CN203995746U - Want the successively digital differential boosted vehicle system of input difference device of gear and speed signal - Google Patents
Want the successively digital differential boosted vehicle system of input difference device of gear and speed signal Download PDFInfo
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- CN203995746U CN203995746U CN201420470716.3U CN201420470716U CN203995746U CN 203995746 U CN203995746 U CN 203995746U CN 201420470716 U CN201420470716 U CN 201420470716U CN 203995746 U CN203995746 U CN 203995746U
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Abstract
The utility model wants the digital differential boosted vehicle system of gear and speed signal priority input difference device to belong to the differential front-wheel for power-assisted electricity and trailing wheel difference distributes morpet power-supply controller system.Two wheels and two motors that comprise electric booster bicycle, shift signal manual mode controller, also comprises difference controller, difference controller comprises three modules that are connected successively; The first couple of feedback current IA and IB carry out numeric ratio to be processed; The second use shift signal ID preference pattern function carries out pattern function processing to the data of the first module; The 3rd by car average rate signal IS input data distributor 10, and the control data that controller A and B are obtained have the key element of feedback current IA and IB, car average rate signal IS.Advantage: two motors of front and back wheel to morpet carry out differential control power supply, the content of differential control is exactly that the pattern function of setting is in advance processed.
Description
Technical field
The utility model belongs to assist controller system, particularly front wheel and the trailing wheel of electric assisted bicycle and all gives and the differential front-wheel for power-assisted electricity and trailing wheel difference distribution morpet power-supply controller system.
Background technology
The Chinese patent 201210011641.8 of Hunan Shengtong Technology Group Co.,Ltd's application has proposed a kind of double wheel hub motor driven systems adaptive equalization rotating direction control method, but the technical design of electronic differential application specific processor is not provided.
201110358020.2 1 kinds of double wheel hub motor electronic differentials of Chinese patent and the speed governing Centralized Controller of Hunan Shengtong Technology Group Co.,Ltd application, but there is no the specific design of electronic differential module.
Hitachi Co., Ltd 01122460.6 herein disclosed is a kind of change-speed box, and it comprises for the mechanism to many boxs of tricks by the energy distribution of a drive source; The many motors that are connected with described many boxs of tricks respectively; With the mechanism from the energy of described many boxs of tricks outputs for combination.But the specific design that there is no electronic differential module.
The Chinese patent 201210399458.X that Chengdu connection is risen the application of power control technology Co., Ltd discloses a kind of Double Motor Control device that has electronic differential function, but there is no the specific design of electronic differential module.
The multinomial Chinese patents such as Chinese patent 03123625.1 automatic shifting controller for bicycle of Shimano KK's application, are all the methods that machinery is controlled speed change, are not electron steering speed changes.
Summary of the invention
The purpose of this utility model is to provide front-wheel and two key elements of trailing wheel dynamic stress, speed of a motor vehicle key element, and this four elements of power-assisted gear key element of manually setting determines that front-wheel and trailing wheel difference distribute the morpet power-supply controller system of power supply.And be that power-assisted gear key element is selected pattern function, power-assisted gear key element does not participate in controlling pattern function and calculates, and the control signal that pattern function calculates still has gear key element, makes to control the morpet difference power-supply controller system that pattern function is more simplified.That power-assisted gear key element selects to control to front-wheel and trailing wheel dynamic stress key element the morpet power-supply controller system that pattern function calculates.
Structure of the present utility model is:
Want the successively digital differential boosted vehicle system of input difference device of gear and speed signal, two wheels that comprise electric booster bicycle: wheel A and wheel B, and the motor A and the motor B that drives wheel B that drive wheel A, the shift signal manual mode controller 3 that comprises electric booster bicycle, it is characterized in that: also comprise difference controller 1, vehicle speed signal sensor 12 and average rate device 20; Vehicle speed signal sensor 12 is connected with average rate device 20, and average rate device 20 is the speed signal of vehicle speed signal sensor 12 in certain hour to be become to the signal processor of average velociity in this certain hour.
Between difference controller 1 and motor A, with controller A, be connected, controller A with difference controller 1 give with control signal control electrical source of power wheel A powered;
Between difference controller 1 and motor B, with controller B, be connected, controller B with difference controller 1 give with control signal control electrical source of power wheel B powered.
The current values comparator 9 of negate feedforward control signal electric current I A input difference controller 1 between motor A and controller A;
The current values comparator 9 of negate feedforward control signal electric current I B input difference controller 1 between motor B and controller B.
The current values comparator 9 of the shift signal ID input difference controller 1 of shift signal manual mode controller 3;
The current values comparator 9 of the car average rate signal IS input difference controller 1 of average rate device 20.
On morpet, shift signal manual mode controller 3 is exactly the gear rotary switc being fixed on handle-bar cross bar, and people is with the moving shift signal manual mode controller 3 of hand-screw, selects various from the car bumper position as automobile.The gear of morpet is stirred the transmitting ratio alternative pack machinery that bar itself is the physical construction relation of foot-operated chain drum and a plurality of gear multiplications of trailing wheel, in the present invention, shift signal manual mode controller 3 is electronicies package, and it is stirred gear the transmitting ratio selection mode of bar and by electronic signal, exports to the electronic unit that needs control.
On morpet, vehicle speed signal sensor 12 be fixed on morpet, experience this morpet moving velocity, output represents the sensor of speed of a motor vehicle electric signal.
The average velociity of average rate device 20 outputs is unsteady signals, the unsteady meaning is: if set average rate device 20, get front 5 seconds at that time with interior average velociity, the average velociity of latter a second will add this speed of latter one second and remove the speed of first the 6th second, calculates for 5 seconds with interior average velociity.The unsteady meaning is exactly that average velociity floats and changes with the speed of a motor vehicle at any time.
Difference controller 1 comprises three modules that are connected successively;
The first module is carried out numeric ratio to the original input signal feedback control signal electric current I A for controlling and feedback control signal electric current I B and is processed;
The second module is chosen in the shift signal ID of shift signal manual mode controller 3 pattern function of having set in pattern function holder 11 data of the first module is carried out to pattern function processing;
The 3rd module is by the data distributor 10 of the car average rate signal IS input difference controller 1 of average rate device 20, pattern function is processed to will to distribute to controlled electrical equipment be the processing that control data before controller A and controller B add respectively speed signal key element, the control data that controller A and controller B are obtained not only have the key element of feedback control signal electric current I A and feedback control signal electric current I B, also have the key element of car average rate signal IS and shift signal ID.
The first module: two input ends of current values comparator 9 connect respectively feedback control signal electric current I A and feedback control signal electric current I B; IA and IB are respectively the original control current signals of received current digital comparator 9; Two mouths of current values comparator 9 connect respectively IA > IB difference model data handler 7 and IA < IB difference model data handler 8.
Its effect is, current values comparator 9 is the two-way continually varying feedback control signal electric current I A of input, feedback control signal electric current I B becomes the digital signal of one group of difference value, with two kinds of vector signals a certain of obtaining IA > IB or IA < IB, current values comparator 9 is by the digital signal of this difference value, IA, IB and IA > IB vector signal are transferred to difference model data handler 7, or current values comparator 9 is by the digital signal of this difference value, IA, IB and IA < IB vector signal are transferred to difference model data handler 8, the digital signal of difference value under referred to as digital signal.
Current values comparator 9 subtracts IB with IA exactly, and the plus or minus of its difference is as vector, and the absolute value of difference, as digital signal, so digital signal is a value, is scalar.This is convenient at digital signal value identical, and vector is different, also can obtain different control model output, makes to control model and more can adapt to the needs of being controlled thing.
IA and IB are for controlling two target electric appliances, as electrical motor, or for controlling two current controling signals of two strong power controllers; Digital signal is the difference that current values comparator 9 couples of IA, IB carry out reduction algorithms processing, so digital signal can enter follow-up function numerical calculation as scalar, processes.Current controling signal IA and IB not only can have size variation, can also direction change, but digital signal only have size variation.
A certain moment front and back wheel that feedback control signal electric current I A and IB represent morpet is strained condition respectively, and IA and IB are to give respectively different power matchings to the front and back wheel of strained condition this moment for controlled reset object.Current controling signal IA and IB send into difference controller 1 and carry out data processing, the control figure signal that its difference controller 1 is exported to strong power controller A, B just can embody, when road makes the stressed variation of front and back wheel and the power of front and back wheel is not mated, difference controller 1 can be exported the control signal that the power of front and back wheel can be mated, make respectively two motors power to front and back wheel output matching respectively, reach the object of the front and back wheel smooth-ride of morpet.
The second module: IA > IB difference model data handler 7 connects respectively current values comparator 9 and pattern function holder 11; And IA < IB difference model data handler 8 also connects respectively current values comparator 9 and pattern function holder 11.
Pattern function holder 11 also connects shift signal manual mode controller 3, the shift signal ID input model function holder 11 of shift signal manual mode controller 3, in pattern function holder 11, select in the pattern function input IA > IB difference model data handler 7 and input IA < IB difference model data handler 8 that belongs to some shift signal ID
Its effect is;
When IA > IB, start IA > IB difference model data handler 7, by the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, the IA > IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution shift signal ID selects, carry out calculation process; And by the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, the IA > IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution shift signal ID selects, carry out calculation process; The two groups of IA > IB type of two control use that acquisition is corresponding with IA and IB difference are controlled data, the IA that obtains IA > IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA > IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA > IB vector, digital signal n, IAn);
Y IBn=f(IA > IB vector, digital signal n, IBn).
Digital signal n and IAn are the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn are the control current signal value IBn about this same time point corresponding to some digital signal n.
Or, when IA < IB, start IA < IB difference model data handler 8, by the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, the IA < IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution shift signal ID selects, carry out calculation process; And by the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, the IA < IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution shift signal ID selects, carry out calculation process; The two groups of IA < IB type of two control use that acquisition is corresponding with IA and IB difference are controlled data, the IA that obtains IA < IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA < IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA < IB vector, digital signal n, IAn);
Y IBn=f(IA < IB vector, digital signal n, IBn).
Digital signal n and IAn are the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn are the control current signal value IBn about this same time point corresponding to some digital signal n.
Digital signal in above-mentioned pattern function includes the content of ID, IA and IB, and digital signal is again the function of ID, IA and IB.Digital signal=f(ID, IA, IB).
above-mentionedthe calculating of pattern function is: first by ID value, in pattern function holder 11, go to select and the corresponding pattern function of ID value, then the pattern function of this selection is inputted in IA > IB difference model data handler 7 and IA < IB difference model data handler 8, according to
vector is selectedsome difference model data handlers in IA > IB difference model data handler 7 or IA < IB difference model data handler 8 calculate y IAn and y IBn in some difference model data handlers.Y IAn and y IBn are last for controlling the original data of former and later two motors of morpet.
Above-mentioned pattern function can be at identical vectorial sum digital signal value, when different I A and IB, obtains different one group of control signal y IAn and y IBn.As IAn=10 and IBn=5, digital signal=5; With IAn-1=20 and IBn-1=15, the control model that these two groups of primary current signals of digital signal=5 obtain is not identical, and this can represent control model the demand of IA and IB more accurately.In function y IAn, digital signal is implied with IBn content, and IBn does not participate in again pattern function and calculates, and make it more easily set up pattern function, or pattern function is fairly simple; And if without digital signal, directly with IA, IB, be difficult for setting up very much pattern function, the pattern function of foundation is very complicated.In like manner, in function y IBn, digital signal is implied with IAn content, is for simplifying the method that pattern function is drawn of setting up.
The 3rd module: the input end of data distributor 10 is connected with pattern function holder 11, average rate device 20, IA > IB difference model data handler 7 and IA < IB difference model data handler 8 respectively, the mouth of data distributor 10 is connected with data normalization conv 16, and the mouth of data normalization conv 16 is connected with strong power controller B with strong power controller A respectively; Realize the object of difference controller to strong power controller A and strong power controller B control.
Its effect is; The data distributor 10 of the car average rate signal IS input difference controller 1 of average rate device 20, the pattern function that shift signal ID is selected, with IA, IB, carry out pattern function processing, and result is distributed to controlled electrical equipment is before controller A and controller B, also add the pattern function again of car average rate signal IS key element to process, the control data that controller A and controller B are obtained not only have the key element of shift signal ID, feedback control signal electric current I A and feedback control signal electric current I B, also have this four elements of key element of car average rate signal IS.
Data distributor 10 IA > IB difference model data handler 7 input control in groups the processing that data y IAn and y IBn add respectively car average rate signal IS key element after become y IAnIS and y IBnIS, then distribute to respectively strong power controller A and strong power controller B; Or IA < IB difference model data handler 8 input control in groups the processing that data y IAn and y IBn add respectively car average rate signal IS key element after become y IAnIS and y IBnIS, distribute to respectively again strong power controller A and strong power controller B, be that y IAnIS distributes to strong power controller A, y IBnIS distributes to strong power controller B; Data normalization conv 16 carries out respectively data normalization the digital signal y IAnIS and the y IBnIS that distribute control object, the digital signal of calculating is converted to the control figure signal that strong power controller A and strong power controller B can be used, finally these two control figure signals are sent to two strong power controllers of correspondence.
Realize the shift signal ID of shift signal manual mode controller 3, the car average rate signal IS of average rate device 20, the difference that feedback control signal electric current I A and feedback control signal electric current I B carry out regulation pattern function by difference controller to strong power controller A and strong power controller B is controlled, when reaching front and back wheel and being subject to force unbalance, also can make the power of front and back wheel can keep matchingly within the scope of the gear of ID regulation, with IS average uniform velocity pointed, both made respectively two motors power to front and back wheel output matching respectively, reach the front and back wheel object that average uniform velocity is travelled reposefully of morpet.
Control in groups data y IAn and for y IBn shift signal ID, feedback control signal electric current I A and feedback control signal electric current I B through pattern function, calculate, can only represent the morpet front and back wheel different stressed demands to power supply in a flash, this morpet moving velocity state is not to the integrated demand of powering, although front and back wheel different stressed variations in a flash in other words, but car also should keep original speed as far as possible, the speed of a motor vehicle could be steady like this, so need to add car average rate signal IS key element in the control signal of final output.So will be modified into the y IAnIS of control data in groups and the y IBnIS with velocity element information controlling in groups data y IAn and y IBn with the car average rate signal IS of average rate device 20.
General trailing wheel is stressed many, and power supply is many, and front-wheel is stressed few, and power supply is few.For different car average rates, the difference size of powering how many is different again, so want ID, IS, IA and tetra-of IB to control former key element.The weight of people on morpet is constant, certain wheel of front-wheel or trailing wheel is stressed when large, power consumption electric current can increase at once, feedback control signal electric current also increases at once, the former difference relation of IA and IB is changed, new ID, IS, tetra-of IA and IB control former key element input difference and control boosted vehicle system, difference is controlled boosted vehicle system process and is controlled with these four the pattern function calculating that former key elements match, two control figure signals that output and these four controlling elements match are given respectively the motor of front-wheel and trailing wheel, even if make wheel A and wheel B stressed unequal, also can obtain the work of two motor couplings, two wheel balance motions, the effect that morpet held stationary speed is travelled.
Due to different electric controller A and strong power controller B, require the control figure signal of different digital scope, data normalization conv 16 is exactly according to different electric controller A and strong power controller B, and the digital signal of calculating is converted to the control figure signal that strong power controller A and strong power controller B can be used.So data normalization conv 16 is indispensable.
Can also be, IA > IB difference model data handler 7 is connected with data distributor 10 by corner parameter Processor 30 with IA < IB difference model data handler 8, and corner parameter Processor 30 is also connected with leading rotary angle transmitter 31.
The leading rotational angle of bicycle substantially can representative at the bicycle state stable in whether, if leading rotational angle has rotated the angles of 80 degree to 90 degree while comparing just forward, bicycle is in unstable motoring condition, at this moment feedback control signal electric current I A and IB are no matter be any signal, can not, again to motor power supply, must stop immediately motor to power.If leading rotational angle has rotated the angles of 30 degree to 80 degree than just forward time, feedback control signal electric current I A and IB require should increase and reduce the delivery to motor with leading rotational angle motor power supply.General leading rotational angle is at 0 degree during to the angle of 30 degree, and bicycle is that feedback control signal electric current I A and IB require the delivery of motor can, completely according to execution, not needed to revise in completely normal motoring condition.
For the speed of a motor vehicle that difference controller 1 controls and cyclist's body weight are matched, namely, under the condition of the same group of feedback control signal electric current I A changing and feedback control signal electric current I B, two control figure signals that difference controller 1 is exported can change with cyclist's body weight difference.As being to match with 50 kilograms of body weights with former two the control figure signals should exporting of difference controller 1, when cyclist's body weight is 40 kilograms, two control figure signals of difference controller 1 actual output all reduce 20%, or when cyclist's body weight is 70 kilograms, two control figure signals of difference controller 1 actual output all reduce 40%.Reaching the speed of a motor vehicle that difference controller 1 controls and cyclist's body weight matches.For achieving this end technical scheme, be: on the human body cushion of morpet, or on the elastomeric element being connected with cushion, pressure sensor is set, this pressure sensor is connected with the data distributor 10 in difference controller 1, and the pressure signal of pressure sensor carries out to two control figure signals in data distributor 10 processing that same ratio increase or same ratio reduce respectively.
Advantage of the present utility model: difference controller of the present utility model can carry out the processing of digital model function to car average rate signal IS, feedback control signal electric current I A and the feedback control signal electric current I B of the shift signal ID of shift signal manual mode controller, average rate device, to will control two controlled things, two motors of front and back wheel of morpet carry out differential control power supply, and the content of differential control is exactly that the pattern function of setting is in advance processed.Namely difference controller Neng Dui tetra-road analog current signals of the present utility model carry out pattern function and are processed into the independently digital controlled signal output respectively of differential two-way, can Dui Si road analog signal add digital model function content, two motors of front and back wheel are distinguished and independently controlled power supply, also claim difference to control power supply.The work of two motor couplings of front and back wheel, both the strained condition that front and back wheel changes, two motors of front and back wheel mate to the power supply from different, reach front and back wheel velocity of rotation identical, and be to make morpet substantially keep being limited within the scope of gear by ID, form the state of the average velociity of IS.The people who rides on this morpet feels comfortably cool, the identical electric power of not wasting again of front and back wheel velocity of rotation.
In function y IAn, be implied with IBn, ID content, and IBn, ID do not participate in pattern function calculating, make it more easily set up pattern function, or pattern function are fairly simple; And if without digital signal, directly with IA, IB, ID, be difficult for setting up very much pattern function, the pattern function of foundation is very complicated.The value of IS and function y IAn, with another pattern function, calculate y IAnIS again, again in the control signal of output, add car average rate signal IS, a plurality of variablees are decomposed to the method twice pattern function calculating, make twice pattern function calculate all having a bowel movement greatly, in the end in the control signal of output, contain IA, IB, ID, IS key element, but set up each pattern function and calculate and variable does not have four, to simplify to set up pattern function, computation speed is faster, adapts to the good method of data processing that kinematic velocity is regulated.
By the shift signal ID value of shift signal manual mode controller 3, in pattern function holder, select to be applicable at first the pattern function of ID value, under identical IA and IB condition, the gear that morpet travels is different, and the control power-assisted effect that last difference is controlled the output of boosted vehicle system is different.
The utility model difference is controlled boosted vehicle system through ID, IS, IA and IB and these four the pattern function calculating that the former key element of control matches, output is controlled two control figure signals that former key elements match respectively to the motor of front-wheel and trailing wheel with these four, even if make wheel A and wheel B stressed unequal, also can obtain the work of two motor couplings, the effect of two wheel balance motions.
In the situation that identical ID, IS, IA and tetra-of IB control former key elements is identical, as long as change the digital model function of setting, just can obtain the different control signal outputs of multiple artificial setting, solved by IA and two analog signals of IB and directly controlled two analog electronics, only have a kind of mode, can not adjust by human needs the shortcoming of mode.
Can infer the bicycle state stable in whether with leading rotational angle, and by the size of leading rotational angle, feedback control signal electric current I A and the desired difference delivery of IB that cycle racing state is produced are revised, to guarantee when bicycle plays pendulum, no longer bicycle is increased to labile factor, use morpet of the present invention more humane, safer.
Accompanying drawing explanation
Annexation and the signal of Fig. 1, each parts of difference controller of the present utility model flow to schematic diagram;
Annexation and the signal of Fig. 2, each parts of the utility model flow to schematic diagram;
Fig. 3, there are annexation and the signal of each parts of difference controller of the present utility model of corner parameter Processor to flow to schematic diagram;
Fig. 4, there are annexation and the signal of each parts of the utility model of leading rotary angle transmitter to flow to schematic diagram.
In figure, the 1st, difference controller, the 3rd, shift signal manual mode controller, the 7th, IA > IB difference model data handler, the 8th, IA < IB difference model data handler, the 9th, current values comparator, the 10th, data distributor, the 11st, pattern function holder, the 12nd, vehicle speed signal sensor, the 16th, data normalization conv, the 20th, average rate device, the 30th, corner parameter Processor, the 31st, leading rotary angle transmitter.
The specific embodiment
Embodiment 1, want the successively digital differential boosted vehicle system of input difference device of gear and speed signal
As Fig. 1,2, two wheels that comprise electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and the motor B of driving wheel B, comprise the shift signal manual mode controller 3 of electric booster bicycle, also comprise difference controller 1, vehicle speed signal sensor 12 and average rate device 20; Vehicle speed signal sensor 12 is connected with average rate device 20, and average rate device 20 is the speed signal of vehicle speed signal sensor 12 in certain hour to be become to the signal processor of average velociity in this certain hour.
Between difference controller 1 and motor A, with controller A, be connected, controller A with difference controller 1 give with control signal control electrical source of power wheel A powered;
Between difference controller 1 and motor B, with controller B, be connected, controller B with difference controller 1 give with control signal control electrical source of power wheel B powered.
The current values comparator 9 of negate feedforward control signal electric current I A input difference controller 1 between motor A and controller A;
The current values comparator 9 of negate feedforward control signal electric current I B input difference controller 1 between motor B and controller B.
The current values comparator 9 of the shift signal ID input difference controller 1 of shift signal manual mode controller 3;
The current values comparator 9 of the car average rate signal IS input difference controller 1 of average rate device 20.
Difference controller 1 comprises three modules that are connected successively;
The first module is carried out numeric ratio to the original input signal feedback control signal electric current I A for controlling and feedback control signal electric current I B and is processed;
The second module is chosen in the shift signal of shift signal manual mode controller 3 pattern function of having set in pattern function holder 11 data of the first module is carried out to pattern function processing;
The 3rd module is by the data distributor 10 of the car average rate signal IS input difference controller 1 of average rate device 20, pattern function is processed to will to distribute to controlled electrical equipment be the processing that control data before controller A and controller B add respectively speed signal key element, the control data that controller A and controller B are obtained not only have the key element of feedback control signal electric current I A and feedback control signal electric current I B, also have the key element of car average rate signal IS.
The first module: two input ends of current values comparator 9 connect respectively feedback control signal electric current I A and feedback control signal electric current I B; IA and IB are respectively the original control current signals of received current digital comparator 9; Two mouths of current values comparator 9 connect respectively IA > IB difference model data handler 7 and IA < IB difference model data handler 8.
Its effect is, current values comparator 9 is the two-way continually varying feedback control signal electric current I A of input, feedback control signal electric current I B becomes the digital signal of one group of difference value, with two kinds of vector signals a certain of obtaining IA > IB or IA < IB, current values comparator 9 is by the digital signal of this difference value, IA, IB and IA > IB vector signal are transferred to difference model data handler 7, or current values comparator 9 is by the digital signal of this difference value, IA, IB and IA < IB vector signal are transferred to difference model data handler 8, the digital signal of difference value under referred to as digital signal.
The second module: IA > IB difference model data handler 7 connects respectively current values comparator 9 and pattern function holder 11; And IA < IB difference model data handler 8 also connects respectively current values comparator 9 and pattern function holder 11.
Pattern function holder 11 also connects shift signal manual mode controller 3, the shift signal ID input model function holder 11 of shift signal manual mode controller 3 is selected in the pattern function input IA > IB difference model data handler 7 and input IA < IB difference model data handler 8 that belongs to some shift signal ID in pattern function holder 11.
Its effect is;
When IA > IB, start IA > IB difference model data handler 7, by the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, the IA > IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution shift signal ID selects, carry out calculation process; And by the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, the IA > IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution shift signal ID selects, carry out calculation process; The two groups of IA > IB type of two control use that acquisition is corresponding with IA and IB difference are controlled data, the IA that obtains IA > IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA > IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA > IB vector, digital signal n, IAn);
Y IBn=f(IA > IB vector, digital signal n, IBn).
Digital signal n and IAn are the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn are the control current signal value IBn about this same time point corresponding to some digital signal n.
Or, when IA < IB, start IA < IB difference model data handler 8, by the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, the IA < IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution shift signal ID selects, carry out calculation process; And by the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, the IA < IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution shift signal ID selects, carry out calculation process; The two groups of IA < IB type of two control use that acquisition is corresponding with IA and IB difference are controlled data, the IA that obtains IA < IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA < IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA < IB vector, digital signal n, IAn);
Y IBn=f(IA < IB vector, digital signal n, IBn).
Digital signal n and IAn are the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn are the control current signal value IBn about this same time point corresponding to some digital signal n.
The 3rd module: the input end of data distributor 10 is connected with pattern function holder 11, average rate device 20, IA > IB difference model data handler 7 and IA < IB difference model data handler 8 respectively, the mouth of data distributor 10 is connected with data normalization conv 16, and the mouth of data normalization conv 16 is connected with strong power controller B with strong power controller A respectively; Realize the object of difference controller to strong power controller A and strong power controller B control.
Its effect is; The data distributor 10 of the car average rate signal IS input difference controller 1 of average rate device 20, the pattern function that shift signal ID is selected, with IA, IB, carry out pattern function processing, and result is distributed to controlled electrical equipment is before controller A and controller B, also add the pattern function again of car average rate signal IS key element to process, the control data that controller A and controller B are obtained not only have the key element of shift signal ID, feedback control signal electric current I A and feedback control signal electric current I B, also have this four elements of key element of car average rate signal IS.
Data distributor 10 IA > IB difference model data handler 7 input control in groups the processing that data y IAn and y IBn add respectively car average rate signal IS key element after become y IAnIS and y IBnIS, then distribute to respectively strong power controller A and strong power controller B; Or IA < IB difference model data handler 8 input control in groups the processing that data y IAn and y IBn add respectively car average rate signal IS key element after become y IAnIS and y IBnIS, distribute to respectively again strong power controller A and strong power controller B, be that y IAnIS distributes to strong power controller A, y IBnIS distributes to strong power controller B; Data normalization conv 16 carries out respectively data normalization the digital signal y IAnIS and the y IBnIS that distribute control object, the digital signal of calculating is converted to the control figure signal that strong power controller A and strong power controller B can be used, finally these two control figure signals are sent to two strong power controllers of correspondence.
Realize the shift signal ID of shift signal manual mode controller 3, the car average rate signal IS of average rate device 20, the difference that feedback control signal electric current I A and feedback control signal electric current I B carry out regulation pattern function by difference controller to strong power controller A and strong power controller B is controlled, when reaching front and back wheel and being subject to force unbalance, also can make the power of front and back wheel can keep matchingly within the scope of the gear of ID regulation, with IS average uniform velocity pointed, both made respectively two motors power to front and back wheel output matching respectively, reach the front and back wheel object that average uniform velocity is travelled reposefully of morpet.
Embodiment 2, with corner parameter Processor, want the successively digital differential boosted vehicle system of input difference device of gear and speed signal
As Fig. 3,4, as the entire infrastructure of embodiment 1, and IA > IB difference model data handler 7 is connected with data distributor 10 by corner parameter Processor 30 with IA < IB difference model data handler 8, and corner parameter Processor 30 is also connected with leading rotary angle transmitter 31.
On the human body cushion of morpet, or on the elastomeric element being connected with cushion, pressure sensor is set, this pressure sensor is connected with the data distributor 10 in difference controller 1, and the pressure signal of pressure sensor carries out to two control figure signals in data distributor 10 processing that same ratio increase or same ratio reduce respectively.
Claims (2)
1. want the successively digital differential boosted vehicle system of input difference device of gear and speed signal, two wheels that comprise electric booster bicycle: wheel A and wheel B, and the motor A and the motor B that drives wheel B that drive wheel A, the shift signal manual mode controller (3) that comprises electric booster bicycle, it is characterized in that: also comprise difference controller (1), vehicle speed signal sensor (12) and average rate device (20); Vehicle speed signal sensor (12) is connected with average rate device (20), and average rate device (20) is the speed signal of vehicle speed signal sensor (12) in certain hour to be become to the signal processor of average velociity in this certain hour;
Between difference controller (1) and motor A, with controller A, be connected, controller for A difference controller (1) give with control signal control electrical source of power wheel A powered;
Between difference controller (1) and motor B, with controller B, be connected, controller for B difference controller (1) give with control signal control electrical source of power wheel B powered;
The current values comparator (9) of negate feedforward control signal electric current I A input difference controller (1) between motor A and controller A;
The current values comparator (9) of negate feedforward control signal electric current I B input difference controller (1) between motor B and controller B;
The current values comparator (9) of the shift signal ID input difference controller (1) of shift signal manual mode controller (3);
The current values comparator (9) of the car average rate signal IS input difference controller (1) of average rate device (20);
Difference controller (1) comprises three modules that are connected successively;
The first module is carried out numeric ratio to the original input signal feedback control signal electric current I A for controlling and feedback control signal electric current I B and is processed;
The shift signal ID of shift signal manual mode controller for the second module (3) is chosen in the pattern function of having set in pattern function holder (11) data of the first module is carried out to pattern function processing;
The 3rd module is by the data distributor (10) of the car average rate signal IS input difference controller (1) of average rate device (20), pattern function is processed to will to distribute to controlled electrical equipment be the processing that control data before controller A and controller B add respectively speed signal key element, the control data that controller A and controller B are obtained not only have the key element of feedback control signal electric current I A and feedback control signal electric current I B, also have the key element of car average rate signal IS;
The first module: two input ends of current values comparator (9) connect respectively feedback control signal electric current I A and feedback control signal electric current I B; IA and IB are respectively the original control current signals of received current digital comparator (9); Two mouths of current values comparator (9) connect respectively IA > IB difference model data handler (7) and IA < IB difference model data handler (8);
Its effect is, current values comparator (9) is the two-way continually varying feedback control signal electric current I A of input, feedback control signal electric current I B becomes the digital signal of one group of difference value, with two kinds of vector signals a certain of obtaining IA > IB or IA < IB, current values comparator (9) is by the digital signal of this difference value, IA, IB and IA > IB vector signal are transferred to difference model data handler (7), or current values comparator (9) is by the digital signal of this difference value, IA, IB and IA < IB vector signal are transferred to difference model data handler (8), the digital signal of difference value under referred to as digital signal,
The second module: IA > IB difference model data handler (7) connects respectively current values comparator (9) and pattern function holder (11); And IA < IB difference model data handler (8) also connects respectively current values comparator (9) and pattern function holder (11);
Pattern function holder (11) also connects shift signal manual mode controller (3), the shift signal ID input model function holder (11) of shift signal manual mode controller (3), in pattern function holder (11), select in the pattern function input IA > IB difference model data handler (7) and input IA < IB difference model data handler (8) that belongs to some shift signal ID
Its effect is;
When IA > IB, start IA > IB difference model data handler (7), by the digital signal data of current values comparator (9), the IA data corresponding with this digital signal, the IA > IB vector signal data of current values comparator (9) output, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder (11) that substitution shift signal ID selects, carry out calculation process; And by the digital signal data of current values comparator (9), the IB data corresponding with this digital signal data, the IA > IB vector signal data of current values comparator (9) output, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder (11) that substitution shift signal ID selects, carry out calculation process; The two groups of IA > IB type of two control use that acquisition is corresponding with IA and IB difference are controlled data, the IA that obtains IA > IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA > IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA > IB vector, digital signal n, IAn);
Y IBn=f(IA > IB vector, digital signal n, IBn);
Digital signal n and IAn are the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn are the control current signal value IBn about this same time point corresponding to some digital signal n;
Or, when IA < IB, start IA < IB difference model data handler (8), by the digital signal data of current values comparator (9), the IA data corresponding with this digital signal, the IA < IB vector signal data of current values comparator (9) output, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder (11) that substitution shift signal ID selects, carry out calculation process; And by the digital signal data of current values comparator (9), the IB data corresponding with this digital signal data, the IA < IB vector signal data of current values comparator (9) output, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder (11) that substitution shift signal ID selects, carry out calculation process; The two groups of IA < IB type of two control use that acquisition is corresponding with IA and IB difference are controlled data, the IA that obtains IA < IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA < IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA < IB vector, digital signal n, IAn);
Y IBn=f(IA < IB vector, digital signal n, IBn);
Digital signal n and IAn are the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn are the control current signal value IBn about this same time point corresponding to some digital signal n;
The 3rd module: the input end of data distributor (10) is connected with pattern function holder (11), average rate device (20), IA > IB difference model data handler (7) and IA < IB difference model data handler (8) respectively, the mouth of data distributor (10) is connected with data normalization conv (16), and the mouth of data normalization conv (16) is connected with strong power controller B with strong power controller A respectively; Realize the object of difference controller to strong power controller A and strong power controller B control;
Its effect is, the data distributor (10) of the car average rate signal IS input difference controller (1) of average rate device (20), the pattern function that shift signal ID is selected, used IA, IB carries out pattern function processing, and result is distributed to controlled electrical equipment is before controller A and controller B, also add the pattern function again of car average rate signal IS key element to process, the control data that controller A and controller B are obtained not only have shift signal ID, the key element of feedback control signal electric current I A and feedback control signal electric current I B, this four elements of key element also with car average rate signal IS,
Data distributor (10) IA > IB difference model data handler (7) input control in groups the processing that data y IAn and y IBn add respectively car average rate signal IS key element after become y IAnIS and y IBnIS, then distribute to respectively strong power controller A and strong power controller B; Or IA < IB difference model data handler (8) input control in groups the processing that data y IAn and y IBn add respectively car average rate signal IS key element after become y IAnIS and y IBnIS, distribute to respectively again strong power controller A and strong power controller B, be that y IAnIS distributes to strong power controller A, y IBnIS distributes to strong power controller B; Data normalization conv (16) carries out respectively data normalization the digital signal y IAnIS and the y IBnIS that distribute control object, the digital signal of calculating is converted to the control figure signal that strong power controller A and strong power controller B can be used, finally these two control figure signals are sent to two strong power controllers of correspondence;
Realize the shift signal ID of shift signal manual mode controller (3), the car average rate signal IS of average rate device (20), the difference that feedback control signal electric current I A and feedback control signal electric current I B carry out regulation pattern function by difference controller to strong power controller A and strong power controller B is controlled, when reaching front and back wheel and being subject to force unbalance, also can make the power of front and back wheel can keep matchingly within the scope of the gear of ID regulation, with IS average uniform velocity pointed, both made respectively two motors power to front and back wheel output matching respectively, reach the front and back wheel object that average uniform velocity is travelled reposefully of morpet.
2. the successively digital differential boosted vehicle system of input difference device of gear and speed signal of wanting according to claim 1, it is characterized in that: IA > IB difference model data handler (7) is connected with data distributor (10) by corner parameter Processor (30) with IA < IB difference model data handler (8), and corner parameter Processor (30) is also connected with leading rotary angle transmitter (31).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149659A (en) * | 2014-08-20 | 2014-11-19 | 成都宽和科技有限责任公司 | Digital differential boosting bicycle system allowing gear signal and speed signal to be input into differentiator successively |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149659A (en) * | 2014-08-20 | 2014-11-19 | 成都宽和科技有限责任公司 | Digital differential boosting bicycle system allowing gear signal and speed signal to be input into differentiator successively |
| CN104149659B (en) * | 2014-08-20 | 2016-04-13 | 成都宽和科技有限责任公司 | Want the digital differential boosted vehicle system of gear and speed signal priority input difference device |
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