WO2024067971A1 - Procédé de commande d'un dispositif d'entraînement pour bicyclette et dispositif de commande permettant de mettre en œuvre le procédé - Google Patents

Procédé de commande d'un dispositif d'entraînement pour bicyclette et dispositif de commande permettant de mettre en œuvre le procédé Download PDF

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Publication number
WO2024067971A1
WO2024067971A1 PCT/EP2022/077089 EP2022077089W WO2024067971A1 WO 2024067971 A1 WO2024067971 A1 WO 2024067971A1 EP 2022077089 W EP2022077089 W EP 2022077089W WO 2024067971 A1 WO2024067971 A1 WO 2024067971A1
Authority
WO
WIPO (PCT)
Prior art keywords
bicycle
drive
electric machine
pedal device
inclination
Prior art date
Application number
PCT/EP2022/077089
Other languages
German (de)
English (en)
Inventor
Alexander Jungaberle
Uwe Schraff
Markus Wallner
Original Assignee
Zf Friedrichshafen Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zf Friedrichshafen Ag filed Critical Zf Friedrichshafen Ag
Priority to PCT/EP2022/077089 priority Critical patent/WO2024067971A1/fr
Publication of WO2024067971A1 publication Critical patent/WO2024067971A1/fr

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

Definitions

  • the present invention relates to a method for controlling a drive device of a bicycle which is operated at least temporarily with muscle power using a pedal device.
  • the present invention relates to a method for adjusting a driving force of a drive device in a bicycle designed as a pedelec or e-bike, wherein dynamic operation can also be achieved in different situations.
  • Bicycles with an additional electric drive device to support muscle strength are known.
  • Such bicycles designed as pedelecs or e-bikes are also used in mountainous areas with inclines and declines, since the limitation of muscle power, especially when climbing, is largely eliminated by the support of an electric machine provided in the drive device.
  • a method for controlling a drive device of a bicycle with a pedal device that is operated at least temporarily with muscle power wherein the drive device has at least one electric machine to support operation of the pedal device using muscle power.
  • the method has the following steps: determining inclination information of the bicycle that relates to an inclination angle of the road in a direction of travel of the bicycle, deriving a drive requirement for the bicycle at least from an operation of the pedal device and controlling the electric machine taking into account the inclination information and the drive requirement, so that a downhill force acting in the longitudinal direction of the bicycle is at least partially compensated at least during a dynamic mode of operation of the bicycle.
  • the inclination angle of the road in a longitudinal direction of the bicycle can be determined, estimated or recorded directly.
  • the longitudinal direction of the bicycle is aligned with the direction in which the bicycle normally travels forward. It is also possible to determine inclination information of the bicycle as a relative indication, from which an assessment can be made as to whether the inclination angle of the road is large or small.
  • an input from the rider of the bicycle can also be taken into account.
  • an output torque and additionally or alternatively a speed of the electric machine can be controlled.
  • an electrical input power of the electric machine can be controlled, which represents a relation to the output power of the electric machine.
  • both an uphill and a downhill of the bicycle are taken into account.
  • the downhill force can act forwards in the longitudinal direction of the bicycle if the bicycle is on a slope.
  • the downhill force can act backwards in the longitudinal direction of the bicycle if the bicycle is on an incline.
  • the inclination information defines that the bicycle is on a level surface without a significant downhill force acting, this does not need to be compensated according to the invention.
  • the downhill force acting on an incline thus acts against the direction of travel, while on a downhill the downhill force acts in the direction of travel of the bicycle.
  • a signal from at least one inclination sensor provided on the bicycle can be taken into account.
  • the inclination sensor can be mounted in such a way that the inclination of the bicycle and in particular the inclination angle of the road can be detected. It is assumed that the wheels of the bicycle are on the road.
  • the inclination sensor can be permanently mounted on the bicycle so that an inclination of the bicycle immediately leads to a signal at the inclination sensor.
  • the position of the inclination sensor on the bicycle is not limited as long as the function for detecting the inclination of the bicycle can be detected.
  • the signal from the at least one inclination sensor provided on the bicycle can be a signal from a gyro sensor.
  • Gyro sensors are suitable for detecting an inclination relative to the horizontal. Gyro sensors also emit a quantitative signal that determines the angle of inclination of the bicycle relative to the horizontal.
  • a signal from a GPS system can be taken into account to determine the global position of the bicycle.
  • a GPS system is able to determine the position with a relatively high degree of accuracy.
  • the GPS system can be mounted on the bicycle. The GPS system can thus determine the position of the bicycle and use the position to determine the inclination information relating to the inclination angle of the roadway.
  • the inclination information can be determined directly from the GPS system.
  • the inclination information can be determined from a database based on a position query and at least estimated.
  • an acceleration in the longitudinal direction, in particular in the direction of travel of the bicycle, and at least one piece of information relating to the present driving force of the bicycle can be taken into account in order to determine inclination information as an estimated inclination angle.
  • a force balance can be carried out in order to be able to draw conclusions about the angle of inclination of the road on which the bicycle is located.
  • the entire driving force acting on the bicycle can be taken into account.
  • an acceleration resulting from the driving force acting on the bicycle when the bicycle is on the plane can be taken into account. So in this one Embodiment can be inferred from a deviation from the acceleration that results from a given driving force of the planes on the angle of inclination.
  • At least one cadence can be taken into account when operating the pedal device.
  • the cadence is a speed of the pedal device that is specified by the rider of the bicycle.
  • the cadence can be detected directly or indirectly by a sensor. If the cadence is high, in particular if the speed of the pedal device is high and specified by the rider, it can be assumed that the rider wants the bicycle to be driven dynamically. In contrast, if the cadence is very low, it can be assumed that the dynamic requirements for the operation of the bicycle are rather low.
  • a means can be provided for detecting a torque that is provided by the pedal device for the drive device.
  • This means can in particular be a torque sensor that is linked to the pedal device. If the torque during operation of the pedal device is high, it can be assumed that the driver wants the drive device to operate dynamically. In contrast, if the torque during operation of the pedal device is low, it can be assumed that the dynamic requirements for the driver's drive are low.
  • the driving force of the electric machine to support the drive by the pedal device can be controlled based on a basic map when it is determined that the bicycle is on a road without or with only a slight gradient, wherein the driving force of the electric machine to support the drive is controlled by the pedal device on the basis of a gradient map when it is determined that the bicycle is on a road with a gradient, with reference to a drive request Driving force of the electric machine is larger when controlled with the gradient map than when controlled with the basic map.
  • the basic map is used if there is no gradient or only a negligible gradient.
  • the slope map is used when the presence of a slope is determined.
  • Information can be derived from the basic map and the gradient map that can be used to control the driving force of the electric machine. At least information about the drive requirement for the bicycle and the inclination information of the bicycle serve as input variables for the basic map and for the incline map.
  • the driving force resulting from the slope map is greater by a predetermined factor than the driving force resulting from the basic map, the factor being in a predetermined relationship to the angle of inclination of the road.
  • the greater the angle of inclination of the road on an incline the greater the factor.
  • the driving force of the electric machine can be controlled taking into account an optionally variable gear ratio between the electric machine or the pedal device and a drive wheel of the bicycle.
  • the driving force delivered by the electric machine is optionally transmitted to the drive wheel via a transmission device with a gear ratio, the gear ratio being optionally variable.
  • a continuously variable or stepped transmission can be provided in a drive device between the electric machine and the drive wheel of the bicycle.
  • a continuously variable or stepped transmission device can also be provided between the pedal device and the drive wheel. Since the driving force acting on the drive wheel is decisive for the present situation, according to this embodiment, the current transmission ratio between the electric machine or the pedal device and the drive wheel of the bicycle can be taken into account quantitatively.
  • An increase in the driving force when an increase is detected can be carried out according to the basic concept of the present invention, so that in the longitudinal direction of the bicycle, namely against the direction of travel of the bicycle acting downhill force is at least partially compensated for at least during dynamic operation of the bicycle.
  • the concept is not limited to controlling the driving force on a slope. Because according to the concept of the invention, a reduction in the driving force can be made when a slope is detected, so that a downhill force acting in the longitudinal direction of the bicycle, namely in the direction of travel of the bicycle, is at least partially compensated for at least during dynamic operation of the bicycle.
  • a control device of a drive device of a bicycle operated with a pedal device at least temporarily with muscle power wherein the drive device has at least one electric machine for supporting operation of the pedal device by muscle power, wherein the control device has input interfaces for receiving signals and output interfaces for emitting signals as well as a device for controlling a drive force of the at least one electric machine, wherein the control device is set up to carry out the method with one or more of the features described above.
  • Figure 1 shows a schematic representation of a bicycle to which the embodiments of the method can be applied
  • Figure 2 shows a bicycle on a road in a schematic representation to explain the embodiments.
  • Figure 3 shows a schematic representation of the basic steps of the method.
  • the bicycle 3 shown in Figure 1 has a steerable front wheel and a non-steerable rear wheel.
  • the front wheel and the rear wheel are attached to a frame.
  • the bicycle 3 has a drive device 1 between the front wheel and the rear wheel.
  • the drive device 1 is provided in the area of the bicycle 3 on which a bottom bracket is conventionally arranged.
  • the drive device 1 has an electrical machine 4.
  • the drive device 1 has a pedal device 2 with which the driver can introduce muscle power into the drive device 1 via pedals.
  • the drive device 1 which are intended to combine the driving force introduced by the pedal device 2 and the driving force provided by the electric machine 4.
  • the driving force emitted by the drive device 1 is transmitted to the rear wheel of the bicycle 3 via a traction device (not shown), which in the present embodiment is designed as a chain drive.
  • the bicycle 3 has additional further elements which are used for the operation of the drive device 1, such as an electrical energy storage device in the form of a rechargeable battery, a braking device, a control device and the like.
  • an inclination sensor 5 is mounted on the bicycle 3.
  • the inclination sensor 5 is designed as a gyro sensor and is able to detect the inclination of the bicycle 3 along the longitudinal direction or in the direction of travel.
  • the inclination sensor 5 is able to detect the inclination angle of the road on an incline or decline and pass it on to the control device.
  • the control device not shown in Figure 1, has input interfaces and output interfaces which are in communication with corresponding elements of the bicycle 3.
  • the starting point for the present inventive concept is described below with reference to Figure 2.
  • the entire driving force delivered by the drive device 1 is used to compensate for friction, mainly air friction, and if necessary to accelerate the system consisting of bicycle and rider.
  • the drive force is used for the increasing altitude energy of the system consisting of the bicycle and rider. If in this situation the rider thus generates a drive request to accelerate the bicycle 3 due to an increased crank speed, the resulting acceleration on the climb with the inclination angle a (greater than 0 degrees), as shown in Figure 2, would be lower than on the flat at an inclination angle of 0 degrees.
  • the present invention takes this fact into account by determining inclination information of the bicycle 3 in the method, which relates to an inclination angle of the road in a direction of travel of the bicycle.
  • step S1 inclination information of the bicycle is determined, which relates to an inclination angle of the road in a direction of travel of the bicycle.
  • the inclination sensor 5, which is shown in Figure 1 is queried.
  • the query of the inclination sensor 5 results in the inclination angle a of the road on which the bicycle is currently located.
  • a drive request for the bicycle is derived at least from an operation of the pedal device in a step S2. For this purpose, the speed of the pedal device 3 is queried in the present embodiment.
  • step S3 the electric machine is controlled taking into account the inclination information, in particular the inclination angle a, and the drive request, in particular the speed of the pedal device.
  • the driving force of the electric machine 4 is controlled at an increase in such a way that that this is higher than for the case in which the bicycle 3 moves in a plane, so that an acceleration request that is detected in step S2 results in a dynamic acceleration behavior of the bicycle 3 that corresponds to the acceleration behavior in the plane , in which the inclination angle of the road is 0°, is comparable.
  • a force balance is carried out in the method in order to be able to conclude whether the bicycle 3 is on a road with an inclination angle a that is greater than 0 degrees.
  • the acceleration behavior of the bicycle with a given driving force is measured in the plane, i.e. H. at an inclination angle of 0 degrees, and compared in the increase with the inclination angle a to be determined. From the acceleration behavior, conclusions can be drawn at least approximately about the angle of inclination a, since the acceleration of the bicycle 3 on a slope with an angle of inclination a is lower than in the plane for a given driving force.
  • the method can be carried out in a similar manner as above, taking into account the output signal of the inclination sensor 5.
  • the above embodiments relate to increasing the driving force of the electric machine when detecting an increase based on a driving force that is specified in the plane.
  • the invention is not limited to this.
  • a reduction in the driving force of the electric machine can also be carried out when a gradient is detected.
  • a transmission with a variable gear ratio is provided between the pedal device 2 and the drive wheel of the bicycle 3.
  • the variable gear ratio also acts on the power transmission path between the electric machine 4 and the drive wheel.
  • signals relating to the present gear ratio are supplied to the control device.
  • the control device controls the driving force according to the concept described above in addition Taking into account the existing gear ratio in the power transmission path between the electric machine 4 and the drive wheel of the bicycle 3.

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

Abstract

L'invention se rapporte à un procédé de commande d'un dispositif d'entraînement (1) d'une bicyclette (3) qui est mise en fonctionnement au moins temporairement à l'aide d'une puissance musculaire au moyen d'un dispositif à pédale (2), le dispositif d'entraînement (1) comprenant au moins une machine électrique (4) permettant d'assister le fonctionnement du dispositif à pédale (2) par la puissance musculaire. Le procédé comprend les étapes suivantes qui consistent à : (S1) déterminer des informations d'inclinaison de la bicyclette (3) qui concernent un angle d'inclinaison de la chaussée dans une direction de déplacement de la bicyclette (3), (S2) dériver une requête d'entraînement pour la bicyclette (3) au moins à partir du fonctionnement du dispositif à pédale (2) et (S3) commander la machine électrique (4) en tenant compte des informations d'inclinaison et de la requête d'entraînement, de sorte qu'une puissance de descente qui agit dans la direction longitudinale de la bicyclette (3) est compensée au moins partiellement au moins pendant un procédé dynamique de fonctionnement de la bicyclette (3).
PCT/EP2022/077089 2022-09-29 2022-09-29 Procédé de commande d'un dispositif d'entraînement pour bicyclette et dispositif de commande permettant de mettre en œuvre le procédé WO2024067971A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2022/077089 WO2024067971A1 (fr) 2022-09-29 2022-09-29 Procédé de commande d'un dispositif d'entraînement pour bicyclette et dispositif de commande permettant de mettre en œuvre le procédé

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2022/077089 WO2024067971A1 (fr) 2022-09-29 2022-09-29 Procédé de commande d'un dispositif d'entraînement pour bicyclette et dispositif de commande permettant de mettre en œuvre le procédé

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WO2024067971A1 true WO2024067971A1 (fr) 2024-04-04

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PCT/EP2022/077089 WO2024067971A1 (fr) 2022-09-29 2022-09-29 Procédé de commande d'un dispositif d'entraînement pour bicyclette et dispositif de commande permettant de mettre en œuvre le procédé

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3564109A1 (fr) * 2016-12-28 2019-11-06 Yamaha Hatsudoki Kabushiki Kaisha Système d'assistance électrique et véhicule à assistance électrique
US10889351B2 (en) * 2016-04-15 2021-01-12 Shimano Inc. Bicycle controller for bicycle equipped with assist device and gear change device
US11124268B2 (en) * 2018-04-09 2021-09-21 Shimano Inc. Human-powered vehicle control device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10889351B2 (en) * 2016-04-15 2021-01-12 Shimano Inc. Bicycle controller for bicycle equipped with assist device and gear change device
EP3564109A1 (fr) * 2016-12-28 2019-11-06 Yamaha Hatsudoki Kabushiki Kaisha Système d'assistance électrique et véhicule à assistance électrique
US11124268B2 (en) * 2018-04-09 2021-09-21 Shimano Inc. Human-powered vehicle control device

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