201132875 六、發明說明： 【發明所屬之技術領域】 本發明係有關-種電動車適應路況之自動減震方法與 裝置，尤指-種控制車輪加速或減速，以改變共振頻率， 可達自動減震之方法與裝置。 【先前技術】 按，-般車輛行駛於起伏不平之路面時，會造成車輛 震動而產生不舒適感，因此通常會於車輛裝設避震器，藉 該避震器之彈性以減緩震動。 、然而行駛於不平的路面會造成車輛本身震動，以及該 避震器之震動，當車輛本身之振動頻率與避震器之振動頻 率相等時，即會產生共振現象，而使車輛獲得額外的能量， 造成大幅度的震動，若該強度大於避震器彈性件所能承受 之能力，容易使避震器觸底，反而產生更大震動，而使駕 Φ 駛人及乘客產生極大不舒適感覺。 • 有鑑於此，故如何改進上述缺點，實為本發明所欲解 決之重點所在，因此，發明人乃憑藉著長期對於相關產業 之研究及融會貫通之構思，遂有本發明之產生。 【發明内容】 本發明目的之一，在於解決上述的問題而提供一種電 動車適應路況之自動減震方法與裝置，係以霍爾轉速感測 器感測各車輪之轉速，以及利用壓電晶體加速度感測器感 /貝j各車輪及避震器之震動及衝擊量，經微電腦控制器加以 3 201132875 比對判斷，並控制各車輪加速或減速，以改變共振頻率， 則達自動減震之功效。 本發明目的之二，在於該微電腦控制器可控制調整該 避震器之阻尼，以達提升舒適性之功效。 為達前述之目的，本發明係包括： 至少兩輪以上之一電動車，其中各車輪之輪軸係由一 驅動馬達所驅動，各車羚並設有一避震器； 一霍爾轉速感測器，係組設於該車輪之驅動馬達上， 藉以感測車輪之轉速； 一組壓電晶體加速度感測器，係組設於各輪軸及避震 器上，藉以感測各輪軸及避震器之振動及衝擊量； 一微電腦控制器，係由該霍爾轉速感測器所感測之轉 速，以及由該壓電晶體加速度感測器所感測之振動及衝擊 量，經該微電腦控制器運算出各車輪之速度、振動及衝擊 量，以判斷車輛之震動狀況，並控制各驅動馬達以驅動各 車輪加速或減速，藉以改變該車輛與避震器間之共振頻率 0 且其係包括下列步驟： (a )感測各車輪之轉速：利用霍爾轉速感測器感測 各車輪之轉速； (b) 感測各車輪之振動與衝擊量：以壓電晶體加速 度感測器感測各輪軸及避震器之振動及衝擊量； (c) 判斷：經微電腦控制器將由霍爾轉速感測器所 感測之轉速，以及由壓電晶體加速度感測器所感測之振動 及衝擊量，加以比對以判斷出車輛之震動狀態； 201132875 (d)控制加速或減速：經微電腦控制器控制各車輪 加速或減速，以改變共振頻率且達自動減震。 本發明之上述及其他目的與優點，不難從下述所選用 實施例之詳細說明與附圖中，獲得深入了解。 當然，本發明在某些另件上，或另件之安排上容許有 所不同，但所選用之實施例，則於本說明書中，予以詳細 說明，並於附圖中展示其構造。 【實施方式】 請參閱第1圖至第2圖，圖中所示者為本發明所選用 之實施例結構，此僅供說明之用，在專利申請上並不受此 種結構之限制。 以下係本發明電動車適應路況之自動減震方法與裝置 之實施例說明，如第1圖所示，其中該電動車適應路況之 自動減震裝置係包含： 至少兩輪以上之一電動車（圖中未示），其中各車輪1 之輪軸1 1係由一驅動馬達2所驅動，各車輪1並設有一 避震器3，且該避震器3之阻尼係可調整。 一霍爾轉速感測器4，係組設於各車輪1之驅動馬達 2上，藉以感測該車輪1之轉速。 一組壓電晶體加速度感測器5，係分別組設於各輪軸 1 1及避震器3上，藉以感測各輪軸1 1及避震器3之振 動及衝擊量。 一微電腦控制器6，係由該霍爾轉速感測器4所感測 之車輪1轉速，以及由該壓電晶體加速度感測器5所感測 201132875 之振動及衝擊量，經該微電腦控制器6運算出各車輪1之 速度、振動及衝擊量，加以比對差異，據以判斷車輛之震 動狀況，並發出控制命令，以控制各驅動馬達2驅動各車 輪1作適當之加速或減速，藉以改變該車輛與避震器3間 之共振頻率，以避開共振現象，降低因共振現象造成車輛 強大之震動；再者，該微電腦控制器6亦可控制調整該避 震器3之阻尼。 請參閱第2圖所示’係為本發明電動車適應路況之自 動減震方法之流程圖，其係包括下列步驟： (a )感測各車輪1之轉速：利用該霍爾轉速感測器 4感測各車輪1之轉速。 (b)感測各車輪1之振動與衝擊量：利用各壓電晶 體加速度感測器5，以感測各輪軸1 1及避震器3之振動 及衝擊量。 ( c )判斷：該微電腦控制器6將由該霍爾轉速感測 器4所感測之各車輪轉速，以及由壓電晶體加速度感測器 5所感測之振動及衝擊量，加以比對各車輪1之差異，據 以判斷出車輛之震動狀態。 (d)控制加速或減速：經該微電腦控制器6判斷後 ’並控制各車輪加速或減速，以改變共振頻率。 (e )控制調整減震器3阻尼：亦可針對各種不同的 路況，經該微電腦控制器6控制調整該避震器3之阻尼， 以k升舒適性。 (f )避開共振現象：經該微電腦控制器6控制車輛 加速或減速，且可配合調整該減震器3之阻尼，有效避開 201132875 共振現象且提升舒適度。 (g)藉由以上步驟，即可達自動減震之功效。 當該電動車行駛於不平之路面時，車輛本身及避震器 3間產生相同振動頻率，而造成共振現象時，利用該霍爾 轉速感測器4感測出各車輪1之轉速，並輸出一訊號，同 時利用組設於輪軸1 1及避震器3之各壓電晶體加速度感 測器5，以感測各車輪1及避震器3之振動及衝擊量，並 輸出一訊號，經該微電腦控制器6針對各訊號，加以比對 各車輪1之差異，以判斷出車輛之震動狀態，並控制各車 輪1加速或減速，以改變共振頻率，且可配合控制調整該 避震器3之阻尼，使電動車可適應路況，以自動減震避開 共振現象且提升舒適性。 冨然201132875 VI. Description of the invention: [Technical field of the invention] The present invention relates to an automatic damping method and device for adapting an electric vehicle to a road condition, in particular to control the acceleration or deceleration of the wheel to change the resonance frequency, and to automatically reduce The method and device of the earthquake. [Prior Art] When a vehicle is driven on a undulating road, it will cause the vehicle to vibrate and cause discomfort. Therefore, a shock absorber is usually installed in the vehicle, and the shock of the shock absorber is used to slow down the vibration. However, driving on an uneven road will cause the vehicle itself to vibrate and the vibration of the shock absorber. When the vibration frequency of the vehicle itself is equal to the vibration frequency of the shock absorber, resonance will occur, and the vehicle will obtain additional energy. , causing a large vibration, if the strength is greater than the ability of the elastic member of the shock absorber, it is easy to make the shock absorber bottom, but it will produce more vibration, which will cause great discomfort to the driver and the passenger. • In view of this, how to improve the above-mentioned shortcomings is the focus of the present invention. Therefore, the inventors have made the present invention by virtue of the long-term research and integration of related industries. SUMMARY OF THE INVENTION One object of the present invention is to solve the above problems and provide an automatic damping method and apparatus for adapting road conditions of an electric vehicle, which is to sense the rotational speed of each wheel by using a Hall speed sensor, and utilize a piezoelectric crystal. Acceleration sensor sense / Bayer wheel and shock absorber vibration and impact, through the microcomputer controller to compare 3 201132875, and control each wheel to accelerate or decelerate to change the resonant frequency, then achieve automatic damping efficacy. The second object of the present invention is that the microcomputer controller can control the damping of the shock absorber to improve the comfort. For the purposes of the foregoing, the present invention includes: at least two or more electric vehicles, wherein the axles of each wheel are driven by a drive motor, each of which is provided with a shock absorber; a Hall speed sensor The system is set on the driving motor of the wheel to sense the rotational speed of the wheel; a set of piezoelectric crystal acceleration sensors are arranged on each axle and the shock absorber to sense each axle and the shock absorber Vibration and impact amount; a microcomputer controller, the speed sensed by the Hall speed sensor, and the vibration and impact amount sensed by the piezoelectric crystal acceleration sensor, calculated by the microcomputer controller The speed, vibration and impact of each wheel to determine the vibration condition of the vehicle, and control each drive motor to drive each wheel to accelerate or decelerate, thereby changing the resonant frequency 0 between the vehicle and the shock absorber and including the following steps: (a) sensing the rotational speed of each wheel: sensing the rotational speed of each wheel by using a Hall rotational speed sensor; (b) sensing the vibration and impact of each wheel: sensing each axle with a piezoelectric crystal acceleration sensor Vibration and impact of the shock absorber; (c) Judgment: The speed detected by the Hall speed sensor and the vibration and impact sensed by the piezoelectric crystal acceleration sensor are compared by the microcomputer controller To determine the vibration state of the vehicle; 201132875 (d) Control acceleration or deceleration: The microcomputer controller controls the acceleration or deceleration of each wheel to change the resonance frequency and achieve automatic damping. The above and other objects and advantages of the present invention will be readily understood from Of course, the invention may be varied on certain components, or in the arrangement of the components, but the selected embodiments are described in detail in the specification and their construction is shown in the drawings. [Embodiment] Please refer to Fig. 1 to Fig. 2, which shows the structure of the embodiment selected for the present invention, which is for illustrative purposes only and is not limited by this structure in the patent application. The following is an embodiment of an automatic damper method and apparatus for adapting road conditions of an electric vehicle according to the present invention. As shown in FIG. 1 , the automatic damper device for adapting the road condition of the electric vehicle includes: at least two or more electric vehicles ( The wheel axle 11 of each wheel 1 is driven by a drive motor 2, and each wheel 1 is provided with a shock absorber 3, and the damping of the shock absorber 3 is adjustable. A Hall rotation speed sensor 4 is provided on the drive motor 2 of each wheel 1 to sense the rotation speed of the wheel 1. A set of piezoelectric crystal acceleration sensors 5 are respectively disposed on each of the axles 1 1 and the shock absorbers 3, thereby sensing the vibration and impact of each of the axles 1 1 and the shock absorbers 3. A microcomputer controller 6 is a wheel 1 rotational speed sensed by the Hall rotational speed sensor 4, and a vibration and impact amount sensed by the piezoelectric crystal acceleration sensor 5 of 201132875, and is calculated by the microcomputer controller 6 The speed, vibration and impact of each wheel 1 are compared, and the difference is compared, and the vibration condition of the vehicle is judged, and a control command is issued to control each driving motor 2 to drive each wheel 1 to appropriately accelerate or decelerate, thereby changing the The resonance frequency between the vehicle and the shock absorber 3 avoids the resonance phenomenon and reduces the strong vibration of the vehicle due to the resonance phenomenon; furthermore, the microcomputer controller 6 can also control the damping of the shock absorber 3. Please refer to FIG. 2, which is a flow chart of the automatic damping method for adapting the road condition of the electric vehicle according to the present invention, which comprises the following steps: (a) sensing the rotation speed of each wheel 1: using the Hall speed sensor 4 senses the rotational speed of each wheel 1. (b) Sensing the vibration and impact amount of each of the wheels 1 : The piezoelectric crystal acceleration sensor 5 is used to sense the vibration and the impact amount of each of the wheel axles 1 1 and the shock absorbers 3 . (c) judging: the microcomputer controller 6 compares the rotational speeds of the respective wheels sensed by the Hall rotational speed sensor 4, and the vibration and impact amounts sensed by the piezoelectric crystal acceleration sensor 5, and compares the respective wheels 1 The difference is based on the vibration state of the vehicle. (d) Controlling acceleration or deceleration: after the microcomputer controller 6 judges and controls each wheel to accelerate or decelerate to change the resonance frequency. (e) Controlling the damping of the shock absorber 3: The damping of the shock absorber 3 can also be adjusted by the microcomputer controller 6 for various road conditions to achieve k-lift comfort. (f) Avoiding the resonance phenomenon: the microcomputer controller 6 controls the acceleration or deceleration of the vehicle, and can adjust the damping of the damper 3 to effectively avoid the resonance phenomenon of 201132875 and improve the comfort. (g) By the above steps, the effect of automatic shock absorption can be achieved. When the electric vehicle travels on an uneven road surface, the same vibration frequency is generated between the vehicle itself and the shock absorber 3, and when the resonance phenomenon occurs, the rotation speed of each wheel 1 is sensed by the Hall rotation speed sensor 4, and is output. At the same time, each piezoelectric crystal acceleration sensor 5 disposed on the axle 1 1 and the shock absorber 3 is used to sense the vibration and impact of each wheel 1 and the shock absorber 3, and output a signal. The microcomputer controller 6 compares the difference between the wheels 1 for each signal to determine the vibration state of the vehicle, and controls each wheel 1 to accelerate or decelerate to change the resonance frequency, and the shock absorber 3 can be adjusted in accordance with the control. The damping makes the electric vehicle adapt to the road conditions, and automatically absorbs vibration to avoid resonance and improve comfort. Suddenly
—，，，本發明仍存在許多例子，其間僅細節上之變化 本發明之第二實施例，其中’當車輛行駛於起伏不平的 路面，或係行駛於濕滑路面時，可經該微電腦控制器6判 :出各車輪1之速度、振動及衝擊量後，即控制各車輪 適當的加速或減速’藉以平衡各車輪 狀態更為穩定。 μ使仃駛 以上所述實_之揭示係用以說明本發明，並非 屬本=範ί舉凡數值之變更或等效元件之置換仍應隸 由以上詳細說明 確可達成前述目的， 申請。 ，可使熟知本項技藝者明瞭本發明的 實已符合專利法之規定，爰提出專利 201132875 【圖式簡單說明】 第1圖係本發明自動減震裝置之方塊圖。 第2圖係本發明自動減震方法之流程圖。 【主要元件符號說明】 (習用部分） 無 (本發明部分） 輪轴1 1 避震器3 壓電晶體加速度感測器5 車輪1 驅動馬達2 霍爾轉速感測器4 微電腦控制器6There are still many examples of the present invention, in which only the details change the second embodiment of the present invention, wherein 'when the vehicle is traveling on a undulating road surface or on a slippery road surface, it can be controlled by the microcomputer. The device 6 judges that after the speed, vibration and impact of each wheel 1, the appropriate acceleration or deceleration of each wheel is controlled to balance the state of each wheel more stably. The disclosure of the above is intended to be illustrative of the present invention, and it is not intended to be a change in the value or a replacement of the equivalent element. It will be apparent to those skilled in the art that the present invention has been compliant with the provisions of the patent law, and the patent is filed 201132875. [Brief Description] FIG. 1 is a block diagram of the automatic damper device of the present invention. Figure 2 is a flow chart of the automatic damping method of the present invention. [Main component symbol description] (Applicable part) None (Invention part) Axle 1 1 Shock absorber 3 Piezoelectric crystal acceleration sensor 5 Wheel 1 Drive motor 2 Hall speed sensor 4 Microcomputer controller 6