CN113147994A - Method for controlling attitude speed moment of power-assisted electric bicycle - Google Patents
Method for controlling attitude speed moment of power-assisted electric bicycle Download PDFInfo
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- CN113147994A CN113147994A CN202110570441.5A CN202110570441A CN113147994A CN 113147994 A CN113147994 A CN 113147994A CN 202110570441 A CN202110570441 A CN 202110570441A CN 113147994 A CN113147994 A CN 113147994A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- 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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- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a method for controlling the attitude, speed and moment of a power-assisted electric bicycle, which comprises a rotating handle, a pedal, a controller and a permanent magnet synchronous variable frequency motor, wherein the controller comprises a rotating handle induction module, a vehicle attitude sensing module, a pedal speed frequency module, a self-adaptive motor moment calculation module and an FOC motor control module, and the control method comprises the following steps: s1, obtaining a rotation angle gamma of a rotating handle; s2, judging a rotation angle gamma; s3, controlling the output of the permanent magnet synchronous variable frequency motor; s4, acquiring the rotating speed rpm of the pedal, the rotating speed change rate a and the front and back inclination angles beta of the power-assisted electric bicycle; s5, calculating by a self-adaptive motor moment calculation module; and S6, controlling the output of the permanent magnet synchronous variable frequency motor. Through the design, the torque control mode of the electronic structure is realized, so that the defects that the torque control mode of the mechanical structure is easy to generate errors, damage and the like are overcome, and the riding experience of the power-assisted electric bicycle is improved.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a method for controlling the attitude speed and the torque of a power-assisted electric bicycle.
Background
The control mode of the high-end power-assisted electric bicycle in the current market is mainly a torque type control mode, and the mode is more in line with the riding habit of a user than a speed type control mode. The existing torque sensor is a mechanical structure, needs to bear the stepping of a user, and can be damaged once the strain force range is exceeded. On the other hand, mechanical structure can produce mechanical deformation in use to produce the error, influence moment and gather, mechanical structure's cost is higher moreover, is unfavorable for extensive popularization. Improvements are needed.
Disclosure of Invention
The invention provides a novel method for controlling the attitude speed moment of a power-assisted electric bicycle, aiming at the defects that a mechanical structure moment control mode in the prior art is easy to generate errors, damage and the like.
In order to solve the technical problems, the invention is realized by the following technical scheme:
a control method for the attitude speed and moment of a power-assisted electric bicycle comprises a rotating handle, pedals, a controller and a permanent magnet synchronous variable frequency motor, wherein the controller comprises a rotating handle induction module, a vehicle attitude sensing module, a pedal speed frequency module, a self-adaptive motor moment calculation module and an FOC motor control module, and the control method comprises the following steps:
s1, the rotating handle sensing module acquires a rotating angle gamma of the rotating handle;
s2, the rotating handle sensing module judges the rotating angle gamma, if the rotating angle gamma is larger than 0 degrees, the rotating handle electric driving mode is started to jump to the step S3, and if the rotating angle gamma is equal to 0 degrees, the power assisting mode is started to jump to the step S4;
s3, the FOC motor control module controls the permanent magnet synchronous variable frequency motor to output according to the rotation angle gamma, and then the step S1 is skipped;
s4, the pedal speed frequency module acquires the rotating speed rpm and the rotating speed change rate a of the pedal, the vehicle posture sensing module acquires the front and back inclination angle beta of the power-assisted electric bicycle, the rotating speed rpm of forward steering of the power-assisted electric bicycle by the pedal takes a positive value, the rotating speed rpm of reverse steering of the pedal takes a zero value, the inclination angle beta takes a negative value when the power-assisted electric bicycle is inclined forwards, and the inclination angle beta takes a positive value when the power-assisted electric bicycle is inclined backwards;
s5, the self-adaptive motor moment calculation module calculates sin (inclination angle beta) multiplied by the weight of the power-assisted electric bicycle multiplied by 0 gravity coefficient, the rotating speed rpm multiplied by the pedal speed coefficient multiplied by the vehicle speed resistance coefficient, the rotating speed change rate a multiplied by the rotating speed acceleration coefficient multiplied by the weight of the power-assisted electric bicycle, the unit of the inclination angle beta is DEG, the unit of the weight of the power-assisted electric bicycle is kg, the unit of the gravity coefficient is N/kg, the unit of the rotating speed rpm is r/min, the unit of the pedal speed coefficient is (m multiplied by min)/(s multiplied by r), the unit of the vehicle speed resistance coefficient is (s multiplied by N)/m, the unit of the rotating speed change rate a is r/min2The unit of the speed acceleration coefficient of the rotating speed is (m multiplied by min)2)/(s2×r)；
And S6, the FOC motor control module controls the permanent magnet synchronous variable frequency motor to output according to the calculation result of the self-adaptive motor moment calculation module, and then the step S1 is skipped.
The rotating handle is used for controlling the output of the permanent magnet synchronous variable frequency motor, so that the control of an electric driving mode is simpler and more convenient. The pedals are used for manually pedaling to transmit power, so that the manual riding of the power-assisted electric bicycle is simpler and more convenient, and basic parameters are provided for the invention. The controller has the functions of obtaining basic parameters, calculating the magnitude of the assistance force and controlling the permanent magnet synchronous variable frequency motor, so that the torque control mode is realized through an electronic structure, and the defect of the mechanical structure torque control mode is overcome. The permanent magnet synchronous variable frequency motor is used for outputting power, so that the power-assisted electric bicycle can provide more stable power. The rotating handle sensing module is used for acquiring the rotating angle gamma of the rotating handle. The vehicle posture sensing module is used for acquiring the front and back inclination angle beta of the power-assisted electric bicycle. The pedal speed frequency module is used for acquiring the rotating speed rpm and the rotating speed change rate a of the pedal. And the self-adaptive motor moment calculation module is used for calculating the magnitude of the assistance. The FOC motor control module is used for directly controlling the output of the permanent magnet synchronous variable frequency motor. Step S1 is to make the handle sensing module obtain the rotation angle γ of the handle, so as to provide basic parameters for mode determination in the subsequent steps. Step S2 is used for mode judgment, and the user rotates the rotating handle to be the electric driving mode, and does not move the rotating handle to be the power-assisted mode, so that the riding experience of the power-assisted electric bicycle is better, and the automatic power assistance and the manual electric driving are in seamless connection. Step S3 enables the rotating handle to control the output of the permanent magnet synchronous variable frequency motor, thereby enabling the control of the electric driving mode to be simpler and more convenient. Step S4 is used to obtain the rotation speed rpm of the pedals, the rotation speed change rate a, and the front-rear tilt angle β of the power-assisted electric bicycle, so as to provide basic parameters for the power-assisted calculation in the subsequent steps. Step S5 is used for calculating the helping hand size, makes the helping hand size more reasonable to compromise energy-conservation and helping hand output, make the experience of riding of helping hand electric bicycle better. In step S5, "sin (inclination angle β) × assist electric bicycle weight × gravity coefficient" is a component force of gravity in the forward or backward direction of the assist electric bicycle when the assist electric bicycle tilts forward or backward, and the component force is a downhill when the assist electric bicycle tilts forward, and the formula value is a negative value, that is, the assist force is decreased correspondingly, and the component force is an uphill when the assist electric bicycle tilts backward, and the formula value is a positive value, that is, the assist force is increased correspondingly. In step S5, "rpm × pedal speed coefficient × vehicle speed resistance coefficient" is the resistance that the power-assisted electric bicycle receives when it is merely ridden by manpower, that is, the corresponding one is the power assistance that eliminates the resistance. In step S5, the "rotation speed change rate a × rotation speed acceleration coefficient × weight of the power-assisted electric bicycle" is a force acting on the power-assisted electric bicycle in a forward direction after the manual pedaling time, that is, a force required for the manual pedaling is offset by the power assistance, wherein the "rotation speed change rate a × rotation speed acceleration coefficient" obtains the acceleration of the vehicle speed, the rotation speed change rate a is a positive value, the power assistance is correspondingly increased, and the rotation speed change rate a is a negative value, so the power assistance is correspondingly decreased. Step S6 makes FOC motor control module control permanent magnetism synchronous inverter motor' S output to provide the helping hand more efficiently, make the experience of riding of helping hand electric bicycle better.
Through the design, the torque control mode of the electronic structure is realized, so that the defects that the torque control mode of the mechanical structure is easy to generate errors, damage and the like are overcome, and the riding experience of the power-assisted electric bicycle is improved.
Preferably, in the above method for controlling the attitude, speed and moment of the power-assisted electric bicycle, the gravity coefficient is 9.8N/kg, the pedal speed coefficient is 1.36(m × min)/(s × r), and the speed, speed and acceleration coefficient is 0.56(m × min)2)/(s2×r)。
Through the design, the power assisting effect of the power assisting electric bicycle is further improved, and the riding experience of the power assisting electric bicycle is better.
Preferably, in the method for controlling the attitude, speed and moment of the power-assisted electric bicycle, a vehicle speed sensing module is arranged in the adaptive motor moment calculating module, the vehicle speed sensing module acquires a vehicle speed v of the power-assisted electric bicycle, the vehicle speed resistance coefficient is 0.1(s × N)/m when v is greater than 0km/h and less than or equal to 10km/h, the vehicle speed resistance coefficient is 0.3(s × N)/m when v is greater than 10km/h and less than or equal to 25km/h, and the vehicle speed resistance coefficient is 0.5(s × N)/m when v is greater than 25 km/h.
Through the design, the power assisting effect of the power assisting electric bicycle is further improved, and the riding experience of the power assisting electric bicycle is better.
Preferably, in the above method for controlling the attitude, speed and moment of the power-assisted electric bicycle, the vehicle attitude sensing module is a gyroscope.
The vehicle attitude sensing module adopts a gyroscope, so that the cost and the sensing precision are both considered, and the applicability of the power-assisted electric bicycle is better.
Preferably, in the above method for controlling the attitude, speed and torque of the power-assisted electric bicycle, the vehicle attitude sensing module obtains the front-rear tilt angle β of the power-assisted electric bicycle by a quaternion algorithm.
The vehicle attitude sensing module adopts a quaternion algorithm, so that the acquisition speed of the front and rear inclination angles beta is higher, and the error is lower.
Preferably, in the above method for controlling the attitude, speed and torque of the power-assisted electric bicycle, the vehicle attitude sensing module obtains the front-rear tilt angle β of the power-assisted electric bicycle through rotation vector calculation and attitude matrix calculation.
The vehicle attitude sensing module adopts rotation vector calculation and attitude matrix calculation, so that the acquisition speed of the front and rear inclination angles beta is higher, and the error is lower.
Preferably, in the method for controlling the posture, speed and torque of the power-assisted electric bicycle, a magnet is arranged on a middle shaft of the pedal, and the pedal speed frequency module is a hall element.
Through the design, the pedal middle shaft of the power-assisted electric bicycle has magnetic pole change when the power-assisted electric bicycle is manually ridden, so that the cost and the sensing precision are considered with the Hall element adaptation, and the applicability of the power-assisted electric bicycle is better.
Preferably, in the above method for controlling the attitude, speed and torque of the power-assisted electric bicycle, the pedal speed frequency module acquires the rpm and the rate of change a of the rotation speed of the pedal by acquiring a magnetic pole change signal.
Through the design, the pedal speed frequency module acquires the magnetic pole change signal through the Hall element to acquire the pedal rotating speed rpm and the rotating speed change rate a, the cost and the sensing precision are both considered, and the applicability of the power-assisted electric bicycle is better.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a block diagram of the present invention.
Detailed Description
The invention will be described in further detail with reference to the following figures 1-2 and the detailed description, which are not intended to limit the invention:
example 1
A control method for the attitude speed moment of a power-assisted electric bicycle comprises a rotating handle 1, a pedal 4, a controller 2 and a permanent magnet synchronous variable frequency motor 3, wherein the controller 2 comprises a rotating handle induction module 21, a vehicle attitude sensing module 22, a pedal speed frequency module 23, a self-adaptive motor moment calculation module 24 and an FOC motor control module 25, and the control method comprises the following steps:
s1, the rotating handle sensing module 21 obtains a rotating angle gamma of the rotating handle 1;
s2, the handle rotating induction module 21 judges the rotating angle gamma, if the rotating angle gamma is larger than 0 degrees, the handle rotating electric driving mode is started to jump to the step S3, and if the rotating angle gamma is equal to 0 degrees, the power assisting mode is started to jump to the step S4;
s3, the FOC motor control module 25 controls the permanent magnet synchronous variable frequency motor 3 to output according to the rotation angle gamma, and then the step S1 is skipped;
s4, the pedal speed frequency module 23 acquires the rotating speed rpm and the rotating speed change rate a of the pedal 4, the vehicle posture sensing module 22 acquires the front and back inclination angle beta of the power-assisted electric bicycle, the rotating speed rpm of forward steering of the power-assisted electric bicycle is positive by the pedal 4, the rotating speed rpm of reverse steering of the pedal 4 is zero, the inclination angle beta is negative when the power-assisted electric bicycle is inclined forwards, and the inclination angle beta is positive when the power-assisted electric bicycle is inclined backwards;
s5, the self-adaptive motor moment calculation module 24 calculates sin (inclination angle beta) multiplied by the weight of the power-assisted electric bicycle multiplied by 0 gravity coefficient, rpm multiplied by the pedal speed coefficient multiplied by the vehicle speed resistance coefficient, the rotation speed change rate a multiplied by the rotation speed acceleration coefficient multiplied by the weight of the power-assisted electric bicycle, the inclination angle beta is calculated, the unit of the power-assisted electric bicycle is kg, the unit of the gravity coefficient is N/kg, the unit of the rotation speed rpm is r/min, the unit of the pedal speed coefficient is (m multiplied by min)/(s multiplied by r), the unit of the vehicle speed resistance coefficient is (s multiplied by N)/m, and the unit of the rotation speed change rate a is r/min2The unit of the speed acceleration coefficient of the rotating speed is (m multiplied by min)2)/(s2×r)；
S6, the FOC motor control module 25 controls the permanent magnet synchronous variable frequency motor 3 to output according to the calculation result of the self-adaptive motor moment calculation module 24, and then the step S1 is skipped.
Preferably, the gravity coefficient is 9.8N/kg, the pedaling speed coefficient is 1.36(m × min)/(s × r), and the rotation speed, vehicle speed and acceleration coefficient is 0.56(m × min)2)/(s2×r)。
Preferably, a vehicle speed sensing module is arranged in the adaptive motor moment calculation module 24, the vehicle speed sensing module acquires a vehicle speed v of the power-assisted electric bicycle, the vehicle speed resistance coefficient is 0.1(s × N)/m when v is greater than 0km/h and less than or equal to 10km/h, the vehicle speed resistance coefficient is 0.3(s × N)/m when v is greater than 10km/h and less than or equal to 25km/h, and the vehicle speed resistance coefficient is 0.5(s × N)/m when v is greater than 25 km/h.
Preferably, the vehicle attitude sensing module 22 is a gyroscope.
Preferably, the vehicle posture sensing module 22 obtains the front-rear inclination angle β of the power-assisted electric bicycle by a quaternion algorithm.
Preferably, the vehicle posture sensing module 22 obtains the front-rear inclination angle β of the power-assisted electric bicycle through rotation vector calculation and posture matrix calculation.
Preferably, a magnet is arranged on a central shaft of the pedal 4, and the pedal speed frequency module 23 is a hall element.
Preferably, the pedal speed frequency module 23 acquires the rpm and the rate of change a of the rotation speed of the pedal 4 by collecting the magnetic pole change signal.
In summary, the above-mentioned embodiments are only preferred embodiments of the present invention, and all equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the present invention.
Claims (8)
1. The control method of the attitude speed and the moment of the power-assisted electric bicycle comprises a rotating handle (1), a pedal (4), a controller (2) and a permanent magnet synchronous variable frequency motor (3), and is characterized in that: the controller (2) comprises a handle rotating induction module (21), a vehicle attitude sensing module (22), a pedal speed frequency module (23), an adaptive motor moment calculation module (24) and an FOC motor control module (25), and the control method comprises the following steps:
s1, the rotating handle sensing module (21) acquires a rotating angle gamma of the rotating handle (1);
s2, the rotating handle sensing module (21) judges the rotating angle gamma, if the rotating angle gamma is larger than 0 degrees, the rotating handle electric driving mode is started to jump to the step S3, and if the rotating angle gamma is equal to 0 degrees, the power assisting mode is started to jump to the step S4;
s3, the FOC motor control module (25) controls the permanent magnet synchronous variable frequency motor (3) to output according to the rotation angle gamma, and then the step S1 is skipped;
s4, the pedal speed frequency module (23) acquires the rotating speed rpm and the rotating speed change rate a of the pedal (4), the vehicle posture sensing module (22) acquires the front-back inclination angle beta of the power-assisted electric bicycle, the rotating speed rpm of forward steering of the power-assisted electric bicycle is positive by the pedal (4), the rotating speed rpm of reverse steering of the pedal (4) is zero, the inclination angle beta is negative when the power-assisted electric bicycle is forwards inclined, and the inclination angle beta is positive when the power-assisted electric bicycle is backwards inclined;
s5, the self-adaptive motor moment calculation module (24) calculates sin (inclination angle beta) multiplied by the weight of the power-assisted electric bicycle multiplied by 0 gravity coefficient, rotation speed rpm multiplied by a pedal speed coefficient multiplied by a vehicle speed resistance coefficient, rotation speed change rate a multiplied by a rotation speed acceleration coefficient multiplied by the weight of the power-assisted electric bicycle, the unit of the inclination angle beta is DEG, the unit of the weight of the power-assisted electric bicycle is kg, the unit of the gravity coefficient is N/kg, the unit of the rotation speed rpm is r/min, the unit of the pedal speed coefficient is (m multiplied by min)/(s multiplied by r), the unit of the vehicle speed resistance coefficient is (s multiplied by N)/m, and the unit of the rotation speed change rate a is r/min2The unit of the speed acceleration coefficient of the rotating speed is (m multiplied by min)2)/(s2×r)；
And S6, the FOC motor control module (25) controls the permanent magnet synchronous variable frequency motor (3) to output according to the calculation result of the self-adaptive motor moment calculation module (24), and then the step S1 is skipped.
2. The method for controlling the attitude speed torque of the power-assisted electric bicycle according to claim 1, wherein: the gravity coefficient is 9.8N/kg, the pedal speed coefficient is 1.36(m × min)/(s × r), and the rotating speed and vehicle speed acceleration coefficient is 0.56(m × min)2)/(s2×r)。
3. The method for controlling the attitude speed torque of the power-assisted electric bicycle according to claim 1, wherein: the self-adaptive motor moment calculation module (24) is internally provided with a vehicle speed sensing module, the vehicle speed sensing module acquires the vehicle speed v of the power-assisted electric bicycle, the vehicle speed resistance coefficient is 0.1(s multiplied by N)/m when v is more than 0km/h and less than or equal to 10km/h, the vehicle speed resistance coefficient is 0.3(s multiplied by N)/m when v is more than 10km/h and less than or equal to 25km/h, and the vehicle speed resistance coefficient is 0.5(s multiplied by N)/m when v is more than 25 km/h.
4. The method for controlling the attitude speed torque of the power-assisted electric bicycle according to claim 1, wherein: the vehicle attitude sensing module (22) is a gyroscope.
5. The method for controlling the attitude speed torque of the power-assisted electric bicycle according to claim 4, wherein: the vehicle posture sensing module (22) acquires a front-back inclination angle beta of the power-assisted electric bicycle through a quaternion algorithm.
6. The method for controlling the attitude speed torque of the power-assisted electric bicycle according to claim 4, wherein: the vehicle attitude sensing module (22) obtains a front-back inclination angle beta of the power-assisted electric bicycle through rotation vector calculation and attitude matrix calculation.
7. The method for controlling the attitude speed torque of the power-assisted electric bicycle according to claim 1, wherein: a magnet is arranged on a middle shaft of the pedal (4), and the pedal speed frequency module (23) is a Hall element.
8. A method as claimed in claim 7, wherein the method further comprises the steps of: the pedal speed frequency module (23) acquires the rotating speed rpm and the rotating speed change rate a of the pedal (4) by acquiring the magnetic pole change signals.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113636008A (en) * | 2021-09-08 | 2021-11-12 | 北京顺昌新材科技有限公司 | Power-assisted control device and method based on state recursion |
| CN113830220A (en) * | 2021-11-04 | 2021-12-24 | 江苏科技大学 | Electric vehicle power-assisted control method based on information fusion |
| CN114056479A (en) * | 2021-11-26 | 2022-02-18 | 江苏科技大学 | Self-adaptive electric power-assisted bicycle torque control method and control system |
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