CN113415375A - Motor control method and device of power-assisted bicycle and power-assisted bicycle - Google Patents
Motor control method and device of power-assisted bicycle and power-assisted bicycle Download PDFInfo
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- CN113415375A CN113415375A CN202110895893.0A CN202110895893A CN113415375A CN 113415375 A CN113415375 A CN 113415375A CN 202110895893 A CN202110895893 A CN 202110895893A CN 113415375 A CN113415375 A CN 113415375A
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- 230000008569 process Effects 0.000 claims abstract description 58
- 230000001276 controlling effect Effects 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 6
- 230000002596 correlated effect Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 abstract description 9
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
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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
- 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
Abstract
The invention discloses a motor control method of a power-assisted bicycle, which considers that the current human power output power can be correspondingly changed along with different road conditions when the power-assisted bicycle runs under different road conditions. The target motor output power can be obtained according to the determined current human power output power, the determined current motor output power and the determined target human power output power, and the target motor output power can be correspondingly changed along with the change of the current human power output power, so that the target motor torque can be obtained to control the motor based on the change relation between the current human power output power and the target motor output power, and the automatic adjustment of the assistance output by the motor is realized based on the cooperation of the processor and the related sensor in the process, so that the pedaling force of a rider is maintained in a comfortable interval, and the riding comfort is improved. The invention also discloses a motor control device of the power-assisted bicycle and the power-assisted bicycle, and the motor control device has the same beneficial effects as the method.
Description
Technical Field
The invention relates to the field of automatic control, in particular to a motor control method and device of a power-assisted bicycle and the power-assisted bicycle.
Background
Nowadays, modern transportation means are rapidly developed, and a bicycle is a transportation means which people tend to select more in the short trip process by virtue of the characteristics of environmental protection, convenience, rapidness and the like. And along with the development of electronic technology, the moped that increases helping hand system on ordinary bicycle has now been derived, and moped can be in the in-process that rides passerby and ride, provides the helping hand for passerby through the motor among the helping hand system to reduce passerby's motion load, make and ride more light.
The conventional power-assisted bicycle usually adjusts a power-assisted gear in a manual adjusting mode, namely, adjusts the power-assisted ratio, and the power-assisted gear is different and the power-assisted ratio is different. After a rider selects a certain gear, the motor can output boosting force according to the pedaling force of the rider and the boosting ratio corresponding to the gear. By adopting the mode, a rider needs to manually adjust the power-assisted gear according to the road condition in the riding process, so that the riding comfort is reduced.
Disclosure of Invention
The invention aims to provide a motor control method and device of a power-assisted bicycle and the power-assisted bicycle, which can keep the pedaling force of a rider in a comfortable interval in the running process and improve the riding comfort.
In order to solve the technical problem, the invention provides a motor control method of a power-assisted bicycle, which comprises the following steps:
determining the current human power output power, the current motor output power and the target human power output power in the running process of the power-assisted bicycle;
obtaining the target motor output power of a motor in the power assisting system based on the difference value obtained by subtracting the target human output power from the sum of the current human output power and the current motor output power;
obtaining a target motor torque of the motor based on the target motor output power to control the motor based on the target motor torque.
Preferably, the determining the current human power output during the running process of the moped comprises the following steps:
acquiring the current pedal torque applied to a middle shaft by a crank in the driving process of the power-assisted bicycle;
acquiring the pedaling frequency of the pedals in the running process of the power-assisted bicycle;
and calculating the product of the current pedal torque and the pedal frequency, and dividing the product by a preset coefficient to obtain the current human power output power.
Preferably, the step of determining the target human power output during the running process of the moped comprises the following steps:
determining a target pedal torque;
acquiring the pedaling frequency of the pedals in the running process of the power-assisted bicycle;
and calculating the product of the target pedal torque, the pedal frequency and a preset coefficient, and dividing the product by the preset coefficient to obtain the target human power output power.
Preferably, determining the target pedaling torque comprises:
determining a fixed pedal torque value as a target pedal torque;
the fixed pedal torque value is between the length of a crank of the power-assisted bicycle and the length of a crank of the power-assisted bicycle, A is a preset pedal force comfortable lower limit value, and B is a preset pedal force comfortable upper limit value.
Preferably, determining the target pedaling torque comprises:
determining the whole vehicle resistance of the power-assisted bicycle in the running process;
determining the target pedaling torque based on the overall vehicle resistance;
the target pedal torque is positively correlated with the resistance of the whole bicycle, the target pedal torque is between the length of a crank of the power-assisted bicycle and the length of a crank of the power-assisted bicycle, A is a preset pedal force comfort lower limit value, and B is a preset pedal force comfort upper limit value.
Preferably, determining the whole vehicle resistance in the running process of the moped comprises the following steps:
acquiring the speed of the power-assisted bicycle in the running process;
obtaining the whole vehicle resistance force applied to the power-assisted bicycle in the running process according to the whole vehicle resistance relational expression, the current manpower output power, the current motor output power and the vehicle speed;
the whole vehicle resistance relational expression is (the current manpower output power + the current motor output power)/a preset coefficient/the vehicle speed.
Preferably, after obtaining the target motor torque of the motor based on the target motor output power, the method further includes:
acquiring the speed of the power-assisted bicycle in the running process;
judging whether the vehicle speed is greater than a vehicle speed adjusting threshold value;
if so, adjusting the target motor torque according to the vehicle speed, and controlling the motor based on the adjusted target motor torque; the target motor torque is inversely related to the vehicle speed;
and if not, the step of controlling the motor based on the target motor torque is carried out.
Preferably, adjusting the target motor torque according to the vehicle speed includes:
calculating the product of the adjustment coefficient and the target motor torque to obtain the adjusted target motor torque;
the numerical range of the adjustment coefficient is between [0,1], and when the range of the vehicle speed is within the range of a vehicle speed adjustment threshold and a vehicle speed safety threshold, the adjustment coefficient is in negative correlation with the vehicle speed, and the vehicle speed adjustment threshold is smaller than the vehicle speed safety threshold.
In order to solve the above technical problem, the present invention further provides a motor control device for a power-assisted bicycle, including:
a memory for storing a computer program;
and the processor is used for realizing the steps of the motor control method of the moped when executing the computer program.
In order to solve the technical problem, the invention also provides a power-assisted bicycle which comprises a power-assisted bicycle body and the motor control device of the power-assisted bicycle.
The invention provides a motor control method of a power-assisted bicycle, which considers that the current human power output power can be correspondingly changed along with different road conditions when the power-assisted bicycle runs under different road conditions. The target motor output power can be obtained according to the determined current human power output power, the determined current motor output power and the determined target human power output power, and the target motor output power can be correspondingly changed along with the change of the current human power output power, so that the target motor torque can be obtained to control the motor based on the change relation between the current human power output power and the target motor output power, and the automatic adjustment of the assistance output by the motor is realized based on the cooperation of the processor and the related sensor in the process, so that the pedaling force of a rider is maintained in a comfortable interval, and the riding comfort is improved.
The invention also provides a motor control device of the power-assisted bicycle and the power-assisted bicycle, and the motor control device has the same beneficial effects as the method.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flow chart illustrating a process of a method for controlling a motor of a bicycle assisted by a power source according to the present invention;
FIG. 2 is a schematic diagram of the relationship between the resistance of the whole vehicle and the change of time according to the present invention;
FIG. 3 is a schematic diagram of the relationship between the output of the motor and the output of the human power over time according to the present invention;
FIG. 4 is a schematic structural diagram of a motor control device of a bicycle with power assistance according to the present invention;
fig. 5 is a schematic structural view of a power-assisted bicycle provided by the invention.
Detailed Description
The core of the invention is to provide a motor control method and a motor control device of a power-assisted bicycle, which can maintain the pedaling force of a rider in a comfortable interval during the driving process and improve the riding comfort.
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. 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.
Referring to fig. 1, fig. 1 is a flowchart illustrating a process of a method for controlling a motor of a power assisted bicycle according to the present invention, the method including:
s11: determining the current human power output power, the current motor output power and the target human power output power in the running process of the power-assisted bicycle;
s12: obtaining the target motor output power of the motor in the power assisting system based on the difference value obtained by subtracting the target human output power from the sum of the current human output power and the current motor output power;
s13: a target motor torque of the motor is derived based on the target motor output power to control the motor based on the target motor torque.
In this example, the applicant considers: in the process of driving the power-assisted bicycle, the power output by manpower can also be changed under different road conditions. Referring to fig. 2, fig. 2 is a schematic diagram of a relationship between a vehicle resistance and a change of time, when factors such as a road flatness, a road material, or an inclination angle change, a friction coefficient between a power-assisted bicycle and a road surface may increase, and the vehicle resistance may gradually increase with time. At this moment, under the certain circumstances of the output power of the motor in the helping hand system, in order to adapt to the change of whole car resistance, the power of manpower output also can increase correspondingly to lead to riding the corresponding more labourious of passerby's the process of riding this moment.
Based on the method, the target motor output power is obtained by determining the current human power output power, the current motor output power and the target human power output power in the driving process of the power-assisted bicycle, the target motor torque is obtained through the target motor output power, and the motor is controlled based on the target motor torque. Specifically, referring to fig. 3, fig. 3 is a schematic diagram of a relationship between a motor output and a human power output that varies with time according to the present invention, where a sum of a current human power output and a current motor output corresponds to a power that needs to overcome a resistance of a whole vehicle under a current road condition, that is, a power output by the whole vehicle, when a road condition changes, for example, when the road condition deteriorates, a resistance of the whole vehicle increases correspondingly, a power output by the human power increases, a power output by the whole vehicle increases correspondingly, and in order to keep the human power output relatively constant, the power output by the motor needs to be adjusted. Under the condition of the road condition, the target motor output power can be obtained according to the power for overcoming the resistance of the whole vehicle to do work, namely the sum of the current manpower output power and the current motor output power and the determined target manpower output power, and the corresponding relation can be specifically referred to: and the target motor output power is the current human power output power plus the current motor output power-the target human power output power. Of course, if the error of the target motor output power needs to be reduced, the calculation of the error coefficient may be added to the right side of the corresponding relation.
After the target motor output power is obtained, the target motor torque can be determined according to a relation that the target motor output power is the target motor torque and the motor rotating speed is 9.55, and then the motor is controlled based on the target motor torque, so that the assistance output by the motor is matched with different road conditions.
Therefore, by adopting the mode, the target motor torque is obtained to control the motor based on the change relation between the current manpower output power and the target motor output power, and the automatic adjustment of the assistance output by the motor is realized based on the cooperation of the processor and the related sensor in the process, so that the pedaling force of a rider is maintained in a comfortable interval, and the riding comfort is improved.
On the basis of the above-described embodiment:
as a preferred embodiment, determining the current human power output during the running of the assisted bicycle comprises:
acquiring the current pedal torque applied to a middle shaft by a crank in the driving process of the power-assisted bicycle;
acquiring the pedaling frequency of a pedal in the running process of the power-assisted bicycle;
and calculating the product of the current pedaling torque and the pedaling frequency, and dividing the product by a preset coefficient to obtain the current manpower output power.
Specifically, in the process that the moped traveles, the passerby provides manpower output for the moped through applying pedal power to pedal, at the passerby's the in-process of trampling pedal, the crank of bicycle can exert the moment of torsion on the axis, the moment of torsion of riding under the current road conditions is called current pedal torque in this application, the accessible sets up torque sensor at the axis and detects the current pedal torque that the crank applyed on epaxial, also can measure the passerby to pedal power of footboard through setting up pressure sensor on pedal, crank length through surveying in advance is by the relational expression: the present pedaling torque is calculated from the present pedaling torque and the crank length, and the specific manner to be adopted is not particularly limited in this application.
In addition, the pedaling frequency of the current rider during the running process of the power-assisted bicycle can be measured through the pedaling frequency sensor, and according to the relation: the current manpower output power is the current pedaling torque and the pedaling frequency/9.55, and then the current manpower output power can be calculated.
Therefore, by adopting the mode of the embodiment, the current pedal torque applied to the middle shaft by the crank and the current pedal frequency of the rider are easy to obtain, and the power output by the power-assisted bicycle under the current road condition can be conveniently and quickly calculated.
As a preferred embodiment, determining the current motor output power during the running of the assisted bicycle comprises:
acquiring the current motor torque of a motor in the running process of the power-assisted bicycle;
acquiring the rotating speed of a motor in the running process of the power-assisted bicycle;
and calculating the product of the torque and the rotating speed of the current motor, and dividing the product by a preset coefficient to obtain the output power of the current motor.
Specifically, in the process of driving of the power-assisted bicycle, a motor in the power-assisted system provides output power for a rider according to the current road condition, the power output by the motor is called as the current motor output power, and the relation is considered for obtaining the current motor output power of the motor: the current output power of the motor is calculated as the current motor torque and the current rotating speed of the motor/9.55, the current motor torque of the motor and the current rotating speed of the motor are obtained through the processor, and then the current output power of the motor can be calculated.
Therefore, by adopting the mode of the embodiment, the current output power of the motor can be simply and conveniently obtained.
As a preferred embodiment, determining a target human power output during the driving of the power-assisted bicycle comprises:
determining a target pedal torque;
acquiring the pedaling frequency of a pedal in the running process of the power-assisted bicycle;
and calculating the product of the target pedaling torque and the pedaling frequency, and dividing the product by a preset coefficient to obtain the target human power output power.
In this embodiment, in order to keep the human output power of the rider relatively constant under different road conditions, namely, at this time, the target human output power needs to be determined first, and at this time, the output power of the motor in the power assisting system needs to be adjusted, namely, the output power of the motor is adjusted, so that the pedaling force of the rider can be maintained in a comfortable interval, and the experience of the rider in the riding process is improved. The target human output power can be similarly determined by the relation: the target manual output power is calculated by a target pedaling torque and pedaling frequency, and for the determination of the target pedaling torque, a fixed pedaling torque value can be adopted as the target pedaling torque within the range of the comfortable pedaling force of the rider, and can also be determined in a positive correlation relationship according to the overall vehicle resistance received in the driving process of the power-assisted bicycle, and the application is not particularly limited herein. The predetermined coefficient here is the product of a series of fixed data values, which is 9.549 or 9.55 after rounding.
Therefore, by adopting the method of the embodiment, different target human output powers can be determined by setting different target pedal torques, so that different riding experiences can be obtained, and the selection diversity of the riding process of a rider is enriched.
As a preferred embodiment, determining the target pedaling torque comprises:
determining a fixed pedal torque value as a target pedal torque;
the fixed pedal torque value is between the length of a crank of the power-assisted bicycle and the length of a crank of the power-assisted bicycle, A is a preset pedal force comfortable lower limit value, and B is a preset pedal force comfortable upper limit value.
In this embodiment, in order to maintain the target human power output relatively constant, the target pedaling torque may be set to a fixed value, so that the fixed pedaling torque value may be used as the target pedaling torque, because the pedaling torque is obtained by multiplying the pedaling force by the length of the crank of the power-assisted bicycle, and the pedaling force is selected within the comfortable range of the user in consideration of the pedaling force, so the fixed pedaling torque value should also be between [ a ] the length of the crank of the power-assisted bicycle and B ] the length of the crank of the power-assisted bicycle, a is the preset pedaling force comfort lower limit, and B is the preset pedaling force comfort upper limit. The lower limit value of the pedaling comfort and the upper limit value of the pedaling comfort may be preset fixed values, or may be set by the rider according to the rider's own condition, and the present application is not particularly limited herein.
The implementation can ensure that the target human output power is relatively constant by setting a fixed pedal torque value as a target pedal torque value, thereby ensuring that the pedal force of a rider is maintained in a comfortable interval.
As a preferred embodiment, the determining the target pedaling torque comprises:
determining the whole vehicle resistance of the power-assisted bicycle in the running process;
determining a target pedaling torque based on the overall vehicle resistance;
the target pedal torque is positively correlated with the resistance of the whole bicycle, the target pedal torque is between the length of a crank of the power-assisted bicycle and the length of a crank of the power-assisted bicycle, A is a preset pedal force comfort lower limit value, and B is a preset pedal force comfort upper limit value.
In this embodiment, in order to make the target human output power of the rider be relatively constant and make the rider feel the improvement of the resistance of the entire vehicle, the target human output power of the rider is also sensed within the range of the pedal force comfort interval, and therefore, the target human output power of the rider is also increased within the range of the pedal force comfort interval, and the pedal force of the rider is also increased within the range of the pedal force comfort interval, that is, the target human output power of the rider is also increased within the range of the pedal force comfort interval.
It is thus clear that the mode of this embodiment is adopted, is positive correlation with target pedal moment of torsion and whole car resistance and sets for, can make the riding passerby's pedal power in the comfortable interval within range of riding, improves along with the promotion of whole car resistance for riding passerby's the impression of riding more true, also can not excessively increase the burden of riding passerby simultaneously.
Of course, other methods mentioned above may be used herein, and the present application is not limited thereto.
As a preferred embodiment, determining the overall vehicle resistance during the running of the power-assisted bicycle comprises:
acquiring the speed of the power-assisted bicycle in the running process;
obtaining the whole vehicle resistance in the running process of the power-assisted bicycle according to the whole vehicle resistance relational expression, the current manpower output power, the current motor output power and the vehicle speed;
the whole vehicle resistance relational expression is (current manpower output power + current motor output power)/preset coefficient/vehicle speed.
Specifically, for obtaining the resistance of the whole vehicle, the following physical relationship can be considered: the power is equal to the product of the force and the speed, and the embodiment can know that the power for doing work by the whole vehicle resistance in the running process of the power-assisted bicycle is equal to the sum of the current manpower output power and the current motor output power, so that the whole vehicle resistance in the running process of the power-assisted bicycle can be obtained based on the physical relation only by acquiring the vehicle speed in the running process of the power-assisted bicycle. The specific relation of the whole vehicle resistance is that the whole vehicle resistance is (current manpower output power + current motor output power)/a preset coefficient/vehicle speed, wherein the preset coefficient is the product of a series of fixed data, and the value of the preset coefficient is 9.549 or 9.55 obtained by rounding.
In the embodiment, the resistance of the whole vehicle is calculated by acquiring the vehicle speed, the data which are acquired in the prior art, namely the current manpower output power and the current motor output power, can be directly adopted, and besides the vehicle speed, the amount of data which needs to be acquired in addition is small, and the calculation is convenient and fast. In addition, the obtained speed can be sent to the instrument through the communication module to be displayed, and in the riding process, a rider can conveniently and visually check the current riding speed, so that the comprehensive judgment of the current running state of the power-assisted bicycle by the rider is facilitated.
As a preferred embodiment, after obtaining the target motor torque of the motor based on the target motor output power, the method further includes:
acquiring the speed of the power-assisted bicycle in the running process;
judging whether the vehicle speed is greater than a vehicle speed adjusting threshold value;
if yes, adjusting the target motor torque according to the vehicle speed, and controlling the motor based on the adjusted target motor torque; the target motor torque is negatively correlated with the vehicle speed;
if not, the step of controlling the motor based on the target motor torque is carried out.
In this embodiment, the applicant may consider that a safety problem may be caused when the speed of the power-assisted bicycle is too high during running, and therefore, may consider adjusting the output of the motor based on the speed of the power-assisted bicycle after obtaining the speed of the power-assisted bicycle during running. Specifically, a vehicle speed safety threshold should be set in advance, the running of the power-assisted bicycle is considered to be safe within the vehicle speed safety threshold range, and the vehicle speed safety threshold may be a fixed speed value set in advance, or may be set by a rider according to the current road condition, and the present application is not limited thereto. Meanwhile, a vehicle speed adjusting threshold value is set, the vehicle speed adjusting threshold value is smaller than a vehicle speed safety threshold value, when the vehicle speed of the power-assisted bicycle reaches the vehicle speed adjusting threshold value, the vehicle speed is close to the vehicle speed safety threshold value, the output of the motor is adjusted according to the vehicle speed value, namely, the target motor torque is adjusted, when the vehicle speed is gradually increased to the vehicle speed safety threshold value, the target motor torque is gradually reduced to zero, the motor stops working at the moment, and the output power is zero. The vehicle speed adjustment threshold may be set in percentage according to the vehicle speed safety threshold, or may be a difference between the vehicle speed safety threshold and a fixed value, and how to set the vehicle speed adjustment threshold is not particularly limited in this application.
Therefore, in the embodiment, the speed of the power-assisted bicycle in the running process is obtained, whether the speed of the power-assisted bicycle is greater than the speed adjustment threshold is judged, and when the speed of the power-assisted bicycle is greater than the speed adjustment threshold, the target motor torque of the motor is in negative correlation with the speed of the power-assisted bicycle, so that when the speed of the power-assisted bicycle reaches the speed safety threshold, the motor in the power-assisted system stops working, the speed of the power-assisted bicycle is prevented from being further increased, and the riding safety of a rider is improved.
As a preferred embodiment, adjusting the target motor torque according to the vehicle speed includes:
calculating the product of the adjustment coefficient and the target motor torque to obtain the adjusted target motor torque;
the numerical range of the adjustment coefficient is between [0,1], and when the range of the vehicle speed is within the range of the vehicle speed adjustment threshold and the vehicle speed safety threshold, the adjustment coefficient is in negative correlation with the vehicle speed, and the vehicle speed adjustment threshold is smaller than the vehicle speed safety threshold.
In the present embodiment, the target motor torque may be adjusted according to the vehicle speed in consideration of the manner in which the adjustment coefficient is set. Specifically, when the vehicle speed exceeds a safety threshold, the target motor torque needs to be reduced to reduce the output of the motor, the adjusted target motor torque is obtained by multiplying an adjustment coefficient and the target motor torque, the numerical range of the adjustment coefficient is [0,1], the upper limit value of the adjustment coefficient corresponds to a vehicle speed adjustment threshold, the lower limit value of the adjustment coefficient corresponds to a vehicle speed safety threshold, the adjustment coefficient is in negative correlation with the vehicle speed, when the vehicle speed is gradually increased from the vehicle speed adjustment threshold to the vehicle speed safety threshold, the numerical value of the adjustment coefficient is gradually reduced from 1 to 0, and the target motor torque is also reduced along with the reduction of the adjustment coefficient until the target motor torque is reduced to zero. Therefore, the target motor torque is adjusted by setting the adjustment coefficient.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a motor control device of a power assisted bicycle, including:
a memory 41 for storing a computer program;
a processor 42 for implementing the steps of the method for controlling a motor of a bicycle assisted by a force as described above when executing said computer program.
Specifically, the memory 41 may be, but is not limited to, a Flash memory (Flash memory), and the processor 42 may be, but is not limited to, an MCU (micro controller Uint).
Referring to fig. 5, fig. 5 is a schematic structural view of a power assisted bicycle provided by the present invention. The moped comprises a moped body and further comprises the motor control device of the moped.
As a preferred embodiment, the motor control apparatus of the power-assisted bicycle further includes:
the torque sensor 51 is connected with the processor and is used for detecting the torque applied to the middle shaft by the crank of the power-assisted bicycle;
the pedaling frequency sensor is connected with the processor and is used for detecting the rotation angle and the rotation speed of the pedals of the power-assisted bicycle and outputting a level signal to the processor 42, so that the processor 42 can obtain the pedaling frequency of the power-assisted bicycle in the running process based on the level signal;
the speed sensor is connected with the processor and used for detecting the speed of the moped in the running process;
a motor 52 connected to the processor for outputting assistance to the rider during travel of the assisted bicycle;
the communication module is connected with the processor and is used for transmitting the speed of the moped in the running process;
the instrument 53 is connected with the communication module and is used for receiving and displaying the vehicle speed transmitted by the communication module;
and a battery 54 for supplying power to the various components of the apparatus.
Specifically, the communication module may be, but is not limited to, a UART (Universal Asynchronous Receiver/Transmitter).
For the introduction of the motor control device of the power-assisted bicycle provided by the present invention, please refer to the above method embodiments, and the present invention is not repeated herein.
For the description of the power-assisted bicycle provided by the present invention, please refer to the above method embodiments, and the present invention is not repeated herein.
It should be noted that, in the present specification, 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.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A motor control method of a power-assisted bicycle is characterized by comprising the following steps:
determining the current human power output power, the current motor output power and the target human power output power in the running process of the power-assisted bicycle;
obtaining the target motor output power of a motor in the power assisting system based on the difference value obtained by subtracting the target human output power from the sum of the current human output power and the current motor output power;
obtaining a target motor torque of the motor based on the target motor output power to control the motor based on the target motor torque.
2. The method of claim 1, wherein determining the current human power output during the driving of the bicycle comprises:
acquiring the current pedal torque applied to a middle shaft by a crank in the driving process of the power-assisted bicycle;
acquiring the pedaling frequency of the pedals in the running process of the power-assisted bicycle;
and calculating the product of the current pedal torque and the pedal frequency, and dividing the product by a preset coefficient to obtain the current human power output power.
3. The method of controlling a motor of a bicycle according to claim 1, wherein determining the target human power output during the driving of the bicycle comprises:
determining a target pedal torque;
acquiring the pedaling frequency of the pedals in the running process of the power-assisted bicycle;
and calculating the product of the target pedal torque, the pedal frequency and a preset coefficient, and dividing the product by the preset coefficient to obtain the target human power output power.
4. The motor control method of a power-assisted bicycle according to claim 3, wherein determining the target pedaling torque comprises:
determining a fixed pedal torque value as a target pedal torque;
the fixed pedal torque value is between the length of a crank of the power-assisted bicycle and the length of a crank of the power-assisted bicycle, A is a preset pedal force comfortable lower limit value, and B is a preset pedal force comfortable upper limit value.
5. The motor control method of a power-assisted bicycle according to claim 3, wherein determining the target pedaling torque comprises:
determining the whole vehicle resistance of the power-assisted bicycle in the running process;
determining the target pedaling torque based on the overall vehicle resistance;
the target pedal torque is positively correlated with the resistance of the whole bicycle, the target pedal torque is between the length of a crank of the power-assisted bicycle and the length of a crank of the power-assisted bicycle, A is a preset pedal force comfort lower limit value, and B is a preset pedal force comfort upper limit value.
6. The method of claim 5, wherein determining the overall vehicle resistance during travel of the bicycle comprises:
acquiring the speed of the power-assisted bicycle in the running process;
obtaining the whole vehicle resistance force applied to the power-assisted bicycle in the running process according to the whole vehicle resistance relational expression, the current manpower output power, the current motor output power and the vehicle speed;
the whole vehicle resistance relational expression is (the current manpower output power + the current motor output power)/a preset coefficient/the vehicle speed.
7. The motor control method of a bicycle according to any one of claims 1 to 6, further comprising, after obtaining the target motor torque of the motor based on the target motor output power:
acquiring the speed of the power-assisted bicycle in the running process;
judging whether the vehicle speed is greater than a vehicle speed adjusting threshold value;
if so, adjusting the target motor torque according to the vehicle speed, and controlling the motor based on the adjusted target motor torque; the target motor torque is inversely related to the vehicle speed;
and if not, the step of controlling the motor based on the target motor torque is carried out.
8. The motor control method of a power-assisted bicycle according to claim 7, wherein adjusting the target motor torque according to the vehicle speed includes:
calculating the product of the adjustment coefficient and the target motor torque to obtain the adjusted target motor torque;
the numerical range of the adjustment coefficient is between [0,1], and when the range of the vehicle speed is within the range of a vehicle speed adjustment threshold and a vehicle speed safety threshold, the adjustment coefficient is in negative correlation with the vehicle speed, and the vehicle speed adjustment threshold is smaller than the vehicle speed safety threshold.
9. A motor control apparatus for a power-assisted bicycle, the apparatus comprising:
a memory for storing a computer program;
a processor for implementing the steps of the method of controlling a motor of a bicycle assisted by force as claimed in any one of claims 1 to 8 when said computer program is executed.
10. A power-assisted bicycle, characterized by comprising a power-assisted bicycle body and further comprising a motor control device of the power-assisted bicycle according to claim 9.
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