WO2013041666A1

WO2013041666A1 - Motor controller for an electric auxiliary drive

Info

Publication number: WO2013041666A1
Application number: PCT/EP2012/068626
Authority: WO
Inventors: Bernd VON LÖBBECKE
Original assignee: VON LÖBBECKE, Sandra
Priority date: 2011-09-23
Filing date: 2012-09-21
Publication date: 2013-03-28
Also published as: WO2013041666A8; DE102011114337A1

Abstract

The present invention relates to an apparatus for the open-loop control/closed-loop control of an electric auxiliary motor for a vehicle which can be moved by a person, comprising: at least one sensor (110) for measuring at least one driving resistance parameter; and means for the open-loop control/closed-loop control (170) of a driving force which acts on the vehicle by virtue of the electric auxiliary motor (16) based on the measured at least one driving resistance parameter. The invention likewise relates to a corresponding method.

Description

Motor control for an electric auxiliary drive

Field of the invention

The present invention relates to a method and a device for controlling the motor of an electric auxiliary drive.

State of the art

Auxiliary motors for assisting the drive of a vehicle are e.g. known in the form of a bicycle with auxiliary engine. Here are in particular electric bicycles, ie bicycles with an electric motor, to mention. The electric motor thus supports the pedaling effect. There are electric bikes with a traction help, with up to a certain small speed even without crank rotation a power is delivered by the electric motor.

There are also bicycles with so-called limited Tretunterstützung, the electric motor acts only when cranking. The engine therefore only supports pedaling. For traffic law reasons, the electric drive in Germany may only be effective when pedaling. Furthermore, the power of the engine and the driving speed are limited and the pedaling and the driving speed are detected by sensors.

The disadvantage here, however, that the output power of the electric motor is either constant, except for the fact that the electric motor can be switched on and off, or that the power of the electric motor must be manually adjusted to be adapted to changing driving situations.

A further disadvantage is that although a support by the auxiliary engine takes place, but this is independent of variable circumstances, such as different gradients occurs. In view of these disadvantages of the prior art, it is an object of the present invention to provide an apparatus and a method which overcomes these disadvantages and to provide relief to the user of an auxiliary motor vehicle.

Description of the invention

The above object is achieved by a device for controlling / regulating an electric assist motor for a vehicle that can be moved by a person, comprising: at least one sensor for measuring at least one driving resistance parameter; and

Means for controlling a driving force applied to the vehicle by the electric assist motor based on the measured at least one driving resistance parameter.

The device according to the invention has the advantage that with the at least one sensor a parameter is measured which is relevant for the driving resistance. This driving resistance affects the force with which the person has to move the vehicle. The assisting driving force of the electric motor to the vehicle is set with the means for controlling the driving force due to the at least one measured running resistance parameter, in particular controlled. Thus, for example, the driving force of the electric motor can be increased if the sensor signals an increased driving resistance, e.g. the user feels a substantially consistent self-applied force. By the term "vehicle movable by a person" it is meant both that the vehicle can be directly movable by a person, and that, on the other hand, the vehicle can be indirectly movable by a person, for example via a connecting piece as in the case of a bicycle trailer.

The device according to the invention can be further developed such that the at least one sensor measures at least one driving resistance parameter an inclination sensor for measuring an inclination of the vehicle relative to a horizontal plane as a driving resistance parameter and / or a weight sensor for measuring a current weight of the vehicle as driving resistance parameter and / or a rotational speed sensor for measuring a current rotational speed as driving resistance parameter and / or a torque sensor for measuring a current required Includes torque as driving resistance parameter. In this way, conditions that affect the driving resistance, such as the slope of a road, the weight of the vehicle, the current speed or speed or a currently applied torque can be detected. On the basis of this or this parameter, it is then possible to control or regulate the driving force acting on the vehicle.

According to another development, the speed of the vehicle can be controlled to a constant value or variably as a function of the size of the at least one driving resistance parameter. In this way, a speed at which the vehicle moves can be predetermined, for example, independent of a current slope of the road or it can be made a corresponding adjustment, so that, for example, at an increased slope, the speed is reduced to a slower walking of the person with include.

According to another embodiment, the device may further comprise at least one sensor for measuring at least one drive parameter, and the driving force acting on the vehicle by the electric assist motor may be further controlled based on the at least one drive parameter. This has the advantage that a driving force exerted by the person who moves the vehicle is detected, and then the driving force exerted on the vehicle by the electric assist motor is adjusted in addition to the measured driving resistance parameter due to the now measured driving parameter.

Said at least one sensor for measuring at least one drive parameter may comprise a train-pressure force sensor for measuring a tensile or compressive force exerted by a person as a drive parameter and / or a bending sensor or a Shear force sensor for measuring a starting force as a drive parameter and / or a torque sensor for measuring a torque exerted by a person as drive parameters. Such a train-pressure force sensor may for example be integrated in a hand-operated or gripping part, such as a handle with which the vehicle is pushed. A torque sensor may be integrated in an axle of a wheel of the vehicle.

According to a development, the speed of the vehicle can be variably controlled or regulated as a function of the size of the at least one drive parameter. In this way, e.g. the speed of the vehicle can be adjusted in proportion to the size of the drive parameter.

Another development consists in that the driving force acting on the vehicle by the electric assist motor can be controlled / regulated to a constant drive parameter. This means that the person who moves the vehicle feels a constant resistance, so the person has to apply a constant force to move the vehicle. This can for example be done so that the person to be applied driving force is independent of the weight and / or the slope. The control takes place e.g. such that, for example, an increased pressure on a handle is compensated by an increased speed until the tension-pressure force sensor again measures the same tensile or compressive force. A constant drive parameter in this case means that measured deviations are corrected by changes in the driving force of the electric assist motor again.

Another development consists in that the driving force acting on the vehicle by the electric assist motor is controllable for at least partial compensation of a driving resistance force caused by the at least one driving resistance parameter. In this way, the driving resistance force is fully or partially compensated, thus providing relief for the person moving the vehicle. This has the further advantage that, for example, a pulling or pushing person undergoes little or no resistance through the vehicle, but the person himself is never pushed or pulled by the vehicle, as no overcompensation of the driving resistance occurs. In a partial Compensation must always be a certain amount of force exerted by the person in order for the vehicle to move.

The means for controlling the drive force of the apparatus or one of the embodiments acting on the vehicle by the electric assist motor may include a microprocessor and a power controller for the auxiliary electric motor. In this way, the parameters measured by the at least one sensor can be processed by the microprocessor, and corresponding signals can be given to the power control for the auxiliary electric motor, which adjusts the driving force of the electric assist motor accordingly.

The invention further provides a vehicle with the device according to the invention or one of the further developments, wherein the vehicle may in particular be a stroller, a bicycle, a bicycle trailer, a wheelchair, a rollator, or a hand transport vehicle.

The above object is further achieved by a method for controlling an electric assist motor for a vehicle movable by a person, comprising the steps of:

Measuring at least one driving resistance parameter; and

Controlling a drive force acting on the vehicle by the electric assist motor based on the measured at least one ride resistance parameter.

The advantages already mentioned in connection with the device according to the invention apply in the same way to the method according to the invention. A repetition is therefore omitted.

The method according to the invention can be developed further in that the further step:

Measuring at least one drive parameter, wherein the controlling of the driving force acting on the vehicle by the electric assist motor is further performed based on the measured at least one drive parameter.

Further features and exemplary embodiments and advantages of the present invention will be explained in more detail with reference to the drawings. It should be understood that the embodiments do not exhaust the full scope of the present invention. It is further understood that some or all of the features described below may be combined with each other in other ways.

drawings

FIG. 1 illustrates a first embodiment of the device according to the invention.

FIG. 2 illustrates a second embodiment of the invention

Contraption.

embodiments

Hereinafter, some exemplary embodiments of the invention will be described.

The present invention provides a motor control for an electric auxiliary drive available, for example, for strollers, bike trailers, wheelchairs, kindergartens, etc. The auxiliary drive should come at any time in a running state, but only eg the weight of the vehicle (stroller, bike trailer, etc. ) as well as the current payload and the influence of the road gradient. This means that the engine control system receives feedback about the weight of the vehicle, road gradient, current speed etc. via various sensors and adjusts the engine power as required so that the pulling or pushing passengers do not NEN or only a small resistance by the vehicle experiences, but never pushed or pulled by the vehicle.

In order to achieve control of the electric motor, various sensors may be used, e.g. an angle sensor / inclination sensor for measuring the inclination of the vehicle / slope of the road (this can also avoid driving on impending tipping), a weight sensor for measuring the current weight, a speed sensor for measuring the current speed, a torque sensor for measuring the required power , a train / pressure sensor for measuring the train or pressure exerted by the pushing or pulling person. Not every vehicle requires every sensor. The engine control calculates the required engine power or the driving force acting on the vehicle from the various measured parameters and adapts them accordingly.

Fixed speed

It is the variant possible that the speed of the vehicle is firmly defined. For example, the speed may be set at a walking speed of 5 km / h. Then the required engine power is determined by the weight sensor and the angle sensor and the speed is detected via the speed sensor and monitored via the torque sensor, the engine performance. If the vehicle is e.g. is in front of an obstacle, so has a speed of 0, but due to the weight and the slope of an engine power is applied, then the engine is turned off. This is a plausibility check that can be integrated into the engine control to prevent damage.

For example, with a dead load of no load, 50 watts of motor power may be needed for the 5 km / h drive. With a payload of 10 kg, the engine power can be increased by 20 watts. This power increase can be linear or exponential and can be regulated with varying degrees of fineness. For example, an adjustment of the engine power can be carried out with an increase of 1 kg or 5 kg each. Furthermore, the engine power is adapted to the road inclination. This means, for example, that the engine power is increased by 10 watts per 1 ° higher road grade. This power increase can also be linear or exponential or according to another law.

When driving downhill, the vehicle can be braked accordingly. The angle sensor / inclination sensor measures the negative angle and the torque sensor measures the thrust torque so that the drive, ie the electric assist motor, can be controlled in a defined manner against the thrust according to the angle and the torque.

Variable speed

The train / pressure sensor measures the pull or pressure exerted by the pulling or pushing person and, in addition to the weight and the roadway angle, is included in the calculation of the required engine power.

Using the example of a bicycle trailer, the train / pressure sensor can be used to measure the starting or braking of the bicycle and to activate the engine control. The engine power is regulated so that the tensile or compressive torque is compensated. This means that the cyclist feels no pulling or pushing the bicycle trailer, but has the terms of force the bike properties as without trailers. At no time does the bike trailer push or pull the bike.

In the case of a wheelchair as a vehicle also a fixed speed or a variable speed can be selected. At a fixed speed, the engine control behaves as described above. At a variable speed, the starting force introduced by the wheelchair user is measured by means of a torque sensor and this is included in the engine control in addition to the weight and roadway angle. This means that the greater the starting force, the higher the engine power. The starting force can also be determined via a bending sensor or a shear force sensor.

Figure 1 illustrates a simple embodiment of the device according to the invention. This embodiment schematically illustrates the device 100 according to the invention for controlling an electric assist motor 160 for a vehicle (here in the form of a bicycle trailer) that can be moved by a person. The device 100 comprises at least one sensor 110 for measuring at least one driving resistance parameter (eg in the form of a Inclination sensor) and means 170 for controlling a driving force applied to the vehicle by the electric assist motor 160 based on the measured at least one running resistance parameter. The means 170 consist of a microprocessor for processing the sensor signals and a power control for the auxiliary electric motor 160. For example, when an increasing inclination is measured by the exemplary tilt sensor, the electric assist motor 160 can be driven to deliver greater power and thus power. so that the vehicle keeps its speed constant.

Figure 2 illustrates another embodiment of the device according to the invention. In the stroller 200 shown in Figure 2, a weight sensor 210, an angle sensor 220, a speed sensor 230, a torque sensor 240, and a train / pressure sensor 250 for measuring corresponding parameters are arranged. Furthermore, the stroller 200 includes an electric assist motor 260 on one of the axles. An engine controller 270, which may be mounted below the seat, for example, provides the means for controlling a driving force applied to the vehicle by the electric assist motor 260 based on the measured bicycle resistance parameters and the measured drive parameters. In this embodiment, an accumulator 280 or a battery Battery for powering the auxiliary electric motor 260 also disposed under the seat of the stroller 200.

The train / pressure sensor 250 detects the force of a pushing person. With the weight sensor 210, for example, a payload in a basket below the child seat (purchases) can be detected, and a corresponding assisting action by the electric assist motor 260 can be adjusted. For example, speed sensor 230 monitors (via a speed measurement) a speed of the baby carriage, and may limit it to a maximum value. Due to the angle sensor 220 slopes of the walkway can be detected and a corresponding supporting force effect can be adjusted. The regulation of the force effect takes place such that the stroller 200 never comes into a self-propelled state, but always a tensile force or a compressive force must be detected by the train / pressure sensor to cause a partial to complete compensation of the driving force by the electric auxiliary motor 260 ,

Claims

claims

An apparatus for controlling an electric assist motor for a vehicle movable by a person, comprising: at least one sensor for measuring at least one driving resistance parameter; and

Means for controlling a driving force applied to the vehicle by the electric assist motor based on the measured at least one running resistance parameter.

2. The apparatus of claim 1, wherein the at least one sensor for measuring at least one driving resistance parameter includes an inclination sensor for measuring an inclination of the vehicle relative to a horizontal plane as a driving resistance parameter and / or a weight sensor for measuring a current weight of the vehicle as a driving resistance parameter and / or a rotational speed sensor for measuring a current rotational speed as a driving resistance parameter and / or a torque sensor for measuring a currently required torque as a driving resistance parameter and / or a train-pressure sensor for measuring a vehicle inertia force.

3. Device according to claim 1 or 2, wherein the speed of the vehicle is controllable / controllable to a constant value or wherein the speed of the vehicle is variably controllable in dependence on the size of the at least one driving resistance parameter.

4. Device according to one of claims 1 to 3, wherein the device further comprises at least one sensor for measuring at least one drive parameter and acting on the vehicle by the electric assist motor driving force further controllable based on the measured at least one drive parameter controllable / controllable.

5. The apparatus of claim 4, wherein the at least one sensor for measuring at least one drive parameter comprises a train-pressure force sensor for measuring a force exerted by a person tensile or compressive force as a drive parameter and / or a bending sensor or a shear force sensor for measuring a thrust force as a drive parameter and / or a torque sensor for measuring a torque exerted by a person comprises as a drive parameter.

6. Apparatus according to claim 4 or 5, wherein the speed of the vehicle is variable controllable / controllable in dependence on the size of the at least one drive parameter.

7. Device according to one of claims 4 to 6, wherein the driving force acting on the vehicle by the electric assist motor can be controlled / regulated to a constant drive parameter.

8. Device according to one of claims 1 to 7, wherein the driving force acting on the vehicle by the electric assist motor for the at least partial compensation of a conditional by the at least one driving resistance parameter driving resistance force is controllable / regulated.

The apparatus according to any one of claims 1 to 8, wherein the means for controlling the driving force acting on the vehicle by the electric assist motor comprises a microprocessor and a power controller for the auxiliary electric motor.

10. Vehicle with a device according to one of claims 1 to 9, wherein the vehicle is in particular a stroller, a bicycle, a bicycle trailer, a wheelchair, a rollator, or a trolley.

1 1. A method of controlling an electric assist motor for a vehicle movable by a person, comprising the steps of:

Measuring at least one driving resistance parameter; and

12. The method of claim 1 1, with the further step:

Measuring at least one drive parameter; wherein the controlling of the driving force acting on the vehicle by the electric assist motor is further performed based on the measured at least one driving parameter.