CN204077409U - The voltage difference that shift signal adds model processor divides control boosted vehicle system - Google Patents
The voltage difference that shift signal adds model processor divides control boosted vehicle system Download PDFInfo
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- CN204077409U CN204077409U CN201420468284.2U CN201420468284U CN204077409U CN 204077409 U CN204077409 U CN 204077409U CN 201420468284 U CN201420468284 U CN 201420468284U CN 204077409 U CN204077409 U CN 204077409U
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Abstract
The voltage difference that the utility model shift signal adds model processor divides control boosted vehicle system to belong to the differential front-wheel for power-assisted electricity and trailing wheel difference distribution morpet power-supply controller system.Comprise two wheels and two motors of electric booster bicycle, shift signal manual mode controller, also comprises difference controller, and difference controller comprises three modules be connected successively; 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 comparatively processed; The shift signal of the second module shift signal manual mode controller selects the pattern function set in pattern function holder to carry out pattern function process to the data of the first module; It is controller A and controller B that 3rd module distributes to controlled electrical equipment to pattern function process; Advantage: carry out differential control power supply to front and back wheel two motors of morpet, the content of differential control is exactly the pattern function process of setting in advance.
Description
Technical field
The utility model belongs to the assist controller system, particularly front wheel of electric assisted bicycle and trailing wheel and all gives and distribute morpet power-supply controller system with the differential front-wheel for power-assisted electricity and trailing wheel difference.
Background technology
The Chinese patent 201210011641.8 of Hunan Shengtong Technology Group Co., Ltd's application proposes a kind of double wheel hub motor driven systems adaptive equalization rotating direction control method, but does not provide the technical design of electronic differential application specific processor.
Chinese patent 201110358020.2 1 kinds of double wheel hub motor electronic differentials of Hunan Shengtong Technology Group Co., Ltd's application and speed governing Centralized Controller, but there is no the specific design of electronic differential module.
Hitachi Co., Ltd 01122460.6 disclosed herein is a kind of change-speed box, it comprise for by the energy distribution of a drive source to the mechanism of many boxs of tricks; The many motors be connected with described many boxs of tricks respectively; With the mechanism for combining the energy exported from described many boxs of tricks.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 having electronic differential function, but does not have 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, being all the method for Mechanical course speed change, is not electron steering speed change.
Summary of the invention
The purpose of this utility model is to provide front-wheel and trailing wheel dynamic stress two key elements, and the morpet power-supply controller system of these three key element determination front-wheels of power-assisted gear key element of manually setting and trailing wheel difference distribution power supply.And be select Controlling model 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 making pattern function more simplify; That power-assisted gear key element selects the morpet power-supply controller system of Controlling model function to front-wheel and trailing wheel dynamic stress two key elements.
Structure of the present utility model is:
The voltage difference that shift signal adds model processor divides control boosted vehicle system, it is characterized in that: two wheels comprising electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and drive the motor B of wheel B, comprise the shift signal manual mode controller 3 of electric booster bicycle, it is characterized in that: also comprise difference controller 1
Be connected with controller A between difference controller 1 with motor A, controller A difference controller 1 give with control signal control electrical source of power wheel A powered;
Be connected with controller B between difference controller 1 with motor B, controller B difference controller 1 give with control signal control electrical source of power wheel B powered.
The current values comparator 9 of negate feedforward control signal electric current I A input difference controller 1 between motor A and controller A;
The current values comparator 9 of negate feedforward control signal electric current I B input difference controller 1 between motor B and controller B.
The 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 be fixed on handle-bar cross bar, and people moves shift signal manual mode controller 3 with hand-screw, selects various from the car bumper position as automobile.The gear of morpet stirs the ratio selection portion part machinery that bar itself is the physical construction relation of foot-operated chain drum and the multiple gear multiplication of trailing wheel, in the present invention, shift signal manual mode controller 3 is electronicies package, and it exports to the transmitting ratio selection mode electronic signal that gear stirs bar the electronic unit needing to control.
Difference controller 1 comprises three modules be connected successively;
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 comparatively processed;
The shift signal ID of the second module shift signal manual mode controller 3 selects the pattern function set in pattern function holder 11, carries out pattern function process to the data of the first module;
It is controller A and controller B that 3rd module distributes to controlled electrical equipment to pattern function process.
First module: two input ends of current values comparator 9 connect feedback control signal electric current I A and feedback control signal electric current I B respectively; IA and IB is the original control current signal of received current digital comparator 9 respectively; Two mouths of current values comparator 9 connect IA > IB difference model data handler 7 and IA < IB difference model data handler 8 respectively.
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 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 is 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 is transferred to difference model data handler 8, the digital signal of difference value under referred to as digital signal.
Current values comparator 9 subtracts IB with IA exactly, and the plus or minus of its difference is as vector, and the absolute value of difference is 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 Controlling model and export, make Controlling model more can adapt to be controlled the needs of thing.
IA and IB is for controlling two target electric appliances, as electrical motor, or two current controling signals for controlling two strong power controllers; Digital signal is the difference that current values comparator 9 couples of IA, IB carry out reduction algorithms process, so digital signal can enter follow-up function value computing as scalar.Current controling signal IA and IB not only can have size variation, can also change in direction, but digital signal only has size variation.
Feedback control signal electric current I A and IB represents a certain moment front and back wheel strained condition respectively of morpet, IA and IB is used for controlled reset object and is to give different power matchings respectively to the front and back wheel of strained condition this moment.Current controling signal IA and IB sends into difference controller 1 and carries out data processing, the control voltage signal that its difference controller 1 exports to strong power controller A, B just can embody, when road makes the stressed change of front and back wheel and makes the power of front and back wheel not mate, difference controller 1 can export the control signal that the power of front and back wheel can be mated, make two motors respectively to the power of front and back wheel output matching respectively, reach the object of the front and back wheel smooth-ride of morpet.
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Second module: IA > IB difference model data handler 7 connects current values comparator 9 and pattern function holder 11 respectively; And IA < IB difference model data handler 8 also connects current values comparator 9 and pattern function holder 11 respectively;
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, selects in the pattern function input IA > IB difference model data handler 7 and input IA < IB difference model data handler 8 belonging to some shift signal ID in pattern function holder 11.
Its effect is;
As IA > IB, start IA > IB difference model data handler 7, the IA > IB vector signal data exported with the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, current values comparator 9, carry out calculation process in the pattern function mated with this digital signal and this vector signal stored in the pattern function holder 11 that substitution shift signal ID selects; And the IA > IB vector signal data exported with the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, current values comparator 9, carry out calculation process in the pattern function mated with this digital signal and this vector signal stored in the pattern function holder 11 that substitution shift signal ID selects; Obtain two the IA > IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data y IAn of IA > IB is obtained, with the data that this two subsequent module of the IB control data y IBn of IA > IB, y IAn and y IBn will use; 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 is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n.
Or, as IA < IB, start IA < IB difference model data handler 8, the IA < IB vector signal data exported with the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, current values comparator 9, carry out calculation process in the pattern function mated with this digital signal and this vector signal stored in the pattern function holder 11 that substitution shift signal ID selects; And the IA < IB vector signal data exported with the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, current values comparator 9, carry out calculation process in the pattern function mated with this digital signal and this vector signal stored in the pattern function holder 11 that substitution shift signal ID selects; Obtain two the IA < IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data y IAn of IA < IB is obtained, with the data that this two subsequent module of the IB control data y IBn of IA < IB, y IAn and y IBn will use; 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 is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n.
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Digital signal in above-mentioned pattern function includes the content of ID, IA and IB, i.e. digital signal but also be the function of ID, IA and IB.Digital signal=f(ID, IA, IB).
The calculating of above-mentioned pattern function is: first go to select pattern function corresponding to ID value in pattern function holder 11 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, the some difference model data handlers in IA > IB difference model data handler 7 or IA < IB difference model data handler 8 are selected according to vector, y IAn and y IBn is calculated in some difference model data handlers.Y IAn and y IBn is last for controlling the original data of former and later two motors of morpet.
Above-mentioned pattern function at identical vectorial sum digital signal value, during different I A and IB, can obtain one group of different 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 Controlling model that these two groups of primary current signals of digital signal=5 obtain is not identical, and this can represent Controlling 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 its easier Modling model function, or pattern function is fairly simple; And if without digital signal, directly use IA, IB very not easily Modling model function, the pattern function of foundation is very complicated.In like manner, in function y IBn, digital signal is implied with IAn content, is the method for drawing for simplifying Modling model function.
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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 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 that difference controller controls strong power controller A and strong power controller B.
Its effect is; The IAn of control data y in groups that data distributor 10 inputs IA > IB difference model data handler 7 and y IBn distributes to strong power controller A and strong power controller B respectively, or the IAn of control data y in groups and the y IBn of the input of IA < IB difference model data handler 8 distribute to strong power controller A and strong power controller B respectively, namely y IAn distributes to strong power controller A, then y IBn distributes to strong power controller B; D and A converter 16 carries out digital to analogy conversion respectively the digital signal y IAn and y IBn distributing control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can use, finally these two control voltage signals are sent to two corresponding strong power controllers, both strong power controller A and strong power controller B.
Realize 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, by difference controller, power supply is controlled to the difference that strong power controller A and strong power controller B carries out regulation pattern function, 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 the work of two motor couplings can be obtained, the effect of morpet two wheel balance motions.
General trailing wheel is stressed many, and power supply is many, and front-wheel is stressed few, and power supply is few.For different gear, the difference size of powering how many is different again, so want ID, IA and IB tri-to control former key element.The weight of people on morpet is constant, front-wheel or certain wheel of trailing wheel stressed large time, power consumption electric current can increase at once, feedback control signal electric current also increases at once, the former difference relationship of IA and IB is changed, new ID, IA and IB tri-controls former key element input difference and controls boosted vehicle system, difference controls boosted vehicle system through controlling the pattern function that former key element matches calculate with these three, export and to control two control voltage signals that former key element matches with these three respectively to the motor of front-wheel and trailing wheel, even if make wheel A and wheel B stressed unequal, also the work of two motor couplings can be obtained, the effect of two wheel balance motions.
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Due to different electric controller A and strong power controller B, require the control voltage signal of different voltage range, 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.
Whether stable the leading rotational angle of bicycle representative can be in state at bicycle substantially, if leading rotational angle is than the angle that have rotated 80 degree to 90 degree time just forward, then bicycle is in unstable motoring condition, at this moment no matter feedback control signal electric current I A and IB is any signal, can not, again to feeding electric motors, must stop feeding electric motors immediately.If leading rotational angle is than the angle that have rotated 30 degree to 80 degree time just forward, feedback control signal electric current I A and IB requires to reduce the delivery to motor to should increasing with leading rotational angle of feeding electric motors.General leading rotational angle is when the angle of 0 degree to 30 degree, and bicycle is in completely normal motoring condition, and feedback control signal electric current I A and IB requires can, completely according to execution, not need to revise to the delivery of motor.
The speed of a motor vehicle controlled to make difference controller 1 and the body weight of cyclist match, namely under the condition of the same group of feedback control signal electric current I A changed and feedback control signal electric current I B, two control voltage signals that difference controller 1 exports can change with the body weight difference of cyclist.As being match with 50 kilograms of body weights with former two the control voltage signals that should export of difference controller 1, when the body weight of cyclist is 40 kilograms, two control voltage signals that difference controller 1 reality exports all reduce 20%, or when the body weight of cyclist is 70 kilograms, two control voltage signals that difference controller 1 reality exports all reduce 40%.The body weight reaching the speed of a motor vehicle that difference controller 1 controls and cyclist matches.For achieving this end technical scheme be: on the human body cushion of morpet, or pressure sensor is set on the elastomeric element be connected with cushion, 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 voltage signals in data distributor 10 process that same ratio increase or same ratio reduce respectively.
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Advantage of the present utility model: difference controller of the present utility model can carry out the process 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 two controlled things that will control, front and back wheel two motors of morpet carry out differential control power supply, and the content of differential control is exactly the pattern function process of setting in advance.Namely difference controller Neng Dui tri-road of the present utility model analog current signal carries out pattern function and is processed into differential two-way voltage control signal independently and exports, digital model function content can be added to three two-way analog signals, the control that front and back wheel two motors carry out independently is powered, also claims difference to control power supply.The work of front and back wheel two motor couplings, both front and back wheel change strained condition, front and back wheel two motors mate to from different power supplies, reach front and back wheel velocity of rotation identical, the people ridden on this morpet feels comfortably cool, the identical not wastes power again of front and back wheel velocity of rotation.
In pattern function holder, the pattern function being applicable to ID value is selected at first by the shift signal ID value of shift signal manual mode controller 3, namely under identical IA and IB condition, the gear that morpet travels is different, and last difference controls the control power-assisted effect difference that boosted vehicle system exports.
The utility model difference controls boosted vehicle system and controls through ID, IA and IB and these three pattern function that former key element matches and calculate, export and to control two control voltage signals that former key element matches with these three respectively to the motor of front-wheel and trailing wheel, even if make wheel A and wheel B stressed unequal, also the work of two motor couplings can be obtained, the effect of two wheel balance motions.
When the former key element of identical ID, IA and IB tri-control is identical, as long as change the digital model function of setting, the different control signals that just can obtain multiple artificial setting export, solve and directly control two analog electronics by IA and IB two analog signals, only have a kind of mode, the shortcoming of mode can not be adjusted by human needs.
Whether stable state can be in leading rotational angle presumption bicycle, and by the size of leading rotational angle, the feedback control signal electric current I A produce cycle racing state and the difference delivery required by IB are revised, to ensure when bicycle plays pendulum, no longer labile factor is increased to bicycle, use morpet of the present invention more humane, safer.
Accompanying drawing explanation
Annexation and the signal of Fig. 1, each parts of difference controller of the present utility model flow to schematic diagram;
Annexation and the signal of each parts of Fig. 2, the utility model flow to schematic diagram;
Fig. 3, the annexation of each parts of difference controller of the present utility model of corner parameter Processor and signal is had to flow to schematic diagram;
Fig. 4, the annexation of each parts of the utility model of leading rotary angle transmitter and signal is had to flow to schematic diagram.
In figure, 1 be difference controller, 3 are shift signal manual mode controllers, 7 are IA > IB difference model data handlers, 8 are IA < IB difference model data handlers, 9 are current values comparators, 10 are data distributors, 11 are pattern function holders, 16 are D and A converters, 30 are corner parameter Processor, 31 is leading rotary angle transmitters.
Detailed description of the invention
The voltage difference that embodiment 1, shift signal add model processor divides control boosted vehicle system
As Fig. 1,2, comprise two wheels of electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and drive the motor B of wheel B, comprise the shift signal manual mode controller 3 of electric booster bicycle, also comprise difference controller 1,
Be connected with controller A between difference controller 1 with motor A, controller A difference controller 1 give with control signal control electrical source of power wheel A powered;
Be connected with controller B between difference controller 1 with motor B, controller B difference controller 1 give with control signal control electrical source of power wheel B powered.
The current values comparator 9 of negate feedforward control signal electric current I A input difference controller 1 between motor A and controller A;
The current values comparator 9 of negate feedforward control signal electric current I B input difference controller 1 between motor B and controller B;
The 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 be connected successively;
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 comparatively processed;
The shift signal of the second module shift signal manual mode controller 3 selects the pattern function set in pattern function holder 11 to carry out pattern function process to the data of the first module;
It is controller A and controller B that 3rd module distributes to controlled electrical equipment to pattern function process.
First module: two input ends of current values comparator 9 connect feedback control signal electric current I A and feedback control signal electric current I B respectively; IA and IB is the original control current signal of received current digital comparator 9 respectively; Two mouths of current values comparator 9 connect IA > IB difference model data handler 7 and IA < IB difference model data handler 8 respectively.
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 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 is 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 is transferred to difference model data handler 8, the digital signal of difference value under referred to as digital signal.
Second module: IA > IB difference model data handler 7 connects current values comparator 9 and pattern function holder 11 respectively; And IA < IB difference model data handler 8 also connects current values comparator 9 and pattern function holder 11 respectively.
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, selects in the pattern function input IA > IB difference model data handler 7 and input IA < IB difference model data handler 8 belonging to some shift signal ID in pattern function holder 11.
Its effect is;
As IA > IB, start IA > IB difference model data handler 7, the IA > IB vector signal data exported with the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, current values comparator 9, carry out calculation process in the pattern function mated with this digital signal and this vector signal stored in the pattern function holder 11 that substitution shift signal ID selects; And the IA > IB vector signal data exported with the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, current values comparator 9, carry out calculation process in the pattern function mated with this digital signal and this vector signal stored in the pattern function holder 11 that substitution shift signal ID selects; Obtain two the IA > IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data y IAn of IA > IB is obtained, with the data that this two subsequent module of the IB control data y IBn of IA > IB, y IAn and y IBn will use; 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 is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n.
Or, as IA < IB, start IA < IB difference model data handler 8, the IA < IB vector signal data exported with the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, current values comparator 9, carry out calculation process in the pattern function mated with this digital signal and this vector signal stored in the pattern function holder 11 that substitution shift signal ID selects; And the IA < IB vector signal data exported with the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, current values comparator 9, carry out calculation process in the pattern function mated with this digital signal and this vector signal stored in the pattern function holder 11 that substitution shift signal ID selects; Obtain two the IA < IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data y IAn of IA < IB is obtained, with the data that this two subsequent module of the IB control data y IBn of IA < IB, y IAn and y IBn will use; 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 is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n.
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 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 that difference controller controls strong power controller A and strong power controller B.
Its effect is; The IAn of control data y in groups that data distributor 10 inputs IA > IB difference model data handler 7 and y IBn distributes to strong power controller A and strong power controller B respectively, or the IAn of control data y in groups and the y IBn of the input of IA < IB difference model data handler 8 distribute to strong power controller A and strong power controller B respectively, namely y IAn distributes to strong power controller A, then y IBn distributes to strong power controller B; D and A converter 16 carries out digital to analogy conversion respectively the digital signal y IAn and y IBn distributing control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can use, finally these two control voltage signals is sent to two corresponding strong power controllers.
Realize 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, by difference controller, power supply is controlled to the difference that strong power controller A and strong power controller B carries out regulation pattern function, 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 the work of two motor couplings can be obtained, the effect of two wheel balance motions.
Embodiment 2, the voltage difference being with the shift signal of corner parameter Processor to add model processor divide control boosted vehicle system
As Fig. 3,4, as the entire infrastructure of embodiment 1, and IA > IB difference model data handler 7 is connected with data distributor 10 by corner parameter Processor 30 with IA < IB difference model data handler 8, and corner parameter Processor 30 is also connected with leading rotary angle transmitter 31.
On the human body cushion of morpet, or pressure sensor is set on the elastomeric element be connected with cushion, 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 voltage signals in data distributor 10 process that same ratio increase or same ratio reduce respectively.
Claims (2)
1. the voltage difference that shift signal adds model processor is divided and is controlled boosted vehicle system, comprise two wheels of electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and drive the motor B of wheel B, comprise the shift signal manual mode controller (3) of electric booster bicycle, it is characterized in that: also comprise difference controller (1)
Difference controller (1) is connected with controller A with between motor A, controller A difference controller (1) give with control signal control electrical source of power wheel A powered;
Difference controller (1) is connected with controller B with between motor B, controller B difference controller (1) give with control signal control electrical source of power wheel B powered;
The current values comparator (9) of negate feedforward control signal electric current I A input difference controller (1) between motor A and controller A;
The current values comparator (9) of negate feedforward control signal electric current I B input difference controller (1) between motor B and controller B;
The pattern function holder (11) of shift signal ID input difference controller (1) of shift signal manual mode controller (3);
Difference controller (1) comprises three modules be connected successively;
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 comparatively processed;
The shift signal of the second module shift signal manual mode controller (3) selects the pattern function set in pattern function holder (11) to carry out pattern function process to the data of the first module;
It is controller A and controller B that 3rd module distributes to controlled electrical equipment to pattern function process;
First module: two input ends of current values comparator (9) connect feedback control signal electric current I A and feedback control signal electric current I B respectively; IA and IB is the original control current signal of received current digital comparator (9) respectively; Two mouths of current values comparator (9) connect IA > IB difference model data handler (7) and IA < IB difference model data handler (8) respectively;
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 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 is 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 is transferred to difference model data handler (8), the digital signal of difference value under referred to as digital signal,
Second module: IA > IB difference model data handler (7) connects current values comparator (9) and pattern function holder (11) respectively; And IA < IB difference model data handler (8) also connects current values comparator (9) and pattern function holder (11) respectively;
Pattern function holder (11) also connects shift signal manual mode controller (3), shift signal ID input model function holder (11) of shift signal manual mode controller (3), select in pattern function holder (11) in pattern function input IA > IB difference model data handler (7) and input IA < IB difference model data handler (8) belonging to some shift signal ID
Its effect is;
As IA > IB, start IA > IB difference model data handler (7), the IA > IB vector signal data exported with the digital signal data of current values comparator (9), the IA data corresponding with this digital signal, current values comparator (9), substitute in the pattern function mated with this digital signal and this vector signal of the middle storage of pattern function holder (11) that shift signal ID selects and carry out calculation process; And the IA > IB vector signal data exported with the digital signal data of current values comparator (9), the IB data corresponding with this digital signal data, current values comparator (9), substitute in the pattern function mated with this digital signal and this vector signal of the middle storage of pattern function holder (11) that shift signal ID selects and carry out calculation process; Obtain two the IA > IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data y IAn of IA > IB is obtained, with the data that this two subsequent module of the IB control data y IBn of IA > IB, y IAn and y IBn will use; 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 is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n;
Or, as IA < IB, start IA < IB difference model data handler (8), the IA < IB vector signal data exported with the digital signal data of current values comparator (9), the IA data corresponding with this digital signal, current values comparator (9), substitute in the pattern function mated with this digital signal and this vector signal of the middle storage of pattern function holder (11) that shift signal ID selects and carry out calculation process; And the IA < IB vector signal data exported with the digital signal data of current values comparator (9), the IB data corresponding with this digital signal data, current values comparator (9), substitute in the pattern function mated with this digital signal and this vector signal of the middle storage of pattern function holder (11) that shift signal ID selects and carry out calculation process; Obtain two the IA < IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data y IAn of IA < IB is obtained, with the data that this two subsequent module of the IB control data y IBn of IA < IB, y IAn and y IBn will use; 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 is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n;
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 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 that difference controller controls strong power controller A and strong power controller B;
Its effect is; The IAn of control data y in groups that data distributor (10) inputs IA > IB difference model data handler (7) and y IBn distributes to strong power controller A and strong power controller B respectively, or the IAn of control data y in groups that IA < IB difference model data handler (8) inputs and y IBn distributes to strong power controller A and strong power controller B respectively, namely y IAn distributes to strong power controller A, then y IBn distributes to strong power controller B; D and A converter (16) carries out digital to analogy conversion respectively the digital signal y IAn and y IBn distributing control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can use, finally these two control voltage signals is sent to two corresponding strong power controllers;
Realize 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, by difference controller, power supply is controlled to the difference that strong power controller A and strong power controller B carries out regulation pattern function, 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 the work of two motor couplings can be obtained, the effect of two wheel balance motions.
2. the voltage difference that shift signal according to claim 1 adds model processor is divided and is controlled boosted vehicle system, it is characterized in that: IA > IB difference model data handler (7) is connected with data distributor (10) by corner parameter Processor (30) with IA < IB difference model data handler (8), corner parameter Processor (30) is also connected with leading rotary angle transmitter (31).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104149653A (en) * | 2014-08-20 | 2014-11-19 | 成都宽和科技有限责任公司 | Voltage differential control moped system with gear signals added into model processor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149653A (en) * | 2014-08-20 | 2014-11-19 | 成都宽和科技有限责任公司 | Voltage differential control moped system with gear signals added into model processor |
| CN104149653B (en) * | 2014-08-20 | 2016-04-13 | 成都宽和科技有限责任公司 | The voltage difference that shift signal adds model processor divides control boosted vehicle system |
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