CN203996734U - Shift signal adds the digital differential of comparator to control boosted vehicle system - Google Patents
Shift signal adds the digital differential of comparator to control boosted vehicle system Download PDFInfo
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- CN203996734U CN203996734U CN201420468288.0U CN201420468288U CN203996734U CN 203996734 U CN203996734 U CN 203996734U CN 201420468288 U CN201420468288 U CN 201420468288U CN 203996734 U CN203996734 U CN 203996734U
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Abstract
The utility model shift signal adds the digital differential of comparator to control boosted vehicle system and belongs to the differential front-wheel for power-assisted electricity and trailing wheel difference distribution 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 module is that shift signal ID, the feedback control signal electric current I A of shift signal manual mode controller and feedback control signal electric current I B carry out numeric ratio and process to the original input signal for controlling; The second module is carried out pattern function processing with the pattern function of having set to the data of the first module; The 3rd module processes to pattern function that to distribute to controlled electrical equipment be controller A and controller B.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 a 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, and these three key elements of power-assisted gear key element of manually setting are determined the morpet power-supply controller system of front-wheel and trailing wheel differentiation distribution power supply.And be that power-assisted gear key element is only carried out pre-process to front-wheel and two key elements of trailing wheel dynamic stress, and participate in control pattern function, calculate, after reducing the variable that participates in calculating, then pattern function few with variable, that simplify calculates the morpet difference power-supply controller system that difference distributes control signal; That power-assisted gear key element is carried out the morpet power-supply controller system of pre-process mode to front-wheel and two key elements of trailing wheel dynamic stress.
Structure of the present utility model is:
Shift signal adds the digital differential of comparator to control boosted vehicle system, 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
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;
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.
Difference controller 1 comprises three modules that are connected successively;
The first module is that shift signal ID, the feedback control signal electric current I A of shift signal manual mode controller 3 and feedback control signal electric current I B carry out numeric ratio and process to the original input signal for controlling;
The second module is carried out pattern function processing with the pattern function of having set to the data of the first module;
The 3rd module processes to pattern function that to distribute to controlled electrical equipment be controller A and controller B.
The first module: three input ends of current values comparator 9 connect respectively shift signal ID, feedback control signal electric current I A and the feedback control signal electric current I B of shift signal manual mode controller 3; Shift signal ID, 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, the digital signal that feedback control signal electric current I B becomes one group of difference value, with two kinds of vector signals a certain of obtaining IA > IB or IA < IB, the digital signal of this difference value adds that shift signal ID value obtains the digital signal containing gear; By this, digital signal, IA, IB and the IA > IB vector signal containing gear is transferred to difference model data handler 7 to current values comparator 9, or digital signal, IA, IB and IA < IB vector signal that current values comparator 9 contains gear by this are transferred to difference model data handler 8; Containing the digital signal of gear under referred to as digital signal.
Current values comparator 9 use IA subtract IB, the plus or minus of its difference is as vector, and the absolute value of difference adds that the absolute value of shift signal ID of shift signal manual mode controller 3 is as the digital signal containing gear, also referred to 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 scalar numeric value that current values comparator 9 couples of ID, IA, IB carry out arithmetic processing, so digital signal can enter follow-up function numerical calculation as scalar, processes.Current controling signal ID, 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.The people that shift signal ID representative drives this morpet requires this morpet to travel with certain basic demand, as shift signal ID represents that requiring speed per hour is 10-20 kilometer/hour, or 30-40 kilometer/hour travelled, or require to travel under the gradient condition at 4-10 degree.Shift signal ID is artificial setting, artificially changeable.Current controling signal ID, 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 be embodied under the gear condition of artificial requirement, 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.
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, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder 11, 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, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder 11, 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, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder 11, 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, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder 11, 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; IAn and IBn are computing values, are digital signals.
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, 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 IA < IB difference model data handler 8 with IA > IB difference model data handler 7 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 difference controller to strong power controller A and strong power controller B, thereby control the object of morpet held stationary speed.
Its effect is; Data distributor 10 is distributed to respectively strong power controller A and strong power controller B the y IAn of control data in groups and the y IBn of 7 inputs of IA > IB difference model data handler, or the y IAn of control data in groups and the y IBn of 8 inputs of IA < IB difference model data handler distribute to respectively strong power controller A and strong power controller B, be that y IAn distributes to strong power controller A, y IBn distributes to strong power controller B; Data normalization conv 16 carries out respectively data normalization conversion the digital signal y IAn and the y IBn 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; Realizing the difference that ID, IA and IB carry out regulation pattern function by difference controller to strong power controller A and strong power controller B controls.
Shift signal ID, the feedback control signal electric current I A and the feedback control signal electric current I B that realize shift signal manual mode controller 3 carry out the difference control power supply of regulation pattern function to strong power controller A and strong power controller B by difference controller, the electrical source of power of controlling well provides different power supplies to wheel A and wheel B, 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 of morpet.
General trailing wheel is stressed many, and power supply is many, and front-wheel is stressed few, and power supply is few.For different gears, the difference size of powering how many is different again, so want ID, IA and tri-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, tri-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 three the pattern function calculating that former key elements match, output is controlled two control figure signals that former key elements match respectively to the motor of front-wheel and trailing wheel with these three, 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.
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.
All right, 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 voltage signals that difference controller 1 is exported can change with cyclist's body weight difference.As controlled voltage signal with former two of should export of difference controller 1, be to match with 50 kilograms of body weights, when cyclist's body weight is 40 kilograms, control voltage signal and all reduce 20% for two of difference controller 1 actual output, or when cyclist's body weight is 70 kilograms, controls voltage signal and all reduce 40% for two of difference controller 1 actual output.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, the pressure signal of pressure sensor respectively in data distributor 10 two control voltage signal and carry out the processing that same ratio increase or same ratio reduce.
Advantage of the present utility model: difference controller of the present utility model can carry out the processing of digital model function to the shift signal ID of shift signal manual mode controller, feedback control signal electric current I A and feedback control signal electric current I B, 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 tri-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 add digital model function content to three two-way analog signals, 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, 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.
The utility model difference is controlled boosted vehicle system through ID, IA and IB and these three 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 three, 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 tri-former key elements of control of identical ID, IA and IB are 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 16th, data normalization conv, the 30th, corner parameter Processor, the 31st, leading rotary angle transmitter.
The specific embodiment
Embodiment 1, shift signal add the digital differential of comparator to control boosted vehicle system
As Fig. 1,2, comprise two wheels of electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and the motor B of driving wheel B, and comprise the shift signal manual mode controller 3 of electric booster bicycle, also comprise difference controller 1,
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.
Difference controller 1 comprises three modules that are connected successively;
The first module is that shift signal ID, the feedback control signal electric current I A of shift signal manual mode controller 3 and feedback control signal electric current I B carry out numeric ratio and process to the original input signal for controlling;
The second module is carried out pattern function processing with the pattern function of having set to the data of the first module;
The 3rd module processes to pattern function that to distribute to controlled electrical equipment be controller A and controller B.
The first module: three input ends of current values comparator 9 connect respectively shift signal ID, feedback control signal electric current I A and the feedback control signal electric current I B of shift signal manual mode controller 3; ID, 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, the digital signal that feedback control signal electric current I B becomes one group of difference value, with two kinds of vector signals a certain of obtaining IA > IB or IA < IB, the digital signal of this difference value adds that shift signal ID value obtains the digital signal containing gear; By this, digital signal, IA, IB and the IA > IB vector signal containing gear is transferred to difference model data handler 7 to current values comparator 9, or digital signal, IA, IB and IA < IB vector signal that current values comparator 9 contains gear by this are transferred to difference model data handler 8; Containing the digital signal of gear 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.
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, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder 11, 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, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder 11, 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, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder 11, 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, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder 11, 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; IAn and IBn are computing values, are digital signals.
The 3rd module: the input end of data distributor 10 is connected with IA < IB difference model data handler 8 with IA > IB difference model data handler 7 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; Data distributor 10 is distributed to respectively strong power controller A and strong power controller B the y IAn of control data in groups and the y IBn of 7 inputs of IA > IB difference model data handler, or the y IAn of control data in groups and the y IBn of 8 inputs of IA < IB difference model data handler distribute to respectively strong power controller A and strong power controller B, be that y IAn distributes to strong power controller A, y IBn distributes to strong power controller B; Data normalization conv 16 carries out respectively data normalization conversion the digital signal y IAn and the y IBn 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;
Shift signal ID, the feedback control signal electric current I A and the feedback control signal electric current I B that realize shift signal manual mode controller 3 carry out the difference control power supply of regulation pattern function to strong power controller A and strong power controller B by difference controller, the electrical source of power of controlling well provides different power supplies to wheel A and wheel B, 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.
Embodiment 2, with the shift signal of corner parameter Processor, add the digital differential of comparator to control boosted vehicle system
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, the pressure signal of pressure sensor respectively in data distributor 10 two control voltage signal and carry out the processing that same ratio increase or same ratio reduce.
Claims (2)
1. shift signal adds the digital differential of comparator to control boosted vehicle system, 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)
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);
Difference controller (1) comprises three modules that are connected successively;
The first module is that shift signal ID, the feedback control signal electric current I A of shift signal manual mode controller (3) and feedback control signal electric current I B carry out numeric ratio and process to the original input signal for controlling;
The second module is carried out pattern function processing with the pattern function of having set to the data of the first module;
The 3rd module processes to pattern function that to distribute to controlled electrical equipment be controller A and controller B;
The first module: three input ends of current values comparator (9) connect respectively shift signal ID, feedback control signal electric current I A and the feedback control signal electric current I B of shift signal manual mode controller (3); ID, 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, the digital signal that feedback control signal electric current I B becomes one group of difference value, with two kinds of vector signals a certain of obtaining IA > IB or IA < IB, the digital signal of this difference value adds that shift signal ID value obtains the digital signal containing gear; By this, digital signal, IA, IB and the IA > IB vector signal containing gear is transferred to difference model data handler (7) to current values comparator (9), or digital signal, IA, IB and IA < IB vector signal that current values comparator (9) contains gear by this are transferred to difference model data handler (8); Containing the digital signal of gear 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);
Its effect is;
When IA > IB, start IA > IB difference model data handler (7), by the digital signal data of current values comparator (9), IA data, current values comparator (9) the IA > IB vector signal data corresponding with this digital signal, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder (11), carry out calculation process; And by the digital signal data of current values comparator (9), IB data, current values comparator (9) the IA > IB vector signal data corresponding with this digital signal data, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder (11), 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), IA data, current values comparator (9) the IA < IB vector signal data corresponding with this digital signal, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder (11), carry out calculation process; And by the digital signal data of current values comparator (9), IB data, current values comparator (9) the IA < IB vector signal data corresponding with this digital signal data, in the pattern function mating with this digital signal and this vector signal storing in substitution pattern function holder (11), 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; IAn and IBn are computing values, are digital signals;
The 3rd module: the input end of data distributor (10) is connected with IA < IB difference model data handler (8) with IA > IB difference model data handler (7) 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; Data distributor (10) is distributed to respectively strong power controller A and strong power controller B the y IAn of control data in groups and the y IBn of IA > IB difference model data handler (7) input, or the y IAn of control data in groups and the y IBn of IA < IB difference model data handler (8) input distribute to respectively strong power controller A and strong power controller B, be that y IAn distributes to strong power controller A, y IBn distributes to strong power controller B; Data normalization conv (16) carries out respectively data normalization conversion the digital signal y IAn and the y IBn 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;
Shift signal ID, the feedback control signal electric current I A and the feedback control signal electric current I B that realize shift signal manual mode controller (3) carry out the difference control power supply of regulation pattern function to strong power controller A and strong power controller B by difference controller, the electrical source of power of controlling well provides different power supplies to wheel A and wheel B, 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.
2. shift signal according to claim 1 adds the digital differential of comparator to control boosted vehicle system, 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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