CN114056479A - Self-adaptive electric power-assisted bicycle torque control method and control system - Google Patents
Self-adaptive electric power-assisted bicycle torque control method and control system Download PDFInfo
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- CN114056479A CN114056479A CN202111422246.4A CN202111422246A CN114056479A CN 114056479 A CN114056479 A CN 114056479A CN 202111422246 A CN202111422246 A CN 202111422246A CN 114056479 A CN114056479 A CN 114056479A
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000004364 calculation method Methods 0.000 claims abstract description 46
- 230000003044 adaptive effect Effects 0.000 claims abstract description 40
- 238000012821 model calculation Methods 0.000 claims abstract description 9
- 238000012546 transfer Methods 0.000 claims description 9
- 230000006978 adaptation Effects 0.000 claims description 6
- 239000000126 substance Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D17/00—Control of torque; Control of mechanical power
- G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a torque control system of a self-adaptive electric power-assisted bicycle, which can operate a torque control method of the self-adaptive electric power-assisted bicycle, and comprises the following steps: the device comprises a treading moment acquisition module, a resisting moment acquisition module, a driving wheel output torque calculation module, a chain wheel output torque calculation module, a reference model calculation module, a controlled object calculation module and a self-adaptive rate calculation module. According to the invention, the riding condition is judged by referring to the product of the model and the output torque of the driving wheel and the difference value of the angular speed of the driving wheel, and different gains of adaptive rate coefficients are selected according to the riding condition, so that torque can be rapidly provided and output can be provided.
Description
Technical Field
The invention relates to the technical field of power-assisted bicycle control, in particular to a torque control method and a torque control system of a self-adaptive electric power-assisted bicycle.
Background
The traditional control system of the electric power-assisted bicycle is mainly divided into a control system without a torque sensor and a control system with the torque sensor, wherein the control system without the torque sensor is widely used, and the control principle is that a Hall element is used for measuring the treading speed of a rider, and the output torque of a motor is calculated through the power-assisted ratio; the control system with the torque sensor directly calculates the output torque of the motor according to the pedaling force of the rider, and the output torque of the motor has strong following performance on the pedaling force of the rider by adopting the control system with the control mode. However, in the traditional control system scheme without the torque sensor, the output torque of the motor is controlled by estimating the treading force signal, so that the system has larger time delay and cannot obtain better following performance; in the scheme of the control system with the torque sensor, the motor output needs complex modeling analysis, the requirement on a main control chip of a motor controller is high, and the stability of the whole system cannot be ensured.
Disclosure of Invention
The invention provides a self-adaptive electric power-assisted bicycle torque control system and a control method, and aims to solve the problems that a traditional control scheme with a torque sensor in the prior art has high requirements on a main control chip of a motor controller and cannot ensure stable following of torque.
The invention provides a torque control method of a self-adaptive electric power-assisted bicycle, which comprises the following steps: starting process and riding process;
the starting process comprises the following steps:
step A1: presetting the shortest starting time and the starting torque;
step A2: when the duration time of the pedaling torque is longer than the shortest starting time and the average pedaling torque in the duration time of the pedaling torque is longer than the starting torque, entering a riding process;
the riding process comprises the following steps:
step S1: presetting effective torque;
step S2: obtaining the treading torque, the sprocket output torque and the resisting torque, and establishing a controlled object model and a reference model;
step S3: calculating the output torque of the driving wheel according to the treading torque and the output torque of the chain wheel;
step S4: calculating the angular speed of a driving wheel of a rear wheel motor to be adjusted according to the difference value of the output torque and the resisting torque of the chain wheel and a controlled object model;
step S5: acquiring a riding working condition according to a product of the reference model and the output torque of the driving wheel and a difference value of the angular speed of the driving wheel, selecting a gain value of an adaptive rate coefficient in the adaptive rate according to the riding working condition, and updating the adaptive rate according to the gain value of the adaptive rate coefficient, the angular speed of the driving wheel, the reference model and the output torque of the driving wheel;
step S6: and calculating the sprocket output torque required to be provided by the sprocket according to the updated self-adaptive rate and the output torque of the driving wheel, and providing the torque by the sprocket according to the sprocket output torque required to be provided currently.
Further, the transfer function of the controlled object model is:
wherein J is the equivalent moment of inertia under the influence of external factors in the actual vehicle model.
Further, the calculation formula of the angular velocity of the driving wheel is as follows:
wherein, TtFor output of torque from the driving wheels, TdIs moment of resistance, GpAnd(s) is a transfer function of the controlled object model.
Further, the transfer function of the reference model is:
wherein, JfIs the moment of inertia of the front wheel, JrIs the moment of inertia of the rear wheel, r is the wheel radius, and M is the total mass of the electric power bicycle and the rider.
Further, the adaptive rate calculation method comprises the following steps:
Kc(s)＝γ[TtGm(s)-(Tt-Td)Gp(s)]s＝γ[TtGm(s)-ω]
wherein, Kc(s) is the adaptation rate; gamma is an adaptive rate coefficient, and the specific formula is as follows:
γ＝Kgγ′,γ＞0
wherein, KgIs the gain of the adaptive rate coefficient.
Further, in step S5, the riding condition is obtained according to the product of the reference model and the driving wheel output torque and the difference value of the driving wheel angular velocity, and the specific method for selecting the gain value of the adaptive coefficient in the adaptive rate according to the riding condition is as follows:
the product of the reference model and the output torque of the driving wheel and the difference value of the angular velocity of the driving wheel are as follows:
e(s)＝TtGm(s)-ω
wherein the content of the first and second substances,
when e(s) >0.2J, the riding working condition is uphill, and Kg is set to be equal to 1.2J;
when e(s) <0, the off-riding working condition is downhill, and Kg is set to be equal to 0.8J;
when e is more than or equal to 0 and s is more than or equal to 0.2J, the off-riding working condition is a level road, and Kg is set to be equal to J.
Further, the formula for calculating the sprocket output torque required to be provided by the sprocket at present in step S6 is as follows:
Tm＝Kc(s)Tr
wherein Tr is the pedaling torque, Tm is the sprocket output torque, Kc(s) is the adaptation rate.
The invention also provides a self-adaptive electric power-assisted bicycle torque control system, which can operate the self-adaptive electric power-assisted bicycle torque control method and comprises the following steps: the device comprises a treading torque acquisition module, a resisting torque acquisition module, a driving wheel output torque calculation module, a chain wheel output torque calculation module, a reference model calculation module, a controlled object calculation module and a self-adaptive rate calculation module;
the driving wheel output torque calculation module is respectively connected with the treading torque acquisition module and the chain wheel output torque calculation module and is used for calculating the driving wheel output torque according to the treading torque and the chain wheel output torque;
the controlled object calculation module is respectively connected with the driving wheel output torque calculation module and the resisting moment acquisition module and is used for calculating the angular speed of the driving wheel to be adjusted by taking the driving wheel output torque and the resisting moment as input;
the self-adaptive rate calculation module is respectively connected with the reference model calculation module, the driving wheel output torque calculation module and the chain wheel output torque calculation module, and is used for calculating the self-adaptive rate according to the reference model calculation output value and the driving wheel output torque, outputting the calculation result to the chain wheel output torque calculation module and calculating the current required chain wheel output torque.
The invention has the beneficial effects that:
1. the electric power-assisted bicycle is modeled, and the whole system gradually tends to be stable by using a method that a controlled object model approaches a reference model.
2. According to the invention, the riding condition is judged by referring to the product of the output torque of the model and the driving wheel and the difference value of the angular speed of the driving wheel, different gains of adaptive rate coefficients are selected according to the riding condition, and particularly, the torque can be rapidly provided under the uphill condition to provide output.
3. A design method adopting the Lyapunov second method is adopted in the controlled object model approaching reference model, and the self-adaptive rate is scientific and effective.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
FIG. 1 is a block diagram illustrating a parameter calculation relationship in a method for controlling a torque of an adaptive electric bicycle according to an embodiment of the present invention;
FIG. 2 is a block diagram of an adaptive electric assist bicycle torque control system in accordance with an embodiment of 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. 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.
The embodiment of the invention provides a self-adaptive electric power-assisted bicycle torque control method, which comprises the following steps: starting process and riding process;
the starting process comprises the following steps:
step A1: presetting the shortest starting time and the starting torque;
step A2: when the duration time of the pedaling torque is longer than the shortest starting time and the average pedaling torque in the duration time of the pedaling torque is longer than the starting torque, entering a riding process;
as shown in fig. 1, the riding process comprises the following steps:
step S1: presetting effective torque;
step S2: obtaining the treading torque, the sprocket output torque and the resisting torque, and establishing a controlled object model and a reference model; the transfer function of the controlled object model is as follows:
j is the equivalent moment of inertia under the influence of external factors in the actual vehicle model;
the transfer function of the reference model is:
wherein, JfIs the moment of inertia of the front wheel, JrIs the moment of inertia of the rear wheel, r is the wheel radius, and M is the electric power assistTotal mass of the bicycle and rider;
step S3: calculating the output torque of the driving wheel according to the treading torque and the output torque of the chain wheel;
the relationship among the driving wheel output torque, the treading torque and the sprocket output torque is as follows:
Tt＝Tm+Tγ
wherein Tt is the output torque of the driving wheel, Tr is the pedaling torque, and Tm is the output torque of the chain wheel;
the calculation formula of the angular velocity of the driving wheel is as follows:
wherein, TtFor output of torque from the driving wheels, TdIs moment of resistance, Gp(s) is a transfer function of the controlled object model;
step S4: calculating the angular speed of a driving wheel of a rear wheel motor to be adjusted according to the difference value of the output torque and the resisting torque of the chain wheel and a controlled object model;
step S5: acquiring a riding working condition according to a product of the reference model and the output torque of the driving wheel and a difference value of the angular speed of the driving wheel, selecting a gain value of an adaptive rate coefficient in the adaptive rate according to the riding working condition, and updating the adaptive rate according to the gain value of the adaptive rate coefficient, the angular speed of the driving wheel, the reference model and the output torque of the driving wheel;
the self-adaptive rate calculation method comprises the following steps:
Kc(s)＝γ[TtGm(s)-(Tt-Td)GP(s)]s＝γ[TtGm(s)-ω]
wherein, Kc(s) is the adaptation rate; gamma is an adaptive rate coefficient, and the specific formula is as follows:
γ＝Kgγ′,γ＞0
wherein, KgA gain that is an adaptive rate coefficient;
the value of Kg is selected through the riding working condition, and the method specifically comprises the following steps:
the product of the reference model and the output torque of the driving wheel and the difference value of the angular velocity of the driving wheel are as follows:
e(s)＝TtGm(s)-ω
wherein the content of the first and second substances,
when e(s) >0.2J, the riding working condition is uphill, and Kg is set to be equal to 1.2J;
when e(s) <0, the off-riding working condition is downhill, and Kg is set to be equal to 0.8J;
when e is more than or equal to 0 and s is more than or equal to 0.2J, the off-riding working condition is a level road, and Kg is set to be equal to J;
step S6: calculating the sprocket output torque required to be provided by the sprocket according to the updated self-adaptive rate and the output torque of the driving wheel, and providing the torque by the sprocket according to the sprocket output torque required to be provided currently; the formula for calculating the sprocket output torque that needs to be provided at present is:
Tm＝Kc(s)Tr
wherein Tr is the pedaling torque, Tm is the sprocket output torque, Kc(s) is the adaptation rate.
As shown in fig. 2, an embodiment of the present invention further provides an adaptive electric-assisted bicycle torque control system, which can operate the adaptive electric-assisted bicycle torque control method, including: a pedaling torque obtaining module 51, a sprocket output torque calculating module 52, a driving wheel output torque calculating module 53, an adaptive rate calculating module 54, a resisting torque obtaining module 55, a controlled object calculating module 56, and a reference model calculating module 57;
the driving wheel output torque calculation module is respectively connected with the treading torque acquisition module and the chain wheel output torque calculation module and is used for calculating the driving wheel output torque according to the treading torque and the chain wheel output torque;
the controlled object calculation module is respectively connected with the driving wheel output torque calculation module and the resisting moment acquisition module and is used for calculating the angular speed of the driving wheel to be adjusted by taking the driving wheel output torque and the resisting moment as input;
the self-adaptive rate calculation module is respectively connected with the reference model calculation module and the driving wheel output torque calculation module, and the chain wheel output torque calculation module and is used for calculating the self-adaptive rate according to the reference model calculation output value and the driving wheel output torque, outputting the calculation result to the chain wheel output torque calculation module and further calculating the chain wheel output torque.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (8)
1. A torque control method of an adaptive electric power assisted bicycle is characterized by comprising the following steps: starting process and riding process;
the starting process comprises the following steps:
step A1: presetting the shortest starting time and the starting torque;
step A2: when the duration time of the pedaling torque is longer than the shortest starting time and the average pedaling torque in the duration time of the pedaling torque is longer than the starting torque, entering a riding process;
the riding process comprises the following steps:
step S1: presetting effective torque;
step S2: obtaining the treading torque, the sprocket output torque and the resisting torque, and establishing a controlled object model and a reference model;
step S3: calculating the output torque of the driving wheel according to the treading torque and the output torque of the chain wheel;
step S4: calculating the angular speed of a driving wheel of a rear wheel motor to be adjusted according to the difference value of the output torque and the resisting torque of the chain wheel and a controlled object model;
step S5: acquiring a riding working condition according to a product of the reference model and the output torque of the driving wheel and a difference value of the angular speed of the driving wheel, selecting a gain value of an adaptive rate coefficient in the adaptive rate according to the riding working condition, and updating the adaptive rate according to the gain value of the adaptive rate coefficient, the angular speed of the driving wheel, the reference model and the output torque of the driving wheel;
step S6: and calculating the sprocket output torque required to be provided by the sprocket according to the updated self-adaptive rate and the output torque of the driving wheel, and providing the torque by the sprocket according to the sprocket output torque required to be provided currently.
2. The adaptive electric-assisted bicycle torque control method according to claim 1, wherein a transfer function of the controlled object model is:
wherein J is the equivalent moment of inertia under the influence of external factors in the actual vehicle model.
3. The adaptive electric-assist bicycle torque control method according to claim 1, wherein the calculation formula of the drive wheel angular velocity is:
wherein, TtFor output of torque from the driving wheels, TdIs moment of resistance, GpAnd(s) is a transfer function of the controlled object model.
4. The adaptive electric-assist bicycle torque control method according to claim 1, wherein the transfer function of the reference model is:
wherein, JfIs the moment of inertia of the front wheel, JrIs the moment of inertia of the rear wheel, r is the wheel radius, and M is the total mass of the electric power bicycle and the rider.
5. The adaptive electric-assisted bicycle torque control method according to claim 1, characterized in that the adaptive rate calculation method is:
Kc(s)＝γ[TtGm(s)-(Tt-Td)Gp(s)]s＝γ[TtGm(s)-ω]
wherein, Kc(s) is the adaptation rate; gamma is an adaptive rate coefficient, and the specific formula is as follows:
γ＝Kgγ′,γ＞0
wherein, KgIs the gain of the adaptive rate coefficient.
6. The adaptive electric-assisted bicycle torque control method according to claim 1, wherein in step S5, a riding condition is obtained according to a product of the reference model and the output torque of the driving wheel and a difference value of the angular velocity of the driving wheel, and a specific method for selecting the gain value of the adaptive rate coefficient in the adaptive rate according to the riding condition is as follows:
the product of the reference model and the output torque of the driving wheel and the difference value of the angular velocity of the driving wheel are as follows:
e(s)＝TtGm(s)-ω
wherein the content of the first and second substances,
when e(s) >0.2J, the riding working condition is uphill, and Kg is set to be equal to 1.2J;
when e(s) <0, the off-riding working condition is downhill, and Kg is set to be equal to 0.8J;
when e is more than or equal to 0 and s is more than or equal to 0.2J, the off-riding working condition is a level road, and Kg is set to be equal to J.
Wherein J is the equivalent moment of inertia under the influence of external factors in the actual vehicle model.
7. The adaptive electric bicycle torque control method according to claim 1, wherein the formula for calculating the sprocket output torque currently required to be provided by the sprocket in step S6 is:
Tm＝Kc(s)Tr
wherein Tr is the pedaling torque, Tm is the sprocket output torque, Kc(s) is the adaptation rate.
8. An adaptive electric-assist bicycle torque control system that can operate the adaptive electric-assist bicycle torque control method according to claims 1 to 7, characterized by comprising: the device comprises a treading torque acquisition module, a resisting torque acquisition module, a driving wheel output torque calculation module, a chain wheel output torque calculation module, a reference model calculation module, a controlled object calculation module and a self-adaptive rate calculation module;
the driving wheel output torque calculation module is respectively connected with the treading torque acquisition module and the chain wheel output torque calculation module and is used for calculating the driving wheel output torque according to the treading torque and the chain wheel output torque;
the controlled object calculation module is respectively connected with the driving wheel output torque calculation module and the resisting moment acquisition module and is used for calculating the angular speed of the driving wheel to be adjusted by taking the driving wheel output torque and the resisting moment as input;
the self-adaptive rate calculation module is respectively connected with the reference model calculation module, the driving wheel output torque calculation module and the chain wheel output torque calculation module, and is used for calculating the self-adaptive rate according to the reference model calculation output value and the driving wheel output torque, outputting the calculation result to the chain wheel output torque calculation module and calculating the current required chain wheel output torque.
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