CN104149659B - Digital differential moped system with gear and speed signals input into differentiator in sequence - Google Patents

Abstract

The present invention requires gear and speed signals to be successively input to the digital differential booster bicycle system belonging to the front wheel and rear wheel difference distribution booster bicycle power supply controller system for differential power supply. It includes two wheels and two motors of the electric power-assisted bicycle, a manual controller for the gear position signal, and a differential controller. The differential controller includes three modules connected in sequence; the first pair of feedback currents IA and IB are numerically compared and processed; The second uses the gear position signal ID to select the model function to carry out model function processing to the data of the first module; The third is to input the vehicle average speed signal IS into the data distributor 10, so that the control data obtained by the controllers A and B have feedback current IA and Elements of IB and vehicle average speed signal IS. Advantages: Differentially control and supply power to the two motors of the front and rear wheels of the power-assisted bicycle. The content of the differential control is the pre-set model function processing.

Description

A digital differential moped system in which the gear and speed signals are successively input to the differential

technical field

The invention belongs to a booster controller system of an electric power-assisted bicycle, in particular to a power supply controller system for a bicycle with differential power distribution between the front wheel and the rear wheel for differential power supply.

Background technique

The Chinese patent 201210011641.8 applied by Hunan Shengtong Technology Group Co., Ltd. proposes a dual hub motor drive system adaptive balance steering control method, but does not provide the technical design of a special processor for electronic differential.

The Chinese patent 201110358020.2 applied by Hunan Shengtong Technology Group Co., Ltd. is a centralized controller for electronic differential speed and speed regulation of dual hub motors, but there is no specific design of the electronic differential speed module.

Co., Ltd. Hitachi Manufacturing Co., Ltd. 01122460.6 This paper discloses a transmission, which includes a mechanism for distributing the energy of a driving source to many differential mechanisms; many motors respectively connected to the many differential mechanisms; The mechanism of energy output by the many differential mechanisms. But there is no specific design of the electronic differential module.

The Chinese patent 201210399458.X applied by Chengdu Lianteng Power Control Technology Co., Ltd. discloses a dual-motor controller with electronic differential function, but there is no specific design of electronic differential module.

Many Chinese patents such as the Chinese patent 03123625.1 bicycle automatic gear shifting control device applied by Shimano Co., Ltd. are all methods of mechanically controlling gear shifting, not electronically controlled gear shifting.

Contents of the invention

The purpose of the present invention is to provide two elements of front wheel and rear wheel dynamic stress, vehicle speed element, and the manually set booster gear element. These four elements determine the power supply controller of the front wheel and rear wheel differential distribution power supply. system. Moreover, the power-assisted gear element selects the model function, the power-assisted gear element does not participate in the calculation of the control model function, the control signal calculated by the model function still has the gear element, and the power-assisted bicycle differential power supply controller system that makes the control model function more simplified. The utility model relates to a power supply controller system for a power-assisted bicycle, which is a power-assisted bicycle power supply controller system for the selection control model function calculation of the power-assisted gear element to the dynamic force element of the front wheel and the rear wheel.

Structure of the present invention is:

The digital differential power-assisted bicycle system that needs to input gear and speed signals to the differential device successively includes two wheels of electric power-assisted bicycles: wheel A and wheel B, and motor A that drives wheel A and motor B that drives wheel B, including electric power-assisted bicycles The gear signal manual controller 3 is characterized in that: it also includes a differential controller 1, a vehicle speed signal sensor 12 and an average speed device 20; the vehicle speed signal sensor 12 is connected with the average speed device 20, and the average speed device 20 controls The speed signal of the vehicle speed signal sensor 12 becomes the signal processor of the average speed within a certain period of time.

The differential controller 1 and the motor A are connected by the controller A, and the controller A uses the control signal given by the differential controller 1 to control the power supply to supply power to the wheel A;

The differential controller 1 and the motor B are connected by the controller B, and the controller B uses the control signal given by the differential controller 1 to control the power supply to supply power to the wheels B.

Take the feedback control signal current IA between the motor A and the controller A and input it to the current value comparator 9 of the differential controller 1;

Feedback control signal current IB is taken between motor B and controller B and input to current value comparator 9 of differential controller 1 .

The gear signal ID of the gear signal manual controller 3 is input to the current value comparator 9 of the differential controller 1;

The vehicle average speed signal IS of the speed equalizer 20 is input to the current value comparator 9 of the differential controller 1 .

On the power-assisted bicycle, the gear signal manual controller 3 is exactly the gear rotary switch fixed on the bicycle faucet cross bar, and the people rotate the gear signal manual controller 3 by hand, just like a car selects various gears. Same. The gear shifting lever of the power-assisted bicycle itself is a transmission ratio selection component mechanism of the mechanical structure relationship between the pedal chain plate and the multiple gear transmission ratios of the rear wheel. In the present invention, the gear signal manual controller 3 is an electronic device. It outputs the transmission ratio selection state of the gear lever to the electronic components that need to be controlled by electronic signals.

On the power-assisted bicycle, the vehicle speed signal sensor 12 is a sensor that is fixed on the power-assisted bicycle to experience the running speed of the power-assisted bicycle and outputs an electrical signal representing the vehicle speed.

The average speed output by the speed equalizer 20 is a floating signal, and the floating means: if the speed equalizer 20 is set to get the average speed within the first 5 seconds at that time, then the average speed of the latter second will be added to the average speed of the latter second. The speed of the previous 6 seconds is removed, and the average speed within 5 seconds is calculated. Floating means that the average speed fluctuates with the speed of the vehicle at any time.

The differential controller 1 includes three modules connected in sequence;

The first module performs numerical comparison processing on the original input signal feedback control signal current IA and the feedback control signal current IB used for control;

The second module uses the gear signal ID of the gear signal manual controller 3 to select the model function set in the model function storage 11 to carry out model function processing to the data of the first module;

The third module inputs the vehicle average speed signal IS of the speed equalizer 20 into the data distributor 10 of the differential controller 1, and processes the control data before the model function processing will be distributed to the controlled electrical appliances, controller A and controller B respectively. Adding the processing of speed signal elements, the control data obtained by controller A and controller B not only have elements of feedback control signal current IA and feedback control signal current IB, but also have elements of vehicle average speed signal IS and gear signal ID.

The first module: the two input ends of the current value comparator 9 are respectively connected to the feedback control signal current IA and the feedback control signal current IB; IA and IB are respectively the original control current signals of the input current value comparator 9; the current value comparator The two output ends of 9 are respectively connected to the IA>IB differential model data processor 7 and the IA<IB differential model data processor 8 .

Its function is: the current value comparator 9 changes the feedback control signal current IA and the feedback control signal current IB of the input double-way continuous change into a group of digital signals of difference values, and obtains two kinds of IA>IB or IA<IB One of the vector signals, the current value comparator 9 transmits the digital signal of the difference value, IA, IB and IA>IB vector signal to the differential model data processor 7, or the current value comparator 9 transmits the digital signal of the difference value Signals, IA, IB and IA < IB vector signals are transmitted to the difference model data processor 8; the digital signals of the difference values are hereinafter referred to simply as digital signals.

Current value comparator 9 is exactly to subtract IB with IA, and the positive or negative of its difference is used as vector, and the absolute value of difference is used as digital signal, so digital signal is just a value, is a scalar. This makes it easy to obtain different control model outputs when the digital signal values are the same but the vectors are different, making the control model more adaptable to the needs of the controlled object.

IA and IB are used to control two target electrical appliances, such as motors, or two current control signals used to control two heavy current controllers; the digital signal is the difference between the subtraction arithmetic processing of IA and IB by the current value comparator 9 value, so the digital signal as a scalar can enter the subsequent function numerical calculation processing. The current control signals IA and IB can not only change in size but also in direction, but the digital signal only changes in size.

The feedback control signal currents IA and IB represent the force states of the front and rear wheels of the power-assisted bicycle at a certain moment, and the purpose of IA and IB for feedback control is to give different power matching to the front and rear wheels in the force state at this moment. The current control signals IA and IB are both sent to the differential controller 1 for data processing, and the control digital signals output by the differential controller 1 to the strong current controllers A and B can be reflected. When the power of the wheels does not match, the differential controller 1 can output a control signal that enables the power of the front and rear wheels to match, so that the two motors can output matching power to the front and rear wheels respectively, so as to achieve the purpose of assisting the front and rear wheels of the bicycle to run smoothly.

Second module: IA>IB differential model data processor 7 is respectively connected to current value comparator 9 and model function storage 11; and IA<IB differential model data processor 8 is also connected to current value comparator 9 and model function storage respectively 11.

The model function storage 11 is also connected to the gear signal manual controller 3, and the gear signal ID of the gear signal manual controller 3 is input into the model function storage 11, and the gear signal ID belonging to a certain gear signal ID is selected in the model function storage 11. Model function input IA>IB difference model data processor 7 and input IA<IB difference model data processor 8,

Its role is;

When IA>IB, start IA>IB difference model data processor 7, use the digital signal data of current value comparator 9, the IA data corresponding with this digital signal, the IA>IB vector signal data of current value comparator 9 output Substituting into the model function stored in the model function storage 11 selected by the gear signal ID and matching the digital signal and the vector signal to perform calculation processing; and using the digital signal data of the current value comparator 9, and the digital signal data Corresponding IB data, the IA>IB vector signal data output by the current value comparator 9 are substituted into the model function memory 11 selected by the gear signal ID and stored in the model function matching the digital signal and the vector signal for calculation ; Obtain two IA>IB type double-group control data corresponding to IA and IB respectively, that is, obtain the IA control data yIAn of IA>IB, and the IB control data yIBn, yIAn and yIBn of IA>IB The data to be used by subsequent modules; the functions of yIAn and yIBn are:

yIAn=f(IA>IB vector, digital signal n, IAn);

yIBn=f (IA>IB vector, digital signal n, IBn).

The digital signals n and IAn are the control current signal value IAn at the same time point corresponding to a certain digital signal n; the digital signals n and IBn are the control current signal value IBn at the same time point corresponding to a certain digital signal n.

Or, when IA<IB, start the IA<IB differential model data processor 8, use the digital signal data of the current value comparator 9, the IA data corresponding to the digital signal, the IA<IB vector output by the current value comparator 9 The signal data is substituted into the model function memory 11 selected by the gear signal ID to store in the model function matched with the digital signal and the vector signal to carry out arithmetic processing; and use the digital signal data of the current value comparator 9 and the digital The IB data corresponding to the signal data and the IA<IB vector signal data output by the current value comparator 9 are substituted into the model function stored in the model function storage 11 selected by the gear signal ID and matched with the digital signal and the vector signal. Operational processing; obtain two sets of IA<IB type control data respectively corresponding to IA and IB, that is, obtain the IA control data yIAn of IA<IB, and the IB control data yIBn, yIAn and yIBn of IA<IB. The data to be used by the two subsequent modules; yIAn and yIBn have the following functions:

yIAn=f(IA<IB vector, digital signal n, IAn);

yIBn=f (IA<IB vector, digital signal n, IBn).

The digital signals n and IAn are the control current signal value IAn at the same time point corresponding to a certain digital signal n; the digital signals n and IBn are the control current signal value IBn at the same time point corresponding to a certain digital signal n.

The digital signal in the above model function includes the contents of ID, IA and IB, that is, the digital signal is a function of ID, IA and IB. Digital signal = f(ID, IA, IB).

The calculation of the above- mentioned model function is: first use the ID value in the model function storage 11 to select the model function corresponding to the ID value, and then input the selected model function into the IA>IB difference model data processor 7 and IA<IB difference model In the data processor 8, a certain differential model data processor in the IA>IB differential model data processor 7 or IA<IB differential model data processor 8 is selected according to the vector , and yIAn is calculated in a certain differential model data processor and yIBn. yIAn and yIBn are the raw data that are finally used to control the front and rear motors of the power-assisted bicycle.

The above model function can obtain a different set of control signals yIAn and yIBn when the values of the vector and digital signal are the same, but the values of IA and IB are different. For example, IAn=10 and IBn=5, digital signal=5; and IAn-1=20 and IBn-1=15, digital signal=5, the control models obtained by the two sets of original current signals are different, which can make the control model More accurately represent the needs of IA and IB. In the function yIAn, the digital signal implicitly contains the content of IBn, and IBn does not participate in the calculation of the model function, making it easier to build a model function, or the model function is relatively simple; and if the digital signal is not used, it is not easy to build a model function directly using IA and IB , the established model function is very complex. Similarly, in the function yIBn, the digital signal implicitly contains IAn content, which is a method introduced to simplify the establishment of the model function.

The third module: the input end of the data distributor 10 is respectively connected with the model function storage 11, the speed equalizer 20, the IA>IB difference model data processor 7 and the IA<IB difference model data processor 8, and the data distributor 10 The output end is connected with the data normalization converter 16, and the output end of the data normalization converter 16 is connected with the heavy current controller A and the heavy current controller B respectively; Realize that the differential controller controls the strong current controller A and the heavy current controller B the goal of.

Its role is: the vehicle average speed signal IS of the speed equalizer 20 is input to the data distributor 10 of the differential controller 1, and the model function selected by the gear signal ID has been processed by IA and IB, and the processing result is distributed Before the controlled electrical appliances are controller A and controller B, another model function processing is added to the vehicle average speed signal IS element, so that the control data obtained by controller A and controller B not only includes the gear signal ID, The elements of the feedback control signal current IA and the feedback control signal current IB also have four elements of the element of the vehicle average speed signal IS.

The data distributor 10 processes the grouped control data yIAn and yIBn inputted by the IA>IB difference model data processor 7 respectively to become yIAnIS and yIBnIS after adding the elements of the vehicle average speed signal IS, and then distributes them to the heavy current controllers A and yIBnIS respectively. The strong current controller B; or the grouped control data yIAn and yIBn input by the differential model data processor 8 of IA<IB are respectively processed by adding IS elements of the vehicle average speed signal to become yIAnIS and yIBnIS, and then distributed to the strong current controller respectively A and the strong current controller B, that is, yIAnIS is distributed to the strong current controller A, and then yIBnIS is distributed to the heavy current controller B; the data normalization converter 16 performs data standardization respectively on the digital signals yIAnIS and yIBnIS that have been allocated to control objects, The calculated digital signal is converted into a control digital signal that can be used by the heavy current controller A and the high current controller B, and finally the two control digital signals are sent to the corresponding two high current controllers.

Realize the gear signal ID of the gear signal manual controller 3, the vehicle average speed signal IS of the speed equalizer 20, the feedback control signal current IA and the feedback control signal current IB through the differential controller to control the heavy current controller A and the heavy current Device B performs differential control of the specified model function, so that when the force on the front and rear wheels is unbalanced, the power of the front and rear wheels can also be kept within the gear range specified by ID. The two motors respectively output matching power to the front and rear wheels, so as to achieve the purpose of assisting the front and rear wheels of the bicycle to run smoothly and at an even speed.

The group control data yIAn and yIBn are calculated by using the gear signal ID, the feedback control signal current IA and the feedback control signal current IB through the model function, which can only represent the power supply demand of the front and rear wheels of the power-assisted bicycle at a certain moment. There is no overall demand for power supply in the driving speed state of the power-assisted bicycle. That is to say, although the front and rear wheels are subjected to different force changes at a certain moment, the bicycle should try to maintain the original speed so that the speed can be stable. Therefore, it is necessary to add the vehicle average speed signal IS elements in the final output control signal. Therefore, the vehicle average speed signal IS of the speed equalizer 20 is used to modify the group control data yIAn and yIBn into group control data yIAnIS and yIBnIS with speed element information.

Generally, the rear wheel bears more force and supplies more power, while the front wheel bears less force and supplies less power. For the average speed of different vehicles, the difference in the amount of power supply is not the same, so the four control elements of ID, IS, IA and IB are required. The weight of the person on the power-assisted bicycle remains unchanged. When the front wheel or the rear wheel is under a large force, the power consumption current will increase immediately, and the feedback control signal current will also increase immediately, and the original difference between IA and IB will be changed. , the four new control elements of ID, IS, IA and IB are input to the differential control moped system, and the differential control moped system is calculated by the model function matching the four control elements, and the output matches the four control elements The two control digital signals are respectively sent to the motors of the front wheel and the rear wheel, so that even if the forces on wheel A and wheel B are not equal, the two motors can be matched to work, and the two wheels can move in balance, helping the bicycle to maintain a stable speed. .

Since different electric controllers A and strong current controllers B require control digital signals of different digital ranges, the data standardization converter 16 converts the calculated digital signals into High current controller A and high current controller B can use the control digital signal. Therefore, the data standardization converter 16 is indispensable.

It is also possible that the IA>IB differential model data processor 7 and the IA<IB differential model data processor 8 are connected to the data distributor 10 through the rotation angle parameter processor 30 , and the rotation angle parameter processor 30 is also connected to the faucet rotation angle sensor 31 .

The rotation angle of the faucet of the bicycle can basically represent whether the person is in a stable state on the bicycle. If the rotation angle of the faucet is 80 degrees to 90 degrees compared to the forward direction, the bicycle is in an unstable driving state. At this time, the feedback control signal current No matter what the signals of IA and IB are, they can no longer supply power to the motor, and the power supply to the motor must be stopped immediately. If the angle of rotation of the faucet is 30° to 80° from the forward direction, the feedback control signal currents IA and IB require that the power supply to the motor should be reduced as the angle of rotation of the faucet increases. Generally, when the rotation angle of the faucet is at an angle of 0° to 30°, the bicycle is in a completely normal running state, and the feedback control signal current IA and IB can fully implement the power supply to the motor without correction.

In order to match the vehicle speed controlled by the differential controller 1 with the weight of the rider, that is, under the same set of changing feedback control signal current IA and feedback control signal current IB conditions, the two outputs of the differential controller 1 The control digital signal can vary with the weight of the cyclist. For example, the two control digital signals that should be output by the differential controller 1 match the body weight of 50 kg. When the rider’s body weight is 40 kg, the two control digital signals actually output by the differential controller 1 are reduced by 20. %, or when the weight of the cyclist is 70 kg, the two control digital signals actually output by the differential controller 1 are all reduced by 40%. The vehicle speed controlled by the differential controller 1 matches the rider's body weight. The technical solution for realizing this purpose is: a pressure sensor is set on the human seat cushion of the power-assisted bicycle, or on the elastic part connected with the seat cushion, the pressure sensor is connected with the data distributor 10 in the differential controller 1, and the pressure signal of the pressure sensor The two control digital signals in the data distributor 10 are processed to increase or decrease in the same proportion respectively.

Advantages of the present invention: the differential controller of the present invention can perform digital model functions on the gear signal ID of the gear signal manual controller, the vehicle average speed signal IS of the speed equalizer, the feedback control signal current IA and the feedback control signal current IB Processing, for the two controlled objects to be controlled, the two motors of the front and rear wheels of the power-assisted bicycle are differentially controlled and powered, and the content of the differential control is the pre-set model function processing. That is to say, the differential controller of the present invention can process the four-way analog current signals with model functions into differentiated two-way independent digital control signal outputs, that is, it can add digital model function content to the four-way analog signals, and control the front and rear wheels. The two motors perform independent control and power supply, also known as differential control power supply. The two motors of the front and rear wheels are matched to work, that is, the force state of the front and rear wheels changes, and the two motors of the front and rear wheels are matched to provide different power supplies, so that the rotation speed of the front and rear wheels is the same, and the power-assisted bicycle basically maintains the range of gears limited by the ID. Inside, the state of the average velocity of the IS formed. The person riding on the power-assisted bicycle feels comfortable, and the front and rear wheels rotate at the same speed without wasting electric power.

In the function yIAn, IBn and ID are implicitly included, and IBn and ID do not participate in the calculation of the model function, making it easier to build a model function, or the model function is relatively simple; and if you do not use digital signals, it is very easy to directly use IA, IB, ID It is not easy to establish a model function, and the established model function is very complicated. IS and the value of the function yIAn, and then use another model function to calculate yIAnIS, add the vehicle average speed signal IS to the output control signal again, and decompose multiple variables into the method of two model function calculations, so that the two model functions The calculations are greatly simplified, and the final output control signal contains IA, IB, ID, and IS elements, but there are no four variables for each model function and calculation, which simplifies the establishment of model functions, and the calculation speed is faster and adaptable A good method for data processing to adjust the speed of movement.

Use the gear signal ID value of the gear signal manual controller 3 to first select a model function suitable for the ID value in the model function storage, that is, under the same IA and IB conditions, the gears of the power-assisted bicycle are different, and finally the difference The control assist effect of the output of the control moped system is different.

The differential control moped system of the present invention is calculated through the model function matching of ID, IS, IA and IB with the four control original elements, and outputs two control digital signals matched with the four control original elements to the front wheel and the rear wheel respectively. The motors of the wheels make the wheels A and B even if the forces are not equal, the two motors can be matched and the two wheels can move in balance.

In the case of the same ID, IS, IA and IB four original control elements, as long as the set digital model function is changed, a variety of artificially set different control signal outputs can be obtained, which solves the problem of using IA and IB. One analog signal directly controls two analog appliances, there is only one control method, and the control method cannot be adjusted according to people's needs.

It can be estimated whether the bicycle is in a stable state by using the rotation angle of the faucet, and the size of the rotation angle of the faucet can be used to correct the feedback control signal current IA and the differential power supply required by IB generated by the state of motion of the bicycle, so as to ensure that the bicycle is in an unstable state When the bicycle is used, the unstable factors are no longer added to the bicycle, and the power-assisted bicycle of the present invention is more humanized and safer.

Description of drawings

Fig. 1, the connection relation of each component of differential controller of the present invention and signal flow schematic diagram;

Fig. 2, the connection relation of each component of the present invention and signal flow schematic diagram;

Fig. 3, the connection relationship and the signal flow schematic diagram of each part of the differential controller of the present invention with the angle parameter processor;

Fig. 4 is a schematic diagram of connection relationship and signal flow of various components of the present invention with a faucet angle sensor.

In the figure, 1 is the differential controller, 3 is the gear signal manual controller, 7 is the IA>IB differential model data processor, 8 is the IA<IB differential model data processor, 9 is the current value comparator, and 10 is the data Distributor, 11 is a model function storage, 12 is a vehicle speed signal sensor, 16 is a data normalization converter, 20 is a speed equalizer, 30 is a rotation angle parameter processor, 31 is a faucet rotation angle sensor.

detailed description

Embodiment 1. A digital differential moped system in which the gear and speed signals are successively input to the differential device

As shown in Figures 1 and 2, it includes two wheels of an electric power-assisted bicycle: wheel A and wheel B, and a motor A that drives wheel A and a motor B that drives wheel B, including a gear signal manual controller 3 of an electric power-assisted bicycle, and Including a differential controller 1, a vehicle speed signal sensor 12 and a speed equalizer 20; the vehicle speed signal sensor 12 is connected with the speed equalizer 20, and the speed equalizer 20 changes the speed signal of the vehicle speed signal sensor 12 within a certain period of time into an average speed within the certain period of time. speed signal processor.

The differential controller 1 and the motor A are connected by the controller A, and the controller A uses the control signal given by the differential controller 1 to control the power supply to supply power to the wheel A;

The differential controller 1 and the motor B are connected by the controller B, and the controller B uses the control signal given by the differential controller 1 to control the power supply to supply power to the wheels B.

Take the feedback control signal current IA between the motor A and the controller A and input it to the current value comparator 9 of the differential controller 1;

Feedback control signal current IB is taken between motor B and controller B and input to current value comparator 9 of differential controller 1 .

The gear signal ID of the gear signal manual controller 3 is input to the current value comparator 9 of the differential controller 1;

The vehicle average speed signal IS of the speed equalizer 20 is input to the current value comparator 9 of the differential controller 1 .

The differential controller 1 includes three modules connected in sequence;

The first module performs numerical comparison processing on the original input signal feedback control signal current IA and the feedback control signal current IB used for control;

The second module uses the gear signal of the gear signal manual controller 3 to select the model function set in the model function storage 11 to carry out model function processing to the data of the first module;

The third module inputs the vehicle average speed signal IS of the speed equalizer 20 into the data distributor 10 of the differential controller 1, and processes the control data before the model function processing will be distributed to the controlled electrical appliances, controller A and controller B respectively. Adding the processing of speed signal elements, the control data obtained by controller A and controller B not only have elements of feedback control signal current IA and feedback control signal current IB, but also elements of vehicle average speed signal IS.

The first module: the two input ends of the current value comparator 9 are respectively connected to the feedback control signal current IA and the feedback control signal current IB; IA and IB are respectively the original control current signals of the input current value comparator 9; the current value comparator The two output ends of 9 are respectively connected to the IA>IB differential model data processor 7 and the IA<IB differential model data processor 8 .

Its function is: the current value comparator 9 changes the feedback control signal current IA and the feedback control signal current IB of the input double-way continuous change into a group of digital signals of difference values, and obtains two kinds of IA>IB or IA<IB One of the vector signals, the current value comparator 9 transmits the digital signal of the difference value, IA, IB and IA>IB vector signal to the differential model data processor 7, or the current value comparator 9 transmits the digital signal of the difference value Signals, IA, IB and IA < IB vector signals are transmitted to the difference model data processor 8; the digital signals of the difference values are hereinafter referred to simply as digital signals.

Second module: IA>IB differential model data processor 7 is respectively connected to current value comparator 9 and model function storage 11; and IA<IB differential model data processor 8 is also connected to current value comparator 9 and model function storage respectively 11.

The model function storage 11 is also connected to the gear signal manual controller 3, and the gear signal ID of the gear signal manual controller 3 is input into the model function storage 11, and the gear signal ID belonging to a certain gear signal ID is selected in the model function storage 11. The model function is input into the IA>IB difference model data processor 7 and into the IA<IB difference model data processor 8 .

Its role is;

When IA>IB, start IA>IB difference model data processor 7, use the digital signal data of current value comparator 9, the IA data corresponding with this digital signal, the IA>IB vector signal data of current value comparator 9 output Substituting into the model function stored in the model function storage 11 selected by the gear signal ID and matching the digital signal and the vector signal to perform calculation processing; and using the digital signal data of the current value comparator 9, and the digital signal data Corresponding IB data, the IA>IB vector signal data output by the current value comparator 9 are substituted into the model function memory 11 selected by the gear signal ID and stored in the model function matching the digital signal and the vector signal for calculation ; Obtain two IA>IB type double-group control data corresponding to IA and IB respectively, that is, obtain the IA control data yIAn of IA>IB, and the IB control data yIBn, yIAn and yIBn of IA>IB The data to be used by subsequent modules; the functions of yIAn and yIBn are:

yIAn=f(IA>IB vector, digital signal n, IAn);

yIBn=f (IA>IB vector, digital signal n, IBn).

The digital signals n and IAn are the control current signal value IAn at the same time point corresponding to a certain digital signal n; the digital signals n and IBn are the control current signal value IBn at the same time point corresponding to a certain digital signal n.

Or, when IA<IB, start the IA<IB differential model data processor 8, use the digital signal data of the current value comparator 9, the IA data corresponding to the digital signal, the IA<IB vector output by the current value comparator 9 The signal data is substituted into the model function memory 11 selected by the gear signal ID to store in the model function matched with the digital signal and the vector signal to carry out arithmetic processing; and use the digital signal data of the current value comparator 9 and the digital The IB data corresponding to the signal data and the IA<IB vector signal data output by the current value comparator 9 are substituted into the model function stored in the model function storage 11 selected by the gear signal ID and matched with the digital signal and the vector signal. Operational processing; obtain two sets of IA<IB type control data respectively corresponding to IA and IB, that is, obtain the IA control data yIAn of IA<IB, and the IB control data yIBn, yIAn and yIBn of IA<IB. The data to be used by the two subsequent modules; yIAn and yIBn have the following functions:

yIAn=f(IA<IB vector, digital signal n, IAn);

yIBn=f (IA<IB vector, digital signal n, IBn).

The digital signals n and IAn are the control current signal value IAn at the same time point corresponding to a certain digital signal n; the digital signals n and IBn are the control current signal value IBn at the same time point corresponding to a certain digital signal n.

The third module: the input end of the data distributor 10 is respectively connected with the model function storage 11, the speed equalizer 20, the IA>IB difference model data processor 7 and the IA<IB difference model data processor 8, and the data distributor 10 The output end is connected with the data normalization converter 16, and the output end of the data normalization converter 16 is connected with the heavy current controller A and the heavy current controller B respectively; Realize that the differential controller controls the strong current controller A and the heavy current controller B the goal of.

Its role is: the vehicle average speed signal IS of the speed equalizer 20 is input to the data distributor 10 of the differential controller 1, and the model function selected by the gear signal ID has been processed by IA and IB, and the processing result is distributed Before the controlled electrical appliances are controller A and controller B, another model function processing is added to the vehicle average speed signal IS element, so that the control data obtained by controller A and controller B not only includes the gear signal ID, The elements of the feedback control signal current IA and the feedback control signal current IB also have four elements of the element of the vehicle average speed signal IS.

The data distributor 10 processes the grouped control data yIAn and yIBn inputted by the IA>IB difference model data processor 7 respectively to become yIAnIS and yIBnIS after adding the elements of the vehicle average speed signal IS, and then distributes them to the heavy current controllers A and yIBnIS respectively. The strong current controller B; or the grouped control data yIAn and yIBn input by the differential model data processor 8 of IA<IB are respectively processed by adding IS elements of the vehicle average speed signal to become yIAnIS and yIBnIS, and then distributed to the strong current controller respectively A and the strong current controller B, that is, yIAnIS is distributed to the strong current controller A, and then yIBnIS is distributed to the heavy current controller B; the data normalization converter 16 performs data standardization respectively on the digital signals yIAnIS and yIBnIS that have been allocated to control objects, The calculated digital signal is converted into a control digital signal that can be used by the heavy current controller A and the high current controller B, and finally the two control digital signals are sent to the corresponding two high current controllers.

Realize the gear signal ID of the gear signal manual controller 3, the vehicle average speed signal IS of the speed equalizer 20, the feedback control signal current IA and the feedback control signal current IB through the differential controller to control the heavy current controller A and the heavy current Device B performs differential control of the specified model function, so that when the force on the front and rear wheels is unbalanced, the power of the front and rear wheels can also be kept within the gear range specified by ID. The two motors respectively output matching power to the front and rear wheels, so as to achieve the purpose of assisting the front and rear wheels of the bicycle to run smoothly and at an even speed.

Embodiment 2. The digital differential moped system with the required gear and speed signals input to the differential device successively with the corner parameter processor

As shown in Fig. 3, 4, as the whole structure of embodiment 1, and IA>IB difference model data processor 7 and IA<IB difference model data processor 8 are connected with data distributor 10 by corner parameter processor 30, and corner parameter processing The device 30 is also connected with the faucet angle sensor 31.

A pressure sensor is arranged on the human seat cushion of the power-assisted bicycle, or on the elastic part connected with the cushion, and the pressure sensor is connected with the data distributor 10 in the differential controller 1, and the pressure signal of the pressure sensor is respectively sent to two data distributors in the data distributor 10. The control digital signals are processed in the same proportion to increase or the same proportion to decrease.

Claims (2)

1. The digital differential moped system that requires the gear and speed signals to be input to the differential device successively, including the two wheels of the electric power-assisted bicycle: wheel A and wheel B, as well as the motor A that drives wheel A and the motor B that drives wheel B, including the electric motor The gear signal manual controller (3) of the power-assisted bicycle is characterized in that it also includes a differential controller (1), a vehicle speed signal sensor (12) and a speed equalizer (20); the vehicle speed signal sensor (12) and the speed equalizer (20) connect, the speed equalizer (20) is to change the speed signal of the vehicle speed signal sensor (12) in a certain period of time into the signal processor of the average speed in this certain period of time; The differential controller (1) is connected to the motor A with the controller A, and the controller A uses the control signal given by the differential controller (1) to control the power supply to supply power to the wheel A; The differential controller (1) is connected to the motor B with the controller B, and the controller B uses the control signal given by the differential controller (1) to control the power supply to supply power to the wheel B; Take the feedback control signal current IA between the motor A and the controller A and input it to the current value comparator (9) of the differential controller (1); Take the feedback control signal current IB between the motor B and the controller B and input it to the current value comparator (9) of the differential controller (1); The gear signal ID of the gear signal manual controller (3) is input to the current value comparator (9) of the differential controller (1); The vehicle average speed signal IS of the speed equalizer (20) is input to the current value comparator (9) of the differential controller (1); The differential controller (1) includes three modules connected in sequence; The first module performs numerical comparison processing on the original input signal feedback control signal current IA and the feedback control signal current IB used for control; The second module uses the gear signal ID of the gear signal manual controller (3) to select the model function set in the model function storage (11) to perform model function processing on the data of the first module; The third module inputs the vehicle average speed signal IS of the speed equalizer (20) into the data distributor (10) of the differential controller (1), and the model function processing will be distributed to the controlled electrical appliances as controller A and controller B The previous control data are processed by adding speed signal elements, so that the control data obtained by controller A and controller B not only have elements of feedback control signal current IA and feedback control signal current IB, but also elements of vehicle average speed signal IS ; The first module: the two input ends of the current value comparator (9) are respectively connected to the feedback control signal current IA and the feedback control signal current IB; IA and IB are the original control current signals input to the current value comparator (9); The two output terminals of the current value comparator (9) are respectively connected to the IA>IB differential model data processor (7) and the IA<IB differential model data processor (8); Its function is: the current value comparator (9) changes the input double-channel continuously changing feedback control signal current IA and feedback control signal current IB into a group of digital signals of difference value, and obtains the value of IA>IB or IA<IB One of the two vector signals, the current value comparator (9) transmits the digital signal of the difference value, IA, IB and IA>IB vector signal to the differential model data processor (7), or the current value comparator ( 9) Transmit the digital signal of the difference value, IA, IB and IA<IB vector signal to the differential model data processor (8); the digital signal of the difference value is hereinafter referred to as the digital signal; The second module: IA>IB differential model data processor (7) is respectively connected to the current value comparator (9) and the model function storage (11); and IA<IB differential model data processor (8) is also respectively connected to the current value Comparator (9) and model function storage (11); The model function storage (11) is also connected to the gear signal manual controller (3), and the gear signal ID of the gear signal manual controller (3) is input into the model function storage (11), and in the model function storage (11) Select a model function belonging to a gear signal ID to input IA>IB differential model data processor (7) and input IA<IB differential model data processor (8), Its role is; When IA>IB, start the IA>IB differential model data processor (7), use the digital signal data of the current value comparator (9), the IA data corresponding to the digital signal, and the output of the current value comparator (9) IA>IB vector signal data, substituted into the model function stored in the model function storage (11) selected by the gear signal ID and matched with the digital signal and the vector signal for calculation and processing; and using the current value comparator (9) The digital signal data, the IB data corresponding to the digital signal data, and the IA>IB vector signal data output by the current value comparator (9) are substituted into the model function memory (11) selected by the gear signal ID and stored in the Operational processing is carried out in the model function matching the digital signal and the vector signal; two IA>IB type double-group control data corresponding to IA and IB are obtained respectively, that is, the IA control data yIAn of IA>IB is obtained, and the IA > IB IB control data yIBn, the data to be used by the two subsequent modules of yIAn and yIBn; the functions of yIAn and yIBn are as follows: yIAn=f(IA>IB vector, digital signal n, IAn); yIBn=f(IA>IB vector, digital signal n, IBn); The digital signal n and IAn are the control current signal value IAn at the same time point corresponding to a certain digital signal n; the digital signal n and IBn are the control current signal value IBn at the same time point corresponding to a certain digital signal n; Or, when IA<IB, start the IA<IB differential model data processor (8), use the digital signal data of the current value comparator (9), the IA data corresponding to the digital signal, and the current value comparator (9) The output IA<IB vector signal data is substituted into the model function memory (11) selected by the gear signal ID to store in the model function matching the digital signal and the vector signal to carry out calculation processing; and use the current value comparator ( 9), the digital signal data corresponding to the digital signal data, the IA<IB vector signal data output by the current value comparator (9), are substituted into the model function storage (11) selected by the gear signal ID Computational processing is carried out in the model function matched with the digital signal and the vector signal; two sets of IA<IB type double-group control data respectively corresponding to IA and IB are obtained, that is, the IA control data yIAn of IA<IB is obtained, and the IB control data yIBn of IA<IB, the data to be used by the two subsequent modules of yIAn and yIBn; the functions of yIAn and yIBn are as follows: yIAn=f(IA<IB vector, digital signal n, IAn); yIBn=f(IA<IB vector, digital signal n, IBn); The digital signal n and IAn are the control current signal value IAn at the same time point corresponding to a certain digital signal n; the digital signal n and IBn are the control current signal value IBn at the same time point corresponding to a certain digital signal n; The third module: the input end of the data distributor (10) is respectively connected with the model function storage (11), the speed equalizer (20), the IA>IB difference model data processor (7) and the IA<IB difference model data processor (8) connection, the output end of the data distributor (10) is connected with the data normalization converter (16), and the output end of the data normalization converter (16) is respectively connected with the strong current controller A and the strong current controller B; The purpose of the differential controller to control the heavy current controller A and the heavy current controller B; Its role is: the vehicle average speed signal IS of the speed equalizer (20) is input to the data distributor (10) of the differential controller (1), and the model function for the selection of the gear signal ID has been processed with IA and IB , and distribute the processing results to the controlled electrical appliances before controller A and controller B, another model function processing is added to the vehicle average speed signal IS element, so that the control data obtained by controller A and controller B not only There are elements of the gear position signal ID, the feedback control signal current IA and the feedback control signal current IB, and there are four elements of the vehicle average speed signal IS; The data distributor (10) processes the grouped control data yIAn and yIBn inputted by the IA>IB differential model data processor (7) into yIAnIS and yIBnIS respectively, and then distributes them to the strong current Controller A and strong current controller B; or IA<IB differential model data processor (8) input grouped control data yIAn and yIBn are respectively processed by adding IS elements of vehicle average speed signal to become yIAnIS and yIBnIS, and then respectively Distributed to the strong current controller A and the strong current controller B, that is, yIAnIS is distributed to the strong current controller A, and then yIBnIS is distributed to the strong current controller B; the data standardization converter (16) converts the digital signal that has been assigned to the control object yIAnIS and yIBnIS perform data standardization respectively, and convert the calculated digital signal into control digital signals that can be used by heavy current controller A and strong current controller B, and finally transmit these two control digital signals to the corresponding two strong current controllers device; Realize the gear signal ID of the gear signal manual controller (3), the vehicle average speed signal IS of the speed equalizer (20), the feedback control signal current IA and the feedback control signal current IB through the differential controller to the strong current controller A Perform the differential control of the specified model function with the strong current controller B, so that when the force on the front and rear wheels is unbalanced, the power of the front and rear wheels can also be matched to maintain the gear range specified by ID, and the average speed pointed by IS , both the two motors are respectively made to output matching power to the front and rear wheels, so as to achieve the purpose of assisting the front and rear wheels of the bicycle to run at a stable and even speed. 2. The digital differential moped system according to claim 1, wherein the gear position and speed signals are successively input to the differential device, characterized in that: IA>IB differential model data processor (7) and IA<IB differential model data processor ( 8) The corner parameter processor (30) is connected to the data distributor (10), and the corner parameter processor (30) is also connected to the faucet corner sensor (31).