KR101295824B1 - Power Assist System of Hybrid Bicycle - Google Patents

Abstract

The present invention relates to a power assistance system for a hybrid bicycle, and in accordance with the present invention, a motor for adding auxiliary power to a drive wheel of an electric assisted hybrid bicycle; A motor driving part controlling the output of the motor; An inclination angle detector provided in the electric assisted hybrid bicycle to generate an inclination signal for a predetermined time period; Provided with the inclination signal to calculate the output of the motor, and provides a power assistance system of a hybrid bicycle including a main controller for controlling the output of the motor through the motor driving unit in accordance with the calculation result.

Description

Power Assist System of Hybrid Bicycle

The present invention relates to a power assist system, and more particularly, to a system for controlling the assist power of an electric assisted hybrid bicycle.

In general, a bicycle travels by using a pedaling force (pedal force) caused by a driver's pedaling. Therefore, in consideration of the driver's fitness state, there is a problem that a lot of power of the driver is consumed. In order to solve such a problem, an electric assisted bicycle equipped with a motor has been developed recently so that the motor can be driven by the driving force of the motor according to the user's effort.

The electric assisted bicycle includes a manual power drive system in which the rear wheels are powered by the driving force of the driver's legs, and a motor drive system that adds auxiliary power to the manual power drive system in accordance with the driving force imposed by the driver's legs. do.

However, the auxiliary power is generally increased in proportion to the driver's foot power. Therefore, even if the motor output is controlled in proportion to the stepping force, the motor output may not be controlled to increase or decrease in response to various road inclinations, and it is often difficult to properly use the advantages of the electric assisted bicycle.

The present invention has been made in view of the above-described needs, and an object thereof is to provide a power assist system for a hybrid bicycle that can provide convenience to a driver by controlling assist power according to the pedal force of the driver and the inclination of the road surface. .

Another object of the present invention is to provide a power assistance system of a hybrid bicycle that can control the motor output by providing a power assist mode to adjust the strength of the assist power in consideration of the physical condition of the driver or various surrounding environment. There is a purpose.

The technical objects of the present invention are not limited to the technical matters mentioned above, and other technical subjects not mentioned can be clearly understood by those skilled in the art from the following description.

An aspect of a power assistance system of a hybrid bicycle according to an embodiment of the present invention for achieving the above technical problem, the motor for adding auxiliary power to the drive wheel of the electric assisted hybrid bicycle; A motor driving part controlling the output of the motor; An inclination angle detector provided in the electric assisted hybrid bicycle to generate an inclination signal for a predetermined time period; And a main controller configured to receive the inclination signal, calculate an output of the motor, and control the output of the motor through the motor driving unit according to the calculation result.

Other specific details of the invention are included in the detailed description and drawings.

According to the power assistance system of a hybrid bicycle according to an embodiment of the present invention, by controlling the motor output to adjust the strength of the auxiliary power in consideration of the pedal force of the driver and the inclination of the road surface, the driver continuously smoothly power assistance It can be taken, there is an advantage that can be comfortable driving.

In addition, another effect of the present invention, by using the power assistance mode that can adjust the strength of the auxiliary power in accordance with the driver's conditions can receive power assistance in accordance with the environment of various drivers, it is possible to improve the driver's convenience. have.

1 is a block diagram of a power assistance system of a hybrid bicycle according to a preferred embodiment of the present invention.
FIG. 2 is a diagram showing an example of a signal generated when power assisted on a flat surface using the power assist system of the present invention.
3 is a view showing an example of the signal generated when the power assist on the uphill using the power assist system of the present invention.
4 is a view showing an example of the signal generated when the power assist on the downhill using the power assist system of the present invention.
5 is a table showing an example of the signal generated for each speed at 10km / h or less of the bicycle using the power assistance system of the present invention.
6 is a table showing an example of signals generated for each speed at 10 km / h ~ 24 km / h of the bicycle using the power assistance system of the present invention.
Figure 7 is a graph showing an example of the motor output control for each speed of the bicycle using the power assistance system of the present invention.
8 is a diagram showing an example of a comparison value of the pedaling signal generated by using the power assistance system of the present invention.
9 is a table showing an example of a signal generated according to the gear ratio on the basis of the driving speed 10km / h using the power assistance system of the present invention.
10 is a table showing an example of a signal generated according to the gear ratio on the basis of the driving speed 24km / h using the power assistance system of the present invention.
FIG. 11 is a table illustrating an example of a driving current of a motor input for each power assist mode and a driving speed using the power assist system of the present invention.
FIG. 12 is a table illustrating an example of defining a multiple of a driving current of a motor according to an angle using the power assistance system of the present invention.
13 is a flow chart of a power assist method using a power assist system of a hybrid bicycle according to an embodiment of the present invention.

Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims.

Like reference numerals refer to like elements throughout the specification, and "and / or" includes each and every combination of one or more of the mentioned items.

The terms spatially relative, "below", "beneath", "lower", "above", "upper" May be used to readily describe a device or a relationship of components to other devices or components. Spatially relative terms are to be understood in terms of different directions of the device in use or operation in addition to the directions shown in the figures.

It will be appreciated that each block of the processing flowchart figures below and combinations of flowchart illustrations can be performed by computer program instructions. Since these computer program instructions may be mounted on a processor of a general purpose computer, special purpose computer, or other programmable data processing equipment, those instructions executed through the processor of the computer or other programmable data processing equipment may be described in flow chart block (s). It creates a means to perform the functions. These computer program instructions may also be stored in a computer usable or computer readable memory capable of directing a computer or other programmable data processing apparatus to implement the functionality in a particular manner so that the computer usable or computer readable memory The instructions stored in the block diagram (s) are also capable of producing manufacturing items containing instruction means for performing the functions described in the flowchart block (s). Computer program instructions may also be stored on a computer or other programmable data processing equipment so that a series of operating steps may be performed on a computer or other programmable data processing equipment to create a computer- It is also possible for the instructions to perform the processing equipment to provide steps for executing the functions described in the flowchart block (s).

In addition, each block may represent a portion of a module, segment, or code that includes one or more executable instructions for executing a specified logical function (s). It should also be noted that in some alternative implementations, the functions mentioned in the blocks may occur out of order. For example, two blocks shown in succession may actually be executed substantially concurrently, or the blocks may sometimes be performed in reverse order according to the corresponding function.

As used herein, the term 'module' refers to software or a hardware component such as an FPGA or an ASIC, and a module plays a role. However, a module is not limited to software or hardware. A module may be configured to reside on an addressable storage medium and configured to play back one or more processors. Thus, by way of example, a module may include components such as software components, object-oriented software components, class components and task components, and processes, functions, attributes, procedures, Microcode, circuitry, data, databases, data structures, tables, arrays, and variables, as will be appreciated by those skilled in the art. The functionality provided within the components and modules may be combined into a smaller number of components and modules or further separated into additional components and modules.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. As used herein, “comprises” and / or “mede of” components, steps, operations, and / or elements referred to may refer to one or more other components, steps, operations, and / or elements. It does not exclude existence or addition.

Although the first, second, etc. are used to describe various components, it goes without saying that these components are not limited by these terms. These terms are used only to distinguish one component from another. Therefore, it goes without saying that the first component mentioned below may be the second component within the technical scope of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used in a sense that can be commonly understood by those skilled in the art. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

Hereinafter, with reference to Figure 1, Figure 1 is a block diagram of a power assist system of a hybrid bicycle according to an embodiment of the present invention.

Referring to the configuration of the power assistance system 10 of the present invention with reference to Figure 1, the main controller 100, memory 200, screen display unit 300, inclination angle detection unit 410, pedal force detection unit 420, digital Signal processor 440, relay driver 500, alarm 510, brake light / headlight 520, direction indicator 530, gate driver 600, motor driver 700, motor 800, motor detector 810, a battery 900.

The main controller 100 receives the generated signal according to the pedal force of the driver and the inclination of the road surface and controls the motor output through the motor driver 700 to adjust the output of the motor 800 according to the conditions of the generated signal values. As shown in FIG. 1, the trip computer module 110 and the power assist control module 120 are further included.

Here, the pedal force means the power of pedaling, that is, the pedaling force.

The trip computer module 110 receives any one of a plurality of power assist modes defined to vary the output value of the motor 800 for each driver's condition from an external driver and loads and executes the corresponding mode from the memory 200. In addition, the power assist mode that is executed through the screen display unit 300 is displayed and controls to display the current driving speed, driving time, battery remaining amount, current driving distance, cumulative driving distance, and the like.

The power auxiliary control module 120 calculates an output value of the motor 800 according to the inclination value based on the inclination signal generated for the predetermined time period from the inclination angle detector 410 to control the output of the motor 800. 800, the motor driving unit 700 is operated to control the output. In addition, the pedaling signal generated from the pedal force detection unit 420 and the motor signal generated from the motor 800 may be provided to determine the output value of the motor 800 may be used to control the output of the motor 800. According to an embodiment of the present invention, a current control method of controlling the output by changing the drive current value of the motor 800 to adjust the output value of the motor 800 follows.

A detailed description of the method of controlling the output by limiting the driving current of the motor 800 for each road inclination and driving speed will be described later.

In the periphery of the main controller 100, a system power unit 130 for supplying power to the main controller 100, a core / IO power unit for supplying power to a CPU core and an I / O (input / output) interface of the main controller 100. 140, a temperature sensor 150 for detecting the temperature of the CPU core or the like is configured.

The memory 200 basically stores a plurality of power assist modes in which output values of the motor 800 for each condition of the driver are defined. One embodiment of the present invention provides three power assist modes (weak, medium, strong mode) that can adjust the output of the motor 800 to the strong, medium, weak, but the present invention is not limited to this, the driver Of course, it can be changed to various embodiments according to the conditions of the.

The screen display unit 300 basically displays the power assist mode executed under the control of the trip computer module 110, and also displays a current driving speed, a driving time, a battery remaining amount, a current driving distance, and a accumulated driving distance. And, it may be configured to further include a switch configuration module 350.

The switch configuration module 350 includes a mode switch for selecting one of a general driving mode and a power assist mode, an electric assist switch for selecting one of a plurality of power assist modes, and a driving speed by limiting an output value of the motor 800. It may be configured as a throttle switch receiving a selection to adjust the control or a charge switch to operate to limit the discharge of the battery 900 and to charge from an external power source.

The inclination angle detector 410 generates a signal that changes according to the inclination of the road surface. For example, the inclination angle detector 410 may be a gyro sensor, and a printed circuit board (PCB) equipped with the gyro sensor may be vertically disposed on the ground to be fastened to the hybrid bicycle to easily acquire a tilt signal. In general, the gyro sensor outputs the angular velocity value in analog form. The inclination signal of the present invention is generated by correction from the signal detected by the gyro sensor, and it is possible to know the inclination value (ratio of inclination angle, + value or-value). The slope signal may be generated by digital processing and offset correction of the detected angular velocity value, integrating in a finite time unit, and applying a FIR filter. For example, if the slope value is a positive value, it is determined to be an uphill road, and if it is a negative value, it is determined to be an uphill road.

The pedal force detector 420 generates a pedaling signal according to the rotation state of the pedal of the bicycle to determine the pedal force of the driver, and may be, for example, a magnetic sensor that detects a magnetic force from a magnet.

In an embodiment of the present invention, a plurality of magnets may be attached to a driven sprocket wheel (not shown) by a predetermined distance, and a magnetic sensor may be attached to a position adjacent to the attached magnet to generate a pedaling signal from the magnetic sensor. In this case, the magnetic sensor may be attached to the housing of the motor 800 mounted on the rear wheel center to detect a pedaling signal from a magnet attached to the driven sprocket wheel.

In another embodiment, a plurality of magnets may be attached to the crank (not shown) at a predetermined distance apart. In this case, the magnetic sensor may be attached to a position adjacent to the crank to detect a pedaling signal by detecting a rotation state of the pedal according to the pedaling of the driver.

The digital signal processor 440 may process the analog signal detected by the inclination angle detector 410 and the pedal force detector 420 into a digital signal.

The relay driver 500 may configure a contact relay to drive the alarm 510, the brake light / headlight 520, and the turn signal light 530 provided in the bicycle.

The alarm 510 may output an alarm sound during operation through the relay driver 500.

The brake light / headlight 520 outputs the brake light when the brake switch is operated or outputs the headlight when the headlight is operated.

The direction indicator 530 may be provided to display left / right directions and output according to the driver's input.

The gate driver 600 receives an output control signal of the motor 800 under the control of the power assist control module 120 to apply a gate current to the motor driver 700 so that the motor 800 is driven. The output control signal preferably includes an output value of the motor 800, and the output control signal may be a drive current value for limiting the drive current of the motor 800.

The motor driver 700 drives the output of the motor 800 according to the output control signal of the power auxiliary control module 120 through the gate driver 600. At this time, the output control method of the motor 800 uses a current control method for limiting the drive current of the motor 800.

Further, the output control method of the motor 800 is a torque control method for controlling the motor output by limiting the torque of the motor according to the needs of those skilled in the art, the rotation control per minute to control the output by adjusting the RPM (rpm) of the motor You can also use a combination of methods.

The motor 800 is controlled to regulate the output of the motor 800 of the power auxiliary control module 120 and is driven by the output controlled by the motor driver 700. In the embodiment of the present invention, the motor 800 controls the output of the motor 800 by limiting the driving current of the motor 800 by using a pulse width modulation (PWM) method, the number of poles to 32 poles It can be configured as a brushless (DC) brushless DC motor (BLDC Motor).

The motor detection unit 810 may be a Hall sensor that generates a motor signal by determining the position of the rotor through the magnetic field generated when the rotor of the motor 800 rotates. The output of the motor 800 may be controlled according to the calculated traveling speed by using the generated motor signal. A detailed description of the output control method for each driving speed using the motor signal will be described later.

The battery 900 supplies DC power to the motor 800. The battery 900 may be, for example, a rated voltage of 37 [V] and a rated capacity of 10 [Ah].

Figure 2 is a view showing an example of the signal generated when the power assist in the flat using the power assist system of the present invention, Figure 3 is generated when power assisted uphill using the power assist system of the present invention 4 is a view showing an example of the signal, Figure 4 is a view showing an example of the signal generated when the power assist in the downhill using the power assist system of the present invention, Figure 8 is using the power assist system of the present invention FIG. 12 is a diagram illustrating an example of a comparison value of generated pedaling signals, and FIG. 12 is a table illustrating an example of defining a multiple of a driving current of a motor according to an angle using a power assistance system of the present invention.

Referring to Figures 2 to 4, 8 and 12 will be described the power assist method according to the slope of the road surface,

First, as shown in FIG. 2, a pedaling signal, a motor signal, and a gradient signal generated in the case of flat land are shown. In addition, the motor signal is output in accordance with the normal driving mode (Non-PAS Mode) and three power assist modes (PAS stage 1 (weak), PAS stage 2 (medium), PAS stage 3 (strong)) It shows a signal.

Basically, in the hybrid bicycle, the pedaling signal is generated by the driver's pedaling in order to drive the motor 800. When the driver applies the pedaling on the plain, the pedaling signal as shown in FIG. 2 is generated. Can be.

In the state where the pedaling signal is generated for a predetermined time period T, the motor signal may vary depending on the power assist mode executed by the driver. That is, the current output is controlled by adjusting the strength of the power assist to weak, medium, or strong according to the power assist mode. In this case, the motor signal for each mode has a difference in the number of signals generated for each mode during a predetermined time period. Occurs.

At this time, the predetermined time period should be a time period measured in a range in which the output value of the motor 800 can be determined according to the inclination of the road surface based on the generated slope signal value. That is, the time period measured according to the inclination (for example, flat, uphill, downhill) may vary, for example, it may be set in the range of 1 second to 5 seconds, which is a person skilled in the art in various embodiments as needed You can change it.

In addition, the output of the motor 800 can be controlled by a current control method according to the inclination signal generated during the measured time period, the signal as shown in Figure 2 occurs in the case of flat, the change in the slope value is almost No output control can be followed according to the power assist mode.

Furthermore, referring to FIG. 8, when there is no change in the state of the pedaling signal value generated during the measured time period, or when an inverse signal of the preset reference pedaling signal (1 signal type in FIG. 8) is detected (3 signal in FIG. 8). Form) to stop the motor 800 by limiting the driving current of the motor 800.

If the pedaling signal value does not change state (④ signal type in Fig. 8), for example, there may be no driver pedaling (Pedaling), meaning that the state of the pedaling signal value does not change means that the detected signal value is measured time It means to maintain the state of 0 or 1 during period (T).

Here, pedaling means to rotate the pedal by the driver's force.

In addition, the reverse signal may occur when, for example, the driver rotates the pedal in the reverse direction.

On the other hand, the motor signal may be generated even when the normal driving mode is input, that is, when the bicycle is driven only by the driver's pedaling without driving the motor 800, but the output of the motor 800 is generated and the motor 800 is generated. Does not mean to be driven. That is, as mentioned above, the motor signal is a signal for detecting the position of the rotor, and a constant signal may be periodically generated even when the motor 800 is stopped.

Referring to Figure 3, looking at the power assist method using the signal generated on the uphill,

In the state in which pedaling is generated from the driver and a pedaling signal is generated during the measurement period, the number of motor signals generated according to the weak, medium, and strong mode inputs of the power assist mode is generated differently for each mode. That is, the different number of motor signals for each mode means that the motor output is controlled by limiting the driving current of the motor 800 for each of the weak, medium, and strong modes.

In this case, the inclination signal generated as the bicycle travels uphill is outputted with an inclination value that increases during the measured time period, and the output of the motor 800 controlled for each power assist mode may be corrected according to the inclination value. That is, when one of the weak, medium, and strong modes of the power assist mode is input, if the inclination value is continuously increased to a positive value, the output of the motor 800 is controlled to increase in proportion thereto.

Referring to FIGS. 2 and 3, for example, driving of the motor 800 when the power assist mode (PAS Mode) is in the weak mode (PAS stage 1) when the vehicle is uphill (when the slope value is a positive value). The current (Motor Current, see FIG. 3) can be doubled as the driving current (see FIG. 2) according to the weak mode (PAS step 1) in the plain. Similarly, in the case of the medium mode and the strong mode, respectively, a proportional increase in proportion to the driving currents of the medium mode and the strong mode when the plane is flat, so as to increase the output of the motor 800 than the output of the motor 800 when the plane is flat. To control.

At this time, the proportional value of the driving current (Motor Current) for each mode (for example, 2X [A], 3X [A], 4X [A] of FIG. 3) is preset for each mode (weak, medium, or strong mode). In this case, the proportional value of the set driving current may be corrected in multiples according to an inclination angle as shown in FIG. 12.

In addition, when the uphill slope is severe, overload may occur in the motor 800 as the driving current rapidly increases in proportion to the angle according to the inclination angle, and the preset highest slope value of the slope signal is stored to prevent this. When the inclination signal value detected during the measurement time period reaches the highest inclination value, it is preferable to limit the driving current of the motor 800 to a preset rated current and to drive the driving current.

Referring to Figure 4, looking at the power assist method using a signal generated on the downhill,

The output of the motor 800 according to the input mode selected by the driver may be corrected so that the output of the motor 800 is reflected as the slope signal decreases in proportion to the slope of the downhill road. have. That is, when the slope signal value is continuously reduced to the negative value, the output of the motor 800 is also controlled to decrease in proportion thereto.

For example, the driving current of the motor 800 may be reduced by half in the case of the downhill road (PAS step 1-weak mode) as compared to the case of the flat (PAS step 1-weak mode). This reduces the output value of the motor 800 by limiting the application of less drive current as the electric assist becomes almost unnecessary on the downhill. In addition, it is preferable to limit the drive current so that the output value of the motor 800 varies depending on the weak, medium, and strong modes executed by the driver.

Furthermore, in case the slope of the downhill road is urgent, the minimum slope value is set and stored, and when the slope signal detected during the measurement time period reaches the minimum slope value, the output value of the motor 800 is abruptly reduced to almost the auxiliary power. Control not to occur. At this time, the measurement time period may be different from the measurement time period of the flat or uphill. For example, even if the power assist mode is activated by the driver on the downhill, the pedaling signal is hardly detected unless the driver pedals. Therefore, the timing of generating the auxiliary power on the downhill (the timing of applying the driving current to the motor) may be defined as the timing at which the pedaling signal is continuously detected during the measurement time period. That is, the measurement time period of the downhill road may be longer than the measurement time period of the flat or uphill road.

5 is a table showing an example of the signal generated for each speed at 10km / h or less of the bicycle using the power assistance system of the present invention, Figure 6 is 10km / h ~ 24km of the bicycle using the power assistance system of the present invention / h is a table showing an example of the signal generated for each speed, Figure 7 is a graph showing an example of the motor output control for each speed of the bicycle using the power assistance system of the present invention, Figure 11 is a power assist system of the present invention Table shows an example of the drive current of the motor input by the power auxiliary mode (PAS Mode) and the driving speed using the.

In the present invention, it is also possible to control the motor output to adjust the strength of the auxiliary power in accordance with the running speed, in particular, when the driving speed corresponding to the reference value is less than 10km / h traveling low speed and 10km / h over driving The output control method may vary. 5 is a table showing a pedaling signal and a motor signal generated for each speed when the gear ratio is fixed at 1: 1.64 (stage 1) and the vehicle is traveling at a low speed of 10 km / h or less. As shown in FIG. 5, it can be seen that the number of motor signals generated increases proportionally as the number of pedaling signals continuously increases during the measurement time period until the driver reaches 10 km / h through the pedaling acceleration.

Referring to FIG. 6, in a section in which the bicycle driving speed is between 10 km / h and 24 km / h, the motor output may be limited to gradually reduce the auxiliary power even if the driver continues pedaling acceleration. In other words, if the driving speed exceeds 10 km / h, even if the bicycle is assisted with the assisting power in a state of accelerating power, the assisting power is almost unnecessary because the acceleration is easy only by the pedaling of the driver. At this time, it is preferable that the driving current reduction rate limiting the driving current to reduce the motor output is lower than the driving current increase rate in the low-speed driving section of 10 km / h or less. In order to show the driving current increase / decrease ratio, an Ampere Control graph for the driving speed is shown in FIG. 7, indicating that the rate of decrease decreases linearly compared to the rate of increase of the drive current. 7 also illustrates an example of torque control.

In addition, a motor signal may be used to determine a driving speed value of the bicycle. For example, in the embodiment of the present invention, the time point of 10 km / h, which is the low speed traveling speed reference value for limiting the driving current of the motor 800, will be described with reference to FIGS. 5 and 6. The motor signal number (Motor Signal) is 23.18 per second in the 10km / h section of FIG. 5, and the motor signal number is 25.80 per second in the 11km / h section of FIG. 6. At this point, it is determined that the traveling speed reaches 10 km / h, and the driving current of the motor 800 increased from 0 km / h to 10 km / h is gradually reduced according to a preset reduction rate.

In addition, referring to FIG. 6, when the motor signal count reaches 55 pulses per second (the motor signal count reaches 55.54 per second in the 11 km / h section of FIG. 6), the driving speed reaches 24 km / h, which is a threshold driving speed reference value. By judging, the driving current of the motor 800 is limited to stop the motor 800. The signal values in FIGS. 5 and 6 are the results obtained by the experiment with the motor 800 having 32 poles. That is, the number of motor signals per second may vary depending on the number of poles of the motor 800. Therefore, the present invention is not limited thereto, and those skilled in the art may apply the present invention to various experimental examples as necessary.

In addition, an example of a driving current value limited for each speed according to the power assist mode (weak, medium, or strong mode) is shown in FIG. 11. That is, the output of the motor driven by the driving current for each mode set by the driver may be controlled to increase or decrease based on 10 km / h when the driving speed reaches a corresponding value.

9 is a table showing an example of a signal generated according to the gear ratio on the basis of the driving speed 10km / h using the power assistance system of the present invention, Figure 10 is based on the driving speed 24km / h using the power assistance system of the present invention The following table shows examples of signals generated according to gear ratios.

9 and 10, it can be seen that there is a difference in the number of pedaling signals and the number of motor signals generated during the measurement time period according to the gear ratio, and the gear ratio can be determined using this.

In the embodiment of the present invention, the output of the motor 800 may be controlled by a current control method that limits the driving current value even if the gear ratio (gear stage) is changed. That is, the motor output may be controlled by limiting the driving current of the motor 800 based on the inclination of the road surface, the selection input of the power assist mode, and the current traveling speed.

13 is a flow chart of a power assist method using a power assist system of a hybrid bicycle according to an embodiment of the present invention.

Referring to Figure 13 in detail the power assist method using the power assist system of the present invention,

First, the driver (external) receives one of a normal driving mode and a plurality of power assistance modes (weak, medium, strong mode).

In operation S202 and S204, it is determined whether the input mode is the power assist mode or not.

If it is determined that the normal driving mode, the normal driving mode is executed (S206).

When the input mode is the power assist mode, the corresponding power assist mode (any one of the weak, medium, and strong modes) is loaded from the pre-stored memory 200 and executed (S208, S210).

In order to drive the auxiliary power according to the executed power assist mode, it is determined whether a pedal force (pedaling signal) generated by the driver's pedaling is detected and detected (S212).

In the state where the pedaling signal is generated, the motor 800 is driven with the strength of the auxiliary power set according to the executed power assist mode. That is, the motor output is controlled by limiting the driving current of the motor 800 to the set current value (S214).

Next, it is determined whether the inclination signal is generated and detected to correct the motor output according to the mode according to the inclination of the road surface (S216).

The output value (drive current value) of the motor 800 is calculated in proportion to the slope signal value (+ value or − value) generated during the measurement time period, and the motor output is controlled according to the calculation result (S218).

Next, the motor output may be controlled according to the current traveling speed, and it is determined whether the current traveling speed is 10 km / h or less (S220). When the driving speed is 10 km / h or less, the driving current of the motor 800 is increased in proportion to the driver's pedaling to drive the motor 800 (S222).

It is determined whether the traveling speed reaches 10 km / h and exceeds 10 km / h, and until the driving speed reaches 24 km / h, the driving current of the motor 800 is reduced by the set driving current reduction rate to drive the motor 800. (S224, S226).

In addition, when the running speed reaches 24km / h, the motor 800 is stopped (S228, S230). That is, the driving condition of the bicycle is the same condition as the normal driving mode by the driver's pedaling.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand. It is therefore to be understood that the embodiments described above are in all respects illustrative and not restrictive.

10: power assist system 100: main controller
110: trip computer module 120: power auxiliary control module
130: system power unit 140: core / IO power unit
150: temperature sensor 200: memory
300: display unit 350: switch configuration module
41O: Tilt angle detector 420: Pedal force detector
440: digital signal processing unit 500: relay driver
510: alarm 520: brake light / headlight
530: turn indicator 600: gate driver
700: motor driving unit 800: motor
810: motor detector 900: battery

Claims (13)

A motor for adding auxiliary power to a drive wheel of the electric assisted hybrid bicycle;
A motor driving part controlling the output of the motor;
An inclination angle detector provided in the electric assisted hybrid bicycle to generate an inclination signal for a predetermined time period; And
A main controller configured to receive the inclination signal, calculate an output of the motor, and control the output of the motor through the motor driving unit according to a calculation result;
And when the inclination based on the inclination signal is greater than a predetermined maximum inclination value, driving the motor by limiting the output of the motor to a rated current. The method according to claim 1,
And a pedal force detector for generating a pedaling signal for a predetermined time period according to the rotation state of the pedal driving the driving wheel, and a motor detector for generating a motor signal for a predetermined time period according to the state of the rotor of the motor. ,
The main controller is configured to calculate the output of the motor based on the generated signals to control the output of the motor through the motor driving unit, hybrid bicycle power assistance system. The method of claim 2,
The apparatus may further include a memory configured to store a plurality of power assist modes defining an output value of the motor according to a driver's condition, and to load a corresponding power assist mode when the power assist mode is received from the outside.
And the main controller controls the output of the motor to the output value of the defined motor according to the loaded power assist mode. The method according to claim 2 or 3,
And generating or decreasing the output of the motor in proportion to the increase or decrease of the slope based on the slope signal while the pedaling signal for a predetermined period of time is generated from the pedal force detection unit. 5. The method of claim 4,
And stopping the motor when there is no state change of the pedaling signal generated for a predetermined period of time from the pedal force detecting unit or when a reverse signal of a preset reference pedaling signal is generated. delete A motor for adding auxiliary power to a drive wheel of the electric assisted hybrid bicycle;
A motor driving part controlling the output of the motor;
A pedal force detection unit generating a pedaling signal for a predetermined time period according to a rotation state of a pedal for driving the driving wheel;
An inclination angle detector provided in the electric assisted hybrid bicycle to generate an inclination signal for a predetermined time period; And
The output of the motor is calculated by receiving the inclination signal, and the output of the motor is controlled through the motor driving unit according to the calculation result, and when it is determined that the downhill is based on the inclination signal, the pedal force detection unit is previously designated. A main controller for applying a drive current to the motor when continuously generating a pedaling signal for a predetermined measurement time period,
The downtime measurement time period is longer than the measurement time period of the flat or uphill road hybrid power assist system. The method according to claim 2 or 3,
A predetermined low speed drive speed reference value is stored in advance, and a current drive speed is determined based on the motor signal value generated for a predetermined time period,
And controlling the motor output to increase or decrease in proportion to the increase / decrease of the pedaling signal value in the case of the low speed driving which is currently less than or equal to the low speed traveling speed reference value according to the determination result. The method of claim 8,
And controlling the output of the motor to decrease at a preset reduction rate when the current traveling speed exceeds the low speed traveling speed reference value according to the determination result. 10. The method of claim 9,
And preset and store a threshold traveling speed reference value and stop the motor when the current traveling speed reaches the threshold traveling speed reference value according to the determination result. The method of claim 3,
A screen display unit which displays a power assistance mode executed based on the signal generated from the motor detection unit, and displays a current driving speed, a traveling time, a battery remaining amount, a current traveling distance, or a accumulated traveling distance;
A mode switch for selecting a general driving mode or a plurality of preset power assist modes, an electric assist switch for selecting any one of the power assist modes, a throttle switch selected for adjusting the output speed by limiting the output of the motor, or the A switch configuration module having a charging switch operable to limit discharge of the battery and charge from an external power source; And
And a battery for supplying power to drive the motor. delete 4. The method according to any one of claims 1 to 3,
The output control of the motor is a power assistance system of a hybrid bicycle, using a current control method for controlling the output of the motor by limiting the drive current of the motor.

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