TWI619639B - Stepless speed change system and automatic control method thereof - Google Patents
Stepless speed change system and automatic control method thereof Download PDFInfo
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Abstract
本發明係揭露一種無段變速系統及其自動控制方法，係應用於一電動助力腳踏車，該無段變速系統之控制單元係連接該電動助力腳踏車之助力馬達、車速計、踏板扭力感應裝置及無段變速裝置，且該控制單元依據該助力馬達之運轉特性曲線數值、該車速計之車速值及該踏板扭力感應裝置之扭力值運算出一最佳數據，並該控制單元依據該最佳數據輸出一控制訊號至該無段變速裝置的伺服馬達，使該伺服馬達調整該無段變速裝置的變速狀態。藉此，本發明之無段變速系統及其自動控制方法，可達到使踩踏踏板的使用者省力且節省該助力馬達之耗電量的功效。The invention discloses a stepless shifting system and an automatic control method thereof, which are applied to an electric assist bicycle, wherein the control unit of the stepless shifting system is connected with the assist motor of the electric assist bicycle, the vehicle speed meter, the pedal torque sensing device and the a segment shifting device, wherein the control unit calculates an optimal data according to the running characteristic curve value of the assisting motor, the vehicle speed value of the speedometer and the torque value of the pedal torque sensing device, and the control unit outputs the data according to the optimal data. A control signal is sent to the servo motor of the stepless transmission to adjust the shifting state of the stepless transmission. Thereby, the stepless shifting system of the present invention and the automatic control method thereof can achieve the effect of saving the user who pedals the pedal and saving the power consumption of the boosting motor.
Description
本發明係關於一種無段變速系統及其自動控制方法，尤指一種用於自動調整變速檔位之無段變速系統及其自動控制方法。The invention relates to a stepless shifting system and an automatic control method thereof, in particular to a stepless shifting system for automatically adjusting a shifting gear position and an automatic control method thereof.
近年來，電動腳踏車的使用已逐漸增加，其係可於使用者出力踩踏該電動腳踏車時，由該電動腳踏車之電動馬達輔助驅動該電動腳踏車前進，以減輕使用者的負擔，尤其在行經上坡路段時，該電動馬達可提供額外的動力讓使用者順利地前進。In recent years, the use of electric bicycles has gradually increased. When the user pedals on the electric bicycle, the electric bicycle of the electric bicycle assists in driving the electric bicycle to advance, so as to reduce the burden on the user, especially in the uphill section. The electric motor provides additional power for the user to move forward smoothly.
習知的電動腳踏車之變速裝置，係由使用者依據騎乘路況自行切換變速檔位，然而，使用者往往無法精確掌握切換該變速裝置的時機，導致仍需花費相當大的力量踩踏該電動腳踏車之踏板，或者使得該電動馬達需消耗較大的電量輔助驅動該電動腳踏車前進。The conventional electric bicycle shifting device automatically switches the shifting position according to the riding condition. However, the user often cannot accurately grasp the timing of switching the shifting device, so that it still takes a considerable amount of force to step on the electric bicycle. The pedal, or the electric motor needs to consume a large amount of power to assist in driving the electric bicycle to advance.
因此，如何發明出一種無段變速系統及其自動控制方法，改善習知變速裝置的問題，將是本發明所欲積極揭露之處。Therefore, how to invent a stepless shifting system and its automatic control method to improve the problem of the conventional shifting device will be actively disclosed in the present invention.
為解決上述現有技術的缺失，本發明係提供一種無段變速系統及其自動控制方法，以期達到使踩踏踏板的使用者省力且節省該助力馬達之耗電量的功效。In order to solve the above-mentioned shortcomings of the prior art, the present invention provides a stepless shifting system and an automatic control method thereof, in order to achieve the effect of saving the user who pedals the pedal and saving the power consumption of the boosting motor.
為達上述目的及其他目的，本發明係提供一種無段變速系統，係應用於一電動助力腳踏車，該無段變速系統包含一助力馬達、一車速計、一踏板扭力感應裝置、一無段變速裝置及一控制單元。其中，該助力馬達係設置於該電動助力腳踏車上，用於提供一動力輔助驅動該電動助力腳踏車；該車速計係設置於該電動助力腳踏車上，用於感測該電動助力腳踏車的車速；該踏板扭力感應裝置係設置於該電動助力腳踏車上，用於感測該電動助力腳踏車之踏板受力時所產生的扭力；該無段變速裝置係連接該助力馬達，該無段變速裝置包含一伺服馬達，該伺服馬達用於驅動該無段變速裝置進行該電動助力腳踏車變速；以及該控制單元係電連接該助力馬達、該車速計、該踏板扭力感應裝置及該無段變速裝置，該控制單元依據該助力馬達之運轉特性曲線數值、該車速計之車速值及該踏板扭力感應裝置之扭力值運算出一最佳數據，並該控制單元依據該最佳數據輸出一控制訊號至該無段變速裝置的伺服馬達，使該伺服馬達調整該無段變速裝置的變速狀態。To achieve the above and other objects, the present invention provides a stepless transmission system for an electric assist bicycle, the stepless transmission system including a power assist motor, a speedometer, a pedal torque sensing device, and a stepless shifting Device and a control unit. Wherein, the power assisting motor is disposed on the electric assist bicycle to provide a power assisted driving of the electric assist bicycle; the speedometer is disposed on the electric assist bicycle to sense the speed of the electric assist bicycle; a pedal torque sensing device is disposed on the electric assist bicycle for sensing a torque generated when the pedal of the electric assist bicycle is stressed; the stepless transmission is connected to the assist motor, and the stepless transmission includes a servo a motor for driving the stepless shifting device to perform the electric assist bicycle shifting; and the control unit electrically connecting the boosting motor, the speedometer, the pedal torque sensing device, and the stepless shifting device, the control unit Calculating an optimal data according to the running characteristic curve value of the assisting motor, the vehicle speed value of the speedometer and the torque value of the pedal torque sensing device, and the control unit outputs a control signal to the stepless shifting speed according to the optimal data. The servo motor of the device causes the servo motor to adjust the shifting state of the stepless shifting device.
如上所述之無段變速系統中，該助力馬達之運轉特性曲線數值包含該助力馬達之轉速、轉矩及耗電量的參數。In the stepless speed change system as described above, the value of the operating characteristic curve of the assist motor includes parameters of the speed, torque, and power consumption of the assist motor.
為達上述目的及其他目的，本發明係提供一種無段變速自動控制方法，係應用於一電動助力腳踏車，該電動助力腳踏車包含一助力馬達、一車速計、一踏板扭力感應裝置及一無段變速裝置，且該無段變速裝置包含一伺服馬達，該無段變速自動控制方法包含：提供一控制單元，該控制單元電連接該助力馬達、該車速計、該踏板扭力感應裝置及該無段變速裝置；該控制單元讀取該助力馬達之運轉特性曲線數值、該車速計之車速值及該踏板扭力感應裝置之扭力值； 該控制單元依據該助力馬達之運轉特性曲線數值、該車速計之車速值及該踏板扭力感應裝置之扭力值運算出一最佳數據；以及該控制單元依據該最佳數據輸出一控制訊號至該無段變速裝置的伺服馬達，使該伺服馬達調整該無段變速裝置的變速狀態。To achieve the above and other objects, the present invention provides a stepless speed automatic control method for an electric assist bicycle, which includes a power assist motor, a speedometer, a pedal torque sensing device, and a stepless motor. a shifting device, wherein the stepless shifting device comprises a servo motor, the stepless shifting automatic control method comprises: providing a control unit, the control unit electrically connecting the boosting motor, the speedometer, the pedal torque sensing device and the stepless a shifting device; the control unit reads a running characteristic curve value of the assisting motor, a vehicle speed value of the speedometer, and a torque value of the pedal torque sensing device; the control unit is based on the operating characteristic curve value of the assisting motor, and the vehicle speedometer The vehicle speed value and the torque value of the pedal torque sensing device calculate an optimal data; and the control unit outputs a control signal to the servo motor of the stepless transmission according to the optimal data, so that the servo motor adjusts the stepless shifting The shifting state of the device.
如上所述之無段變速自動控制方法中，該助力馬達之運轉特性曲線數值包含該助力馬達之轉速、轉矩及耗電量的參數。In the stepless speed automatic control method as described above, the value of the operating characteristic curve of the assist motor includes parameters of the speed, torque, and power consumption of the assist motor.
藉此，本發明之無段變速系統及其自動控制方法，係透過該控制單元依據該助力馬達之運轉特性曲線數值、該車速計之車速值及該踏板扭力感應裝置之扭力值，來運算出控制該無段變速裝置之伺服馬達運作的最佳數據，使該伺服馬達調整該無段變速裝置的變速狀態，從而將該無段變速裝置調整到最佳變速擋位，達到使踩踏踏板的使用者省力且節省該助力馬達之耗電量的功效。Therefore, the stepless shifting system of the present invention and the automatic control method thereof are calculated by the control unit according to the operating characteristic curve value of the assisting motor, the vehicle speed value of the speedometer and the torque value of the pedal torque sensing device. Controlling the optimal data of the operation of the servo motor of the stepless transmission, causing the servo motor to adjust the shifting state of the stepless shifting device, thereby adjusting the stepless shifting device to the optimal shifting position to achieve the use of the stepping pedal It saves effort and saves the power consumption of the power-assisted motor.
為充分瞭解本發明之目的、特徵及功效，茲藉由下述具體之實施例，並配合所附之圖式，對本發明做一詳細說明，說明如後：In order to fully understand the objects, features and advantages of the present invention, the present invention will be described in detail by the following specific embodiments and the accompanying drawings.
請參照第1圖，第1圖係本發明一具體實施例之無段變速系統的方塊圖。如圖所示，本發明之無段變速系統100包含一助力馬達110、一車速計120、一踏板扭力感應裝置130、一無段變速裝置140及一控制單元150，該無段變速系統100係應用於一電動助力腳踏車(圖未示)。Referring to Figure 1, a first block diagram is a block diagram of a stepless shifting system in accordance with an embodiment of the present invention. As shown, the stepless transmission system 100 of the present invention includes a power assist motor 110, a vehicle speedometer 120, a pedal torque sensing device 130, a stepless transmission 140, and a control unit 150. It is applied to an electric assist bicycle (not shown).
該助力馬達110係設置於該電動助力腳踏車上，用於提供一動力輔助驅動該電動助力腳踏車。The power assisting motor 110 is disposed on the electric assist bicycle to provide a power assisted driving of the electric assist bicycle.
該車速計120係設置於該電動助力腳踏車上，用於感測該電動助力腳踏車的車速。The speedometer 120 is disposed on the electric assist bicycle to sense the speed of the electric assist bicycle.
該踏板扭力感應裝置130係設置於該電動助力腳踏車上，用於感測該電動助力腳踏車之踏板受力時所產生的扭力，亦即當該踏板被踩踏而作動時，該踏板扭力感應裝置130可感測出該踏板所承受的扭力值。The pedal torque sensing device 130 is disposed on the electric assist bicycle to sense the torque generated when the pedal of the electric assist bicycle is stressed, that is, when the pedal is stepped on, the pedal torque sensing device 130 The torque value that the pedal is subjected to can be sensed.
該無段變速裝置140係連接該助力馬達110，該無段變速裝置140包含一伺服馬達141，該伺服馬達141用於驅動該無段變速裝置140進行該電動助力腳踏車變速。其中，該無段變速裝置140用於將該助力馬達110的動力傳遞至該電動助力腳踏車的後輪，以輔助驅動該電動助力腳踏車前進。The stepless transmission 140 is coupled to the assist motor 110. The stepless transmission 140 includes a servo motor 141 for driving the stepless transmission 140 to perform the electric assist bicycle shifting. The stepless transmission 140 is configured to transmit the power of the assist motor 110 to the rear wheel of the electric assist bicycle to assist in driving the electric assist bicycle to advance.
該控制單元150係連接該助力馬達110、該車速計120、該踏板扭力感應裝置130及該無段變速裝置140，該控制單元150依據該助力馬達110之運轉特性曲線數值、該車速計120之車速值及該踏板扭力感應裝置130之扭力值運算出一最佳數據，並該控制單元150依據該最佳數據輸出一控制訊號至該無段變速裝置140的伺服馬達141，使該伺服馬達141調整該無段變速裝置140的變速狀態，亦即調整該無段變速裝置140至一最佳變速檔位，以有效率地將該助力馬達110的動力傳遞至該電動助力腳踏車的後輪，來有效率地輔助該電動助力腳踏車前進。The control unit 150 is connected to the assist motor 110, the vehicle speedometer 120, the pedal torque sensing device 130, and the stepless transmission device 140. The control unit 150 is based on the operating characteristic curve value of the assist motor 110, and the vehicle speedometer 120 The vehicle speed value and the torque value of the pedal torque sensing device 130 calculate an optimal data, and the control unit 150 outputs a control signal to the servo motor 141 of the stepless transmission 140 according to the optimal data, so that the servo motor 141 Adjusting the shifting state of the stepless transmission 140, that is, adjusting the stepless transmission 140 to an optimal shift position, to efficiently transmit the power of the assist motor 110 to the rear wheel of the electric assist bicycle Efficiently assist the electric assist bicycle to advance.
於本實施例中，該助力馬達110之運轉特性曲線數值包含該助力馬達110之轉速、轉矩及耗電量的參數，以供該控制單元150運算出該無段變速裝置140之伺服馬達141運作的最佳數據。In this embodiment, the operating characteristic curve value of the assist motor 110 includes parameters of the rotational speed, the torque, and the power consumption of the assist motor 110, so that the control unit 150 calculates the servo motor 141 of the stepless shifting device 140. The best data for the operation.
藉此，本發明之無段變速系統100，係透過該控制單元150自動參考該助力馬達110之轉速、轉矩及耗電量等參數的運轉特性曲線數值、該車速計120之車速值及該踏板扭力感應裝置130之扭力值運算出該最佳數據，進而控制該無段變速裝置140調整其變速狀態，從而，使該無段變速裝置140選擇以該最佳變速檔位進行運作，以讓使用者減少踩踏該踏板之力量，且節省該助力馬達110運轉耗電量，因而讓使用者輕鬆地騎乘該電動助力腳踏車，並降低該電動助力腳踏車之蓄電池的耗電速率，進而達到提升該電動助力腳踏車的續航力的功效。Therefore, the stepless transmission system 100 of the present invention automatically refers to the operating characteristic curve value of the parameters such as the rotational speed, the torque, and the power consumption of the assist motor 110 through the control unit 150, the vehicle speed value of the vehicle speedometer 120, and the The torque value of the pedal torque sensing device 130 calculates the optimal data, and further controls the stepless transmission 140 to adjust the shifting state thereof, so that the stepless shifting device 140 selects to operate with the optimal shifting position, so that The user reduces the power of stepping on the pedal and saves the power consumption of the power assisting motor 110, thereby allowing the user to easily ride the electric assist bicycle and reduce the power consumption rate of the battery of the electric assist bicycle, thereby improving the power consumption. The power of the electric assist bicycle.
請參照第1圖與第2圖，第1圖係本發明一具體實施例之無段變速系統的方塊圖，第2圖係本發明一具體實施例之無段變速自動控制方法的流程圖。本發明之無段變速自動控制方法，係應用於如上所述之電動助力腳踏車，該電動助力腳踏車包含該助力馬達110、該車速計120、該踏板扭力感應裝置130及該無段變速裝置140，且該無段變速裝置140包含該伺服馬達141。1 and 2, FIG. 1 is a block diagram of a stepless shifting system according to an embodiment of the present invention, and FIG. 2 is a flow chart of a stepless shifting automatic control method according to an embodiment of the present invention. The stepless speed automatic control method of the present invention is applied to the electric assist bicycle as described above, and the electric assist bicycle includes the assist motor 110, the speedometer 120, the pedal torque sensing device 130, and the stepless speed change device 140, And the stepless speed change device 140 includes the servo motor 141.
如圖所示，該無段變速自動控制方法包含：As shown in the figure, the stepless speed automatic control method includes:
步驟S1，提供一控制單元150，該控制單元150連接該助力馬達110、該車速計120、該踏板扭力感應裝置130及該無段變速裝置140。In step S1, a control unit 150 is provided. The control unit 150 is connected to the assist motor 110, the vehicle speedometer 120, the pedal torque sensing device 130 and the stepless transmission device 140.
步驟S2，該控制單元150讀取該助力馬達110之運轉特性曲線數值、該車速計120之車速值及該踏板扭力感應裝置130之扭力值。In step S2, the control unit 150 reads the running characteristic curve value of the assist motor 110, the vehicle speed value of the speedometer 120, and the torque value of the pedal torque sensing device 130.
步驟S3， 該控制單元150依據該助力馬達110之運轉特性曲線數值、該車速計120之車速值及該踏板扭力感應裝置130之扭力值運算出一最佳數據。In step S3, the control unit 150 calculates an optimal data according to the running characteristic curve value of the assisting motor 110, the vehicle speed value of the speedometer 120, and the torque value of the pedal torque sensing device 130.
步驟S4，該控制單元150依據該最佳數據輸出一控制訊號至該無段變速裝置140的伺服馬達141，使該伺服馬達141調整該無段變速裝置140的變速狀態，亦即調整該無段變速裝置140至一最佳變速檔位，以有效率地將該助力馬達110的動力傳遞至該電動助力腳踏車的後輪，來有效率地輔助該電動助力腳踏車前進。In step S4, the control unit 150 outputs a control signal to the servo motor 141 of the stepless speed change device 140 according to the optimal data, so that the servo motor 141 adjusts the shifting state of the stepless speed change device 140, that is, adjusts the stepless portion. The shifting device 140 is coupled to an optimal shifting position to efficiently transmit the power of the assisting motor 110 to the rear wheel of the electric assisted bicycle to efficiently assist the electric assisted bicycle to advance.
於本實施例中，該助力馬達110之運轉特性曲線數值包含該助力馬達110之轉速、轉矩及耗電量的參數，以供該控制單元150運算出控制該無段變速裝置140之伺服馬達141運作的最佳數據。In this embodiment, the operating characteristic curve value of the assist motor 110 includes parameters of the rotational speed, torque, and power consumption of the assist motor 110, so that the control unit 150 calculates a servo motor that controls the stepless shifting device 140. The best data for 141 operations.
藉此，本發明之無段變速自動控制方法，係透過該控制單元150自動參考該助力馬達110之轉速、轉矩及耗電量等參數的運轉特性曲線數值、該車速計120之車速值及該踏板扭力感應裝置130之扭力值運算出該最佳數據，進而控制該無段變速裝置140調整其變速狀態，從而，使該無段變速裝置140選擇以該最佳變速檔位進行運作，以讓使用者減少踩踏該踏板之力量，且節省該助力馬達110運轉耗電量，因而讓使用者輕鬆地騎乘該電動助力腳踏車，並降低該電動助力腳踏車之蓄電池的耗電速率，進而達到提升該電動助力腳踏車的續航力的功效。Therefore, the automatic stepless speed control method of the present invention automatically refers to the operating characteristic curve values of the parameters such as the rotational speed, the torque, and the power consumption of the assist motor 110 through the control unit 150, the vehicle speed value of the speedometer 120, and The torque value of the pedal torque sensing device 130 calculates the optimal data, and further controls the stepless transmission 140 to adjust the shifting state thereof, thereby causing the stepless shifting device 140 to select to operate at the optimal shifting position. The user is reduced in the power of stepping on the pedal, and the power consumption of the power assisting motor 110 is saved, so that the user can easily ride the electric assist bicycle and reduce the power consumption rate of the battery of the electric assist bicycle, thereby improving The power of the electric booster bicycle.
綜上所述，本發明之無段變速系統及其自動控制方法，係透過該控制單元依據該助力馬達之運轉特性曲線數值、該車速計之車速值及該踏板扭力感應裝置之扭力值，來運算出控制該無段變速裝置之伺服馬達運作的最佳數據，使該伺服馬達調整該無段變速裝置的變速狀態，從而將該無段變速裝置調整到最佳變速擋位以有效率地傳地該助力馬達的動力，達到使踩踏踏板的使用者省力且節省該助力馬達之耗電量的功效，進而提升該電動助力腳踏車的續航力。In summary, the stepless shifting system of the present invention and the automatic control method thereof are based on the operating characteristic curve value of the assisting motor, the vehicle speed value of the speedometer, and the torque value of the pedal torque sensing device. Calculating the optimal data for controlling the operation of the servo motor of the stepless transmission, so that the servo motor adjusts the shifting state of the stepless shifting device, thereby adjusting the stepless shifting device to the optimal shifting position for efficient transmission The power of the boosting motor achieves the effect of saving the user who pedals the pedal and saving the power consumption of the boosting motor, thereby improving the endurance of the electric assist bicycle.
本發明在上文中已以較佳實施例揭露，然熟習本項技術者應理解的是，該實施例僅用於描繪本發明，而不應解讀為限制本發明之範圍。應注意的是，舉凡與該實施例等效之變化與置換，均應設為涵蓋於本發明之範疇內。因此，本發明之保護範圍當以申請專利範圍所界定者為準。The invention has been described above in terms of the preferred embodiments, and it should be understood by those skilled in the art that the present invention is not intended to limit the scope of the invention. It should be noted that variations and permutations equivalent to those of the embodiments are intended to be included within the scope of the present invention. Therefore, the scope of protection of the present invention is defined by the scope of the patent application.
100‧‧‧無段變速系統
110‧‧‧助力馬達
120‧‧‧車速計
130‧‧‧踏板扭力感應裝置
140‧‧‧無段變速裝置
141‧‧‧伺服馬達
150‧‧‧控制單元
S1,S2,S3,S4‧‧‧步驟100‧‧‧stepless shifting system
110‧‧‧Power motor
120‧‧‧speedometer
130‧‧‧ pedal torque sensing device
140‧‧‧Stepless transmission
141‧‧‧Servo motor
150‧‧‧Control unit
S1, S2, S3, S4‧‧ steps
第1圖係本發明一具體實施例之無段變速系統的方塊圖。 第2圖係本發明一具體實施例之無段變速自動控制方法的流程圖。BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a block diagram of a stepless shifting system in accordance with an embodiment of the present invention. 2 is a flow chart of a stepless shift automatic control method according to an embodiment of the present invention.
Claims (2)
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| TW103113624A TWI619639B (en) | 2014-04-15 | 2014-04-15 | Stepless speed change system and automatic control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| TW103113624A TWI619639B (en) | 2014-04-15 | 2014-04-15 | Stepless speed change system and automatic control method thereof |
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| TW201538388A TW201538388A (en) | 2015-10-16 |
| TWI619639B true TWI619639B (en) | 2018-04-01 |
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| TWI715265B (en) * | 2019-10-24 | 2021-01-01 | 英屬開曼群島商睿能創意公司 | Electronic bicycle, transmission device, and operation method |
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| US10023266B2 (en) * | 2016-05-11 | 2018-07-17 | Fallbrook Intellectual Property Company Llc | Systems and methods for automatic configuration and automatic calibration of continuously variable transmissions and bicycles having continuously variable transmissions |
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| TW201240875A (en) * | 2011-04-13 | 2012-10-16 | Univ Nat Cheng Kung | An improvement for an electric vehicle or electric bike |
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| TW201408539A (en) * | 2012-08-17 | 2014-03-01 | Shimano Kk | Bicycle drive unit |
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| TW550205B (en) * | 2000-03-01 | 2003-09-01 | Honda Motor Co Ltd | Motor-driven bicycle |
| TW201240875A (en) * | 2011-04-13 | 2012-10-16 | Univ Nat Cheng Kung | An improvement for an electric vehicle or electric bike |
| TW201408539A (en) * | 2012-08-17 | 2014-03-01 | Shimano Kk | Bicycle drive unit |
| TWM459174U (en) * | 2013-01-25 | 2013-08-11 | li-he Yao | Automatic step-less derailleur device of bicycle |
| TWM456979U (en) * | 2013-03-29 | 2013-07-11 | First Bicycle Components Co Ltd | Walking-aided device for electric walking-aided vehicle |
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| TWI715265B (en) * | 2019-10-24 | 2021-01-01 | 英屬開曼群島商睿能創意公司 | Electronic bicycle, transmission device, and operation method |
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| TW201538388A (en) | 2015-10-16 |
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