CN102795297B - Moped with adjustable magnetic block position sensor on motor casing - Google Patents

Abstract

The invention discloses a power-assisted bicycle with an adjustable magnetic block position sensor arranged on a motor shell, and relates to an electric power-assisted bicycle for providing power-assisted signals through multi-point magnetic induction. The sensor comprises a sensing element, a power-assisted model processor, a digital-to-analog converter and an operational amplifier which are connected in sequence, a plurality of permanent magnets with opposite adjacent magnetic polarities are fixedly arranged on a motor shell serving as the sensing element, the distance between the permanent magnets can be adjusted, a Hall of the sensing element is arranged on a vehicle frame close to the permanent magnets, and a motor controller of the operational amplifier is connected. The advantages are that: the Hall can obtain rectangular wave signals, the sensor can conveniently output an artificially set power-assisted model through digital processing, and the power-assisted model can be adjusted to be reasonable in power-assisted starting point, finishing point and force, so that a human machine can be optimally matched and electricity is saved.

Description

Power-assisted bicycle with adjustable magnetic block position sensor on motor casing

technical field

The invention belongs to the technical field of power-assisted bicycles, in particular to an electric power-assisted bicycle that performs multi-point magnetic induction on a rotating part to provide power-assisted signals.

Background technique

The Chinese patent 201020295192.0 "Claw Type Torque Sensing Device" applied by Yebao Vehicle Material Industry (Kunshan) Co., Ltd. discloses a sensing device for power-assisted bicycles. The sensing device includes a magnetic part and an elastic part to sense the torque. sensing device. After a long time of use, the change of the elastic coefficient of the elastic member will lead to changes in the sensing signal and the control effect of the controlled motor, and the power-assisted effect will not match the power-assisted needs of people. Moreover, the design structure of the elastic member is complex and the manufacturing cost is high.

The Chinese patent 01201843.0 "Automatic Detection Device for Electric Power-assisted Bicycles" applied by Beijing University of Science and Technology discloses an automatic detection device for electric power-assisted bicycles, which detects pedaling force, speed and steering without contact. There is a spring on the inner disc, and the inner and outer discs are reset by a spring, and the two Halls on the bracket are used to measure the electrical signals generated by the relative moving magnetic discs on the inner and outer discs to indicate pedaling force, speed and steering. .

Disadvantages (1) The use of elastic parts is not durable: after a long time of use, the change of the elastic coefficient of the elastic parts will lead to changes in the sensing signal and the control effect of the controlled motor, and the power-assisted effect will not match the human power-assisted needs. Complicated and costly.

Disadvantage (2) Each disk group is the same and the magnetic poles are set in the same way, but it cannot express the respective positions of different disk groups, and cannot express the special power-assisted requirements of different positions: from Figure 3, 4, 5, 6 of the 01201843.0 patent and the instruction manual The record in the second paragraph of page 2 shows that the magnetic pole setting method of each magnetic sheet group (including a magnetic sheet 4, a magnetic sheet 5, and a magnetic sheet 6) is the same, that is, only the different positions of the inner wheel are simply changed from If the same set of disks is set repeatedly, the respective positions of different sets of disks cannot be represented, and the motion state of a specific position cannot be represented. When a person rides a bicycle, the pedals and the positions corresponding to the pedals are in motion and have their own Special boosting requirements, but the same structure of each magnetic sheet group in this patent cannot express the special boosting requirements of different positions on the pedal.

Disadvantage (3) There is no difference in the signals of each point, so that the man-machine does not cooperate: every disk group is the same, so each disk group cannot indicate the position of the disk group on the inner wheel, and the signal output by Hall cannot express The positions of the pedals and other magnetic disc groups, that is, the signal output by the Hall cannot indicate the demand for power assistance at different pedal positions, resulting in a mismatch between the demand for power assistance and the time for providing power assistance, that is, the unsatisfactory man-machine cooperation.

Disadvantage (4) The output of sine wave makes the edge distance of the disk group not less than 4 cm, generally 5 cm is better, and the number of disk groups that can be set is too small, and the man-machine cooperation is not ideal: if the disk groups are the same, the Huo What I output is a sine wave as the control signal. As the control signal, the sine wave must have a certain peak-to-valley difference. Since the patented disk set needs a certain length to indicate forward and reverse motion, the circular trajectory of the rotating disc with a diameter of 20 cm There are at most 8 disk groups on the board, generally 5 is better, the Hall can have the sine wave signal of the control function. That is to say, the technical solution of the 01201843.0 patent is used for power-assisted bicycles, the number of magnetic disc groups is limited to less than 8, the control signals are too few, and the man-machine cooperation is not ideal. However, if there are more than 8 magnetic disc groups, when a person pedals faster, the signal pattern output by Hall is close to a horizontal line. This signal has no control function, and cannot control the motor, so that it loses the power assist function when it is particularly needed.

Disadvantage (5) The blind area of the signal is up to 45 degrees, and you can't get it when you need it when you start it: As we all know, the torque of the bicycle pedal is the smallest at the apex, and the 10-45 degrees away from the apex is the area that needs the most assistance. , but the included angle between the magnetic sheet groups in this patent is 45 degrees, and there is no magnetic sheet group in the area where the pedal is 10-45 degrees away from the apex, and there is no control signal. The result is when the power is most needed , but the motor of the power-assisted bicycle does not assist.

In short, in addition to the use of elastic parts that are not durable and have a complex structure, due to the structural characteristics of the Hall and the disk group, the size and diameter of the turntable are within 20 cm, which limits the number of disk groups to 8 groups, and the number of disk groups cannot be increased arbitrarily. , so that the human-machine cooperation is not ideal, and there is no assistance when starting, the assistance demand does not match the assistance provided, and the rider's comfort is poor; if the number of magnetic disk groups is forcibly increased, the sensor signal loses the assistance control function.

Wang Naikang's Chinese patent 03264387.X "Time-Type Electric Power-assisted Bicycle Sensor" discloses that no elastic parts are used, only two moving and fixed turntables are used, and two magnetic steels are embedded on the moving disk, and three Hall elements are embedded on the fixed disk. , the bicycle pedal turns one circle, each Hall generates two pulses, and three Hall elements generate six pulses. There are three characteristics and four disadvantages as follows:

Features (1) In order to obtain six pulse signals, the same magnetic poles of the permanent magnets can only be on one side: each Hall needs to generate two pulses, and the same magnetic poles of the two magnetic steels can only be set on the moving plate The same side of the disk, that is, on a certain side of the moving plate, both magnetic steels are all north poles or all are south poles. If on the same side of the moving plate, one permanent magnet is the North Pole and the other is the South Pole, then each Hall can only generate one pulse when the pedal rotates once, and three Halls have only three pulses, which is not Conform to the description of this patent specification. In order to increase the number of pulses and improve the control effect, the same magnetic poles of the permanent magnets can only be on one side.

Features (2) The permanent magnetic steel is used to indicate the fixed position of the pedal, and the three Halls indicate the moving position of the pedal: since the pedal and the moving plate rotate synchronously, one of the two positions on the moving plate corresponding to the two pedals is respectively fixed. Permanent magnetic steel, where a certain pedal is turned, the corresponding permanent magnetic steel is also turned at that position; but only when it is turned at a position with a Hall, can a control signal be sent through the Hall to direct the motor of the power-assisted bicycle to generate Assisted rotation required.

Features (3) Because one Hall cannot represent the position of the pedal movement in different periods of a revolution, it is not possible to use only one Hall: the pedal has a very different demand for power assistance during different periods of a revolution, and it must be reflected For this change in power-assisted demand, the patent uses three Halls to be set at three positions within an angle of 180 degrees, two magnetic steels are respectively set at two pedal positions, and the pedal is turned at the position where the Hall is located. Hall just outputs a signal and represents that the pedal has arrived at the position of the Huo Yuan. However, the use of multiple Halls has the following disadvantages.

These features as a power-assisted bicycle sensor have three disadvantages:

Disadvantages (1) Using two permanent magnetic steels with no difference to represent the fixed positions of the two pedals, only multiple Halls can be used to represent the rotational positions of the pedals: the two magnetic steels have no difference, and the advantages are The fixed position of the two pedals can be indicated regardless of the left and right feet, so that the left and right feet can generate power assistance requirements, which can produce the same motor power assistance effect; but the disadvantage is that the permanent magnet itself cannot indicate the rotation position of the pedals, but can only Multiple Halls are set at different corner positions to indicate the rotational position of the pedal, so one Hall cannot be used, but multiple Halls must be used.

Disadvantage (2) You can’t use only one Hall, but three Halls will inevitably cause the original segmentation error of the three control signals, which will distort the power-assisted demand model, and naturally produce power-assisted output inconsistent with the power-assisted demand: whether the power-assisted bicycle is one or two For a motor, the sensing signal for controlling the motor can only be achieved by inputting a sensing signal into the motor controller to achieve the purpose of controlling the motor; while the patent uses three Halls to control the motor, it is necessary to use the three Halls of the three Halls to control the motor. The signals are combined into one combined control signal before being input to the motor controller. The sensing parameters of the three Halls cannot be the same, especially due to changes in ambient temperature and long-term use, the sensing parameters of the three Halls may vary greatly. The output voltages are different, resulting in different power output of the motor, and the power output is inconsistent with the power demand; similarly, when the power demand is the same, the outputs of different Halls may be the same voltage, resulting in the same power output of the motor, and also There is a problem that the power output is inconsistent with the power demand.

Disadvantage (3) The combined control signal is prone to signal drift, which makes the combined control signal not match the motor controller, and the power-assisted demand model is distorted: due to changes in ambient temperature and long-term use, the sensing parameters of the three Halls may vary greatly , the connection points of the three control signals of the three Halls must change, then the combined control signals generated by the same boost demand will produce segmental signal drift, and the combined control signals will produce signal distortion as a whole, that is, the power boost demand model distortion , causing the motor controller to choose any one of the three control signals as a reference will cause the problem that the power output is inconsistent with the power demand.

Disadvantage (4) The sensing points cannot be increased arbitrarily. If there are too few sensing points, the motor will not run smoothly, making the rider feel very uncomfortable: due to the disadvantages (1) and (2) are the most important The number of halls is greater than one. Obviously, the more the number of halls, the more serious the shortcomings (1) and (2) are. Therefore, the power-assisted bicycle provided by this patent can only be a very bad power-assisted bicycle that makes the rider feel comfortable.

Disadvantage (5) The blind area of the signal is up to 42 degrees, and you can't get it when you need it when you start it: As we all know, the torque of the bicycle pedal is the smallest at the apex, and the 10-45 degrees away from the apex is the area that needs the most assistance. , but the included angle between the Halls in this patent is 42.5-43.5 degrees. There is no Hall in the area where the pedal is 10-42 degrees away from the apex, and there is no control signal. The result is when the power is most needed , but the motor of the power-assisted bicycle does not assist.

In short, this patent is a technical solution for using multiple Halls to control the booster mode, because only multiple Halls can be used to represent the rotation position of the pedal, and the multiple control signals of multiple Halls must have original errors, and the combined control signals It is also easy to produce signal drift, which can cause distortion of the assist demand model, that is, the same assist demand at different times, but different assist effects; the more the number of Halls, the more serious the distortion of the assist demand model, limiting the number of Halls , a small amount of Hall will cause the motor to run unsteadily, which makes the rider feel very uncomfortable, and cannot get assistance when starting. To make it undistorted to help the demand model, and to ensure the smooth operation of the motor, there is always a trade-off between these two issues, and it is impossible to have both.

Contents of the invention

The purpose of the present invention is to provide only one Hall and the unequal distance between the permanent magnet blocks on the motor casing to obtain the speed and position signals of the bicycle pedals, and digitally process the signals to become a sensor with the best power-assisted model signal Power-assisted bicycle; it is a kind of power-assisted bicycle that can increase the number of permanent magnets as much as possible in the sensing area of Hall, maximize the use of bicycle displacement information, adjust the output signal model, and have more sensor output information and precise positioning; the rider's The assisting demand matches well with the assisting power provided by the motor, and the motor runs smoothly for a power-assisted bicycle.

The concept of the present invention is: within the perceivable range of one Hall, a plurality of permanent magnet blocks are set in different changing modes on one motor casing, so that one Hall can sense the motion signals of all the permanent magnet blocks. The change methods of multiple permanent magnet blocks are mainly magnetic polarity change, dislocation change, and the position can be adjusted by the user. The purpose is to enable Hall to obtain permanent Magnetic block movement signal.

The magnetic polarity of multiple permanent magnet blocks is alternately changed by the south pole and the north pole, so that the signal generated by Hall is a rectangular wave, with stronger control function and more quantity;

The dislocation changes of multiple permanent magnet blocks make the signals generated by Hall have different inter-wave distances, which can express the motion position of the permanent magnet blocks more accurately, so that the motion state of a specific position can be expressed. For power-assisted bicycles, the specific position of the pedals can be expressed The motion state of the position is very important, because the motion state of the pedal directly expresses the state of the person's power assistance demand for the car;

The position of the permanent magnet block can be adjusted by the user, so that the signal generated by Hall can be adjusted by the user, and the user can adjust the control mode and control content through the user adjustment control signal, and has the function of controlling in a personalized way.

The following motor housing and rotating disc of the present invention have the same meaning.

The structure of the present invention is as follows:

The power-assisted bicycle with adjustable magnetic block position sensor is arranged on the motor casing, including electric bicycle and sensor, motor 30 is arranged on the wheel of electric bicycle, motor 30 has motor casing 1, electric bicycle has vehicle frame 53, and battery 55 is connected on the electric bicycle Motor controller 29, motor controller 29 connects the motor 30 on the wheel; It is characterized in that:

The structure of the sensor and the connection relationship of the components are as follows:

The sensor includes a sensing element connected in sequence, a boost model processor 21, a digital-to-analog converter 27 and an operational amplifier 28;

[1] The sensing element is an element that converts the rotational movement of the motor housing 1 into a rectangular wave signal output;

The sensing element includes a motor casing 1 and a plurality of permanent magnet blocks 2, and the motor casing 1 is fixed with a plurality of permanent magnet blocks 2, and the plurality of permanent magnet blocks 2 are distributed within a circular ring 6, and the circular ring There is at least one circular trajectory line running through all the permanent magnet blocks 2 between the circular trajectory line 5-1 and the outer circular trajectory line 5-2 of 6; the inner circular trajectory line 5-1 and the outer circular trajectory line 5-2 2 is a concentric circle, and at least two permanent magnet blocks 2 are distributed in dislocation; the dislocation distribution is one of the dislocation distribution of radius or the dislocation of spacing; or the combination of dislocation distribution of radius and dislocation of spacing ;

Radius dislocation distribution mode is: at least two magnetic blocks 2 have different distances from the center of the circle where the inner circular trajectory line 5-1 is located;

The spacing dislocation distribution method is: the distance between two adjacent magnetic blocks 2 is the permanent magnet block spacing 7; at least two permanent magnet block spacing 7 have different lengths;

There is at least one bar-shaped hole 8 between the inner circular trajectory line 5-1 and the outer circular trajectory line 5-2, and a permanent magnet block 2 is arranged in the bar-shaped hole 8, and the permanent magnet block 2 can be fixed in the bar-shaped hole anywhere in 8;

On one side of the motor casing 1, the magnetic polarities of two adjacent permanent magnet blocks 2 are opposite, that is, the magnetic polarity distribution mode of all the permanent magnet blocks 2 on one side of the motor casing 1 is N pole, S pole, N pole, S pole. Pole, N pole, S pole...;

It also includes a Hall 3, Hall 3 is located on a certain side of the motor casing 1, Hall 3 is located close to the permanent magnet block 2 and can feel the magnetic flux of the permanent magnet block 2, there is a gap between the Hall 3 and the permanent magnet block 2 spacing; Hall 3 is a Hall that generates a rectangular wave output signal for the opposite magnetic polarity;

[2] The booster model processor 21 is a signal form converter that converts the digital signal rotated by the motor casing 1 into a digital signal of the booster model;

The booster model processor 21 includes an analog-to-digital conversion and wave width identifier 22, a booster starting point selector 23, a magnet speed calculator 24, a booster model memory 25 and a booster model calculator 26;

The analog-to-digital conversion and wave width recognizer 22 is connected to the sensing element, and the analog-to-digital conversion and wave width recognizer 22 recognizes the width of each rectangular wave from the rectangular wave signal input by Hall 3 in the sensing element, and converts each rectangular wave signal Change into different digital signals, mark each rectangular wave, and the analog-to-digital conversion and wave width recognizer 22 outputs the magnetic block motion digital signal marked with the position order of the magnetic block;

Analog-to-digital conversion and wave width recognizer 22 are respectively connected with power-assisted starting point selector 23 and magnetic block speed calculator 24, and power-assisted starting point selector 23 is connected with magnetic block speed calculator 24; Magnetic block speed calculator 24 uses analog-to-digital conversion and The wave width recognizer 22 inputs the magnetic block movement digital signal marked with the position order of the magnetic block to calculate the rotational speed of the motor housing 1, and transmits the rotational speed digital signal of the motor housing 1 to the power-assisted starting point selector 23, which is used for the power-assisted starting point selector 23. The magnetic block motion digital signal marked with the position order of the magnetic block and the digital signal of the speed of the motor casing 1 determine a certain rectangular wave corresponding to the starting point of the power assist under a certain speed condition, that is, determine the magnetic block of the starting point of the power assist;

The power-assisted starting point selector 23 and the magnetic block rotating speed calculator 24 are all connected with the power-assisted model calculator 26 respectively, and the power-assisted model memory 25 is also connected with the power-assisted model calculator 26; block, and use the two conditions of the motor housing 1 speed of the magnetic block speed calculator 24 to select a certain power-assisted model function in the power-assisted model memory 25, and substitute the two conditions of the power-assisted starting point magnetic block and the motor housing 1 speed into the power-assisted The model function calculates the booster model digital signal suitable for these two conditions, that is, the booster model calculator 26 outputs the booster model digital signal;

[3] The digital-to-analog converter 27 converts the digital signal of the booster model into an analog signal of the booster model;

The booster model calculator 26 is connected to the digital-to-analog converter 27, and the digital-to-analog converter 27 converts the booster model digital signal of the booster model calculator 26 into a booster model analog signal;

[4] The operational amplifier 28 converts the booster model analog signal of the digital-to-analog converter 27 into a booster model analog signal of a rated voltage range;

The connection relationship between the sensor and the electric bicycle is: Hall 3 is fixed on the vehicle frame 53 close to the permanent magnet block 2 and can feel the position of the magnetic flux of the permanent magnet block 2, the signal output wire of the operational amplifier 28 in the sensor is connected with the motor controller of the electric bicycle 29 signal input terminal connection.

1. Explanation of the working principle of the sensor: the sensor is divided into signal acquisition and signal processing according to the working principle, so as to explain the structural relationship and function of each component of the sensor. The signal acquisition is carried out by the motor casing 1 of the sensing element, the permanent magnet block 2 and the Hall 3, and the function of acquiring the signal is performed; The signal output by Er 3 is processed into a power-assisted model analog signal that can be used by the motor controller 29 of the electric bicycle.

[1] Description of the sensing element:

When using the sensing element, the motor casing 1 will rotate, so the motor casing 1 is also called a rotating disk, and the center of rotation is the center of the circle where the plurality of permanent magnet blocks 2 are distributed in a circular shape.

A plurality of permanent magnet blocks 2 are distributed in a circular shape within the range of the circular ring 6. The purpose of the distribution is that only one Hall 3 can be used to feel the motion state of all the permanent magnet blocks 2 on the rotating disk, that is, to feel all the permanent magnets on the rotating disk. The movement position and speed of block 2, and the change of speed, or acceleration, this Hall 3 can express the motion state of permanent magnet block 2 with a continuous electrical signal, and because all permanent magnet blocks 2 are respectively If it is fixed on the rotating disk, that is, the motor casing 1, the continuous electrical signal generated by Hall 3 can express the motion state of the rotating disk. If this continuous electrical signal is used to control other objects, this continuous electrical signal is a control signal. If it is used to control the motor of a power-assisted bicycle, it is also necessary to use a single-chip microcomputer or other electronic components as a sensor signal processor to convert the position, speed, and acceleration elements in the control signal into the power-assisted signal of how much power is needed. The conversion function is the power-assisted demand model, or booster model.

The meaning of dislocation distribution of multiple permanent magnet blocks 2 is: the electrical signal generated by Hall 3 is not exactly the same pulse signal, but a pulse signal with different pulse width, and the permanent magnet block 2 is distinguished by a different pulse signal. different positions, so that the motion state of the permanent magnet block 2 at different positions can be obtained. A certain position of the rotating disk can be accurately expressed, or the motion state of each permanent magnet block 2 can be achieved. If it is used for power-assisted bicycles, it can accurately express the needs of the pedals for power assistance at different positions, so that the expression of power-assisted needs can be more precise, and the cooperation between the car and the person will be more consistent.

The radial dislocation distribution mode of the permanent magnet blocks 2 is: some permanent magnet blocks 2 are close to the rotation center of the rotating disk, and some permanent magnet blocks 2 are far away from the rotation center of the rotating disk. But regardless of the distance, the permanent magnet block 2 must be within the range that the Hall 3 can sense and generate electrical signals. The range where electric signals can be generated is the range between the inner circular trajectory line 5-1 and the outer circular trajectory line 5-2. In order to ensure that the Hall 3 can generate electrical signals, it is structurally required that at least one circular trajectory line runs through all the permanent magnet blocks 2 between the inner circular trajectory line 5-1 and the outer circular trajectory line 5-2. At least two magnetic blocks 2 have different distances from the center of the circle where the inner circular locus line 5-1 is located, and of course the distances from each permanent magnet block 2 to the center of the circle are different, that is, the radius of each permanent magnet block 2 is different. The same, so that each pulse of the Hall 3 electric signal can represent a specific permanent magnet block 2, so that each pulse can represent a rotating disk position.

The dislocation distribution mode of the permanent magnet block 2 spacing is: with the outer edge of the permanent magnet block 2 as the basis for measuring the spacing, there are at least two permanent magnet block spacings 7 of different lengths, and of course the length of each permanent magnet block spacing 7 is different. The same, so that each pulse of the Hall 3 electric signal can represent a specific permanent magnet block 2, so that each pulse can represent a rotating disk position.

There are two ways to obtain the dislocation distribution of the permanent magnet blocks 2 . The first method is when the permanent magnet blocks 2 are fixed on the motor casing 1 , there are at least two permanent magnet blocks 2 in a dislocation distribution. The second is to utilize a plurality of positions in the strip hole 8 to be provided with a permanent magnet block 2, use at least one strip hole 8 on the motor housing 1, and set one or more permanent magnet blocks 2 in the strip hole 8, the position of the permanent magnet block 2 can be changed at any time according to people's needs, that is, the position in the strip hole 8 of the permanent magnet block 2 is adjusted, and it is fixed after adjustment, so the strip hole 8 can be adjusted at any time. The dislocation distribution of the permanent magnet block 2 can use the same permanent magnet block 2 to make the Hall 3 generate different output signals and produce different control effects. If used for assisting bicycles, the bicycle can be given different assisting effects for different people.

Hall 3 is located close to the permanent magnet block 2 and can feel the magnetic flux of the permanent magnet block 2. The purpose is to use the Hall 3 to feel the motion state of the permanent magnet block 2, so as to feel the motion state of the motor casing 1, that is, the motion position and speed , acceleration.

The opposite magnetic polarity of two adjacent magnetic blocks 2 is a very important technical feature, and the magnetic polarity distribution mode of all permanent magnet blocks 2 is N pole, S pole, N pole, S pole, N pole, S pole..., so that Hall 3 outputs high and low alternating rectangular wave signals, because as a rotating disc with a limited size, it is necessary to obtain as many accurate change signals as possible after one rotation, of course, rectangular waves should be used. The change time of the peak-to-valley value of the rectangular wave signal is short, which can generate as many control-significant signals as possible within a certain period of time. A structure with opposite magnetic polarities of two adjacent magnetic blocks 2 produces a rectangular wave, while a structure with the same magnetic polarity of two adjacent magnetic blocks 2 produces a sine wave, especially when used for power-assisted bicycles, as a rotating disk of a sensing component It is generally limited to a diameter of 10-15 cm. In this limited range, a signal with a control function must be obtained. After one revolution, the number of pulses generated by a rectangular wave is 7-9 times greater than that of a sine wave. Naturally, the opposite structure of the magnetic polarities of the two adjacent magnetic blocks 2 has a better control effect on the power-assisted bicycle, the cooperation between the human and the vehicle is better, and the rider feels more comfortable.

[2] Description of the booster model processor 21: the booster model processor 21 is a signal format converter that converts the digital signal of the motor housing 1 rotation into a digital signal of the booster model;

The booster model processor 21 includes an analog-to-digital conversion and wave width identifier 22, a booster starting point selector 23, a magnetic block rotational speed calculator 24, a booster model memory 25 and a booster model calculator 26; the processing ideas of these components to signals are: The rectangular wave signal of Hall 3 in the sensor element is decomposed into a position digital signal representing the position of the magnetic block 2 and a speed digital signal representing the rotation speed of the motor casing 1. Since the position and speed are both digital signals, the position and speed can be used The boost mathematical model processing can be designed according to the best feeling of people, so that the boost model digital signal output by the boost model processor 21 has the best boost mathematical model, and the start point and termination of the boost mathematical model point, because there is a digital signal of the position of the magnetic block 2, so the starting point and the ending point can be accurate enough to be fully synchronized with the power-assisted demand of the person. It solves the problem that there is no position signal of the magnetic block 2 in the existing technology, which leads to the mismatch between the power-assist demand of people and the power-assisted model, and the operation of the power-assisted model is delayed compared with the power-assisted demand. Force, small force and strong force, no force and strong force, etc. The problem of man-machine mismatch. The connection relationship and the function of each part in the booster model processor 21 are as follows:

The analog-to-digital conversion and wave width recognizer 22 is connected to the sensing element, and the analog-to-digital conversion and wave width recognizer 22 recognizes the width of each rectangular wave from the rectangular wave signal input by Hall 3 in the sensing element, and converts each rectangular wave signal Change into different digital signals, mark each rectangular wave, and the analog-to-digital conversion and wave width identifier 22 outputs a rectangular wave signal marked with the position order of the magnetic block. In this way, the rectangular wave signal with different waveform lengths is changed into a rectangular wave signal marked with data, which is convenient for converting the length of the rectangular wave into rectangular wave position data for calculation and processing in the subsequent digitization process. Therefore, the analog-to-digital conversion and wave width identifier 22 is a processor that converts the signal whose rectangular wave length represents the position of the magnetic block into a digital signal that marks the position of the magnetic block with data. This is an important invention point that the present invention is different from existing power-assisted bicycles. With the digital signal marking the position of the magnetic block with data, the present invention can find a certain or each magnetic block position on the motor housing 1 that moves in a circular motion. The motor 30 has found a starting point and an end point for the motor 30 to generate power, increase power, reduce power, stop power, etc., so that people's power needs can be matched with the power behavior of the motor 30, avoiding the difficulty of man-machine cooperation in existing power-assisted bicycles , motor 30 does not rotate when needing booster, and motor 30 also keeps moving and cannot stop when not needing booster, even causes the problem of collision accident.

Analog-to-digital conversion and wave width recognizer 22 are respectively connected with power-assisted starting point selector 23 and magnetic block speed calculator 24, and power-assisted starting point selector 23 is connected with magnetic block speed calculator 24; Magnetic block speed calculator 24 uses analog-to-digital conversion and The wave width recognizer 22 inputs the magnetic block movement digital signal marked with the position order of the magnetic block to calculate the rotational speed of the motor housing 1, and transmits the rotational speed digital signal of the motor housing 1 to the power-assisted starting point selector 23, which is used for the power-assisted starting point selector 23. The magnetic block motion digital signal marked with the position order of the magnetic block and the digital signal of the speed of the motor casing 1 determine a certain rectangular wave corresponding to the starting point of the power assist under a certain speed condition, that is, determine the magnetic block of the starting point of the power boosting. Because the determined boost starting point magnetic block is a rectangular wave marked with data, then the boost starting point magnetic block has a unique corresponding magnetic block 2 position, so that the boost starting point selector 23 has completed finding the magnetic block 2 position of the boost starting point, It is also possible to determine the position of a certain magnetic block 2 to start or end the motor to perform some kind of power-assisted model motion. This just achieves the synchronous movement of the specific magnetic block 2 of the motor housing 1 controlled by the human, and the specific magnetic block 2 controls the motor 30 to perform specific synchronous rotation, so as to realize the purpose of synchronous control of the motor by humans, and the starting point and end point of the control will not be inaccurate. There is a problem of delay in the start and end of the control. However, the existing power-assisted bicycles cannot find the starting and stopping positions synchronized with people when starting and stopping the booster, so the starting and ending points of the control are delayed.

The power-assisted starting point selector 23 and the magnetic block rotating speed calculator 24 are all connected with the power-assisted model calculator 26 respectively, and the power-assisted model memory 25 is also connected with the power-assisted model calculator 26; block, and use the two conditions of the motor housing 1 speed of the magnetic block speed calculator 24 to select a certain power-assisted model function in the power-assisted model memory 25, and substitute the two conditions of the power-assisted starting point magnetic block and the motor housing 1 speed into the power-assisted The model function calculates the digital signal of the booster model that meets the two conditions, that is, the booster model calculator 26 can output the digital signal of the booster model.

[3] Explanation of the digital-to-analog converter 27: the digital-to-analog converter 27 converts the digital signal of the booster model into an analog signal of the booster model.

The booster model calculator 26 is connected to a digital-to-analog converter 27, and the digital-to-analog converter 27 converts the booster model digital signal of the booster model calculator 26 into a booster model analog signal. In order to output the analog signal of the booster model to the motor controller 29 which can only process analog signals.

[4] Description of the operational amplifier 28: the operational amplifier 28 converts the analog signal of the booster model from the digital-to-analog converter 27 into an analog signal of the booster model in the rated voltage range.

The digital-to-analog converter 27 is connected with the operational amplifier 28. Although the booster model analog signal of the digital-to-analog converter 27 solves the problem of the booster model, the voltage of the booster model signal can not meet the needs of the motor controller 29, so an operational amplifier is also used 28 converts the analog signal of the booster model into the analog signal of the booster model required by the rated voltage range, and then transmits it to the motor controller 29 .

2. Description of the connection between the sensor and the electric bicycle to form a power-assisted bicycle:

In order to illustrate the physical installation, the sensor is divided into mechanical parts and sensing parts from the physical aspect, so as to illustrate the structural relationship between each object of the sensor and each related object of the electric bicycle. Sensing components include Hall 3, booster model processor 21, digital-to-analog converter 27 and operational amplifier 28, and Hall 3 is fixed at the position of vehicle frame 53 close to permanent magnet block 2, so that Hall 3 can feel the motor shell Rotation signal of permanent magnet block 2 on 1. It is also possible to fix the Hall 3 of the sensing component, the booster model processor 21, the digital-to-analog converter 27 and the operational amplifier 28 on one device. But because the Hall 3 will be fixed at a unique position that can feel the magnetic flux of the permanent magnet block 2, the Hall 3 can be separated from these three parts of the booster model processor 21, the digital-to-analog converter 27 and the operational amplifier 28, and only the The three components of the booster model processor 21, the digital-to-analog converter 27 and the operational amplifier 28 are fixed on one device. Fixing these three parts of all the sensing parts or the booster model processor 21, the digital-to-analog converter 27 and the operational amplifier 28 in the sensing parts on one device will help a tangible device to carry the sensing parts, and use the carrier The sensing part is fixed on the vehicle frame 53 of the electric bicycle.

Hall 3 can use a fixed position to feel the rotation position of all permanent magnets 2, so that all the mechanical actions of the cyclist for power assistance can be converted into electrical signals, and then the model processor 21 and digital-to-analog conversion can be assisted by sensing components. The device 27 and the operational amplifier 28 change the power-assist demand electric signal of the Hall 3 into a power-assisted model electric signal matched with the man-machine, and the operational amplifier 28 transmits the power-assisted model electric signal matched with the man-machine to the motor controller 29, and the motor controller 29 controls The motor 30 rotates according to the man-machine matching mode, and finally realizes that the power-assisted bicycle moves according to the best demand mode of the person, that is, realizes the effect of man-machine matching.

The signal output by each signal processing component in the sensor of the present invention is:

Hall 3 outputs a rectangular wave signal;

The booster model processor 21 outputs a digital signal of the booster model;

The analog-to-digital conversion and wave width identifier 22 outputs a magnetic block movement digital signal marked with the position order of the magnetic block;

The power-assisted starting point selector 23 outputs the determined starting point position signal of the power-assisted starting point magnetic block;

The magnetic block speed calculator 24 calculates and outputs the digital signal of the speed of the motor casing 1;

The booster model memory 25 stores a variety of booster model functions for backup, and outputs the digital signal of the selected booster model function;

The booster model calculator 26 calculates and outputs the booster model digital signal to be used for the control function;

The digital-to-analog converter 27 outputs the analog signal of the booster model converted from the digital signal of the booster model;

The operational amplifier 28 outputs the analog signal of the booster model into a rated voltage range of the booster model analog signal;

The thermistor R6 ensures that the output of the operational amplifier 28 is the analog signal of the booster model in the rated voltage range, that is, the analog signal of the standard booster model.

In order to solve the drift problem of the analog signal of the booster model, a thermistor R6 is provided, 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 all semiconductor devices, and have the function of processing analog signals, so it is easy to cause signal parameters to drift with temperature changes, especially in summer and winter, and power-assisted bicycles are all outdoors. The effect of signal parameter drift caused by temperature changes is obvious. Therefore, it is best to correct the signal drift of the signal output by the operational amplifier 28 to obtain a standard booster model analog signal that is not affected by temperature changes, and pass the standard booster model analog signal through the motor controller 29. By controlling the operation of the motor 30, the person riding a power-assisted bicycle will not feel the problem that the power-assisted effect is different in summer and winter.

The booster model processor 21 is a single-chip microcomputer 31 , and a clock circuit 32 is connected to the single-chip microcomputer 31 . A single-chip microcomputer 31 is used to complete the analog-to-digital conversion and the functions of the wave width identifier 22 , the power-assisted starting point selector 23 , the magnetic block rotational speed calculator 24 , the power-assisted model memory 25 and the power-assisted model calculator 26 . The clock signal of the clock circuit 32 is used to distinguish the rectangular wave signal input by the Hall 3 , and preferably the length of each clock signal is 0.001 second.

The structural relationship between the mechanical parts of the sensor and the sensing parts: the mechanical parts of the sensor include the motor housing 1, and the sensing parts of the sensor include a plurality of permanent magnet blocks 2, Hall 3, single-chip microcomputer 31, digital-to-analog converter 27 and operational amplifier 28; Hall 3, single-chip microcomputer 31, digital-to-analog converter 27 and operational amplifier 28 four electronic elements connected successively in the sensing part are arranged on a circuit board 59; 3 senses the magnetic flux of the permanent magnet block 2, and the position of the circuit board 59 enables the Hall 3 to output electric signals according to the movement of the permanent magnet block 2.

The preferred model of each part of the sensor of the present invention and the specific connection mode are: Hall 3 is UGN3075, the power-assisted model processor 21 is AT89S52 single-chip microcomputer 31, and digital-to-analog converter 27 is ADC-C8E; Operational amplifier 28 is OF-17F, OF The thermistor R6 is connected between the input terminal 2 pin and the output terminal 6 pin of the -17F operational amplifier 28; the connection relationship of each part is as follows:

Connect pin 3 of signal output end of Hall 3 to pin 12 of MCU 31 INTO [P32];

The 39 pins P00 of the single-chip microcomputer 31 connect the 12 pins 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;

The 37 pins P02 of the single-chip microcomputer 31 are connected to the 10 pins B6 of the digital-to-analog converter 27;

The 36-pin P03 of the single-chip microcomputer 31 is connected to the 9-pin B5 of the digital-to-analog converter 27;

The 35 pins P04 of the single-chip microcomputer 31 connect the 8 pins B4 of the digital-to-analog converter 27;

The 34-pin P05 of the single-chip microcomputer 31 is connected to the 7-pin B3 of the digital-to-analog converter 27;

The 33 pins P06 of the single-chip microcomputer 31 are connected to the 6 pins B2 of the digital-to-analog converter 27;

The 32 pins P07 of the microcontroller 31 are connected to the 5 pins B1 of the digital-to-analog converter 27;

The 4 pins of the digital-to-analog converter 27 are connected to the 2 pins of the operational amplifier 28;

The 2 pins of the digital-to-analog converter 27 are connected to the 3 pins of the operational amplifier 28;

Pin 6 of the operational amplifier 28 is an analog signal output terminal.

A thermistor R6 is connected between the input terminal 2 pin and the output terminal 6 pin of the OF-17F operational amplifier 28, and a capacitor C6 is connected in parallel at both ends of the thermistor R6. Preferably, the thermistor R6 is 5K, the capacitor C6 is 8P, and the 1.25k R5 is grounded between pin 4 of the digital-to-analog converter 27 and pin 2 of the operational amplifier 28 . The thermistor R6 can be used to adjust the voltage range of the analog signal output by the 286 pin of the operational amplifier to be stable between 0.8--4.2V.

The strip-shaped hole 8 is an arc-shaped structure, and the arc-shaped circle of the strip-shaped hole 8 is concentric with the inner circular trajectory line 5-1. This structure enables the output signal generated by Hall 3 to change the length of the peak or trough. It can be used for 1. The changed peak or trough length is used as a start signal to make the controlled object start another set of working procedures. If it is used for power-assisted bicycles, the position of the permanent magnet block 2 in the strip hole 8 can be changed to change the power-assisted model, such as the power-assisted model for villains, the power-assisted model for women, the power-assisted model for young people, the power-assisted model for sports, and the leisure power model for use. Use booster models, etc. It can be used for 2. The changed peak or trough length is only used to change the control effect of this peak or trough. If it is used for assisting bicycles, only the boosting effect of the position of the permanent magnet block 2 is changed.

The strip-shaped hole 8 can also be an oblique structure, that is, the distances between the two ends of the strip-shaped hole 8 and the center of the circle where the inner circular trajectory line 5-1 is located are not equal. But the strip hole 8 should be in the range between the inner circular trajectory line 5-1 and the outer circular trajectory line 5-2, so that the Hall 3 can feel the signal of the permanent magnet block 2 in the strip hole 8. The function and effect of the oblique strip-shaped hole 8 and the above-mentioned arc-shaped strip-shaped hole 8 are the same.

The length of at least one pitch 7 of permanent magnet blocks is not equal to any other pitch 7 of permanent magnet blocks. The strip-shaped hole 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 can be realized that the length of at least one permanent magnet block interval 7 is not equal to any other permanent magnet block interval 7 . Not equal to other lengths, that is, the permanent magnet block spacing 7 of a special length can be used to indicate the position of the bicycle pedal. Preferably, the length of at least two permanent magnet block spacing 7 is not equal to any other permanent magnet block spacing 7, and the permanent magnet block spacing 7 of these two special lengths corresponds to two pedals respectively, which is used to represent the two pedals of the bicycle. position of the pedals. Because of the circular motion of the bicycle pedals, it is very important to determine the position of the pedals to obtain the speed of this circular motion and determine the assist model for the next circular motion.

A certain inner edge of the strip-shaped hole 8 is provided with two or more tooth-shaped protrusions 9 . In order to fix the permanent magnet block 2 on one of the multiple positions in the bar-shaped hole 8, and prevent the permanent magnet block 2 from changing its position when the motor housing 1 rotates, the tooth-shaped protrusion 9 in the bar-shaped hole 8 is used to prevent the permanent magnet block 2 from changing its position automatically. Hold the permanent magnet block 2 in a certain fixed position.

Hall 3 is set between the inner circular trajectory line 5-1 and the outer circular trajectory line 5-2. Because the Hall 3 is a component that can sense the magnetic flux of the permanent magnet block 2 with a distance and output an electric signal, and in order to minimize the volume of the permanent magnet block 2, as many permanent magnet blocks 2 as possible are arranged on the motor casing 1, so that The smallest possible permanent magnet block 2 can be induced by Hall 3; Hall 3 should be set between the inner circular trajectory line 5-1 and the outer circular trajectory line 5-2, and it is best to be located close to the circular trajectory line 5-2. The positions of the circular trajectory lines of all permanent magnet blocks 2.

Visible marks are provided on the motor casing 1 . The visible mark is one of color mark, object shape mark or rotation angle mark or a combination thereof.

When riding the power-assisted bicycle of the present invention, the method for making the pedal of the pedal bicycle and the sensor direct the motor can cooperate: make one or more marks for positioning on the wheel with the motor housing 1 and the permanent magnet block 2, mark It can be a real object or a color, and the mark can also be set on the motor casing 1 . Determine each permanent magnet block on the motor housing 1 by using positional reference objects such as a certain positional relationship between the mark and the frame of the bicycle, or a certain positional relationship between the mark and the fender on the tire of the bicycle, or the positional relationship between the mark and the horizontal angle. 2 and the positional relationship of the pedals of the bicycle, that is to say, when the pedals are at a certain position, the permanent magnet block 2 representing the position of the pedals is also at a certain position. Realize the purpose that a certain permanent magnet block 2 represents the pedal position. If the rider thinks that the power-assisted time of the power-assisted bicycle motor does not match his own requirements, such as the power-assisted time starts too fast or too slow, he can change the position of the mark and the vehicle frame, that is, change the permanent magnet block 2 and the pedal position. The relative angle position relationship of the pedals can adjust the start-up speed of the power-assist time, so that the power-assist demand time of the person is matched with the power-assisted time provided by the motor. However, the power assist model for controlling the motor remains unchanged.

The present invention has the advantages of simple structure, low cost, unlimited number of permanent magnet blocks on the permanent magnet block ring, standard pulse signal output, no signal blind area, and only one set of Hall output signals can fully express All motion states of the moving disk, the output signal will not be distorted or drifted, the position of the permanent magnet block can be changed and adjusted between the positions of the permanent magnet block to indicate the fixed position of the permanent magnet block, and the output signal can include the movement of each permanent magnet block The position and output information model can be adjusted, and it is used to assist bicycles, so that the output of the assist can be highly matched with the demand for assist, so that the rider feels very comfortable. It can not only automatically assist, but also has the function of assisting according to individuality.

(1) Simple structure, no elastic parts, no mechanical failure: use the Hall to sense the rotation output signals of multiple permanent magnets, use the principle of the speed to calculate the torque provided by Chinese patent 01201843.0, and use a variety of mathematical models to calculate the torque of the power-assisted bicycle Parameters, used to control the motor of the assist bicycle to achieve assist. No elastic parts are needed, the structure is simple, and the cost is lower than that of sensors using elastic parts and mechanical force. It avoids the problems of deformation of various mechanical parts, no mechanical failure, and poor coordination after long-term use.

(2) The magnetic polarity is opposite, outputting a rectangular wave signal, with precise control function: Since the magnetic polarity of two adjacent permanent magnet blocks is opposite, and the Hall uses the Hall that generates a rectangular wave output signal for the opposite magnetic polarity, the adjacent Regardless of the distance between two permanent magnet blocks, even if there is no gap between two adjacent permanent magnet blocks, Hall can also output a rectangular wave signal. If it is used for power-assisted bicycles, using a rectangular wave output signal to control the motor of a power-assisted bicycle is better than using a sine wave, because the rectangular wave can make the signal at any point in time, and the meaning of the signal indicating the motion position and speed is accurate, so it can be accurately expressed The motion position and speed of the bicycle pedal are assisted, so that the correct power assist demand of the motion state can be calculated from the precise position and speed of the pedal.

(3) The magnetic polarity of adjacent permanent magnet blocks is opposite, the number of permanent magnet blocks is not limited, and the sensing points can be increased as much as possible: due to the opposite magnetic polarity, a rectangular wave signal is output, even if there is no gap between adjacent permanent magnet blocks, the The output signal is still a numerical and distinguishable rectangular wave signal, and still has a control function, that is to say, it will not output an unchanged linear signal without a control function. If it is used for power-assisted bicycles, since the diameter of the rotating disk linked with the pedal is limited, it is possible to increase the number of permanent magnet blocks, increase the sensing points as much as possible, and use as many sensing signals as possible on the rotating disk of the specified size. Indicates the position and speed of bicycle pedal movement, and accurately represents the state of movement.

(4) The magnetic polarity of the adjacent permanent magnet blocks is opposite, and there are more permanent magnet blocks and more sensing points, which can accurately express the motion state of the rotating disk: for bicycles, the size of the rotating disk with fixed permanent magnet blocks is affected by Strictly limited, the diameter of the general rotating disk can only be within 10-15 cm. In order for Hall to obtain the magnetic pole signal of the permanent magnet block under the condition of a distance, the diameter of the permanent magnet block should be at least Ф0.6-0.8 cm, then 35-73 permanent magnet blocks [(10-1)*3.14/0.8=35; (15-1)*3.14/0.6=73] can be set without gaps around the rotating disk with a diameter of 10-15 cm, that is, the feet When the pedal makes one revolution, Hall can obtain 35-73 signals for controlling the motor of the power-assisted bicycle. But if it is the prior art with the same magnetic polarity of adjacent permanent magnet blocks, if the adjacent permanent magnet blocks are separated by 5 centimeters, then only 5-8 permanent magnet blocks can be set at most on the rotating disk with a diameter of 10-15 cm [( 10-1)*3.14/5.8=5; (15-1)*3.14/5.6=8]. It can be seen that this patented technology can set 7-9 times more permanent magnet blocks [35/5=6; 73/8=9] than the prior art, and set 30-65 more permanent magnet blocks [35-5=30; 73 -8=65]. Therefore, when the rotating disk rotates once, the patented technology increases the rotation point signal of the rotating disk by 7-9 times compared with the prior art. The motor control accuracy of the power-assisted bicycle is naturally increased by 7-9 times, and the accuracy of the rider's demand for power assistance is also increased by 7-9 times. The degree of cooperation between the car and the person is greatly improved, and the comfort of the rider is greatly increased. , It is no longer the uncomfortable feeling of one speed and one slow speed of the moped in the prior art. According to the actual experience, the present invention asks that when 15 permanent magnet blocks are arranged roughly evenly on the rotating disk, the uncomfortable feeling of one fast and one slow in the prior art is basically eliminated by only setting 5-8 permanent magnet blocks. Feeling; when 20 permanent magnet blocks are roughly evenly arranged on the rotating disk, the cooperation between the car and the person can meet the needs of the person, and the feeling of riding the moped is very comfortable.

(5) There is no signal blind area, and matching power assistance will be obtained at any time: This patent can set up to 35-73 permanent magnet blocks around the rotating disk with a diameter of 10-15 cm, and the average clamp between the permanent magnet blocks The angle is 5-10 degrees. For power-assisted bicycles, when starting or running, there are 4-7 permanent magnet blocks in the 35-degree area of the pedal from 10-45 degrees away from the apex (there is a signal at a position 10 degrees away from the apex ), the Hall can output 4-7 control signals to respond to the need for power assistance, which can achieve the excellent technical effect of obtaining corresponding power assistance at any position and at any time, so that the cooperation between the car and the person is good, and the rider feels labor-saving and comfortable. comfortable.

(6) Only one Hall is used, and one control signal indicates the entire motion state of the rotating disk. The control signal is completely consistent with the motion state of the rotating disk, and the control signal is completely consistent with human needs: multiple permanent magnets are fixed on the rotating disk. On the above, the permanent magnet block and the rotating disk rotate synchronously, and use a Hall to sense all the motion signals of the permanent magnet block, then the control signal output by the Hall is completely consistent with the motion state of the rotating disk, and it is completely consistent with the needs of people. The control signal will not have the original segmentation error and signal drift problem. Even if the Hall sensing parameters change, the entire control signal moves in parallel. As long as the receiving range of the motor controller receiving the Hall control signal is wide, the control effect of the changed Hall control signal will change systematically. If it is used for power-assisted bicycles, the power-assisted demand model will not be distorted, and the matching relationship between the power-assisted output and the power-assisted demand still maintains the original model. Riders can easily grasp this systematic change in power-assisted performance.

(7) There is a dislocation between the permanent magnet blocks, and the dislocation permanent magnet block can indicate the motion state of a specific point: because the permanent magnet block is misaligned in the radial direction, or the distance between the arc lines is misaligned, the dislocation permanent magnet block makes Hall output a unique waveform The control signal of the unique waveform can directly indicate the motion state of a certain fixed permanent magnet point of the rotating disk; if each permanent magnet has its own specific dislocation point, how many permanent magnets can be reached? How many specific positions of motion status signals can be obtained by using a magnetic block. For example, if it is used for power-assisted bicycles, the diameter of the rotating disc is within 10-15 cm. When the rotating disc rotates once, Hall can obtain the control signals of the motion status of 35-73 different points, and naturally knows the assisting needs of 35-73 points. It is obvious that the prior art can only have a maximum of 5-8 power-assist demands when the rotating disk rotates once, which is far less than the maximum 35-73 power-assist demand signals available in this patent, which can more truly reflect the power-assisted demand of the cyclist. That is to say, the power-assisted bicycle uses this patented technology, and the bicycle can be more consistent with people's needs. The rider feels that the pedal can completely control the speed of the bicycle at any rotational position, and the comfort is good. And the power-assisted bicycle of prior art can only just can control the speed of a vehicle at most 5-8 rotational positions. the

(8) The position of the permanent magnet can be adjusted, and the model of the control signal can be adjusted according to the needs to realize personalized control: among all the permanent magnets on the rotating disk, if the distance between some permanent magnets is adjusted, the Hall output In the signal, the waveform of the permanent magnet block whose spacing has been adjusted will change the wave spacing, that is, the signal model changes, and different signal models can be selected to control the controlled object and realize personalized control. If it is used for power-assisted bicycles, a suitable signal model can be selected according to different people's strength or habits of exertion, that is, the power-assisted model can be adjusted according to different people, so that the power-assisted bicycle can not only automatically assist, but also have the function of assisting according to individuality.

(9) The hall signal can be digitally processed, so that the control model of the best cooperation between man and machine can be added to the control signal: the rectangular wave signal with the position of the magnetic block and the rotational speed of the magnetic block can be changed into a digital signal of the two elements, and the The digital signal of the two elements is converted into the digital signal of the booster model by a mathematical booster model suitable for man-machine cooperation, and then the digital signal of the booster model is converted into an analog signal of the booster model, and finally the analog signal of the booster model is converted into a stable voltage range A control signal available to a motor controller with rated power. In short, it is to digitally process the signal of the magnetic block rotation. During the digital processing process, a mathematical power-assisted model is added, so that the control signal output by the sensor finally contains the added power-assisted model. Because the mathematical power-assisted model is artificially set, the mathematical power-assisted model can always be set as the model most suitable for man-machine cooperation, then the sensor of the present invention can output a control signal that can realize the best man-machine cooperation. However, the magnetic blocks of the existing power-assisted bicycle sensors have the same magnetic poles on the same side, Hall cannot obtain a rectangular wave signal, and cannot digitally process the Hall signal, and its control model can only partially modify the Hall signal, so it cannot Realize the control signal outputting the best cooperation between man and machine.

(10) The final output control signal will not have signal drift: use the thermistor R6 to feedback and adjust the output signal of the operational amplifier, which can solve the analog signal drift of the booster model caused by semiconductor devices such as Hall, digital-to-analog converter and operational amplifier. The problem is that the final output of the sensor is the standard booster model analog signal that is not subject to ambient temperature changes.

(11) The working mode of the motor that can realize the best cooperation between man and machine: the analog-to-digital conversion and the wave width recognizer convert each rectangular wave signal into a different digital signal, and the booster model calculator can be used in the booster model memory with the booster starting point selector Select the power-assisted mathematical model that best matches the power-assisted demand, and substitute the speed parameters provided by the magnetic block speed calculator into the power-assisted mathematical model, and the power-assisted model calculator can calculate the power-assisted model of the pedal at a certain position Digital signal. The digital signal of the booster model is a control signal for controlling the motor that enables the best cooperation between the person and the electric bicycle. The booster model calculator is a digital processor, which can accept any digital mathematical model, and the booster model memory can provide any artificially set mathematical model to the booster model calculator. Just can set up the mathematical model that can make people and electric bicycle can cooperate optimally. The power-assisted model memory is set by someone, and the mathematical model that can make the best cooperation between the human and the electric bicycle can realize the motor working mode of the best cooperation between the human and the electric bicycle; the mathematical model set by the human can also make the motor have the most reasonable The start-up and operation model, the most power-saving working mode. Therefore, the power-assisted bicycle of the present invention is an energy-saving power-assisted bicycle for optimal cooperation between people and electric bicycles.

However, within one rotation cycle of the pedals of the existing power-assisted bicycles, Hall can only output less than 10 sine wave signals, and the sine wave signals cannot be converted into digital signals, and the best power-assisted model cannot be artificially added to control the motor of the electric bicycle. The power-assisted model of this kind of power-assisted bicycle can neither realize the best cooperation between man and machine, nor can the motor have the most reasonable and power-saving working mode.

(12) Power-saving effect and significance: use the power-assisted bicycle of the present invention to compare power-saving with a power-assisted bicycle purchased on the market with 8 permanent magnets on the same surface as the same magnetic pole as the sensor component, and replace it with the same electric bicycle In the mode of different sensors, the same cyclist rides and measures on the same road section, and the result is: after riding 110 kilometers with the power-assisted bicycle of the present invention, the battery still has a small amount of electricity; After riding 45 kilometers, the battery has no power left. The significance of this power saving is that the fully charged power-assisted bicycle of the present invention can be used for riding all day without charging, which solves the big problem of existing power-assisted bicycles that people are on the way and the car can no longer assist. 

Description of drawings

Figure 1 is a structural schematic diagram of a sensing element with a plurality of N-S alternating permanent magnets unevenly distributed on the motor casing and with adjustable permanent magnet positions;

Figure 2 is a structural schematic diagram of a sensor with high-density and uneven distribution of multiple N-S alternating permanent magnet blocks on the motor casing, and the position of the permanent magnet block can be adjusted;

Fig. 3 is the structural representation of the motor and vehicle frame of the bicycle and the motor casing and Hall used as the sensor rotating disc;

Fig. 4 is a block diagram of signal flow of Hall, booster model processor, digital-to-analog converter, and operational amplifier;

Fig. 5 is the circuit diagram of Hall, single-chip microcomputer, digital-to-analog converter, operational amplifier;

Fig. 6 is a schematic diagram of the connection relation of the sensor arranged on the electric bicycle motor casing and the vehicle frame to form the power-assisted bicycle of the present invention.

In the figure, 1 is the motor casing, 2 is the permanent magnet block, 3 is the Hall, 5-1 is the inner circular trajectory line, 5-2 is the outer circular trajectory line, 6 is the circular ring, and 7 is the distance between the permanent magnet blocks , 8 is a strip hole, 9 is a tooth-shaped convex, 21 is a power-assisted model processor, 22 is an analog-to-digital conversion and wave width identifier, 23 is a power-assisted starting point selector, 24 is a magnet speed calculator, 25 is a power-assisted model Memory, 26 is a booster model calculator, 27 is a digital-to-analog converter, 28 is an operational amplifier, 29 is a motor controller, 30 is a motor, 31 is a single-chip microcomputer, 32 is a clock circuit, 53 is a frame, 55 is a battery, 59 is the circuit board.

Detailed ways

Embodiment 1. A power-assisted bicycle with an adjustable magnetic block position sensor on the motor housing

As shown in Figures 1, 3, 4, and 6,

1. The components and structure of the electric bicycle related to the installation of the sensor: including the electric bicycle and the sensor, the electric bicycle has a motor 30 on the wheel, the motor 30 has a motor casing 1, the electric bicycle has a frame 53, and the battery 55 on the electric bicycle is connected to the motor control Device 29, motor controller 29 connects the motor 30 on the wheel;

2. The structure of the sensor and the connection relationship of the components are as follows:

The sensor includes a sensing element connected in sequence, a boost model processor 21, a digital-to-analog converter 27 and an operational amplifier 28;

[1] The sensing element is an element that converts the rotational movement of the motor housing 1 into a rectangular wave signal output;

The sensing elements are 20 permanent magnet blocks 2 with a diameter of 0.8 cm arranged on one surface of the motor casing 1, and the magnetic flux is a certain value in 146---279 (B·H)max/KJ·m ^-3 . The structure of motor housing 1, permanent magnet block 2, and Hall 3 is as follows:

Each permanent magnet block 2 is fixed in the circular ring 6 range between the circular trajectory line 5-1-9.5 cm outer circular trajectory line 5-2 with a diameter of 8.0 cm, and there are a plurality of permanent magnet blocks 2 that are radially dislocated Distributed, there are a plurality of permanent magnet blocks 2 in dislocation distribution. the

Radius dislocation distribution mode is: the plurality of permanent magnet blocks 2 are distributed within the scope of a circular ring 6, and there is at least a A circular trajectory line runs through all the permanent magnet blocks 2; the inner circular trajectory line 5-1 and the outer circular trajectory line 5-2 are concentric circles, and there are at least two permanent magnet blocks 2 to the inner circular trajectory line 5-1 The distance from the center of the circle is not the same;

The spacing dislocation distribution method is as follows: the distance between adjacent permanent magnet blocks 2 is the permanent magnet block pitch 7; at least two permanent magnet block pitches 7 have different lengths.

The lengths of the two permanent magnet block intervals 7 are not equal to the lengths of any other permanent magnet block intervals 7, and the lengths of the two permanent magnet block intervals 7 are also not equal. There are two permanent magnets 2 where the two permanent magnets have a distance of 7, just at the two ends of a diameter of the motor housing 1, and these two permanent magnets 2 are used to represent the positions of the two pedals on the power-assisted bicycle. exercise position.

There are two arc-shaped strip holes 8 between the inner circular trajectory line 5-1 and the outer circular trajectory line 5-2, and the permanent magnet block 2 is arranged in the strip hole 8, and the permanent magnet block 2 can be fixed Any position in the strip hole 8; the permanent magnet block 2 and the strip hole 8 are removable fixed connection structures, which can be changed to the strip hole after the permanent magnet block 2 in the strip hole 8 is removed. Other positions in 8 are fixedly connected again, and the permanent magnet block spacing 7 between this permanent magnet block 2 and the adjacent permanent magnet block 2 is adjusted. The inner edge of the strip hole 8 is provided with two or more tooth-shaped protrusions 9 . A permanent magnet block 2 is stuck in a tooth-shaped protrusion 9 . The strip-shaped hole 8 has an oblique structure, that is, the distances between the two ends of the strip-shaped hole 8 and the center of the circle where the inner circular trajectory line 5-1 is located are not equal. Two or more permanent magnet blocks 2 of the strip-shaped holes 8 are distributed in a radial dislocation manner.

All the permanent magnet blocks 2 arranged on one side of the motor casing 1 are arranged in such a way that the magnetic polarities of the adjacent permanent magnet blocks 2 are opposite, that is, the magnetic polarity distribution mode of all the permanent magnet blocks 2 on one side of the motor casing 1 is N pole, S Pole, N pole, S pole, N pole, S pole....

Use a Hall 3 to set on the side of the motor housing 1 with the permanent magnet block 2, and the Hall 3 is set at a position close to the permanent magnet block 2, that is, the Hall 3 is set on the circular trajectory of each permanent magnet block 2 5-1 and the outer circular locus line 5-2 within the circular ring 6 range, Hall 3 and each permanent magnet block 2 in the rotating state keep a distance of 0.3 centimeters, so that each permanent magnet block in rotation 2 When passing through Hall 3, Hall 3 can generate a corresponding rectangular wave electrical signal output.

[2] The booster model processor 21 is a converter that converts the digital signal rotated by the motor casing 1 into a signal form of a booster model digital signal;

The booster model processor 21 includes an analog-to-digital conversion and wave width identifier 22, a booster starting point selector 23, a magnet speed calculator 24, a booster model memory 25 and a booster model calculator 26;

The analog-to-digital conversion and wave width recognizer 22 is connected to the sensing element, and the analog-to-digital conversion and wave width recognizer 22 recognizes the width of each rectangular wave from the rectangular wave signal input by Hall 3 in the sensing element, and converts each rectangular wave signal Change into different digital signals, mark each rectangular wave, and the analog-to-digital conversion and wave width recognizer 22 outputs the magnetic block motion digital signal marked with the position order of the magnetic block;

Analog-to-digital conversion and wave width recognizer 22 are respectively connected with power-assisted starting point selector 23 and magnetic block speed calculator 24, and power-assisted starting point selector 23 is connected with magnetic block speed calculator 24; Magnetic block speed calculator 24 uses analog-to-digital conversion and The magnetic block motion digital signal input by the wave width identifier 22 calculates the rotational speed of the motor housing 1, and transmits the rotational speed digital signal of the motor housing 1 to the power-assisted starting point selector 23, and the power-assisted starting point selector 23 is marked with the position order of the magnetic block. The digital signal of the magnetic block movement and the digital signal of the speed of the motor casing 1 determine a certain rectangular wave corresponding to the starting point of the power assist under a certain speed condition, that is, determine the magnetic block of the starting point of the power boosting; The starting point of the magnetic block for assisting, that is, it is determined to start assisting from a certain rectangular wave. To be precise, when the motor casing 1 is at a certain speed, the assisting is performed from a certain magnetic block at a certain position, or from a certain position. A certain magnetic block starts at a certain position, and changes the original booster model to the booster model selected in the next step for boosting.

The power-assisted starting point selector 23 and the magnetic block rotating speed calculator 24 are all connected with the power-assisted model calculator 26 respectively, and the power-assisted model memory 25 is also connected with the power-assisted model calculator 26; block, and use the two conditions of the motor housing 1 speed of the magnetic block speed calculator 24 to select a certain power-assisted model function in the power-assisted model memory 25, and substitute the two conditions of the power-assisted starting point magnetic block and the motor housing 1 speed into the power-assisted The model function calculates the booster model digital signal suitable for these two conditions, that is, the booster model calculator 26 outputs the booster model digital signal;

[3] The digital-to-analog converter 27 converts the assist model digital signal into an assist model analog signal.

The booster model calculator 26 is connected to a digital-to-analog converter 27, and the digital-to-analog converter 27 converts the booster model digital signal of the booster model calculator 26 into a booster model analog signal. In order to output the analog signal of the booster model to the motor controller 29 which can only process analog signals.

[4] The operational amplifier 28 converts the booster model analog signal from the digital-to-analog converter 27 into a booster model analog signal in the rated voltage range.

The digital-to-analog converter 27 is connected with the operational amplifier 28. Although the booster model analog signal of the digital-to-analog converter 27 solves the problem of the booster model, the voltage of the booster model signal can not meet the needs of the motor controller 29, so an operational amplifier is also used 28 converts the booster model analog signal into the booster model analog signal required by the rated voltage range, and then transmits it to the motor controller 29, so that the motor controller 29 can control the motor 30 to perform power boosting.

Visible marks are provided on the motor casing 1 . The visible mark is one of color mark, object shape mark or rotation angle mark or a combination thereof.

Three, the connection of the sensor and the electric bicycle becomes a power-assisted bicycle: the Hall 3 of the sensor is fixed on the vehicle frame 53 close to the permanent magnet block 2 and can feel the position of the magnetic flux of the permanent magnet block 2; After the analog-to-analog converter 27 is connected to the operational amplifier 28 in sequence, the Hall 3 is connected to the booster model processor 21, and the operational amplifier 28 is connected to the motor controller 29 of the electric bicycle. Realize the purpose of the sensor to control the electric bicycle with the electric signal, namely control the electric bicycle with the power-assisted model analog signal of the operational amplifier 28, or the standard power-assisted model analog signal, and obtain the power-assisted bicycle.

Embodiment 2, a power-assisted bicycle with an adjustable magnetic block position sensor on the high-density motor casing

As shown in Figures 2, 3, 4, and 6, 40 permanent magnet blocks 2 with a diameter of 0.6 cm are arranged on one surface of a motor housing 1 with a diameter of 10.0 cm. The magnetic flux of the permanent magnet block 2 is a certain value in 146---279 (B·H)max/KJ·m ^-3 , and the Hall 3 maintains a distance of 0.2 cm from each permanent magnet block 2 in the rotating state. When each rotating permanent magnet block 2 passes through the Hall 3, the Hall 3 can generate a corresponding rectangular wave signal output. Other structures are the same as in Embodiment 1.

Embodiment 3, a power-assisted bicycle with an adjustable magnetic block position sensor on the motor casing with a specific circuit

As shown in Figures 1, 3, 5, and 6, as in Embodiment 1, the sensor includes a sensor element connected in sequence, a booster model processor 21, a digital-to-analog converter 27, and an operational amplifier 28;

[1] The Hall 3 in the sensing element is UGN3075; the structure of other elements and elements in the sensing element is the same as that in Embodiment 1;

[2] The auxiliary model processor 21 selects the single-chip microcomputer 31 to complete all functions, and the single-chip microcomputer 31 selects AT89S52. That is, the AT89S52 single-chip microcomputer 31 completes all functions of the analog-to-digital conversion and the wave width identifier 22 , the power-assisted starting point selector 23 , the magnet speed calculator 24 , the power-assisted model memory 25 and the power-assisted model calculator 26 .

[3] The digital-to-analog converter 27 selects ADC-C8E.

[4] OF-17F is selected as the operational amplifier 28, and a 5k thermistor R6 is connected between the input terminal 2 pin and the output terminal 6 pin of the OF-17F operational amplifier 28; and an 8P capacitor is connected in parallel at both ends of the thermistor R6 C6. The 1.25k R5 is grounded between the 4 pins of the digital-to-analog converter 27 and the 2 pins of the operational amplifier 28. The thermistor R6 can be used to adjust the voltage range of the analog signal output by the 286 pin of the operational amplifier to be stable between 0.8--4.2V.

The connection relationship of each electronic component is as follows:

Connect pin 3 of signal output end of Hall 3 to pin 12 of MCU 31 INTO [P32];

The 39 pins P00 of the single-chip microcomputer 31 connect the 12 pins 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;

The 37 pins P02 of the single-chip microcomputer 31 are connected to the 10 pins B6 of the digital-to-analog converter 27;

The 36-pin P03 of the single-chip microcomputer 31 is connected to the 9-pin B5 of the digital-to-analog converter 27;

The 35 pins P04 of the single-chip microcomputer 31 connect the 8 pins B4 of the digital-to-analog converter 27;

The 34-pin P05 of the single-chip microcomputer 31 is connected to the 7-pin B3 of the digital-to-analog converter 27;

The 33 pins P06 of the single-chip microcomputer 31 are connected to the 6 pins B2 of the digital-to-analog converter 27;

The 32 pins P07 of the microcontroller 31 are connected to the 5 pins B1 of the digital-to-analog converter 27;

The 4 pins of the digital-to-analog converter 27 are connected to the 2 pins of the operational amplifier 28;

The 2 pins of the digital-to-analog converter 27 are connected to the 3 pins of the operational amplifier 28;

Pin 6 of the operational amplifier 28 is an analog signal output terminal.

[5] The structural relationship between the mechanical parts of the sensor and the sensing parts: the mechanical parts of the sensor include the motor casing 1, and the sensing parts of the sensor include a plurality of permanent magnet blocks 2, Hall 3, single-chip microcomputer 31, digital-to-analog converter 27 and computing Amplifier 28; Hall 3, single-chip microcomputer 31, digital-to-analog converter 27 and operational amplifier 28 four electronic components connected successively in the sensing part are arranged on a circuit board 59; The magnetic flux of the permanent magnet block 2, and the Hall 3 can output and change the position of the electric signal according to the change of the magnetic flux. The Hall 3, the single-chip microcomputer 31, the digital-to-analog converter 27 and the operational amplifier 28 four electronic components that are connected in sequence are arranged on a circuit board 59, which is conducive to the integration, modularization, and miniaturization of these four electronic components. These four electronic components are integrally fixed on the vehicle frame 53 .

Claims (10)

1. on motor casing, establish the morpet of adjustable magnetic patch position transduser, comprise Electrical Bicycle and sensor, on the wheel of Electrical Bicycle, there is motor (30), motor (30) has motor housing (1), Electrical Bicycle has vehicle frame (53), battery on Electrical Bicycle (55) connects electric machine controller (29), and electric machine controller (29) connects the motor (30) on wheel; It is characterized in that:

The structure of sensor and the annexation of parts are as follows:

Sensor comprises sensitive member, power-assisted model treater (21), D and A converter (27) and the op amp (28) connecting successively;

［ 1 ］ sensitive member is the rotational motion of motor housing (1) to be become to the element of square-wave signal output;

Sensitive member comprises a motor housing (1) and many pieces of permanent magnets (2), on motor housing (1), be fixedly installed many pieces of permanent magnets (2), these many pieces of permanent magnets (2) are distributed in an annular arrangement (6) scope, between the circular rail trace (5-1) of annular arrangement (6) and outer ring trajectory (5-2), have at least a circular rail trace to run through whole permanent magnets (2); Interior circular trajectory (5-1) and outer ring trajectory (5-2) are concentric circles, have at least two pieces of permanent magnets (2) to become to be dislocatedly distributed; Being dislocatedly distributed is radius mode or spacing a certain of mode that be dislocatedly distributed that be dislocatedly distributed; Or there are the radius mode that is dislocatedly distributed, an array mode that has again spacing to be dislocatedly distributed;

The radius mode of being dislocatedly distributed is: have at least two magnetic patch (2) not identical to the distance at circle center, interior circular trajectory (5-1) place;

The spacing mode of being dislocatedly distributed is: the distance between adjacent two magnetic patch (2) is permanent magnets spacing (7); Have at least the length of two permanent magnets spacing (7) not identical;

Between interior circular trajectory (5-1) and outer ring trajectory (5-2), have a bar hole (8) at least, be provided with permanent magnets (2) in bar hole (8), permanent magnets (2) can be fixed on any position in bar hole (8);

In certain one side of motor housing (1), the magnetic polarity of adjacent two pieces of permanent magnets (2) is contrary, and simultaneously to go up the magnetic polarity distribution mode of whole permanent magnets (2) be the N utmost point, the S utmost point, the N utmost point, the S utmost point, the N utmost point, the S utmost point for certain of motor housing (1)

Also comprise a Hall (3), Hall (3) is positioned at certain one side of motor housing (1), and Hall (3) is located at the position that approaches permanent magnets (2) and can experience permanent magnets (2) magnetic flow, between Hall (3) and permanent magnets (2), has spacing; Hall (3) is opposite magnetic polarities to be produced to the Hall of square wave output signal;

［ 2 ］ power-assisted model treater (21) is the digital signal of motor housing (1) rotation to be become to the signal form conv of power-assisted model digital signal;

Power-assisted model treater (21) comprises analogue to digital conversion and the wide recognizer of ripple (22), power-assisted starting point finder (23), magnetic patch rotating speed calculator (24), power-assisted model memory device (25) and power-assisted model calculator (26);

Analogue to digital conversion is connected with sensitive member with the wide recognizer of ripple (22), the width of each square wave identified the square-wave signal of Hall in sensitive member (3) input by the wide recognizer of analogue to digital conversion and ripple (22), each square-wave signal is become to different digital signals, each square wave is marked, and the wide recognizer of analogue to digital conversion and ripple (22) output mark has the magnetic patch motion digital signal of magnetic patch position order;

Analogue to digital conversion is connected with magnetic patch rotating speed calculator (24) with power-assisted starting point finder (23) respectively with the wide recognizer of ripple (22), and power-assisted starting point finder (23) is connected with magnetic patch rotating speed calculator (24); Magnetic patch rotating speed calculator (24) has the magnetic patch motion digital signal of magnetic patch position order to calculate the rotating speed of motor housing (1) with the mark of analogue to digital conversion and the wide recognizer of ripple (22) input, and the rotating speed digital signal of motor housing (1) is passed to power-assisted starting point finder (23), power-assisted starting point finder (23) has the magnetic patch motion digital signal of magnetic patch position order with mark, with these two signals of the rotating speed digital signal of motor housing (1) determine some squares wave corresponding to power-assisted starting point under certain speed conditions, determine power-assisted starting point magnetic patch;

Power-assisted starting point finder (23) is all connected with power-assisted model calculator (26) respectively with magnetic patch rotating speed calculator (24), and power-assisted model memory device (25) is also connected with power-assisted model calculator (26); The power-assisted starting point magnetic patch of power-assisted starting point finder (23) for power-assisted model calculator (26), select a certain power-assisted pattern function in power-assisted model memory device (25) with these two conditions of motor housing (1) rotating speed with magnetic patch rotating speed calculator (24), and by power-assisted starting point magnetic patch and these two condition substitution power-assisted pattern functions of motor housing (1) rotating speed, calculate the power-assisted model digital signal that is applicable to these two conditions, i.e. power-assisted model calculator (26) output power-assisted model digital signal;

［ 3 ］ D and A converter (27) is power-assisted model digital signal to be converted to the analog signal of power-assisted model;

Power-assisted model calculator (26) is connected with D and A converter (27), and D and A converter (27) converts power-assisted model simulation signal to the power-assisted model digital signal of power-assisted model calculator (26);

［ 4 ］ op amp (28) is the power-assisted model simulation signal of D and A converter (27) to be converted to the power-assisted model simulation signal of the range of nominal tension;

The annexation of sensor and Electrical Bicycle is: Hall (3) is fixed on the position that can experience permanent magnets (2) magnetic flow on the vehicle frame (53) that approaches permanent magnets (2), and the signal output lead of op amp in sensor (28) is connected with the signal input part of the electric machine controller (29) of Electrical Bicycle.

2. on motor casing according to claim 1, establish the morpet of adjustable magnetic patch position transduser, it is characterized in that: also comprise thermally dependent resistor R6, thermally dependent resistor R6 is connected between the input end and mouth of op amp (28).

3. on motor casing according to claim 2, establish the morpet of adjustable magnetic patch position transduser, it is characterized in that: power-assisted model treater (21) is micro controller system (31), is connected with clock circuit (32) on micro controller system (31);

The mechanical part of sensor and sensing element structural relation: the mechanical part of sensor comprises motor housing (1), the sensing element of sensor comprises a plurality of permanent magnets (2), Hall (3), micro controller system (31), D and A converter (27) and op amp (28); In sensing element, connected Hall (3), micro controller system (31), D and A converter (27) and (28) four electronic components of op amp are located on a circuit card (59) successively; The position that circuit card (59) is located on vehicle frame (52) can make Hall (3) experience the magnetic flow of permanent magnets (2), and the position of circuit card (59) makes the Hall (3) can be according to the movement output electric signal of permanent magnets (2).

4. on motor casing according to claim 3, establish the morpet of adjustable magnetic patch position transduser, it is characterized in that: Hall (3) is UGN3075, power-assisted model treater (21) is AT89S52 micro controller system (31), and D and A converter (27) is ADC-C8E; Op amp (28) is OF-17F, between input end 2 pin of OF-17F op amp (28) and mouth 6 pin, is connected with thermally dependent resistor R6; Each parts annexation is as follows:

Signal output part 3 pin of Hall (3) connect 12 pin INTO ［ P32 ］ of micro controller system (31);

12 pin B8 of 39 pin P00 linking number weighted-voltage D/A converters (27) of micro controller system (31);

11 pin B7 of 38 pin P01 linking number weighted-voltage D/A converters (27) of micro controller system (31);

10 pin B6 of 37 pin P02 linking number weighted-voltage D/A converters (27) of micro controller system (31);

9 pin B5 of 36 pin P03 linking number weighted-voltage D/A converters (27) of micro controller system (31);

8 pin B4 of 35 pin P04 linking number weighted-voltage D/A converters (27) of micro controller system (31);

7 pin B3 of 34 pin P05 linking number weighted-voltage D/A converters (27) of micro controller system (31);

6 pin B2 of 33 pin P06 linking number weighted-voltage D/A converters (27) of micro controller system (31);

5 pin B1 of 32 pin P07 linking number weighted-voltage D/A converters (27) of micro controller system (31);

2 pin of 4 pin concatenation operation amplifiers (28) of D and A converter (27);

3 pin of 2 pin concatenation operation amplifiers (28) of D and A converter (27);

6 pin of op amp (28) are analog signal output.

5. according to claim 1-4, on the motor casing described in any one, establish the morpet of adjustable magnetic patch position transduser, it is characterized in that: bar hole (8) is the structure of arc, the arc place circle of bar hole (8) is concentric circles with interior circular trajectory (5-1).

6. according to claim 1-4, on the motor casing described in any one, establish the morpet of adjustable magnetic patch position transduser, it is characterized in that: bar hole (8) is oblique structure, bar hole (8) two ends are unequal with the distance in the center of circle at interior circular trajectory (5-1) place respectively.

7. on motor casing according to claim 6, establish the morpet of adjustable magnetic patch position transduser, it is characterized in that: have at least the length of a permanent magnets spacing (7) to be not equal to other any one permanent magnets spacing (7).

8. on motor casing according to claim 7, establish the morpet of adjustable magnetic patch position transduser, it is characterized in that: a certain inward flange of bar hole (8) is provided with two or more profiles of tooth protruding (9).

9. on motor casing according to claim 7, establish the morpet of adjustable magnetic patch position transduser, it is characterized in that: Hall (3) is located between interior circular trajectory (5-1) and outer ring trajectory (5-2).

10. on motor casing according to claim 7, establish the morpet of adjustable magnetic patch position transduser, it is characterized in that: motor housing (1) is provided with visable indicia.

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