CN104149651B - The voltage difference of successively inputting with gear and rate signal is divided the vehicle using motor system of controlling - Google Patents
The voltage difference of successively inputting with gear and rate signal is divided the vehicle using motor system of controlling Download PDFInfo
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- CN104149651B CN104149651B CN201410408431.1A CN201410408431A CN104149651B CN 104149651 B CN104149651 B CN 104149651B CN 201410408431 A CN201410408431 A CN 201410408431A CN 104149651 B CN104149651 B CN 104149651B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The voltage difference that the present invention successively inputs with gear and rate signal divides control vehicle using motor system to belong to the differential front-wheel for power-assisted electricity and trailing wheel difference distributes moped power-supply controller system. Two wheels and two motors that comprise electric booster bicycle, shift signal personal control, also comprises differential distributor, differential distributor comprises three modules that are connected successively; First couple of shift signal ID, feedback control signal electric current I A and IB carry out numeric ratio to be processed; The data of second pair of the first module are carried out pattern function processing; The 3rd by car average rate signal IS input data distributor (10), and paired domination number, according to the processing that adds respectively rate signal key element, makes controller A and B obtain the four elementses such as shift signal ID, feedback control signal electric current I A and IB, car average rate signal IS. Advantage: two motors of front and back wheel to moped carry out differential control power supply, the content of differential control is exactly the pattern function processing of setting in advance.
Description
Technical field
The assist controller system, particularly front wheel and the trailing wheel that the invention belongs to electric assisted bicycle are all given and the differential front-wheel for power-assisted electricity and trailing wheel difference distribution moped power-supply controller system.
Background technology
The Chinese patent 201210011641.8 of Hunan Shengtong Technology Group Co.,Ltd's application has proposed a kind of double wheel hub motor driven systems adaptive equalization rotating direction control method, but the Technology design of electronic differential application specific processor is not provided.
201110358020.2 1 kinds of double wheel hub motor electronic differentials of Chinese patent and the speed governing Centralized Controller of Hunan Shengtong Technology Group Co.,Ltd application, but there is no the specific design of electronic differential module.
Hitachi Co., Ltd 01122460.6 herein disclosed is a kind of speed changer, and it comprises for the mechanism to many boxs of tricks by the energy distribution of a drive source; The many motors that are connected with described many boxs of tricks respectively; Mechanism with the energy in conjunction with from described many box of tricks outputs. But there is no the specific design of electronic differential module.
The Chinese patent 201210399458.X of Chengdu Lian Teng dynamic Control Technology Co., Ltd. application discloses a kind of Double Motor Control device that has electronic differential function, but there is no the specific design of electronic differential module.
The multinomial Chinese patents such as Chinese patent 03123625.1 automatic shifting controller for bicycle of Shimano KK's application, are all the methods that machinery is controlled speed change, are not Electronic Control speed changes.
Summary of the invention
The object of this invention is to provide two key elements of front-wheel and trailing wheel dynamic stress, speed of a motor vehicle key element, and this four elements of power-assisted gear key element of manually setting determines that front-wheel and trailing wheel difference distribute the moped power-supply controller system of power supply. And be not computing in is revised the control pattern function of powering of four elements, but four elements is removed to a point computing in the control pattern function of multiple simplification, its pattern function is simplified, arithmetic speed is faster, can accomplish to revise the moped difference power-supply controller system of front and back wheel coupling power supply in good time.
Structure of the present invention is:
The voltage difference of successively inputting with gear and rate signal is divided the vehicle using motor system of controlling, comprise two wheels of electric booster bicycle: wheel A and wheel B, and the motor B of the motor A of driving wheel A and driving wheel B, comprise the shift signal personal control 3 of electric booster bicycle, it is characterized in that: also comprise differential distributor 1, GES sensor 12 and average rate device 20; GES sensor 12 is connected with average rate device 20, and average rate device 20 is the signal processors that the rate signal of GES sensor 12 in certain hour become to average speed in this certain hour.
Between differential distributor 1 and motor A, be connected with controller A, controller A with differential distributor 1 give with control signal control electrical source of power wheel A is powered;
Between differential distributor 1 and motor B, be connected with controller B, controller B with differential distributor 1 give with control signal control electrical source of power wheel B is powered.
The current values comparator 9 of negate feedforward control signal electric current I A input differential distributor 1 between motor A and controller A;
The current values comparator 9 of negate feedforward control signal electric current I B input differential distributor 1 between motor B and controller B.
The current values comparator 9 of the shift signal ID input differential distributor 1 of shift signal personal control 3;
The data distributor 10 of the car average rate signal IS input differential distributor 1 of average rate device 20.
On moped, shift signal personal control 3 is exactly the gear rotary switc being fixed on handle-bar cross bar, and people is with the moving shift signal personal control 3 of hand-screw, selects various from the car bumper position as automobile. The gear of moped is stirred the gearratio alternative pack machinery that bar itself is the frame for movement relation of foot-operated chain drum and the multiple gear ratios of trailing wheel, in the present invention, shift signal personal control 3 is electronic devices, and the gearratio selection mode electronic signal that it stirs bar gear is exported to the electronic unit that needs control.
On moped, GES sensor 12 be fixed on moped, experience this moped travel speed, output represents the sensor of the speed of a motor vehicle signal of telecommunication.
The average speed that average rate device 20 is exported is unsteady signal, the unsteady meaning is: get front 5 seconds at that time with interior average speed if set average rate device 20, the average speed of latter one second will add this speed of latter one second and remove the speed of first the 6th second, calculates for 5 seconds with interior average speed. The unsteady meaning is exactly that average speed floats and changes with the speed of a motor vehicle at any time.
Differential distributor 1 comprises three modules that are connected successively;
The first module is to being that shift signal ID, the feedback control signal electric current I A of shift signal personal control 3 and feedback control signal electric current I B carry out numeric ratio and process for the original input signal of controlling;
The second module is carried out pattern function processing with the pattern function of having set to the data of the first module;
The 3rd module is by the data distributor 10 of the car average rate signal IS input differential distributor 1 of average rate device 20, will distribute to controlled electrical equipment to pattern function processing is the processing that controller A and controller B control data before add respectively rate signal key element, the control data that controller A and controller B are obtained not only have the key element of shift signal ID, feedback control signal electric current I A and feedback control signal electric current I B, also have the four elementses such as car average rate signal IS.
The first module: three inputs of current values comparator 9 connect respectively shift signal ID, feedback control signal electric current I A and the feedback control signal electric current I B of shift signal personal control 3; ID, IA and IB are respectively the original control current signals of input current digital comparator 9; Two outputs of current values comparator 9 connect respectively IA > IB difference model data processor 7 and IA < IB difference model data processor 8.
Its effect is; Current values comparator 9 is the two-way continually varying feedback control signal electric current I A of input, the data signal that feedback control signal electric current I B becomes one group of difference value, with two kinds of vector signals a certain of obtaining IA > IB or IA < IB, the data signal of this difference value adds that shift signal ID value obtains the data signal containing gear; This data signal, IA, IB and IA > IB vector signal containing gear is transferred to difference model data processor 7 by current values comparator 9, or this data signal, IA, IB and IA < IB vector signal containing gear is transferred to difference model data processor 8 by current values comparator 9; Containing the data signal of gear under referred to as data signal.
Current values comparator 9 use IA subtract IB, the plus or minus of its difference is as vector, and the absolute value of difference adds that the absolute value of shift signal ID of shift signal personal control 3 is as the data signal containing gear, also referred to as data signal, so data signal is a value, is scalar. This is convenient at digital signal value identical, and vector is different, also can obtain different control model output, makes to control the needs that model more can adapt to be controlled thing.
IA and IB are for controlling two target electric appliances, as motor, or for controlling two current controling signals of two strong power controllers; Data signal is current values comparator 9 carries out arithmetic processing scalar numeric value to ID, IA, IB, so data signal can enter follow-up function numerical computations processing as scalar. Current controling signal ID, IA and IB not only can have size variation, can also direction change, but data signal only have size variation.
Feedback control signal electric current I A and IB represent a certain moment front and back wheel stress respectively of moped, and IA and IB are to give respectively different power matchings to the front and back wheel of stress this moment for FEEDBACK CONTROL object. The people that shift signal ID representative drives this moped requires this moped to travel with certain basic demand, as shift signal ID represents that requiring speed per hour is 10-20 kilometer/hour, or 30-40 kilometer/hour travelled, or require to travel under the gradient condition at 4-10 degree. Shift signal ID is artificial setting, artificially changeable. Current controling signal ID, IA and IB send into differential distributor 1 and carry out data processing, the control voltage signal that its differential distributor 1 is exported to strong power controller A, B just can be embodied under the gear condition of artificial requirement, in the time that road makes the stressed variation of front and back wheel and the power of front and back wheel is not mated, differential distributor 1 can be exported the control signal that the power of front and back wheel can be mated, make respectively two motors power to front and back wheel output matching respectively, reach the object of the front and back wheel smooth-ride of moped.
The second module: IA > IB difference model data processor 7 connects respectively current values comparator 9 and pattern function holder 11; And IA < IB difference model data processor 8 also connects respectively current values comparator 9 and pattern function holder 11.
Its effect is;
In the time of IA > IB, start IA > IB difference model data processor 7, by the digital signal data of current values comparator 9, the IA data corresponding with this data signal, the IA > IB vector signal data of current values comparator 9, in the pattern function mating with this data signal and this vector signal storing in substitution pattern function holder 11, carry out calculation process; And by the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, the IA > IB vector signal data of current values comparator 9, in the pattern function mating with this data signal and this vector signal storing in substitution pattern function holder 11, carry out calculation process; Acquisition and IA and the IB two group control of the IA > IB type data of two corresponding control use respectively, the IA that obtains IA > IB controls data yIAn, control data yIBn, these two data that subsequent module will be used of yIAn and yIBn with the IB of IA > IB; Its function line of yIAn and yIBn is:
YIAn=f(IA > IB vector, data signal n, IAn);
YIBn=f(IA > IB vector, data signal n, IBn).
Data signal n and IAn are the control current signal value IAn about the corresponding time point of some data signal n; Data signal n and IBn are the control current signal value IBn about the corresponding time point of some data signal n.
Or, in the time of IA < IB, start IA < IB difference model data processor 8, by the digital signal data of current values comparator 9, the IA data corresponding with this data signal, the IA < IB vector signal data of current values comparator 9, in the pattern function mating with this data signal and this vector signal storing in substitution pattern function holder 11, carry out calculation process; And by the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, the IA < IB vector signal data of current values comparator 9, in the pattern function mating with this data signal and this vector signal storing in substitution pattern function holder 11, carry out calculation process; Acquisition and IA and the IB two group control of the IA < IB type data of two corresponding control use respectively, the IA that obtains IA < IB controls data yIAn, control data yIBn, these two data that subsequent module will be used of yIAn and yIBn with the IB of IA < IB; Its function line of yIAn and yIBn is:
YIAn=f(IA < IB vector, data signal n, IAn);
YIBn=f(IA < IB vector, data signal n, IBn).
Data signal n and IAn are the control current signal value IAn about the corresponding time point of some data signal n; Data signal n and IBn are the control current signal value IBn about the corresponding time point of some data signal n; IAn and IBn are calculated values, are data signals.
Above-mentioned pattern function can be at identical vector sum digital signal value, when different I A and IB, obtains different one group of control signal yIAn and yIBn. In function yIAn, data signal is implied with IBn and ID content, and IBn and ID do not participate in pattern function calculating, make it more easily set up pattern function, or pattern function are fairly simple; And if without data signal, be directly difficult for setting up very much pattern function with IA, IB, ID, the pattern function of foundation is very complicated. In like manner, in function yIBn, data signal is implied with IAn and ID content, is for simplifying the method that pattern function is drawn of setting up.
The 3rd module: the input of data distributor 10 is connected with pattern function holder 11, average rate device 20, IA > IB difference model data processor 7 and IA < IB difference model data processor 8 respectively, the output of data distributor 10 is connected with digital to analog converter 16, and the output of digital to analog converter 16 is connected with strong power controller A and strong power controller B respectively; Realize the object of differential distributor to strong power controller A and strong power controller B control.
Its effect is; The data distributor 10 of the car average rate signal IS input differential distributor 1 of average rate device 20, to carrying out IA, IB and the processing of ID pattern function, will to distribute to controlled electrical equipment be the processing of pattern function again that control data before controller A and controller B add respectively car average rate signal IS key element, the control data that controller A and controller B are obtained not only have the key element of shift signal ID, feedback control signal electric current I A and feedback control signal electric current I B, also have the key element of car average rate signal IS.
After what data distributor 10 was inputted IA > IB difference model data processor 7 control in groups data yIAn and yIBn adds respectively the pattern function of car average rate signal IS key element to process, become yIAnIS and yIBnIS, then distribute to respectively strong power controller A and strong power controller B; Or after adding respectively the pattern function of car average rate signal IS key element to process, what IA < IB difference model data processor 8 was inputted control in groups data yIAn and yIBn become yIAnIS and yIBnIS, distribute to respectively again strong power controller A and strong power controller B, be that yIAnIS distributes to strong power controller A, yIBnIS distributes to strong power controller B; Digital to analog converter 16 carries out respectively digital-to-analogue conversion the data signal yIAnIS and the yIBnIS that distribute control object, data signal is converted to the control voltage signal that strong power controller A and strong power controller B can use, finally control voltage signals these two and send two corresponding strong power controllers to.
Realize the shift signal ID of shift signal personal control 3, the car average rate signal IS of average rate device 20, feedback control signal electric current I A and feedback control signal electric current I B carry out the difference control of regulation pattern function to strong power controller A and strong power controller B by differential distributor, when reaching front and back wheel and being subject to force unbalance, also can make the power of front and back wheel can keep matchingly within the scope of gear that ID specifies, with IS average uniform velocity pointed, both made respectively two motors power to front and back wheel output matching respectively, reach the front and back wheel object that average uniform velocity is travelled reposefully of moped.
Controlling in groups data yIAn and yIBn shift signal ID, feedback control signal electric current I A and feedback control signal electric current I B calculates through pattern function, can only represent the moped front and back wheel different stressed demands to power supply in a flash, the not integrated demand of this moped travel speed state to power supply, although front and back wheel different stressed variations in a flash in other words, but car also should keep original speed as far as possible, the speed of a motor vehicle could be steady like this, so need to add car average rate signal IS key element in the control signal of final output. So be modified into the yIAnIS of control data in groups and the yIBnIS with velocity element information controlling in groups data yIAn and yIBn with the car average rate signal IS of average rate device 20.
General trailing wheel is stressed many, and power supply is many, and front-wheel is stressed few, and power supply is few. for different car average rates, the difference size of powering how many is different again, so want ID, IS, IA and tetra-of IB to control former key element. the weight of people on moped is constant, certain wheel of front-wheel or trailing wheel is stressed when large, power consumption electric current can increase at once, feedback control signal electric current also increases at once, the former difference relation of IA and IB is changed, new ID, IS, tetra-of IA and IB control former key element input difference control vehicle using motor system, difference control vehicle using motor system process controls with these four the pattern function calculating that former key elements match, two of matching with these four controlling elements of output control voltage signals respectively to the motor of front-wheel and trailing wheel, even if make wheel A and wheel B stressed unequal, also can obtain the work of two motor couplings, two wheel balance motions, the effect that moped held stationary speed is travelled.
Due to different electric controller A and strong power controller B, require the control voltage signal of different voltage ranges, digital to analog converter 16 is exactly according to different electric controller A and strong power controller B, and data signal is converted to the control voltage signal that strong power controller A and strong power controller B can use. So digital to analog converter 16 is indispensable.
All right, IA > IB difference model data processor 7 is connected with data distributor 10 by corner parameter Processor 30 with IA < IB difference model data processor 8, and corner parameter Processor 30 is also connected with leading rotary angle transmitter 31.
The leading rotational angle of bicycle substantially can representative at the bicycle state stable in whether, if leading rotational angle has rotated the angles of 80 degree to 90 degree while comparing just forward, bicycle is in unstable transport condition, at this moment feedback control signal electric current I A and IB are no matter be any signal, can not, again to motor power supply, must stop immediately motor to power. If leading rotational angle has rotated the angles of 30 degree to 80 degree than just forward time, feedback control signal electric current I A and IB require increasing the delivery that reduce motor with leading rotational angle to motor power supply. General leading rotational angle is at 0 degree during to the angle of 30 degree, and bicycle is that feedback control signal electric current I A and IB require can be completely according to execution to the delivery of motor, do not need to revise in completely normal transport condition.
For the speed of a motor vehicle that differential distributor 1 controls and cyclist's body weight are matched, namely, under the condition of the same group of feedback control signal electric current I A changing and feedback control signal electric current I B, two control voltage signals that differential distributor 1 is exported can change with cyclist's body weight is different. To match with 50 kilograms of body weights as controlled voltage signal with former two of should export of differential distributor 1, in the time that cyclist's body weight is 40 kilograms, control voltage signal and all reduce 20% for two of the 1 actual output of differential distributor, or in the time that cyclist's body weight is 70 kilograms, controls voltage signal and all reduce 40% for two of the 1 actual output of differential distributor. Reaching the speed of a motor vehicle that differential distributor 1 controls and cyclist's body weight matches. For achieving this end technical scheme be: on the human body cushion of moped, or on the elastomeric element being connected with cushion, pressure sensor is set, this pressure sensor is connected with the data distributor 10 in differential distributor 1, the pressure signal of pressure sensor respectively in data distributor 10 two control voltage signal and carry out the processing that same ratio increase or same ratio reduce.
Advantage of the present invention: differential distributor of the present invention can carry out the processing of digital model function to car average rate signal IS, feedback control signal electric current I A and the feedback control signal electric current I B of the shift signal ID of shift signal personal control, average rate device, to will control two controlled things, two motors of front and back wheel of moped carry out differential control power supply, and the content of differential control is exactly the pattern function processing of setting in advance. Namely differential distributor Neng Dui tetra-road analog current signals of the present invention carry out pattern function and are processed into the independently voltage control signal output respectively of differential two-way, can Dui Si road analog signal add digital model function content, two motors of front and back wheel are distinguished and independently controlled power supply, also claim difference control power supply. The work of two motor couplings of front and back wheel, both the stress that front and back wheel changes, two motors of front and back wheel mate to from different power supply, reach front and back wheel velocity of rotation identical, and be to make moped substantially keep being limited within the scope of gear by ID, form the state of the average speed of IS. The people who rides on this moped feels comfortably cool, the identical electric power of not wasting again of front and back wheel velocity of rotation.
In function yIAn, be implied with IBn, ID content, and IBn, ID do not participate in pattern function calculating, make it more easily set up pattern function, or pattern function are fairly simple; And if without data signal, be directly difficult for setting up very much pattern function with IA, IB, ID, the pattern function of foundation is very complicated. The value of IS and function yIAn again, calculate yIAnIS with another pattern function, again in the control signal of output, add car average rate signal IS, multiple variablees are decomposed to the method twice pattern function calculating, make twice pattern function calculate all having a bowel movement greatly, in the end IA, IB, ID, IS in the control signal of output, but set up each pattern function and calculate and variable does not have four, to simplify to set up pattern function, computational speed is faster, adapts to the good method of data processing that movement velocity is regulated.
Difference control vehicle using motor system of the present invention is through ID, IS, IA and IB and these four the pattern function calculating that the former key element of control matches, output is controlled former key elements match two and is controlled voltage signals respectively to the motor of front-wheel and trailing wheel with these four, even if make wheel A and wheel B stressed unequal, also can obtain the work of two motor couplings, the effect of two wheel balance motions.
In the case of tetra-of identical ID, IS, IA and IB control former key elements identical, as long as change the digital model function of setting, just can obtain the different control signal outputs of multiple artificial setting, solve by IA and directly two analog electronics of control of two analog signals of IB, only have a kind of control mode, can not adjust by human needs the shortcoming of control mode.
Can infer the bicycle state stable in whether with leading rotational angle, and by the size of leading rotational angle, feedback control signal electric current I A and the desired difference delivery of IB that cycling state is produced are revised, to ensure in the time that bicycle plays pendulum, no longer bicycle is increased to destabilizing factor, use moped of the present invention more humane, safer.
Brief description of the drawings
Annexation and the signal of Fig. 1, the each parts of differential distributor of the present invention flow to schematic diagram;
Annexation and the signal of Fig. 2, the each parts of the present invention flow to schematic diagram;
Fig. 3, there are annexation and the signal of the each parts of differential distributor of the present invention of corner parameter Processor to flow to schematic diagram;
Fig. 4, there are annexation and the signal of the each parts of the present invention of leading rotary angle transmitter to flow to schematic diagram.
In figure, the 1st, differential distributor, the 3rd, shift signal personal control, the 7th, IA > IB difference model data processor, the 8th, IA < IB difference model data processor, the 9th, current values comparator, the 10th, data distributor, the 11st, pattern function holder, the 12nd, GES sensor, the 16th, digital to analog converter, the 20th, average rate device, the 30th, corner parameter Processor, the 31st, leading rotary angle transmitter.
Detailed description of the invention
Embodiment 1, the voltage difference of successively inputting with gear and rate signal are divided the vehicle using motor system of controlling
As Fig. 1,2, comprise two wheels of electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and the motor B of driving wheel B, comprise the shift signal personal control 3 of electric booster bicycle, also comprise differential distributor 1, GES sensor 12 and average rate device 20; GES sensor 12 is connected with average rate device 20, and average rate device 20 is the signal processors that the rate signal of GES sensor 12 in certain hour become to average speed in this certain hour.
Between differential distributor 1 and motor A, be connected with controller A, controller A with differential distributor 1 give with control signal control electrical source of power wheel A is powered;
Between differential distributor 1 and motor B, be connected with controller B, controller B with differential distributor 1 give with control signal control electrical source of power wheel B is powered.
The current values comparator 9 of negate feedforward control signal electric current I A input differential distributor 1 between motor A and controller A;
The current values comparator 9 of negate feedforward control signal electric current I B input differential distributor 1 between motor B and controller B.
The current values comparator 9 of the shift signal ID input differential distributor 1 of shift signal personal control 3;
The data distributor 10 of the car average rate signal IS input differential distributor 1 of average rate device 20.
Differential distributor 1 comprises three modules that are connected successively;
The first module is to being that shift signal ID, the feedback control signal electric current I A of shift signal personal control 3 and feedback control signal electric current I B carry out numeric ratio and process for the original input signal of controlling;
The second module is carried out pattern function processing with the pattern function of having set to the data of the first module;
The 3rd module is by the data distributor 10 of the car average rate signal IS input differential distributor 1 of average rate device 20, will distribute to controlled electrical equipment to pattern function processing is the processing that controller A and controller B control data before add respectively rate signal key element, the control data that controller A and controller B are obtained not only have the key element of shift signal ID, feedback control signal electric current I A and feedback control signal electric current I B, also have the four elementses such as car average rate signal IS.
The first module: three inputs of current values comparator 9 connect respectively shift signal ID, feedback control signal electric current I A and the feedback control signal electric current I B of shift signal personal control 3; ID, IA and IB are respectively the original control current signals of input current digital comparator 9; Two outputs of current values comparator 9 connect respectively IA > IB difference model data processor 7 and IA < IB difference model data processor 8.
Its effect is; Current values comparator 9 is the two-way continually varying feedback control signal electric current I A of input, the data signal that feedback control signal electric current I B becomes one group of difference value, with two kinds of vector signals a certain of obtaining IA > IB or IA < IB, the data signal of this difference value adds that shift signal ID value obtains the data signal containing gear; This data signal, IA, IB and IA > IB vector signal containing gear is transferred to difference model data processor 7 by current values comparator 9, or this data signal, IA, IB and IA < IB vector signal containing gear is transferred to difference model data processor 8 by current values comparator 9; Containing the data signal of gear under referred to as data signal.
The second module: IA > IB difference model data processor 7 connects respectively current values comparator 9 and pattern function holder 11; And IA < IB difference model data processor 8 also connects respectively current values comparator 9 and pattern function holder 11.
Its effect is;
In the time of IA > IB, start IA > IB difference model data processor 7, by the digital signal data of current values comparator 9, the IA data corresponding with this data signal, the IA > IB vector signal data of current values comparator 9, in the pattern function mating with this data signal and this vector signal storing in substitution pattern function holder 11, carry out calculation process; And by the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, the IA > IB vector signal data of current values comparator 9, in the pattern function mating with this data signal and this vector signal storing in substitution pattern function holder 11, carry out calculation process; Acquisition and IA and the IB two group control of the IA > IB type data of two corresponding control use respectively, the IA that obtains IA > IB controls data yIAn, control data yIBn, these two data that subsequent module will be used of yIAn and yIBn with the IB of IA > IB; Its function line of yIAn and yIBn is:
YIAn=f(IA > IB vector, data signal n, IAn);
YIBn=f(IA > IB vector, data signal n, IBn).
Data signal n and IAn are the control current signal value IAn about the corresponding time point of some data signal n; Data signal n and IBn are the control current signal value IBn about the corresponding time point of some data signal n.
Or, in the time of IA < IB, start IA < IB difference model data processor 8, by the digital signal data of current values comparator 9, the IA data corresponding with this data signal, the IA < IB vector signal data of current values comparator 9, in the pattern function mating with this data signal and this vector signal storing in substitution pattern function holder 11, carry out calculation process; And by the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, the IA < IB vector signal data of current values comparator 9, in the pattern function mating with this data signal and this vector signal storing in substitution pattern function holder 11, carry out calculation process; Acquisition and IA and the IB two group control of the IA < IB type data of two corresponding control use respectively, the IA that obtains IA < IB controls data yIAn, control data yIBn, these two data that subsequent module will be used of yIAn and yIBn with the IB of IA < IB; Its function line of yIAn and yIBn is:
YIAn=f(IA < IB vector, data signal n, IAn);
YIBn=f(IA < IB vector, data signal n, IBn).
Data signal n and IAn are the control current signal value IAn about the corresponding time point of some data signal n; Data signal n and IBn are the control current signal value IBn about the corresponding time point of some data signal n; IAn and IBn are calculated values, are data signals.
The 3rd module: the input of data distributor 10 is connected with pattern function holder 11, average rate device 20, IA > IB difference model data processor 7 and IA < IB difference model data processor 8 respectively, the output of data distributor 10 is connected with digital to analog converter 16, and the output of digital to analog converter 16 is connected with strong power controller A and strong power controller B respectively; Realize the object of differential distributor to strong power controller A and strong power controller B control.
Its effect is; The data distributor 10 of the car average rate signal IS input differential distributor 1 of average rate device 20, to carrying out IA, IB and the processing of ID pattern function, will to distribute to controlled electrical equipment be the processing of pattern function again that control data before controller A and controller B add respectively car average rate signal IS key element, the control data that controller A and controller B are obtained not only have the key element of shift signal ID, feedback control signal electric current I A and feedback control signal electric current I B, also have the key element of car average rate signal IS.
After what data distributor 10 was inputted IA > IB difference model data processor 7 control in groups data yIAn and yIBn adds respectively the pattern function of car average rate signal IS key element to process, become yIAnIS and yIBnIS, then distribute to respectively strong power controller A and strong power controller B; Or after adding respectively the pattern function of car average rate signal IS key element to process, what IA < IB difference model data processor 8 was inputted control in groups data yIAn and yIBn become yIAnIS and yIBnIS, distribute to respectively again strong power controller A and strong power controller B, be that yIAnIS distributes to strong power controller A, yIBnIS distributes to strong power controller B; Digital to analog converter 16 carries out respectively digital-to-analogue conversion the data signal yIAnIS and the yIBnIS that distribute control object, data signal is converted to the control voltage signal that strong power controller A and strong power controller B can use, finally control voltage signals these two and send two corresponding strong power controllers to.
Realize the shift signal ID of shift signal personal control 3, the car average rate signal IS of average rate device 20, feedback control signal electric current I A and feedback control signal electric current I B carry out the difference control of regulation pattern function to strong power controller A and strong power controller B by differential distributor, when reaching front and back wheel and being subject to force unbalance, also can make the power of front and back wheel can keep matchingly within the scope of gear that ID specifies, with IS average uniform velocity pointed, both made respectively two motors power to front and back wheel output matching respectively, reach the front and back wheel object that average uniform velocity is travelled reposefully of moped.
Embodiment 2, divide with gear and the rate signal successively voltage difference of input the vehicle using motor system of controlling with corner parameter Processor
As Fig. 3,4, as the entire infrastructure of embodiment 1, and IA > IB difference model data processor 7 is connected with data distributor 10 by corner parameter Processor 30 with IA < IB difference model data processor 8, and corner parameter Processor 30 is also connected with leading rotary angle transmitter 31.
On the human body cushion of moped, or on the elastomeric element being connected with cushion, pressure sensor is set, this pressure sensor is connected with the data distributor 10 in differential distributor 1, the pressure signal of pressure sensor respectively in data distributor 10 two control voltage signal and carry out the processing that same ratio increase or same ratio reduce.
Claims (2)
1. the voltage difference of successively inputting with gear and rate signal is divided the vehicle using motor system of controlling, comprise two wheels of electric booster bicycle: wheel A and wheel B, and the motor B of the motor A of driving wheel A and driving wheel B, comprise the shift signal personal control (3) of electric booster bicycle, it is characterized in that: also comprise differential distributor (1), GES sensor (12) and average rate device (20); GES sensor (12) is connected with average rate device (20), and average rate device (20) is the signal processor that the rate signal of GES sensor (12) in certain hour is become to average speed in this certain hour;
Between differential distributor (1) and motor A, be connected with controller A, controller A with differential distributor (1) give with control signal control electrical source of power wheel A is powered;
Between differential distributor (1) and motor B, be connected with controller B, controller B with differential distributor (1) give with control signal control electrical source of power wheel B is powered;
The current values comparator (9) of negate feedforward control signal electric current I A input differential distributor (1) between motor A and controller A;
The current values comparator (9) of negate feedforward control signal electric current I B input differential distributor (1) between motor B and controller B;
The current values comparator (9) of the shift signal ID input differential distributor (1) of shift signal personal control (3);
The data distributor (10) of the car average rate signal IS input differential distributor (1) of average rate device (20);
Differential distributor (1) comprises three modules that are connected successively;
The first module is to being that shift signal ID, the feedback control signal electric current I A of shift signal personal control (3) and feedback control signal electric current I B carry out numeric ratio and process for the original input signal of controlling;
The second module is carried out pattern function processing with the pattern function of having set to the data of the first module;
The 3rd module is by the data distributor (10) of the car average rate signal IS input differential distributor (1) of average rate device (20), will distribute to controlled electrical equipment to pattern function processing is the processing that controller A and controller B control data before add respectively rate signal key element, the control data that controller A and controller B are obtained not only have the key element of shift signal ID, feedback control signal electric current I A and feedback control signal electric current I B, also have car average rate signal IS four elements;
The first module: three inputs of current values comparator (9) connect respectively shift signal ID, feedback control signal electric current I A and the feedback control signal electric current I B of shift signal personal control (3); ID, IA and IB are respectively the original control current signals of input current digital comparator (9); Two outputs of current values comparator (9) connect respectively IA > IB difference model data processor (7) and IA < IB difference model data processor (8);
Its effect is: current values comparator (9) is the two-way continually varying feedback control signal electric current I A of input, the data signal that feedback control signal electric current I B becomes one group of difference value, with two kinds of vector signals a certain of obtaining IA > IB or IA < IB, the data signal of this difference value adds that shift signal ID value obtains the data signal containing gear; This data signal, IA, IB and IA > IB vector signal containing gear is transferred to difference model data processor (7) by current values comparator (9), or this data signal, IA, IB and IA < IB vector signal containing gear is transferred to difference model data processor (8) by current values comparator (9); Containing the data signal of gear under referred to as data signal;
The second module: IA > IB difference model data processor (7) connects respectively current values comparator (9) and pattern function holder (11); And IA < IB difference model data processor (8) also connects respectively current values comparator (9) and pattern function holder (11);
Its effect is:
In the time of IA > IB, start IA > IB difference model data processor (7), by the digital signal data of current values comparator (9), IA data, current values comparator (9) IA > IB vector signal data corresponding with this data signal, in the pattern function mating with this data signal and this vector signal storing in substitution pattern function holder (11), carry out calculation process; And by the digital signal data of current values comparator (9), IB data, current values comparator (9) IA > IB vector signal data corresponding with this digital signal data, in the pattern function mating with this data signal and this vector signal storing in substitution pattern function holder (11), carry out calculation process; Acquisition and IA and the IB two group control of the IA > IB type data of two corresponding control use respectively, the IA that obtains IA > IB controls data yIAn, control data yIBn, these two data that subsequent module will be used of yIAn and yIBn with the IB of IA > IB; Its function line of yIAn and yIBn is:
YIAn=f(IA > IB vector, data signal n, IAn);
YIBn=f(IA > IB vector, data signal n, IBn);
Data signal n and IAn are the control current signal value IAn about the corresponding time point of some data signal n; Data signal n and IBn are the control current signal value IBn about the corresponding time point of some data signal n;
Or, in the time of IA < IB, start IA < IB difference model data processor (8), by the digital signal data of current values comparator (9), IA data, current values comparator (9) IA < IB vector signal data corresponding with this data signal, in the pattern function mating with this data signal and this vector signal storing in substitution pattern function holder (11), carry out calculation process; And by the digital signal data of current values comparator (9), IB data, current values comparator (9) IA < IB vector signal data corresponding with this digital signal data, in the pattern function mating with this data signal and this vector signal storing in substitution pattern function holder (11), carry out calculation process; Acquisition and IA and the IB two group control of the IA < IB type data of two corresponding control use respectively, the IA that obtains IA < IB controls data yIAn, control data yIBn, these two data that subsequent module will be used of yIAn and yIBn with the IB of IA < IB; Its function line of yIAn and yIBn is:
YIAn=f(IA < IB vector, data signal n, IAn);
YIBn=f(IA < IB vector, data signal n, IBn);
Data signal n and IAn are the control current signal value IAn about the corresponding time point of some data signal n; Data signal n and IBn are the control current signal value IBn about the corresponding time point of some data signal n; IAn and IBn are calculated values, are data signals;
The 3rd module: the input of data distributor (10) is connected with pattern function holder (11), average rate device (20), IA > IB difference model data processor (7) and IA < IB difference model data processor (8) respectively, the output of data distributor (10) is connected with digital to analog converter (16), and the output of digital to analog converter (16) is connected with strong power controller A and strong power controller B respectively; Realize the object of differential distributor to strong power controller A and strong power controller B control;
Its effect is: the data distributor (10) of the car average rate signal IS input differential distributor (1) of average rate device (20), to carrying out IA, IB and the processing of ID pattern function, will to distribute to controlled electrical equipment be the processing of pattern function again that control data before controller A and controller B add respectively car average rate signal IS key element, the control data that controller A and controller B are obtained not only have the key element of shift signal ID, feedback control signal electric current I A and feedback control signal electric current I B, also have the key element of car average rate signal IS;
Data distributor (10) becomes yIAnIS and yIBnIS controlling in groups after data yIAn and yIBn add respectively the pattern function of car average rate signal IS key element to process of IA > IB difference model data processor (7) input, then distributes to respectively strong power controller A and strong power controller B; Or controlling in groups after data yIAn and yIBn add respectively the pattern function of car average rate signal IS key element to process of IA < IB difference model data processor (8) input becomes yIAnIS and yIBnIS, distribute to respectively again strong power controller A and strong power controller B, be that yIAnIS distributes to strong power controller A, yIBnIS distributes to strong power controller B; Digital to analog converter (16) carries out respectively digital-to-analogue conversion the data signal yIAnIS and the yIBnIS that distribute control object, data signal is converted to the control voltage signal that strong power controller A and strong power controller B can use, finally control voltage signals these two and send two corresponding strong power controllers to;
Realize the shift signal ID of shift signal personal control (3), the car average rate signal IS of average rate device (20), feedback control signal electric current I A and feedback control signal electric current I B carry out the difference control of regulation pattern function to strong power controller A and strong power controller B by differential distributor, when reaching front and back wheel and being subject to force unbalance, also can make the power of front and back wheel can keep matchingly within the scope of gear that ID specifies, with IS average uniform velocity pointed, both made respectively two motors power to front and back wheel output matching respectively, reach the front and back wheel object that average uniform velocity is travelled reposefully of moped.
2. the voltage difference of successively inputting with gear and rate signal according to claim 1 is divided the vehicle using motor system of controlling, it is characterized in that: IA > IB difference model data processor (7) is connected with data distributor (10) by corner parameter Processor (30) with IA < IB difference model data processor (8), and corner parameter Processor (30) is also connected with leading rotary angle transmitter (31).
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| US3584276A (en) * | 1969-05-13 | 1971-06-08 | Allis Chalmers Mfg Co | Vehicle electric motor drive system |
| JPS55162801A (en) * | 1979-06-06 | 1980-12-18 | Hitachi Ltd | Method of controlling power conversion for ac-powered vehicle |
| CA2259771C (en) * | 1998-02-19 | 2003-04-01 | Hitachi, Ltd. | Transmission, and vehicle and bicycle using the same |
| US6367833B1 (en) * | 2000-09-13 | 2002-04-09 | Shimano, Inc. | Automatic shifting control device for a bicycle |
| CN102374286A (en) * | 2010-08-23 | 2012-03-14 | 陈启星 | Automatic speed-changing system combining gradual change gear shifting and saltation gear shifting |
| CN103101451B (en) * | 2011-11-13 | 2016-04-20 | 湖南晟通科技集团有限公司 | Double wheel hub motor electronic differential and speed governing Centralized Controller |
| CN204077411U (en) * | 2014-08-20 | 2015-01-07 | 成都宽和科技有限责任公司 | Control boosted vehicle system is divided with the voltage difference of gear and speed signal successively input |
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