 101 pairs of auxiliary power source motors of active power source 102B, or when system's selection is turned round as reverse driving, 102B does reverse affecting to active power source 101 by the auxiliary power source motor, and when initiatively power source 101 formed by the reverse load that affects, the torque perseverance of auxiliary power source motor 102B was more than or equal to the torque of active power source 101;

(7) recover kinetic energy function: 102B directly is converted to generator function by the auxiliary power source motor, does electricity generate function output to produce the mechanicalness damping.

(C) Figure 7 shows that by motor and wandering star (or differential) train and constitute to borrow rotating-speed and torque differential detecting device to make one of combined power system block schematic diagram of proportional control: auxiliary power source is made of motor 102C in this system, its motor stator casing 133 is fixing, rotor 134 is for driving load 106, the motor kenel comprises interchange or direct current, synchronous or asynchronous, brushless or the motor of brush arranged, its structure and functional character, can select to have one of following function or have several functionalities simultaneously:

(1) initiatively the rotating shaft 105 of power source 101 is the concentric setting with motor 102C, through one-way clutch 122,122 ' shaking wall 118 couplings with the output of the erratic star wheel 110,110 of the differential wheels of wandering star type ' affected leads to and rotate output interface 126; Rotor 134 rotating shafts borrow the differential wheels of wandering star type to intercouple towards rotation output interface 126 through the sun gear 108 and the outer shroud wheel 109 of motor stator casing 133, if system is open, then one-way clutch 122,122 ' can omit need not;

(2) the initiatively rotating shaft 105 of power source 101 or by rotational structure that it affected and decide between static structures, be provided with rotating-speed and torque master 111, for the rotating speed that detects power source 101 initiatively and and the torque difference of 100 of output shafts, as the control benchmark of System Operation;

(3) make ratio power-assist function according to power source speed initiatively: initiatively power source 101 rotates and affects rotating-speed and torque master 111, produce relative signal and transport to central controller 114, reach setting value when above at tach signal, the motor 102C that borrows motor driver 115 to drive as auxiliary power source, generation and the rotating shaft of active power source are through unidirectional transmission 122,122 ' affect the erratic star wheel 110 of the differential wheels of wandering star type, 110 ' the rocking arm 118 that affected, with the motor output auxiliary turning moment of common work with sense of rotation, and according to the preset proportion of central controller 114 control auxiliary turning moment value, or by control input device 113, central controller 114 and motor driver 115, to its auxiliary turning moment size of motor STOCHASTIC CONTROL of making auxiliary power source motor 102C, if system is open, then one-way clutch 122,122 ' can omit need not;

(4) driving of the power-assist of auxiliary power source 102C and the initiatively synthetic driving rotating speed of 101 pairs of loads 106 of power source, the active drive rotating speed that perseverance is produced less than active power source 101;

(5) be relative reverse damping function with power source 101 rotating speeds initiatively: with active power source speed that rotating-speed and torque master were detected and and the torque difference of 100 of output shafts be benchmark, the motor 102C that controls as auxiliary power source through central controller 114 produces reverse damping, its control mode is identical with aforementioned power-assist control procedure, only the torsion direction is with initiatively power source 101 is opposite, reverse torque produces according to central controller 114 preset proportion, or makes its reverse level of torque of STOCHASTIC CONTROL by manual controller 113 and central controller 114 through motor driver 115;

(6) maximal value of auxiliary power source motor 102C may command reversed damping torque, when system's selection is turned round as reverse driving, 102C does reverse affecting by the auxiliary power source motor, and when initiatively power source 101 formed by the reverse load that affects, the torque perseverance of auxiliary power source 102C was more than or equal to the torque of active power source 101;

(7) recover kinetic energy function: 102C directly is converted to generator function by the auxiliary power source motor, does the regenerative electric power running to produce the mechanicalness damping.

(D) Figure 8 shows that by motor and wandering star (or differential) train and constitute to borrow two of combined power system block schematic diagram that rotating-speed and torque differential detecting device make proportional control: auxiliary power source is made of motor 102D, and through wandering star (or differential) train and initiatively power source coupling, its motor kenel comprises interchange or direct current, synchronous or asynchronous, brushless or brush motor, its structure and functional character can have following function:

--ratio power-assist function: active power source 101, auxiliary power source motor 102D and rotation output interface 126, need and select to be coupled to individually sun gear 108, erratic star wheel 110 according to relative ratio and function, 110 ' and outer shroud wheel 109, the relation of active power source 101 and auxiliary power source motor 102D, the active power source speed that is detected with rotating-speed and torque master 111 is a benchmark, so that the control auxiliary power source, both borrow wandering star (or differential) train to make the ratio power-assist and drive.

Above-mentioned borrow active power source speed that rotating-speed and torque master detected and and output shaft between the torque difference as the combined power system of proportional control benchmark, can further add following peripheral control device and enlarge its range of application, comprising:

--initiatively power

source rotating shaft

105 and 126 of rotation output interfaces, can go here and there establish one-way clutch 122,122 ', make unidirectional transmission of torque for restriction, be open as if system, then one-way clutch 122,122 ' can omit need not;

--initiatively power source rotating shaft 105 and casing 121,121 ' add one-way clutch 122,122 ', when auxiliary power source drove load according to the setting sense of rotation, initiatively power source was stationary state, if system is open, then one-way clutch 122,122 ' can omit need not;

--initiatively power source rotating shaft 105 and casing 121,121 ', add by controllable clutch couplinges 123 such as manpower, machine power, stream power or electromagnetic forces, with replace one-way clutch 122,122 '; When clutch coupling broke away from, the power-assist that active power source and auxiliary power source are done speed or torque addition according to relative scale drove, or by the reverse torque damping function of auxiliary power source generation to the active power source; When clutch coupling is closed, initiatively power source pins, and by auxiliary power source load 106 is done to drive forward or backwards, or with the inertia kinetic energy of load 106 recover kinetic energy as regenerative electric power, if system is open, then above-mentioned one-way clutch 122,122 ' and may command clutch coupling 123 can omit need not, or the may command clutch coupling can omit need not:

--when auxiliary power source is two ejector half electric rotating machine 102A, can add between the two by controllable clutch couplinges 123 such as manpower, machine power, stream power or electromagnetic actions, and when may command clutch coupling 123 closures, make two moving structures be interlocking state, and directly drive load 106 by active power source 101, if system is open, then can omit need not for may command clutch coupling 123;

--when the auxiliary power source motor is 102B or 102C, then the rotor 134 of auxiliary power source is except that directly combining with active power source 101 and the output shaft that leads to rotation output interface 126 or through actuated element is coupled, also can further cooperate three's interaction needs and be provided with one-way clutch 122,122 '; One-way clutch 122,122 ' the position is set and the kinetic energy transmission directivity comprises: if initiatively power source directly or through actuated element leads to rotation output interface 126, then one-way clutch 122,122 ' be arranged between any rotating element of auxiliary power source rotor 134 and above-mentioned active power source and the 126 rotation drivings of rotation output interface, one-way clutch 122,122 ' clutch work sense of rotation, can need elect according to system; If auxiliary power source rotor 134 directly or through actuated element leads to rotation output interface 126, then one-way clutch 122,122 ' can be arranged between active power source 101 and above-mentioned auxiliary

power source motor

102B or 102C and the rotation output interface 126 any rotating elements, its one-way clutch 122,122 ' clutch work sense of rotation can need elect according to system, if system is open, then one-way clutch 122,122 ' can omit need not;

--when auxiliary power source motor 102D wandering star (or differential) train is coupled with the active power source, then can in auxiliary power source motor 102D rotating shaft, add detent 124, so that locking auxiliary power source and actuated element thereof, and by the direct driven in rotation output interface 126 of active power source, or during as recover kinetic energy, pin initiatively power source 101, and borrow reverse the affecting of the inertia of load 106 to make regenerative electric power and produce the braking damping by auxiliary power source motor 102D, if system is open, then can omit need not for detent 124.

In the practical application, the selection of clutch coupling and control system be can borrow, following repertoire or partial function wherein contained and adopt:

--borrow rotating-speed and active power source speed that torque master 111 detected and be the control benchmark with the torque difference of 100 of output shafts, the control auxiliary power source is done the power-assist driving;

--borrow rotating-speed and active power source speed that torque master 111 detected and with the torque difference of 100 of output shafts for controlling benchmark, the control auxiliary power source be with the reverse torque of power source initiatively so that damping to be provided, and on above-mentioned various functions or one of them basis, further have simultaneously and can control auxiliary power source and make auxiliary functions such as forward, reverse drive or the recovery of kinetic energy regenerative electric power separately or have wherein part subsidiary function.

Comprehensively above-mentioned, the combined power system of borrowing rotating-speed and torque differential detecting device to make proportional control of the present invention, initiative borrow active power source speed that rotating-speed and torque master detected and and output shaft between the torque difference be benchmark, with relative control initiatively power source and auxiliary power source intercropping linearity or non-linear ratio's power-assist, or produce reverse torque by auxiliary power source damping as the active power source is provided.Native system can be widely used in power-assist, electric power power-assist carrier, controllable type damping unit of control gear etc.

Claims

1. A compound power system that is proportionally controlled by a symbiotic speed and torque difference detection device, characterized in that it comprises:

--The active power source (101) is a power generation device driven by manpower, electric power or other mechanical forces and can be driven by rotation, and its power output shaft (105) is used as an auxiliary power source (102) or load (106) Direct coupling or power coupling via one-way transmission;

--The symbiotic speed and torque detection device (111), which is an analog or digital speed and torque detection device, is used to detect the speed and direction of the rotating shaft (105) and the output shaft (100) of the active power source (101) The torque difference between them is used as a reference for controlling the auxiliary power source; its detection signal is generated by means of electromagnetic effect, photoelectric effect or other physical effects, and its symbiosis method is that a single detection structure simultaneously generates a synthetic signal of speed and torque difference; Or a signal that is detected separately by two separate detection structures and then synthesized;

--Auxiliary speed detection device (112), which is an analog or digital speed detection device, to provide detection of auxiliary power source speed value or output shaft speed value, so as to input the central controller (114) to form output speed limit or other output Speed control signal feedback;

--The torque difference between the rotating shaft (105) and the output shaft (100) of the above-mentioned active power source (101) produces a relative actuating displacement and still maintains the mechanical structure of the transmission state of the two, from the conventional axial bidirectional actuating displacement Mechanism or radial bidirectional actuation displacement mechanism, including bidirectional actuatable helical structure or bidirectional actuatable internal or external helical rodless helical structure, or bidirectionally actuatable axial beveled coupling surface or helical teeth A coupling structure, or a detection structure that generates bidirectional actuation displacement to electric energy and rotation angle displacement to electric energy with torque difference, including analog or digital, etc. by means of photoelectric effect or electromagnetic effect or other physical effects. It is composed of DC, brushless or brushed or inductive structure, and can generate linear or non-linear, proportional or inverse relative power signal value from relative rotational motion, and linear or non-linear proportional to relative axial coupling position Or inversely change the ratio of its power signal;

--The output shaft (100), coupled between the output side and the rotational speed and torque detection device (111), is used to transmit rotational kinetic energy;

--Manual control device (113), which is a control input device composed of electromechanical components or solid-state electronic components and the interface of related control mechanisms, which can generate digital or analog power signals by manual control, or receive other power signals, and input and transmit them through the interface To the central controller (114) to select system functions or set or perform random control, the control signal is sent to the central controller (114), and then control the operating power of the auxiliary power source to provide proportional assist or proportional reverse damping;

--The central controller (114) is an analog or digital circuit device composed of electromechanical components or solid-state electronic components or a microprocessor, and a symbiotic speed and torque detection device (111) driven by an active power source (101) ) as a benchmark and with reference to the random control instructions of the manual control device (113) to control the motor drive device (115), and then control the auxiliary power source (102), to drive the motor function or operate as a regenerative generator function; the above In the system, between the active power source (101), the auxiliary power source (102) and the output shaft (100), the operation of linear or non-linear proportional power assist or proportional damping function is performed as required, and the system is constituted as closed-loop, open-loop or Semi-closed-loop system structure;

--The motor drive device (115), which is a device composed of electromechanical components or solid-state electronic components, accepts the control of the central controller (114) and the manual control device (113) to control the output or input power of the auxiliary power source (102) value and direction of rotation;

-- Auxiliary power source (102), which is a rotating electric machine with motor function or further function as generator, and its structure is double-acting rotating electric machine (102A) or rotating electric machine with stator and rotor (102B, 102C) or (102D), which have different operational functions in different structural types and coupling modes with the active power source (101);

--The power supply device (116), for supplying the power required by the auxiliary power source, the central controller, the motor drive device, the control input device and the peripheral control device; or for further storing the regenerative electric energy of the auxiliary power source;

--The load (106) consists of a rotary or linear motion mechanism receiving rotary power input.

2. The compound power system according to claim 1, characterized in that, its symbiotic speed and torque detection device is constituted as follows:

--The active power source shaft (105) is driven by receiving the rotational kinetic energy of the active power source (101), and the active power source shaft (105) and the symbiotic speed and torque difference detection device can axially displace the shaft hole of the rotor (211) There is a helical interactive structure (201) between them, the helical interactive structure (201) contains a toothed helix or a toothless rolling helix, and its helix angle can be used for two-way interaction, that is, it can be rotated by the active power source shaft (105) so that the shaft Axial displacement to the displacement rotor (211), or when the axially displaceable rotor (211) is axially compressed, the rotating shaft (105) of the active power source is reversed to generate rotation, or the axially displaceable rotor (211) itself generates rotation ; Between the axially displaceable rotor (211) and the output shaft (100) on the output side of the drive, there is a quincunx shaft group that can be used for axial displacement and rotation transmission or other lock key structures that can be used for axial sliding and rotation transmission ( 215), to allow relative axial displacement and still maintain the transmission state of the two when the two are used for rotational transmission;

-- There is a preload spring (202) with radial force between the active power source rotating shaft (105) itself and the active power source (101), so as to generate preload on the axially displaceable rotor (211). When rotating power is transmitted between (105) and the axially displaceable rotor (211), a relative axial displacement will be generated according to the direction of the transmitted torque and the magnitude of the torque; the axially displaceable rotor (211) and the casing (121) ) stator phase coupling, when the two are rotated and interacted to generate a detection power signal of axial displacement, the detection power signal strength is determined by the relative rotational speed and axial relative coupling position between the axially displaceable rotor (211) and the stator The rotation speed depends on the absolute rotation speed between the active power source (101) and the casing (121), while the relative axial position depends on the torque difference between the active power source (101) and the output shaft (100). The axial rotational displacement generated by the axially displaceable rotor (211) and the preload spring (202) can further change the axial coupling state between the axially displaceable rotor (211) and the stator;

--The symbiotic speed and torque detection device (111) composed of the above-mentioned axially displaceable rotor (211) and stator, the stator is composed of a magnetically permeable core (213) and a winding (212) that generates and detects electric energy, and is composed of The magnetic poles (216) and the structure with the helical interaction shaft hole constitute the axially displaceable rotor (211); the stator and the axially displaceable rotor are cylindrical or tapered structures;

--The symbiotic speed and torque detection device (111) composed of the above-mentioned axially displaceable rotor (211) and stator, no matter where the relative position of the axially displaceable rotor is, when the torque is zero, its output signal is Zero, can also be set to be greater than zero or less than zero;

--The symbiotic speed and torque detection device (111) composed of the above-mentioned axially displaceable rotor (211) and stator, when the speed is zero, its output signal is zero, and it can also be set to be greater than zero or less than zero ;

--The signal detected by the above-mentioned symbiotic speed and torque detection device (111) is an analog or digital signal, wherein the analog signal is compared and synthesized by an analog operation amplifier circuit, and then controlled by the central controller (114) The motor drive device (115) is used to drive the auxiliary power source (102) relative to the power and limit the maximum power value; if it is a digital signal, it will be processed by the digital central controller (114) to control the motor drive The device (115) performs relative control on the auxiliary force source (102) and limits the maximum power value;

-- the output shaft (100), driven by the rotational kinetic energy of the active power source (101) capable of axially displacing the rotor (211), and driven by the rotational kinetic energy of the auxiliary power source (102), which receives the auxiliary power source (102 ) rotation mode includes an indirect drive structure coupled with the transmission element and the auxiliary power source (102), or a direct drive structure directly combined with the rotor of the output shaft (100) and the auxiliary power source (102); Ways include direct coupling to the load, or indirect driving of the load through transmissions such as gears, sprockets, and linkages.

3. The compound power system according to claim 1, characterized in that, the structure of the symbiotic speed and torque detection device is composed of an axially displaceable rotor (311) and a stator, for detecting the rotating shaft (105) of the active power source The torque difference with the output shaft (100) is used to generate axial displacement and then generate a relative electric energy signal, and another set of driving speed detection devices (300) arranged between the active power source rotating shaft (105) and the casing (121) ) to detect the absolute rotational speed; the symbiotic rotational speed and torque detection device (111) formed by the above-mentioned two together has the following composition:

--The active power source rotating shaft (105) is driven by receiving the rotational kinetic energy of the active power source (101), and there is a helical interaction structure (201) between the active power source rotating shaft (105) and the shaft hole of the axially displaceable rotor (311) , the helical interaction structure includes a toothed helix or a toothless rolling helix, and the helix angle can be used for two-way interaction, that is, it can be rotated by the active power source shaft (105), so that the axially displaceable rotor (311) can be axially displaced, or When the axially displaceable rotor (311) is under axial pressure, the rotating shaft (105) of the active power source is reversed to generate rotation, or the axially displaceable rotor (311) itself generates rotation; the axially displaceable rotor (311) is connected to the drive Between the output shafts (100) on the output side, there is a quincunx shaft group that can be used for axial displacement and rotation transmission or other locking structure (215) that can be used for axial sliding and rotation transmission, so as to allow the rotation of the two. Make a relative axial displacement while still maintaining the transmission state of the two;

-- A preload spring (202) with a radial force is provided between the active power source rotating shaft (105) itself and the active power source (101) to generate preload on the axially displaceable rotor (311). When the rotating power is transmitted between the source shaft (105) and the axially displaceable rotor (311), relative axial displacement will be generated according to the direction and magnitude of the torque transmitted; the axially displaceable rotor (311) and the casing The relative coupling of the stator of (121) produces the detection electric energy signal of axial displacement amount when both are made axial displacement interaction; determined, while the axial relative position depends on the torque difference between the active power source (101) and the output shaft (100), the axial rotation generated by the axially displaceable rotor (311) and the preload spring (202) The displacement can further change the axial coupling state between the axially displaceable rotor (311) and the stator, and the driving speed detection device (300) is arranged between the active power source (101) and the casing (121), from the detection of the two Absolute speed;

--The symbiotic speed and torque detection device (111) composed of the above-mentioned axially displaceable rotor (311) and stator can be composed of a magnetically permeable core (313) and a primary winding (310) for inputting an AC signal source and for generating The secondary winding (312) for detecting the electric energy signal of the displacement constitutes the stator, and the axially displaceable rotor (311) is constituted by a structure having a magnetically permeable core (313) and a shaft hole that can be used as a helical interaction;

--The above-mentioned axially displaceable rotor (311) and its coupled stator together constitute a symbiotic speed and torque detection device (111), no matter where the relative position of the axially displaceable rotor is, when the torque is zero, its output The signal is zero, and can also be set to be greater than zero or less than zero;

-- when the above-mentioned driving speed detection device (300) is at zero speed, its output signal is zero;

--The above-mentioned torque difference signal and absolute speed signal can be analog or digital signal, wherein the analog signal can be synthesized by the analog operational amplifier circuit, so as to be processed by the central controller (114), and then control the motor drive device (115) to Drive the relative power and limit the maximum value to the auxiliary power source (102); if it is a digital signal, then through the signal processing of the digital central controller (114), then control the motor drive device (115) to the auxiliary power source ( 102) For relative control and maximum limit;

-- The output shaft (100), driven by the rotational kinetic energy of the active power source (101) capable of axially displacing the rotor (311), and driven by the rotational kinetic energy of the auxiliary power source (102), which receives the auxiliary power source (102 ) rotation mode includes an indirect drive structure coupled with the transmission element and the auxiliary power source (102), or a direct drive structure directly combined with the rotor of the output shaft (100) and the auxiliary power source (102); Ways include direct coupling to the load, or indirect driving of the load through transmissions such as gears, sprockets, and linkages.

4. The composite power system as claimed in claim 1, characterized in that, its auxiliary power source is a double-acting rotating electrical machine (102A), which has a first interactive rotating body ( 103) and the second interactive rotating body (104), its structure is cylindrical, cup-shaped, disc-shaped or conical, and its motor structure and operation mode include DC or AC, synchronous or asynchronous, brushless or brushed structure type of rotating electrical machine, its first interactive rotating body (103) is coupled to the symbiotic speed and torque detection device (111) through the output shaft (100), and then coupled to the active power source rotating shaft (105), and its second interactive The rotating body (104) drives the rotating output interface (126) directly or through a transmission element; between the active power source rotating shaft (105) and the casing (121), a one-way clutch (122) is added as required to select one of them. The direction is used to prevent reverse pulling. If this function is discarded, there is no need to set up a one-way clutch; the first interactive rotating body (103) and the second interactive rotating body (104) in the above structure are two units, one of which is the motor magnetic field structure, the other unit is the motor rotor structure, the two units or one of them are added auxiliary conductive rings (107), conductive brushes (117) and brush holders according to the structure of the motor to match the double-acting structure in double-acting The electric energy is transmitted in the drive, and its structure and functional characteristics are selected to have one of the following functions or several functions at the same time:

(1) The output function of speed-up and power-assist that can control the speed ratio: its first interactive rotating body (103) is coupled to the symbiotic speed and torque detection device (111) through the output shaft (100), and then communicates with the active power source ( 101) coupling, the second interactive rotating body (104) leads to the rotating output interface (126);

(2) It has a reverse damping function with the active power source: its second interactive rotating body (104) is in a static state, and the first interactive rotating body (103) provides a reverse rotation direction opposite to that of the active power source (101). Moment, this reverse torque is less than the torque of the active power source (101) and is reversed with the active power source (101) as required;

(3) The kinetic energy recovery of the inertia of the load (106) or the damping function for the return power of the load (106): the first interactive rotating body (103) is in a static state, and the second interactive rotating body (104) provides regenerative power generation function resulting in damping.

5. The compound power system according to claim 1, characterized in that, it also includes an auxiliary power source motor (102B) composed of a motor coaxial with the active power source, its motor stator housing (133) is fixed, and the rotor (134) For driving the load (106), the motor structure type includes AC or DC, synchronous or asynchronous, brushless or brushed motor, and its structure and functional characteristics can be selected to have some or all of the following functions:

(1) The rotating shaft (105) of the active power source (101) is in a coaxial structure through the one-way clutch (122) and the rotating output interface (126) of the motor (102B), for driving the load (106);

(2) Between the rotating shaft (105) of the active power source (101) or the rotating structure driven by it and the stationary structure, a symbiotic speed and torque detection device (111) is provided for detecting the active power source (101) The rotational speed and the torque difference with the output shaft (100) are used as the control reference for system operation;

(3) According to the rotational speed of the active power source detected by the symbiotic speed and torque detection device and the torque difference between it and the output shaft (100), the proportional assist function is used: the active power source rotates to affect the symbiotic speed and torque The detection device (111) then generates a relative signal and sends it to the central controller (114), and when the speed signal reaches the set value or above, the motor drive device (115) drives the auxiliary power source motor (102B) to generate the active power The power-assisted torque of the source rotating shaft in the same direction of rotation, and the value of the power-assisted torque is controlled according to the setting ratio of the central controller (114), or the manual control device (113), the central controller (114) and the motor drive device (115) Perform random control on the auxiliary power source motor (102B) to determine its auxiliary torque value;

(4) The auxiliary drive of the auxiliary power source motor (102B) and the synthetic drive of the active power source (101) to the load (106), the rotational speed is always smaller than the active drive rotational speed produced by the active power source (101);

(5) Reverse damping function relative to the rotational speed of the active power source (101): it is the rotational speed of the active power source detected by the symbiotic rotational speed and torque detection device (111), and the torque difference with the output shaft (100) The value is the reference, and the motor (102B) as the auxiliary power source controlled by the central controller (114) produces reverse damping. The torque is generated according to the ratio set by the central controller (114), or the manual control device (113) and the central controller (114) act on the motor (102B) as an auxiliary power source through the motor drive device (115). Random control to control its reverse torque;

(6) The maximum value of the reverse torque damping that can be controlled by the auxiliary power source motor (102B) is always less than the driving torque of the active power source (101) to the auxiliary power source motor (102B), or when the system is selected as reverse drive operation, by The auxiliary power source motor (102B) reversely pulls the active power source (101), and when the active power source (101) forms a load that is reversely pulled, the torque of the auxiliary power source motor (102B) is always greater than or equal to the active power source (101) torque;

(7) Kinetic energy recovery function: the auxiliary power source motor (102B) is directly converted into a generator function, which is output as a power generation function to generate mechanical damping.

6. The compound power system according to claim 1, characterized in that, it also includes an electric motor and planetary or differential gear train, the auxiliary power source in this system is formed by a motor (102C), and its motor stator housing (133) Fixed, the rotor (134) is used to drive the load (106), the motor type includes AC or DC, synchronous or asynchronous, brushless or brushed motor, its structure and functional characteristics, choose to have one of the following functions or several at the same time Function:

(1) The rotating shaft (105) of the active power source (101) and the motor (102C) are coaxially arranged, and are driven by the one-way clutch (122) and the planetary wheel (110) of the planetary differential wheel set The output rocking wall (118) is coupled to the rotary output interface (126); the rotating shaft of the motor rotor (134) passes through the sun gear (108) and the outer ring wheel (109) of the motor stator housing (133) by means of the star differential wheel Group mutual coupling to the rotary output interface (126);

(3) Proportional assisting function according to the rotational speed of the active power source: the active power source (101) rotates to affect the symbiotic speed and torque detection device (111), and generates a relative signal to the central controller (114). When the signal reaches above the set value, the motor (102C) used as the auxiliary power source is driven by the motor driving device (115), and the rotation shaft of the active power source drives the planetary differential wheel set through the one-way transmission device (122). The rocker arm (118) driven by the star wheel (110) works together to output the power-assist torque with the motors in the same direction of rotation, and the value of the power-assist torque is controlled according to the setting ratio of the central controller (114), or controlled by the control The input device (113), the central controller (114) and the motor drive device (115) randomly control the magnitude of its power-assist torque for the motor used as the auxiliary power source motor (102C);

(4) The combined driving speed of the auxiliary drive of the auxiliary power source (102C) and the active power source (101) to the load (106) is always smaller than the active driving speed generated by the active power source (101);

(5) Reverse damping function relative to the rotational speed of the active power source (101): based on the rotational speed of the active power source detected by the symbiotic rotational speed and torque detection device and the torque difference with the output shaft (100), the The central controller (114) controls the motor (102C) as the auxiliary power source to generate reverse damping. The control method is the same as the aforementioned auxiliary control process, except that the direction of the torque is opposite to that of the active power source (101), and the reverse torque depends on the direction of the central controller. (114) It is generated by setting the ratio, or it is randomly controlled by the manual control device (113) and the central controller (114) through the motor drive device (115) to control the size of its reverse torque;

(6) The auxiliary power source motor (102C) can control the maximum value of the reverse damping torque. When the system is selected as the reverse driving operation, the auxiliary power source motor (102C) is used for reverse driving, and the active power source (101) forms a driven When the load is pulled in reverse, the torque of the auxiliary power source (102C) is always greater than or equal to the torque of the active power source (101);

(7) Kinetic energy recovery function: the auxiliary power source motor (102C) is directly converted into a generator function, and is operated for regenerative power generation to generate mechanical damping.

7. The compound power system according to claim 1, characterized in that, the motor (102D) of the auxiliary power source is coupled with the active power source via planetary or differential gear trains, and its motor type includes AC or DC, Synchronous or asynchronous, brushless or brushed motors, their structure and functional characteristics, have the following functions:

--Proportional power assist function: active power source (101), auxiliary power source motor (102D) and rotary output interface (126), which are individually coupled to the sun gear (108) and planetary gear according to the relative speed ratio and functional requirements (110) and the outer ring wheel (109), the relationship between the active power source (101) and the auxiliary power source motor (102D), based on the active power source speed detected by the symbiotic speed and torque detection device (111), In order to control the auxiliary power source, the two are driven proportionally by planetary (or differential) gear trains.

8. The compound power system according to claim 1, characterized in that, the following peripheral control devices are further added to expand its application range, including:

--A one-way clutch (122) is arranged in series between the active power source rotating shaft (105) and the rotary output interface (126), for limiting one-way torque transmission;

--Add a one-way clutch (122) between the active power source rotating shaft (105) and the casing (121), and when the auxiliary power source drives the load according to the set rotation direction, the active power source is in a static state;

-- Between the active power source rotating shaft (105) and the casing (121), add a clutch (123) that can be controlled by manpower, mechanical force, flow force or electromagnetic force to replace the one-way clutch (122); When the clutch is disengaged, the active power source and the auxiliary power source perform speed or torque addition auxiliary drive according to the relative ratio, or the auxiliary power source generates a reverse torque damping function for the active power source; when the clutch is closed, the active power source The source is locked, and the load (106) is driven forward or reverse by the auxiliary power source, or the inertial kinetic energy of the load (106) is recovered as kinetic energy for regenerative power generation;

--When the auxiliary power source is a double-acting rotating electrical machine (102A), a clutch (123) that can be controlled by manpower, mechanical force, fluid force or electromagnetic action is added between the two, and the controllable clutch (123) ) is closed so that the double-acting structure is in an interlocking state, and the active power source (101) directly drives the load (106);

--When the auxiliary power source motor is (102B) or (102C), the motor rotor (134) of the auxiliary power source is directly combined with the active power source (101) and the output shaft leading to the rotary output interface (126) or In addition to being coupled by the transmission element, a one-way clutch (122) can be provided to further meet the interaction needs of the three; the setting position of the one-way clutch (122) and the directionality of kinetic energy transmission include: if the active power source communicates directly or through the transmission element To the rotation output interface (126), the one-way clutch (122) is arranged between the auxiliary power source motor rotor (134) and any rotating element driven by the above-mentioned active power source and the rotation output interface (126), and the one-way clutch (122) clutch working direction of rotation can be selected according to the needs of the system; if the auxiliary power source motor rotor (134) leads to the rotary output interface (126) directly or through a transmission element, then the one-way clutch (122) can be arranged on the active Between the power source (101) and the above-mentioned auxiliary power source motor (102B) or (102C) and any rotating element of the rotary output interface (126), the rotation direction of the one-way clutch (122) can be selected according to the needs of the system. ;

--When the planetary (or differential) gear train of the auxiliary power source motor (102D) is coupled with the active power source, a brake (124) is added on the shaft of the auxiliary power source motor (102D) to lock the auxiliary power source and its transmission components, and the active power source directly drives the rotary output interface (126), or as kinetic energy recovery, locks the active power source (101), and borrows the inertia of the load (106) from the auxiliary power source motor (102D) Reverse pulling acts as regenerative power generation to generate braking damping.