CN102795302B

CN102795302B - Booster bicycle provided with magnetic flux rotary table type sensor with multiple magnetic blocks in uneven distribution

Info

Publication number: CN102795302B
Application number: CN201210263473.1A
Authority: CN
Inventors: 黄强
Original assignee: Chengdu Kind Technology Co Ltd
Current assignee: Chongqing Caijun Labor Service Co ltd
Priority date: 2012-07-28
Filing date: 2012-07-28
Publication date: 2014-03-26
Anticipated expiration: 2032-07-28
Also published as: CN102795302A

Abstract

The invention discloses a moped provided with a magnetic flux turntable type sensor with unevenly distributed magnetic blocks, and relates to an electric moped for providing a power signal by 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, wherein a plurality of permanent magnets with opposite adjacent magnetic polarities are fixedly arranged on a rotating disc of the sensing element, the magnetic fluxes of the permanent magnets are different, the rotating disc is arranged on a wheel central shaft of the bicycle, a Hall of the sensing element is arranged on a 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, the power-assisted starting point, the power-assisted finishing point and the power are reasonable, and a human machine can be matched with the power-assisted model and save power.

Description

Fill the morpet of many magnetic patch uneven distribution magnetic flow rotating disc type sensor

Technical field

The invention belongs to the technical field of morpet, particularly relate on rotatable parts and carry out the electric assisted bicycle that multi-point magnetic induction provides power-assisted signal.

Background technology

The Chinese patent 201020295192.0 < < of Yebao Vehicle Material Industry's application hook pawl formula moment sensor > > and disclose a kind of morpet sensing device, sensing device comprises that magnetic part and elastic component coordinate, and experience the sensing device of moment.After period of service is long, the elasticity modulus variation of elastic component will cause the control effect of transducing signal and controlled motor to change, and power-assisted effect becomes and need to mismatch with people's power-assisted.And complicated with the project organization of elastic component, manufacturing cost is high.

The Chinese patent 01201843.0 < < automatic detecting device of electric booster bicycle > > of University of Science & Technology, Beijing's application discloses a kind of automatic detecting device of electric booster bicycle, no touch detects the power of pedaling, speed and turning to, this device is in relative motion, on outer wheel disc, establish respectively magnetic sheet, on interior wheel disc, there is spring, in, between outer wheel disc, use spring reset, in surveying with two Halls on support, the electric signal that on outer wheel disc, the magnetic sheet of relative motion produces represents to pedal power, speed and turning to.

Shortcoming (1) is not durable with elastic component: after period of service is long, the elasticity modulus variation of elastic component will cause the control effect of transducing signal and controlled motor to change, and power-assisted effect becomes and need to mismatch with people's power-assisted, complex structure, and cost is high.

Each magnetic sheet group of shortcoming (2) is identical and magnetic pole set-up mode is all identical, and can not represent the position separately of different magnetic sheet groups, can not express the special power-assisted demand of diverse location: from Fig. 3 of 01201843.0 patent, 4, 5, 6 and the record explanation of the 2nd section of Instructions Page 2, each magnetic sheet group (comprises a magnetic sheet 4, a magnetic sheet 5, a magnetic sheet 6) magnetic pole set-up mode is all identical, be only simply from being provided with again identical magnetic sheet group at interior diverse location of taking turns, the position separately that can not represent different magnetic sheet groups, the state of kinematic motion that can not represent ad-hoc location, and people is by bike time, pedal with each position corresponding with pedal at state of kinematic motion, there is own special power-assisted demand, but the identical structure of this each magnetic sheet group of this patent, can not give expression to the special power-assisted demand of each diverse location on pedal.

Each site signal indifference of shortcoming (3) makes man-machine mismatching: each magnetic sheet group is the same, each magnetic sheet group can not represent this position of magnetic sheet group on interior wheel, the signal that Hall is exported can not represent the position of stretcher and other magnetic sheet group, the signal that is Hall output can not represent the demand of different foot positions to power-assisted, cause the demand of power-assisted and provide the time of power-assisted to mismatch, man-machine cooperation is undesirable.

Shortcoming (4) sine wave output makes magnetic sheet group Edge Distance can not be less than 4 centimetres, generally take 5 centimetres as good, and make to establish magnetic sheet group number very little, man-machine cooperation is undesirable: each magnetic sheet group is identical, Hall output is that sinusoidal waveform is as control signal, as control signal sinusoidal waveform, must there is certain peak valley difference, because the magnetic sheet group of this patent needs certain length to represent forward and reverse motion, at diameter, be to establish at most 8 magnetic sheet groups in the rolling disc circular trace of 20 centimetres, generally take 5 as good, Hall just can have the sine wave signal of controlling function.That is to say, this technical scheme of 01201843.0 patent, for morpet, magnetic sheet group limited amount is only in 8, and very little, man-machine cooperation is undesirable for control signal.If but more than 8 magnetic sheet groups, when people's treadmill is very fast, the signal graph of Hall output is close to a horizon, this signal is not controlled function, can not control electrical motor, while making it need power-assisted especially, loses assist function.

Shortcoming (5) signal blind zone reaches miter angle, when needing power-assisted during startup, really can not get power-assisted: well-known, it is minimum in summit moment that people steps on bicycle pedal, from leaving 10-45 degree angle, summit, it is the region that needs most power-assisted, but the angle between each magnetic sheet group of this patent is 45 degree, at stretcher, leave summit 10-45 degree angular zone neither one magnetic sheet group, also with regard to neither one control signal, when consequently needing most power-assisted, but the motor of morpet really can not power-assisted.

In a word, except with the not durable complex structure again of elastic component, fit structure feature because of Hall and magnetic sheet group, rotating disk size diameter is in 20 centimetres, and having placed restrictions on magnetic sheet group quantity is 8 groups, and magnetic sheet group number can not arbitrarily increase, make man-machine cooperation undesirable, and can not get power-assisted while starting, and power-assisted demand is not mated with power-assisted is provided, and cyclist's traveling comfort is poor; As increased by force magnetic sheet group quantity, its transducing signal loses again Power assisted control function.

The Chinese patent 03264387.X < < timing sensor of electric boosting bicycle > > of Wang Naikang application discloses without elastic component, only with moving, fixed two rotating disks, above Moving plate, inlay two magnetic magnet steel, above price fixing, inlay three Hall elements, bicycle pedal circles, each Hall produces two pulses, and three Hall elements produce six pulses.Divide folding can obtain three features, four shortcomings are as follows:

Feature (1) is for obtaining six impulse singlas, can only be each permanent magnetic steel same pole in one side: each Hall will produce two pulses, can only be the same face that the same pole of two magnetic magnet steel is located at Moving plate,, in certain one side of Moving plate, two magnetic magnet steel be all the Huo Doushi South Pole, the arctic.If at the same face of Moving plate, a permanent magnetic steel is the arctic, another is the South Pole, and pedal circles, and each Hall just can only produce a pulse, and three Halls just only have three pulses, and this does not just conform with this patent specification and has recorded.In order to increase pulse count, improve and control effect, can only be that each permanent magnetic steel same pole is in one side.

Feature (2) permanent magnetic steel is used for representing pedal fixed position, three Halls represent pedal travel position: because pedal and Moving plate are to synchronize rotation, so a permanent magnetic steel is fixed respectively in two positions on the Moving plate corresponding with two pedals, where some pedals turn, and where corresponding permanent magnetic steel also turns; But only turn in the position that has Hall, could send control signal by Hall, the motor of commander's morpet produces the power-assisted needing and rotates.

The position of feature (3) middle different period pedal travels because Hall can not represent to circle, just can not be only with a Hall: the different periods of pedal in circling, power-assisted demand is had to very big difference, embody the variation of this power-assisted demand, this patent is located at respectively 180 degree angles with three interior positions with three Halls, two magnetic magnet steel are located at respectively two pedal positions, and pedal turns in the position that has Hall, and this Hall represents that with regard to output signal pedal has arrived the position of this Huo Yuan.But there is again shortcoming below with a plurality of Halls.

These features as morpet sensor have three shortcomings:

Shortcoming (1) represents respectively the fixed position of two pedals with two permanent magnetic steels that there is no an otherness, just can only represent with a plurality of Halls the turned position of pedal: two magnetic magnet steel do not have otherness, advantage is can be regardless of the fixed position that represents respectively two pedals of left and right pin, make the raw power-assisted demand of its left and right human hair combing waste, can produce identical motor power-assisted effect; But shortcoming is permanent magnetic steel itself just can not represent the turned position of pedal, and can only be located at the turned position that different angle positions represents pedal with a plurality of Halls, thus can not be only with a Hall, and must use a plurality of Halls.

Shortcoming (2) can not be only with a Hall, and three Halls must cause three control signals to have original segmentation error, make the distortion of power-assisted demand model, naturally produce power-assisted output inconsistent with power-assisted demand: no matter morpet is one or two motor, its transducing signal of controlling motor can only just can reach the object of controlling motor with a transducing signal input electric machine controller; And three Halls are controlled motors for this patent, three control signals of three Halls must be merged into one and could input electric machine controller after merging control signal.The parameter sensing of three Halls can not be the same, particularly due to after variation of ambient temperature, period of service length, the parameter sensing of three Halls may be widely different, when its result causes identical power-assisted demand, the output of different Halls be different voltages, cause motor to produce different power-assisted output, power-assisted output is inconsistent with power-assisted demand; In like manner during identical power-assisted demand, the output of different Halls may be identical voltage again, cause motor to produce the output of same power-assisted, also produce power-assisted output and the inconsistent problem of power-assisted demand.

Shortcoming (3) merges control signal and easily produces signal drift, making to merge control signal does not mate with electric machine controller, power-assisted demand model distortion: due to variation of ambient temperature, after period of service is long, the parameter sensing of three Halls may be widely different, three control signal point of connection of three Halls must change, the merging control signal that identical power-assisted demand produces will produce the signal drift of segmenting, merge control signal as a whole signal distortion that produces, it is the distortion of power-assisted demand model, any one that causes that electric machine controller selects three control signals all can produce power-assisted output and the inconsistent problem of power-assisted demand as benchmark.

Shortcoming (4) sensing site can not arbitrarily increase, sensing site very little, motor operation is just not steady, make people by bike feel very uncomfortable: owing to having shortcoming (1) and shortcoming (2) all to cause because Hall quantity is greater than one, clearly Hall quantity is measured more and more, and shortcoming (1) and shortcoming (2) performance are more serious.So the morpet that this patent provides can only be to make people by bike feel the morpet that traveling comfort is very bad.

Shortcoming (5) signal blind zone reaches 42 degree angles, when needing power-assisted during startup, really can not get power-assisted: well-known, it is minimum in summit moment that people steps on bicycle pedal, from leaving 10-45 degree angle, summit, it is the region that needs most power-assisted, but the angle between each Hall of this patent is 42.5-43.5 degree, at stretcher, leave summit 10-42 degree angular zone neither one Hall, also with regard to neither one control signal, when consequently needing most power-assisted, but the motor of morpet really can not power-assisted.

In a word, this patent is with a plurality of Halls, to control the technical scheme of assistant mode, because can only represent with a plurality of Halls the turned position of pedal, a plurality of control signals of a plurality of Halls must have original error, it merges control signal and easily produces again signal drift, all can cause the distortion of power-assisted demand model, i.e. the identical power-assisted demand of different time, but obtain different power-assisted effects; Hall quantity is measured more and more, and the distortion of power-assisted demand model is more serious, the quantity of having placed restrictions on Hall, Hall small number and to produce motor operation just not steady, make people by bike feel very uncomfortable, and can not get power-assisted while starting.Make it want power-assisted demand model undistorted, and want motor to operate steadily in these two problems and always look after these that, can not get both.

Summary of the invention

Only the object of this invention is to provide with speed and the position signal of the unequal acquisition bicycle pedal of magnetic flow of each permanent magnets on a Hall and rolling disc and signal is carried out to digitized processing and become the morpet that has best power-assisted model signals sensor; Be a kind ofly in Hall can induction region, can increase permanent magnets quantity as far as possible, utilize to greatest extent bicycle displacement information, how again sensor output information pinpoint morpet; The power-assisted that cyclist's power-assisted demand provides with motor is mated well, the morpet that motor operates steadily.

Design of the present invention is: in a Hall can receptive field, on a rolling disc, by identical a plurality of permanent magnets, carry out different variation pattern settings, make an one Hall can experience the motor message of whole permanent magnets.The variation pattern of a plurality of permanent magnets is mainly that magnetic polarity changes, magnetic flux change, object make Hall can obtain ad-hoc location more accurately, control with better function, more permanent magnets motor message.A plurality of permanent magnets magnetic polarities alternately change with the arctic, the South Pole, and the signal that Hall is produced is square wave, controls with better function, more; It is more accurate that a plurality of permanent magnets magnetic flux change make signal that Hall produces can express the position of permanent magnets, thereby can express the state of kinematic motion of ad-hoc location.For morpet, the ad-hoc location of expressing stretcher is extremely important at what state of kinematic motion because the state of kinematic motion direct representation of stretcher the power-assisted need state of people to car.

Structure of the present invention is:

Fill the morpet of many magnetic patch uneven distribution magnetic flow rotating disc type sensor, comprise Electrical Bicycle and sensor, the wheel center axle 51 of Electrical Bicycle, the two ends of center shaft 51 are fixedly connected with the vehicle frame of Electrical Bicycle 53, center shaft 51 overcoats have band cover flower-drum 52, band cover flower-drum 52 is in the outer rotation of center shaft 51, and band cover flower-drum 52 is fixedly connected with the wheel 54 of bicycle, and band overlaps flower-drum 52 synchronizes rotation with wheel 54; The battery 55 of Electrical Bicycle connects electric machine controller 29, the motor 30 that electric machine controller 29 connects on wheel;

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; It is characterized in that:

［ 1 ］ sensitive member is the rotational motion of rolling disc 1 to be become to the element of square-wave signal output;

Comprise that sensitive member comprises rolling disc 1 and many pieces of permanent magnets 2, on rolling disc 1, be fixedly installed many pieces of permanent magnets 2, these many pieces of permanent magnets 2 equably rounded track distribute, and every piece of permanent magnets 2 is identical to the distance between identical, the adjacent two pieces of permanent magnets 2 of distance at circular rail trace 5 circle centers, place; In certain one side of rolling disc 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 rolling disc 1 Have at least the magnetic flow of two pieces of permanent magnets 2 not identical;

Also comprise a Hall 3, Hall 3 is positioned at certain one side of rolling disc 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 rolling disc 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 crest recognizer 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 crest recognizer 22, the peak value of each square wave identified the square-wave signal of 3 inputs of Hall in sensitive member by analogue to digital conversion and crest recognizer 22, each square-wave signal is become to different digital signals, each square wave is marked, and analogue to digital conversion and crest recognizer 22 output marks have 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 crest recognizer 22, and power-assisted starting point finder 23 is connected with magnetic patch rotating speed calculator 24; The mark of magnetic patch rotating speed calculator 24 use analogue to digital conversions and 22 inputs of crest recognizer has the magnetic patch motion digital signal of magnetic patch position order to calculate the rotating speed of rolling disc 1, and the rotating speed digital signal of rolling disc 1 is passed to power-assisted starting point finder 23, power-assisted starting point finder 23 use marks have the magnetic patch motion digital signal of magnetic patch position order, determine some squares wave corresponding to power-assisted starting point under certain speed conditions with these two signals of rotating speed digital signal of rolling disc 1, 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 model calculator 26 use power-assisted starting point finders 23, select a certain power-assisted pattern function in power-assisted model memory device 25 with these two conditions of rolling disc 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 rolling disc 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 signals;

［ 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: it is outer fixing that the rolling disc 1 of sensor is enclosed within band cover flower-drum 52, rolling disc 1 is synchronizeed rotation with band cover flower-drum 52, all the interior circular trajectory center of turn of permanent magnets 2 is identical with band cover flower-drum 52 center of turns, 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 in sensor, the signal input part of the signal output lead of op amp 28 and the electric machine controller 29 of Electrical Bicycle is connected;

Center shaft 51 overcoats have band cover flower-drum 52, and rolling disc 1 and band overlap flower-drum 52 synchronizes rotation.

One, the explanation to working sensor principle: with principle of work, sensor is divided into signal acquisition and signal processing, so that structural relation and the effect of all parts of explanation sensor.Signal acquisition is rationally arranged and is carried out and obtain semiotic function by rolling disc 1, permanent magnets 2 and the Hall 3 of sensitive member; Signal is processed by power-assisted model treater 21, D and A converter 27 and op amp 28 and is connected successively the power-assisted model simulation signal that electric machine controller 29 that the signal that Hall 3 is exported is processed into Electrical Bicycle can use.

［ one ］ explanation to sensitive member:

Rolling disc 1 can be the on-deformable plate of material such as plastic flagstone, the exhausted plate of high strength, copper coin, aluminium sheet.While using sensitive member, rolling disc 1 will rotate, and the center of rotation is exactly Yuan center, 2 one-tenth annular arrangement distribution places of a plurality of permanent magnets.

The object that 2 one-tenth annular arrangements of a plurality of permanent magnets distribute is only with a Hall 3, to experience the state of kinematic motion of whole permanent magnets 2 on rolling disc, experience movement position and the speed of whole permanent magnets 2 on rolling disc, and the variation of speed, or title acceleration/accel, this Hall 3 just can be expressed the state of kinematic motion of permanent magnets 2 with a continuous electric signal, because it is on rolling disc 1 that whole permanent magnets 2 is separately fixed at rolling disc, the continuous electric signal that Hall 3 produces just can be expressed the state of kinematic motion of rolling disc again.If this continuous electric signal is used for controlling other object, this continuous electric signal is exactly control signal.If for controlling the motor of morpet, also need with micro controller system or other electron component as sensing signal processor, position in control signal, speed, acceleration/accel key element are converted to the power-assisted signal that needs power-assisted how many, the function converting is exactly power-assisted demand model, or claims power-assisted model.

The not identical meaning of a plurality of permanent magnets 2 magnetic flow is: making in electric signal that Hall 3 produces is not duplicate impulse singla, but the different impulse singla of peak valley difference, with distinguishing impulse singla, distinguish the diverse location of different permanent magnets 2, thereby can obtain the state of kinematic motion of diverse location permanent magnets 2.Reaching can certain position of accurate expression rolling disc, or each has the state of kinematic motion of permanent magnets 2.As for morpet, can ride the demand to power-assisted at diverse location by accurate expression, make the expression of power-assisted demand more accurate, car is just more consistent with people's cooperation.

The not identical namely magnetic flow of a plurality of permanent magnets 2 of a plurality of permanent magnets 2 magnetic flow is vicissitudinous, the scope of its variation should be the sensitive magnetic flow scope of the same Hall 3 of invariant position, that is to say, the peak of a plurality of permanent magnets 2 magnetic flow and minimum should be within the scope of the sensitive magnetic flow of Hall 3.

Hall 3 is located at the position that approaches permanent magnets 2 and can experience permanent magnets 2 magnetic flow, and object is to experience with Hall 3 state of kinematic motion of permanent magnets 2, i.e. movement position, speed, acceleration/accel.

The magnetic polarity of adjacent two magnetic patch 2 is very important technical characterictic on the contrary, all the magnetic polarity distribution mode of permanent magnets 2 is the N utmost point, the S utmost point, the N utmost point, the S utmost point, the N utmost point, the S utmost point ... make the high and low alternate square-wave signal of Hall 3 output, the rolling disc stopping as limited size, rotating and within one week, will obtain as far as possible many accurate variable signals, should be to select square wave certainly.Because the time that the peak-to-valley value of square-wave signal changes is short, can, within the regular hour, produce as far as possible many signals that has control meaning.The contrary structure generation square wave of magnetic polarity of adjacent two magnetic patch 2, and the identical structure generation sinusoidal waveform of the magnetic polarity of adjacent two magnetic patch 2, during especially for morpet, as the rolling disc of sensing element, generally placing restrictions at diameter is 10-15 centimetre, in this limit scope, to obtain the signal of controlling function, rotate one week, produce square wave than producing the many 7-9 of the available pulse number of sinusoidal waveform doubly.Nature, to the control effect of morpet more, people coordinates with car better for the magnetic polarity of adjacent two magnetic patch 2 contrary structure, and rider people feels more comfortable.

［ two ］ explanation of power-assisted model treater 21: power-assisted model treater 21 is the digital signal of rolling disc 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 crest recognizer 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, these parts to the processing thinking of signal are: the square-wave signal of Hall in sensitive member 3 is decomposited to the position digital signal that represents magnetic patch 2 positions, with the speed digital signal that represents rolling disc 1 rotating speed, because position and speed are all digital signals, just can with power-assisted math modeling, process position and speed, can design power-assisted math modeling by people's best perception, make the power-assisted model digital signal of its power-assisted model treater 21 outputs there is best power-assisted math modeling, the actuation point and the terminating point that have again this power-assisted math modeling, because there is the position digital signal of magnetic patch 2, so actuation point and terminating point are accurate to the power-assisted demand Complete Synchronization with people.Having solved prior art does not have magnetic patch 2 position signals and causes people's power-assisted demand and power-assisted unmatched models, postpone in the problem of power-assisted demand with the operation of power-assisted model, having solved prior art wants power not to power, to only give energetically little power, want little power again to energetically, do not want power again to man-machine ill-matched problems such as power.In power-assisted model treater 21, annexation and the function of each parts are as follows: peak value

Analogue to digital conversion is connected with sensitive member with crest recognizer 22, the peak value of each square wave identified the square-wave signal of 3 inputs of Hall in sensitive member by analogue to digital conversion and crest recognizer 22, each square-wave signal is become to different digital signals, each square wave is marked, and analogue to digital conversion and crest recognizer 22 output marks have the square-wave signal of magnetic patch position order.Like this, there is other square-wave signal of peak region to become the square-wave signal with data mark waveform, convenient in digitized processing process below, square wave peak value is become to square wave position data and carry out calculation process.So analogue to digital conversion and crest recognizer 22 are square wave peak value to be represented to the signal of magnetic patch position, become the treater by the digital signal of data mark magnetic patch position.This is the important inventive point that the present invention is different from existing morpet, there is the digital signal with data mark magnetic patch position, the present invention just can find some or each magnetic patch position on the rolling disc 1 of circulation circular movement, for starting, motor 30 produces power-assisted, increase power-assisted, reduce power-assisted, stop 30 work of the motors such as power-assisted and found starting point and terminal, people's power-assisted demand and motor 30 power-assisted behaviors can be matched, avoided existing morpet to be difficult to realize man-machine cooperation, while occurring needing power-assisted, motor 30 does not rotate, while not needing power-assisted, motor 30 also keeps motion not stop, even cause the problem of collision accident.

Analogue to digital conversion is connected with magnetic patch rotating speed calculator 24 with power-assisted starting point finder 23 respectively with crest recognizer 22, and power-assisted starting point finder 23 is connected with magnetic patch rotating speed calculator 24; The mark of magnetic patch rotating speed calculator 24 use analogue to digital conversions and 22 inputs of crest recognizer has the magnetic patch motion digital signal of magnetic patch position order to calculate the rotating speed of rolling disc 1, and the rotating speed digital signal of rolling disc 1 is passed to power-assisted starting point finder 23, power-assisted starting point finder 23 use marks have the magnetic patch motion digital signal of magnetic patch position order, determine some squares wave corresponding to power-assisted starting point under certain speed conditions with these two signals of rotating speed digital signal of rolling disc 1, determine power-assisted starting point magnetic patch.Due to, definite power-assisted starting point magnetic patch is the square wave that has data mark, power-assisted starting point magnetic patch has magnetic patch 2 positions of unique correspondence, like this, power-assisted starting point finder 23 has completed magnetic patch 2 positions of finding out power-assisted initial point, also, in the time of just can determining certain magnetic patch 2 where, start or finish motor and carry out certain power-assisted model sport.This just reaches the specific magnetic patch 2 that people controls rolling disc 1 and is synchronized with the movement, specific magnetic patch 2 is controlled motor 30 and is carried out specific synchronous rotation, realize the object of people's synchro control motor, there will not be the starting point of control and terminal inaccurate, there will not be the starting point of control and the problem that terminal postpones.But existing morpet, when opening only power-assisted, all can not find the stop bit that opens of synchronizeing with people and puts, so all can produce the starting point of control and the problem that terminal postpones.

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 model calculator 26 use power-assisted starting point finders 23, select a certain power-assisted pattern function in power-assisted model memory device 25 with these two conditions of rolling disc 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 rolling disc 1 rotating speed, calculate the power-assisted model digital signal that is applicable to these two conditions, power-assisted model calculator 26 just can be exported power-assisted model digital signal.

［ three ］ explanation of logarithmic mode conv 27: 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.So that the analog signal to electric machine controller 29 output power-assisted models that can only Analog signals.

［ four ］ explanation to op amp 28: 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.

D and A converter 27 is connected with op amp 28, although the power-assisted model simulation signal of D and A converter 27 has solved power-assisted model problem, but the voltage of power-assisted model signals can't meet the needs of electric machine controller 29, so also will power-assisted model simulation signal be converted to the power-assisted model simulation signal that the range of nominal tension needs with op amp 28, just can be transferred to electric machine controller 29.

Two, sensor and Electrical Bicycle are connected to form the explanation of morpet:

For in kind installation is described, from aspect in kind sensor, be divided into mechanical part and sensing element, so that each material object and each relevant structural relation in kind of Electrical Bicycle of sensor to be described.Mechanical part is fixed on rolling disc 1 on the band cover flower-drum 52 outside the wheel center axle 51 of Electrical Bicycle, make rolling disc 1 and band overlap flower-drum 52 and synchronize rotation, thereby rolling disc 1 is synchronizeed rotation with wheel 54.Sensing element comprises Hall 3, power-assisted model treater 21, D and A converter 27 and op amp 28, Hall 3 is fixed on to vehicle frame 53 positions that approach permanent magnets 2, makes Hall 3 can experience the turn signal of permanent magnets 2 on rolling disc 1.Also the Hall 3 of sensing element, power-assisted model treater 21, D and A converter 27 and op amp 28 can be fixed on a device.But because Hall 3 will be fixed on the peculiar position that can experience permanent magnets 2 magnetic flow, Hall 3 and power-assisted model treater 21, D and A converter 27 and op amp 28 these three isolation of components can be opened, only power-assisted model treater 21, D and A converter 27 and op amp 28 these three parts are fixed on a device.Power-assisted model treater 21, D and A converter 27 and op amp 28 these three parts in whole sensing elements or sensing element are fixed on a device, be conducive to a tangible device carrying sensing element, with carrier, sensing element be fixed on the vehicle frame 53 of Electrical Bicycle.

Hall 3 can be experienced with a fixed position turned position of whole permanent magnets 2, thereby cyclist all can be become to electric signal to the mechanical action of power-assisted demand, again by sensing element power-assisted model treater 21, D and A converter 27 and op amp 28, the power-assisted demand electric signal of Hall 3 is become to the power-assisted model electric signal of man-machine coupling, op amp 28 is passed to electric machine controller 29 the power-assisted model electric signal of man-machine coupling, electric machine controller 29 is controlled motor 30 and is rotated by the mode of man-machine coupling, finally realize morpet by people's best demand mode motion, realize the effect of man-machine coupling.

In sensor of the present invention, the signal of each Signal Processing Element output is:

Hall 3 output square-wave signals;

Power-assisted model treater 21 output power-assisted model digital signals;

Analogue to digital conversion and crest recognizer 22 output marks have the magnetic patch motion digital signal of magnetic patch position order;

The start position signal of the power-assisted starting point magnetic patch that 23 outputs of power-assisted starting point finder are definite;

Magnetic patch rotating speed calculator 24 calculates and exports the rotating speed digital signal of rolling disc 1;

It is standby that power-assisted model memory device 25 has multiple power-assisted pattern function, exports the digital signal of selected power-assisted pattern function;

Power-assisted model calculator 26 calculates and exports for controlling the power-assisted model digital signal of function;

The power-assisted model simulation signal that D and A converter 27 outputs convert power-assisted model digital signal to;

Op amp 28 outputs convert power-assisted model simulation signal to the power-assisted model simulation signal of the range of nominal tension;

What thermally dependent resistor R6 guaranteed op amp 28 outputs is the power-assisted model simulation signal of the range of nominal tension, i.e. standard power-assisted model simulation signal.

For solving power-assisted model simulation signal drift problem, be provided with thermally dependent resistor R6, thermally dependent resistor R6 is connected between the input end and mouth of op amp 28.

Hall 3, D and A converter 27 and op amp 28 are all semiconductor devices, there is again Analog signals function, very easily vary with temperature and make signal parameter produce drift, particularly summer and winter, morpet is again all outdoor, temperature traverse produces the successful of signal parameter drift, so, preferably the signal of op amp 28 outputs is carried out to signal drift correction, obtain the standard power-assisted model simulation signal that is not subject to influence of temperature change, standard power-assisted model simulation signal is controlled to motor 30 operations by electric machine controller 29, the people who rides morpet just can not feel summer and the different problem of power-assisted effect in winter.

Power-assisted model treater 21 is micro controller systems 31, is connected with clock circuit 32 on micro controller system 31.With micro controller system 31, complete the function of analogue to digital conversion and crest recognizer 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.The clock signal of clock circuit 32 is the effects for the square-wave signal of Hall 3 inputs is distinguished, and preferably the length of each clock signal is 0.001 second.

The mechanical part of sensor and sensing element structural relation: the mechanical part of sensor comprises rolling disc 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 4 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.

The preferred model of each parts of sensor of the present invention and concrete connection mode are: Hall 3 is UGN3075, and power-assisted model treater 21 is AT89S52 micro controller systems 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.

Between input end 2 pin of OF-17F op amp 28 and mouth 6 pin, be connected with thermally dependent resistor R6, and thermally dependent resistor R6 two ends are also parallel with capacitor C 6.Preferably thermally dependent resistor R6 is 5K, and capacitor C 6 is 8P, uses the R5 ground connection of 1.25k between 4 pin of D and

A converter

27 and 2 pin of op amp 28.Make its available temperature-sensitive resistance R 6 regulate the analog signal voltage scope of op amp 286 pin outputs to be stabilized between 0.8--4.2V.

Hall 3 is located between interior circular trajectory and outer ring trajectory.Because Hall 3 is to have spacing to experience permanent magnets 2 magnetic flow and the parts of output electrical signals, again in order to reduce the volume of permanent magnets 2 as far as possible, make its many permanent magnets 2 that arrange as far as possible on rolling disc 1, the permanent magnets 2 as far as possible reducing can be responded to by Hall 3; Hall 3 should be located between interior circular trajectory and outer ring trajectory, and is preferably located at the position that approaches the circular rail trace that can run through whole permanent magnets 2.

Rolling disc 1 is provided with center in the circle scope of the interior circular trajectory place of a plurality of permanent magnets 2.If rolling disc 1 will be set on a turning cylinder and use, on rolling disc 1, will establish a hole that wears turning cylinder; For guaranteeing that rolling disc 1 is when rotating with turning cylinder, Hall 3 can be experienced the motor message of each permanent magnets 2 on rolling disc 1, on rolling disc 1, wear the center that hole should be located at the interior circular trajectory place circle scope of a plurality of permanent magnets 2, because interior circular trajectory and outer ring trajectory are concentric circles, certainly wear the center of circular rail trace place circle scope outside, hole, wearing hole is the hole, center of interior circular trajectory and outer ring trajectory, i.e. center.That is to say, center is not necessarily circular, can be the shapes such as square, triangle, to can be nested with the turning cylinder of the shapes such as square, triangle, but the interior sky at center necessarily comprises Yuan center, interior circular trajectory place, could use a Hall 3 to experience the motor message of whole permanent magnets 2 on rolling disc 1 rolling disc.

Have at least the magnetic flow of a permanent magnets 2 to be not equal to the magnetic flow of other any one permanent magnets 2.The magnetic flow that is not equal to other, special values of magnetic flux can be used for representing the position of bicycle pedal.Preferably have at least the magnetic flow of two each and every one permanent magnets 2 to be not equal to the magnetic flow of other any one permanent magnets 2, the permanent magnets 2 of these two special values of magnetic fluxes corresponds respectively to two stretchers, for representing the position of two stretchers of bicycle.Because the circular movement of bicycle pedal, judges that pedal position is for the speed that obtains this circular movement, determine that the power-assisted model of circular movement is extremely important next time.

Rolling disc 1 is plastic flagstone, aluminum board, copper material plate a certain of non-magnet_conductible material.Because the present invention is the contrary structure of magnetic polarity of adjacent two magnetic patch 2, can make the edge of adjacent two magnetic patch 2 almost can be affixed the electric signal that also can make Hall 3 outputs have control function.

Rolling disc 1 is provided with visable indicia.Visable indicia is a certain or its combination of color mark, body form mark or rotational angle mark.

Ride the morpet used time of the present invention, the method that makes the stretcher of bicycle command electronic function to coordinate with sensor: the mark of being used as one or more location on the wheel that has rolling disc 1 and permanent magnets 2, mark can be material object or color, and mark also can be located on rolling disc 1.With protecting the position objects of reference such as a certain position relationship of mud plate or mark and horizontal sextant angle position relationship on a certain position relationship of vehicle frame of mark and bicycle or the tire of mark and bicycle, determine on rolling disc 1 position relationship of each permanent magnets 2 and the stretcher of bicycle, that is to say, stretcher, when certain position, represents that the permanent magnets 2 of pedal position is also in a certain position.Realize the object that specific a certain permanent magnets 2 represents pedal position.If ride people, think that the power-assisted time of morpet electrical motor and the requirement of oneself do not match, as the power-assisted time starts too soon or too slow, can change the position of mark and vehicle frame, change and represent the permanent magnets 2 of pedal position and the relative angle position relationship of stretcher, just can regulate the power-assisted time to start speed, make people's power-assisted required time provide the time of power-assisted to match with motor.But the power-assisted model of controlling motor is constant.

Advantage of the present invention: simple in structure, cost is low, the permanent magnets quantity on permanent magnets ring is not placed restrictions on, the impulse singla of outputting standard, there is no signal blind zone, only with one group of output signal of a Hall, just the total movement state, output signal of energy perfect representation Moving plate can distortion drift about, by the magnetic flux change of permanent magnets, represent can have in fixed position, place, output signal the movement position of each permanent magnets, for morpet, make power-assisted output can highly coordinate with power-assisted demand and cyclist is felt well.

(1) simple in structure, without elastic component, machinery-free fault: experience a plurality of permanent magnets with Hall and rotate output signal, the speed providing with Chinese patent 01201843.0 can be calculated the principle of moment, available multiple math modeling is calculated the moment parameter of morpet, for controlling the motor of morpet, realize power-assisted.Without elastic component, simple in structure, cost lower than with elastic component and mechanically stressed sensor.Each mechanical part distortion, machinery-free fault, the not good problem of cooperation have been avoided after long-time use.

(2) magnetic polarity is contrary, output square-wave signal, there is accurate control function,: because the magnetic polarity of adjacent two pieces of permanent magnets is contrary, and Hall is selected the Hall that opposite magnetic polarities is produced to square wave output signal, no matter spacing is how many for adjacent two pieces of permanent magnets, even very close to each other between adjacent two pieces of permanent magnets, Hall can be exported square-wave signal too.As for morpet, the motor of controlling morpet with the output signal of square wave is better than with sinusoidal waveform, because rectangle wave energy is accomplished signal point at any time, the signal implication that represents movement position and speed is accurate, thereby movement position and speed that can Precise Representation booster bicycle pedal, to go out the correct power-assisted demand of this state of kinematic motion with the accurate position of pedal and speed calculation.

(3) magnetic polarity of adjacent permanent magnets is contrary, permanent magnets quantity is not placed restrictions on, can increase sensing point position: because magnetic polarity is contrary as far as possible, output square-wave signal, even adjacent permanent magnets gapless, the signal of its output has remained number, differentiable square-wave signal, still has control function, that is to say and can not export the unchanged linear signal of not controlling function.As for morpet, because the rolling disc diameter with pedal linkage is placed restrictions on, just can be on the rolling disc of prescribed level, increase permanent magnets quantity as far as possible, increase sensing point position as far as possible, with as far as possible many transducing signals, represent bicycle pedal movement position and speed, Precise Representation state of kinematic motion.

(4) magnetic polarity of adjacent permanent magnets is contrary, can arrange that permanent magnets is many, sensing point position is many, the state of kinematic motion of rolling disc is represented accurately: to for morpet, fixedly the rolling disc size of permanent magnets is strictly placed restrictions on, general rolling disc diameter can only be in 10-15 centimetre, in order to make Hall have the magnetic pole signal that obtains permanent magnets under the condition of spacing, the diameter of its permanent magnets is at least Ф 0.6-0.8 centimetre, zero-lash 35-73 permanent magnets ［ (10-1) the * 3.14/0.8=35 that arranges of the periphery of the rolling disc of diameter 10-15 centimetre; (15-1) * 3.14/0.6=73 ］, stretcher circles, and Hall can obtain 35-73 signal for controlling the motor of morpet.But if the identical prior art of adjacent permanent magnets magnetic polarity, adjacent permanent magnets, by 5 centimetres of spacing,, on diameter 10-15 centimetre rolling disc, can only arrange at most 5-8 permanent magnets ［ (10-1) * 3.14/5.8=5; (15-1) * 3.14/5.6=8 ］.Visible, the art of this patent can arrange doubly ［ 35/5=6 of permanent magnets 7-9 than prior art more; 73/8=9 ］, 30-65 permanent magnets ［ 35-5=30 is set more; 73-8=65 ］.So rolling disc circles, the art of this patent has increased 7-9 turn disc site signal doubly than prior art.The electric machine control accuracy rate of morpet has been improved to 7-9 doubly naturally, make cyclist also improve 7-9 doubly to power-assisted demand accuracy rate, car and people's cooperate degree improves greatly, and cyclist's comfort increases greatly, is no longer that fast slow uncomfortable sensation of boosted vehicle of prior art.The present invention asks someone according to actual experience, while roughly 15 permanent magnets being set uniformly on rolling disc, substantially having eliminated prior art and has only established 5-8 permanent magnets and make that fast slow uncomfortable sensation of boosted vehicle; While roughly 20 permanent magnets being set uniformly on rolling disc, car coordinates oneself can meet human needs with people's, and the sensation of riding boosted vehicle is very comfortable.

(5) there is no signal blind zone, power-assisted demand whenever all can obtain the power-assisted matching: this patent can arrange at most 35-73 permanent magnets at the rolling disc periphery of diameter 10-15 centimetre, and between each permanent magnets, average angle is 5-10 degree.For morpet, when starting or move, stretcher is from leaving in the 35 degree regions at 10-45 degree angle, summit, there is 4-7 permanent magnets (just having had a signal in the position of leaving 10Du angle, summit), the exportable 4-7 of Hall control signal reacts power-assisted demand, can realize any position, have power-assisted just can obtain the excellent technique effect of corresponding power-assisted any time, make car and people's no-float, it is laborsaving comfortable again that cyclist feels.

(6) only with a Hall, a control signal represents the total movement state of rolling disc, the state of kinematic motion of control signal and rolling disc is in full accord, control signal and people's demand is in full accord: a plurality of permanent magnets are fixed on rolling disc, permanent magnets is synchronizeed and is rotated with rolling disc, with a Hall, experience whole permanent magnets motor messages, the control signal of Hall output and the state of kinematic motion of rolling disc are in full accord, just in full accord with people's demand, control signal does not have original segmentation error and signal drift problem yet.Even if hall sensing parameter changes, be also whole control signal parallel, as long as it is wider to receive the range of receiving of electric machine controller of Hall control signal, the control effect of the Hall control signal having changed becomes systematicness to change.As for morpet, power-assisted demand model can distortion, and power-assisted output and power-assisted demand still keep the matching relationship of original model, and the systematicness that cyclist is easy to grasp this power-assisted ability changes.

(7) magnetic flow of each permanent magnets changes, the vicissitudinous permanent magnets of magnetic flow can represent the state of kinematic motion of specific site: because the magnetic flow of each permanent magnets changes, each permanent magnets makes Hall export the control signal of peculiar peak valley difference waveform, the state of kinematic motion in a certain fixedly permanent magnets site that control signal of peculiar peak valley difference waveform just can direct representation rolling disc; As each permanent magnets has oneself given magnetic flux, can reach and have how many permanent magnets, just can obtain the motion state signal of how many specific sites.As for morpet, rolling disc diameter is in 10-15 centimetre, and rolling disc circles, and Hall can obtain the control signal of 35-73 different loci state of kinematic motion, naturally knows the power-assisted demand in 35-73 site.Clearly, rolling disc circles, and prior art can only have at most 5-8 power-assisted demand, and being nothing like the maximum available 35-73 of a this patent power-assisted desired signal more can be truly, react cyclist's power-assisted demand multiple data quantity.That is to say, morpet the art of this patent, it is consistent that Che Gengneng and people's demand match, and cyclist experiences stretcher at any turned position, and oneself all completely can regulation speed, and traveling comfort is good.And the morpet of prior art can only be at most 5-8 turned positions ability can regulation speed.

(8) can carry out digitized processing to hall signal, make to add in control signal the control model of man-machine optimized matching: the digital signal that the square-wave signal with magnetic patch position and magnetic patch rotating speed is become to this two key element, with the mathematics power-assisted model of setting, be applicable to man-machine no-float, the digital signal of this two key element is converted to power-assisted model digital signal, again power-assisted model digital signal is converted to power-assisted model simulation signal, finally power-assisted model simulation signal is become to the control signal that electric machine controller burning voltage scope, that have rating horsepower can be used.In a word, the signal exactly magnetic patch being rotated carries out digitized processing, in digitized processing treating process, adds the power-assisted model of mathematics, makes, in the control signal of the last output of sensor, to contain the power-assisted model adding.Because the power-assisted model of mathematics is artificial setting, so, always the power-assisted model specification of mathematics can be become to the model of the most applicable man-machine cooperation, the exportable control signal that can realize best man-machine cooperation of sensor of the present invention.And the magnetic patch same pole of existing morpet sensor is at the same face, Hall can not obtain square-wave signal, also just cannot carry out digitized processing to hall signal, it controls model can only be hall signal to be carried out to part revise, so can not realize the control signal of the man-machine optimized matching of output.

(9) finally the control signal of output does not have signal drift: with thermally dependent resistor R6, the output signal of op amp is carried out to feedback regulation, can solve the problem that the semiconductor devices such as Hall, D and A converter and op amp make power-assisted model simulation signal drift, what make the last output of sensor is the standard power-assisted model simulation signal that is not subject to variation of ambient temperature.

(10) can realize the machine operation mode of man-machine optimized matching: analogue to digital conversion and crest recognizer become different digital signals by each square-wave signal, power-assisted model calculator is with regard to available power-assisted starting point finder selected and power-assisted math modeling power-assisted demand optimized matching in power-assisted model memory device, and the speed parameter substitution power-assisted math modeling that magnetic patch rotating speed calculator is provided, power-assisted model calculator just can calculate the power-assisted model digital signal of stretcher under certain situation.This power-assisted model digital signal is exactly to make people and control signal Electrical Bicycle energy optimized matching, that use for controlling motor.Power-assisted model calculator is digital processor, it can accept any digitized math modeling, power-assisted model memory device just can provide to power-assisted model calculator the math modeling of any artificial setting, had people to set arbitrarily this condition of math modeling, people just can set the math modeling that can make people and Electrical Bicycle energy optimized matching.Power-assisted model memory device has people to set, and can make the math modeling of people and Electrical Bicycle energy optimized matching, just can realize the machine operation mode of people and Electrical Bicycle optimized matching; People sets that math modeling can also make motor have the most reasonably to start and the mode of operation of the model that turns round, power saving.So morpet of the present invention is province's electric booster bicycle of people and Electrical Bicycle optimized matching.

But in a rotation period of existing power-assisted bike pedal plate, Hall can only be exported less than 10 sine wave signals, sine wave signal can not become digital signal, can not people add best power-assisted model to control the motor of Electrical Bicycle, the power-assisted model of this morpet can not realize man-machine optimized matching, can not make motor have mode of operation the most reasonable, power saving.

(11) power saving effect and meaning: with in morpet of the present invention and city, buy to have 8 permanent magnets coplanars be same pole as the morpet of sensing element, carries out power saving comparison, with same Electrical Bicycle, use the mode of different sensors instead, identical cyclist rides and surveys in fact in same road segment, result is: after riding 110 kilometers with morpet of the present invention, battery has a small amount of electricity more than also; After the morpet of buying in Dan Yonggai city is ridden 45 kilometers, battery has not had remaining electricity.The meaning of this power saving is: the morpet of the present invention that is full of electricity can meet whole day to be ridden and not charge, solved people on the way and car can not this existing morpet of power-assisted hang-up.

Accompanying drawing explanation

Fig. 1 is many magnetic patch position and each point magnetic flow uneven distribution on rolling disc, and the sensitive member structural representation that replaces of permanent magnets N-S, and in figure, permanent magnets line weight is different represents that magnetic flow is different;

Fig. 2 is high density magnetic patch position and each point magnetic flow uneven distribution on rolling disc, and the permanent magnets sensitive member structural representation that becomes N-S to replace, and in figure, permanent magnets line weight is different represents that magnetic flow is different;

Fig. 3 is the annexation cross-sectional view of rolling disc and the Hall of bicycle quick and vehicle frame and sensor;

Fig. 4 is that the signal of Hall, power-assisted model treater, D and A converter, op amp flows to block scheme;

Fig. 5 is the circuit diagram of Hall, micro controller system, D and A converter, op amp;

Fig. 6 is that sensor is located at the annexation schematic diagram that forms morpet of the present invention on wheel of electric bicycle and vehicle frame.

In figure, 1 is rolling disc, the 2nd, permanent magnets, the 3rd, Hall, the 5th, circular rail trace, the 21st, power-assisted model treater, the 22nd, the wide crest recognizer of analogue to digital conversion and ripple, the 23rd, power-assisted starting point finder, the 24th, magnetic patch rotating speed calculator, the 25th, power-assisted model memory device, the 26th, power-assisted model calculator, the 27th, D and A converter, the 28th, op amp, the 29th, electric machine controller, the 30th, motor, the 31st, micro controller system, the 32nd, clock circuit, the 51st, center shaft, the 52nd, band cover flower-drum, the 53rd, vehicle frame, the 54th, wheel, the 55th, battery, the 59th, circuit card.

The specific embodiment

Embodiment 1, fill the morpet of many magnetic patch uneven distribution magnetic flow rotating disc type sensor

As Fig. 1,3,4,6,

One, the Electrical Bicycle parts and structure relevant with sensor installation: the two ends of wheel center axle 51 and the vehicle frame of Electrical Bicycle 53 of Electrical Bicycle are fixedly connected with, center shaft 51 overcoats have band cover flower-drum 52, band cover flower-drum 52 is in the outer rotation of center shaft 51, band cover flower-drum 52 is fixedly connected with the wheel 54 of bicycle, and band overlaps flower-drum 52 synchronizes rotation with wheel 54; The battery 55 of Electrical Bicycle connects electric machine controller 29, the motor 30 that electric machine controller 29 connects on wheel;

Two, 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;

Sensitive member is that 20 permanent magnets 2 of 0.8 centimetre of diameter are set with a face of highstrenghtpiston's rolling disc 1 of 10.0 centimetres of diameters, and magnetic flow is 146---279 (BH) max/KJm ^-3different selective value in scope, and it is unequal to face mutually the magnetic flow of permanent magnets 2.The structure of rolling disc 1, permanent magnets 2, Hall 3 is as follows:

All permanent magnets 2 rounded track distributions equably, each permanent magnets 2 is fixed on 9.0 centimetres of circular rail traces 5 of diameter, and each permanent magnets 2 is identical to the distance between identical, the adjacent permanent magnets 2 of distance at circular rail trace 5 circle centers, places.

There is the magnetic flow of two permanent magnets 2 to be not equal to the magnetic flow of other any one permanent magnets 2, and the magnetic flow of these two permanent magnets 2 is also unequal, the position of these two permanent magnets 2 is just in time at the two ends of 1 one diameters of rolling disc, and these two permanent magnets 2 for representing the movement position of two stretchers on morpet.

The contrary mode of magnetic polarity in 2 one-tenth adjacent permanent magnets 2 of whole permanent magnets of 1 one face settings of rolling disc is arranged, and on 1 one faces of rolling disc, all the magnetic polarity distribution mode of permanent magnets 2 is the N utmost point, the S utmost point, the N utmost point, the S utmost point, the N utmost point, the S utmost point ...

With a Hall 3, be located at the side that rolling disc 1 has permanent magnets 2, Hall 3 is located at the position that approaches permanent magnets 2, be that Hall 3 is located in each permanent magnets 2 place circular rail trace 5 scope, Hall 3 keeps the spacing distance of 0.3 centimetre with each permanent magnets 2 of rotary state, make each permanent magnets 2 of rotating when through Hall 3, Hall 3 can produce a corresponding square wave electric signal output.

Rolling disc 1 is provided with center at these whole permanent magnets 2 circular rail trace 5 centers, place, and center is used for being enclosed within the pedal axis of morpet or runner rotating shaft.

［ 2 ］ power-assisted model treater 21 is the digital signal of rolling disc 1 rotation to be become to the conv of the signal form of power-assisted model digital signal;

Analogue to digital conversion is connected with magnetic patch rotating speed calculator 24 with power-assisted starting point finder 23 respectively with crest recognizer 22, and power-assisted starting point finder 23 is connected with magnetic patch rotating speed calculator 24; The magnetic patch motion digital signal of magnetic patch rotating speed calculator 24 use analogue to digital conversions and 22 inputs of crest recognizer calculates the rotating speed of rolling disc 1, and the rotating speed digital signal of rolling disc 1 is passed to power-assisted starting point finder 23, power-assisted starting point finder 23 use marks have the magnetic patch motion digital signal of magnetic patch position order, determine some squares wave corresponding to power-assisted starting point under certain speed conditions with these two signals of rotating speed digital signal of rolling disc 1, determine power-assisted starting point magnetic patch; Power-assisted starting point finder 23 has completed the initial point magnetic patch of finding out power-assisted, namely determine and come into effect power-assisted from certain square wave, accurately say be exactly at rolling disc 1 under certain speed conditions, from certain magnetic patch, in certain position, start to carry out power-assisted, or from certain magnetic patch certain position, the power-assisted model of original power-assisted model being changed into next step selection carries out power-assisted.

［ 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.So that the simulation letter to electric machine controller 29 output power-assisted models that can only Analog signals.

D and A converter 27 is connected with op amp 28, although the power-assisted model simulation signal of D and A converter 27 has solved power-assisted model problem, but the voltage of power-assisted model signals can't meet the needs of electric machine controller 29, so also will power-assisted model simulation signal be converted to the power-assisted model simulation signal that the range of nominal tension needs with op amp 28, just can be transferred to electric machine controller 29, reach electric machine controller 29 control motors 30 and carry out the operation that power-assisted is object.

Three, sensor and Electrical Bicycle connect into morpet: it is outer fixing that the rolling disc 1 of sensor is enclosed within band cover flower-drum 52, rolling disc 1 is synchronizeed rotation with band cover flower-drum 52, all the interior circular trajectory center of turn of permanent magnets 2 is identical with band cover flower-drum 52 center of turns, center shaft 51 overcoats have band cover flower-drum 52, and rolling disc 1 and band overlap flower-drum 52 synchronizes rotation.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; After the power-assisted model treater 21 of Signal Processing Element, D and A converter 27 are connected successively with op amp 28, Hall 3 is connected with power-assisted model treater 21, and op amp 28 is connected with the electric machine controller 29 of Electrical Bicycle.Realize the object of sensor electricity consumption signal control Electrical Bicycle, used the power-assisted model simulation signal of op amp 28, or claimed standard power-assisted model simulation signal control Electrical Bicycle, obtained morpet.

Embodiment 2, high density fill the morpet of many magnetic patch uneven distribution magnetic flow rotating disc type sensor

As a face of the high strength aluminium rolling disc 1 of 10.0 centimetres of Fig. 2,3,4,6, diameters arranges 40 permanent magnets 2 of 0.6 centimetre of diameter.The magnetic flow of permanent magnets 2 is 146---279 (BH) max/KJm ^-3different selective value in scope, and the magnetic flow that faces mutually permanent magnets 2 is unequal, Hall 3 keeps the spacing distance of 0.2 centimetre with each permanent magnets 2 of rotary state, makes each permanent magnets 2 of rotating when through Hall 3, and Hall 3 can produce a corresponding square-wave signal output.Other structure is same as embodiment 1.

Embodiment 3, there is the morpet that fills many magnetic patch uneven distribution magnetic flow rotating disc type sensor of physical circuit

As Fig. 1,3,5,6, as embodiment 1, sensor comprises sensitive member, power-assisted model treater 21, D and A converter 27 and the op amp 28 connecting successively;

［ 1 ］ Hall in sensitive member 3 is selected UGN3075; In sensitive member, the structure of other element and element is same as embodiment 1;

［ 2 ］ power-assisted model treater 21 selects micro controller system 31 to complete repertoire, and micro controller system 31 is selected AT89S52.It is the repertoire that AT89S52 micro controller system 31 completes analogue to digital conversion and crest recognizer 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.

［ 3 ］ ADC-C8E is selected in D and A converter 27.

［ 4 ］ op amp 28 is selected OF-17F, is connected with the thermally dependent resistor R6 of 5k between input end 2 pin of OF-17F op amp 28 and mouth 6 pin; And thermally dependent resistor R6 two ends are also parallel with 8P capacitor C 6.Between 4 pin of D and

A converter

27 and 2 pin of op amp 28, use the R5 ground connection of 1.25k.Make its available temperature-sensitive resistance R 6 regulate the analog signal voltage scope of op amp 286 pin outputs to be stabilized between 0.8--4.2V.

Each electronic unit annexation is as follows:

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 ］ mechanical part of sensor and sensing element structural relation: the mechanical part of sensor comprises rolling disc 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 4 electronic components of op amp are located on a circuit card 59 successively; Hall 3 on circuit card 59 is located at the magnetic flow that can experience permanent magnets 2, and Hall 3 can be according to the position of magnetic flux change exporting change electric signal.Connected successively Hall 3, micro controller system 31, D and

A converter

27 and 28 4 electronic components of op amp are located on a circuit card 59, be conducive to these four electronic component integrations, modularization, miniaturization, convenient whole unified being fixed on vehicle frame 53 of these four electronic components.

Claims

1. The power-assisted bicycle equipped with multi-magnetic blocks and unevenly distributed magnetic flux turntable sensors, including electric bicycles and sensors, the central axis of the wheel of the electric bicycle (51), the two ends of the central axis (51) and the frame of the electric bicycle (53) Fixedly connected, the center shaft (51) is overcoated with a hub with a sleeve (52), and the hub with a sleeve (52) rotates outside the central shaft (51), and the hub with a sleeve (52) is fixedly connected with the wheel (54) of the bicycle, and the hub with a sleeve (52) is fixedly connected with the wheel (54) of the bicycle. The hub (52) rotates synchronously with the wheel (54); the battery (55) of the electric bicycle is connected to the motor controller (29), and the motor controller (29) is connected to 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, a booster model processor (21), a digital-to-analog converter (27) and an operational amplifier (28) connected in sequence;

[1] The sensing element is an element that converts the rotational motion of the rotating disk (1) into a rectangular wave signal output;

The sensing element includes a rotating disc (1) and a plurality of permanent magnets (2), and the rotating disc (1) is fixed with a plurality of permanent magnets (2), and the plurality of permanent magnets (2) are evenly arranged Circular trajectory distribution, that is, the distance from each permanent magnet block (2) to the center of the circular trajectory line (5) is the same, and the distance between two adjacent permanent magnet blocks (2) is the same; ), the magnetic polarities of two adjacent permanent magnet blocks (2) are opposite, that is, the magnetic polarity distribution of all permanent magnet blocks (2) on a certain surface of the rotating disk (1) is N pole, S pole, N pole, and N pole. pole, S pole, N pole, S pole...; the magnetic fluxes of at least two permanent magnet blocks (2) are different;

It also includes a Hall (3), the Hall (3) is located on one side of the rotating disk (1), and the Hall (3) is located close to the permanent magnet block (2) and can sense the magnetic flux of the permanent magnet block (2) , there is a distance between the Hall (3) and the permanent magnet block (2); 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 rotating disc (1) into a digital signal of the booster model;

The booster model processor (21) includes an analog-to-digital conversion and peak recognizer (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 peak recognizer (22) is connected to the sensing element, and the analog-to-digital conversion and peak recognizer (22) recognizes the peak value of each rectangular wave from the rectangular wave signal input by Hall (3) in the sensing element, and the Each rectangular wave signal is changed into a different digital signal, and each rectangular wave is marked, and the analog-to-digital conversion and peak recognizer (22) outputs a magnetic block movement digital signal marked with the position order of the magnetic block;

The analog-to-digital conversion and peak recognizer (22) are respectively connected with the power-assisted starting point selector (23) and the magnetic block speed calculator (24), and the power-assisted starting point selector (23) is connected with the magnetic block speed calculator (24); the magnetic block The rotation speed calculator (24) calculates the rotation speed of the rotating disk (1) by using the analog-to-digital conversion and the magnetic block motion digital signal marked with the position order of the magnetic block input by the peak recognizer (22), and calculates the rotation speed of the rotating disk (1) The digital signal is transmitted to the power-assisted starting point selector (23), and the power-assisted starting point selector (23) uses the magnetic block movement digital signal marked with the position order of the magnetic block and the rotational speed digital signal of the rotating disk (1) to determine a certain position. A certain rectangular wave corresponding to the starting point of the power assist under the condition of different speeds, that is, to determine the magnetic block of the starting point of the power assist;

The boost starting point selector (23) and the magnetic block rotational speed calculator (24) are connected with the boost model calculator (26) respectively, and the boost model memory (25) is also connected with the boost model calculator (26); the boost model calculator ( 26) Select a certain type of power assist in the power assist model memory (25) using the two conditions of the power assist starting point magnet block of the power assist starting point selector (23) and the rotation speed of the rotating disk (1) of the magnetic block speed calculator (24) model function, and substitute the two conditions of the starting point magnetic block and the rotation speed of the rotating disc (1) into the power model function, and calculate the digital signal of the power model suitable for these two conditions, that is, the power model calculator (26) outputs the digital signal of the power model 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: the rotating disk (1) of the sensor is fixed outside the hub (52) with a sleeve, the rotating disk (1) rotates synchronously with the hub (52) with a sleeve, and all the permanent magnets (2) The center of rotation of the inner circular track line is the same as the center of rotation of the hub with sleeve (52), and Hall (3) is fixed on the frame (53) close to the permanent magnet (2) at a position where the magnetic flux of the permanent magnet (2) can be felt , the signal output wire of the operational amplifier (28) in the sensor is connected to the signal input end of the motor controller (29) of the electric bicycle;

The central shaft (51) is covered with a hub (52) with a sleeve, and the rotating disc (1) rotates synchronously with the hub with a sleeve (52).

2. The power-assisted bicycle equipped with multi-magnetic blocks unevenly distributed magnetic flux turntable sensor according to claim 1, characterized in that: it also includes a thermistor R6, the thermistor R6 is connected to the input terminal of the operational amplifier (28) and between the output terminals.

3. The power-assisted bicycle equipped with multi-magnetic blocks unevenly distributed magnetic flux turntable sensors according to claim 2, characterized in that: the power-assisted model processor (21) is a single-chip microcomputer (31), and a clock circuit is connected to the single-chip microcomputer (31) (32);

The structural relationship between the mechanical parts of the sensor and the sensing parts: the mechanical parts of the sensor include a rotating disk (1), and the sensing parts of the sensor include multiple permanent magnet blocks (2), Hall (3), single-chip microcomputer (31), digital-analog Converter (27) and operational amplifier (28); four electronic components of Hall (3), single-chip microcomputer (31), digital-to-analog converter (27) and operational amplifier (28) connected in sequence in the sensing part are arranged in one piece On the circuit board (59); the position of the circuit board (59) on the vehicle frame (52) can make Hall (3) feel the magnetic flux of the permanent magnet block (2), and the position of the circuit board (59) makes Hall (3) An electrical signal can be output according to the movement of the permanent magnet block (2).

4. The power-assisted bicycle equipped with multi-magnetic blocks unevenly distributed magnetic flux turntable sensor according to claim 3, characterized in that: Hall (3) is UGN3075, power-assisted model processor (21) is AT89S52 single-chip microcomputer (31), Digital-to-analog converter (27) is ADC-C8E; Operational amplifier (28) is OF-17F, is connected with thermistor R6 between the input end 2 pins of OF-17F operational amplifier (28) and output end 6 pins; The connection relationship of components is as follows:

Connect pin 3 of the signal output terminal of Hall (3) to pin 12 INTO of the microcontroller (31) [P32];

The 39-pin P00 of the microcontroller (31) is connected to the 12-pin B8 of the digital-to-analog converter (27);

The 38-pin P01 of the microcontroller (31) is connected to the 11-pin B7 of the digital-to-analog converter (27);

The 37-pin P02 of the microcontroller (31) is connected to the 10-pin B6 of the digital-to-analog converter (27);

The 36-pin P03 of the microcontroller (31) is connected to the 9-pin B5 of the digital-to-analog converter (27);

The 35-pin P04 of the microcontroller (31) is connected to the 8-pin B4 of the digital-to-analog converter (27);

The 34-pin P05 of the microcontroller (31) is connected to the 7-pin B3 of the digital-to-analog converter (27);

The 33-pin P06 of the microcontroller (31) is connected to the 6-pin B2 of the digital-to-analog converter (27);

The 32-pin P07 of the microcontroller (31) is connected to the 5-pin B1 of the digital-to-analog converter (27);

Pin 4 of the digital-to-analog converter (27) is connected to pin 2 of the operational amplifier (28);

Pin 2 of the digital-to-analog converter (27) is connected to pin 3 of the operational amplifier (28);

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

5. The power-assisted bicycle equipped with multi-magnetic blocks unevenly distributed magnetic flux turntable sensor according to any one of claims 1-4, characterized in that: Hall (3) is set on the inner circular trajectory and the outer circular trajectory between lines.

6. The power-assisted bicycle equipped with multi-magnetic blocks unevenly distributed magnetic flux turntable sensors according to claim 5, characterized in that: the turntable (1) is located in the circle where the inner circular trajectory of the plurality of permanent magnet blocks (2) is located There is a center in the range.

7. The power-assisted bicycle equipped with multi-magnetic blocks unevenly distributed magnetic flux turntable sensors according to any one of claims 1-4, wherein the magnetic flux of at least one permanent magnet block (2) is not equal to that of any other The magnetic flux of the permanent magnet block (2).

8. The power-assisted bicycle equipped with multi-magnetic blocks and unevenly distributed magnetic flux turntable sensors according to claim 7, characterized in that: the turntable (1) is made of non-magnetic materials such as plastic plates, aluminum plates, and copper plates. a certain kind.

9. The power-assisted bicycle equipped with multi-magnetic blocks unevenly distributed magnetic flux rotary disc sensor according to claim 7, characterized in that: the rotary disc (1) is provided with a visible mark.