WO2021057831A1 - 一种健身车 - Google Patents

一种健身车 Download PDF

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Publication number
WO2021057831A1
WO2021057831A1 PCT/CN2020/117312 CN2020117312W WO2021057831A1 WO 2021057831 A1 WO2021057831 A1 WO 2021057831A1 CN 2020117312 W CN2020117312 W CN 2020117312W WO 2021057831 A1 WO2021057831 A1 WO 2021057831A1
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WIPO (PCT)
Prior art keywords
circuit
power
motor
exercise bike
brushless motor
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PCT/CN2020/117312
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English (en)
French (fr)
Inventor
李荣春
杨建森
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李荣春
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Publication of WO2021057831A1 publication Critical patent/WO2021057831A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G5/00—Devices for producing mechanical power from muscle energy
    • F03G5/02—Devices for producing mechanical power from muscle energy of endless-walk type, e.g. treadmills
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
    • H02J7/04—Regulation of charging current or voltage
    • H02J7/06—Regulation of charging current or voltage using discharge tubes or semiconductor devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/32—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from a charging set comprising a non-electric prime mover rotating at constant speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/33—Drive circuits, e.g. power electronics
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/18—Structural association of electric generators with mechanical driving motors, e.g. with turbines
    • H02K7/1807—Rotary generators
    • H02K7/1853—Rotary generators driven by intermittent forces
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
    • H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
    • H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/21—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/217—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M7/219—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only in a bridge configuration

Definitions

  • the invention belongs to the technical field of fitness equipment, and specifically relates to a fitness bike.
  • Exercise bike is a typical aerobic fitness equipment that simulates outdoor sports. It is also called cardiopulmonary training equipment. It mainly promotes cardiovascular exercises, accelerates metabolism, and strengthens the heart and lungs through pedaling exercises of appropriate intensity for a long time. Function, thereby improving the body's physique.
  • Existing exercise bikes on the market generally use electromagnetic control technology to adjust resistance.
  • the resistance adjustment accuracy is poor, and the adjustment is often not in place, and the resistance adjustment response is slow, requiring a longer reaction process.
  • existing exercise bikes require an external AC power supply as kinetic energy, which consumes a lot of power and is not environmentally friendly and inconvenient to operate; or although some exercise bikes are equipped with self-generating devices, the self-generating devices can only provide a small amount of electrical energy for meter display. However, it is impossible to convert the kinetic energy of the user into electrical energy during fitness exercise and effectively store the output.
  • the purpose of the present invention is to provide an exercise bike to solve the above-mentioned technical problems.
  • an exercise bike including a brushless motor, a motor control board, a motor drive circuit, a power management circuit, a switch circuit, a power consumption unit, and a rechargeable battery unit.
  • the battery unit supplies power to the exercise bike through the power management circuit
  • the motor control board controls the brushless motor through the motor drive circuit to output corresponding torque as the pedaling resistance of the exercise bike, and the electric energy generated by the rotation of the brushless motor under the torque passes through
  • the battery unit is charged by the power management circuit and/or output to the power consumption unit through the switch circuit for consumption.
  • the control ends of the power management circuit and the switch circuit are respectively connected to the motor control board.
  • the motor control board includes a main control unit, a bus voltage measurement circuit, a current measurement circuit, and a position detection circuit.
  • the bus voltage measurement circuit is used to measure the voltage of the brushless motor bus and output it to the main control unit.
  • the current measurement circuit and the position detection circuit are respectively used to measure the phase current and rotor position of the brushless motor and output to the main control unit.
  • the main control unit performs processing according to the voltage of the busbar of the brushless motor, the phase current of the brushless motor and the rotor position. The corresponding FOC closed loop control.
  • the motor drive circuit includes a half-bridge drive circuit and a power inverter circuit, and the power inverter circuit is implemented by a power MOS tube.
  • the power management circuit includes a DC step-down circuit and a charge-discharge management circuit.
  • the electric energy generated by the brushless motor rotating under the torque is processed by the motor drive circuit, and then is stepped down by the DC step-down circuit.
  • the charge and discharge management circuit charges the battery unit and supplies power to the exercise bike.
  • the power consumption unit is a power resistor.
  • the battery unit is composed of a lithium battery.
  • the meter is in communication connection with the motor control board.
  • the power management circuit is further provided with an output interface and an input interface, the input interface is used to connect an external charging power source to supply power to the battery unit, and the output interface is used to connect an external power unit.
  • control terminal of the switch circuit is connected to the PWM control terminal of the motor control board.
  • the motor control board when the motor control board is not turned on, the electric energy generated by the rotation of the brushless motor under the torque is processed by the motor drive circuit and then charged by the power management circuit; after the motor control board is turned on, the motor control board turns on the power
  • the charging circuit of the management circuit is turned off, and the switching circuit is controlled to conduct corresponding conduction to maintain the stability of the bus voltage of the brushless motor; when the work of the brushless motor exceeds the set value, the charging circuit of the power management circuit is turned on and the switch is turned on.
  • the circuit performs corresponding control to maintain the stability of the bus voltage of the brushless motor.
  • the invention can not only realize real-time accurate torque control, but also can effectively recover energy, carry out self-power supply, and even use for external equipment, save energy, reduce consumption and environmental protection, and has a simple structure and low cost.
  • Fig. 1 is a circuit block diagram of a specific embodiment of the present invention.
  • Figure 2 is a partial specific circuit diagram 1 of a specific embodiment of the present invention.
  • Fig. 3 is a partial specific circuit diagram 2 of a specific embodiment of the present invention.
  • Fig. 4 is a third part of the specific circuit diagram of the specific embodiment of the present invention.
  • an exercise bike includes a brushless motor 2, a motor control board, a motor drive circuit, a power management circuit 3, a switch circuit 5, a power consumption unit 6 and a rechargeable battery unit 4.
  • the battery unit 4 supplies power to the exercise bike (including the motor control board and the instrument) through the power management circuit 3.
  • the motor control board controls the brushless motor 2 through the motor drive circuit to output corresponding torque as the pedaling resistance of the exercise bike.
  • the electric energy generated by the rotation of the brush motor 2 under this torque is processed by the motor drive circuit, that is, after rectification and filtering, the battery unit 4 is charged by the power management circuit 3 for energy recovery, and/or output to the power consumption unit 6 through the switch circuit 5 for consumption If not, the control ends of the power management circuit 3 and the switch circuit 5 are respectively connected to the motor control board.
  • the power consuming unit 6 is preferably a power resistor, which is easy to implement and low in cost, but it is not limited to this. In other embodiments, other devices that can consume power can also be used to implement it.
  • the motor control board uses FOC (Field Oriented Control) control to control the brushless motor 2 with high real-time and accuracy.
  • FOC control is already a very mature technology. For details, please refer to the existing technology. Elaborate.
  • the motor control board includes a main control unit 1, a bus voltage measurement circuit 9, a current measurement circuit 10, and a position detection circuit 11.
  • the bus voltage measurement circuit 9 is used to measure the brushless motor 2
  • the bus voltage is output to the main control unit 1.
  • the current measurement circuit 10 and the position detection circuit 11 are respectively used to measure the phase current and the rotor position of the brushless motor 2 and output to the main control unit 1.
  • the main control unit 1 According to the voltage of the busbar of the brushless motor 2, the phase current of the brushless motor 2 and the rotor position, the corresponding FOC closed-loop control is performed.
  • the position detection circuit 11 is implemented by a Hall sensor, which has high accuracy and is easy to implement, but it is not limited to this.
  • bus voltage measurement circuit 9 the specific circuit connection relationships of the bus voltage measurement circuit 9, the current measurement circuit 10, and the position detection circuit 11 are shown in Figures 2 and 3, which will not be elaborated here.
  • the bus voltage measurement The circuit 9, the current measurement circuit 10, and the position detection circuit 11 can also be implemented by other existing circuit forms, which can be easily implemented by those skilled in the art, and will not be described in detail.
  • the main control unit 1 is implemented by a single-chip microcomputer U2 with a model of STM32F105RBT6.
  • the specific circuit is shown in Figure 3, which will not be detailed here.
  • the main control unit 1 can also use other single-chip microcomputers. to fulfill.
  • the motor drive circuit includes a half-bridge drive circuit 8 and a power inverter circuit 7.
  • the control terminal of the half-bridge drive circuit 8 is connected to the control output terminal of the main control unit 1, and the output terminal of the half-bridge drive circuit 8 is connected to
  • the control input terminal of the power inverter circuit 7 is used to drive the power inverter circuit 7, the AC terminal of the power inverter circuit 7 is connected to the brushless motor 2, and the DC terminal of the power inverter circuit 7 is respectively connected to the power management circuit 3 and the switch circuit 5.
  • the half-bridge drive circuit 8 is implemented by half-bridge drivers U8, U9 and U10, and the power inverter circuit 7 is implemented by power MOS transistors MOS1-MOS12.
  • the models of the half-bridge drivers U8, U9 and U10 are IR2181S.
  • the specific circuit connection relationship is shown in Figure 2, which will not be elaborated here. Using this motor drive circuit has high control accuracy, high real-time performance, and high reliability, but it is not limited to this. In other embodiments, the motor drive circuit can also be implemented by other existing motor drive circuits. Those skilled in the art can easily implement it, so I won’t go into details here.
  • the switch circuit 5 uses a power MOS tube to switch on and off, and the main control unit 1 outputs a PWM signal to control its conduction and control the magnitude of its conduction current, with high sensitivity and reliability, and low power consumption.
  • the specific circuit is shown in Figure 3, and I will not go into details here.
  • the switch circuit 5 can also be implemented by other switch circuits.
  • the battery unit 4 is preferably implemented by a lithium battery, which has a large capacity and a small volume, but it is not limited to this.
  • the battery unit 4 is composed of three 18650 lithium batteries in parallel, with over-voltage, over-current, and short-circuit protection.
  • the number and specifications of the lithium batteries of the battery unit 4 can be based on the system power supply voltage Adjustment, which can be easily achieved by those skilled in the art, will not be elaborated here.
  • the power management circuit 3 includes a DC step-down circuit and a charge-discharge management circuit. After the DC power output from the DC terminal of the power inverter circuit 7 is stepped down by the DC step-down circuit, the battery unit 4 is charged through the charge-discharge management circuit. As with powering the exercise bike, when the system load of the exercise bike is relatively large, the input current is given priority to supply power to the system, and the remaining load capacity is then used to charge the battery unit 4.
  • the charging and discharging management circuit is implemented by using the existing charging and discharging management IC, preferably supporting charging management of more than 3 cells, battery charging current of more than 2A, supporting pre-charging, constant current charging, and constant voltage charging management; It has protection measures such as battery temperature detection, charging overcurrent protection, charging overvoltage protection, and battery short-circuit protection; at the same time, it also needs to have battery charging and discharging path management to realize the charging and discharging function of the battery to realize the charge and discharge management IC.
  • the existing charging and discharging management IC preferably supporting charging management of more than 3 cells, battery charging current of more than 2A, supporting pre-charging, constant current charging, and constant voltage charging management; It has protection measures such as battery temperature detection, charging overcurrent protection, charging overvoltage protection, and battery short-circuit protection; at the same time, it also needs to have battery charging and discharging path management to realize the charging and discharging function of the battery to realize the charge and discharge management IC.
  • the control terminal of the charge and discharge management IC is connected to the control terminal of the main control unit 1, and the main control unit 1 sets different charging currents according to the different power levels of the battery unit 4.
  • the power management circuit 3 is also provided with an output interface and an input interface, and the input interface is used to connect an external charging power source to supply power to the battery unit 4. Low power protection, at this time, it can be activated by charging through the DC adapter input.
  • the output interface is used to connect to external power-consuming units and supply power to the external power-consuming units.
  • the meter 12 is included, and the meter 12 is communicatively connected with the motor control board. Specifically, the meter 12 is communicatively connected with the main control unit 1, which can be connected through a common wired interface, such as UART, CAN, 485, etc. Of course, wireless communication connections, such as Bluetooth, WIFI, etc., can also be used.
  • a common wired interface such as UART, CAN, 485, etc.
  • wireless communication connections such as Bluetooth, WIFI, etc., can also be used.
  • the meter 12 is equipped with a display screen and buttons, and the user can select the exercise mode, resistance size, speed, etc. through the meter 12.
  • the user sets the resistance parameter on the meter 12, and the meter 11 converts it into a torque control command and sends it to the motor control board; the motor control board controls the torque according to the magnitude of the torque, adopts the FOC constant torque closed-loop control algorithm and drives the power inverse through the half-bridge drive circuit 8.
  • the variable circuit 7 controls the brushless motor 2 to output the corresponding torque.
  • the brushless motor 2 is driven by the pulley to rotate for exercise; the brushless motor 2 rotates under the set torque to generate electrical energy, which is controlled by the motor control board
  • the half-bridge driving circuit 8 drives the power inverter circuit 7 to convert the electric energy into direct current, which charges the battery unit 4 through the power management circuit 3.
  • the motor control board controls the charging current of the power management circuit 3, so that the brushless motor 2 bus
  • the switch circuit 5 is controlled to be turned on, and the power generated by the brushless motor 2 is consumed through the power consumption unit 6 to prevent excessive voltage damage
  • the motor control board adjusts the current through the switch circuit 5 by adjusting the output PWN signal, so that the bus voltage of the brushless motor 2 is stably maintained at 42V; when the power generated by the brushless motor 2 is greater than the battery unit
  • the battery unit 4 can be controlled to charge and the switch circuit 5 is turned on at the same time to consume the excess electric energy; the battery unit 4 supplies power to the entire exercise bike through the power management circuit 3.
  • the battery unit 4 is charged directly through the power management circuit 3 (that is, the charging circuit of the power management circuit 3 is turned on by default). Because it is in the no-load state at this time, the brushless motor 2 generates The energy is relatively limited, and the battery unit 4 can be charged directly without affecting the stability of the bus voltage of the brushless motor 2.
  • the motor control board After the motor control board is turned on, the motor control board turns off the charging circuit of the power management circuit 3 and controls the switching circuit 5 Conduct the corresponding conduction to maintain the stability of the bus voltage of the brushless motor 2 to prevent the charging power greater than the power generated by the brushless motor 2 from affecting the precise control of the torque; when the human riding work exceeds 30W (according to the system power consumption and charging power (Consumption adjustment), then turn on the charging circuit of the power management circuit 3, and at the same time control the switch circuit accordingly, that is, perform the control described in the previous paragraph to maintain the bus voltage of the brushless motor 2 stable.
  • the invention can not only realize real-time accurate torque control, but also can effectively recover energy, carry out self-power supply, and even use for external equipment, save energy, reduce consumption and environmental protection, and has a simple structure and low cost.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

本发明涉及健身器材技术领域。本发明公开了一种健身车，包括无刷电机、电机控制板、电机驱动电路、电源管理电路、开关电路、电能消耗单元和可充电的电池单元，所述电池单元通过电源管理电路为健身车供电，所述电机控制板通过电机驱动电路控制无刷电机输出相应的扭力作为该健身车的踩踏阻力，所述无刷电机在该扭力下转动产生的电能经过电机驱动电路处理后通过电源管理电路为电池单元充电和/或通过开关电路输出给电能消耗单元消耗掉，所述电源管理电路和开关电路的控制端分别与电机控制板连接。本发明既可以实现实时精确扭力控制，又可以对能量进行回收，进行自供电，甚至给外部设备使用，节能降耗，且结构简单，成本低。

Description

一种健身车 技术领域
本发明属于健身器材技术领域，具体地涉及一种健身车。
背景技术
当前随着人们生活水平不断提高，对身体的健康越来越重视，在工作之余抽空使用健身器材进行锻炼成为人们的一种选择，健身车也因此逐渐普及到我们生活中。健身车属于典型的模拟户外运动的有氧健身器材，也被称为心肺训练器材，主要是通过身体较长时间，适当强度的踩踏运动来促进心血管的运动，加快新陈代谢，增强心脏和肺部功能，从而改善人体的体质。
市面上现有的健身车一般采用电磁控技术来调节阻力，阻力调节准确性差，经常调整不到位，且阻力调节反应慢，需要较长的反应过程。另外现有的健身车都需要外部交流电源作为动能供电，耗电大不环保且操作不方便；或者虽然有些健身车设有自发电装置，但自发电装置只能提供微少的电能供仪表显示使用而已，无法将用户健身运动时动能转换为电能并有效存储输出。
发明内容
本发明的目的在于提供一种健身车用以解决上述存在的技术问题。
为实现上述目的，本发明采用的技术方案为：一种健身车，包括无刷电机、电机控制板、电机驱动电路、电源管理电路、开关电路、电能消耗单元和可充电的电池单元，所述电池单元通过电源管理电路为健身车供电，所述电机控制板通过电机驱动电路控制无刷电机输出相应的扭力作为该健身车的踩踏阻力， 所述无刷电机在该扭力下转动产生的电能经过电机驱动电路处理后通过电源管理电路为电池单元充电和/或通过开关电路输出给电能消耗单元消耗掉，所述电源管理电路和开关电路的控制端分别与电机控制板连接。
进一步的，所述电机控制板包括主控单元、母线电压测量电路、电流测量电路和位置检测电路，所述母线电压测量电路用于测量无刷电机母线的电压并输出给主控单元，所述电流测量电路和位置检测电路分别用于测量无刷电机的相电流和转子位置并输出给主控单元，所述主控单元根据无刷电机母线的电压、无刷电机的相电流和转子位置进行相应的FOC闭环控制。
进一步的，所述电机驱动电路包括半桥驱动电路和功率逆变电路，所述功率逆变电路采用功率MOS管来实现。
进一步的，所述电源管理电路包括DC降压电路和充放电管理电路，所述无刷电机在该扭力下转动产生的电能经过电机驱动电路处理后，再经过DC降压电路降压后，通过充放电管理电路为电池单元充电和为健身车供电。
进一步的，所述电能消耗单元为功率电阻。
进一步的，所述电池单元由锂电池构成。
进一步的，还包括仪表，所述仪表与电机控制板通信连接。
进一步的，所述电源管理电路还设有输出接口和输入接口，所述输入接口用于接外界充电电源为该电池单元供电，所述输出接口用于接外界用电单元。
进一步的，所述开关电路的控制端与电机控制板的PWM控制端连接。
更进一步的，在电机控制板未开启的时候，无刷电机在该扭力下转动产生的电能经过电机驱动电路处理后通过电源管理电路为电池单元充电；电机控制板开启后，电机控制板把电源管理电路的充电回路关断，并控制开关电路进行 相应导通，来维持无刷电机母线电压稳定；当无刷电机做功超过设定值后，再把电源管理电路的充电回路打开，同时对开关电路进行相应控制，来维持无刷电机母线电压稳定。
本发明的有益技术效果：
本发明既可以实现实时精确扭力控制，又可以对能量进行有效回收，进行自供电，甚至给外部设备使用，节能降耗环保，且结构简单，成本低。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简要介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域的普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明具体实施例的电路框图；
图2为本发明具体实施例的部分具体电路图一；
图3为本发明具体实施例的部分具体电路图二；
图4为本发明具体实施例的部分具体电路图三。
具体实施方式
为进一步说明各实施例，本发明提供有附图。这些附图为本发明揭露内容的一部分，其主要用以说明实施例，并可配合说明书的相关描述来解释实施例的运作原理。配合参考这些内容，本领域普通技术人员应能理解其他可能的实施方式以及本发明的优点。图中的组件并未按比例绘制，而类似的组件符号通常用来表示类似的组件。
现结合附图和具体实施方式对本发明进一步说明。
如图1-4所示，一种健身车，包括无刷电机2、电机控制板、电机驱动电路、电源管理电路3、开关电路5、电能消耗单元6和可充电的电池单元4，所述电池单元4通过电源管理电路3为健身车(包括电机控制板和仪表)供电，所述电机控制板通过电机驱动电路控制无刷电机2输出相应的扭力作为该健身车的踩踏阻力，所述无刷电机2在该扭力下转动产生的电能经过电机驱动电路处理后，即整流滤波后通过电源管理电路3为电池单元4充电进行能量回收，和/或通过开关电路5输出给电能消耗单元6消耗掉，所述电源管理电路3和开关电路5的控制端分别与电机控制板连接。
本具体实施例中，所述电能消耗单元6优选为功率电阻，易于实现，成本低，但并不限于此，在其它实施例中，也可以采用其它可以消耗电能的装置来实现。
本具体实施例中，电机控制板采用FOC(磁场定向控制)控制来控制无刷电机2，实时性和精确度高，FOC控制已是非常成熟的技术，具体可以参照现有技术，此不再细说。
相应地，本具体实施例中，所述电机控制板包括主控单元1、母线电压测量电路9、电流测量电路10和位置检测电路11，所述母线电压测量电路9用于测量无刷电机2母线的电压并输出给主控单元1，所述电流测量电路10和位置检测电路11分别用于测量无刷电机2的相电流和转子位置并输出给主控单元1，所述主控单元1根据无刷电机2母线的电压、无刷电机2的相电流和转子位置进行相应的FOC闭环控制。
本具体实施例中，位置检测电路11采用霍尔传感器来实现，精确度高，且易于实现，但并不限于此。
本具体实施例中，母线电压测量电路9、电流测量电路10和位置检测电路11的具体电路连接关系详见图2和3，此不再细说，当然，在其它实施例中，母线电压测量电路9、电流测量电路10和位置检测电路11也可以采用现有的其它电路形式来实现，此是本领域技术人员可以轻易实现的，不再细说。
本具体实施例中，主控单元1采用型号为STM32F105RBT6的单片机U2来实现，具体电路详见图3，此不再细说，当然，在其它实施例中，主控单元1也可以采用其它单片机来实现。
本具体实施中，所述电机驱动电路包括半桥驱动电路8和功率逆变电路7，半桥驱动电路8的控制端接主控单元1的控制输出端，半桥驱动电路8的输出端接功率逆变电路7的控制输入端，用于驱动功率逆变电路7，功率逆变电路7的交流端接无刷电机2，功率逆变电路7的直流端分别接电源管理电路3和开关电路5。
本具体实施中，半桥驱动电路8采用半桥驱动器U8、U9和U10来实现，功率逆变电路7采用功率MOS管MOS1-MOS12来实现，半桥驱动器U8、U9和U10的型号为IR2181S，具体电路连接关系详见图2，此不再细说。采用该电机驱动电路，控制精度高，实时性高，且可靠性高，但并不限于此，在其它实施例中，电机驱动电路也可以采用现有的其它电机驱动电路来实现，此是本领域技术人员可以轻易实现的，不再细说。
本具体实施中，所述开关电路5采用功率MOS管做开关通断，由主控单元1输出PWM信号进行控制其导通以及控制其导通电流的大小，灵敏度和可靠性高，功耗低，具体电路详见图3，此不再细说。当然，在其它实施例中，开关电路5也可以采用其它开关电路来实现。
本具体实施中，所述电池单元4优选采用锂电池来实现，容量大，体积小， 但并不以此为限。本实施例中，电池单元4采用3节18650锂电池并联组成，自带过压、过流、短路保护，当然，在其它实施例中，电池单元4的锂电池数量和规格可根据系统供电电压调整，此是本领域技术人员可以轻易实现的，不再细说。
本具体实施中，电源管理电路3包括DC降压电路和充放电管理电路，功率逆变电路7的直流端输出的直流电经过DC降压电路降压后，通过充放电管理电路为电池单元4充电和为健身车供电，在健身车的系统负载比较大的时候，输入电流优先提供给系统供电，剩余的负载能力再给电池单元4充电。
本具体实施中，充放电管理电路采用现有的充放电管理IC来实现，优选采用支持3节以上的充电管理，2A以上的电池充电电流，支持预充电、恒流充电、恒压充电管理；具有电池温度检测、充电过流保护、充电过压保护、电池短路保护等保护措施；同时还需具备电池充放电路径管理，实现电池边充边放功能的充放电管理IC来实现。
充放电管理IC的控制端与主控单元1的控制端连接，由主控单元1根据电池单元4不同的电量设置不同的充电电流。
进一步的，本实施例中，所述电源管理电路3还设有输出接口和输入接口，所述输入接口用于接外界充电电源为该电池单元4供电，在电池单元4由于放置时间比较长处于低电保护，这时可以通过DC适配器输入进行充电激活。所述输出接口用于接外界用电单元，给外界用电单元供电。本实施例的电源管理电路3的具体电路详见图4，此不再细说。
本具体实施例中，包括仪表12，所述仪表12与电机控制板通信连接，具体的，仪表12与主控单元1通信连接，可通过通用的有线接口，如：UART、CAN、485等相连，当然，也可以采用无线通信连接，如蓝牙、WIFI等。
仪表12设有显示屏和按键，用户通过仪表12可以选择锻炼模式、阻力大小、转速等。
工作过程：
用户在仪表12上设定阻力参数，仪表11将其转换成扭力控制指令，发送到电机控制板；电机控制板控制根据扭力大小，采用FOC恒扭力闭环控制算法通过半桥驱动电路8驱动功率逆变电路7控制无刷电机2输出对应的扭力，人体踩踏骑行的时候，通过皮带轮带动无刷电机2转动进行锻炼；无刷电机2在设定的扭力下转动，产生电能，电机控制板控制半桥驱动电路8驱动功率逆变电路7将该电能转换为直流电，该直流电通过电源管理电路3为电池单元4充电，电机控制板控制电源管理电路3的充电电流大小，使得无刷电机2母线的电压稳定保持在42V，实现扭力的精确控制；当电池单元4充满电之后，再控制开关电路5导通，通过电能消耗单元6把无刷电机2产生的电能消耗掉，防止电压过高损坏系统和影响扭力的精确控制，电机控制板通过调整输出的PWN信号来调整通过开关电路5的电流，使得无刷电机2母线的电压稳定保持在42V；当无刷电机2产生的电能大于电池单元4的充电电能时，可以同时控制给电池单元4充电和控制开关电路5导通，把多余的电能消耗掉；电池单元4通过电源管理电路3为整个健身车供电。
进一步的，为了保证无刷电机2母线电压的稳定，从而保证电机控制板对无刷电机2扭力的精确控制，在电机控制板未开启的时候，无刷电机2在该扭力下转动产生的电能经过功率逆变电路7转换为直流电后，直接通过电源管理电路3(即电源管理电路3的充电回路默认为开启状态)为电池单元4充电，由于此时处于空载状态，无刷电机2产生的能量比较有限，可以直接对电池单元4进行充电，不会影响无刷电机2母线电压的稳定；电机控制板开启后，电机控 制板把电源管理电路3的充电回路关断，并控制开关电路5进行相应导通，来维持无刷电机2母线电压稳定，避免这个充电功率大于无刷电机2产生的功率影响扭力的精确控制；当人体骑行做功超过30W(可根据系统功耗和充电功耗调整)，再把电源管理电路3的充电回路打开，同时对开关电路进行相应控制，即进行上一段落所述的控制，来维持无刷电机2母线电压稳定。
本发明既可以实现实时精确扭力控制，又可以对能量进行有效回收，进行自供电，甚至给外部设备使用，节能降耗环保，且结构简单，成本低。
尽管结合优选实施方案具体展示和介绍了本发明，但所属领域的技术人员应该明白，在不脱离所附权利要求书所限定的本发明的精神和范围内，在形式上和细节上可以对本发明做出各种变化，均为本发明的保护范围。

Claims (10)

  1. 一种健身车，其特征在于：包括无刷电机、电机控制板、电机驱动电路、电源管理电路、开关电路、电能消耗单元和可充电的电池单元，所述电池单元通过电源管理电路为健身车供电，所述电机控制板通过电机驱动电路控制无刷电机输出相应的扭力作为该健身车的踩踏阻力，所述无刷电机在该扭力下转动产生的电能经过电机驱动电路处理后通过电源管理电路为电池单元充电和/或通过开关电路输出给电能消耗单元消耗掉，所述电源管理电路和开关电路的控制端分别与电机控制板连接。
  2. 根据权利要求1所述的健身车，其特征在于：所述电机控制板包括主控单元、母线电压测量电路、电流测量电路和位置检测电路，所述母线电压测量电路用于测量无刷电机母线的电压并输出给主控单元，所述电流测量电路和位置检测电路分别用于测量无刷电机的相电流和转子位置并输出给主控单元，所述主控单元根据无刷电机母线的电压、无刷电机的相电流和转子位置进行相应的FOC闭环控制。
  3. 根据权利要求1所述的健身车，其特征在于：所述电机驱动电路包括半桥驱动电路和功率逆变电路，所述功率逆变电路采用功率MOS管来实现。
  4. 根据权利要求1所述的健身车，其特征在于：所述电源管理电路包括DC降压电路和充放电管理电路，所述无刷电机在该扭力下转动产生的电能经过电机驱动电路处理后，再经过DC降压电路降压后，通过充放电管理电路为电池单元充电和为健身车供电。
  5. 根据权利要求1所述的健身车，其特征在于：所述电能消耗单元为功率电阻。
  6. 根据权利要求1所述的健身车，其特征在于：所述电池单元由锂电池构 成。
  7. 根据权利要求1所述的健身车，其特征在于：还包括仪表，所述仪表与电机控制板通信连接。
  8. 根据权利要求1所述的健身车，其特征在于：所述电源管理电路还设有输出接口和输入接口，所述输入接口用于接外界充电电源为该电池单元供电，所述输出接口用于接外界用电单元。
  9. 根据权利要求1所述的健身车，其特征在于：所述开关电路的控制端与电机控制板的PWM控制端连接。
  10. 根据权利要求9所述的健身车，其特征在于：在电机控制板未开启的时候，无刷电机在该扭力下转动产生的电能经过电机驱动电路处理后通过电源管理电路为电池单元充电；电机控制板开启后，电机控制板把电源管理电路的充电回路关断，并控制开关电路进行相应导通，来维持无刷电机母线电压稳定；当无刷电机做功超过设定值后，再把电源管理电路的充电回路打开，同时对开关电路进行相应控制，来维持无刷电机母线电压稳定。
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