CN203996739U - Shift signal is processed the voltage difference of output signal and is divided control force aid system - Google Patents
Shift signal is processed the voltage difference of output signal and is divided control force aid system Download PDFInfo
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- CN203996739U CN203996739U CN201420468319.2U CN201420468319U CN203996739U CN 203996739 U CN203996739 U CN 203996739U CN 201420468319 U CN201420468319 U CN 201420468319U CN 203996739 U CN203996739 U CN 203996739U
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Abstract
The utility model shift signal is processed the voltage difference of output signal and is divided control force aid system to belong 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 carried out numeric ratio to the original input signal feedback control signal electric current I A for controlling and IB and is processed; 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 is by the data distributor of the shift signal ID input difference controller of shift signal manual mode controller, and the control data that controller A and B are obtained not only have feedback control signal, also have the key element of shift signal ID.Advantage: two motors of front and back wheel to morpet carry out differential control power supply, the content of differential control is exactly the pattern function processing of setting in advance.
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; Mechanism with the energy in conjunction with from described many box of tricks outputs.But there is no the specific design of electronic differential module.
The Chinese patent 201210399458.X of Chengdu Lian Teng power control Technology Co., Ltd. application 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, and these three key elements of power-assisted gear key element of manually setting determine that front-wheel and trailing wheel difference distribute the morpet power-supply controller system of power supply.And to be power-assisted gear key element calculated to front-wheel and two key elements of trailing wheel dynamic stress, after the difference of exporting distributes control signal to calculate with alternate model function again, then export the morpet power-supply controller system of power-assisted signal.It is the morpet power-supply controller system that power-assisted gear key element is processed the control signal first obtaining again.
Structure of the present utility model is:
Shift signal is processed the voltage difference of output signal and is divided control force aid system, it is characterized in that: two wheels that comprise electric booster bicycle: wheel A and wheel B, and the motor B of the motor A of driving wheel A and driving wheel B, comprise the shift signal manual mode controller 3 of electric booster bicycle, it is characterized in that: also comprise difference controller 1
Between difference controller 1 and motor A, be connected with controller A, controller A with difference controller 1 give with control signal control electrical source of power wheel A is powered;
Between difference controller 1 and motor B, be connected with controller B, controller B with difference controller 1 give with control signal control electrical source of power wheel B is 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 data distributor 10 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 the multiple gear multiplications of trailing wheel, in the present invention, shift signal manual mode controller 3 is electronicies package, and the transmitting ratio selection mode electronic signal that it stirs bar gear is exported to the electronic unit that needs control.
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 carried out pattern function processing with the pattern function of having set to the data of the first module;
The 3rd module is by the data distributor 10 of the shift signal ID input difference controller 1 of shift signal manual mode controller 3, will distribute to controlled electrical equipment to pattern function processing is the processing that controller A and controller B control data before add respectively shift 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 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 is exactly to subtract IB with IA, 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 the needs that model more can adapt to be 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 current values comparator 9 carries out reduction algorithms processing difference to IA, IB, so digital signal can enter follow-up function numerical calculation processing as scalar.Current controling signal IA and IB not only can have size variation, can also direction change, but digital signal only have size variation.
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;
In the time of 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 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 function mating with this digital signal and this vector signal storing in substitution pattern function holder 11, carry out calculation process; Acquisition and IA and the IB two group control of the IA > IB type data of two corresponding control use respectively, 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).
Above-mentioned these two is in the formula of a group, and digital signal equals IA and subtract the absolute value of IB;
Digital signal n and IAn are the control current signal value IAn of this same time point corresponding about some digital signal n; Digital signal n and IBn are the control current signal value IBn of this same time point corresponding about some digital signal n.
Or, in the time of 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 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 function mating with this digital signal and this vector signal storing in substitution pattern function holder 11, carry out calculation process; Acquisition and IA and the IB two group control of the IA < IB type data of two corresponding control use respectively, 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).
Above-mentioned these two is in the formula of a group, and digital signal equals IA and subtract the absolute value of IB;
Digital signal n and IAn are the control current signal value IAn of this same time point corresponding about some digital signal n; Digital signal n and IBn are the control current signal value IBn of this same time point corresponding about 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, be directly difficult for setting up very much pattern function with IA, IB, 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, shift signal manual mode controller 3, 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 D and A converter 16, and the mouth of D and A converter 16 is connected with strong power controller A and strong power controller B 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 shift signal ID input difference controller 1 of shift signal manual mode controller 3, will distribute to controlled electrical equipment to pattern function processing is the processing of pattern function again that controller A and controller B control data before add respectively shift 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 shift signal ID.
After what data distributor 10 was inputted IA > IB difference model data handler 7 control in groups data y IAn and y IBn adds respectively the pattern function of shift signal ID key element to process, become y IAnID and y IBnID, then distribute to respectively strong power controller A and strong power controller B; Or after adding respectively the pattern function of shift signal ID key element to process, what IA < IB difference model data handler 8 was inputted control in groups data y IAn and y IBn become y IAnID and y IBnID, distribute to respectively again strong power controller A and strong power controller B, be that y IAnID distributes to strong power controller A, y IBnID distributes to strong power controller B; D and A converter 16 is carried out respectively digital to analogy conversion the digital signal y IAnID and the y IBnID that distribute control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can use, finally control voltage signals these two and send two corresponding strong power controllers to.
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.
Controlling in groups data y IAn and y IBn feedback control signal electric current I A and feedback control signal electric current I B calculates through pattern function, can only represent the morpet front and back wheel different stressed demands to power supply in a flash, this morpet does not travel in the integrated demand in this section, and the integrated demand in this section is exactly that morpet travels in a certain gear condition.So be modified into the y IAnID of control data in groups and the y IBnID with gear element information controlling in groups data y IAn and y IBn with the shift signal ID of shift signal manual mode controller 3.
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 control boosted vehicle system, difference control boosted vehicle system process controls with these three the pattern function calculating that former key elements match, output is controlled former key elements match two and is controlled voltage signals 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 voltage signal of different voltage ranges, D and A converter 16 is exactly according to different electric controller A and strong power controller B, and digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can use.So D and A converter 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 increasing the delivery that reduce motor with leading rotational angle to 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 can be completely according to execution to the delivery of motor, do not need 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 is different.To match with 50 kilograms of body weights as controlled voltage signal with former two of should export of difference controller 1, in the time that cyclist's body weight is 40 kilograms, control voltage signal and all reduce 20% for two of difference controller 1 actual output, or in the time that 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 1 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 3, 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 the pattern function processing of setting in advance.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 voltage control 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 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 from different power supply, 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 controller to IA and IB with pattern function calculate obtain control in groups data y IAn and y IBn processes and controls in groups data y IAnID and y IBnID with the shift signal ID of shift signal manual mode controller again, treating the control signal of output processes again, model data is calculated to dispersion treatment, be divided into twice data processing of difference model data handler and data distributor, the pattern function of twice processing is all more simplified than the pattern function of a data processing, total computation speed is faster, being more suitable for that the front and back wheel power of morpet in motion is made to more in good time difference electric power joins and holds, make people ride the morpet of on the go more comfortable.
The utility model difference control boosted vehicle system is through ID, IA and IB and these three the pattern function calculating that the former key element of control matches, output is controlled former key elements match two and is controlled voltage signals 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 case of 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, solve by IA and directly two analog electronics of control of two analog signals of IB, 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 ensure in the time that bicycle plays pendulum, no longer bicycle is increased to labile factor, use morpet of the present invention more humane, safer.
Brief description of the drawings
Annexation and the signal of Fig. 1, the each parts of difference controller of the present utility model flow to schematic diagram;
Annexation and the signal of Fig. 2, the each parts of the utility model flow to schematic diagram;
Fig. 3, there are annexation and the signal of the 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 the 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, D and A converter, the 30th, corner parameter Processor, the 31st, leading rotary angle transmitter.
Detailed description of the invention
Embodiment 1, shift signal are processed the voltage difference of output signal and are divided control force aid 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, be connected with controller A, controller A with difference controller 1 give with control signal control electrical source of power wheel A is powered;
Between difference controller 1 and motor B, be connected with controller B, controller B with difference controller 1 give with control signal control electrical source of power wheel B is 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 data distributor 10 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 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 carried out pattern function processing with the pattern function of having set to the data of the first module;
The 3rd module is by the data distributor 10 of the shift signal ID input difference controller 1 of shift signal manual mode controller 3, will distribute to controlled electrical equipment to pattern function processing is the processing that controller A and controller B control data before add respectively shift 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 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.
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;
In the time of 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 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 function mating with this digital signal and this vector signal storing in substitution pattern function holder 11, carry out calculation process; Acquisition and IA and the IB two group control of the IA > IB type data of two corresponding control use respectively, 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).
Above-mentioned these two is in the formula of a group, and digital signal equals IA and subtract the absolute value of IB.
Digital signal n and IAn are the control current signal value IAn of this same time point corresponding about some digital signal n; Digital signal n and IBn are the control current signal value IBn of this same time point corresponding about some digital signal n.
Or, in the time of 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 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 function mating with this digital signal and this vector signal storing in substitution pattern function holder 11, carry out calculation process; Acquisition and IA and the IB two group control of the IA < IB type data of two corresponding control use respectively, 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).
Above-mentioned these two is in the formula of a group, and digital signal equals IA and subtract the absolute value of IB.
Digital signal n and IAn are the control current signal value IAn of this same time point corresponding about some digital signal n; Digital signal n and IBn are the control current signal value IBn of this same time point corresponding about 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 pattern function holder 11, shift signal manual mode controller 3, 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 D and A converter 16, and the mouth of D and A converter 16 is connected with strong power controller A and strong power controller B 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 shift signal ID input difference controller 1 of shift signal manual mode controller 3, to carrying out IA, the processing of IB pattern function, will distribute to controlled electrical equipment is the processing of pattern function again that controller A and controller B control data before add respectively shift 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 shift signal ID.
After what data distributor 10 was inputted IA > IB difference model data handler 7 control in groups data y IAn and y IBn adds respectively the pattern function of shift signal ID key element to process, become y IAnID and y IBnID, then distribute to respectively strong power controller A and strong power controller B; Or after adding respectively the pattern function of shift signal ID key element to process, what IA < IB difference model data handler 8 was inputted control in groups data y IAn and y IBn become y IAnID and y IBnID, distribute to respectively again strong power controller A and strong power controller B, be that y IAnID distributes to strong power controller A, y IBnID distributes to strong power controller B; D and A converter 16 is carried out respectively digital to analogy conversion the digital signal y IAnID and the y IBnID that distribute control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can use, finally control voltage signals these two and send two corresponding strong power controllers to;
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, shift signal with corner parameter Processor are processed the voltage difference of output signal and are divided control force aid 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. the voltage difference of shift signal processing output signal is divided control force aid system, comprise two wheels of electric booster bicycle: wheel A and wheel B, and the motor B of the motor A of driving wheel A and driving wheel B, comprise the shift signal manual mode controller (3) of electric booster bicycle, it is characterized in that: also comprise difference controller (1)
Between difference controller (1) and motor A, be connected with controller A, controller for A difference controller (1) give with control signal control electrical source of power wheel A is powered;
Between difference controller (1) and motor B, be connected with controller B, controller for B difference controller (1) give with control signal control electrical source of power wheel B is 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 data distributor (10) 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 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 carried out pattern function processing with the pattern function of having set to the data of the first module;
The 3rd module is by the data distributor (10) of the shift signal ID input difference controller (1) of shift signal manual mode controller (3), will distribute to controlled electrical equipment to pattern function processing is the processing that controller A and controller B control data before add respectively shift 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 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,
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;
In the time of 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) IA > IB vector signal data corresponding with this digital signal, in the 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) IA > IB vector signal data corresponding with this digital signal data, in the function mating with this digital signal and this vector signal storing in substitution pattern function holder (11), carry out calculation process; Acquisition and IA and the IB two group control of the IA > IB type data of two corresponding control use respectively, 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);
Above-mentioned these two is in the formula of a group, and digital signal equals IA and subtract the absolute value of IB;
Digital signal n and IAn are the control current signal value IAn of this same time point corresponding about some digital signal n; Digital signal n and IBn are the control current signal value IBn of this same time point corresponding about some digital signal n;
Or, in the time of 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) IA < IB vector signal data corresponding with this digital signal, in the 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) IA < IB vector signal data corresponding with this digital signal data, in the function mating with this digital signal and this vector signal storing in substitution pattern function holder (11), carry out calculation process; Acquisition and IA and the IB two group control of the IA < IB type data of two corresponding control use respectively, 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);
Above-mentioned these two is in the formula of a group, and digital signal equals IA and subtract the absolute value of IB;
Digital signal n and IAn are the control current signal value IAn of this same time point corresponding about some digital signal n; Digital signal n and IBn are the control current signal value IBn of this same time point corresponding about 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 pattern function holder (11), shift signal manual mode controller (3), 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 D and A converter (16), and the mouth of D and A converter (16) is connected with strong power controller A and strong power controller B 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 shift signal ID input difference controller (1) of shift signal manual mode controller (3), to carrying out IA, the processing of IB pattern function, will distribute to controlled electrical equipment is the processing of pattern function again that controller A and controller B control data before add respectively shift 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 shift signal ID;
Data distributor (10) becomes y IAnID and y IBnID controlling in groups after data y IAn and y IBn add respectively the pattern function of shift signal ID key element to process of IA > IB difference model data handler (7) input, then distributes to respectively strong power controller A and strong power controller B; Or controlling in groups after data y IAn and y IBn add respectively the pattern function of shift signal ID key element to process of IA < IB difference model data handler (8) input becomes y IAnID and y IBnID, distribute to respectively again strong power controller A and strong power controller B, be that y IAnID distributes to strong power controller A, y IBnID distributes to strong power controller B; D and A converter (16) is carried out respectively digital to analogy conversion the digital signal y IAnID and the y IBnID that distribute control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can use, finally control voltage signals these two and send two corresponding strong power controllers to;
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. the voltage difference of shift signal processing output signal according to claim 1 is divided control force aid 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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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149921A (en) * | 2014-08-20 | 2014-11-19 | 成都宽和科技有限责任公司 | Voltage differential-control type power system capable of outputting signal after processing gear signal |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149921A (en) * | 2014-08-20 | 2014-11-19 | 成都宽和科技有限责任公司 | Voltage differential-control type power system capable of outputting signal after processing gear signal |
| CN104149921B (en) * | 2014-08-20 | 2016-05-04 | 成都宽和科技有限责任公司 | Process the voltage difference of output signal by shift signal and divide control force aid system |
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