CN203996753U - Shift signal adds the digital differential control boosted vehicle system of model treater - Google Patents
Shift signal adds the digital differential control boosted vehicle system of model treater Download PDFInfo
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- CN203996753U CN203996753U CN201420468289.5U CN201420468289U CN203996753U CN 203996753 U CN203996753 U CN 203996753U CN 201420468289 U CN201420468289 U CN 201420468289U CN 203996753 U CN203996753 U CN 203996753U
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Abstract
The utility model shift signal adds the digital differential control boosted vehicle system of model treater 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 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 chosen in the pattern function of having set in pattern function holder the data of the first module is carried out to pattern function processing with the shift signal of shift signal manual mode controller; The 3rd module to pattern function processing 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 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 be to select control pattern function by power-assisted gear key element, power-assisted gear key element is not participated in pattern function directly and is calculated, and the control signal that pattern function calculates still contains gear key element, the morpet difference power-supply controller system that pattern function is more simplified; It is power-assisted gear key element selects to control pattern function morpet power-supply controller system 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 control boosted vehicle system of model treater, 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 pattern function holder 11 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 chosen in the shift signal ID of shift signal manual mode controller 3 pattern function of having set in pattern function holder 11, and the data of the first module are carried out to pattern function processing;
The 3rd module to pattern function processing to distribute to controlled electrical equipment be controller A and controller B.
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.
Feedback control signal electric current I A and IB represent a certain moment front and back wheel strained condition respectively of morpet, 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, in the time that 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 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;
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 that current values comparator 9 is exported, 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 that current values comparator 9 is exported, 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; 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).
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 that current values comparator 9 is exported, 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 that current values comparator 9 is exported, 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; 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).
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.
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).
The calculating of above-mentioned pattern function is: first in pattern function holder 11, remove to select pattern function corresponding to ID value by ID value, then in the pattern function of this selection input IA > IB difference model data handler 7 and IA < IB difference model data handler 8, select the some difference model data handlers in IA > IB difference model data handler 7 or IA < IB difference model data handler 8 according to vector, in some difference model data handlers, calculate y IAn and y IBn.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, 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 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 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 y IAn of control data in groups and y IBn that data distributor 10 is inputted IA > IB difference model data handler 7 distribute to respectively strong power controller A and strong power controller B, or the y IAn of control data in groups and y IBn that IA < IB difference model data handler 8 is inputted 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 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 use, finally these two control figure signals are sent to two corresponding strong power controllers, both strong power controller A and strong power controller B.
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 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 two control figure signals matching of former key elements 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 use.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 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 figure signals that difference controller 1 is exported can change with cyclist's body weight is different.As being to match with 50 kilograms of body weights with former two the control figure signals should exporting of difference controller 1, in the time that cyclist's body weight is 40 kilograms, two control figure signals of difference controller 1 actual output all reduce 20%, or in the time that 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 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 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 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 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.
In pattern function holder, select to be applicable at first the pattern function of ID value by the shift signal ID value of shift signal manual mode controller 3, under identical IA and IB condition, the gear difference that morpet travels, the control power-assisted effect difference of last difference control boosted vehicle system output.
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 two control figure signals matching of former key elements 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, data normalization conv, the 30th, corner parameter Processor, the 31st, leading rotary angle transmitter.
Detailed description of the invention
Embodiment 1, shift signal add the digital differential control boosted vehicle system of model treater
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 pattern function holder 11 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 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 with the shift signal of shift signal manual mode controller 3;
The 3rd module to pattern function processing to distribute to controlled electrical equipment be controller A and controller B.
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;
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 that current values comparator 9 is exported, 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 that current values comparator 9 is exported, 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; 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).
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 that current values comparator 9 is exported, 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 that current values comparator 9 is exported, 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; 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).
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.
The 3rd module: the input end of data distributor 10 is connected with 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 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 y IAn of control data in groups and y IBn that data distributor 10 is inputted IA > IB difference model data handler 7 distribute to respectively strong power controller A and strong power controller B, or the y IAn of control data in groups and y IBn that IA < IB difference model data handler 8 is inputted 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 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 use, 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, add the digital differential control boosted vehicle system of model treater with the shift signal of corner parameter Processor
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. shift signal adds the digital differential control boosted vehicle system of model treater, 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 pattern function holder (11) 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 shift signal 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 to pattern function processing to distribute to controlled electrical equipment be controller A and controller B;
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;
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) 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; 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);
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) 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; 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);
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;
The 3rd module: the input end of data distributor (10) is connected with 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 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; 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 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 use, 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 control boosted vehicle system of model treater, 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 (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104742759A (en) * | 2014-08-20 | 2015-07-01 | 成都宽和科技有限责任公司 | Digital differential control aided bicycle system with gear signal adding model processors |
| CN110212737A (en) * | 2018-02-28 | 2019-09-06 | Abb瑞士股份有限公司 | The method and control system of voltage source converter are controlled for using power synchronous to control |
-
2014
- 2014-08-20 CN CN201420468289.5U patent/CN203996753U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104742759A (en) * | 2014-08-20 | 2015-07-01 | 成都宽和科技有限责任公司 | Digital differential control aided bicycle system with gear signal adding model processors |
| CN104742759B (en) * | 2014-08-20 | 2016-10-19 | 成都宽和科技有限责任公司 | Shift signal adds the digital differential of model processor and controls vehicle using motor system |
| CN110212737A (en) * | 2018-02-28 | 2019-09-06 | Abb瑞士股份有限公司 | The method and control system of voltage source converter are controlled for using power synchronous to control |
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