CN1382608A - Driving device of electric boosting bicycle - Google Patents

Driving device of electric boosting bicycle Download PDF

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Publication number
CN1382608A
CN1382608A CN02105766A CN02105766A CN1382608A CN 1382608 A CN1382608 A CN 1382608A CN 02105766 A CN02105766 A CN 02105766A CN 02105766 A CN02105766 A CN 02105766A CN 1382608 A CN1382608 A CN 1382608A
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CN
China
Prior art keywords
electric
actuating device
assisted bicycle
storage battery
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN02105766A
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Chinese (zh)
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CN1195659C (en
Inventor
上符敏昭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Central Products Co
Original Assignee
Meidensha Electric Manufacturing Co Ltd
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Publication of CN1382608A publication Critical patent/CN1382608A/en
Application granted granted Critical
Publication of CN1195659C publication Critical patent/CN1195659C/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/40—Electric propulsion with power supplied within the vehicle using propulsion power supplied by capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/53—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells in combination with an external power supply, e.g. from overhead contact lines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/14—Dynamic electric regenerative braking for vehicles propelled by ac motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/12—Bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/10—Electrical machine types
    • B60L2220/14—Synchronous machines
    • 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
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The present invention relates to a running device for electric-assisted bicycle. On the transmission mechanism which is behind a single-direction clutch, there is provided with a drive portion of electric-assisted bicycle which regenerated electric power is less and reduction effect of power source capacity is less. A drive motor is external stator-typed permanent magnetic synchronal motor. Meanwhile, between the battery and the drive device that can be forward and reverse switched, there is provided with an ON-OFF silicon-controlled switch element so as to provide the regenerated electric power into the battery, Said switch element is composed of diodes that are connected in series.

Description

The running gear of electric assisted bicycle
Technical field
The present invention relates to electric assisted bicycle, particularly relate to the electric assisted bicycle that has reduced accumulator capacity.
Background technology
Electric assisted bicycle has two kinds of propulsive efforts, the first makes the propulsive effort of wheel revolutions by being delivered to the rotation side of flywheel from the propulsive effort of pedal via chain, constitute with another and to detect the torque be added on the pedal, come turning motor with torque, come drive wheels via speed reduction gearing with the same size of this torque.
Though this electric assisted bicycle has carried out all designs, but any design all is accompanied by a motor configurations at drive division, to seek to reduce the size expendable weight is thereby that purpose improves drive motor speed, is made for by gear or pulley decelerates and obtains required torque.
And then, if be connected drive division and the person of tire portion with free-wheel clutch, also be provided with speed reduction gearing even then driving motor is located at tire portion via chain.
Existing electric assisted bicycle is because be provided with certain speed reduction gearing so can't become compact mechanism, be necessary to change the basic structure of common bicycle significantly and also become on the cost high price, and, become big in the required manpower propulsive effort of the occasion of the voltage of storage battery using up to charge.
In addition, adopt about 200W as driving motor, motor efficiency be 50～60% the brush DC motor arranged, and adopt speed reduction gearing as previously mentioned.Therefore thereby regenerate even on the later transmission device of the free-wheel clutch between the transmission device that is located at manpower drive division and direct motor drive portion, drive division is set, thereby also the reduction effect of very little power supply capacity is little for the regenerated electric power amount.And then, because of gear losses in the speed reduction gearing etc., exist the purchaseless problems such as difficulty that become of travelling, exist the power-assisted problem in the time of can't reducing the level land and travel.
Summary of the invention
The object of the invention is to provide a kind of driving motor to adopt the magnet-type synchronous motor, does not establish speed reduction gearing such as gear and can be with the bicycle of the long distance travel of power supply with small capacity.
The running gear of the electric assisted bicycle of the 1st aspect of the present invention, this electric assisted bicycle have between storage battery and driving motor and constitute the actuating device that can the positive and negative both direction of switch current flows, it is characterized in that,
Forward bonded assembly diode is set in the stream of aforementioned storage battery and actuating device, and the 1st on-off element used of control regenerated electric power is connected between actuating device and storage battery, and aforementioned driving motor is taken as the external rotor type permanent magnetism synchronous motor.
The running gear of the electric assisted bicycle of the 2nd aspect of the present invention, it is characterized in that, replace aforementioned storage battery that cond is set, capacitors in series ground connects the circuit series of reactor and the 2nd on-off element therewith, aforementioned diodes is connected between the bridge contact and actuating device of reactor and the 2nd on-off element.
Description of drawings
Fig. 1 is the pie graph of expression embodiments of the invention.
Fig. 2 is the pie graph of expression an alternative embodiment of the invention.
Fig. 3 is the pie graph of drive division of the present invention.
Fig. 4 is power-assisted rate-speed characteristic figure.
Fig. 5 is resistance to motion calculated curve figure.
The specific embodiment
Fig. 1 illustrates embodiments of the invention.The 1st, driving motor, this driving motor 1 can use the external rotor type permanent magnetism synchronous motor.The 2nd, actuating device is waited by the transistor with forward and reciprocal transformation function to constitute.The 3rd, storage battery, the 4th, the on-off element that constitutes by transistor etc., the 5th, reactor, the 6th, cond, 7,8 is respectively diode.
The charging of the storage battery 3 in this circuit earlier gives cond 6 chargings from unillustrated charging with power supply, connects on-off element 4 and charge a battery when its voltage for example reaches 30V.Though charging finishes when charging valtage for example reaches 28V, when bicycle running, supply with power from cond 6, when the voltage of cond 6 reduces from storage battery 3 via diode 7 supplies.Actuating device 2 becomes inverter when driving motor 1 power running state, and electric current flows to electrical motor 1 by cond 6, actuating device 2.
Become descent run at bicycle, actuating device 2 became changer when driving motor 1 came work as electrical generator, give acceleration energy cond 6 chargings by electrical motor 1, actuating device 2, become certain value when above at its charging valtage, by connecting on-off element 4 via 3 chargings of reactor 5 accumulators.Acceleration energy is absorbed in the power supply, braking torque takes place, and by to power source charges, also become possibility even reduce to grow distance travel as the accumulator capacity of power supply.
In addition,, also in cond 6, once after the stored energy, carry out constant-current charge, do not carry out the super-high-current charging whereby by the control of on-off element 4 even when the charging current of storage battery has big regenerative current.
Fig. 2 illustrates another embodiment, is with the difference of Fig. 1, replaces storage batterys 3 with cond 10, is provided with to follow from charging with power source charges and the diode 11,12 of inaccessible usefulness, and the 2nd on-off element 9 is set.As the charging power supply, be added on the diode 12 after being transformed into direct current from the source of AC rectification of 100V by rectifier, it is that condition is recharged via diode 12, on-off element 4, diode 7 that cond 6 becomes connection with the 1st on-off element 4, and cond 10 also is recharged via reactor 5 simultaneously.
When bicycle running, supply with power, when the voltage of cond 6 reduces,, supply with, the voltage of cond 6 is remained on 24～30V via cond 10, reactor 5, diode 7 by make-and-break control switch element 9 from cond 6.
Fig. 3 illustrates the pie graph of the drive division that is located at bicycle rear, and the 20th, axletree, the 21st, be matched with the bearing of axletree, sprocket wheel 23 is installed on its outside freely via power-transfer clutch 22 rotations.On this sprocket wheel 23, be connected the chain of setting with pedal though hang not draw.24 is the 2nd coupler, forms discoid and hollow bulb is arranged, and its part is connected in power-transfer clutch 22, is provided with the spoke hole 25 that spoke that wheel is installed is used in its outside.In the hollow bulb of coupler 24, extend and disposing the back plate 26 that is fixed in axletree 20, along its front end circumference configuration stator core 27, the coil 28 of on this stator iron core 27, reeling.The rotor that permanent magnet 29 faces toward stator core 27 and is configured to replace along circumference N, the S utmost point via air gap G.27～29 come the external rotor type permanent magnetism synchronous motor 1 shown in the pie graph 1 by these.
The 30th, printed circuit board is installed with the circuit component of transformation component 4 or control part 6 and is fixed in back plate 26 by bolt etc. on this printed circuit board 30.31 is the 1st coupler, is fixed in the side of power-transfer clutch 22, and and the 2nd coupler 24 between clip flexible coupling 32.The 33rd, be configured in the Hall element on the back plate 26, distributed magnet carries out the A position probing of usefulness mutually on the 1st coupler 31 of the face of 33 face-offs of Hall element therewith.The 34th, B uses the magnet of position probing mutually.35,36 is respectively bearing.
The drive division that image pattern 3 constitutes like this, propulsive effort is stepped on pedal by pin and is delivered to sprocket wheel 23, power-transfer clutch 22 and the 2nd coupler 24, rotates while these lean on each bearing 21,35,36 to support.The permanent magnet 29 that is fixed in coupler 24 also rotates by this rotation, attractive force and repulsive force that utilization takes place between permanent magnet 29 that rotates and stator coil 28, switch the direction of current that flows through stator coil 28 according to rotor-position, rotation is continued.
, in booster bicycle, as shown in Figure 4, be defined as below 1, between 15～24km/h,, when 24km/h is above, forbid power-assisted as decrescence torque in power-assisted rate up to speed per hour 15km motor torque.
One be defined in the control circuit of actuating device 2 based on this, though do not draw, but when 15km/h is above, switch to ASR (auto-speed control) function that constant speed is used by the speed test section, in addition, in the torque instruction operational part, ATR (automated torque control) function that switches to constant torque and use when 15km/h is following is arranged.
If according to afore mentioned rules, the energy when calculating climbing and descent run then becomes and leans on 1/2 of driving motor 1 subsidy required electric power when climbing is travelled.
In addition, the acceleration energy during descending becomes when climbing is travelled deduct suffered windage loss persons such as loss that rolling resistance causes and human body from required electric power.
That is to say, if ignore the efficient of electrical motor 1 and actuating device 2, then when climbing during near 50%, at descending the power conservation near 100% become possibility, by eliminating the power-assisted of level land when travelling, can be taken as the battery supply capacity of electric assisted bicycle minimum.
From above viewpoint, constitute drive division like that because of image pattern 3 in the present invention, speed reduction gearing is not set, and with the external-rotor motor that combines with the manpower propulsive effort via chain, free-wheel clutch and flexible coupling as the assisted electric machine, so can the manpower propulsive effort, motor force is delivered to traveling tire to its propulsive effort with few loss together.Thereby, in travelling in the level land except when starting with when quickening, can only depend on very little manpower to drive travels, when descent run, make driving motor come work as electrical generator, by the circuit of Fig. 1, Fig. 2 the acceleration energy in the descending is absorbed in the power supply whereby and braking torque takes place, give battery of electric power (or cond) charging simultaneously.Even little whereby accumulator capacity, long distance travel also becomes possibility.
Concrete accumulator capacity and capacitor capacitance when discuss adopting above-mentioned operating method below.
According to stipulator among the JIS D 9207, the resistance to motion F (N) that reaches after the constant speed is taken as following formula.
F(N)＝R+0.027V 2+9.8Wsinθ
In the formula, V: speed (km/h), W: the standard value of equivalent inertial mass (kg), θ: the upward slope angle (°), R: be rolling resistance (N), each the rolling resistance of wheel that is not arranged on the roller of chassis dynamometer is taken as 2.6.0.027: aerodynamic drag factor (N/ (km/h) 2)
Fig. 5 illustrates the diagram of curves (W=90kg) that is used for calculating resistance to motion, on Ordinary road,
θ=0 F=8.7 (N) o'clock when V=15km/h
During θ=2 ° when V=10km/h F=36.1 (N)
During θ=-2 ° when V=15km/h F=-22.1 (N)
When (V=10km/h) travelled on the sloping road in θ=4 °,
F=2.6+0.027 during climbing * 10 2+ 9.8 * 90sin4=66.8 (N)
F=2.6+0.027 during descending * 10 2+ 9.8 * 90sin (4)=-56.2 (N)
The electric power P that travels is
P＝1.027n×1/9.8F×γ
In the formula, n is a vehicle wheel rotational speed, n 15=15000m/60 (π * 26 * 0.0254)=120.5 (rpm)
n 10＝80.4(rpm)
In addition, γ is a radius of wheel, when 26 inches of diameter of tyres
γ 26＝26×0.254/2＝0.33(m)
(1) when driving because the power-assisted ratio is taken as 1, so the electric power that travels that desired volume is taken as on 1/2 o'clock the general travel is
The electric power that travels during θ=0 °
P θ0＝(1.027×12.05×1/9.8×8.7×0.33)×1/2＝18.2W
The electric power that travels during θ=2 °
P θ2°＝(1.027×80.4×1/9.8×36.1×0.33)×1/2＝50.2W
The electric power that travels during θ=-2 °
P θ-2°＝1.027×120.5×1/9.8×(-22.1)×0.33＝92W
(2) calculate power supply capacity.When calculating power supply capacity because be necessary to consider the efficient of electrical motor and actuating device, so make motor efficiency η here M=0.82, the conversion efficiency η of actuating device S=0.93.
During driving according to P A=P θ/ η Mη S
P θ0A＝18.2/0.82×0.93＝24W
P θ2°A＝50.2/0.82×0.93＝66W
During absorption according to P B=P θ* η Mη S
P θ-2°B＝92×0.83×0.93＝-71W
Thereby the consumption electric power P on the general travel is for multiply by above-mentioned value to running time, so
P＝(24×1/15H)×3+66×1/10H-71×1/15H＝6.6W/H
(3) electric power the during climbing on the travel of θ=4 °
P A(θ＝4°)＝(1.27×80.4×1/9.8×66.8×1.33)×1/2×1/0.82×1/0.93＝122W
Electric power during descending
P B(?θ＝-4°)＝1.027×120.5×1/9.8×(-56.2)×0.33×0.82×0.93＝178W
Thereby the consumption electric power under 4 ° of gradients becomes
P＝122W×1/10-178×1/15＝0.33W/H
As previously discussed, if use the present invention, then because driving motor is taken as the external rotor type permanent magnetism synchronous motor and carries out electric power regeneration, miniaturization becomes possibility so cancel speed reduction gearing, can be delivered to traveling tire to propulsive effort with few loss.Thereby, because in travelling in the level land except when starting with when quickening, only depend on very little manpower to drive and just can travel, so the power-assisted the during constant speed drive on the elimination level land becomes whereby and only uses minimum power supply capacity just passable.
In addition, when descent run, make driving motor come work, the acceleration energy in the descending is absorbed in the power supply, when braking torque takes place, charge a battery as electrical generator.
According to the above electric assisted bicycle that can obtain to grow distance travel with little accumulator capacity.In addition, be that power supply also is possible with the electric double layer capacitor, can provide a kind of long life, can the fabulous electric assisted bicycle of short time convenience for charging.

Claims (2)

1. the running gear of an electric assisted bicycle, this electric assisted bicycle have between storage battery and driving motor and constitute the actuating device that electric current can positive and negative both direction flows, it is characterized in that,
Forward bonded assembly diode is set in the circuit of aforementioned storage battery and actuating device, and the 1st on-off element that is used to control regenerated electric power is connected between actuating device and storage battery, and aforementioned driving motor is taken as the external rotor type permanent magnetism synchronous motor.
2. the running gear of electric assisted bicycle according to claim 1, it is characterized in that, replace aforementioned storage battery that cond is set, capacitors in series ground connects the circuit series of reactor and the 2nd on-off element therewith, diode is connected between the bridge contact and actuating device of reactor and the 2nd on-off element.
CNB021057664A 2001-04-26 2002-04-17 Driving device of electric boosting bicycle Expired - Fee Related CN1195659C (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP128582/2001 2001-04-26
JP2001128582A JP3849452B2 (en) 2001-04-26 2001-04-26 Electric assist bicycle driving device.

Publications (2)

Publication Number Publication Date
CN1382608A true CN1382608A (en) 2002-12-04
CN1195659C CN1195659C (en) 2005-04-06

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CNB021057664A Expired - Fee Related CN1195659C (en) 2001-04-26 2002-04-17 Driving device of electric boosting bicycle

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JP (1) JP3849452B2 (en)
CN (1) CN1195659C (en)
TW (1) TW590946B (en)

Cited By (3)

* Cited by examiner, † Cited by third party
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CN103534128A (en) * 2011-05-13 2014-01-22 米其林企业总公司 Device and method for managing the electric braking of a vehicle
CN109599927A (en) * 2018-12-07 2019-04-09 广州市昌菱电气有限公司 Bicycle electric power-assisted driving control system and bicycle
CN111634361A (en) * 2017-04-03 2020-09-08 株式会社岛野 Bicycle drive system, bicycle drive unit, and bicycle battery unit

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JPWO2006016397A1 (en) * 2004-08-09 2008-07-31 株式会社ニッコー Bicycle hub built-in DC generator and auxiliary power motor mounted wheels
JP2007191088A (en) * 2006-01-20 2007-08-02 Nissan Diesel Motor Co Ltd Hybrid vehicle
JP5561586B2 (en) * 2010-02-18 2014-07-30 Ｎｔｎ株式会社 Electric assist bicycle
JP4882014B2 (en) * 2010-04-15 2012-02-22 Ｕｄトラックス株式会社 Hybrid vehicle
DK3020621T3 (en) * 2014-11-14 2017-02-20 Lakeview Innovation Ltd Sensor arrangement for controlling an auxiliary motor and wheel hub unit with such sensor arrangement
JP6959170B2 (en) * 2018-03-22 2021-11-02 株式会社シマノ Control device for human-powered vehicles
TWI724812B (en) * 2020-03-06 2021-04-11 彥豪金屬工業股份有限公司 Device and method for detecting pedaling frequency of bike

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103534128A (en) * 2011-05-13 2014-01-22 米其林企业总公司 Device and method for managing the electric braking of a vehicle
CN111634361A (en) * 2017-04-03 2020-09-08 株式会社岛野 Bicycle drive system, bicycle drive unit, and bicycle battery unit
CN111634361B (en) * 2017-04-03 2022-06-07 株式会社岛野 Bicycle drive system, bicycle drive unit, and bicycle battery unit
CN109599927A (en) * 2018-12-07 2019-04-09 广州市昌菱电气有限公司 Bicycle electric power-assisted driving control system and bicycle

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Publication number Publication date
CN1195659C (en) 2005-04-06
JP3849452B2 (en) 2006-11-22
JP2002321680A (en) 2002-11-05
TW590946B (en) 2004-06-11

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