CN112896408A - Electric motorcycle riding method, system, electronic equipment and storage medium - Google Patents
Electric motorcycle riding method, system, electronic equipment and storage medium Download PDFInfo
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- CN112896408A CN112896408A CN202110146545.3A CN202110146545A CN112896408A CN 112896408 A CN112896408 A CN 112896408A CN 202110146545 A CN202110146545 A CN 202110146545A CN 112896408 A CN112896408 A CN 112896408A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
- B62K23/02—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips hand actuated
- B62K23/04—Twist grips
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K2204/00—Adaptations for driving cycles by electric motor
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Abstract
The invention provides a riding method and system for an electric motorcycle, electronic equipment and a storage medium, wherein the method comprises the following steps: s1, acquiring the current speed and the current handle opening of the vehicle; s2, acquiring a first processing rule for processing the current vehicle speed and a second processing rule for processing the current handle opening; s3, processing the current vehicle speed according to a first processing rule to obtain a first target value; s4, processing the current handle opening according to a second processing rule to obtain a second target value; and S5, calculating the torque variation according to the acquired first target value, the acquired second target value and a preset formula. The invention aims to overcome the defects of the existing electric motorcycle riding scheme.
Description
Technical Field
The invention belongs to the technical field of electric vehicles, and particularly relates to a riding method and system of an electric motorcycle, electronic equipment and a storage medium.
Background
At present, a speed regulating structure for realizing the starting and the control of the riding speed by controlling an electric motorcycle by a user is mostly a rotatable rotating handle structure (equivalent to an accelerator handle of a two-wheel fuel vehicle). The opening of the rotating handle is converted into physical signals such as voltage and the like through the rotation of the rotating handle, and then the physical signals are sent to the controller, after the riding algorithm processing of a software program is carried out on the controller, corresponding driving current and voltage values are output to the motor, and the torque and the speed of the motor are dynamically adjusted in real time. Due to the implementation process of riding, the variables influencing the motor driving are mainly the rotating handle rotating opening conversion characteristic, the riding algorithm of the controller, the driving characteristic of the motor and the like.
The relation between the rotary opening value of the handle and the converted physical signal (such as voltage) is generally required to be equivalent linearity, and the permanent magnet brushless direct current motor with non-special functions is practical, so that the riding algorithm strategy scheme of the controller plays an important role in driving the motor. However, in reality, most of the riding modes are simpler in algorithm scheme, and the requirements of various practical use working conditions such as starting, accelerating, turning, bumpy road and speed stability cannot be met comprehensively and well, for example: starting and impacting, starting and sliding on a slope, unsmooth acceleration, poor follow-up performance after speed lag in slow turning, large speed change of control under bumpy road conditions and the like all influence the comfort and the feeling of peace of mind of a user when the user controls the electric motorcycle, so that the user can not enjoy the joyful control.
Disclosure of Invention
The invention aims to provide a method, a system, electronic equipment and a storage medium for riding an electric motorcycle, and aims to overcome the defects of the existing electric motorcycle riding scheme.
The invention is realized by the following technical scheme:
an electric motorcycle riding method comprises the following steps:
s1, acquiring the current speed and the current handle opening of the vehicle;
s2, acquiring a first processing rule for processing the current vehicle speed and a second processing rule for processing the current handle opening;
s3, processing the current vehicle speed according to a first processing rule to obtain a first target value;
s4, processing the current handle opening according to a second processing rule to obtain a second target value;
and S5, calculating the torque variation according to the acquired first target value, the acquired second target value and a preset formula.
Further, the first processing rule includes a speed array, where the speed array is composed of a plurality of ordered first element values and a first subscript, denoted as V, where vi is an ith first element value in the speed array, the first element value is a speed value, i is a first subscript corresponding to the first element value, and is an order number of the first element value in the speed array, and i is 1, 2, … …, n;
the step of processing the current vehicle speed according to the first processing rule to obtain the first target value comprises the following steps:
s31, setting the initial value of i as 1;
s32, judging whether the current speed is less than or equal to V [ i ], if not, entering the step S33, and if so, entering the step S34;
s33, adding 1 to i, and judging whether i is smaller than a preset first threshold, if so, entering a step S32, and if not, entering a step S34;
s34, judging whether i is larger than n, if so, setting the value of i as n, and entering step S35, otherwise, entering step S35;
s35, setting the value of i as the first target value.
Further, the second processing rule includes a handle transferring array, the handle transferring array is composed of a plurality of ordered second element values and second subscripts, namely Z, where Z [ j ] is a jth second element value in the handle transferring array, the second element value is a handle transferring opening value, j is a second subscript corresponding to the second element value, and is a sorting serial number of the second element value in the handle transferring array, and j is 1, 2, … …, m;
the step of processing the current turning handle opening degree according to a second processing rule to obtain a second target value comprises the following steps:
s41, setting the initial value of j to be 1;
s42, judging whether the current handle opening is less than or equal to Zj, if not, going to S43, if yes, going to S44;
s43, adding 1 to j, and judging whether j is smaller than a preset second threshold, if so, entering a step S42, and if not, entering a step S44;
s44, judging whether j is larger than m, if so, setting the value of j as m, and entering a step S45, otherwise, entering a step S45;
s45, the value of j is set as the second target value.
Further, according to the acquired first target value, the second target value and a preset formula, the step of calculating the torque variation is as follows:
the preset formula is that Δ T is i × a + j, where Δ T is a torque variation, i is a first target value, a is a set constant value, and j is a second target value.
The invention also provides an electric motorcycle riding system, which comprises:
the first acquisition module is used for acquiring the current speed and the current turning handle opening degree of the vehicle;
the second acquisition module is used for acquiring a first processing rule for processing the current vehicle speed and a second processing rule for processing the current turning handle opening degree;
the first processing module is used for processing the current vehicle speed according to a first processing rule to obtain a first target value;
the second processing module is used for processing the current turning handle opening according to a second processing rule to obtain a second target value;
and the calculating module is used for calculating the torque variation according to the acquired first target value, the acquired second target value and a preset formula.
The invention also discloses an electronic device, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of any one of the methods when executing the computer program.
The invention also discloses a computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, realizes the steps of the method of any of the above.
Compared with the prior art, the invention has the beneficial effects that: the current speed and the current opening of the handle of a turn of the vehicle are used as basic parameters for controlling the torque variation, the running condition of the electric motorcycle in the actual running process can be included, the torque variation is controlled and adjusted according to the actual demand in the running process of the electric motorcycle, and the excellent effects of gentle starting, smooth acceleration, strong slope starting power, turning and stable bumpy road power output can be realized in the user running process.
Drawings
FIG. 1 is a flow chart of steps of a method for riding an electric motorcycle according to the present invention;
FIG. 2 is a schematic block diagram of an electric motorcycle riding system of the present invention;
FIG. 3 is a block diagram illustrating the structure of an embodiment of the electronic device of the present invention;
FIG. 4 is a block diagram illustrating a structure of an embodiment of a computer-readable storage medium according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally put in use of products of the present invention, and are only for convenience of description and simplification of description, but do not indicate or imply that the devices or elements referred to must have specific orientations, be constructed in specific orientations, and be operated, and thus, should not be construed as limiting the present invention.
Referring to fig. 1, fig. 1 is a flowchart illustrating steps of a method for riding an electric motorcycle according to the present invention.
An electric motorcycle riding method comprises the following steps:
s1, acquiring the current speed and the current handle opening of the vehicle;
s2, acquiring a first processing rule for processing the current vehicle speed and a second processing rule for processing the current handle opening;
s3, processing the current vehicle speed according to a first processing rule to obtain a first target value;
s4, processing the current handle opening according to a second processing rule to obtain a second target value;
and S5, calculating the torque variation according to the acquired first target value, the acquired second target value and a preset formula.
In the step S1, most of the riding methods of the electric motorcycles in the prior art use two-dimensional curves, which are obtained by debugging two-dimensional data parameters, that is, the same turning handle opening corresponds to only one target speed value or torque value, and the motor state is also adjusted according to a single target when actually controlling the motor state, but in the actual riding process, the motor state switching is easily unnatural due to the adjustment according to the single target, and the riding feeling of the user is uncomfortable. Therefore, the invention adopts three-dimensional space parameterization control, the three-dimensional parameters are the rotating handle opening degree, the vehicle speed and the torque value, in the riding process of the electric motorcycle, the parameters which can be clearly grasped by a user are the rotating handle opening degree value and the vehicle speed value, so that the current vehicle speed and the current rotating handle opening degree of the vehicle are obtained, the current vehicle speed and the current rotating handle opening degree are used as the base numbers of the controller for input, namely the current vehicle speed and the current rotating handle opening degree are used as independent variables for input, and the controller controls the torque variation according to the current vehicle speed and the current rotating handle opening degree.
In the above step S2, a first processing rule and a second processing rule are set in the controller in advance, and the first processing rule and the second processing rule can be directly obtained when needed, and the first processing rule is used for processing the current vehicle speed, such as taking the vehicle speed variation as the y axis. The second processing rule is used for processing the current turning handle opening degree, such as taking the turning handle opening degree variable quantity as an x axis.
In step S3, the current vehicle speed is processed according to the first processing rule, and different first target values corresponding to the x-axis values are obtained for different current vehicle speeds.
Further, the first processing rule includes a speed array, where the speed array is composed of a plurality of ordered first element values and a first subscript, denoted as V, where vi is an ith first element value in the speed array, the first element value is a speed value, i is a first subscript corresponding to the first element value, and is an order number of the first element value in the speed array, and i is 1, 2, … …, n;
specifically, in one embodiment, the velocity array is shown in Table 1 below:
TABLE 1
| Value of first element | 0 | 5 | 10 | 15 | 20 | 25 | 30 | 35 | 40 | 45 |
| First subscript i | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 |
The first element values are arranged from small to large and are in an arithmetic progression, the tolerance among the first element values can be adjusted according to each state value in the electric motorcycle riding process so as to achieve a more comprehensive riding subdivision state, namely, the tolerance can more comprehensively correspond to various riding conditions in the electric motorcycle riding process, and the first element values are speed values with the unit of km/h.
The step of processing the current vehicle speed according to the first processing rule to obtain the first target value comprises the following steps:
s31, setting the initial value of i as 1;
s32, judging whether the current speed is less than or equal to V [ i ], if not, entering the step S33, and if so, entering the step S34;
s33, adding 1 to i, and judging whether i is smaller than a preset first threshold, if so, entering a step S32, and if not, entering a step S34;
s34, judging whether i is larger than n, if so, setting the value of i as n, and entering step S35, otherwise, entering step S35;
s35, setting the value of i as the first target value.
In the above steps S31 to S35, the coordinate corresponding to the y-axis is queried according to the current vehicle speed, a variable i is defined, and an initial value of i is set to 1, that is, a first subscript corresponding to the first element value is assigned to i, so that the current vehicle speed is compared from the first element value, and whether the current vehicle speed is less than or equal to the first element value is determined. If the current vehicle speed is greater than the first element value, adding 1 to the value of i, wherein the value of i is 2, then judging whether i is less than a first threshold value, wherein the first threshold value is determined according to the maximum value n of a first subscript, and the first threshold value is equal to the maximum value n of the first subscript plus 1. For example, if the current vehicle speed is equal to or less than the second first element value, it is determined whether the value of i at this time is greater than the maximum value n of the first index, and since the value of i at this time is 2 and less than the maximum value 10 of the first index, the value of i is set as the first target value, that is, the first target value is 2. Or ending the circulation after the value of i is greater than or equal to the first threshold value 11, indicating that the current vehicle speed is greater than all the first element values in the speed array, wherein the value of i is 11, then judging whether the value of i is greater than the maximum value of the first subscript, assigning the maximum value of the first subscript 10 to i as the value of i is 11 and greater than the maximum value of the first subscript 10, wherein the value of i is 10, and finally taking the value of i as a first target value, namely the first target value is 10.
In step S4, the current twist grip opening degree is processed according to the second processing rule, and different current twist grip opening degrees obtain different second target values corresponding to the y-axis value.
Further, the second processing rule includes a handle transferring array, the handle transferring array is composed of a plurality of ordered second element values and second subscripts, namely Z, where Z [ j ] is a jth second element value in the handle transferring array, the second element value is a handle transferring opening value, j is a second subscript corresponding to the second element value, and is a sorting serial number of the second element value in the handle transferring array, and j is 1, 2, … …, m;
specifically, in one embodiment, the handle array is shown in table 2 below:
TABLE 2
| Value of the second element | 0 | 5 | 10 | 15 | 20 | 25 | 30 | 35 | 40 | 45 | 50 | 55 | 60 |
| Second subscript j | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 |
The plurality of second element values are arranged from small to large and are arranged in an arithmetic progression, the tolerance among the plurality of second element values can be adjusted according to each state value in the electric motorcycle riding to achieve a more comprehensive riding subdivision state, namely, the tolerance can more comprehensively correspond to various riding working conditions in the electric motorcycle riding, and the first element value is a turning handle opening value with the unit of degree.
The step of processing the current turning handle opening degree according to a second processing rule to obtain a second target value comprises the following steps:
s41, setting the initial value of j to be 1;
s42, judging whether the current handle opening is less than or equal to Zj, if not, going to S43, if yes, going to S44;
s43, adding 1 to j, and judging whether j is smaller than a preset second threshold, if so, entering a step S42, and if not, entering a step S44;
s44, judging whether j is larger than m, if so, setting the value of j as m, and entering a step S45, otherwise, entering a step S45;
s45, the value of j is set as the second target value.
In the above steps S41 to S45, the coordinate corresponding to the x-axis is searched for according to the current position of the handle, a variable j is defined, and the initial value of j is set to 1, that is, the second index corresponding to the first second element value is assigned to j, so that the current position of the handle is compared from the first second element value, and whether the current position of the handle is less than or equal to the first second element value is determined. If the current vehicle speed is greater than the first element value, adding 1 to the value of j, wherein the value of j is 2, then judging whether j is smaller than a second threshold value, determining the second threshold value according to the maximum value m of a second subscript, wherein the second threshold value is equal to the maximum value m of the second subscript plus 1, if the maximum value m of the second subscript is 13, the second threshold value is 14, so as to judge whether the value of j is greater than the maximum value m of the second subscript, and since the value of j is 2 and is smaller than the second threshold value 14, the process is re-entered into step S42, whether the current handle opening is smaller than or equal to a second element value is judged, and if the current handle opening is greater than the second element value, the process is repeated until the current handle opening is smaller than or equal to one second element value in the handle array, or the value of j is greater than or equal to the second threshold value. For example, if the opening degree of the current knob is smaller than or equal to the second element value, it is determined whether the value of j at this time is larger than the maximum value m of the second subscript, and since the value of j at this time is 2 and smaller than the maximum value 13 of the second subscript, the value of j is taken as the second target value, that is, the second target value is 2. Or ending the circulation after the value of j is greater than or equal to a second threshold value 14 in the circulation process, which indicates that the current handle opening is greater than all second element values in the handle array, at the moment, the value of j is 14, then judging whether the value of j is greater than the maximum value m of a second subscript, and assigning the maximum value 13 of the second subscript to j because the value of j is 14 and greater than the maximum value 13 of the second subscript, at the moment, the value of j is changed to 13, and finally taking the value of j as a second target value, namely, the second target value is 13.
In the step S5, the torque variation is taken as the z-axis, the torque variation is calculated according to the first target value, the second target value and the preset formula, the controller controls the torque value according to the torque variation, the three-dimensional curve control is realized, the riding condition of the electric motorcycle in the actual driving process is basically included, the working condition is high in all-point-to-point performance, and the defects of the existing two-dimensional curve control algorithm can be greatly overcome. In the riding experience of a user, the excellent effects of gentle starting, smooth acceleration, strong slope starting power and stable power output of turning and bumpy roads can be achieved, the comfort and the feeling of reassurance of the user when the user operates the electric motorcycle are improved, and the user can enjoy the joyful feeling of operation.
Further, in step S5, in the step of calculating the torque variation amount according to the acquired first target value, second target value and preset formula:
the preset formula is that Δ T is i × a + j, where Δ T is a torque variation, i is a first target value, a is a set constant value, and j is a second target value.
The torque variation Δ T is linearly related to the first target value i and the second target value j, and the constant value a is a constant value set empirically, and may be set to a constant value such as 10, 13, or 15.
The invention also provides an electric motorcycle riding system, which comprises:
the first acquisition module 1 is used for acquiring the current speed and the current turning handle opening degree of a vehicle;
the second acquisition module 2 is used for acquiring a first processing rule for processing the current vehicle speed and a second processing rule for processing the current turning handle opening;
the first processing module 3 is used for processing the current vehicle speed according to a first processing rule to obtain a first target value;
the second processing module 4 is used for processing the current turning handle opening according to a second processing rule to obtain a second target value;
and the calculating module 5 is used for calculating the torque variation according to the acquired first target value, the acquired second target value and a preset formula.
In the prior art, the riding method of the electric motorcycle mostly adopts a two-dimensional curve, and is debugged based on two-dimensional data parameters, namely, the same turning handle opening degree corresponds to only one target speed value or torque value, and the motor state is also adjusted according to a single target when being actually controlled. Therefore, the invention adopts three-dimensional space parameterization control, the three-dimensional parameters are the rotating handle opening degree, the vehicle speed and the torque value, and the parameters which can be clearly grasped by a user are the rotating handle opening degree value and the vehicle speed value in the riding process of the electric motorcycle, so that the first acquisition module 1 acquires the current vehicle speed and the current rotating handle opening degree of the vehicle, the current vehicle speed and the current rotating handle opening degree are used as the base numbers of the controller for input, namely the current vehicle speed and the current rotating handle opening degree are used as independent variables for input, and the controller controls the torque variation according to the current vehicle speed and the current rotating handle opening degree.
The first processing rule and the second processing rule are set in the controller in advance, the second obtaining module 2 can directly obtain the current vehicle speed when the vehicle needs to be used, and the first processing rule is used for processing the current vehicle speed, for example, the vehicle speed variation is used as a y axis. The second processing rule is used for processing the current turning handle opening degree, such as taking the turning handle opening degree variable quantity as an x axis.
The first processing module 3 processes the current vehicle speed through a first processing rule, different first target values are obtained from different current vehicle speeds, and the first target values correspond to values of an x axis.
Further, the first processing rule includes a speed array, where the speed array is composed of a plurality of ordered first element values and a first subscript, denoted as V, where vi is an ith first element value in the speed array, the first element value is a speed value, i is a first subscript corresponding to the first element value, and is an order number of the first element value in the speed array, and i is 1, 2, … …, n;
specifically, in one embodiment, the velocity array is shown in Table 1 below;
the first element values are arranged from small to large and are in an arithmetic progression, the tolerance among the first element values can be adjusted according to each state value in the electric motorcycle riding process so as to achieve a more comprehensive riding subdivision state, namely, the tolerance can more comprehensively correspond to various riding conditions in the electric motorcycle riding process, and the first element values are speed values with the unit of km/h.
The first processing module 3 includes:
the first setting submodule is used for setting the initial value of i to be 1;
a first judgment submodule for judging whether the current vehicle speed is less than or equal to Vi, if not, executing a second judgment submodule, and if so, executing a first setting submodule;
the second judgment submodule is used for adding 1 to i and judging whether i is smaller than a preset first threshold value, if so, executing the first judgment submodule, and if not, executing the first setting submodule;
the first setting submodule is used for judging whether i is larger than n, if so, setting the value of i as n, executing the first as submodule, and if not, executing the first as submodule;
the first is a submodule for taking the value of i as a first target value.
And inquiring the coordinate corresponding to the y-axis according to the current vehicle speed, defining a variable i by the first setting submodule, setting the initial value of i to be 1, namely assigning a first subscript corresponding to the first element value to i, so that the current vehicle speed is compared from the first element value, and judging whether the current vehicle speed is less than or equal to the first element value by the first judging submodule. If the current vehicle speed is greater than the first element value, the second judgment submodule adds 1 to the value of i, the value of i is 2, then whether i is smaller than a first threshold value is judged, the first threshold value is determined according to the maximum value n of the first subscript, the first threshold value is equal to the maximum value n of the first subscript plus 1, in this embodiment, the maximum value n of the first subscript is 10, the first threshold value is 11, whether the value of i is greater than the maximum value n of the first subscript is judged, the value of i is 2 and smaller than the first threshold value 11, therefore, the first judgment submodule is executed again, whether the current vehicle speed is less than or equal to the second first element value is judged, if the current vehicle speed is greater than the second first element value, the process is repeated until the current vehicle speed is less than or equal to one first element value in the speed array, or the value of i is greater than or equal to the first threshold value. For example, if the current vehicle speed is equal to or less than the second first element value, the first setting submodule determines whether the value of i at that time is greater than the maximum value n of the first subscript, and since the value of i at that time is 2 and less than the maximum value 10 of the first subscript, the first setting submodule sets the value of i as the first target value, that is, the first target value is 2. Or ending the circulation after the value of i is greater than or equal to a first threshold value 11 in the circulation process, wherein the current vehicle speed is greater than all first element values in the speed array, the value of i is 11 at the moment, then judging whether the value of i is greater than the maximum value of a first subscript by a first setting submodule, and assigning the maximum value 10 of the first subscript to i as the value of i is 11 and greater than the maximum value 10 of the first subscript, wherein the value of i is changed to 10 at the moment, and finally enabling a first serving submodule to take the value of i as a first target value, namely the first target value is 10.
Further, the second processing rule includes a handle transferring array, the handle transferring array is composed of a plurality of ordered second element values and second subscripts, namely Z, where Z [ j ] is a jth second element value in the handle transferring array, the second element value is a handle transferring opening value, j is a second subscript corresponding to the second element value, and is a sorting serial number of the second element value in the handle transferring array, and j is 1, 2, … …, m;
specifically, in one embodiment, the handle array is shown in table 2 below;
the plurality of second element values are arranged from small to large and are arranged in an arithmetic progression, the tolerance among the plurality of second element values can be adjusted according to each state value in the electric motorcycle riding to achieve a more comprehensive riding subdivision state, namely, the tolerance can more comprehensively correspond to various riding working conditions in the electric motorcycle riding, and the first element value is a turning handle opening value with the unit of degree.
The second processing module 4 includes:
the second setting submodule is used for setting the initial value of j to be 1;
the third judgment submodule is used for judging whether the current handle rotating opening degree is less than or equal to Zj, if not, the fourth judgment submodule is executed, and if so, the second setting submodule is executed;
the fourth judgment submodule is used for adding 1 to j and judging whether j is smaller than a preset second threshold value, if so, executing the third judgment submodule, and if not, executing the second setting submodule;
the second setting submodule is used for judging whether j is larger than m, if so, setting the value of j as m, executing the second as submodule, and if not, executing the second as submodule;
and secondly as a submodule for taking the value of j as a second target value.
And inquiring the coordinate corresponding to the x-axis according to the current handle opening degree, defining a variable j by the second setting submodule, setting the initial value of the j to be 1, namely assigning a second subscript corresponding to the first second element value to the j, so that the current handle opening degree is compared from the first second element value, and judging whether the current handle opening degree is smaller than or equal to the first second element value by the third judging submodule. If the current vehicle speed is greater than the first element value, the fourth judgment submodule adds 1 to the value of j, the value of j is 2 at the moment, then whether j is smaller than a second threshold value is judged, the second threshold value is determined according to the maximum value m of a second subscript, the second threshold value is equal to the maximum value m of the second subscript plus 1, if the maximum value m of the second subscript is 13, the second threshold value is 14, whether the value of j is greater than the maximum value m of the second subscript is judged, the third judgment submodule is executed again to judge whether the current handle opening degree is smaller than or equal to the second element value because the value of j is 2 at the moment and smaller than the second threshold value 14, and if the current handle opening degree is greater than the second element value, the process is repeated until the current handle opening degree is smaller than or equal to one second element value in the handle array, or the value of j is greater than or equal to the second threshold value. For example, if the opening degree of the current knob is smaller than or equal to the second element value, the second setting submodule determines whether the value of j at this time is larger than the maximum value m of the second subscript, and since the value of j at this time is 2 and smaller than the maximum value 13 of the second subscript, the second setting submodule takes the value of j as the second target value, that is, the second target value is 2. Or ending the circulation after the value of j is greater than or equal to a second threshold value 14 in the circulation process, wherein the current turning handle opening degree is greater than all second element values in the turning handle array, the value of j is 14 at the moment, then the second setting submodule judges whether the value of j is greater than the maximum value m of the second subscript, the maximum value 13 of the second subscript is assigned to j as the value of j is 14 and greater than the maximum value 13 of the second subscript, the value of j is changed to 13 at the moment, and finally the second serving submodule takes the value of j as a second target value, namely the second target value is 13.
The calculation module 5 calculates the torque variation according to the first target value, the second target value and a preset formula by taking the torque variation as a z axis, the controller controls the torque value according to the torque variation, three-dimensional curve control is realized, the riding condition of the electric motorcycle in the actual driving process is basically included, the working condition is all high in point-to-point performance, and the defects of an existing two-dimensional curve control algorithm can be greatly overcome. In the riding experience of a user, the excellent effects of gentle starting, smooth acceleration, strong slope starting power and stable power output of turning and bumpy roads can be achieved, the comfort and the feeling of reassurance of the user when the user operates the electric motorcycle are improved, and the user can enjoy the joyful feeling of operation. Specifically, the preset formula is Δ T ═ i × a + j, where Δ T is a torque variation, i is a first target value, a is a set constant value, and j is a second target value. The torque variation Δ T is linearly related to the first target value i and the second target value j, and the constant value a is a constant value set empirically, and may be set to a constant value such as 10, 13, or 15.
Referring to fig. 3, fig. 3 is a block diagram illustrating a structure of an electronic device according to an embodiment of the invention. An embodiment of the present invention further provides an electronic device 1001, which includes a memory 1003 and a processor 1002, where the memory 1003 stores a computer program 1004, and when the processor 1002 executes the computer program 1004, the method for implementing any sound source localization method includes: s1, acquiring the current speed and the current handle opening of the vehicle; s2, acquiring a first processing rule for processing the current vehicle speed and a second processing rule for processing the current handle opening; s3, processing the current vehicle speed according to a first processing rule to obtain a first target value; s4, processing the current handle opening according to a second processing rule to obtain a second target value; and S5, calculating the torque variation according to the acquired first target value, the acquired second target value and a preset formula.
Referring to fig. 4, fig. 4 is a schematic block diagram illustrating a structure of a computer-readable storage medium according to an embodiment of the present invention. An embodiment of the present invention further provides a computer-readable storage medium 2001, on which a computer program 1004 is stored, where the computer program 1004 when executed by the processor 1002 implements the steps of any one of the sound source localization methods described above, including: s1, acquiring the current speed and the current handle opening of the vehicle; s2, acquiring a first processing rule for processing the current vehicle speed and a second processing rule for processing the current handle opening; s3, processing the current vehicle speed according to a first processing rule to obtain a first target value; s4, processing the current handle opening according to a second processing rule to obtain a second target value; and S5, calculating the torque variation according to the acquired first target value, the acquired second target value and a preset formula.
Compared with the prior art, the invention has the beneficial effects that: the current speed and the current opening of the handle of a turn of the vehicle are used as basic parameters for controlling the torque variation, the running condition of the electric motorcycle in the actual running process can be included, the torque variation is controlled and adjusted according to the actual demand in the running process of the electric motorcycle, and the excellent effects of gentle starting, smooth acceleration, strong slope starting power, turning and stable bumpy road power output can be realized in the user running process.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium provided herein and used in the examples may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double-rate SDRAM (SSRSDRAM), Enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and bus dynamic RAM (RDRAM).
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, apparatus, article, or method that includes the element.
The present invention is not limited to the above-described embodiments, and various modifications and variations of the present invention are intended to be included within the scope of the claims and the equivalent technology of the present invention if they do not depart from the spirit and scope of the present invention.
Claims (7)
1. A riding method of an electric motorcycle is characterized by comprising the following steps:
s1, acquiring the current speed and the current handle opening of the vehicle;
s2, acquiring a first processing rule for processing the current vehicle speed and a second processing rule for processing the current handle opening;
s3, processing the current vehicle speed according to the first processing rule to obtain a first target value;
s4, processing the current handle opening according to the second processing rule to obtain a second target value;
and S5, calculating the torque variation according to the acquired first target value, the acquired second target value and a preset formula.
2. The electric motorcycle riding method according to claim 1, wherein the first processing rule includes a speed array, the speed array is composed of a plurality of ordered first element values and a first subscript, denoted as V, where V [ i ] is an ith first element value in the speed array, the first element value is a speed value, i is a first subscript corresponding to the first element value, and is an ordering serial number of the first element value in the speed array, and i is 1, 2, … …, n;
the step of processing the current vehicle speed according to the first processing rule to obtain a first target value comprises:
s31, setting the initial value of i as 1;
s32, judging whether the current vehicle speed is less than or equal to V [ i ], if not, entering a step S33, and if so, entering a step S34;
s33, adding 1 to i, and judging whether i is smaller than a preset first threshold, if so, entering a step S32, and if not, entering a step S34;
s34, judging whether i is larger than n, if so, setting the value of i as n, and entering step S35, otherwise, entering step S35;
s35, setting the value of i as the first target value.
3. The electric motorcycle riding method according to claim 1, wherein the second processing rule includes a handle bar array, the handle bar array is composed of a plurality of ordered second element values and second subscripts, namely Z, where Z [ j ] is the jth second element value in the handle bar array, the second element value is a handle bar opening value, j is the second subscript corresponding to the second element value, the second subscript is the sorting serial number of the second element value in the handle bar array, and j is 1, 2, … …, m;
the step of processing the current turning handle opening degree according to the second processing rule to obtain a second target value comprises the following steps:
s41, setting the initial value of j to be 1;
s42, judging whether the current handle opening is less than or equal to Zj, if not, going to S43, and if so, going to S44;
s43, adding 1 to j, and judging whether j is smaller than a preset second threshold, if so, entering a step S42, and if not, entering a step S44;
s44, judging whether j is larger than m, if so, setting the value of j as m, and entering a step S45, otherwise, entering a step S45;
s45, the value of j is set as the second target value.
4. The electric motorcycle riding method according to claim 1, wherein in the step of calculating the torque variation according to the acquired first target value, second target value and a preset formula:
the preset formula is that Δ T is i × a + j, where Δ T is a torque variation, i is a first target value, a is a set constant value, and j is a second target value.
5. An electric motorcycle riding system, comprising:
the first acquisition module is used for acquiring the current speed and the current turning handle opening degree of the vehicle;
the second acquisition module is used for acquiring a first processing rule for processing the current vehicle speed and a second processing rule for processing the current turning handle opening degree;
the first processing module is used for processing the current vehicle speed according to the first processing rule to obtain a first target value;
the second processing module is used for processing the current turning handle opening according to the second processing rule to obtain a second target value;
and the calculating module is used for calculating the torque variation according to the acquired first target value, the acquired second target value and a preset formula.
6. An electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method according to any one of claims 1-4 when executing the computer program.
7. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
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