WO2014019407A1 - 在壳体内多磁块位置可调节的传感器 - Google Patents

在壳体内多磁块位置可调节的传感器 Download PDF

Info

Publication number
WO2014019407A1
WO2014019407A1 PCT/CN2013/076786 CN2013076786W WO2014019407A1 WO 2014019407 A1 WO2014019407 A1 WO 2014019407A1 CN 2013076786 W CN2013076786 W CN 2013076786W WO 2014019407 A1 WO2014019407 A1 WO 2014019407A1
Authority
WO
WIPO (PCT)
Prior art keywords
permanent magnet
digital
signal
annular groove
hall
Prior art date
Application number
PCT/CN2013/076786
Other languages
English (en)
French (fr)
Inventor
黄强
Original Assignee
高松
欧阳焱雄
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 高松, 欧阳焱雄 filed Critical 高松
Publication of WO2014019407A1 publication Critical patent/WO2014019407A1/zh

Links

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
    • B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/246—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains by varying the duration of individual pulses
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/487—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating magnets

Definitions

  • the present invention belongs to the technical field of magnetic induction providing signals, and more particularly to a technique for performing multi-point magnetic induction to provide a control signal on a rotating member.
  • the Chinese patent 201020295192.0 "Hook-type torque sensing device" applied by Yebao Vehicle Industry (Kunshan) Co., Ltd. discloses a sensing device for assisting bicycles.
  • the sensing device includes a magnetic member and an elastic member to cooperate, and the torque is transmitted.
  • Sensing device After a long period of use, the change in the elastic modulus of the elastic member causes a change in the control effect of the sensing signal and the controlled motor, and the assisting effect becomes incompatible with the human assisting need.
  • the design of the elastic member is complicated and the manufacturing cost is high.
  • the Chinese patent 01201843.0 Automatic assisted bicycle automatic detecting device
  • the magnetic disk has a spring on the inner disc, and the inner and outer discs are spring-reset.
  • the electric signals generated by the two Halls on the inner and outer discs are used to indicate the force, speed and steering. .
  • Elastic parts are not durable: After a long period of use, the change of the elastic modulus of the elastic parts will cause the control signal and the control effect of the controlled motor to change, and the boosting effect becomes incompatible with the human assistance needs. Complex and costly.
  • Each disk group is the same and the magnetic poles are set in the same way, but can not indicate the respective positions of different disk groups, and can not express the special power requirements of different positions: from Figures 3, 4, 5, 6 and the specification of 01201843.0 patent
  • the description in the second paragraph of page 2 shows that the magnetic poles of each magnetic disk group (including one magnetic disk 4, one magnetic disk 5, and one magnetic disk 6) are arranged in the same way, that is, they are simply from different positions of the inner wheel.
  • the same set of magnetic disk sets are set up, which cannot indicate the respective positions of different magnetic disk groups, and cannot indicate the motion state of a specific position.
  • the pedals and the positions corresponding to the pedals are in motion and have their own. Special power requirements, but the same structure of the various magnetic disk groups of the patent cannot express the special power demand at different positions on the pedal.
  • the technical solution of the patent of 01201843.0 is used to assist the bicycle, the number of the magnetic disk group is limited to 8 or less, the control signal is too small, and the man-machine cooperation is not ideal.
  • the signal pattern of the Hall output is close to a horizontal line. The signal has no control function and cannot control the motor, so that when the power is particularly needed, the power-saving function is lost.
  • the blind area of the signal reaches a 45-degree angle.
  • the pedal foot pedal is the smallest at the apex, and the angle of 10-45 degrees from the apex is the most needed area.
  • the angle between the various magnetic disk groups of the patent is 45 degrees, and there is no magnetic disk group in the 10-45 degree angle region from the apex of the pedal, and there is no control signal, and the result is that when the power is most needed
  • the motor that assists the bicycle does not help.
  • the diameter of the turntable is less than 20 cm, and the number of the magnetic disk group is limited to 8 groups, and the number of the magnetic disk group cannot be increased arbitrarily.
  • the human-machine coordination is not ideal, and the power is not activated at the start.
  • the boosting demand does not match the power supply.
  • the rider's comfort is poor. If the number of the magnetic disk group is forcibly increased, the sensing signal loses the power control function.
  • Permanent magnet magnet is used to indicate the fixed position of the pedal, and three Halls indicate the position of the pedal: Since the pedal and the moving disc are synchronously rotated, one position is fixed at two positions on the moving disc corresponding to the two pedals. Permanent magnet steel, where is the position of a certain pedal, then the corresponding permanent magnet magnet is also turned to the position; but only when there is a position in the Hall, the control signal can be sent through the Hall to command the motor of the bicycle. The power needed to turn.
  • Disadvantages (2) Cannot use only one Hall, and the three Halls must cause the original control error of the three control signals, so that the power demand model is distorted, and naturally the power output is inconsistent with the power demand: the assist bicycle is either one or two.
  • the sensing signal of the control motor can only be input to the motor controller with one sensing signal to achieve the purpose of controlling the motor; and the patent uses three Hall control motors, it is necessary to control three of the three Halls.
  • the signals are combined into one combined control signal before they can be input to the motor controller.
  • the sensing parameters of the three Halls cannot be the same, especially since the sensing parameters of the three Halls may vary greatly due to changes in ambient temperature and long usage time. The result is the same boosting demand when different Halls are used.
  • the output is different voltages, which causes the motor to produce different boosting outputs.
  • the boosting output is inconsistent with the boosting demand.
  • the output of different Halls may be the same voltage, which causes the motor to produce the same boosting output. A problem arises in which the boost output is inconsistent with the boost demand.
  • the combined control signal is easy to generate signal drift, so that the combined control signal does not match the motor controller, and the demand model is distorted: the sensing parameters of the three Halls may vary greatly due to changes in ambient temperature and long use time.
  • the three control signal connection points of the three Halls must change, and the combined control signal generated by the same power demand will produce a segmented signal drift, and the combined control signal will generate signal distortion as a whole, that is, the power demand model distortion If the motor controller selects any one of the three control signals as the reference, the problem that the boosting output and the boosting demand are inconsistent will be generated.
  • the sensing site can not be increased arbitrarily, the sensing site is too small, the motor is not stable, making the rider feel very uncomfortable: because of the disadvantages (1) and disadvantages (2) are the most If the number of erres is greater than one, it is obvious that the number of Halls is more and more, and the disadvantages (1) and (2) are more serious. Therefore, the power-assisted bicycle provided by this patent can only be a power-assisted bicycle that makes the rider feel very uncomfortable.
  • the blind area of the signal reaches a 42-degree angle.
  • the start-up requires assistance, it does not get the boost: It is well known that people step on the bicycle pedal with the minimum moment at the apex, and the angle from the apex of 10-45 degrees is the area most in need of assistance. However, the angle between the Halls of the patent is 42.5-43.5 degrees. There is no Hall in the 10-42 degree angle range from the apex of the pedal, and there is no control signal. The result is the most need for assistance. However, the motor that assists the bicycle does not help.
  • this patent is a technical solution for controlling the assist mode with multiple Halls, because only a plurality of Halls can be used to indicate the rotational position of the pedal, and multiple control signals of multiple Halls must have original errors, and the combined control signals are combined. It is easy to generate signal drift, which can cause the distortion of the power demand model, that is, the same power demand at different times, but obtain different power-assising effects; the more the number of Halls, the more serious the distortion of the power-assisted demand model, which limits the number of Halls. When the number of Halls is small and the motor is running, it is not stable, making the rider feel uncomfortable and unable to get help at startup. It is necessary to make the demand model not distorted, and to keep the motor running smoothly.
  • the output signal model can be adjusted, Hall and multiple permanent magnets.
  • the block uses a combination of components to hold the sensor in relative position. It can be used on a power-assisted bicycle without the use of elastic parts and other mechanical torques. It can also match the power demand with the provided power, and the motor runs smoothly to assist the bicycle sensor.
  • the idea of the present invention is that in a Hall sensible range, an annular groove rotates on the disk with a plurality of permanent magnet blocks to alternate the north and south magnetic polarities on the side of the Hall, so that one Hall can feel The motion signal of all permanent magnet blocks.
  • the variation of multiple permanent magnet blocks is mainly the change of magnetic polarity, the change of misalignment, and the position can be adjusted by the user.
  • the purpose is to make the Hall obtain the annular groove.
  • the specific position of the rotating disk is more precise, more suitable for individual needs, and the control function is stronger and the quantity. More permanent magnet block motion signals.
  • the magnetic polarity of a plurality of permanent magnet blocks alternates with the south pole north pole, so that the signal generated by the Hall is a rectangular wave, and the control function is stronger and the quantity is more;
  • the misalignment of multiple permanent magnet blocks causes the signals generated by the Hall to have different inter-wavelength distances, which can express the movement position of the permanent magnet block more accurately, so that the motion state of a specific position can be expressed.
  • the specific expression of the foot pedal is expressed.
  • the position of the motion is very important, because the motion state of the pedal directly indicates the state of the person's power demand; the position of the permanent magnet block can be adjusted by the user, so that the signal generated by the Hall can be adjusted by the user, and the user can pass the household.
  • the control signal is adjusted to adjust the control mode and control content, and has the function of controlling in a personalized manner.
  • the relative position of the sensing element Hall and the plurality of permanent magnet blocks is fixed by a mechanical structural assembly to make the sensing signal stable and reliable.
  • the rectangular wave signal outputted by the Hall is converted into a digital signal, so that the digital signal of the Hall is digitized, and a mathematical model for assisting the best function of the human body can be added in the process of digitizing, and the mathematical model can be assisted by human beings.
  • the machine cooperates to make random adjustments. It overcomes the sinusoidal signal output of the prior art Hall and is difficult to digitize. It can only perform analog signal processing, but can not add a self-adjustable power assist model, and overcome the condition that only the speed signal can be extracted.
  • the power-saving model overcomes the problem that the human-machine is not optimally matched.
  • the structure of the invention is as follows:
  • a sensor having an adjustable position of a plurality of magnetic blocks in the housing comprising a sensor element sequentially connected, a power assist model processor 21, a digital-to-analog converter 27, and an operational amplifier 28;
  • the sensing element is an element that changes the rotational motion of the annular groove rotating disk 1 into a rectangular wave signal output
  • the sensing element comprises an annular groove rotating disk 1, an annular groove fixing disk 40, a Hall 3 and a plurality of permanent magnet blocks 2, and the concave groove rotating disk 1 and the annular groove fixing disk 40 are concavely opposed to each other, and the ring shape
  • the groove fixing plate 40 is fitted in the annular groove of the annular groove rotating disk 1, and the two disks are relatively rotatable to fit the hollow inner casing, and the concave surfaces of the two disks are sandwiched into a hollow ring 41;
  • the 41-position annular groove rotating disc 1 is fixedly provided with a plurality of permanent magnet blocks 2, and the plurality of permanent magnet blocks 2 are distributed in a circle 6 and the inner circular path line 5-1 of the circular ring 6 At least one circular trajectory line runs through the entire permanent magnet block 2 with the outer circular trajectory line 5-2; the inner circular trajectory line 5-1 and the outer circular trajectory line 5-2 are concentric circles, at least two The permanent magnet block 2 is misaligned; the misalignment distribution is one of a
  • the radius misalignment is such that at least two permanent magnet blocks 2 have different distances from the center of the circle where the inner circular track line 5-1 is located;
  • the spacing misalignment distribution manner is: the distance between adjacent permanent magnet blocks 2 is the permanent magnet block spacing 7; at least two permanent magnet block spacings 7 are different in length;
  • the strip-shaped short groove 8 is provided with a permanent magnet block 2, and the permanent magnet block 2 can be fixed on the strip. Any position in the short slot 8;
  • the magnetic polarity of the adjacent permanent magnet block 2 is opposite, and the magnetic polarity distribution pattern of all the permanent magnet blocks 2 on the circular groove rotating disk 1 is
  • a Hall 3 is fixedly disposed on the annular groove fixing plate 40 of the hollow ring 41.
  • the Hall 3 is disposed near the permanent magnet block 2 and can sense the magnetic flux of each permanent magnet block 2, and the Hall 3 and the permanent magnet block There is a gap between 2; Hall 3 is a Hall that produces a rectangular wave output signal for the opposite magnetic polarity.
  • the assist model processor 21 is a signal form converter that converts the digital signal rotated by the annular groove rotating disk 1 into a power model digital signal;
  • the assist model processor 21 includes an analog-to-digital conversion and a wave width recognizer 22, a boost start point selector 23, a magnetic block tachometer 24, a boost model memory 25, and a boost model calculator 26;
  • the analog-to-digital conversion and wave width identifier 22 is connected to the sensing element, and the analog-to-digital conversion and wave width identifier 22 identifies the rectangular wave signal input by the Hall 3 in the sensing element to identify the width of each rectangular wave, and the rectangular wave signal is It becomes a different digital signal, and each rectangular wave is labeled, and the analog-to-digital conversion and the wave width recognizer 22 outputs the magnetic body marked with the order of the magnetic block.
  • Block motion digital signal
  • the analog-to-digital conversion and wave width recognizer 22 is connected to the assist start point selector 23 and the magnetic block rotational speed calculator 24, respectively, and the assist start point selector 23 is connected to the magnetic block rotational speed calculator 24;
  • the magnetic block rotational speed calculator 24 uses analog-to-digital conversion and The magnetic block motion digital signal input by the wave width identifier 22, which is marked with the order of the magnetic block position, calculates the rotational speed of the annular groove rotating disk 1, and transmits the digital signal of the rotational speed of the annular groove rotating disk 1 to the assisting start point selector 23,
  • the assist starting point selector 23 determines a rectangular wave corresponding to the assist starting point under a certain rotational speed condition by using the magnetic block motion digital signal marked with the magnetic block position order and the rotational speed digital signal of the annular groove rotating disk 1. , that is, determining the starting point magnetic block;
  • the assist starting point selector 23 and the magnetic block rotational speed calculator 24 are respectively connected to the assist model calculator 26, and the assist model memory 25 is also connected to the assist model calculator 26; the assist model calculator 26 uses the assist starting point of the assist starting point selector 23 The block, and the rotational condition of the disk 1 by the annular groove of the magnetic block rotational speed calculator 24, selects one of the assist model functions in the assist model memory 25, and rotates the starting magnetic block and the annular groove to rotate the disk 1 These two conditions are substituted into the assist model function to calculate the assist model digital signal suitable for these two conditions, that is, the assist model calculator 26 outputs the assist model digital signal;
  • the digital-to-analog converter 27 is an analog signal that converts the power-assisted model digital signal into a power-assisted model
  • the boost model calculator 26 is connected to the digital-to-analog converter 27, and the digital-to-analog converter 27 converts the assist model digital signal of the assist model calculator 26 into the assist model analog signal;
  • the operational amplifier 28 is a boost model analog signal that converts the assist model analog signal of the digital-to-analog converter 27 into a rated voltage range.
  • the annular groove rotating disk 1 is fitted with the annular groove fixing plate 40, and is relatively rotatable, thereby ensuring that the rotating position of the rotating disk 1 in the annular groove is not changed, and the sensing positions of the Hall 3 and all the permanent magnetic blocks 2 are not changed, so that
  • the output signal of the Hall 3 is only related to the rotation of all the permanent magnet blocks 2, and is independent of the objects of the annular groove rotating disk 1 and the annular groove fixing disk 40; if the annular groove rotates the disk 1 and the annular groove fixing disk 40 is made of a metal material, and may have a shielding effect. Therefore, the ring 3 and the annular groove fixing plate 40 are used to rotate the Hall 3 and all the permanent magnet blocks 2 in the hollow ring 41 for sensing, thereby improving the Hall 3 The reliability and authenticity of the signal.
  • the annular groove fixing plate 40 When the annular groove fixing plate 40 is fixed to an object, the annular groove is rotated to rotate the disk 1, and the respective permanent magnets 2 on the annular groove rotating disk 1 are swept over the Hall 3 on the annular groove fixing plate 40.
  • Each permanent magnet block 2 can cause the Hall 3 to generate an electrical signal. Since the magnetic polarities of the adjacent permanent magnet blocks 2 are opposite, that is, the magnetic polarities of all the permanent magnet blocks 2 face the Hall 3 alternately south and north, the Hall 3 generates an electric signal as a rectangular wave signal, and the rectangular wave signal is convenient for digitization. Processing signals for digital control.
  • the Hall 3 can only generate a sine wave signal, so it can only be used for analog control; once the Hall 3 changes in the sensing parameters, the simulation Control May be distorted.
  • the present invention realizes digital control by using a rectangular wave signal without causing a problem of controlling distortion.
  • the annular groove rotating plate 1 may be a plastic plate, a high-strength plate, a copper plate, an aluminum plate or the like which is not easily deformed.
  • the annular groove rotating disk 1 is rotated, so the annular groove rotating disk 1 is also called a rotating disk, and the center of rotation is the center of a circle in which a plurality of permanent magnet blocks 2 are distributed in a circular shape.
  • the plurality of permanent magnet blocks 2 are arranged in a circular shape in the shape of a circular ring 6 so that the motion state of all the permanent magnet blocks 2 on the rotating disk can be felt by only one Hall 3, that is, the annular groove is felt.
  • this Hall 3 can express the motion state of the permanent magnet block 2 with a continuous electrical signal, and because of all
  • the permanent magnet block 2 is respectively fixed on the annular groove rotating disk, that is, the annular groove rotating disk 1, and the continuous electric signal generated by the Hall 3 can express the moving state of the annular groove rotating disk. If this continuous electrical signal is used to control other objects, this continuous electrical signal is the control signal.
  • the sensor signal processor If it is used to control the motor of the bicycle, it is also necessary to use a single-chip computer or other electronic components as the sensor signal processor to convert the position, velocity and acceleration of the control signal into a boost signal that needs assistance.
  • the function of the conversion is the power.
  • the meaning of the misalignment distribution of the plurality of permanent magnet blocks 2 is that the electric signals generated by the Hall 3 are not exactly the same pulse signals, but the pulse signals having different pulse widths, and the differential pulse signals are used to distinguish the permanent magnet blocks 2
  • the different positions of the permanent magnet block 2 at different positions can be obtained. It is possible to accurately express a certain position of the rotating disk of the annular groove, or each of the moving states of the permanent magnet block 2. For example, when it is used to assist bicycles, it can accurately express the need for power assistance in different positions of the pedals, so that the expression of the assistance demand is more accurate, and the cooperation between the vehicle and the person is more consistent.
  • the permanent magnet block 2 radius misalignment is distributed in such a manner that some of the permanent magnet blocks 2 are closer to the center of rotation of the ring-shaped groove rotating disk, and some of the permanent magnet blocks 2 are far from the center of rotation of the ring-shaped groove rotating disk.
  • the permanent magnet block 2 must be within the range that the Hall 3 can sense and generate an electrical signal.
  • the range in which the electrical signal can be generated is the range between the inner circular trajectory 5-1 and the outer circular trajectory 5-2. In order to ensure that the Hall 3 can generate an electrical signal, it is required that at least one circular trajectory line runs through the entire permanent magnet block 2 between the inner circular trajectory 5-1 and the outer circular trajectory 5-2.
  • At least two permanent magnet blocks 2 have different distances from the center of the circle where the inner circular track line 5-1 is located.
  • the distance from each permanent magnet block 2 to the center of the circle may be different, that is, the radius of each permanent magnet block 2 Not identical, so that each pulse of the Hall 3 electrical signal can be represented in the permanent magnet block 2, so that each pulse can represent an annular groove rotating disk position.
  • the arrangement of the permanent magnet block 2 pitch misalignment is: The outer edge of the permanent magnet block 2 is used as the basis for measuring the spacing, and at least two permanent magnet block spacings 7 are different in length, of course, the length of each permanent magnet block is not 7 The same, so that each pulse of the Hall 3 electrical signal can be represented in the permanent magnet block 2, so that each pulse can represent an annular groove rotating disk position.
  • the second type is that a permanent magnet block 2 can be provided at a plurality of positions in the strip-shaped short groove 8, and at least one strip-shaped short groove 8 is used on the annular groove rotating disk 1, and one or more permanent magnet blocks 2 are It is arranged in the strip-shaped short groove 8, and the position of the permanent magnet block 2 can be changed at any time according to the needs of the person, that is, the position in the strip-shaped short groove 8 where the permanent magnet block 2 is located is adjusted, and the fixed position is fixed, so that there is a strip
  • the short groove 8 can adjust the dislocation distribution pattern of the permanent magnet block 2 at any time, and the same permanent magnet block 2 can be used to generate different output signals of the Hall 3, which produces different control effects. If used to power bicycles, it can give people different power-saving effects.
  • the Hall 3 is located close to the permanent magnet block 2 and can sense the magnetic flux of the permanent magnet block 2, and aims to sense the motion state of the permanent magnet block 2 by using the Hall 3, thereby feeling the motion state of the ring groove rotating disk 1, that is, the motion. Position, speed, acceleration.
  • the opposite magnetic polarity of the adjacent permanent magnet block 2 is an important technical feature.
  • the magnetic polarity distribution pattern of all the permanent magnet blocks 2 is N pole, S pole, N pole, S pole, N pole, S pole... 3 outputs a rectangular wave signal of high and low phase. Because the ring groove is a limited size rotation disk, it is necessary to obtain as many accurate change signals as possible in one rotation. Of course, a rectangular wave should be selected. The peak-to-valley value of the rectangular wave signal changes for a short period of time, and can generate as many signals as possible with control in a certain period of time.
  • the structures of the adjacent permanent magnet blocks 2 having opposite magnetic polarities generate rectangular waves, and the structures of the adjacent permanent magnet blocks 2 having the same magnetic polarity generate sinusoidal waves, particularly when used to assist bicycles, the annular groove as a sensing member rotates.
  • the disc is generally limited to a diameter of 10-15 cm. In this limited range, a signal with a control function is obtained, and one rotation is made, and the rectangular wave is generated 7 to 9 times more than the number of pulses that the sine wave can provide.
  • the structure with the opposite magnetic polarity of the adjacent permanent magnet block 2 has a better control effect on the assist bicycle, and the person and the car cooperate better, and the rider feels more comfortable.
  • the assist model processor 21 is a signal form converter that converts the digital signal rotated by the annular groove rotating disk 1 into a power model digital signal;
  • the assist model processor 21 includes an analog-to-digital conversion and wave width recognizer 22, a boost start point selector 23, a magnetic block rotational speed calculator 24, a boost model memory 25, and a boost model calculator 26; the processing ideas of these components for the signal are:
  • the rectangular wave signal of the Hall 3 in the sensing element is decomposed into a position digital signal indicating the position of the magnetic block 2, and a speed digital signal indicating the rotational speed of the circular groove rotating disk 1. Since the position and speed are digital signals, the position can be And the speed is processed by the assisted mathematical model, and the mathematical model can be designed according to the best feeling of the human being, so that the assisting model digital signal output by the model processor 21 has the best assisting mathematical model, and the assisting mathematical model is started.
  • the point and the end point because there is a digital signal of the position of the magnetic block 2, the starting point and the ending point are accurate enough to be completely synchronized with the human power demand.
  • the problem that the prior art does not have the position signal of the magnetic block 2 causes the human power demand and the power assist model to be mismatched, and the operation of the power assist model is delayed by the power demand, and the problem of the prior art is solved, and the power is only forced to be small. Force, we must give strength to the small force, do not force and give power and other problems.
  • the connection relationship and functions of the components in the power model processor 21 are as follows:
  • the analog to digital conversion and wave width identifier 22 is coupled to the sensing element, and the analog to digital conversion and wave width identifier 22 is incorporated into the sensing element
  • the rectangular wave signal input by the Hall 3 recognizes the width of each rectangular wave, converts each rectangular wave signal into a different digital signal, and marks each rectangular wave, and the analog-to-digital conversion and the wave width recognizer 22 output are marked with a magnetic block. Positional rectangular wave signal. In this way, the rectangular wave signal whose waveform has a length difference is changed into a rectangular wave signal marked with data, and it is convenient to convert the rectangular wave length into rectangular wave position data in the subsequent digitization process for arithmetic processing.
  • the analog-to-digital conversion and the wave width recognizer 22 is a processor that converts the rectangular wave length to the position of the magnetic block and becomes a digital signal that marks the position of the magnetic block with data. This is an important invention that distinguishes the present invention from the existing assisted bicycle. With the digital signal indicating the position of the magnetic block with data, the present invention can find one or each magnetic on the circular groove rotating disk 1 which circulates in a circular motion.
  • the motor 30 does not rotate when there is a need for assistance, and the motor 30 does not stop when the power is not required, and even causes a collision accident.
  • the analog-to-digital conversion and wave width recognizer 22 is connected to the assist start point selector 23 and the magnetic block rotational speed calculator 24, respectively, and the assist start point selector 23 is connected to the magnetic block rotational speed calculator 24; the magnetic block rotational speed calculator 24 uses analog-to-digital conversion and The magnetic block motion digital signal input by the wave width identifier 22, which is marked with the order of the magnetic block position, calculates the rotational speed of the annular groove rotating disk 1, and transmits the digital signal of the rotational speed of the annular groove rotating disk 1 to the assisting start point selector 23, The assist starting point selector 23 determines a rectangular wave corresponding to the assist starting point under a certain rotational speed condition by using the magnetic block motion digital signal marked with the magnetic block position order and the rotational speed digital signal of the annular groove rotating disk 1.
  • the assist starting point magnetic block Since the determined starting point magnetic block is a rectangular wave with data annotation, the assist starting point magnetic block has a unique corresponding position of the magnetic block 2, so that the assisting start point selector 23 completes the position of the magnetic block 2 for finding the assist starting point. It is also possible to determine when a certain magnetic block 2 is in position, to start or end the motor for some kind of assisted model motion. This achieves the synchronous movement of the specific magnetic block 2 of the human control ring groove rotating disk 1.
  • the specific magnetic block 2 controls the motor 30 to perform a specific synchronous rotation, thereby realizing the purpose of synchronously controlling the motor, and the starting point and the end point of the control are not inaccurate. There is no problem with the control of the start and end delays. However, when the existing assist bicycle is unable to find the starting position synchronized with the person when starting and assisting, the problem of the starting point and the end point delay of the control will be generated.
  • the assist starting point selector 23 and the magnetic block rotational speed calculator 24 are respectively connected to the assist model calculator 26, and the assist model memory 25 is also connected to the assist model calculator 26; the assist model calculator 26 uses the assist starting point of the assist starting point selector 23 The block, and the rotational condition of the disk 1 by the annular groove of the magnetic block rotational speed calculator 24, selects one of the assist model functions in the assist model memory 25, and rotates the starting magnetic block and the annular groove to rotate the disk 1 These two conditions are substituted into the assist model function to calculate the assist model digital signal suitable for these two conditions, that is, the assist model calculator 26 can output the assist model digital signal.
  • the digital-to-analog converter 27 converts the power-assisted model digital signal into a power-assisted model. Analog signal.
  • the assist model calculator 26 is connected to the digital-to-analog converter 27, which converts the assist model digital signal of the assist model calculator 26 into a boost model analog signal. In order to output an analog signal of the boost model to the motor controller 29 which can only process the analog signal.
  • the operational amplifier 28 is an assist model analog signal that converts the assist model analog signal of the digital-to-analog converter 27 into a rated voltage range.
  • the digital-to-analog converter 27 is connected to the operational amplifier 28.
  • the power-assisted model analog signal of the digital-to-analog converter 27 solves the power-assisted model problem, but the voltage of the power-assisted model signal cannot meet the needs of the motor controller 29, so an operational amplifier is also used.
  • the 28 assisted model analog signal required to convert the boost model analog signal into the rated voltage range can be transmitted to the motor controller 29.
  • the signals output by the signal processing components in the sensor of the present invention are:
  • Hall 3 outputs a rectangular wave signal
  • the assist model processor 21 outputs the assist model digital signal
  • the analog-to-digital conversion and the wave width recognizer 22 outputs a digital signal of the magnetic block motion marked with the order of the magnetic block position;
  • the assist starting point selector 23 outputs a determined start position signal of the assist starting point magnet block
  • the magnetic block rotational speed calculator 24 calculates and outputs a digital signal of the rotational speed of the annular groove rotating disk 1;
  • the assist model memory 25 stores a plurality of boost model function spares, and outputs a digital signal of the selected boost model function;
  • the boost model calculator 26 calculates and outputs a boost model digital signal to be used for the control function;
  • the digital-to-analog converter 27 outputs an assist model analog signal that converts the power model digital signal into a power model
  • the operational amplifier 28 outputs an assist model analog signal that converts the assist model analog signal into a rated voltage range
  • the thermistor R6 ensures that the operational amplifier 28 outputs a boost model analog signal of the rated voltage range, that is, the standard boost model analog signal.
  • a thermistor R6 is provided to solve the problem of the analog model analog signal drift, and the thermistor R6 is connected between the input terminal and the output terminal of the operational amplifier 28.
  • Hall 3 digital-to-analog converter 27 and operational amplifier 28 are both semiconductor devices and have the function of processing analog signals. It is easy to drift signal parameters with temperature changes, especially in summer and winter, and the bicycles are all outdoors. The effect of temperature variation on the signal parameter drift is obvious. Therefore, it is better to perform signal drift correction on the signal output from the operational amplifier 28 to obtain a standard power assist model analog signal that is not affected by temperature changes, and pass the standard assist model analog signal to the motor controller 29
  • the motor 30 is controlled to operate, and the person riding the bicycle does not feel the difference in the summer and winter power assist effects.
  • the boost model processor 21 is a single chip microcomputer 31 to which a clock circuit 32 is connected. Complete with single chip 31 The functions of the analog-to-digital conversion and wave width recognizer 22, the assist start point selector 23, the magnetic block rotational speed calculator 24, the assist model memory 25, and the assist model calculator 26.
  • the clock signal of the clock circuit 32 is for distinguishing the rectangular wave signals input from the Hall 3, and it is preferable that the length of each clock signal is 0.001 second.
  • the mechanical component of the sensor is structurally related to the sensing component: the mechanical component of the sensor comprises an annular groove rotating disk 1 and a fitting annular groove fixing disk 40, and the sensing component of the sensor comprises a plurality of permanent magnet blocks 2 and a Hall 3 , the single chip microcomputer 31, the digital-to-analog converter 27 and the operational amplifier 28; four electronic components of the Hall 3, the single chip microcomputer 31, the digital-to-analog converter 27 and the operational amplifier 28 which are sequentially connected in the sensing unit are disposed on a circuit board 59; The annular groove of the hollow ring 41 rotates the inner wall of the disk 1 to fix a plurality of permanent magnet blocks 2, and the inner wall of the annular groove fixing plate 40 of the hollow ring 41 fixes the circuit board 59.
  • the Hall 3 on the circuit board 59 is set to be able to feel the permanent magnet.
  • the magnetic flux of block 2, and the Hall 3 can output the position of the varying electrical signal in accordance with the change in the magnetic flux.
  • the sensing component is the sensing function of the sensor; the mechanical component has two functions. The first is to fix the relative position of each component in the sensing component, so that each component can form a sensing functional whole, and the second is to This sensing function is fixed on the electric bicycle as a whole, and makes the sensing function as a whole to sense the movement state of the electric bicycle.
  • the four electronic components of the sequentially connected Hall 3, the single chip microcomputer 31, the digital-to-analog converter 27 and the operational amplifier 28 are arranged on a circuit board 59, which is advantageous for integration, modularization and miniaturization of the four electronic components.
  • the four electronic components are integrally fixed to the inner wall of the annular groove fixing disk 40 of the hollow ring 41, which simplifies the process of manufacturing the sensor.
  • Hall 3 is UGN3075
  • power model processor 21 is AT89S52 single chip
  • digital to analog converter 27 is ADC-C8E
  • operational amplifier 28 is OF-17F
  • OF A thermistor R6 is connected between the input terminal 2 of the -17F operational amplifier 28 and the output terminal 6; the connection relationship of each component is as follows:
  • the signal output terminal 3 of Hall 3 is connected to the 12-pin INTO [P32] of the single chip microcomputer 31 ;
  • MCU 31's 39-pin P00 is connected to the digital-to-analog converter 27's 12-pin B8;
  • Mp 31 of the MCU 31 pin P01 is connected to the digital-to-analog converter 27 of the 11-pin B7;
  • MCU 31's 37-pin P02 is connected to the digital-to-analog converter 27's 10 feet B6;
  • MCU 31's 36-pin P03 is connected to the digital-to-analog converter 27's 9-pin B5;
  • MCU 31's 35-pin P04 is connected to the digital-to-analog converter 27's 8-pin B4;
  • the 34-pin P05 of the MCU 31 is connected to the 7-pin B3 of the digital-to-analog converter 27;
  • the 32-pin P06 of the MCU 31 is connected to the 6-pin B2 of the digital-to-analog converter 27;
  • the 32-pin P07 of the MCU 31 is connected to the 5-pin B1 of the digital-to-analog converter 27;
  • the 4-pin of the digital-to-analog converter 27 is connected to the 2 pin of the operational amplifier 28;
  • the 2 pin of the digital-to-analog converter 27 is connected to the 3 pin of the operational amplifier 28;
  • the 6th pin of the operational amplifier 28 is an analog signal output terminal.
  • the OF-17F operational amplifier 28 has a thermistor R6 connected to the input pin 2 and the output pin 6 and a capacitor C6 connected in parallel with the thermistor R6.
  • the thermistor R6 is 5K
  • the capacitor C6 is 8 ⁇
  • the 4 pin of the digital-to-analog converter 27 and the 2 pin of the operational amplifier 28 are grounded by 1.25k R5.
  • the analog signal voltage range of the 286 pin output is stable between 0.8--4.2V.
  • the length of at least one permanent magnet block pitch 7 is not equal to any other permanent magnet block pitch 7.
  • the strip short groove 8 is a structure for adjusting and fixing the permanent magnet block 2 at different positions. By adjusting the position of the permanent magnet block 2, it is achieved that the length of at least one permanent magnet block pitch 7 is not equal to any other permanent magnet block pitch 7. Not equal to other lengths, i.e., a special length of permanent magnet spacing 7 can be used to indicate the position of the bicycle pedal.
  • the length of at least two permanent magnet block pitches 7 is not equal to any other permanent magnet block pitches 7, and the two special length permanent magnet block pitches 7 respectively correspond to two foot pedals, which are used to indicate two bicycles. The position of the foot pedal. Because of the circular motion of the bicycle pedal, it is important to determine the speed of the pedal motion in order to obtain the speed of the current circular motion.
  • a bearing 42 is provided between the outer surface of the inner ring of the annular groove fixing disk 40 and the inner surface of the inner ring of the annular groove rotating disk 1.
  • the bearing 42 maintains a good relative rotation between the annular groove fixing disk 40 and the annular groove rotating disk 1 for a long time.
  • the strip-shaped short groove 8 is an arc-shaped structure, and the arc of the strip-shaped short groove 8 is concentric with the inner circular trajectory 5-1.
  • This configuration allows the output signal produced by Hall 3 to change the length of the peak or trough. It can be used as a start signal for a changed peak or trough length to enable the controlled object to activate another set of working procedures.
  • the assisting model can be changed, such as a small person assist model, a woman assist model, a youth assist model, a sports assist model, Leisure power assist model. Can be used for the second, changed peak or trough length is only used to change the control effect of this peak or trough. If used to assist the bicycle, only the boosting effect of the position of the permanent magnet block 2 is changed.
  • the strip short groove 8 is an oblique structure, that is, the ends of the strip short groove 8 are not equal to the center of the inner circular track line 5-1, respectively. However, the strip short groove 8 should be in the range between the inner circular track line 5-1 and the outer circular track line 5-2, so that the Hall 3 can sense the signal of the permanent magnet block 2 in the strip short groove 8. .
  • the oblique strip-shaped short groove 8 has the same action and effect as the above-described curved strip-shaped short groove 8.
  • One of the inner edges of the strip-shaped short groove 8 is provided with two or more toothed projections 9.
  • the permanent magnet block 2 In order to fix the permanent magnet block 2 at one of a plurality of positions in the strip-shaped short groove 8, the permanent magnet block 2 is prevented from being self-changing when the annular groove is rotated, so that the strip-shaped short groove 8 is used.
  • the toothed projection 9 stabilizes the permanent magnet block 2 at a certain fixed position.
  • the strip short groove 8 and the permanent magnet block 2 are detachable snap connection structures.
  • the Hall 3 is disposed between the inner circular trajectory 5-1 and the outer circular trajectory 5-2. Because the Hall 3 is a component that can sense the magnetic flux of the permanent magnet block 2 and output an electrical signal, and in order to minimize the volume of the permanent magnet block 2, make it in the annular groove.
  • the permanent magnet block 2 is arranged as much as possible on the rotating disk 1, so that the permanent magnet block 2 which is minimized can be induced by the Hall 3; the Hall 3 should be set to the inner circular track line 5-1 and the outer circular track line. Between 5-2, and preferably at a position close to a circular trajectory that can penetrate all of the permanent magnet blocks 2.
  • the annular groove rotating disk 1 is provided with a center hole in a circle in which the inner circular track line 5-1 of the plurality of permanent magnet blocks 2 is located. If the annular groove rotating disk 1 is to be worn over a rotating shaft, the annular groove rotating disk 1 is provided with a hole for threading the rotating shaft; to ensure that the annular groove rotates the disk 1 while rotating with the rotating shaft, The Hall 3 can sense the motion signal of each permanent magnet block 2 on the rotating groove 1 of the annular groove, and the through hole on the rotating groove 1 of the annular groove should be set in the inner circular trajectory 5 of the plurality of permanent magnet blocks 2.
  • the center of the circle range where -1 is located, since the inner circular trajectory line 5-1 and the outer circular trajectory line 5-2 are concentric circles, of course, the through hole is at the center of the circle of the outer circular trajectory line 5-2, and the sleeve is worn.
  • the hole is a central position hole of the inner circular trajectory line 5-1 and the outer circular trajectory line 5-2, that is, the center hole. That is to say, the center hole is not necessarily circular, and may be a square, a triangle or the like so as to be sleeved with a rotating shaft of a shape such as a square or a triangle, but the inner space of the center hole must include an inner circular trajectory 5-1.
  • a Hall 3 can be used to sense the motion signal of all the permanent magnet blocks 2 on the rotating disk of the annular groove rotating disk 1 to rotate the disk.
  • the annular groove rotating disk 1 is a plastic plate, an aluminum plate, or a copper plate of a non-magnetic material. Since the present invention is a structure in which the magnetic polarities of the adjacent permanent magnet blocks 2 are opposite to each other, the edges of the adjacent permanent magnet blocks 2 can be made to be close to each other, and the Hall 3 can output an electric signal having a control function.
  • the invention has the advantages of simple structure, low cost, unlimited number of permanent magnet blocks on the permanent magnet block ring, output of standard pulse signals, no signal dead zone, and complete representation of only one Hall of output signals.
  • the entire motion state of the moving plate, the output signal is not distorted and does not drift, the position of the permanent magnet block is changed and the position of the permanent magnet block is adjusted to indicate the fixed position of the permanent magnet block, and the motion signal can have the motion of each permanent magnet block.
  • the position and output information model can be adjusted to assist the bicycle, so that the assist output and the power demand can be highly matched to make the rider feel comfortable, not only the automatic power but also the function of personalization.
  • the magnetic polarity of adjacent permanent magnet blocks is opposite, and the number of permanent magnet blocks is not limited.
  • the sensing points can be increased as much as possible: Since the magnetic polarity is opposite, the rectangular wave signal is output, and the adjacent permanent magnet blocks have no gap even if they are The output signal is still a number, distinguishable rectangular wave signal, and still has a control function, that is, it does not output a non-changing linear signal without control function.
  • the number of permanent magnets can be increased as much as possible on the rotating disk of the ring groove of a predetermined size, and the sensing point can be increased as much as possible. As many sensor signals as possible indicate the position and speed of the bicycle pedal movement, accurately indicating the motion state.
  • the magnetic polarity of adjacent permanent magnet blocks is opposite. There may be more permanent magnet blocks and more sensing points.
  • the motion state of the rotating disk of the annular groove is accurate: for the bicycle used to assist the bicycle, the ring of the permanent magnet block is fixed.
  • the size of the rotating disk of the groove is strictly limited. Generally, the diameter of the rotating disk of the annular groove can only be within 10-15 cm. In order for the Hall to obtain the magnetic pole signal of the permanent magnetic block under the condition of spacing, the diameter of the permanent magnetic block is at least For the ⁇ 0. 6-0.
  • the adjacent permanent magnet blocks have the same magnetic polarity, the adjacent permanent magnet blocks are spaced by 5 cm, and on the rotating disk of the diameter of 10-15 cm, only 5-8 permanent magnets can be set.
  • the motor control accuracy of the assist bicycle is naturally increased by 7-9 times, which makes the rider's assistance demand accuracy also improved by 7-9 times.
  • the degree of cooperation between the vehicle and the person is greatly improved, and the rider's comfort is greatly increased. It is no longer a quick and uncomfortable feeling of the prior art moped.
  • this patent can set up to 35-73 permanent magnet blocks around the ring groove rotating disk with a diameter of 10-15 cm. The average angle between them is 5-10 degrees.
  • the pedals used to assist bicycles, when starting or running, the pedals have 4-7 permanent magnet blocks from a range of 10 degrees from the apex of 10-45 degrees (a signal at a 10 degree angle from the apex) ), Hall can output 4-7 control signals to respond to the power demand, and it can achieve excellent technical effects that can be obtained at any position and at any time with help, so that the car and people can cooperate well, and the rider feels labor-saving. Comfortable.
  • Only one Hall is used.
  • One control signal indicates the entire motion state of the rotating disk of the ring groove.
  • the control signal is completely consistent with the motion state of the rotating disk of the ring groove.
  • the control signal is exactly the same as the human demand:
  • the block is fixed on the rotating disk of the annular groove, and the permanent magnet block rotates synchronously with the rotating disk of the annular groove, and the motion signal of all the permanent magnetic blocks is sensed by one Hall, and the control signal of the Hall output and the rotating groove of the annular groove are rotated.
  • the motion state is completely consistent, and the human demand is exactly the same, and the control signal does not have the original segmentation error and signal drift problem. Even if the Hall sensing parameter changes, the entire control signal moves in parallel.
  • the control effect of the changed Hall control signal changes systematically. If used to assist bicycles, the power demand model will not be distorted, and the assist output and the power demand still maintain the matching relationship of the original model. It is easy for the rider to grasp the systematic change of the power assist performance.
  • the dislocation permanent magnet block can indicate the motion state of a specific position: Because the permanent magnet block is misaligned in the radial direction or the arc line spacing is misaligned, the misaligned permanent magnet block makes the Hall output unique waveform.
  • the control signal, the control signal of the unique waveform can directly represent the motion state of a fixed permanent magnet block position of the rotating disk of the annular groove; for example, each permanent magnet block has its own specific misalignment site, which can be achieved. How many permanent magnet blocks are available, and how many motion state signals are available for a particular location. For the purpose of assisting the bicycle, the diameter of the circular groove rotating disk is within 10-15 cm, and the circular groove rotates the disk one turn.
  • the Hall can obtain the control signals of 35-73 different position motion states, naturally knowing 35-73
  • the circular groove rotates the disk one turn, the prior art can only have a maximum of 5-8 power demand, far less than the maximum available 35-73 power demand signals of this patent can more truly reflect the rider's power demand.
  • the bicycle is equipped with the patented technology, and the vehicle can be more consistent with the needs of the person. The rider feels that the pedal is in any rotational position, and he can completely control the speed and comfort.
  • the prior art assist bicycle can only control the vehicle speed in a maximum of 5-8 rotation positions.
  • the position of the permanent magnet block can be adjusted, and the model of the control signal can be adjusted as needed to realize individualized control:
  • the waveform of the permanent magnet block whose pitch is adjusted will change the wave spacing, that is, the signal model changes, and different signal models can be selected to control the controlled object to realize personalized control.
  • the appropriate signal model can be selected according to different people's strengths or hard habits, that is, according to different people adjusting the power-assisted model, the assist bicycle can not only be auto-assisted, but also has the function of assisting by individualization.
  • the Hall signal can be digitized, and the control signal can be added to the control model with the best cooperation of the human machine:
  • the rectangular wave signal with the position of the magnetic block and the rotational speed of the magnetic block is changed into the digital signal of the two elements.
  • Fixed, suitable for human machine With the good mathematical aid model, the digital signal of the two elements is converted into the digital signal of the power assist model, and then the digital signal of the power assist model is converted into the analog signal of the power assist model. Finally, the analog signal of the power assist model is converted into a stable voltage range and has a rated power. Control signals available to the motor controller. In short, the signal of the rotation of the magnetic block is digitized.
  • a mathematical assist model is added to make the control signal outputted by the sensor contain the added assisting model. Since the mathematical assist model is artificially set, the mathematical assist model can always be set to the model most suitable for human-machine coordination.
  • the sensor of the present invention can output a control signal that can achieve optimal human-machine coordination.
  • the magnetic poles of the existing bicycle sensor have the same magnetic pole on the same side, and the Hall cannot obtain the rectangular wave signal, so the Hall signal cannot be digitized.
  • the control model can only partially modify the Hall signal, so it cannot A control signal that achieves the best fit of the output man-machine.
  • the final output control signal will not have signal drift: feedback adjustment of the output signal of the operational amplifier with the thermistor R6, which can solve the semiconductor model such as Hall, digital-to-analog converter and operational amplifier
  • the drift problem causes the sensor to output a standard boost model analog signal that is not subject to ambient temperature changes.
  • FIG. 1 is a schematic structural view of a sensing element in which a plurality of N-S alternating permanent magnet blocks are distributed unevenly on an annular groove rotating disk, and the position of the permanent magnet block is adjustable;
  • FIG. 2 is a schematic diagram of a sensor structure in which a plurality of N-S alternating permanent magnet blocks are distributed on a rotating disk of an annular groove, and a position of the permanent magnet block is adjustable;
  • Figure 3 is a schematic cross-sectional view of the sensor
  • FIG. 4 is a block diagram of signal flow of a Hall, a power assist model processor, a digital to analog converter, and an operational amplifier;
  • Figure 5 is a circuit diagram of a Hall, a microcontroller, a digital-to-analog converter, and an operational amplifier.
  • 1 is an annular groove rotating disk
  • 2 is a permanent magnet block
  • 3 is a Hall
  • 5-1 is an inner circular trajectory
  • 5-2 is an outer circular trajectory
  • 6 is a circular ring
  • 7 is a permanent Magnetic block spacing
  • 8 is strip-shaped hole
  • 9 is tooth-shaped convex
  • 21 is power assist model processor
  • 22 is analog-to-digital conversion and wave width recognizer
  • 23 is power assist starting point selector
  • 24 is magnetic block speed calculator
  • 26 is the boost model calculator
  • 27 is the digital-to-analog converter
  • 28 is the operational amplifier
  • 29 is the motor controller
  • 30 is the motor
  • 31 is the microcontroller
  • 32 is the clock circuit
  • 40 is the annular groove fixed disk 41 is a hollow ring
  • 42 is a bearing
  • 59 is a circuit board.
  • Embodiment 1 A sensor with adjustable magnetic block position in a housing
  • the sensor of this embodiment includes a sensor element, a boost model processor 21, a digital-to-analog converter 27 and an operational amplifier 28;
  • the sensing element is an element that converts the rotational motion of the annular groove rotating disk 1 into a rectangular wave signal output; the concave surface of both the rotating disk 1 and the annular groove fixing disk 40 is opposed by an annular groove, and the annular concave
  • the groove rotating disk 1 and the annular groove fixing disk 40 are sized so that the annular groove fixing disk 40 can be fitted into the annular groove of the annular groove rotating disk 1, and the two disks can be rotated relative to each other.
  • the outer casing, the concave surface of the two disks is sandwiched into a hollow ring 41; at the annular groove rotating disk 1 at the position of the hollow ring 41, 20 permanent magnet blocks 2 are fixedly disposed.
  • the annular groove rotating disk 1 and the annular groove fixing disk 40 are injection molded from high-strength plastic.
  • the magnetic flux is 0. 8cm, the magnetic flux is 0. 8cm, the magnetic flux is 0. 8cm, the magnetic flux is 0. 8cm, the magnetic flux is 0. 8cm, the magnetic flux It is a value of 146---279(B ⁇ H)max/KJ ⁇ m" 3.
  • the structure of the ring groove rotating disk 1, permanent magnet block 2, and Hall 3 is as follows:
  • Each permanent magnet block 2 is fixed in a circle 6 between a circular trajectory of 5-1 cm in diameter and a circular trajectory line 5-2 of 9.5 cm, and a plurality of permanent magnet blocks 2 are angularly displaced. Distribution, there are multiple permanent magnet blocks 2 in a misaligned distribution.
  • the radius misalignment distribution manner is: the plurality of permanent magnet blocks 2 are distributed in a circle 6 , and at least between the inner circular trajectory 5-1 and the outer circular trajectory 5-2 of the circular ring 6 A circular trajectory line runs through all of the permanent magnet blocks 2; the inner circular trajectory line 5-1 and the outer circular trajectory line 5-2 are concentric circles, and at least two permanent magnet blocks 2 to inner circular trajectory lines 5-1 The distance at the center of the circle is not the same;
  • the spacing misalignment is as follows: The distance between adjacent permanent magnet blocks 2 is the permanent magnet block spacing 7; at least two permanent magnet block spacings 7 are different in length.
  • the length of the two permanent magnet block pitches 7 is not equal to the length of any other permanent magnet block pitch 7, and the lengths of the two permanent magnet block pitches 7 are also not equal.
  • the positions of the two permanent magnet blocks 7 are two permanent magnet blocks 2 at the ends of one diameter of the rotating disk 1, and the two permanent magnet blocks 2 are used to represent two foot pedals on the assist bicycle. Sports position.
  • the permanent magnet block 2 is disposed between the inner circular trajectory line 5-1 and the outer circular trajectory line 5-2, there are two arc-shaped strip-shaped short grooves 8 in which the permanent magnet block 2 is disposed, and the permanent magnet block 2 is provided. It can be fixed at any position in the strip-shaped short groove 8; the permanent magnet block 2 and the strip-shaped short groove 8 are detachable fixed connection structures, that is, after the permanent magnet block 2 in the strip-shaped short groove 8 is removed Switching to the other position in the strip-shaped short groove 8 and then fixing the connection, adjusting the permanent magnet block spacing 7 between the permanent magnet block 2 and the adjacent permanent magnet block 2.
  • the inner edge of the strip-shaped short groove 8 is provided with two or more toothed projections 9. A permanent magnet block 2 is stuck in a toothed projection 9.
  • the strip-shaped short groove 8 is an oblique structure, that is, the distance between the two ends of the strip-shaped short groove 8 and the center of the inner circular track line 5-1 is not equal.
  • the two plurality of permanent magnet blocks 2 of the strip-shaped short groove 8 are distributed in a radius misalignment manner.
  • All the permanent magnet blocks 2 disposed on one surface of the rotating disk 1 are arranged in such a manner that the magnetic polarities of the adjacent permanent magnetic blocks 2 are opposite, that is, the magnetic polarity distribution pattern of all the permanent magnet blocks 2 on one surface of the rotating disk 1 is N pole, S Pole, N pole, S pole, N pole, S pole...
  • a Hall 3 a signal output line of the Hall 3 is fixedly disposed on the annular groove fixing plate 40 in the hollow ring 41. Passing through the annular groove fixing disk 40, that is, the Hall 3 is disposed within a circular ring 6 between the circular trajectory line 5-1 and the outer circular trajectory line 5-2 of each permanent magnet block 2, The Hall 3 maintains a separation distance of 0.3 cm from each of the permanent magnet blocks 2 in the rotating state, so that each of the rotating permanent magnet blocks 2 passes through the Hall 3, and the Hall 3 can generate a corresponding rectangular wave electric signal output.
  • the rotating disk 1 is provided with a center hole in the center of the inner circular trajectory 5-1 of the entire permanent magnet block 2, and the center hole is used for the pedal center shaft or the rotating shaft of the assist bicycle.
  • the assist model processor 21 is a converter that converts the digital signal rotated by the annular groove rotating disk 1 into a signal form of the assist model digital signal;
  • the assist model processor 21 includes an analog-to-digital conversion and a wave width recognizer 22, a boost start point selector 23, a magnetic block tachometer 24, a boost model memory 25, and a boost model calculator 26;
  • the analog-to-digital conversion and wave width identifier 22 is connected to the sensing element, and the analog-to-digital conversion and wave width identifier 22 identifies the rectangular wave signal input by the Hall 3 in the sensing element to identify the width of each rectangular wave, and the rectangular wave signal is Changing to a different digital signal, labeling each rectangular wave, the analog-to-digital conversion and the wave width recognizer 22 outputting a magnetic block motion digital signal marked with a magnetic block position order;
  • the analog-to-digital conversion and wave width recognizer 22 is connected to the assist start point selector 23 and the magnetic block rotational speed calculator 24, respectively, and the assist start point selector 23 is connected to the magnetic block rotational speed calculator 24; the magnetic block rotational speed calculator 24 uses analog-to-digital conversion and
  • the digital signal of the magnetic block motion input by the wave width identifier 22 calculates the rotational speed of the annular groove rotating disk 1, and transmits the digital signal of the rotational speed of the circular groove rotating disk 1 to the assisting start point selector 23, and the assisting start point selector 23 is labeled
  • the two signals of the magnetic block motion digital signal having the position of the magnetic block and the rotational speed digital signal of the circular groove rotating disk 1 determine a rectangular wave corresponding to the starting point of the assisting force under a certain rotational speed condition, that is, the assisting starting point magnetic block is determined.
  • the assist starting point selector 23 completes the finding of the starting point of the boosting magnetic block, that is, determines the starting of the assisting force from a rectangular wave, which is precisely the rotation of the circular groove 1 at a certain rotational speed, from a certain magnetic
  • the block starts to assist at a certain position, or starts from a certain magnetic block at a certain position, and changes the original power-assisted model to the next-selected power-assisted model. Help.
  • the assist starting point selector 23 and the magnetic block rotational speed calculator 24 are respectively connected to the assist model calculator 26, and the assist model memory 25 is also connected to the assist model calculator 26; the assist model calculator 26 uses the assist starting point of the assist starting point selector 23 The block, and the rotational condition of the disk 1 by the annular groove of the magnetic block rotational speed calculator 24, selects one of the assist model functions in the assist model memory 25, and rotates the starting magnetic block and the annular groove to rotate the disk 1 These two conditions are substituted into the assist model function to calculate the assist model digital signal suitable for these two conditions, that is, the assist model calculator 26 outputs the assist model digital signal;
  • the digital-to-analog converter 27 is an analog signal that converts the power-assisted model digital signal into a power-assisted model.
  • the boost model calculator 26 is connected to the digital-to-analog converter 27, and the digital-to-analog converter 27 assists the boost model calculator 26.
  • the force model digital signal is converted into a power assist model analog signal. In order to output an analog signal of the assist model to the motor controller 29 which can only process the analog signal.
  • the operational amplifier 28 is a boost model analog signal that converts the assist model analog signal of the digital-to-analog converter 27 into a rated voltage range.
  • the digital-to-analog converter 27 is connected to the operational amplifier 28.
  • the power-assisted model analog signal of the digital-to-analog converter 27 solves the power-assisted model problem, but the voltage of the power-assisted model signal cannot meet the needs of the motor controller 29, so an operational amplifier is also used.
  • the auxiliary model analog signal required to convert the assist model analog signal into the rated voltage range can be transmitted to the motor controller 29 to achieve the purpose of the motor controller 29 controlling the motor 30 for the purpose of assisting.
  • Embodiment 2 High-density sensor with adjustable position of multiple magnetic blocks in the housing
  • the annular groove in the hollow ring 41 rotates the disk 1 surface diameter of 10.
  • the ring groove rotating disk 1 is set 40 permanent magnet blocks 2, 40 permanent magnet blocks 2 diameter respectively
  • the magnetic flux is one of 146-279 (B ⁇ H)max/KJ ⁇ m- 3 .
  • the Hall 3 maintains a separation distance of 0.2 cm from each of the permanent magnet blocks 2 in the rotating state, so that each of the rotating permanent magnet blocks 2 passes through the Hall 3, and the Hall 3 can generate a corresponding rectangular wave electric signal output.
  • the arc of the curved strip-shaped short groove 8 is concentric with the inner circular trajectory 5-1.
  • the structures of the other rotating disk 1, permanent magnet block 2, and Hall 3 are the same as those in the first embodiment.
  • Embodiment 3 A sensor with adjustable circuit position in a multi-magnetic block in a housing
  • the sensor of the embodiment comprises a sensing element, a boosting model processor 21, a digital-to-analog converter 27 and an operational amplifier 28;
  • Hall 3 in the sensing element is UGN3075; the other components and components in the sensing element are the same as in Embodiment 1;
  • the AT89S52 MCU 31 performs all functions of the analog-to-digital conversion and the wave width recognizer 22, the assist start point selector 23, the magnetic block rotational speed calculator 24, the boost model memory 25, and the boost model calculator 26.
  • Digital-to-analog converter 27 uses ADC-C8E.
  • the operational amplifier 28 selects OF-17F, the OF-17F operational amplifier 28 has a 5k thermistor R6 connected between the input 2 pin and the output 6 pin; and the thermistor R6 is also connected with 8P capacitor in parallel. C6.
  • the 4 pin of the digital-to-analog converter 27 is grounded to the 2 pin of the operational amplifier 28 with 1.25k of R5. It can be used with thermistor R6 to adjust the operational amplifier.
  • the analog signal voltage range of the 286 pin output is stable between 0.8--4.2V.
  • connection relationship of each electronic component is as follows:
  • the signal output terminal 3 of Hall 3 is connected to the 12-pin INTO [P32] of the single chip microcomputer 31 ;
  • the 39 pin P00 of the single chip microcomputer 31 is connected to the 12 pin B8 of the digital to analog converter 27;
  • the 38 pin P01 of the single chip microcomputer 31 is connected to the 11 pin B7 of the digital to analog converter 27;
  • MCU 31's 37-pin P02 is connected to the digital-to-analog converter 27's 10 feet B6;
  • the 36-pin P03 of the MCU 31 is connected to the 9-pin B5 of the digital-to-analog converter 27;
  • MCU 31's 35-pin P04 is connected to the digital-to-analog converter 27's 8-pin B4;
  • the 34-pin P05 of the MCU 31 is connected to the 7-pin B3 of the digital-to-analog converter 27;
  • the 32-pin P06 of the MCU 31 is connected to the 6-pin B2 of the digital-to-analog converter 27;
  • the 32-pin P07 of the MCU 31 is connected to the 5-pin B1 of the digital-to-analog converter 27;
  • the 4-pin of the digital-to-analog converter 27 is connected to the 2 pin of the operational amplifier 28;
  • the 2-pin of the digital-to-analog converter 27 is connected to the 3 pin of the operational amplifier 28;
  • the 6th pin of the operational amplifier 28 is the analog signal output.
  • the mechanical component of the sensor comprises an annular groove rotating disk 1 and a fitting annular groove fixing disk 40
  • the sensing component of the sensor comprises a plurality of permanent magnet blocks 2 Hall 3, single chip microcomputer 31, digital to analog converter 27 and operational amplifier 28
  • four electronic components of Hall 3, single chip microcomputer 31, digital to analog converter 27 and operational amplifier 28 which are sequentially connected in the sensing unit are provided on one circuit board 59
  • a plurality of permanent magnet blocks 2 are fixed on the inner wall of the annular groove rotating disk 1 of the hollow ring 41, and the circuit board 59 is fixed on the inner wall of the annular groove fixing disk 40 of the hollow ring 41.
  • the Hall 3 on the circuit board 59 is disposed in the upper wall.
  • the magnetic flux of the permanent magnet block 2 is sensed, and the Hall 3 can output the position of the varying electrical signal according to the change in the magnetic flux.
  • the sensing component is the sensing function of the sensor; the mechanical component has two functions. The first is to fix the relative position of each component in the sensing component, so that each component can form a sensing functional whole, and the second is to This sensing function is fixed on the electric bicycle as a whole, and makes the sensing function as a whole to sense the movement state of the electric bicycle.
  • the four electronic components of the sequentially connected Hall 3, the single chip microcomputer 31, the digital-to-analog converter 27 and the operational amplifier 28 are arranged on a circuit board 59, which is advantageous for integration, modularization and miniaturization of the four electronic components.
  • the four electronic components are integrally fixed to the inner wall of the annular groove fixing disk 40 of the hollow ring 41, which simplifies the process of manufacturing the sensor.

Abstract

一种在壳体内多磁块位置可调节的传感器，包括依次连接的传感元件、助力模型处理器（21）、数模转换器（27）、运算放大器（28），传感元件包括转动盘（1）和固定盘（40）嵌的内空中设有的永磁块（2）和霍尔（3），转动盘（1）上固定设置有圆环形分布的多个的永磁块（2），可调节永磁块（2）之间的间距，相邻永磁块（2）的磁极性相反，即转动盘（1）的某一面上全部永磁块（2）的磁极性分布方式是N极、S极、N极…；固定盘（40）上的霍尔（3）设在接近永磁块（2）的位置。该传感器的优点是，磁极性成NS分布，使霍尔（3）可获得矩形波信号，能加入为设定助力模型的数字处理；利用调节永磁块（2）的间距，使矩形波能表示永磁块（2）在转动盘（1）上的位置，确定不同矩形波的用途，永磁块（2）与霍尔（3）的相对位置固定，信号输出可靠。

Description

说 明 书
在壳体内多磁块位置可调节的传感器
技术领域
本发明属于磁感应提供信号的技术领域，特别是涉及在一个转动部件上，进行多点位 磁感应提供控制信号的技术。
背景技术
野宝车料工业（昆山）有限公司申请的中国专利 201020295192.0《勾爪式力矩传感装 置》公开了一种助力自行车用传感装置， 传感装置包括磁性件和弹性件配合， 感受力矩的 传感装置。使用时间长后，弹性件的弹性系数变化就会导致传感信号与被控电机的控制效 果发生变化， 助力效果变得与人的助力需要不配合。而且用弹性件的设计结构复杂， 制造 成本高。
北京科技大学申请的中国专利 01201843.0《电动助力自行车自动检测装置》公开了一 种电动助力自行车自动检测装置，无接触检测蹬力、速度和转向，该装置在相对运动的内、 外轮盘上分别设磁片， 内轮盘上有弹簧， 内、外轮盘之间用弹簧复位， 用支架上的两个霍 尔测内、 外轮盘上相对运动的磁片产生的电信号表示蹬力、 速度和转向。
缺点 （1 ) 用弹性件不耐久： 使用时间长后， 弹性件的弹性系数变化就会导致传感信 号与被控电机的控制效果发生变化， 助力效果变得与人的助力需要不配合， 结构复杂， 成 本高。
缺点（2)各磁片组相同且磁极设置方式都相同， 而不能表示不同磁片组的各自位置， 不能表达不同位置特殊的助力需求： 从 01201843.0专利的图 3、 4、 5、 6和说明书第 2页 第 2段的记载说明， 每一个磁片组 （包括一个磁片 4、 一个磁片 5、 一个磁片 6) 的磁极 设置方式都相同， 即仅是在内轮的不同位置简单从复设置了完全相同的磁片组，不能表示 不同磁片组的各自位置， 不能表示特定位置的运动状态， 而人骑自行车时， 踏板和与踏板 相对应的各位置在运动状态，都有自己特殊的助力需求，但该专利这种各磁片组相同的结 构， 不能表达出踏板上各个不同位置特殊的助力需求。
缺点 （3 ) 各位点信号无差异使人机不配合： 每一个磁片组都一样， 则每一个磁片组 不能表示该磁片组在内轮上的位置，霍尔所输出的信号不能表示脚踏板和其它磁片组的位 置， 即霍尔输出的信号不能表示不同脚踏位置对助力的需求，造成对助力的需求和提供助 力的时间不配合， 即人机配合不理想。
缺点 （4 ) 输出正弦波使磁片组边缘距离不能小于 4厘米， 一般以 5厘米为佳， 而使 可设磁片组数太少， 人机配合不理想： 各磁片组相同， 则霍尔输出的是正弦波作为控制信 号，作为控制信号正弦波必需有一定峰谷差值， 由于该专利的磁片组需要一定长度表示正 反向运动， 在直径为 20厘米的环形凹槽转动盘圆形轨迹上最多设 8个磁片组， 一般以 5 个为佳，霍尔才能有控制功能的正弦波信号。也就是说， 01201843.0专利的这种技术方案， 用于助力自行车， 磁片组数量受限止在 8个以内， 控制信号太少， 人机配合不理想。但如 果多于 8个磁片组， 在人踏车较快时， 霍尔输出的信号图形接近为一条水平线， 该信号没 有控制功能， 不能控制电动机， 使其特别需要助力时， 失去助力功能。
缺点 （5 )信号盲区达 45度角， 启动时需要助力的时候确得不到助力： 众所周知， 人 踩自行车脚踏板在顶点力矩最小， 从离开顶点 10-45度角是最需要助力的区域， 但该专利 各磁片组之间的夹角为 45度， 在脚踏板离开顶点 10-45度角区域没有一个磁片组， 也就 没有一个控制信号， 其结果是最需要助力的时候， 但助力自行车的电机确不能助力。
总之， 除用弹性件不耐久又结构复杂外， 因霍尔与磁片组的配合结构特点， 转盘大小 直径为 20厘米以内， 限止了磁片组数量为 8组， 磁片组数不能随意增加， 使人机配合不 理想， 而且启动时得不到助力， 助力需求与提供助力不匹配， 骑车人的舒适性差； 如强行 增加磁片组数量， 其传感信号又失去助力控制功能。
王乃康申请的中国专利 03264387.X《时间型电动助力自行车传感器》 公开了不用弹 性件， 只用动、 定两个转盘， 动盘上面镶嵌两个永磁磁钢， 定盘上面镶嵌三个霍尔元件， 自行车踏板转一周， 每个霍尔产生两个脉冲， 则三个霍尔元件产生六个脉冲。分折可得三 个特点， 四个缺点如下：
特点 （1 ) 为获得六个脉冲信号， 只能是各永磁磁钢相同磁极在一面： 每个霍尔要产 生两个脉冲， 则只能是两个永磁磁钢的相同磁极设在动盘的同一面， 即在动盘的某一面， 两个永磁磁钢都是北极或都是南极。假如在动盘的同一面， 一个永磁磁钢为北极， 另一个 为南极， 则踏板转一周， 每个霍尔就只能产生一个脉冲， 三个霍尔就只有三个脉冲， 这就 不合乎该专利说明书记载了。为了增加脉冲数， 提高控制效果， 只能是各永磁磁钢相同磁 极在一面。
特点 （2) 永磁磁钢用于表示踏板固定位置， 三个霍尔表示踏板运动位置： 由于踏板 与动盘是同步转动，所以在与两个踏板对应的动盘上两个位置分别固定一个永磁磁钢，某 一个踏板转在什么位置， 则对应的永磁磁钢也转在什么位置； 但只有转在有霍尔的位置， 才能通过霍尔发出控制信号， 指挥助力自行车的电机产生需要的助力转动。
特点 （3 ) 因为一个霍尔不能表示转一周中不同时段踏板运动的位置， 则就不能只用 一个霍尔： 踏板在转一周中的不同时段， 对助力需求是有很大差别的， 要体现这种助力需 求的变化，该专利用三个霍尔分别设在 180度角以内的三个位置，两个永磁磁钢分别设在 两个踏板位置，踏板转在有霍尔的位置，该霍尔就输出信号表示踏板到达了该霍元的位置。 但用多个霍尔又存在下面的缺点。
作为助力自行车传感器的这些特点会有三个缺点：
缺点 （1 ) 用两个没有差异性的永磁磁钢分别表示两个踏板的固定位置， 就只能用多 个霍尔来表示踏板的转动位置：两个永磁磁钢没有差异性，优点是可以不分左右脚的分别 表示两个踏板的固定位置， 使其左右脚发生助力需求， 可产生相同的电机助力效果； 但缺 点是永磁磁钢本身就不能表示踏板的转动位置，而只能用多个霍尔设在不同的转角位置来 表示踏板的转动位置， 所以不能只用一个霍尔， 而必需用多个霍尔。
缺点 （2) 不能只用一个霍尔， 而三个霍尔必然造成三个控制信号有原始分段误差， 使助力需求模型失真， 自然产生助力输出与助力需求不一致：助力自行车不论是一个或两 个电机，其控制电机的传感信号只能用一个传感信号输入电机控制器才能达到控制电机的 目的；而该专利用三个霍尔控制电机，则必需把三个霍尔的三个控制信号合并为一个合并 控制信号后才能输入电机控制器。三个霍尔的传感参数不可能一样，特别是由于环境温度 变化、使用时间长后，三个霍尔的传感参数可能差异很大，其结果造成相同的助力需求时， 不同霍尔的输出的是不同电压，导致电机产生不同的助力输出，助力输出与助力需求不一 致； 同理相同的助力需求时， 不同霍尔的输出的又可能是相同电压， 导致电机产生同一种 助力输出， 也产生助力输出与助力需求不一致的问题。
缺点 （3 ) 合并控制信号易产生信号漂移， 使合并控制信号与电机控制器不匹配， 助 力需求模型失真：由于环境温度变化、使用时间长后，三个霍尔的传感参数可能差异很大， 三个霍尔的三个控制信号连接点必然变化，则相同的助力需求产生的合并控制信号就会产 生分段性的信号漂移， 合并控制信号作为一整体产生信号失真， 即助力需求模型失真， 造 成电机控制器选用三个控制信号的任何一个作为基准都会产生助力输出与助力需求不一 致的问题。
缺点 （4) 传感位点不能随意增加， 传感位点太少， 电机运行就不平稳， 使骑车的人 感觉很不舒服： 由于有缺点 （1 )和缺点 （2)都最因为霍尔数量大于一个造成的， 很明显 霍尔数量越量越多， 缺点 （1 )和缺点 （2)表现越严重。 所以， 该专利提供的助力自行车 只能是使骑车的人感觉舒适性很不好的助力自行车。
缺点 （5 )信号盲区达 42度角， 启动时需要助力的时候确得不到助力： 众所周知， 人 踩自行车脚踏板在顶点力矩最小， 从离开顶点 10-45度角是最需要助力的区域， 但该专利 各霍尔之间的夹角为 42.5-43.5度， 在脚踏板离开顶点 10-42度角区域没有一个霍尔， 也 就没有一个控制信号， 其结果是最需要助力的时候， 但助力自行车的电机确不能助力。 总之，该专利是用多个霍尔控制助力模式的技术方案， 因为只能用多个霍尔来表示踏 板的转动位置，多个霍尔的多个控制信号必然有原始误差，其合并控制信号又易产生信号 漂移，都可造成助力需求模型失真，即不同时间的相同助力需求，但获得不同的助力效果; 霍尔数量越量越多， 助力需求模型失真越严重， 限止了霍尔了数量， 霍尔少数量了又产生 电机运行就不平稳， 使骑车的人感觉很不舒服， 而且启动时得不到助力。使其要助力需求 模型不失真， 和要电机运行平稳这两个问题上总是顾此失彼， 不可兼得。
发明内容
本发明的目的是提供只用一个霍尔和环形凹槽转动盘上各个永磁块之间距离不相等 获得速度和位置信号、 并对信号进行数字化处理成为以最佳助力模型信号输出的传感器， 是一种在霍尔可感应区域内，能尽量增加永磁块数量，最大限度利用环形凹槽转动盘位移 信息， 输出信息多又精确定位， 可调节输出信号模型， 霍尔和多个永磁块用一个组合件固 定相对位置的传感器。使用在助力自行车上， 不用弹性件和其它机械测定力矩， 也能够使 助力需求与提供的助力匹配良好， 电机运行平稳的助力自行车传感器。
本发明的构思是：在一个霍尔可感受范围内，一个环形凹槽转动盘上用多个永磁块向 霍尔的那一面进行南、 北磁极性交替变化， 使其一个霍尔可感受全部永磁块的运动信号。 多个永磁块的变化方式主要是磁极性变化、错位变化、位置可由用户调节， 目的使霍尔可 获得环形凹槽转动盘特定位置更精确、更适合个性化需求、控制功能更强、数量更多的永 磁块运动信号。
多个永磁块磁极性用南极北极交替变化，使霍尔产生的信号为矩形波，控制功能更强、 数量更多；
多个永磁块错位变化使霍尔产生的信号有不同的波间距离，能表达永磁块的运动位置 更精确， 从而可以表达特定位置的运动状态， 对于助力自行车， 表达脚踏板的特定位置是 在什么运动状态非常重要， 因为脚踏板的运动状态直接表示了人对车的助力需求状态； 永磁块位置可由用户调节，使霍尔产生的信号可用户调节，用户就可以通过户调节控 制信号来调节控制方式和控制内容， 具有按个性化方式进行控制的功能。
用一个机械结构的组合件固定传感元件霍尔和多个永磁块的相对位置，使其传感信号 稳定可靠。
把霍尔输出的矩形波信号变为数字信号，方使对霍尔的数字信号进行数字化处理，在 数字化处理过程中可加入使人机能最佳配合的助力数学模型，助力数学模型是可按人机配 合进行随意调整的。克服了现有技术霍尔输出的正弦波信号难以进行数字化处理，只能进 行模拟化信号处理而不能加入可随意调整的助力模型、克服了只能提取受速度信号条件限 止的助力模型、 克服了使人机不能最佳配合的问题。
本发明的结构如下：
在壳体内多磁块位置可调节的传感器， 包括依次连接的传感元件、 助力模型处理器 21、 数模转换器 27和运算放大器 28; 其特征在于：
[ 1 ] 传感元件是把环形凹槽转动盘 1的转动运动变为矩形波信号输出的元件；
传感元件包括环形凹槽转动盘 1、 环形凹槽固定盘 40、 一个霍尔 3和多枚永磁块 2， 环形凹槽转动盘 1和环形凹槽固定盘 40两者的凹面相对，环形凹槽固定盘 40嵌合在环形 凹槽转动盘 1的环形凹槽之中，成两个盘能相对转动的嵌合内空外壳，两个盘的凹面夹成 一个空心环 41 ; 在空心环 41位置的环形凹槽转动盘 1上固定设置有多枚永磁块 2， 该多 枚永磁块 2分布在一个圆环形 6范围内， 圆环形 6的内圆形轨迹线 5-1与外圆形轨迹线 5-2之间至少有一条圆形轨迹线贯穿全部永磁块 2; 内圆形轨迹线 5-1和外圆形轨迹线 5-2 为同心圆，至少有两枚永磁块 2成错位分布；错位分布是半径错位分布方式或间距错位分 布方式的某一种； 或即有半径错位分布方式， 又有间距错位分布的组合方式；
半径错位分布方式是：至少有两个永磁块 2到内圆形轨迹线 5-1所在圆中心的距离不 相同；
间距错位分布方式是： 相邻永磁块 2之间的距离为永磁块间距 7; 至少有两条永磁块 间距 7的长短不相同；
在内圆形轨迹线 5-1与外圆形轨迹线 5-2之间至少有一个条形短槽 8， 条形短槽 8中 设有永磁块 2， 永磁块 2能固定在条形短槽 8中的任何位置；
相邻永磁块 2的磁极性相反，环形凹槽转动盘 1上全部永磁块 2的磁极性分布方式是
N极、 S极、 N极、 S极、 N极、 S极 ······；
在空心环 41的环形凹槽固定盘 40上固定设置有一个霍尔 3，霍尔 3设在接近永磁块 2并能感受每个永磁块 2磁通量的位置， 霍尔 3与永磁块 2之间有间距； 霍尔 3是对相反 磁极性产生矩形波输出信号的霍尔。
[2]助力模型处理器 21是把环形凹槽转动盘 1转动的数字信号变为助力模型数字信号的 信号形式转换器；
助力模型处理器 21包括模数转换和波宽识别器 22、助力起点选择器 23、磁块转速计 算器 24、 助力模型存储器 25和助力模型计算器 26;
模数转换和波宽识别器 22与传感元件连接，模数转换和波宽识别器 22把传感元件中 霍尔 3输入的矩形波信号进行识别各个矩形波的宽度，将各个矩形波信号变为不同的数字 信号， 对每个矩形波进行标注， 模数转换和波宽识别器 22输出标注有磁块位置秩序的磁 块运动数字信号；
模数转换和波宽识别器 22分别与助力起点选择器 23和磁块转速计算器 24连接， 助 力起点选择器 23与磁块转速计算器 24连接； 磁块转速计算器 24用模数转换和波宽识别 器 22输入的标注有磁块位置秩序的磁块运动数字信号计算出环形凹槽转动盘 1的转速， 并把环形凹槽转动盘 1的转速数字信号传给助力起点选择器 23，助力起点选择器 23用标 注有磁块位置秩序的磁块运动数字信号，和环形凹槽转动盘 1的转速数字信号这两个信号 确定在某种转速条件下的助力起点对应的某一个矩形波， 即确定助力起点磁块；
助力起点选择器 23和磁块转速计算器 24分别都与助力模型计算器 26连接， 助力模 型存储器 25也与助力模型计算器 26连接;助力模型计算器 26用助力起点选择器 23的助 力起点磁块， 和用磁块转速计算器 24的环形凹槽转动盘 1转速这两个条件选择助力模型 存储器 25中的某一种助力模型函数， 并将助力起点磁块和环形凹槽转动盘 1转速这两个 条件代入助力模型函数，计算出适合这两个条件的助力模型数字信号， 即助力模型计算器 26输出助力模型数字信号；
[ 3 ] 数模转换器 27是把助力模型数字信号转换成助力模型的模拟信号；
助力模型计算器 26与数模转换器 27连接，数模转换器 27把助力模型计算器 26的助 力模型数字信号转换成助力模型模拟信号；
[4 ] 运算放大器 28是把数模转换器 27的助力模型模拟信号转换成额定电压范围的助力 模型模拟信号。
[一] 对传感元件的说明：
环形凹槽转动盘 1与环形凹槽固定盘 40即嵌合， 又能相对转动， 保证了在环形凹槽 转动盘 1转动状态，霍尔 3与全部永磁块 2的感应位置不变化，使霍尔 3的输出信号只与 全部永磁块 2的转动有关，而与环形凹槽转动盘 1与环形凹槽固定盘 40以下的物件无关; 如果环形凹槽转动盘 1与环形凹槽固定盘 40用金属材料， 又可有屏蔽作用， 所以， 用环 形凹槽转动盘 1与环形凹槽固定盘 40将霍尔 3与全部永磁块 2置于空心环 41进行感应， 提高了霍尔 3信号的可靠性、 真实性。
当把环形凹槽固定盘 40固定在某一物件上， 转动环形凹槽转动盘 1， 环形凹槽转动 盘 1上的各个永磁块 2扫过环形凹槽固定盘 40上的霍尔 3时， 每个永磁块 2都能使霍尔 3产生电信号。 由于相邻永磁块 2的磁极性相反， 即全部永磁块 2的磁极性南、 北交替的 面对霍尔 3， 则霍尔 3产生电信号为矩形波信号， 矩形波信号方便进行数字化处理信号， 用于实现数字化控制。现有技术是全部永磁块 2的用同一个磁极性面向霍尔 3， 霍尔 3就 只能产生正弦波信号， 所以只能用于模拟控制； 一但霍尔 3的感应参数变化， 模拟控制就 可能失真。 而本发明用矩形波信号实现数字化控制， 不会产生控制失真的问题。
环形凹槽转动盘 1可以是塑料板、 高强度绝板、铜板、铝板等不易变形的材料板。使 用传感元件时， 环形凹槽转动盘 1要转动， 所以环形凹槽转动盘 1又称转动盘， 转动的中 心就是多个永磁块 2成圆环形分布所在圆的中心。
多个永磁块 2在圆环形 6范围内，成圆环形分布的目的在于可以只用一个霍尔 3感受 环形凹槽转动盘上全部永磁块 2的运动状态，即感受环形凹槽转动盘上全部永磁块 2的运 动位置和速度， 以及速度的变化， 或称加速度， 这一个霍尔 3就能把永磁块 2的运动状态 用一个连续的电信号来表达，又因为全部永磁块 2是分别固定在环形凹槽转动盘即环形凹 槽转动盘 1上的，则霍尔 3产生的连续电信号就能表达环形凹槽转动盘的运动状态。如果 把这个连续电信号用于控制其它物体，这个连续电信号就是控制信号。如果用于控制助力 自行车的电机，还需要用单片机或其它电子元件作为传感信号处理器，把控制信号中的位 置、 速度、 加速度要索转换成需要助力多少的助力信号， 换算的函数就是助力需求模型， 或称助力模型。
多个永磁块 2成错位分布的意义是:使霍尔 3产生的电信号中不是完全一样的脉冲信 号， 而是脉冲宽度不同的脉冲信号， 用有区别的脉冲信号来区别永磁块 2的不同位置， 从 而可以获得不同位置永磁块 2的运动状态。达到可精确表达环形凹槽转动盘某个位置，或 每个有永磁块 2的运动状态。如用于助力自行车，可精确表达脚踏在不同位置对助力的需 求， 使助力需求的表达更精确， 则车与人的配合就更一致。
永磁块 2半径错位分布方式是：有的永磁块 2离环形凹槽转动盘的转动中心近，有的 永磁块 2离环形凹槽转动盘的转动中心远。但不论远近，永磁块 2必需在霍尔 3所能感受、 能产生电信号的范围内。 能产生电信号的范围就是内圆形轨迹线 5-1与外圆形轨迹线 5-2 之间的范围。为保证霍尔 3能产生电信号， 结构上要求内圆形轨迹线 5-1与外圆形轨迹线 5-2之间至少有一条圆形轨迹线贯穿全部永磁块 2。 至少有两个永磁块 2到内圆形轨迹线 5-1所在圆中心的距离不相同， 当然可以每个永磁块 2到圆中心的距离不相同， 即每个永 磁块 2的半径不相同， 以使霍尔 3电信号的每个脉冲都可以表示在永磁块 2， 使每个脉冲 都可以表示一个环形凹槽转动盘位置。
永磁块 2间距错位分布方式是： 以永磁块 2的外边缘作为测定间距的基础，至少有两 条永磁块间距 7的长短不相同， 当然可以每条永磁块间距 7的长短不相同， 以使霍尔 3 电信号的每个脉冲都可以表示在永磁块 2，使每个脉冲都可以表示一个环形凹槽转动盘位 置。
获得永磁块 2成错位分布有两种方法，第一种是把永磁块 2固定在环形凹槽转动盘 1 上时，就至少有两枚永磁块 2成错位分布。第二种是利用条形短槽 8中有多个位置都可以 设有永磁块 2， 在环形凹槽转动盘 1上至少用一个条形短槽 8， 把一个或多个永磁块 2设 在条形短槽 8中，随时可按人的需要改变永磁块 2的位置，也就是调节永磁块 2所在条形 短槽 8中的位置， 调节后将其固定， 所以， 有条形短槽 8就能随时调节永磁块 2错位分布 方式， 可用同一个永磁块 2使霍尔 3产生不同的输出信号， 产生不同的控制效果。如用于 助力自行车， 可使车给与人不同的助力效果。
霍尔 3设在接近永磁块 2并能感受永磁块 2磁通量的位置，目的在于用霍尔 3感受永 磁块 2的运动状态，从而感受环形凹槽转动盘 1的运动状态， 即运动位置、速度、加速度。
相邻永磁块 2的磁极性相反是很重要的技术特征，全部永磁块 2的磁极性分布方式是 N极、 S极、 N极、 S极、 N极、 S极……， 使霍尔 3输出高、 低相间的矩形波信号， 因为作为大小受限止的环形凹槽转动盘，转动一周要获得尽量多的精确变化信号， 当然应 是选用矩形波。矩形波信号的峰谷值变化的时间短， 可在一定的时间内， 产生尽量多的有 控制意义的信号。相邻永磁块 2的磁极性相反的结构产生矩形波，而相邻永磁块 2的磁极 性相同的结构产生正弦波，特别是用于助力自行车时，作为传感部件的环形凹槽转动盘一 般限止在直径为 10-15厘米， 在这种限范围要获得有控制功能的信号， 转动一周， 产生矩 形波比产生正弦波可提供的脉冲个数多 7-9倍。 自然， 相邻永磁块 2的磁极性相反的结构 对助力自行车的控制效果更的， 人与车配合更好， 乘骑人感觉更舒服。
[二]助力模型处理器 21的说明：助力模型处理器 21是把环形凹槽转动盘 1转动的数字 信号变为助力模型数字信号的信号形式转换器；
助力模型处理器 21包括模数转换和波宽识别器 22、助力起点选择器 23、磁块转速计 算器 24、助力模型存储器 25和助力模型计算器 26; 这些部件对信号的处理思路是： 把传 感元件中霍尔 3的矩形波信号分解出表示磁块 2位置的位置数字信号，和表示环形凹槽转 动盘 1转速的速度数字信号， 由于位置和速度都是数字信号，就可以对位置和速度用助力 数学模型处理， 可以按人的最佳感觉进行设计助力数学模型， 使其助力模型处理器 21输 出的助力模型数字信号即具有最佳助力数学模型， 又有该助力数学模型的启动点和终止 点，因为有磁块 2的位置数字信号，所以启动点和终止点准确到与人的助力需求完全同步。 解决了现有技术没有磁块 2位置信号而导致人的助力需求与助力模型不匹配，和助力模型 的运行延迟于助力需求的问题， 解决了现有技术要力不给力， 要大力只给小力， 要小力又 给大力， 不要力又给力等人机不配合的问题。 助力模型处理器 21中各部件的连接关系和 功能如下：
模数转换和波宽识别器 22与传感元件连接，模数转换和波宽识别器 22把传感元件中 霍尔 3输入的矩形波信号进行识别各个矩形波的宽度，将各个矩形波信号变为不同的数字 信号， 对每个矩形波进行标注， 模数转换和波宽识别器 22输出标注有磁块位置秩序的矩 形波信号。这样， 把波形有长度区别的矩形波信号变为用数据标注的矩形波信号， 方便在 后面的数字化处理过程中， 把矩形波长度变为矩形波位置数据进行运算处理。所以， 模数 转换和波宽识别器 22是把矩形波长度表示磁块位置的信号， 变为用数据标注磁块位置的 数字信号的处理器。这是本发明区别于现有助力自行车的重要发明点，有了用数据标注磁 块位置的数字信号，本发明就能在循环圆周运动的环形凹槽转动盘 1上找到某一个或每个 磁块位置， 为电机 30启动产生助力、增加助力、减少助力、停止助力等电机 30工作找到 了起点和终点， 使人的助力需求与电机 30助力行为能相匹配， 避免了现有助力自行车难 以实现人机配合， 出现需要助力时电机 30不转动，不需要助力时电机 30还保持运动不能 停下来， 甚至造成冲撞事故的问题。
模数转换和波宽识别器 22分别与助力起点选择器 23和磁块转速计算器 24连接， 助 力起点选择器 23与磁块转速计算器 24连接； 磁块转速计算器 24用模数转换和波宽识别 器 22输入的标注有磁块位置秩序的磁块运动数字信号计算出环形凹槽转动盘 1的转速， 并把环形凹槽转动盘 1的转速数字信号传给助力起点选择器 23，助力起点选择器 23用标 注有磁块位置秩序的磁块运动数字信号，和环形凹槽转动盘 1的转速数字信号这两个信号 确定在某种转速条件下的助力起点对应的某一个矩形波， 即确定助力起点磁块。 由于， 确 定的助力起点磁块是有数据标注的矩形波，则助力起点磁块有唯一对应的磁块 2位置，这 样， 助力起点选择器 23完成了找出助力起始点的磁块 2位置， 也就可以确定某个磁块 2 在什么位置时，启动或结束电机进行某种助力模型运动。这就达到人控制环形凹槽转动盘 1的特定磁块 2同步运动， 特定磁块 2控制电机 30进行特定的同步转动， 实现人同步控 制电机的目的，不会出现控制的起点和终点不准确，不会出现控制的起点和终点延迟的问 题。但现有助力自行车在启止助力时， 都找不到与人同步的启止位置， 所以都会产生控制 的起点和终点延迟的问题。
助力起点选择器 23和磁块转速计算器 24分别都与助力模型计算器 26连接， 助力模 型存储器 25也与助力模型计算器 26连接;助力模型计算器 26用助力起点选择器 23的助 力起点磁块， 和用磁块转速计算器 24的环形凹槽转动盘 1转速这两个条件选择助力模型 存储器 25中的某一种助力模型函数， 并将助力起点磁块和环形凹槽转动盘 1转速这两个 条件代入助力模型函数，计算出适合这两个条件的助力模型数字信号， 即助力模型计算器 26就能输出助力模型数字信号。
[三]对数模转换器 27的说明：数模转换器 27是把助力模型数字信号转换成助力模型的 模拟信号。
助力模型计算器 26与数模转换器 27连接，数模转换器 27把助力模型计算器 26的助 力模型数字信号转换成助力模型模拟信号。 以便向只能处理模拟信号的电机控制器 29输 出助力模型的模拟信号。
[四] 对运算放大器 28的说明： 运算放大器 28是把数模转换器 27的助力模型模拟信号 转换成额定电压范围的助力模型模拟信号。
数模转换器 27与运算放大器 28连接， 数模转换器 27的助力模型模拟信号虽然解决 了助力模型问题， 但助力模型信号的电压还不能满足电机控制器 29的需要， 所以还要用 运算放大器 28把助力模型模拟信号转换成额定电压范围需要的助力模型模拟信号， 才能 传输给电机控制器 29。
本发明传感器中各信号处理部件输出的信号为：
霍尔 3输出矩形波信号；
助力模型处理器 21输出助力模型数字信号；
模数转换和波宽识别器 22输出标注有磁块位置秩序的磁块运动数字信号；
助力起点选择器 23输出确定的助力起点磁块的起点位置信号；
磁块转速计算器 24计算并输出环形凹槽转动盘 1的转速数字信号；
助力模型存储器 25存有多种助力模型函数备用，输出已选定的助力模型函数的数字信号； 助力模型计算器 26计算并输出将用于控制功能的助力模型数字信号；
数模转换器 27输出把助力模型数字信号转换成的助力模型模拟信号；
运算放大器 28输出把助力模型模拟信号转换成额定电压范围的助力模型模拟信号；
热敏电阻 R6保证运算放大器 28输出的是额定电压范围的助力模型模拟信号， 即标 准助力模型模拟信号。
为解决助力模型模拟信号漂移问题设有热敏电阻 R6， 热敏电阻 R6连接在运算放大 器 28的输入端和输出端之间。
霍尔 3、 数模转换器 27和运算放大器 28都是半导体器件， 又有处理模拟信号功能， 很易随温度变化而使信号参数产生漂移， 特别是夏天和冬天， 助力自行车又都在室外，温 度变化产生信号参数漂移的效果明显， 所以， 最好对运算放大器 28输出的信号进行信号 漂移修正，获得不受温度变化影响的标准助力模型模拟信号，将标准助力模型模拟信号通 过电机控制器 29控制电机 30运行，骑助力自行车的人就不会感到夏天和冬天助力效果不 同的问题。
助力模型处理器 21是单片机 31，单片机 31上连接有时钟电路 32。用单片机 31完成 模数转换和波宽识别器 22、助力起点选择器 23、磁块转速计算器 24、助力模型存储器 25 和助力模型计算器 26的功能。时钟电路 32的时钟信号是用于对霍尔 3输入的矩形波信号 进行区分的作用， 优选每个时钟信号的长度为 0.001秒。
传感器的机械部件与传感部件结构关系： 传感器的机械部件包括环形凹槽转动盘 1 和相嵌合的环形凹槽固定盘 40，传感器的传感部件包括多个永磁块 2、霍尔 3、单片机 31、 数模转换器 27和运算放大器 28; 传感部件中依次相连的霍尔 3、 单片机 31、 数模转换器 27和运算放大器 28四个电子元件设在一块电路板 59上；在空心环 41的环形凹槽转动盘 1内壁固定多个永磁块 2， 在空心环 41的环形凹槽固定盘 40内壁固定电路板 59， 电路板 59上的霍尔 3设在能感受永磁块 2的磁通量， 并且霍尔 3能根据磁通量变化输出变化电 信号的位置。传感部件是传感器的传感功能部件； 机械部件是有两个功能， 第一是固定传 感部件中的各个元件的相对位置，使各个元件能组成一个传感功能性整体，第二是把这一 个传感功能性整体固定在电动自行车上，并使这个传感功能性整体能传感电动自行车的运 动状态。把依次相连的霍尔 3、单片机 31、数模转换器 27和运算放大器 28四个电子元件 设在一块电路板 59上， 有利这四个电子元件集成化、 模块化、 小型化， 方便把这四个电 子元件整体统一固定在空心环 41的环形凹槽固定盘 40内壁，使生产制造传感器的工艺简 化。
本发明的传感器各部件的优选型号和具体连接方式为： 霍尔 3是 UGN3075 , 助力模 型处理器 21是 AT89S52单片机 31，数模转换器 27是 ADC-C8E;运算放大器 28是 OF-17F, OF-17F运算放大器 28的输入端 2脚与输出端 6脚之间连接有热敏电阻 R6; 各部件连接 关系如下：
霍尔 3的信号输出端 3脚连接单片机 31的 12脚 INTO [P32];
单片机 31的 39脚 P00连接数模转换器 27的 12脚 B8;
单片机 31的 38脚 P01连接数模转换器 27的 11脚 B7;
单片机 31的 37脚 P02连接数模转换器 27的 10脚 B6;
单片机 31的 36脚 P03连接数模转换器 27的 9脚 B5；
单片机 31的 35脚 P04连接数模转换器 27的 8脚 B4;
单片机 31的 34脚 P05连接数模转换器 27的 7脚 B3 ;
单片机 31的 33脚 P06连接数模转换器 27的 6脚 B2;
单片机 31的 32脚 P07连接数模转换器 27的 5脚 B1 ;
数模转换器 27的 4脚连接运算放大器 28的 2脚；
数模转换器 27的 2脚连接运算放大器 28的 3脚； 运算放大器 28的 6脚为模拟信号输出端。
OF-17F运算放大器 28的输入端 2脚与输出端 6脚之间连接有热敏电阻 R6， 而且热敏电 阻 R6两端还并联有电容 C6。 优选热敏电阻 R6为 5K， 电容 C6为 8Ρ， 数模转换器 27的 4脚与运算放大器 28的 2脚之间用 1.25k的 R5接地。 使其可用热敏电阻 R6调节运算放 大器 286脚输出的模拟信号电压范围稳定在 0.8--4.2V之间。
至少有一个永磁块间距 7的长度不等于其它任何一个永磁块间距 7。条形短槽 8是用 于把永磁块 2调节固定在不同位置的结构。通过调节永磁块 2位置，可实现至少有一个永 磁块间距 7的长度不等于其它任何一个永磁块间距 7。 不等于其它长度， 即特殊长度的永 磁块间距 7可用于表示自行车脚踏板的位置。最好是至少有两个永磁块间距 7的长度不等 于其它任何一个永磁块间距 7， 这两个特殊长度的永磁块间距 7分别对应于两个脚踏板， 用于表示自行车两个脚踏板的位置。因为自行车脚踏板的圆周运动，判定脚踏板位置对于 获得本次圆周运动的速度， 确定下一次圆周运动的助力模型非常重要。
环形凹槽固定盘 40 内圈的外表面与环形凹槽转动盘 1 内圈的内表面之间设有轴承 42。轴承 42使环形凹槽固定盘 40与环形凹槽转动盘 1之间能长时间保持良好的相对转动。
条形短槽 8是弧形的结构， 条形短槽 8的弧形所在圆与内圆形轨迹线 5-1为同心圆。 这种结构使霍尔 3产生的输出信号可改变波峰或波谷的长度。可以用于一、改变了的波峰 或波谷长度作为启动信号， 使被控制物启用另一套工作程序。如果用于助力自行车， 改变 永磁块 2在条形短槽 8中的位置， 可改变助力模型， 如可以选用小人用助力模型、女人用 助力模型、 青年用助力模型、 运动用助力模型、 休闲用助力模型等。 可以用于二、 改变了 的波峰或波谷长度只用于改变这一个波峰或波谷的控制效果，如果用于助力自行车，只改 变该永磁块 2所在位置的助力效果。
条形短槽 8是斜向的结构，即条形短槽 8两端分别与内圆形轨迹线 5-1所在的圆心的 距离不相等。 但条形短槽 8应在内圆形轨迹线 5-1与外圆形轨迹线 5-2之间的范围内， 以 便霍尔 3可感受到条形短槽 8中永磁块 2的信号。斜向条形短槽 8与上述的弧形条形短槽 8作用和效果相同。
条形短槽 8的某一条内边缘设有两个或多个齿形凸 9。为了把永磁块 2固定在条形短 槽 8中多个位置中的某一个位置，防止在环形凹槽转动盘 1转动时，永磁块 2自行变位置， 所以用条形短槽 8中的齿形凸 9卡稳永磁块 2在某一固定位置。
条形短槽 8与永磁块 2是可撤卸的卡接连接结构。
霍尔 3设在内圆形轨迹线 5-1与外圆形轨迹线 5-2之间。 因为霍尔 3是能有间距感受 永磁块 2磁通量而输出电信号的部件，又为了尽量减小永磁块 2的体积，使其在环形凹槽 转动盘 1上尽量多的设置永磁块 2， 使尽量减小的永磁块 2都能被霍尔 3感应； 霍尔 3应 设在内圆形轨迹线 5-1与外圆形轨迹线 5-2之间， 而且最好设在接近能贯穿全部永磁块 2 的圆形轨迹线的位置。
环形凹槽转动盘 1在多个永磁块 2的内圆形轨迹线 5-1所在圆范围内设有中心孔。如 果环形凹槽转动盘 1要穿套在一个转动轴上使用，环形凹槽转动盘 1上就要设一个穿套转 动轴的孔； 为保证环形凹槽转动盘 1在随转动轴转动时， 霍尔 3能感受环形凹槽转动盘 1 上每个永磁块 2的运动信号，则环形凹槽转动盘 1上的穿套孔应设在多个永磁块 2的内圆 形轨迹线 5-1所在圆范围的中心， 由于内圆形轨迹线 5-1和外圆形轨迹线 5-2为同心圆， 当然穿套孔在外圆形轨迹线 5-2所在圆范围的中心， 穿套孔是内圆形轨迹线 5-1和外圆形 轨迹线 5-2的中心位置孔， 即中心孔。 也就是说， 中心孔不一定是圆形， 可以是方形、 三 角形等形状， 以便可以与方形、三角形等形状的转动轴相套， 但中心孔的内空一定包括内 圆形轨迹线 5-1所在圆的中心，才能使用一个霍尔 3感受环形凹槽转动盘 1环形凹槽转动 盘上全部永磁块 2的运动信号。
环形凹槽转动盘 1是不导磁材料的塑料板、铝材板、铜材板的某一种。 由于本发明是 相邻永磁块 2的磁极性相反的结构， 能使相邻永磁块 2的边缘几乎可相贴也能使霍尔 3 输出有控制功能的电信号。
本发明的优点： 结构简单、成本低、永磁块环上的永磁块数量不受限止、输出标准的 脉冲信号、没有信号盲区、只用一个霍尔的一组输出信号就能完全表示动盘的全部运动状 态、输出信号不会失真不漂移、用永磁块位置变化和调节永磁块位之间置表示永磁块所在 固定位置、输出信号中可以有每个永磁块的运动位置， 输出信息模型可调节， 用于助力自 行车， 使助力输出与助力需求能高度配合而使骑车人感觉很舒服， 不仅可自动化助力， 而 且具有按个性化进行助力的功能。
( 1 ) 结构简单， 不用弹性件， 无机械故障： 用霍尔感受多个永磁块转动输出信号， 用中国专利 01201843.0提供的速度可推算力矩的原理， 可用多种数学模型推算助力自行 车的力矩参数， 用于控制助力自行车的电机， 实现助力。 不用弹性件、 结构简单、 成本低 于用弹性件和机械受力的传感器。 避免了长时间使用后， 各机械部件变形、 无机械故障、 配合不佳的问题。
(2) 磁极性相反， 输出矩形波信号， 具有精确控制功能： 由于相邻永磁块的磁极性 相反，并且霍尔选用对相反磁极性产生矩形波输出信号的霍尔，则相邻永磁块无论间距多 少， 即使相邻永磁块之间没有间隙， 霍尔也同样能输出矩形波信号。 如用于助力自行车， 用矩形波的输出信号来控制助力自行车的电机优于用正弦波，因为矩形波能作到信号在任 何时间点，表示运动位置和速度的信号含义精确，从而可精确表示助力自行车踏板的运动 位置和速度， 以便用踏板精确的位置和速度推算出该运动状态正确的助力需求。
( 3 ) 相邻永磁块的磁极性相反， 永磁块数量不受限止， 可尽量增加传感点位： 由于 磁极性相反， 输出矩形波信号， 相邻永磁块即使无间隙， 其输出的信号仍然是有个数、可 区分的矩形波信号，仍然具有控制功能，也就是说不会输出没有控制功能的无变化直线形 信号。如用于助力自行车， 由于与踏板联动的环形凹槽转动盘直径大小受限止， 就可在规 定大小的环形凹槽转动盘上， 尽量增加永磁块数量、尽量增加传感点位、用尽量多的传感 信号表示自行车踏板运动位置和速度， 精确表示运动状态。
(4) 相邻永磁块的磁极性相反， 可设置永磁块多、 传感点位多， 对环形凹槽转动盘 的运动状态表示精确：对用于助力自行车， 固定永磁块的环形凹槽转动盘大小受到严格限 止， 一般环形凹槽转动盘直径只能在 10-15厘米以内， 为了使霍尔在有间距的条件下获得 永磁块的磁极信号， 其永磁块的直径至少为 Φ 0. 6-0. 8厘米， 则直径 10-15厘米的环形凹 槽转动盘的周边无间隙的可设置 35-73 个永磁块 [ ( 10-1 ) *3.14/0.8=35 ; ( 15-1 ) *3.14/0.6=73 ]， 即脚踏板转一周， 霍尔可获得 35-73个信号用于控制助力自行车的电机。 但如果是相邻永磁块磁极性相同的现有技术， 相邻永磁块按 5厘米间距， 则在直径 10-15 厘米环形凹槽转动盘上， 最多只能设置 5-8 个永磁块 [ ( 10-1 ) *3.14/5.8=5 ; ( 15-1 ) *3.14/5.6=8 ]。 可见， 本专利技术比现有技术可以多设置永磁块 7-9倍 [35/5=6; 73/8=9], 多设置 30-65个永磁块 [35-5=30; 73-8=65 ]。 所以， 环形凹槽转动盘转一周， 本专利技 术比现有技术增加了 7-9倍的环形凹槽转动盘转动位点信号。对助力自行车的电机控制精 确度自然提高了 7-9倍， 使骑车人对助力需求精确度也提高了 7-9倍， 车与人的配合程度 大大提高，骑车人的舒适感大大增加，不再是现有技术的助力车那种一快一慢不舒服的感 觉。 本发明请人根据实际的体验， 当环形凹槽转动盘上大致均勾的设置 15个永磁块时， 基本消除了现有技术只设 5-8个永磁块使助力车那种一快一慢不舒服的感觉；当环形凹槽 转动盘上大致均勾的设置 20个永磁块时， 车与人的配合己能满足人的需要， 乘骑助力车 的感觉已很舒服。
( 5 )没有信号盲区，任何时候的助力需求都会获得相匹配的助力：本专利在直径 10-15 厘米的环形凹槽转动盘周边最多可设置 35-73 个永磁块， 各永磁块之间平均夹角为 5-10 度。 用于助力自行车， 在启动或运行时， 脚踏板从离开顶点 10-45度角的 35度区域内， 有 4-7个永磁块（在离开顶点 10度角的位置就有一个信号了）， 则霍尔可输出 4-7个控制 信号反应助力需求，能实现任何位置、任何时间有助力就能获得相应助力的优良技术效果， 使车与人的配合良好， 骑车人感到省力又舒适。 ( 6) 只用一个霍尔， 一个控制信号表示环形凹槽转动盘的全部运动状态， 控制信号 与环形凹槽转动盘的运动状态完全一致，控制信号与人的需求完全一致： 多个永磁块是固 定在环形凹槽转动盘上的，永磁块与环形凹槽转动盘同步转动，用一个霍尔感受全部的永 磁块运动信号，则霍尔输出的控制信号与环形凹槽转动盘的运动状态完全一致，与人的需 求也就完全一致，控制信号不会有原始分段误差和信号漂移问题。即使霍尔传感参数发生 变化，也是整个控制信号平行移动，只要接收霍尔控制信号的电机控制器的接收范围较宽， 变化了的霍尔控制信号的控制效果成系统性改变。如用于助力自行车，助力需求模型不会 失真，助力输出与助力需求仍然保持原来模型的匹配关系，骑车人很容易掌握这种助力性 能的系统性改变。
( 7) 永磁块之间有错位， 错位永磁块可表示特定位点的运动状态： 因为永磁块在半 径方向错位、或圆弧线间距错位， 错位永磁块使霍尔输出特有波形的控制信号， 则特有波 形的控制信号就可以直接表示环形凹槽转动盘的某一固定永磁块位点的运动状态;如每个 永磁块都有自己的特定错位位点，可达到有多少个永磁块，就可获得多少个特定位点的运 动状态信号。 如用于助力自行车， 环形凹槽转动盘直径在 10-15厘米以内， 环形凹槽转动 盘转一周， 霍尔可获得 35-73个不同位点运动状态的控制信号， 自然知道 35-73个位点的 助力需求。 很明显， 环形凹槽转动盘转一周， 现有技术最多只能有 5-8个助力需求， 远远 不如本专利最多可用 35-73 个助力需求信号更能真实地反应骑车人的助力需求。 也就是 说， 助力自行车用本专利技术， 车更能与人需求相配合一致， 骑车人感受到脚踏板在任何 转动位置， 自己都完全可控制车速， 舒适性好。 而现有技术的助力自行车只能在最多 5-8 个转动位置才能可控制车速。
( 8 ) 可调节永磁块位置， 就可按需要调节控制信号的模型， 实现个性化控制： 在环 形凹槽转动盘上全部永磁块中， 如调节部分永磁块之间的间距， 霍尔输出的信号中， 调节 过间距的永磁块的波形就会发生波间距变化， 即信号模型发生变化，就可以选择不同的信 号模型控制被控制物体， 实现个性化控制。 如用于助力自行车， 可根据不同人的力气， 或 用力的习惯选择适合的信号模型， 即根据不同的人调节助力模型，使助力自行车不仅可自 动化助力， 而且具有按个性化进行助力的功能。
( 9) 用能相对转动的环形凹槽转动盘环形凹槽固定盘合成壳体， 固定了霍尔与全部 永磁块的相对位置， 避免了壳体外的环境干扰， 提高了霍尔信号的可靠性、真实性， 还方 便了安装、 调试、 维修等。
( 10)可以对霍尔信号进行数字化处理，使控制信号中加入人机最佳配合的控制模型： 把具有磁块位置和磁块转速的矩形波信号变为该两要素的数字信号，用设定的、适合人机 配合良好的数学助力模型把该两要素的数字信号转换成助力模型数字信号，再把助力模型 数字信号转换成助力模型模拟信号，最后把助力模型模拟信号变为稳定电压范围的、具有 额定功率的电机控制器可用的控制信号。 总之， 就是把磁块转动的信号进行数字化处理， 在数字化处理处理过程中， 加入数学的助力模型， 使传感器最后输出的控制信号中， 含有 加入的助力模型。 因为数学的助力模型是人为设定的， 所以， 总可以把数学的助力模型设 定成最适合人机配合的模型， 则本发明的传感器可输出能实现最佳人机配合的控制信号。 而现有助力自行车传感器的磁块相同磁极在同一面，霍尔不能获得矩形波信号，也就无法 对霍尔信号进行数字化处理，其控制模型只能是对霍尔信号进行局部修改，所以不能实现 输出人机最佳配合的控制信号。
( 11 )最后输出的控制信号不会有信号漂移： 用热敏电阻 R6对运算放大器的输出信 号进行反馈调节， 可以解决霍尔、数模转换器）和运算放大器等半导体器件使助力模型模 拟信号漂移的问题， 使传感器最后输出的是不受环境温度变化的标准助力模型模拟信号。 附图说明
图 1是环形凹槽转动盘上不均勾分布多个 N-S交替永磁块， 且有永磁块位置可调节的传 感元件结构示意图；
图 2是环形凹槽转动盘上高密度不均勾分布多个 N-S交替永磁块， 且有永磁块位置可调 节的传感器结构示意图；
图 3是传感器的剖面结构示意图；
图 4是霍尔、 助力模型处理器、 数模转换器、 运算放大器的信号流向方框图；
图 5是霍尔、 单片机、 数模转换器、 运算放大器的电路图。
图中 1是环形凹槽转动盘、 2是永磁块、 3是霍尔、 5-1是内圆形轨迹线、 5-2是外圆形轨 迹线、 6是圆环形、 7是永磁块间距、 8是条形孔、 9是齿形凸、 21是助力模型处理器、 22是模数转换和波宽识别器、 23是助力起点选择器、 24是磁块转速计算器、 25是助力模 型存储器、 26是助力模型计算器、 27是数模转换器、 28是运算放大器、 29是电机控制器、 30是电机、 31是单片机、 32是时钟电路、 40是环形凹槽固定盘、 41是空心环、 42是轴 承、 59是电路板。
具体实施方式
实施例 1、 在壳体内多磁块位置可调节的传感器
如图 1、 3、 4， 本实施例传感器包括依次连接的传感元件、 助力模型处理器 21、 数模转换 器 27和运算放大器 28; [ 1 ] 传感元件是把环形凹槽转动盘 1的转动运动变为矩形波信号输出的元件； 用一个环形凹槽转动盘 1和一个环形凹槽固定盘 40两者的凹面相对， 环形凹槽转动 盘 1和环形凹槽固定盘 40的大小正好使环形凹槽固定盘 40能嵌合在环形凹槽转动盘 1 的环形凹槽之中，合成两个盘能相对转动的嵌合内空外壳，两个盘的凹面夹成一个空心环 41； 在空心环 41位置的环形凹槽转动盘 1上固定设置有 20个永磁块 2。环形凹槽转动盘 1和环形凹槽固定盘 40用高强度塑料注塑成形。
空心环 41内的环形凹槽转动盘 1面直径 10. 0厘米， 在环形凹槽转动盘 1设 20个永 磁块 2， 20个永磁块 2的直径分别为 0. 8厘米的， 磁通量为 146---279(B · H)max/KJ · m"3 中的某一个值。 环形凹槽转动盘 1、 永磁块 2、 霍尔 3的结构如下：
每个永磁块 2固定在直径 8.0厘米内圆形轨迹线 5-1— 9.5厘米外圆形轨迹线 5-2之间 的圆环形 6范围内， 有多个永磁块 2成半径错位分布， 有多个永磁块 2成间距错位分布。
半径错位分布方式是：该多个永磁块 2分布在一个圆环形 6范围内，在圆环形 6的内 圆形轨迹线 5-1与外圆形轨迹线 5-2之间至少有一条圆形轨迹线贯穿全部永磁块 2; 内圆 形轨迹线 5-1和外圆形轨迹线 5-2为同心圆， 至少有两个永磁块 2到内圆形轨迹线 5-1所 在圆中心的距离不相同；
间距错位分布方式是： 相邻永磁块 2之间的距离为永磁块间距 7; 至少有两条永磁块 间距 7的长短不相同。
有两个永磁块间距 7的长度不等于其它任何一个永磁块间距 7的长度，而且这两个永 磁块间距 7的长度也不相等。该两个永磁块间距 7所在的有两个永磁块 2的位置正好在转 动盘 1一条直径的两端，这两个永磁块 2用于在助力自行车上表示两个脚踏板的运动位置。
在内圆形轨迹线 5-1与外圆形轨迹线 5-2之间有两个弧形的条形短槽 8， 条形短槽 8 中设有永磁块 2， 该永磁块 2能固定在条形短槽 8中的任何位置； 该永磁块 2与条形短槽 8是可撤卸的固定连接结构， 即可在条形短槽 8中的永磁块 2撤卸后换到条形短槽 8中的 其它位置再固定连接， 调节该永磁块 2与相临永磁块 2之间的永磁块间距 7。 条形短槽 8 的内边缘设有两个或多个齿形凸 9。 一个永磁块 2卡在一个齿形凸 9之中。 条形短槽 8是 斜向的结构， 即条形短槽 8两端分别与内圆形轨迹线 5-1所在的圆心的距离不相等。使条 形短槽 8的两个多个永磁块 2成半径错位方式分布。
在转动盘 1一个面设置的全部永磁块 2成相邻永磁块 2的磁极性相反的方式排列，即 转动盘 1一个面上全部永磁块 2的磁极性分布方式是 N极、 S极、 N极、 S极、 N极、 S极……。
在空心环 41内的环形凹槽固定盘 40上固定设置有一个霍尔 3，霍尔 3的信号输出线 从环形凹槽固定盘 40穿出， 即霍尔 3设在每个永磁块 2在的圆形轨迹线 5-1与外圆形轨 迹线 5-2之间的圆环形 6范围内， 霍尔 3与转动状态的每个永磁块 2保持 0.3厘米的间隔 距离，使转动的每个永磁块 2在经过霍尔 3时，霍尔 3能产生一个对应的矩形波电信号输 出。
转动盘 1在该全部永磁块 2的内圆形轨迹线 5-1中心设有中心孔，中心孔用于套在助 力自行车的踏板中轴或转轮转轴上用。
[2]助力模型处理器 21是把环形凹槽转动盘 1转动的数字信号变为助力模型数字信号的 信号形式的转换器；
助力模型处理器 21包括模数转换和波宽识别器 22、助力起点选择器 23、磁块转速计 算器 24、 助力模型存储器 25和助力模型计算器 26;
模数转换和波宽识别器 22与传感元件连接，模数转换和波宽识别器 22把传感元件中 霍尔 3输入的矩形波信号进行识别各个矩形波的宽度，将各个矩形波信号变为不同的数字 信号， 对每个矩形波进行标注， 模数转换和波宽识别器 22输出标注有磁块位置秩序的磁 块运动数字信号；
模数转换和波宽识别器 22分别与助力起点选择器 23和磁块转速计算器 24连接， 助 力起点选择器 23与磁块转速计算器 24连接； 磁块转速计算器 24用模数转换和波宽识别 器 22输入的磁块运动数字信号计算出环形凹槽转动盘 1的转速， 并把环形凹槽转动盘 1 的转速数字信号传给助力起点选择器 23，助力起点选择器 23用标注有磁块位置秩序的磁 块运动数字信号，和环形凹槽转动盘 1的转速数字信号这两个信号确定在某种转速条件下 的助力起点对应的某一个矩形波， 即确定助力起点磁块； 助力起点选择器 23完成了找出 助力的起始点磁块，也就是确定从某个矩形波开始实施助力，准确说就是在环形凹槽转动 盘 1处于某种转速条件下，从某个磁块在某个位置开始进行助力，或是从某个磁块在某个 位置开始， 将原来的助力模型改变为下一步选择的助力模型进行助力。
助力起点选择器 23和磁块转速计算器 24分别都与助力模型计算器 26连接， 助力模 型存储器 25也与助力模型计算器 26连接;助力模型计算器 26用助力起点选择器 23的助 力起点磁块， 和用磁块转速计算器 24的环形凹槽转动盘 1转速这两个条件选择助力模型 存储器 25中的某一种助力模型函数， 并将助力起点磁块和环形凹槽转动盘 1转速这两个 条件代入助力模型函数，计算出适合这两个条件的助力模型数字信号， 即助力模型计算器 26输出助力模型数字信号；
[3 ] 数模转换器 27是把助力模型数字信号转换成助力模型的模拟信号。
助力模型计算器 26与数模转换器 27连接，数模转换器 27把助力模型计算器 26的助 力模型数字信号转换成助力模型模拟信号。 以便向只能处理模拟信号的电机控制器 29输 出助力模型的模拟信。
[4] 运算放大器 28是把数模转换器 27的助力模型模拟信号转换成额定电压范围的助力 模型模拟信号。
数模转换器 27与运算放大器 28连接， 数模转换器 27的助力模型模拟信号虽然解决 了助力模型问题， 但助力模型信号的电压还不能满足电机控制器 29的需要， 所以还要用 运算放大器 28把助力模型模拟信号转换成额定电压范围需要的助力模型模拟信号， 才能 传输给电机控制器 29， 达到电机控制器 29控制电机 30进行助力为目的的运行。
实施例 2、 高密度在壳体内多磁块位置可调节的传感器
如图 2、 3、 4， 空心环 41内的环形凹槽转动盘 1面直径 10. 0厘米， 在环形凹槽转动 盘 1 设 40 个永磁块 2， 40 个永磁块 2 的直径分别为 0. 6 厘米的， 磁通量为 146— 279(B · H)max/KJ · m— 3中的某一个值。 霍尔 3与转动状态的每个永磁块 2保持 0.2 厘米的间隔距离，使转动的每个永磁块 2在经过霍尔 3时，霍尔 3能产生一个对应的矩形 波电信号输出。弧形条形短槽 8的弧形所在圆与内圆形轨迹线 5-1为同心圆。其它转动盘 1、 永磁块 2、 霍尔 3的结构同于实施例 1。
实施例 3、 有具体电路的在壳体内多磁块位置可调节的传感器
如图 1、 3、 5， 本实施例传感器包括依次连接的传感元件、 助力模型处理器 21、 数模转换 器 27和运算放大器 28;
[ 1 ]传感元件中的霍尔 3选用 UGN3075; 传感元件中其它的元件和元件的结构同于实施 例 1；
[2] 助力模型处理器 21 选用单片机 31 完成全部功能， 单片机 31 选用 AT89S52。 即
AT89S52单片机 31完成模数转换和波宽识别器 22、 助力起点选择器 23、 磁块转速计算 器 24、 助力模型存储器 25和助力模型计算器 26的全部功能。
[3 ] 数模转换器 27选用 ADC-C8E。
[4] 运算放大器 28选用 OF-17F， OF-17F运算放大器 28的输入端 2脚与输出端 6脚之 间连接有 5k的热敏电阻 R6; 而且热敏电阻 R6两端还并联有 8P电容 C6。数模转换器 27 的 4脚与运算放大器 28的 2脚之间用 1.25k的 R5接地。 使其可用热敏电阻 R6调节运算 放大器 286脚输出的模拟信号电压范围稳定在 0.8--4.2V之间。
各电子部件连接关系如下：
霍尔 3的信号输出端 3脚连接单片机 31的 12脚 INTO [P32];
单片机 31的 39脚 P00连接数模转换器 27的 12脚 B8; 单片机 31的 38脚 P01连接数模转换器 27的 11脚 B7;
单片机 31的 37脚 P02连接数模转换器 27的 10脚 B6;
单片机 31的 36脚 P03连接数模转换器 27的 9脚 B5 ;
单片机 31的 35脚 P04连接数模转换器 27的 8脚 B4;
单片机 31的 34脚 P05连接数模转换器 27的 7脚 B3；
单片机 31的 33脚 P06连接数模转换器 27的 6脚 B2;
单片机 31的 32脚 P07连接数模转换器 27的 5脚 B1 ;
数模转换器 27的 4脚连接运算放大器 28的 2脚；
数模转换器 27的 2脚连接运算放大器 28的 3脚；
运算放大器 28的 6脚为模拟信号输出端。
[5 ] 传感器的机械部件与传感部件结构关系： 传感器的机械部件包括环形凹槽转动 盘 1和相嵌合的环形凹槽固定盘 40， 传感器的传感部件包括多个永磁块 2、 霍尔 3、 单片 机 31、数模转换器 27和运算放大器 28; 传感部件中依次相连的霍尔 3、 单片机 31、数模 转换器 27和运算放大器 28四个电子元件设在一块电路板 59上;在空心环 41的环形凹槽 转动盘 1内壁固定多个永磁块 2， 在空心环 41的环形凹槽固定盘 40内壁固定电路板 59， 电路板 59上的霍尔 3设在能感受永磁块 2的磁通量， 并且霍尔 3能根据磁通量变化输出 变化电信号的位置。传感部件是传感器的传感功能部件； 机械部件是有两个功能， 第一是 固定传感部件中的各个元件的相对位置，使各个元件能组成一个传感功能性整体，第二是 把这一个传感功能性整体固定在电动自行车上，并使这个传感功能性整体能传感电动自行 车的运动状态。把依次相连的霍尔 3、单片机 31、数模转换器 27和运算放大器 28四个电 子元件设在一块电路板 59上， 有利这四个电子元件集成化、 模块化、 小型化， 方便把这 四个电子元件整体统一固定在空心环 41的环形凹槽固定盘 40内壁，使生产制造传感器的 工艺简化。

Claims

权 利 要 求
1、在壳体内多磁块位置可调节的传感器，包括依次连接的传感元件、助力模型处理器 (21)、 数模转换器 （27) 和运算放大器 （28); 其特征在于：
[1] 传感元件是把环形凹槽转动盘 （1) 的转动运动变为矩形波信号输出的元件；
传感元件包括环形凹槽转动盘（1)、 环形凹槽固定盘（40)、 一个霍尔 （3)和多枚永 磁块 （2)， 环形凹槽转动盘 （1) 和环形凹槽固定盘 （40) 两者的凹面相对， 环形凹槽固 定盘 （40) 嵌合在环形凹槽转动盘 （1) 的环形凹槽之中， 成两个盘能相对转动的嵌合内 空外壳， 两个盘的凹面夹成一个空心环（41); 在空心环（41)位置的环形凹槽转动盘（1) 上固定设置有多枚永磁块（2)， 该多枚永磁块（2)分布在一个圆环形 （6)范围内， 圆环 形 （6) 的内圆形轨迹线 （5-1) 与外圆形轨迹线 （5-2) 之间至少有一条圆形轨迹线贯穿 全部永磁块 （2); 内圆形轨迹线 （5-1)和外圆形轨迹线 （5-2) 为同心圆， 至少有两枚永 磁块 （2) 成错位分布； 错位分布是半径错位分布方式或间距错位分布方式的某一种； 或 即有半径错位分布方式， 又有间距错位分布的组合方式；
半径错位分布方式是： 至少有两个永磁块（2)到内圆形轨迹线 （5-1)所在圆中心的 距离不相同；
间距错位分布方式是： 相邻永磁块 （2) 之间的距离为永磁块间距 （7); 至少有两条 永磁块间距 （7) 的长短不相同；
在内圆形轨迹线 （5-1) 与外圆形轨迹线 （5-2)之间至少有一个条形短槽 （8)， 条形 短槽 （8) 中设有永磁块 （2)， 永磁块 （2) 能固定在条形短槽 （8) 中的任何位置；
相邻永磁块 （2) 的磁极性相反， 环形凹槽转动盘 （1) 上全部永磁块 （2) 的磁极性 分布方式是 N极、 S极、 N极、 S极、 N极、 S极……；
在空心环 （41) 的环形凹槽固定盘 （40) 上固定设置有一个霍尔 （3)， 霍尔 （3) 设 在接近永磁块（2)并能感受每个永磁块（2)磁通量的位置， 霍尔 （3)与永磁块（2)之 间有间距； 霍尔 （3) 是对相反磁极性产生矩形波输出信号的霍尔；
[2]助力模型处理器（21)是把环形凹槽转动盘（1)转动的数字信号变为助力模型数字 信号的信号形式转换器；
助力模型处理器（21)包括模数转换和波宽识别器（22)、 助力起点选择器（23)、 磁 块转速计算器 （24)、 助力模型存储器 （25) 和助力模型计算器 （26);
模数转换和波宽识别器（22)与传感元件连接， 模数转换和波宽识别器（22)把传感 元件中霍尔 （3) 输入的矩形波信号进行识别各个矩形波的宽度， 将各个矩形波信号变为 不同的数字信号， 对每个矩形波进行标注， 模数转换和波宽识别器（22)输出标注有磁块 位置秩序的磁块运动数字信号；
模数转换和波宽识别器 （22) 分别与助力起点选择器 （23 ) 和磁块转速计算器 （24) 连接， 助力起点选择器（23 )与磁块转速计算器（24)连接； 磁块转速计算器（24)用模 数转换和波宽识别器（22)输入的标注有磁块位置秩序的磁块运动数字信号计算出环形凹 槽转动盘（ 1 )的转速，并把环形凹槽转动盘（ 1 )的转速数字信号传给助力起点选择器（23 )， 助力起点选择器（23 )用标注有磁块位置秩序的磁块运动数字信号，和环形凹槽转动盘（1 ) 的转速数字信号这两个信号确定在某种转速条件下的助力起点对应的某一个矩形波，即确 定助力起点磁块；
助力起点选择器（23 )和磁块转速计算器（24)分别都与助力模型计算器（26)连接， 助力模型存储器（25 )也与助力模型计算器（26)连接； 助力模型计算器（26)用助力起 点选择器 （23 ) 的助力起点磁块， 和用磁块转速计算器 （24) 的环形凹槽转动盘 （1 ) 转 速这两个条件选择助力模型存储器（25 )中的某一种助力模型函数， 并将助力起点磁块和 环形凹槽转动盘 （1 ) 转速这两个条件代入助力模型函数， 计算出适合这两个条件的助力 模型数字信号， 即助力模型计算器 （26) 输出助力模型数字信号；
[3 ] 数模转换器 （27) 是把助力模型数字信号转换成助力模型的模拟信号；
助力模型计算器（26)与数模转换器（27)连接， 数模转换器（27)把助力模型计算 器 （26) 的助力模型数字信号转换成助力模型模拟信号；
[4] 运算放大器 （28) 是把数模转换器 （27) 的助力模型模拟信号转换成额定电压范围 的助力模型模拟信号。
2、 根据权利要求 1所述的在壳体内多磁块位置可调节的传感器， 其特征在于： 还包括热 敏电阻 R6， 热敏电阻 R6连接在运算放大器 （28) 的输入端和输出端之间。
3、 根据权利要求 2所述的在壳体内多磁块位置可调节的传感器， 其特征在于： 助力模型 处理器 （21 ) 是单片机 （31 )， 单片机 （31 ) 上连接有时钟电路 （32);
传感器的机械部件与传感部件结构关系：传感器的机械部件包括环形凹槽转动盘（1 ) 和相嵌合的环形凹槽固定盘 （40)， 传感器的传感部件包括多个永磁块 （2)、 霍尔 （3 )、 单片机 （31 )、 数模转换器 （27) 和运算放大器 （28); 传感部件中依次相连的霍尔 （3 )、 单片机（31 )、 数模转换器（27)和运算放大器（28) 四个电子元件设在一块电路板（59) 上； 在空心环 （41 ) 的环形凹槽转动盘 （1 ) 内壁固定多个永磁块 （2)， 在空心环 （41 ) 的环形凹槽固定盘（40) 内壁固定电路板（59)， 电路板（59)上的霍尔 （3 )设在能感受 永磁块 （2) 的磁通量， 并且霍尔 （3 ) 能根据磁通量变化输出变化电信号的位置。
4、 根据权利要求 3所述的在壳体内多磁块位置可调节的传感器， 其特征在于： 霍尔 （3 ) 是 UGN3075，助力模型处理器 ( 21 )是 AT89S52单片机 ( 31 )，数模转换器 (27)是 ADC-C8E; 运算放大器（28)是 OF-17F， OF-17F运算放大器（28) 的输入端 2脚与输出端 6脚之间 连接有热敏电阻 R6; 各部件连接关系如下：
霍尔 （3 ) 的信号输出端 3脚连接单片机 （31 ) 的 12脚 INTO [P32];
单片机 （31 ) 的 39脚 P00连接数模转换器 （27) 的 12脚 B8;
单片机 （31 ) 的 38脚 P01连接数模转换器 （27) 的 11脚 B7;
单片机 （31 ) 的 37脚 P02连接数模转换器 （27) 的 10脚 B6;
单片机 （31 ) 的 36脚 P03连接数模转换器 （27) 的 9脚 B5;
单片机 （31 ) 的 35脚 P04连接数模转换器 （27) 的 8脚 B4;
单片机 （31 ) 的 34脚 P05连接数模转换器 （ 27 ) 的 7脚 B3；
单片机 （31 ) 的 33脚 P06连接数模转换器 （27) 的 6脚 B2;
单片机 （31 ) 的 32脚 P07连接数模转换器 （27) 的 5脚 B1 ;
数模转换器 （27) 的 4脚连接运算放大器 （28) 的 2脚；
数模转换器 （27) 的 2脚连接运算放大器 （28) 的 3脚；
运算放大器 （28) 的 6脚为模拟信号输出端。
5、根据权利要求 1-4任何一项所述的在壳体内多磁块位置可调节的传感器， 其特征在于: 至少有一个永磁块间距 （7) 的长度不等于其它任何一个永磁块间距 （7)。
6、根据权利要求 5所述的在壳体内多磁块位置可调节的传感器， 其特征在于： 环形凹槽固 定盘 （40) 内圈的外表面与环形凹槽转动盘 （1 ) 内圈的内表面之间设有轴承 （42)。
7、 根据权利要求 5所述的在壳体内多磁块位置可调节的传感器， 其特征在于： 条形短槽 ( 8) 是弧形的结构， 条形短槽 （8) 的弧形所在圆与内圆形轨迹线 （5-1 ) 为同心圆。
8、 根据权利要求 5所述的在壳体内多磁块位置可调节的传感器， 其特征在于： 条形短槽 ( 8) 是斜向的结构， 即条形短槽 （8 ) 两端分别与内圆形轨迹线 （5-1 ) 所在的圆心的距 离不相等。
9、 根据权利要求 7所述的在壳体内多磁块位置可调节的传感器， 其特征在于： 条形短槽
( 8) 的某一条内边缘设有两个或多个齿形凸 （9)。
10、根据权利要求 9所述的在壳体内多磁块位置可调节的传感器， 其特征在于： 条形短槽 ( 8) 与永磁块 （2) 是可撤卸的卡接连接结构。
PCT/CN2013/076786 2012-07-28 2013-06-05 在壳体内多磁块位置可调节的传感器 WO2014019407A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201210263499.6A CN102798407B (zh) 2012-07-28 2012-07-28 在壳体内多磁块位置可调节的传感器
CN201210263499.6 2012-07-28

Publications (1)

Publication Number Publication Date
WO2014019407A1 true WO2014019407A1 (zh) 2014-02-06

Family

ID=47197604

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2013/076786 WO2014019407A1 (zh) 2012-07-28 2013-06-05 在壳体内多磁块位置可调节的传感器

Country Status (2)

Country Link
CN (1) CN102798407B (zh)
WO (1) WO2014019407A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102798407B (zh) * 2012-07-28 2014-09-24 成都宽和科技有限责任公司 在壳体内多磁块位置可调节的传感器
CN105782657B (zh) * 2016-03-10 2019-03-12 深圳英飞拓科技股份有限公司 云台及其摄像装置

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2374854Y (zh) * 1999-03-22 2000-04-19 中国轻骑集团有限公司 一种电动助力车脚踏力矩检测装置
EP1279929A2 (en) * 2001-07-24 2003-01-29 Campagnolo Srl Transducer of angular quantities for a cycle
CN2640915Y (zh) * 2003-06-23 2004-09-15 王乃康 时间型电动助力自行车传感器
CN102490857A (zh) * 2011-12-29 2012-06-13 无锡尚格工业设计有限公司 双工位霍尔传感器
CN102798407A (zh) * 2012-07-28 2012-11-28 成都宽和科技有限责任公司 在壳体内多磁块位置可调节的传感器
CN102795300A (zh) * 2012-07-28 2012-11-28 成都宽和科技有限责任公司 用壳体内多磁块位置可调节传感器的助力自行车
CN102826175A (zh) * 2012-07-28 2012-12-19 成都宽和科技有限责任公司 有壳体内多磁块位置可调节传感器的助力自行车
CN202783655U (zh) * 2012-07-28 2013-03-13 成都宽和科技有限责任公司 有壳体内多磁块位置可调节传感器的助力自行车
CN202783663U (zh) * 2012-07-28 2013-03-13 成都宽和科技有限责任公司 在壳体内多磁块位置可调节的传感器
CN202783662U (zh) * 2012-07-28 2013-03-13 成都宽和科技有限责任公司 用壳体内多磁块位置可调节传感器的助力自行车
CN202783650U (zh) * 2012-07-28 2013-03-13 成都宽和科技有限责任公司 用壳体内多磁块位置可调节传感器的助力自行车

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AUPO899797A0 (en) * 1997-09-05 1997-10-02 Southern Refrigeration Group Pty Ltd An electric motor
CN2462356Y (zh) * 2001-01-18 2001-11-28 北京科技大学 电动助力自行车自动检测装置
EP1612564A3 (en) * 2001-09-11 2009-12-09 JTEKT Corporation Magnetic pulser ring
CN101776464A (zh) * 2010-03-10 2010-07-14 株洲易力达机电有限公司 电机自带绝对位置检测装置及检测方法

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2374854Y (zh) * 1999-03-22 2000-04-19 中国轻骑集团有限公司 一种电动助力车脚踏力矩检测装置
EP1279929A2 (en) * 2001-07-24 2003-01-29 Campagnolo Srl Transducer of angular quantities for a cycle
CN2640915Y (zh) * 2003-06-23 2004-09-15 王乃康 时间型电动助力自行车传感器
CN102490857A (zh) * 2011-12-29 2012-06-13 无锡尚格工业设计有限公司 双工位霍尔传感器
CN102798407A (zh) * 2012-07-28 2012-11-28 成都宽和科技有限责任公司 在壳体内多磁块位置可调节的传感器
CN102795300A (zh) * 2012-07-28 2012-11-28 成都宽和科技有限责任公司 用壳体内多磁块位置可调节传感器的助力自行车
CN102826175A (zh) * 2012-07-28 2012-12-19 成都宽和科技有限责任公司 有壳体内多磁块位置可调节传感器的助力自行车
CN202783655U (zh) * 2012-07-28 2013-03-13 成都宽和科技有限责任公司 有壳体内多磁块位置可调节传感器的助力自行车
CN202783663U (zh) * 2012-07-28 2013-03-13 成都宽和科技有限责任公司 在壳体内多磁块位置可调节的传感器
CN202783662U (zh) * 2012-07-28 2013-03-13 成都宽和科技有限责任公司 用壳体内多磁块位置可调节传感器的助力自行车
CN202783650U (zh) * 2012-07-28 2013-03-13 成都宽和科技有限责任公司 用壳体内多磁块位置可调节传感器的助力自行车

Also Published As

Publication number Publication date
CN102798407B (zh) 2014-09-24
CN102798407A (zh) 2012-11-28

Similar Documents

Publication Publication Date Title
WO2014019413A1 (zh) 用壳内多磁块位置和磁通量都不均匀分布传感器的助力车
WO2014019410A1 (zh) 用壳体内多磁块均匀分布传感器的助力自行车
WO2014019404A1 (zh) 在壳体内多磁块不均匀分布的传感器
WO2014019405A1 (zh) 在壳体内多磁块不均匀分布磁通量的传感器
WO2014019409A1 (zh) 在壳体内多磁块位置和磁通量可调节的传感器
WO2014019415A1 (zh) 用壳体内磁块位置和磁通量可调节传感器的助力自行车
WO2014019407A1 (zh) 在壳体内多磁块位置可调节的传感器
WO2014019412A1 (zh) 用壳体内多磁块不均匀分布磁通量传感器的助力自行车
WO2014019414A1 (zh) 用壳体内多磁块位置可调节传感器的助力自行车
WO2014019403A1 (zh) 在壳体内多磁块均匀分布的传感器
WO2014019411A1 (zh) 用壳体内多磁块不均匀分布传感器的助力自行车
WO2014019406A1 (zh) 在壳体内多磁块位置和磁通量都不均匀分布的传感器
CN102826186B (zh) 助力自行车用多磁块位置和磁通量可调节的转盘式传感器
CN202793429U (zh) 在壳体内多磁块位置和磁通量可调节的传感器
CN202783670U (zh) 助力自行车用多磁块位置不均匀分布的转盘式传感器
CN102785739A (zh) 助力自行车用多磁块位置可调节的转盘式传感器
CN202783633U (zh) 助力自行车用多磁块位置可调节的转盘式传感器
CN202783634U (zh) 助力自行车用多磁块位置和磁通量可调节的转盘式传感器
CN202783663U (zh) 在壳体内多磁块位置可调节的传感器
CN202847953U (zh) 链盘上设多磁块位置和磁通量可调节传感器的助力自行车
CN202783648U (zh) 链盘上设可调节磁块位置传感器的助力自行车
CN102826185B (zh) 助力自行车用多磁块位置不均匀分布的转盘式传感器
CN202783672U (zh) 飞轮上设可调节磁块位置传感器的助力自行车
CN202783666U (zh) 飞轮上设磁块位置和磁通量可调节传感器的助力自行车
CN202896809U (zh) 助力自行车用多磁块位置和磁通量变化的转盘式传感器

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13826205

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 13826205

Country of ref document: EP

Kind code of ref document: A1