WO2009036623A1 - Controller for an electric power assisted bicycle - Google Patents

Controller for an electric power assisted bicycle Download PDF

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Publication number
WO2009036623A1
WO2009036623A1 PCT/CN2007/003589 CN2007003589W WO2009036623A1 WO 2009036623 A1 WO2009036623 A1 WO 2009036623A1 CN 2007003589 W CN2007003589 W CN 2007003589W WO 2009036623 A1 WO2009036623 A1 WO 2009036623A1
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Prior art keywords
control device
sensor
poles
electric bicycle
assist control
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PCT/CN2007/003589
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French (fr)
Chinese (zh)
Inventor
David Takwei Hon
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David Takwei Hon
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Publication of WO2009036623A1 publication Critical patent/WO2009036623A1/en

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    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03K—PULSE TECHNIQUE
    • H03K17/00—Electronic switching or gating, i.e. not by contact-making and –breaking
    • H03K17/94—Electronic switching or gating, i.e. not by contact-making and –breaking characterised by the way in which the control signals are generated
    • H03K17/945—Proximity switches
    • H03K17/95—Proximity switches using a magnetic detector
    • H03K17/9517—Proximity switches using a magnetic detector using galvanomagnetic devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof

Definitions

  • the present invention relates to a control device for an electric assist (self) vehicle, and more particularly to a control device for controlling an electric assist (self) vehicle to output an assist power.
  • the car can be equipped with a motor mounted on the car to provide assistance to the rider when pedaling, so that the car can start faster, the rider is more labor-saving, and the rider is riding. More comfortable.
  • the power assist control device of the existing electric bicycle detects the change of the magnetic field of the magnetic block on the wheel when the wheel rotates by the Hall sensing detection circuit to determine whether the car is in the step forward state, and controls the rotation of the motor to provide the auxiliary power.
  • the circuit connection structure of the Hall sensing circuit is shown in Figure 1.
  • the S sensor of the Hall sensor is connected to the power supply, the D pole is grounded, the G pole is connected to the output terminal, and a resistor is connected between the power source and the output terminal.
  • the waveform obtained by the Hall sensing detection circuit is as shown in Fig. 2.
  • the ratio of the high level to the low level in the unit period is 3:1; in the reverse state, the waveform is as shown in Fig. 3.
  • the vehicle can be judged to be moving forward or backward. If it is in the forward state, the motor is controlled to rotate to output the assisting power. If it is in the backward state, the motor is stopped.
  • the existing assist control device uses only a single Hall sensor to detect the change of the magnetic field, and is easily interfered by other magnetic fields during the detection process, the detection waveform is deformed. Therefore, in order to improve the accuracy of the judgment, it is necessary to The ratio of the high level to the low level in the continuous period is sampled and compared to obtain the result. Therefore, the detection time of the power assist control device becomes long, and the reaction becomes slow, so that the motor cannot output the assist power in time. For example, when the bicycle is started or climbed, since the motor cannot apply the assisting power in time, the rider has to force the pedal to step on the pedal, and the assist control device detects that it is stepping forward after a lag of 1 second.
  • the assist control device When the motor is controlled to output the power, it will cause the rider to step on the air due to excessive force on the pedal, making the user feel uncomfortable and dangerous. Therefore, the assist control device has a slow reaction speed and does not utilize the use of the electric bicycle. Even if the above problem can improve the reaction speed by increasing the disk and increasing the magnetic block, this will increase the production cost, and the disk is too large to be artificially damaged. Summary of the invention
  • An object of the present invention is to provide a power assist control device for an electric bicycle having a high reaction speed and high accuracy.
  • the power assist control device for the electric bicycle of the present invention comprises a Hall sensor and a plurality of magnetic blocks movable along with the vehicle, wherein the two sensors are connected to the power source, and the two electrodes are connected to the power source, The D poles of the sensors are grounded, and one of the G poles of the sensor is connected in series with one of the piezoelectric reactance devices in parallel with the G pole of the other sensor, and a reactance device is further disposed between the output terminal and the power source.
  • the power assist control device for the electric bicycle of the present invention adopts two Hall sensing detection circuits, and a piezoelectric anti-detection device is connected in series in one of the Hall sensing detection circuits, so The output waveform will cause the output waveform to appear in the third state due to the voltage division of the divided piezoelectric device, that is, the middle level between the high level and the low level.
  • the waveform detected by the control device of the present invention is as shown in FIG. 5, and then turns to a high level after the third state occurs; in the reverse state, the waveform is as shown in FIG. After the state, it turns to low level.
  • the third state is an intermediate mid-level between the high level and the low level, even if there is interference from other magnetic fields, it is only necessary to raise the level after the third state in a single period.
  • the low level judgment can quickly determine whether the car is in the forward motion state, thereby controlling the motor to react to output the auxiliary power of the car without having to sample and detect the waveforms in multiple cycles. Therefore, the power assist control device of the electric bicycle of the present invention has a fast response speed and high accuracy, and is convenient for use of the electric bicycle.
  • FIG. 1 is a schematic diagram of a circuit connection structure of a conventional Hall sensing detection circuit
  • FIG. 2 is a detection output waveform of the detection circuit of FIG. 1 detecting the positive rotation of the wheel;
  • Figure 3 is a detection output waveform of the detecting circuit of Figure 1 detecting the reverse rotation of the wheel;
  • FIG. 4 is a schematic diagram showing the circuit connection structure of the Hall sensing detection circuit of the present invention.
  • Figure 5 is a detection output waveform of the detecting circuit of Figure 4 detecting the positive rotation of the wheel
  • Figure 6 is a detection output waveform of the detecting circuit of Figure 4 detecting the reverse rotation of the wheel
  • FIG. 7 is a partial schematic view showing the magnetic block and the Hall sensor of the present invention after being fixedly mounted;
  • FIG. 8 is a partial schematic view showing the magnetic block and the Hall sensor of the present invention after being fixedly mounted. detailed description
  • the power assist control device for the electric bicycle of the present invention comprises two Hall sensors and a plurality of magnetic blocks movable along with the car, the S poles of the two sensors are connected to the power source, and the D poles of the two sensors are grounded, one of which The G pole of the sensor is connected in series with a voltage dividing resistor 1 and the G pole of the other sensor is connected in parallel with the output terminal.
  • a resistor is also arranged between the output terminal and the power source.
  • the above resistors can also be replaced by capacitors, inductors, etc., although there will be a lag of 1 ⁇ second, but will not make the user feel.
  • the magnet block 2 can be fixedly mounted on the wheel disc, and the Hall sensor 3 is mounted on the seat tube (as shown in FIG. 7); the magnet block 2 can be fixedly mounted on the flywheel, and the Hall sensor 3 is mounted on the frame rear fork. On (as shown in Figure 8).

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Measuring Magnetic Variables (AREA)

Abstract

A controller for an electric power assisted bicycle, especially for outputting the assisted force of the electric power assisted bicycle, includes hall sensors and several magnet blocks moving with the bicycle running. The controller includes two hall sensor. S poles of the hall sensors are connected to a power source. D poles of the hall sensors are connected to the ground. The G pole of one of the other sensor is in series with a voltage-dividing resistor and in parallel with the G poles of the other. There is a resistor between an output end and the power source. The controller may response quickly and be accuracy and be used to the electric power assisted bicycle easier.

Description

电动助力车的助力控制装置 技术领域  Power assisted control device for electric bicycle
本发明涉及一种电动助力 （自行） 车的控制装置， 特别是用于控制电动助力 （自行）车 输出助动力的控制装置。 背景技术  The present invention relates to a control device for an electric assist (self) vehicle, and more particularly to a control device for controlling an electric assist (self) vehicle to output an assist power. Background technique
电动助力 （自行） 车可利用安装于车子上的电机， 为骑车人在踩动脚踏骑车时提供助动 力， 使车子起动更快速， 骑车人更省力， 让骑车人在骑车时更舒适。  Electric power (self) The car can be equipped with a motor mounted on the car to provide assistance to the rider when pedaling, so that the car can start faster, the rider is more labor-saving, and the rider is riding. More comfortable.
现有的电动助力车的助力控制装置， 通过霍尔传感检测电路检测轮盘转动时轮盘上磁块 的磁场变化， 来判断车子是否处于踩动前进状态， 以控制电机转动提供助动力。 其中， 霍尔 传感检测电路的电路连接结构如图 1所示， 霍尔传感器的 S极连接电源， D极接地， G极连 接输出端， 在电源和输出端之间还接有一个电阻。 在前进状态时， 霍尔传感检测电路得出的 波形如图 2所示， 在单位周期内高电平与低电平的时间比例为 3: 1; 在倒退状态时， 波形如 图 3所示， 在单位周期内高电平与低电平的时间比例为 1: 3。 因此， 通过对高电平与低电平 时间比例的计算， 即可判断车子处于前进或是后退的运动状态， 若是前进状态， 则控制电机 转动输出助动力， 若是后退状态， 则停止电机转动。  The power assist control device of the existing electric bicycle detects the change of the magnetic field of the magnetic block on the wheel when the wheel rotates by the Hall sensing detection circuit to determine whether the car is in the step forward state, and controls the rotation of the motor to provide the auxiliary power. The circuit connection structure of the Hall sensing circuit is shown in Figure 1. The S sensor of the Hall sensor is connected to the power supply, the D pole is grounded, the G pole is connected to the output terminal, and a resistor is connected between the power source and the output terminal. In the forward state, the waveform obtained by the Hall sensing detection circuit is as shown in Fig. 2. The ratio of the high level to the low level in the unit period is 3:1; in the reverse state, the waveform is as shown in Fig. 3. It shows that the ratio of the high level to the low level in the unit period is 1:3. Therefore, by calculating the ratio of the high level to the low level, the vehicle can be judged to be moving forward or backward. If it is in the forward state, the motor is controlled to rotate to output the assisting power. If it is in the backward state, the motor is stopped.
由于现有的助力控制装置只釆用了单个霍尔传感器来检测磁场变化， 而且在检测过程中 容易受到其他磁场的干扰， 使检测波形变形， 因此， 为了提高判断的准确性， 需对多个连续 周期内的高电平与低电平的时间比例作进行采样对比才可得出结果。 所以， 导致助力控制装 置的检测时间变长， 反应变慢， 使电机不能及时地输出助动力。 例如在骑车起动或者爬坡的 时候， 由于电机不能及时地施以助动力， 使骑车人要用力的蹬踩脚踏， 而助力控制装置在滞 后 1秒后检测到处于踩动前进状态并控制电机输出助动力时， 却会使骑车人因蹬踩脚踏用力 过猛而出现一脚踏空， 使使用者感觉不舒适， 且较危险。 因此， 助力控制装置反应速度过慢, 不利用电动助力车的使用。 即使上述问题可以通过加大磁盘、 增加磁块来改进反应速度， 但 这样会增加生产成本， 而且磁盘过大易遭到人为的损坏。 发明内容 Since the existing assist control device uses only a single Hall sensor to detect the change of the magnetic field, and is easily interfered by other magnetic fields during the detection process, the detection waveform is deformed. Therefore, in order to improve the accuracy of the judgment, it is necessary to The ratio of the high level to the low level in the continuous period is sampled and compared to obtain the result. Therefore, the detection time of the power assist control device becomes long, and the reaction becomes slow, so that the motor cannot output the assist power in time. For example, when the bicycle is started or climbed, since the motor cannot apply the assisting power in time, the rider has to force the pedal to step on the pedal, and the assist control device detects that it is stepping forward after a lag of 1 second. When the motor is controlled to output the power, it will cause the rider to step on the air due to excessive force on the pedal, making the user feel uncomfortable and dangerous. Therefore, the assist control device has a slow reaction speed and does not utilize the use of the electric bicycle. Even if the above problem can improve the reaction speed by increasing the disk and increasing the magnetic block, this will increase the production cost, and the disk is too large to be artificially damaged. Summary of the invention
本发明的目的在于提供一种反应速度快、 准确率高的电动助力车的助力控制装置。  An object of the present invention is to provide a power assist control device for an electric bicycle having a high reaction speed and high accuracy.
本发明所述的电动助力车的助力控制装置， 包括霍尔传感器和可多个随车子前进而运动 的磁块， 其特征在于， 有两个霍尔传感器， 两个传感器的 S极连接电源， 两个传感器的 D极 接地，其中一个传感器的 G极串联一个分压电抗器件与另一个传感器的 G极并联连接输出端, 在输出端和电源间还装有一个电抗器件。  The power assist control device for the electric bicycle of the present invention comprises a Hall sensor and a plurality of magnetic blocks movable along with the vehicle, wherein the two sensors are connected to the power source, and the two electrodes are connected to the power source, The D poles of the sensors are grounded, and one of the G poles of the sensor is connected in series with one of the piezoelectric reactance devices in parallel with the G pole of the other sensor, and a reactance device is further disposed between the output terminal and the power source.
本发明所述的电动助力车的助力控制装置， 由于采用了两个霍尔传感检测电路， 并且在 其中一个霍尔传感检测电路中串联了分压电抗器件， 所以， 霍尔感应后的输出波形会由于分 压电抗器件分压而使输出波形出现第三态， 即介于高电平与低电平间的中段电平。 在前进状 态时， 本发明所述的控制装置检测得出的波形如图 5所示， 在出现第三态后即转成高电平； 在倒退状态时， 波形如图 6所示， 第三态后即转成低电平。 由于第三态是介于高电平与低电 平间任意的一个中段电平， 所以， 即使是有其他磁场的干扰， 也只需对单个周期内的第三态 后出现的电平进行高、 低电平的判断， 即可迅速地判断车子是否处于前进的运动状态， 从而 控制电机作出反应为车子输出助动力， 而无需对多个周期内的波形进行釆样和检测。 所以， 本发明所述的电动助力车的助力控制装置反应速度快， 且准确率高，便于电动助力车的使用。 附图说明  The power assist control device for the electric bicycle of the present invention adopts two Hall sensing detection circuits, and a piezoelectric anti-detection device is connected in series in one of the Hall sensing detection circuits, so The output waveform will cause the output waveform to appear in the third state due to the voltage division of the divided piezoelectric device, that is, the middle level between the high level and the low level. In the forward state, the waveform detected by the control device of the present invention is as shown in FIG. 5, and then turns to a high level after the third state occurs; in the reverse state, the waveform is as shown in FIG. After the state, it turns to low level. Since the third state is an intermediate mid-level between the high level and the low level, even if there is interference from other magnetic fields, it is only necessary to raise the level after the third state in a single period. The low level judgment can quickly determine whether the car is in the forward motion state, thereby controlling the motor to react to output the auxiliary power of the car without having to sample and detect the waveforms in multiple cycles. Therefore, the power assist control device of the electric bicycle of the present invention has a fast response speed and high accuracy, and is convenient for use of the electric bicycle. DRAWINGS
图 1为现有霍尔传感检测电路的电路连接结构示意图；  1 is a schematic diagram of a circuit connection structure of a conventional Hall sensing detection circuit;
图 2为图 1所示检测电路检测轮盘正向转动的检测输出波形；  2 is a detection output waveform of the detection circuit of FIG. 1 detecting the positive rotation of the wheel;
图 3为图 1所示检测电路检测轮盘反向转动的检测输出波形；  Figure 3 is a detection output waveform of the detecting circuit of Figure 1 detecting the reverse rotation of the wheel;
图 4为现本发明的霍尔传感检测电路的电路连接结构示意图；  4 is a schematic diagram showing the circuit connection structure of the Hall sensing detection circuit of the present invention;
图 5为图 4所示检测电路检测轮盘正向转动的检测输出波形；  Figure 5 is a detection output waveform of the detecting circuit of Figure 4 detecting the positive rotation of the wheel;
图 6为图 4所示检测电路检测轮盘反向转动的检测输出波形；  Figure 6 is a detection output waveform of the detecting circuit of Figure 4 detecting the reverse rotation of the wheel;
图 7为本发明所述磁块、 霍尔传感器固定安装后的局部示意图;  7 is a partial schematic view showing the magnetic block and the Hall sensor of the present invention after being fixedly mounted;
图 8为本发明所述磁块、 霍尔传感器固定安装后的局部示意图。 具体实施方式 FIG. 8 is a partial schematic view showing the magnetic block and the Hall sensor of the present invention after being fixedly mounted. detailed description
本发明所述的电动助力车的助力控制装置， 包括两个霍尔传感器和多个可随车子前进而 运动的磁块， 两个传感器的 S极连接电源， 两个传感器的 D极接地， 其中一个传感器的 G极 串联一个分压电阻 1与另一个传感器的 G极并联连接输出端， 在输出端和电源间还装有一个 电阻。 其中， 上述电阻还可以用电容、 电感等代替， 虽然会有 1亳秒的滞后， 但不会让使用 者有感觉。  The power assist control device for the electric bicycle of the present invention comprises two Hall sensors and a plurality of magnetic blocks movable along with the car, the S poles of the two sensors are connected to the power source, and the D poles of the two sensors are grounded, one of which The G pole of the sensor is connected in series with a voltage dividing resistor 1 and the G pole of the other sensor is connected in parallel with the output terminal. A resistor is also arranged between the output terminal and the power source. Among them, the above resistors can also be replaced by capacitors, inductors, etc., although there will be a lag of 1 亳 second, but will not make the user feel.
此外， 磁块 2可固定安装在轮盘上， 霍尔传感器 3安装在座管上（如图 7所示）； 还可以 磁块 2固定安装在飞轮上， 霍尔传感器 3安装在车架后叉上（如图 8所示）。  In addition, the magnet block 2 can be fixedly mounted on the wheel disc, and the Hall sensor 3 is mounted on the seat tube (as shown in FIG. 7); the magnet block 2 can be fixedly mounted on the flywheel, and the Hall sensor 3 is mounted on the frame rear fork. On (as shown in Figure 8).

Claims

杈利要求书 Profit request
、 电动助力车的助力控制装置，包括霍尔传感器和多个可随车子前进而运动的磁块， 其特征 在于： 有两个霍尔传感器， 两个传感器的 S极连接电源， 两个传感器的 D极接地， 其中一 个传感器的 G极串联一个分压电抗器件与另一个传感器的 G极并联连接输出端，在输出端 和电源间还装有一个电抗器件。 The power assist control device of the electric bicycle includes a Hall sensor and a plurality of magnetic blocks that can move forward with the vehicle, and is characterized in that: there are two Hall sensors, the S poles of the two sensors are connected to the power source, and the D of the two sensors The pole is grounded, one of the G poles of the sensor is connected in series with one of the piezoelectric reactance devices and the G pole of the other sensor is connected in parallel with the output terminal, and a reactance device is further arranged between the output end and the power source.
、 根据权利要求 1所述的电动助力车的助力控制装置， 其特征在于： 所述的霍尔感应器可安 装在后叉上， 所述的磁块固定安装在飞轮上。 The power assist control device for an electric bicycle according to claim 1, wherein: said Hall sensor is mountable on a rear fork, and said magnet block is fixedly mounted on the flywheel.
、 根据杈利要求 1所述的电动助力车的助力控制装置， 其特征在于： 所述的霍尔感应器可安 装在车架上， 所述的磁块固定安装在轮盘上。 The power assist control device for an electric bicycle according to claim 1, wherein: the Hall sensor is mounted on a frame, and the magnetic block is fixedly mounted on the wheel.
、 根据权利要求 1所述的电动助力车的助力控制装置，其特征在于:所述的电抗器件是电阻、 或电容、 或电感。 The power assist control device for an electric bicycle according to claim 1, wherein the reactance device is a resistor, or a capacitor, or an inductor.
PCT/CN2007/003589 2007-09-18 2007-12-13 Controller for an electric power assisted bicycle WO2009036623A1 (en)

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CNB2007100303004A CN100528681C (en) 2007-09-18 2007-09-18 Electric assisted vehicle booster control device
CN200710030300.4 2007-09-18

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EP2562073A1 (en) 2011-08-24 2013-02-27 J.D Components Co., Ltd. Automatic gear-shifting bicycle with optimal shift timing
US8977450B2 (en) 2011-08-24 2015-03-10 J.D. Components Co., Ltd. Automatic gear-shifting bicycle with optimal shift timing

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CN101148186A (en) 2008-03-26

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