CN204077412U - Gear and speed signal is had all to add the digital differential boosted vehicle system of treater - Google Patents
Gear and speed signal is had all to add the digital differential boosted vehicle system of treater Download PDFInfo
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- CN204077412U CN204077412U CN201420468297.XU CN201420468297U CN204077412U CN 204077412 U CN204077412 U CN 204077412U CN 201420468297 U CN201420468297 U CN 201420468297U CN 204077412 U CN204077412 U CN 204077412U
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Abstract
The digital differential boosted vehicle system that the utility model has gear and speed signal all to add treater belongs to the differential front-wheel for power-assisted electricity and trailing wheel difference distributes 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 couple of car average rate signal IS, feedback current IA and IB carry out numeric ratio and comparatively process; The data of second pair of the first module carry out pattern function process; Shift signal ID is inputted data distributor 10 by the 3rd, and the control data that controller A and controller B is obtained has the key element of feedback current IA and IB, shift signal ID.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, speed of a motor vehicle key element, and the morpet power-supply controller system of this four elements determination front-wheel of power-assisted gear key element of manually setting and trailing wheel difference distribution power supply.And to be power-assisted gear key element calculated to front-wheel and trailing wheel dynamic stress two key elements and speed of a motor vehicle key element, difference to be output distributes control signal, after carrying out calculating with alternate model function, then the morpet power-supply controller system exported again.That power-assisted gear key element carries out the morpet power-supply controller system of post-processing to control signal.
Structure of the present utility model is:
Gear and speed signal is had all to add the digital differential boosted vehicle system of treater, 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, vehicle speed signal sensor 12 and average rate device 20; Vehicle speed signal sensor 12 is connected with average rate device 20, and average rate device 20 is that the speed signal of vehicle speed signal sensor 12 in certain hour is become the signal processor of average velociity in this certain hour.
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 current values comparator 9 of the shift signal ID input difference controller 1 of shift signal manual mode controller 3;
The current values comparator 9 of the car average rate signal IS input difference controller 1 of average rate device 20.
On morpet, shift signal manual mode controller 3 is exactly the gear rotary switc 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.
On morpet, vehicle speed signal sensor 12 is fixed on morpet to experience this morpet moving velocity, export the sensor representing speed of a motor vehicle electric signal.
The average velociity that average rate device 20 exports is floating signal, float and be meant to: if the average velociity within setting average rate device 20 is got at that time front 5 seconds, then the average velociity of latter a second will add this speed of latter one second and remove the speed of first 6th second, calculates the average velociity within 5 seconds.The floating meaning is exactly that average velociity is at any time with the floating change of the speed of a motor vehicle.
Difference controller 1 comprises three modules be connected successively;
First module is carried out numeric ratio to car average rate signal IS, feedback control signal electric current I A and feedback control signal electric current I B that the original input signal for controlling is average rate device 20 and is comparatively processed;
The second module pattern function set carries out pattern function process to the data of the first module;
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 process is the process that control data before controller A and controller B adds shift signal key element respectively, the control data that controller A and controller B is obtained not only has the key element of feedback control signal electric current I A and feedback control signal electric current I B, also has the key element of shift signal ID and car average rate signal IS.
First module: three input ends of current values comparator 9 connect car average rate signal IS, the feedback control signal electric current I A and feedback control signal electric current I B of average rate device 20 respectively; IS, IA and IB are 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 becomes the digital signal of one group of difference value two-way continually varying feedback control signal electric current I A, the feedback control signal electric current I B of input, with two kinds of vector signals a certain obtaining IA > IB or IA < IB, the digital signal of this difference value adds average rate signal IS value of getting on the bus and obtains digital signal containing car average rate; This digital signal containing car average rate, IA, IB and IA > IB vector signal are transferred to difference model data handler 7 by current values comparator 9, or this digital signal containing car average rate, IA, IB and IA < IB vector signal are transferred to difference model data handler 8 by current values comparator 9; Containing car average rate digital signal under referred to as digital signal.
Current values comparator 9 subtracts IB with IA, the plus or minus of its difference is as vector, and the absolute value of difference adds that the absolute value of the car average rate signal IS of average rate device 20 is as the digital signal containing the speed of a motor vehicle, also referred to as digital signal, so digital signal is a value, it 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 scalar numeric value that current values comparator 9 couples of IS, IA, IB carry out arithmetic processing, so digital signal can enter follow-up function value computing as scalar.Current controling signal IS, IA and IB not only can have size variation, can also change in direction, but digital signal only have 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.Car average rate signal IS represents the motoring condition in morpet nearest very short time, add this key element object of car average rate signal IS when being to make morpet to run into the state producing IA and IB, the adjustment of boosted vehicle system is controlled by difference, still morpet is made to keep producing that speed of a motor vehicle state of car average rate signal IS, reach and make speed of a motor vehicle held stationary, people feels comfortable object.Current controling signal IS, IA and IB sends into difference controller 1 and carries out data processing, its difference controller 1 exports to strong power controller A, the control figure signal of B just can realize 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 the average uniform velocity that the power of front and back wheel can keep pointed by IS matchingly, both made two motors respectively to the power of front and back wheel output matching respectively, the front and back wheel reaching morpet is the object that travels of average uniform velocity reposefully.
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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.
Its effect is;
As IA > IB, start IA > IB difference model data handler 7, by the IA > IB vector signal data of 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 stored in pattern function holder 11 and carry out calculation process; And by the IA > IB vector signal data of 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 stored in pattern function holder 11 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, by the IA < IB vector signal data of 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 stored in pattern function holder 11 and carry out calculation process; And by the IA < IB vector signal data of 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 stored in pattern function holder 11 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; IAn and IBn is computing value, is digital signal.
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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.In function y IAn, digital signal is implied with IBn and IS content, and IBn and ISn does not participate in pattern function calculating, make its easier Modling model function, or pattern function is fairly simple; And if without digital signal, directly use IA, IB, IS 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 and IS 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 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 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 that difference controller controls strong power controller A and strong power controller B.
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 process is the second time pattern function process that control data before controller A and controller B adds shift signal ID key element respectively, the control data that controller A and controller B is obtained not only has the key element of feedback control signal electric current I A and feedback control signal electric current I B, also has the key element of shift signal ID.
Become y IAnID and y IBnID after the IAn of control data y in groups that data distributor 10 inputs IA > IB difference model data handler 7 and y IBn carries out adding the pattern function process of shift signal ID key element respectively, then distribute to strong power controller A and strong power controller B respectively; Or become y IAnID and y IBnID after the IAn of control data y in groups of IA < IB difference model data handler 8 input and y IBn carries out adding the pattern function process of shift signal ID key element respectively, distribute to strong power controller A and strong power controller B more respectively, namely y IAnID distributes to strong power controller A, then y IBnID distributes to strong power controller B; Data normalization conv 16 carries out data normalization respectively the digital signal y IAnID and y IBnID distributing control object, the digital signal calculated 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 is sent to two strong power controllers of correspondence.
Realize the shift signal ID of shift signal manual mode controller 3, the car average rate signal IS of average rate device 20, feedback control signal electric current I A and feedback control signal electric current I B is controlled the difference that strong power controller A and strong power controller B carries out regulation pattern function by difference controller, when reaching front and back wheel by force unbalance, within the scope of the gear that the power of front and back wheel also can be made to keep ID to specify matchingly, with the average uniform velocity pointed by IS, both made two motors respectively to the power of front and back wheel output matching respectively, the front and back wheel reaching morpet is the object that travels of average uniform velocity reposefully.
Control data y IAn and y IBn car average rate signal IS, feedback control signal electric current I A and feedback control signal electric current I B calculate through pattern function in groups, represent the morpet front and back wheel a certain speed moment different stressed demand to power supply, this morpet does not travel the integrated demand in this section, and the integrated demand in this section is exactly that morpet travels in a certain gear condition.So control data y IAn and y IBn is in groups calculated with alternate model function again with the shift signal ID of shift signal manual mode controller 3, obtain the IAnID of control data y in groups with gear element information and y IBnID.
General trailing wheel is stressed many, and power supply is many, and front-wheel is stressed few, and power supply is few.For different car average rate, the difference size of powering how many is different again, so want ID, IS, IA and IB tetra-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, IS, IA and IB tetra-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 four, two control figure signals that output and these four controlling elements match give the motor of front-wheel and trailing wheel respectively, even if make wheel A and wheel B stressed unequal, also the work of two motor couplings can be obtained, two wheel balance motions, the effect of morpet held stationary speeds.
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 calculated 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.
Can also be, IA > IB difference model data handler 7 is connected with data distributor 10 by corner parameter Processor 30 with IA < IB difference model data handler 8, and corner parameter Processor 30 is also connected with leading rotary angle transmitter 31.
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 figure 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 figure signals that should export of difference controller 1, when the body weight of cyclist is 40 kilograms, two control figure signals that difference controller 1 reality exports all reduce 20%, or when the body weight of cyclist is 70 kilograms, two control figure 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 figure signals in data distributor 10 process 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 process of digital model function to car average rate signal IS, the feedback control signal electric current I A and feedback control signal electric current I B of the shift signal ID of shift signal manual mode controller, average rate device, 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 tetra-road of the present utility model analog current signal carries out twice pattern function process respectively, obtain and have differential two-way digital controlled signal independently to export, digital model function content can be added to four tunnel 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, and be make morpet substantially keep being limited within the scope of gear by ID, form the state of the average velociity of IS.The people ridden on this morpet feels comfortably cool, the identical not wastes power again of front and back wheel velocity of rotation.
In function y IAn, be implied with IBn, IS content, and IBn, IS do not participate in pattern function calculating, make its easier Modling model function, or pattern function are fairly simple; And if without digital signal, directly use IA, IB, IS very not easily Modling model function, the pattern function of foundation is very complicated.The value of ID sum functions y IAn, y IAnID is calculated again with another pattern function, shift signal ID is added in the control signal exported, multiple variable is decomposed the method twice pattern function calculating, twice pattern function is made to calculate having a bowel movement all greatly, containing IA, IB, ID, IS key element in the control signal in the end exported, but set up each pattern function and to calculate and variable does not have four, simplify Modling model function, computation speed is faster, adapts to the good method of data processing regulated kinematic velocity.
The utility model difference controls boosted vehicle system and controls through ID, IS, IA and IB and these four pattern function that former key element matches and calculate, export and to control two control figure signals that former key element matches with these four 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, IS, IA and IB tetra-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 1,3 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, 12 are vehicle speed signal sensors, 16 are data normalization convs, 20 are average rate devices, 30 are corner parameter Processor, 31 is leading rotary angle transmitters.
Detailed description of the invention
Embodiment 1, gear and speed signal is had all to add the digital differential boosted vehicle system of 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 drive the motor B of wheel B, comprise the shift signal manual mode controller 3 of electric booster bicycle, also comprise difference controller 1, vehicle speed signal sensor 12 and average rate device 20; Vehicle speed signal sensor 12 is connected with average rate device 20, and average rate device 20 is that the speed signal of vehicle speed signal sensor 12 in certain hour is become the signal processor of average velociity in this certain hour.
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 current values comparator 9 of the shift signal ID input difference controller 1 of shift signal manual mode controller 3;
The current values comparator 9 of the car average rate signal IS input difference controller 1 of average rate device 20.
Difference controller 1 comprises three modules be connected successively;
First module is carried out numeric ratio to car average rate signal IS, feedback control signal electric current I A and feedback control signal electric current I B that the original input signal for controlling is average rate device 20 and is comparatively processed;
The second module pattern function set carries out pattern function process to the data of the first module;
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 process is the second time pattern function process that control data before controller A and controller B adds shift signal key element respectively, the control data that controller A and controller B is obtained not only has the key element of feedback control signal electric current I A and feedback control signal electric current I B, also has the key element of shift signal ID.
First module: three input ends of current values comparator 9 connect car average rate signal IS, the feedback control signal electric current I A and feedback control signal electric current I B of average rate device 20 respectively; IS, IA and IB are 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 becomes the digital signal of one group of difference value two-way continually varying feedback control signal electric current I A, the feedback control signal electric current I B of input, with two kinds of vector signals a certain obtaining IA > IB or IA < IB, the digital signal of this difference value adds average rate signal IS value of getting on the bus and obtains digital signal containing car average rate; This digital signal containing car average rate, IA, IB and IA > IB vector signal are transferred to difference model data handler 7 by current values comparator 9, or this digital signal containing car average rate, IA, IB and IA < IB vector signal are transferred to difference model data handler 8 by current values comparator 9; Containing car average rate digital signal 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.
Its effect is;
As IA > IB, start IA > IB difference model data handler 7, by the IA > IB vector signal data of 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 stored in pattern function holder 11 and carry out calculation process; And by the IA > IB vector signal data of 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 stored in pattern function holder 11 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, by the IA < IB vector signal data of 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 stored in pattern function holder 11 and carry out calculation process; And by the IA < IB vector signal data of 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 stored in pattern function holder 11 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; IAn and IBn is computing value, is digital signal.
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 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 that difference controller controls strong power controller A and strong power controller B.
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 process is the pattern function process that control data before controller A and controller B adds shift signal key element respectively, the control data that controller A and controller B is obtained not only has the key element of feedback control signal electric current I A and feedback control signal electric current I B, also has the key element of shift signal ID.
Become y IAnID and y IBnID after the IAn of control data y in groups that data distributor 10 inputs IA > IB difference model data handler 7 and y IBn carries out adding the pattern function process of shift signal ID key element respectively, then distribute to strong power controller A and strong power controller B respectively; Or become y IAnID and y IBnID after the IAn of control data y in groups of IA < IB difference model data handler 8 input and y IBn carries out adding the pattern function process of shift signal ID key element respectively, distribute to strong power controller A and strong power controller B more respectively, namely y IAnID distributes to strong power controller A, then y IBnID distributes to strong power controller B; Data normalization conv 16 carries out data normalization respectively the digital signal y IAnID and y IBnID distributing control object, the digital signal calculated 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 is sent to two strong power controllers of correspondence.
Realize the shift signal ID of shift signal manual mode controller 3, the car average rate signal IS of average rate device 20, feedback control signal electric current I A and feedback control signal electric current I B is controlled the difference that strong power controller A and strong power controller B carries out regulation pattern function by difference controller, when reaching front and back wheel by force unbalance, within the scope of the gear that the power of front and back wheel also can be made to keep ID to specify matchingly, with the average uniform velocity pointed by IS, both made two motors respectively to the power of front and back wheel output matching respectively, the front and back wheel reaching morpet is the object that travels of average uniform velocity reposefully.
Have gear and the speed signal of embodiment 2, band corner parameter Processor all add the digital differential boosted vehicle system of treater
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 figure signals in data distributor 10 process that same ratio increase or same ratio reduce respectively.
Claims (2)
1. there are gear and speed signal all to add the digital differential boosted vehicle system of treater, 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), vehicle speed signal sensor (12) and average rate device (20); Vehicle speed signal sensor (12) is connected with average rate device (20), and average rate device (20) is that the speed signal of vehicle speed signal sensor (12) in certain hour is become the signal processor of average velociity in this certain hour;
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 current values comparator (9) of shift signal ID input difference controller (1) of shift signal manual mode controller (3);
The current values comparator (9) of car average rate signal IS input difference controller (1) of average rate device (20);
Difference controller (1) comprises three modules be connected successively;
First module is carried out numeric ratio to car average rate signal IS, feedback control signal electric current I A and feedback control signal electric current I B that the original input signal for controlling is average rate device (20) and is comparatively processed;
The second module pattern function set carries out pattern function process to the data of the first module;
3rd module is by the data distributor (10) of shift signal ID input difference controller (1) of shift signal manual mode controller (3), will distribute to controlled electrical equipment to pattern function process is the second time pattern function process that control data before controller A and controller B adds shift signal key element respectively, the control data that controller A and controller B is obtained not only has the key element of feedback control signal electric current I A and feedback control signal electric current I B, also has the key element of shift signal ID;
First module: three input ends of current values comparator (9) connect car average rate signal IS, the feedback control signal electric current I A and feedback control signal electric current I B of average rate device (20) respectively; IS, IA and IB are 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) becomes the digital signal of one group of difference value two-way continually varying feedback control signal electric current I A, the feedback control signal electric current I B of input, with two kinds of vector signals a certain obtaining IA > IB or IA < IB, the digital signal of this difference value adds average rate signal IS value of getting on the bus and obtains digital signal containing car average rate; This digital signal containing car average rate, IA, IB and IA > IB vector signal are transferred to difference model data handler (7) by current values comparator (9), or this digital signal containing car average rate, IA, IB and IA < IB vector signal are transferred to difference model data handler (8) by current values comparator (9); Containing car average rate digital signal 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;
Its effect is;
As 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, current values comparator (9) IA > IB vector signal data, substitute in the pattern function mated with this digital signal and this vector signal stored in pattern function holder (11) and carry out calculation process; And by the digital signal data of current values comparator (9), the IB data corresponding with this digital signal data, current values comparator (9) IA > IB vector signal data, substitute in the pattern function mated with this digital signal and this vector signal stored in pattern function holder (11) 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), by the digital signal data of current values comparator (9), the IA data corresponding with this digital signal, current values comparator (9) IA < IB vector signal data, substitute in the pattern function mated with this digital signal and this vector signal stored in pattern function holder (11) and carry out calculation process; And by the digital signal data of current values comparator (9), the IB data corresponding with this digital signal data, current values comparator (9) IA < IB vector signal data, substitute in the pattern function mated with this digital signal and this vector signal stored in pattern function holder (11) 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; IAn and IBn is computing value, is digital signal;
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 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 that difference controller controls strong power controller A and strong power controller B;
Its effect is; The data distributor (10) of shift signal ID input difference controller (1) of shift signal manual mode controller (3), will distribute to controlled electrical equipment to pattern function process is the pattern function process that control data before controller A and controller B adds shift signal key element respectively, the control data that controller A and controller B is obtained not only has the key element of feedback control signal electric current I A and feedback control signal electric current I B, also has the key element of shift signal ID;
Become y IAnID and y IBnID after the IAn of control data y in groups that data distributor (10) inputs IA > IB difference model data handler (7) and y IBn carries out adding the pattern function process of shift signal ID key element respectively, then distribute 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 becomes y IAnID and y IBnID after carrying out adding the pattern function process of shift signal ID key element respectively, distribute to strong power controller A and strong power controller B more respectively, namely y IAnID distributes to strong power controller A, then y IBnID distributes to strong power controller B; Data normalization conv (16) carries out data normalization respectively the digital signal y IAnID and y IBnID distributing control object, the digital signal calculated 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 is sent to two strong power controllers of correspondence;
Realize the shift signal ID of shift signal manual mode controller (3), the car average rate signal IS of average rate device (20), feedback control signal electric current I A and feedback control signal electric current I B is controlled the difference that strong power controller A and strong power controller B carries out regulation pattern function by difference controller, when reaching front and back wheel by force unbalance, within the scope of the gear that the power of front and back wheel also can be made to keep ID to specify matchingly, with the average uniform velocity pointed by IS, both made two motors respectively to the power of front and back wheel output matching respectively, the front and back wheel reaching morpet is the object that travels of average uniform velocity reposefully.
2. the digital differential boosted vehicle system having gear and speed signal all to add treater according to claim 1, it is characterized in that: IA > IB difference model data handler (7) is connected with data distributor (10) by corner parameter Processor (30) with IA < IB difference model data handler (8), corner parameter Processor (30) is also connected with leading rotary angle transmitter (31).
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| CN201420468297.XU CN204077412U (en) | 2014-08-20 | 2014-08-20 | Gear and speed signal is had all to add the digital differential boosted vehicle system of treater |
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| CN201420468297.XU CN204077412U (en) | 2014-08-20 | 2014-08-20 | Gear and speed signal is had all to add the digital differential boosted vehicle system of treater |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149657A (en) * | 2014-08-20 | 2014-11-19 | 成都宽和科技有限责任公司 | Digital differential moped system with gear and speed signals added to processor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149657A (en) * | 2014-08-20 | 2014-11-19 | 成都宽和科技有限责任公司 | Digital differential moped system with gear and speed signals added to processor |
| CN104149657B (en) * | 2014-08-20 | 2016-08-17 | 成都宽和科技有限责任公司 | Gear and rate signal is had all to add the digital differential vehicle using motor system of processor |
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