WO2012041891A1 - Procédé de commande d'une propulsion auxiliaire électrique d'un véhicule actionné par la force musculaire et véhicule actionné par la force musculaire - Google Patents

Procédé de commande d'une propulsion auxiliaire électrique d'un véhicule actionné par la force musculaire et véhicule actionné par la force musculaire Download PDF

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Publication number
WO2012041891A1
WO2012041891A1 PCT/EP2011/066834 EP2011066834W WO2012041891A1 WO 2012041891 A1 WO2012041891 A1 WO 2012041891A1 EP 2011066834 W EP2011066834 W EP 2011066834W WO 2012041891 A1 WO2012041891 A1 WO 2012041891A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
acceleration
auxiliary drive
speed
control signals
Prior art date
Application number
PCT/EP2011/066834
Other languages
German (de)
English (en)
Inventor
Florian Loeffl
Original Assignee
B-Labs Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by B-Labs Ag filed Critical B-Labs Ag
Priority to EP11770720.8A priority Critical patent/EP2621795A1/fr
Publication of WO2012041891A1 publication Critical patent/WO2012041891A1/fr

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/415—Inclination sensors
    • B62J45/4152—Inclination sensors for sensing longitudinal inclination of the cycle

Definitions

  • the invention relates to a method for driving an electric auxiliary drive of a muscle-power-operated vehicle and a muscle-power-operated vehicle, which can be controlled, for example, by such a method.
  • Pedelecs often have a conventional pedal drive and a hub motor, which is powered by a battery with energy.
  • the control of this electric auxiliary motor can be done for example by pressing an actuator, such as a rotary handle ("throttle"), which is then actuated by the driver when he wants to be supported, for example, when driving uphill by the electric motor
  • the torque introduced by the crank or pedal drive is detected and the electric motor is activated as a function of this detected rotary motor.
  • the invention has for its object to provide a method for driving an electric auxiliary drive of a muscle power-operated vehicle and a muscle power operated vehicle with electric auxiliary drive, in which a control of the electric auxiliary drive with low device technology and control engineering effort is possible.
  • the control of an electric auxiliary drive of a muscle-power-operated vehicle essentially takes place as a function of the vehicle speed or dynamic parameters dependent thereon.
  • the vehicle speed can be detected with minimal effort, for example via the already existing speedometer, the electrical output signal is evaluated to calculate the output from the electric auxiliary drive power.
  • control signals for actuating the electric auxiliary drive are then generated via a control unit, based on a suitable physical model.
  • the control of the electric auxiliary drive for delivering a driver assisting torque is then carried out in dependence on the control signals calculated via the control unit.
  • According to the invention is thus closed by means of the underlying in the scheme physical model of the dynamic behavior of the vehicle on the introduced via muscle power in the drive train forces and thus back to the driver's request.
  • the acceleration of the vehicle is still detected and the control signals for the auxiliary electric drive are calculated in dependence on these dynamic parameters.
  • This acceleration can be calculated, for example, by a suitable inclination sensor or the like or else from the speed signals.
  • a special feature is that no expensive sensors are required to detect the torque applied by the driver.
  • the activation of the electrical auxiliary drive is improved if the calculation model includes static parameters such as, for example, the vehicle weight or the vehicle mass or the weight or mass of the driver.
  • control signals are recalculated at predetermined time intervals or at predetermined changes of the speed and / or the acceleration.
  • the calculation preferably takes place on a physical model assuming that the driving force supplied by the auxiliary motor is in equilibrium with the frictional, aerodynamic and acceleration forces determined by the vehicle speed, optionally the acceleration and optionally optionally by the weight.
  • the ratio ca / cv must be between 0 and 12.
  • the engine power must be less than the power required to maintain the system's current dynamic state at all times.
  • the muscle-power operated vehicle accordingly has an electric auxiliary drive, a sensor for detecting the speed or dependent therefrom dynamic parameters, a control unit for calculating control signals for the electrical auxiliary drive substantially from the speed signals and an output unit for driving the electric auxiliary drive in response to these control signals ,
  • the output unit may be integrated in the control unit.
  • the vehicle may further include a pickup for detecting the acceleration.
  • This sensor may for example be a tilt sensor.
  • the vehicle is designed as a two-wheeled vehicle 1, which in addition to a crank or pedal drive 2, an electric auxiliary motor, for example example, a hub motor 4 has.
  • This consists in principle of a power electronics with a suitable engine controller. According to the invention it is preferred if this engine controller is designed as a PI controller.
  • the two-wheeled vehicle 1 has a sensor 10 for detecting the vehicle speed v and optionally an acceleration sensor 12 for detecting the vehicle acceleration a.
  • This can for example be designed as a tilt sensor, so that an uphill or downhill, a shift operation ("sailing") or the like can be detected.
  • the vehicle may, as indicated in the figure, further be designed with a suitable sensor for detecting the vehicle and / or driver's weight or the vehicle and / or driver mass, so determined according to the respective total weight or the total mass F. can be.
  • the dynamic parameters (vehicle speed v, acceleration a) and the static parameters (vehicle weight or vehicle mass F) are supplied as input signals to the control unit 8 and evaluated by the latter.
  • the acceleration forces can be set by presetting a desired speed can be taken into account, wherein from this desired speed or desired speed of the hub motor 4 can then be deduced to those torque values that you need in each driving condition. In other words, the driver gives by his muscular strength before a certain desired speed and the engine control leads via the auxiliary drive so much torque until the desired driving condition is reached.
  • the downhill assistance is reduced by the auxiliary electric motor on the downhill to keep the vehicle at the desired speed level.
  • the drive concept described makes it possible to provide a method for actuating an electric auxiliary drive of a muscle-power-operated vehicle and a muscular-force-driven vehicle. operated vehicle to provide an electric auxiliary drive, which is characterized by an extremely simple structure with low required device and control engineering effort.

Landscapes

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

Abstract

L'invention concerne un procédé de commande d'une propulsion auxiliaire électrique d'un véhicule actionné par la force musculaire et un véhicule actionné par la force musculaire comprenant une propulsion auxiliaire électrique. La commande de la propulsion auxiliaire électrique est réalisée sensiblement en fonction de la vitesse et/ou de l'accélération du véhicule.
PCT/EP2011/066834 2010-09-28 2011-09-28 Procédé de commande d'une propulsion auxiliaire électrique d'un véhicule actionné par la force musculaire et véhicule actionné par la force musculaire WO2012041891A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP11770720.8A EP2621795A1 (fr) 2010-09-28 2011-09-28 Procédé de commande d'une propulsion auxiliaire électrique d'un véhicule actionné par la force musculaire et véhicule actionné par la force musculaire

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010037832 2010-09-28
DE102010037832.1 2010-09-28

Publications (1)

Publication Number Publication Date
WO2012041891A1 true WO2012041891A1 (fr) 2012-04-05

Family

ID=45090786

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2011/066834 WO2012041891A1 (fr) 2010-09-28 2011-09-28 Procédé de commande d'une propulsion auxiliaire électrique d'un véhicule actionné par la force musculaire et véhicule actionné par la force musculaire

Country Status (2)

Country Link
EP (1) EP2621795A1 (fr)
WO (1) WO2012041891A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013209470A1 (de) * 2013-05-22 2014-11-27 Robert Bosch Gmbh Fahrerdrehmomentbestimmung eines elektrischen Fahrzeugs
WO2015128239A1 (fr) * 2014-02-28 2015-09-03 Commissariat A L'energie Atomique Et Aux Energies Alternatives Assistance au deplacement d'un objet roulant par un asservissement utilisant l'acceleration de l'objet roulant
CN105408197A (zh) * 2013-07-31 2016-03-16 米其林集团总公司 用于调整电动助力自行车的辅助动力的设备和方法
CN108909931A (zh) * 2018-05-28 2018-11-30 纳恩博（北京）科技有限公司 自行车的助力实现方法及装置、系统
EP3541697A4 (fr) * 2016-08-26 2020-09-02 John R. Hamann Commande de transmission pour un véhicule assisté par moteur
CN112124380A (zh) * 2020-09-02 2020-12-25 青岛海信微联信号有限公司 一种列车行驶控制的方法和装置及设备
DE102016211659B4 (de) 2015-07-01 2021-09-23 GM Global Technology Operations LLC Verfahren zur Kompenstation von Trägheits- und Rotationsverlusten im Zusammenhang mit dem Antriebsstrang eines Elektrofahrrads sowie entsprechend ausgebildetes Produkt

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108516039B (zh) * 2018-04-01 2022-06-14 扬顶（天津）科技有限公司 一种电动自行车用的助力驱动系统

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006029514A1 (fr) * 2004-09-14 2006-03-23 9141-7030 Québec Inc. Systeme de gestion d'energie pour des vehicules propulses par l'utilisateur et assistes par un moteur
AU2009100700A4 (en) * 2009-07-02 2009-09-03 Nanocycle Pty Ltd Improvements to power assisted vehicles
WO2010091323A1 (fr) * 2009-02-06 2010-08-12 Juan Bautista Belon Roue électrique intelligente pour vélos électriques

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006029514A1 (fr) * 2004-09-14 2006-03-23 9141-7030 Québec Inc. Systeme de gestion d'energie pour des vehicules propulses par l'utilisateur et assistes par un moteur
WO2010091323A1 (fr) * 2009-02-06 2010-08-12 Juan Bautista Belon Roue électrique intelligente pour vélos électriques
AU2009100700A4 (en) * 2009-07-02 2009-09-03 Nanocycle Pty Ltd Improvements to power assisted vehicles

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013209470A1 (de) * 2013-05-22 2014-11-27 Robert Bosch Gmbh Fahrerdrehmomentbestimmung eines elektrischen Fahrzeugs
CN105408197A (zh) * 2013-07-31 2016-03-16 米其林集团总公司 用于调整电动助力自行车的辅助动力的设备和方法
WO2015128239A1 (fr) * 2014-02-28 2015-09-03 Commissariat A L'energie Atomique Et Aux Energies Alternatives Assistance au deplacement d'un objet roulant par un asservissement utilisant l'acceleration de l'objet roulant
FR3018057A1 (fr) * 2014-02-28 2015-09-04 Commissariat Energie Atomique Assistance au deplacement d'un objet roulant par un asservissement utilisant l'acceleration de l'objet roulant
DE102016211659B4 (de) 2015-07-01 2021-09-23 GM Global Technology Operations LLC Verfahren zur Kompenstation von Trägheits- und Rotationsverlusten im Zusammenhang mit dem Antriebsstrang eines Elektrofahrrads sowie entsprechend ausgebildetes Produkt
EP3541697A4 (fr) * 2016-08-26 2020-09-02 John R. Hamann Commande de transmission pour un véhicule assisté par moteur
CN108909931A (zh) * 2018-05-28 2018-11-30 纳恩博（北京）科技有限公司 自行车的助力实现方法及装置、系统
CN108909931B (zh) * 2018-05-28 2021-01-05 纳恩博（北京）科技有限公司 自行车的助力实现方法及装置、系统
CN112124380A (zh) * 2020-09-02 2020-12-25 青岛海信微联信号有限公司 一种列车行驶控制的方法和装置及设备
CN112124380B (zh) * 2020-09-02 2022-04-12 青岛海信微联信号有限公司 一种列车行驶控制的方法和装置及设备

Also Published As

Publication number Publication date
EP2621795A1 (fr) 2013-08-07

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