TW201014114A - Energy recharging and pedal assisting controller for electrical bicycles - Google Patents

Abstract

The present invention relates to an energy recharging and pedal assisting controller for electrical bicycles. It includes a controlling unit, a battery recharging driving unit, an energy releasing device, a pedal assisting unit, a motor and a battery. When a portion of the lower-arm loop of the battery recharging driving unit is ON, the controlling unit will switch to the lower-arm loop recharging mode. By using the energy releasing device, it also can recharge under the braking mode. Based on manually-setting pedal signal from the pedal assisting unit, it can calculate a corresponding pedal assisting signal, so that it can control the motor to generate a manually-setting output assisting driving force under the pedal assisting mode. Hence, the user can manually select the ratio of assisting power. In addition, the battery recharging and the assisting driving force can be managed very well.

Description

201014114 VI. Description of the Invention: [Technical Field] The present invention relates to an electric bicycle electric energy recharging and pedaling force auxiliary controller which can be freely set to assist the driving force and the battery charging and discharging and the auxiliary 'driving force can mutually Combine advantages and effects. - [Prior Art] Traditional electric bicycles (such as the electric bicycle of the Republic of China New Patent Bulletin No. 4:4383) have both human-powered and motor-driven power, and they are used to measure the pedaling action by pedaling the pedal sensor on the Φ board. It is used to determine the output force of the motor; to provide the auxiliary driving force to make the electric bicycle travel, but it is impossible to select the proportion of the motor-assisted human-power drive according to actual needs, and it is impossible to select the motor to automatically provide the pedaling force assistance according to the situation of the human power, so that It is not possible to provide the function of sports and helmet integrated battery refill. ..., therefore, it is necessary to develop new technologies to solve the above shortcomings. SUMMARY OF THE INVENTION A primary object of the present invention is to provide an electric bicycle electric power refilling and pedaling force assisting controller that can freely set an auxiliary driving force. A second object of the present invention is to provide an electric bicycle electric power refilling and tamping force assisting controller which can make the battery charge and discharge and the auxiliary driving force mutually compatible. . The invention provides an electric bicycle electric energy recharging and pedaling force auxiliary controller, which comprises a control unit, a battery recharging driving unit, a device and a stepping subsidy unit, and the towel: ^ m the control unit is provided with a After receiving and interpreting at least one external signal, the microprocessor automatically selects one of an arm circuit charging mode, an electromagnetic braking mode, and a pedaling assist mode; the external signal is at least: generated by the motor a charging pressure (Ea) and a motor speed, a battery voltage (Eb) generated by the battery, a brake command generated by the electric bicycle, and a throttle command, a panel command generated by the pedal assisting unit and a pedal Force for the number; 201014114 Motor's when the throttle command is less than the predetermined value, and the transfer is greater than the value of the return charge (Ea); control the basin on the ΐ = 路 钱 电 电 钉 钉 钉 钉 钉 钉Charging the mold and releasing the device, bribing the command is less than the default value and the battery recharge of the motor is saturated, the control of the motor to produce the g back to the charging voltage (four) 舦 to the electric _ I set to perform the electromagnetic brakes

The adjacent unit includes at least an operation panel and a pedaling force sensing panel, and the pedaling force sensing portion is swayed toward the control single commanding touch force signal; the characteristic control sheet The 70 series receives the manually set pedaling force signal and calculates the corresponding auxiliary crane to control the stealing motor to generate the manually set auxiliary driving force to execute the pedaling force assisting mode. The above objects and advantages of the present invention will be readily understood from the following detailed description of the embodiments of the invention. The present invention will be described in detail below with reference to the following embodiments: [Embodiment] Referring to the first and second figures, the present invention relates to an electric bicycle electric energy return and pedaling assist controller, which comprises a control unit. 1 〇, a battery recharging drive unit 20, a factory power bleed device 31 and a stepping assist unit 40, wherein: the control unit 10 is provided with a microprocessor n for accepting and interpreting at least one external signal 10A And automatically selecting one of the arm circuit charging mode 12, the electromagnetic braking mode 13, and the pedaling assist mode 14; the external signal 10A includes at least: a charging pressure (Ea) 101 and a generated by the motor 91 Motor speed (referred to as speed) 1〇2, a battery voltage (Eb) 103 generated by the battery 92, a brake command (abbreviated as break) 104 generated by the electric bicycle, and a throttle command (referred to as Spee (j cri) i〇5 a panel command (abbreviated as ctrl) 4〇A and a pedaling force signal 4〇b generated by the pedaling assisting unit 40; 201014114 the battery recharging driving unit 20 is when the throttle command 1〇5 is less than a predetermined value, And the motor 91 When the motor rotation speed 102 is greater than the set value (downhill or idling) to generate the recharge pressure (Ea) 101; control the predetermined lower arm circuit (such as the third A, the second B, the third C, the third D, the The third and third F diagrams are electrically connected to the battery 92, and the lower arm circuit charging mode 12 is executed to charge the %; the power bleeder 30 is when the throttle command 1〇5 is less than a predetermined value. And the motor rotation speed 102 is greater than the set value, and the battery 92 is fully charged, the control unit 10 bleeds the recharge pressure generated by the motor 91 to the electric energy release device 31 to execute the electromagnetic brake mode 13 . The stepping assisting unit 40' includes at least one operation panel 41 and a stepping force sensing portion 42. The operation panel 41 and the pedaling force sensing portion 42 are respectively configured to emit the panel command 40A toward the control unit 1. And the pedaling force signal 40B is characterized in that: the control unit 10 receives the manually set chat force signal 4〇b and calculates a corresponding auxiliary driving signal 40C (abbreviated as speed), and is used to control the motor to generate Manually set the auxiliary driving force to perform the pedaling Force assist mode 14. In practice, the microprocessor U system can generate Pulse Width Modulation (PWM) signals, and one can control the driving crystal lower arm circuit of the battery recharging drive unit 20 and the battery. 92 constitutes a circuit (refer to third A, third B, third, third D, third E, third and fourth figures), so that the motor 91 becomes a generator; and the three-phase induced electromotive force generated by the motor 91 'The battery is rectified and filtered by the battery refill drive unit 20 to form a DC back charge voltage (Ea) 101, and is recharged to the battery 92. Two can be used to control the duty cycle of the square wave signal; and can receive a Hall (HALL) signal to detect the rotor position signal of the motor 91 (which can be combined with setting the motor speed detecting circuit) to estimate the optimal output position of the stator coil; And use X 〇 R logic gate to convert the motor speed to 1 〇 2; in addition, the control unit 1 〇 and set the voltage follower to the motor 91 back charge pressure (Ea) l 〇 l and battery voltage 201014114 (Eb) The voltage level value of 102 is input to the microprocessor u, and the microprocessor η determines the direct switching energy feedback. The battery recharging drive unit 20 basically includes a driving crystal (the lower arm circuit is located on the driving crystal), a current sensor, a constant voltage controller, and a current protection circuit; and driving time, sequence and driving of the driving crystal driving The current protection level is controlled by the microprocessor 11. In this example, the battery recharging drive unit 20 is a Metal-Oxide_Semiconductor Field-Effect Transistor (MOSFET) driver.

The motor 91 is further provided with an electromagnetic switch 911, which is an opening and closing switch when the motor 91 is a generator; a motor driving unit 912 is a driver having a driving crystal inside for the micro processing The motor drive command calculated by the device 11 is converted into a three-phase voltage, and a corresponding signal-driven crystal is generated to control the operation of the motor 91 according to a position signal generated by the Hall IC inside the motor 91. The operation panel 41 includes: an automatic part 411 λ & 旅 • , 具 具 , , , , , , , 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 〇 According to the pedaling force signal 4〇B emitted by the pedaling force sensing unit 42, the driving signal is excellent, and is used to control the motor 91 to generate different auxiliary manual units 412 for switching the control unit to Manual assist = industry (when the pedaling assist mode 14 is performed); the manual portion 4 a first control member 412A, a second control member 412B, a system f, a fourth control member 412D, and a fifth control unit = The preset pedaling force signal will be sent out, which is used to feed the auxiliary drive signal 40C in various proportions of the material 丨Μ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ The manual electric foot=upper setting is set to the auxiliary driving signal 4GC; the generated state command 105 is 201014114 a closing part 413 for closing the pedaling auxiliary unit 4〇; the stepping force sensing part 42 includes: The pressure sensor 421 is used to sense the pedaling force of the pedal pedal 93 (refer to the fifteenth figure); The analog/digital converter 422 is configured to convert the pedaling force of the analog state sensed by the pressure sensor 421 into a digital state pedaling force signal 40B; a low pass filter 423 (as shown in the eighth figure) For its reference circuit), it is used to filter the pedaling force signal 40B so that its signal value is stable waveform (refer to the ninth diagram, the first curve L1 is the uncompensated output pedaling force signal 40B, the second Curve L2 is a pedaling force signal with a compensated output 4〇B);

A signal amplifier 424 is used for signal amplification of the filtered pedal force signal 4 〇 B (refer to the tenth figure for the circuit of the signal amplifier 424); a radio transmitter 425 is used for the signal The pedaling force signal 40B after the amplifier 424 amplifies the signal is transmitted; a radio receiver 426 is configured to receive the pedaling force signal 4〇B and transmit the signal to the control unit 1 (the waveform is as follows) Figure shows). The electric bicycle electric recharge and pedaling force auxiliary controller of the present invention further comprises: a rectifying unit 2 having a diode, a capacitor, and a driving crystal as a cutting unit. In the battery recharging drive unit, the crystal is controlled by the microprocessor η, and is used to convert the motor 91 into a DC recharge voltage (Ea) 1G1 and recharge it to the ^2^9 car unit. 30' has an internal power wave device 31 and - right core 曰 = motor speed 102 is greater than a set value; and the battery 92 car mode processor U is switched to the electromagnetic field via a second switch 52 Command 1G3 has and does not, the Shan should be fast 201014114 ah Da ^ generated three mechanical should be the electric potential through the rectification!; back to the charge _ 〇 1 'sister to the electric energy set 'lift ^ j to the ditch stomach have a car command 1〇 4 'The microprocessor u controls the conduction period (Ton) of the second 1 switch 52 to be wider (as shown in FIG. 5A), and the shout voltage (Ea) 1Q1 $ generated by the g ^ The amount is large. When there is no brake command 103, the conduction period (4) of the micro-location & 4 is lower (e.g., the fifth B-riding), and the energy of the horse's electric energy discharged to the electric energy discharge device 41 is small.玍< The road charger St is closed 51 for the control unit (10) to switch to the lower arm for charging efficiency, and the charging thereof can be at least [1] current limiting circuit 92 Α (as shown in the sixth figure) ) is at least an electric_and-amplifier 924. If the motor 91) produces a number, the number of Ton chats (Ton) becomes smaller, so that the battery is recharged to drive the single-element]. The second-conductor achieves the purpose of stable current-limiting charging at the initial stage of charging, to determine the voltage circuit 92Β ( For example, the seventh riding device is provided with at least a voltage regulating IC 922. When the microprocessor 11 determines that the battery is thin, the voltage reference value (10) is switched to the constant voltage circuit 92B, and ί ΪΪ 11 921 is compared. After that, the driving material pressure adjustment Cong 2 (for example, Regulator 1C for the regulator) is subjected to constant voltage charging (c ν). The actual operation process of the present invention is as follows: * Outline ' As shown in the first and second figures', the control unit 1G will first detect and signal i〇a (including the recharge voltage (4) 1〇1, the motor The rotational speed of the piano surface (four) 103, the brake command 1〇4, the throttle command milk, the second brake i0A and the pedal force 40B, etc.); and the microprocessor 11 the bicycle power back charge and the pedal force assist control function table) ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,

X

X

X

X Brake Control Decision Close (OFF) OFF (Auto) Automatic/Manual (Auto/Manual)

X

V

X

V If the electric bicycle is in the traveling state and the speed is increased to the set value, the charging operation is performed. If the speed is decremented, the charging operation is not performed. The driving force operation mode is executed. The driving motor operation is performed. If the charging is not performed, the pedaling force assist mode is executed, and the driving motor is operated; Charging action

Where: V means there is action X means no action. - The representative does not affect. Note · For all charging actions, if satiety = excess electric tank generated by motor 91 & St. 4 and ί fifteen diagrams, the principle of the present invention is to the pedal pedal 93 side. , Over-curve* (assuming that the length is D and is transmitted through the front gear 94 - the chain drives the rear-wheel gear % to drive the electric bicycle to travel; the calculation formula is as follows.

Tc Λ r2 9 201014114 where: : pedaling force; €: driving force; 5·friction, 7;: torque; /1: front gear radius; 6: rear gear radius; w: weight (full weight of electric bicycle load) , : electric bicycle travel speed;

And: rear wheel radius; 1: crank length. When the foot pedal 93 is stepped on (as shown in the sixteenth and seventeenth diagrams, the force generated by the pedal pedal 93 being stepped on one step is related to the crank angle); and the panel command 40A is input to the control unit 10 and the foot. The pedaling force signal 40B2c/2 (k2 is the reference voltage of the effective pedaling force signal 40B); the pedaling force signal 40B is output through the radio transmitter 425; the radio receiver 426 receives and transmits to the control unit 10 The control unit 10 outputs an auxiliary drive signal 40C after the operation; the motor 91 is controlled to generate an auxiliary driving force (for example, the chain 95 is transmitted through the rear gear 96). As for the selection conditions of the charging mode of the present invention, the following conditions are as follows: [a] Lower arm circuit charging mode 12: When the electric bicycle slides in the unpowered door command 105) 'The motor 91 is a blame, and is consistent with the refill ^ (fa ) 1 <! ^ electricity * voltage (four) 1 〇 3 +% (~1 is the basis for cutting into the battery back charge) for more than Atl time; open the first open circuit charging mode 12. Lower arm electromagnetic brake car model < 13: When the lower arm circuit is charged π to its saturation, that is, it meets the condition of the battery voltage (four) 103 > back charge, the reference voltage for switching the electric energy is not discharged; and $ far f = greater than Set the value, then turn on the second _ illusion to perform the power; 煞 meaning 2〇l〇l4li4 [C] pedaling assist mode 14: when the control unit 10 interprets the panel command 40A2 set value; and the pedaling force signal 40B2 The heart 2 (匕/2 is the reference voltage for stepping on the effective pedaling operation), the pedaling force assisting mode 14 is executed as follows: When the operation panel 41 is set in the automatic portion 411 (refer to the twelfth figure); The pedal 11 is configured to set the pedaling force signal 40B to the pedaling force sensing unit=the plurality of instant signals (such as shown in the sixteenth and seventeenth figures) generated by the foot pedal 93 being stepped on. The maximum pedaling force is calculated, and the predetermined auxiliary driving signal 40C is calculated according to the motor rotation speed 1〇2; the calculation formula is as follows: The auxiliary driving signal 400

χΚ2 -χΚ3χ where: Κ1: conversion force from pedaling force to voltage (psi/V); K2: conversion gain per unit pedaling force to rear axle torque (Kg · ; K3 : electric bicycle handle turns one turn to throttle command 1 〇5 spine exchange benefit (V / circle); <

FmaX(·): the immediate maximum pedaling force of one step of the pedal 113 is set; when the operation panel 41 is set to any one of the manual portions 412; the microprocessor 11 is the pedaling force The signal 40B is set to ^ the sensing unit 42 senses the instantaneous force generated by the pedal 93 being stepped on a circle. The calculation formula is as follows:

Auxiliary drive signal 40C pedaling signal pedal(V)]XK2 motor rated torque (kg.m) x manual mode (MANUAL the ratio (6) 201014114 ____ out of ratio example] as shown in the following table 2 (foot force and auxiliary The driving force is matched): Auxiliary driving force 5 (20% 1 O (OFF) JO 30 17 ~ 25 A worm road, ~,,

Liz^rj has a considerable weight for carrying the mail, and the post is sent to the fifth control unit 412E (assuming the auxiliary manual parting force. When it is downhill; ί;==2,:! Driving force 0), and 2 kg (2 and Α 2 = in the coffee department 413 (that is, when the pedaling force of 10 kg in the pedaling force is used as fitness. The second control side (auxiliary m can be y π setting) In the second = easy uphill; if it is two or two) = can; move 4 412 s and then in the fourth control 4 ΐ 2 Γ > ΓϋΗΛ丄 将 ;; i can be based on the actual situation, of course, the actual ratio, the present invention The advantages and effects can be summarized as follows: The ancient master can be free mosquito assisted (four) force size. The invention has a moving part on the operation panel. Regardless of the traveling state of the electric bicycle, it can be manually set, auxiliary, moving, gas small two completely It is not limited to the speed of travel, and the auxiliary driving force can be set freely according to the field operation. [2] The battery charge and discharge and the auxiliary driving force can cooperate with each other. The external signals of the control unit, the side electric bicycle travel state and automatic execution (4) Control mode; control unit control when the electric bicycle is braking and taxiing The pool return unit switches to the lower arm loop charging mode. When the battery is full, it switches to the electromagnetic brake mode, and releases excess power to the bleeder resistor to prevent battery damage. 12 201014114 When receiving the output panel command, it cooperates Automated or manual assisted operation, the motor outputs an auxiliary driving force that meets the immediate needs. The above is only the detailed description of the present invention by way of a preferred embodiment, and any modifications, variations and changes made to the implementation are not departing from the invention. Spirit and scope. The above detailed description can make it clear to the skilled person that the present invention can be used.

The first diagram is a system architecture diagram of the present invention. The second diagram is a flow chart of the present invention. The second, second, third, third, third, and third F diagrams of the present invention are different timings of the present invention. FIG. 4 is a schematic diagram of the recharging voltage sequence of the present invention. FIGS. 5A and 5B are waveforms of the pulse width modulation signal of the present invention for controlling long and short different on-period periods. FIG. 6 is a reference diagram of a current limiting circuit of the present invention. FIG. 7 is a reference diagram of a constant voltage circuit of the present invention. FIG. 8 is a reference circuit diagram of a low pass filter of the present invention. FIG. 11 is a schematic diagram of a signal amplifier of the present invention. FIG. 11 is a waveform diagram of an auxiliary driving signal outputted by the radio receiver of the present invention. FIG. FIG. 12 is a schematic view showing the internal circuit of the operation panel of the present invention. FIG. 14 is a schematic diagram of the fifteenth diagram of the present invention installed on an electric bicycle. The power transmission footboard invention sixteenth and seventeenth schematic relationship between the force lines in FIG pedals are depressed the present invention produced by the crank angle of the week schematic 201014114

10 control unit 10A external signal 101 back charging pressure 102 motor speed 103 battery voltage 104 brake command 105 throttle command 106 charging current 11 microprocessor 12 lower arm circuit charging mode 13 electromagnetic brake mode 14 pedaling assist mode 20 battery recharging drive unit 21 rectification unit 30 brake control unit 31 power bleed device 32 rectifier 40 stepping auxiliary unit 40A panel command 40B pedal force signal 40C auxiliary drive signal 41 operation panel 411 automatic portion 412 manual portion 412A first control member 412B second control member 412C Third control member 412D fourth control member 412E fifth control member 413 closing portion 42 pedaling force sensing portion 421 pressure sensor 422 analog/digital converter 423 low pass filter, wave 424 signal amplifier 425 radio transmitter 426 radio Receiver 51 first switch 52 second switch 91 motor 911 electromagnetic switch 912 motor drive unit 92 battery 92A current limiting circuit 92B constant voltage circuit 921 comparator 922 voltage adjustment 1C 923 detection resistance 924 amplifier 93 foot pedal 94 front gear 95 Chain% rear gear Fp pedaling force driving force β friction front gear radius r 2 rear gear radius and rear wheel radius

Claims (1)

201014114 VII. Patent application scope: 1 · An electric bicycle electric energy recharging and pedaling force auxiliary controller, comprising a control unit, a battery recharging driving unit, a power discharging device and a pedaling auxiliary unit, wherein: the control The unit is configured to receive and interpret at least one external signal, and automatically select one of an arm loop charging mode, an electromagnetic braking mode, and a pedaling assist mode; the external signal includes at least: A charge voltage (Ea) generated by the motor and a motor speed, a battery voltage (Eb) generated by the battery, and a trip generated by the electric bicycle a vehicle command and a throttle command, a panel command and a pedaling force signal generated by the pedal assisting unit; the battery recharging driving unit, when the throttle command is less than a predetermined value, and the motor speed of the motor is greater than a set value When the charging voltage (Ea) is generated; controlling the predetermined lower arm circuit to be electrically connected to the battery and performing the lower arm circuit mode to charge the battery; and the power release device is when the throttle command is less than a predetermined value and The motorist: to ' ' ' ' 且 且 且 且 该 该 该 该 该 该 该 该 该 该 该 该 该 该 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制The force sense 3 output plate and the pedaling force sensing portion are respectively used to calculate the relative force (the fourth) city, the _ stealing motor, according to the force signal set by the control type and the riding force The driving force is generated to execute the pedaling assist mode.疋 疋 • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • Resistance; when the oil g commands 15 2 201014114 to process the speed setting; and the battery is charged saturating; the second level switches to the electric vehicle mode; the control list = according to the presence and absence of the braking command The speed of the idling and the slow speed of the motor generated by the motor is converted into the charge back pressure (Ea) discharged to the power bleeder; the first switch is used for the control unit to switch to the lower arm Loop electrical mode. 3 。 。 。 。 。 。 。 。 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动 电动a portion for switching the control unit to the automatic assisting operation, so that the control unit automatically calculates a predetermined auxiliary driving signal according to the magnitude of the pedaling force signal sent by the pedaling force sensing portion, and controls the motor to generate different Auxiliary driving force; a manual portion for switching the control unit to manual auxiliary operation; the manual portion is provided with at least a first control member, a second control member, a third control member and a fourth control member And a fifth control member for respectively emitting different manual pedaling force signals for respectively for the control unit to calculate a corresponding auxiliary driving signal, thereby controlling the auxiliary driving force manually set by the motor output; a closing portion for closing the pedaling assisting unit; the stepping force sensing portion comprising: a pressure sensor for sensing the pedal The pedaling force of the board; a type of ratio/digital converter for converting the pedaling force of the analog state sensed by the pressure sensor into a pedaling force signal of a digital state; a low pass filter is used for The pedaling force signal is used for filtering operation; a signal amplifier is used for signal amplification of the filtered pedaling force signal; 16 201014114 A radio transmitter is used to amplify the pedaling force signal after the signal amplifier is amplified. Transmitting; a radio receiver is configured to receive a pedaling force signal transmitted by the radio transmitter and transmit to the control unit. [4] The electric bicycle electric energy recharging and pedaling force auxiliary controller according to claim 1 of the claim, wherein: when a pedaling force is applied to the pedal of the electric bicycle; the front of the electric bicycle is passed through the crank A chain of gear transmission drives the electric bicycle to drive the rear gear; the calculation formula is as follows: F, ~Fr=mv where: ': pedaling force; 6: driving force; friction force; C: torque; Front gear radius; rear gear radius; weight; ☆: electric bicycle travel speed; and: rear wheel radius; 1 : crank length. 5. The electric bicycle electric recharge and pedaling force auxiliary controller according to claim 1, wherein the motor is a generator when there is no throttle command; and the recharge voltage (Ea) 2 battery voltage is met (Eb) ) + cut into the battery back charge reference voltage for more than Atl time; that is, the lower arm circuit charge $ mode is executed. 6. The electric bicycle electric energy recharging and pedaling force auxiliary controller according to the first application of the patent scope, wherein when the lower arm circuit charging mode is performed, the battery charging voltage is met and the battery voltage is met (4) > (4) + switching the calibration voltage; and if the motor speed is greater than the set value, the electricity (10) treadmill energy recharging and pedaling industry is performed according to the electric power. The pedaling assist mode includes at least a self-help operation and a manual assisting operation. The operation panel includes a · 紫 姑 土 土 其 其 其 其 其 其 其 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫 紫The auxiliary driving signal is used to control different auxiliary driving forces of the motor house; the f is used to switch the control unit to the manual assisting device=the fifth control member for respectively generating the pedaling force signal 'It is used for the control unit to calculate the assistance, and then controls the motor to output the manually set auxiliary effective pedaling action. "Complete execution; == When the control unit interprets the panel command 2 setting And the pedaling power letter j jacquard fine plate set in the self-employed force ΐ 设定 设定 躲 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Auxiliary turn signal; its formula is auxiliary drive signal = wide. Ϋίί)®®»ΐ(>〇χ^ χΚ2 ~xKix 201014114 where: conversion gain _; K3 : conversion gain of electric bicycle moment 哚._0 ; circle); conversion-turn to inter-command conversion gain (W plate one-time instantaneous maximum pedaling force (four); ❿田" The seesaw 5 is further connected to any one of the manual parts; the controller sets the _ force signal to the instantaneous maximum pedaling force generated by the pedaling force sensing unit when the pedal is stepped on one turn; The calculation formula is as follows: 1 Auxiliary drive signal · = £r [Klx erli number pedal(V)] xK2 χ manual mode 敢 匕ΧΚ 匕ΧΚ 匕ΧΚ 3 motor rated torque (kg1 m) 19