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CN109131708B - Electric bicycle brake force distribution system - Google Patents

Electric bicycle brake force distribution system Download PDF

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Publication number
CN109131708B
CN109131708B CN201810868825.3A CN201810868825A CN109131708B CN 109131708 B CN109131708 B CN 109131708B CN 201810868825 A CN201810868825 A CN 201810868825A CN 109131708 B CN109131708 B CN 109131708B
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electric bicycle
distribution system
force distribution
braking force
speed
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CN109131708A (en
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王勇
夏跃武
钱峰
江蜓
徐亮
王祥瑞
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Wuhu Institute of Technology
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Wuhu Institute of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
    • B62L1/00—Brakes; Arrangements thereof
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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

Abstract

本发明公开电动自行车制动力分配系统，包括：驱动电路连接于轮毂电机，以通过控制轮毂电机的转速和转向调整电动自行车的行驶速度；速度传感器连接于轮毂电机，以采集当前电动自行车的行驶速度；压力传感器采集骑行者的压力；六轴陀螺仪采集电动自行车的行驶坡度；控制器连接于速度传感器、压力传感器、六轴陀螺仪和驱动电路，以根据骑行者的压力、电动自行车的行驶坡度以及当前电动自行车的行驶速度通过模糊推理调节PID控制器参数使得电动自行车的滑移率稳定于预设值附近。该电动自行车制动力分配系统克服了现有技术中的电动自行车刹车时存在安全隐患，实现了刹车的制动，在获得最短制动距离的情况下，提高刹车时的安全性。

Figure 201810868825

The invention discloses an electric bicycle braking force distribution system, comprising: a driving circuit connected to a hub motor to adjust the running speed of the electric bicycle by controlling the rotation speed and steering of the hub motor; a speed sensor connected to the hub motor to collect the current running speed of the electric bicycle ;The pressure sensor collects the rider's pressure; the six-axis gyroscope collects the driving gradient of the electric bicycle; the controller is connected to the speed sensor, the pressure sensor, the six-axis gyroscope and the driving circuit to adjust the driving gradient of the electric bicycle according to the rider's pressure and the driving gradient. And the current running speed of the electric bicycle adjusts the PID controller parameters through fuzzy reasoning so that the slip rate of the electric bicycle is stable near the preset value. The electric bicycle braking force distribution system overcomes the potential safety hazard when the electric bicycle brakes in the prior art, realizes the braking of the brake, and improves the safety during braking under the condition of obtaining the shortest braking distance.

Figure 201810868825

Description

Braking force distribution system of electric bicycle
Technical Field
The present invention relates to an electric bicycle braking force distribution system.
Background
The electric bicycle uses electric energy as power, is clean, green and environment-friendly, and is suitable for the development of the times. However, the electric bicycle has only two wheels, so the stability is not as good as that of an automobile. In emergency braking under special road conditions such as rain and snow, the wheels of the electric bicycle easily slide longitudinally and even drift. At the moment, the adhesive force between the tire and the ground is small, and certain potential safety hazards exist when the electric bicycle is driven. When the electric bicycle is braked, the rotating speed of the wheels is as follows: r ω (k), the actual speed of the vehicle body is v (k). Slip ratio of electric bicycle during braking
Figure BDA0001751598870000011
When slip rate controlWhen the adhesion force is about 0.2, the longitudinal and transverse adhesion forces between the wheels and the ground are the largest, the shortest braking distance can be obtained, and the safety during braking is improved.
Disclosure of Invention
The invention aims to provide an electric bicycle braking force distribution system, which overcomes potential safety hazards existing in the prior art when an electric bicycle is braked, realizes braking of the brake, and improves the safety during braking under the condition of obtaining the shortest braking distance.
In order to achieve the above object, the present invention provides an electric bicycle braking force distribution system including: the device comprises a microprocessor, a speed sensor, a driving circuit, a hub motor, a pressure sensor and a six-axis gyroscope; the driving circuit is connected to the hub motor so as to adjust the running speed of the electric bicycle by controlling the rotating speed and the steering direction of the hub motor; the speed sensor is connected to the hub motor to acquire the current running speed of the electric bicycle; the pressure sensor collects the pressure of the rider; the six-axis gyroscope acquires the running gradient of the electric bicycle; the controller is connected to the speed sensor, the pressure sensor, the six-axis gyroscope and the driving circuit, and is used for adjusting the running speed of the electric bicycle according to the pressure of a rider, the running gradient of the electric bicycle and the current running speed of the electric bicycle so that the slip ratio of the electric bicycle is lower than a preset value.
Preferably, the electric bicycle braking force distribution system further includes: the power supply is electrically connected to the driving circuit to provide power to the driving circuit so as to drive the rotation of the hub motor.
Preferably, the pressure sensor is electrically connected to the microprocessor through an analog-to-digital converter.
Preferably, the six-axis gyroscope is a six-axis gyroscope of model MPU 6050.
Preferably, the microprocessor is a single chip microcomputer of model STM32F103RCT 6.
Preferably, the motor is a three-phase brushless dc motor.
Preferably, the speed sensor is a hall encoder.
Through the technical scheme, when a rider presses the hand brake, the input module connected with the microprocessor is triggered, and the microprocessor is used for controlling the electric bicycle according to the friction coefficient mu (k-1) of the ground and the total mass m of the rider and the electric bicycletCalculating the current parameter K of the PID controller through fuzzy reasoningp(k)、Ki(k)、Kd(k) To obtain the best performance of the governor system. And controlling the real-time rotating speed r omega (k) of the wheel to be 0.8v (k), so that the slip rate of the tire is close to 0.2 in the running process of the vehicle, and the maximum adhesive force and the shortest braking distance are obtained.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a block diagram of an electric bicycle brake force distribution system in accordance with a preferred embodiment of the present invention;
FIG. 2 is a force analysis diagram of the electric bicycle brake force distribution system in accordance with a preferred embodiment of the present invention; and
FIG. 3 is a block diagram of a controller controlling motor rotation speed of the electric motor of the electric bicycle braking force distribution system in accordance with a preferred embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
In the present invention, unless otherwise specified, the terms of orientation such as "upper, lower, left, right" used herein generally refer to the upper, lower, left, and right directions as shown in fig. 2. "inner and outer" refer to the inner and outer portions of a particular contour. "distal and proximal" refer to distal and proximal relative to a component.
The present invention provides an electric bicycle braking force distribution system, including: the device comprises a microprocessor, a speed sensor, a driving circuit, a hub motor, a pressure sensor and a six-axis gyroscope; the driving circuit is connected to the hub motor so as to adjust the running speed of the electric bicycle by controlling the rotating speed and the steering direction of the hub motor; the speed sensor is connected to the hub motor to acquire the current running speed of the electric bicycle; the pressure sensor collects the pressure of the rider; the six-axis gyroscope acquires the running gradient of the electric bicycle; the controller is connected to the speed sensor, the pressure sensor, the six-axis gyroscope and the driving circuit, and is used for adjusting the running speed of the electric bicycle according to the pressure of a rider, the running gradient of the electric bicycle and the current running speed of the electric bicycle so that the slip ratio of the electric bicycle is stabilized to be 0.2.
By measuring the friction coefficient mu (k-1) between the wheel and the ground and the total mass m of the rider and the electric bicycletReal-time adjusting PID controller parameter K by fuzzy reasoningp(k)、Ki(k)、Kd(k) The slip ratio between the tire of the electric bicycle and the ground is controlled to be 0.2, the maximum adhesive force and the shortest braking distance are obtained, and the running safety of the bicycle is improved. In the formula
Figure BDA0001751598870000031
S (k) is the slip ratio of the electric bicycle; r ω (k) is the speed at which the electric bicycle wheel rotates, and v (k) is the actual speed of the electric bicycle body.
In one embodiment of the present invention, the electric bicycle braking force distribution system further includes: the power supply is electrically connected to the driving circuit to provide power to the driving circuit so as to drive the rotation of the hub motor.
In one embodiment of the present invention, the pressure sensor is electrically connected to the microprocessor through an analog-to-digital converter.
In one embodiment of the invention, the six-axis gyroscope is a six-axis gyroscope of model MPU 6050.
In a specific embodiment of the invention, the microprocessor is a single chip microcomputer of model number STM32F103RCT 6.
In one embodiment of the invention, the motor is a three-phase brushless dc motor.
In one embodiment of the present invention, the speed sensor is a hall encoder.
In a preferred embodiment of the present invention, the electric bicycle braking force distribution system of the present invention comprises a microprocessor, a power supply, a driving circuit, a hub motor, an encoder, a pressure sensor, an a/D converter, an input module, and an MPU6050 six-axis gyroscope. The power supply is directly connected with the hub motor through the motor driving circuit, the microprocessor is connected with the motor driving circuit, and the PWM control signal is sent out to control the rotating speed and the rotating direction of the motor. The speed sensor is connected with the motor, converts a rotating speed signal of the motor into a pulse signal and sends the pulse signal to the processor. The pressure sensor is electrically coupled to the microprocessor through an A/D converter. The MPU6050 six-axis gyroscope is electrically coupled to the microprocessor.
Where the gradient of the road on which the vehicle travels is θ, θ can be measured by the MPU 6050. Wherein the grain size is-60 °<θ<60 degrees, when theta is less than or equal to 60 degrees<When the angle is 0 degrees, the electric bicycle goes up the slope; when 0 degree<When theta is less than or equal to 60 degrees, the electric bicycle descends, and when theta is 0 degrees, the electric bicycle runs on a horizontal road surface. Self mass m of electric bicyclevThe mass m of the rider is acquired by the pressure sensorpThe total mass of the rider and the electric bicycle is mt＝mv+mp. The single chip microcomputer drives the motor in a PWM control mode, under the current single chip microcomputer driving signal, the traction force output by the motor shaft is F (k), and then in the running process of the electric bicycle, the friction coefficient of a tire and a road surface at the k moment is mu (k), which can be known from a graph 2:
F(k)+mgsinθ-μ(k)mgcosθ＝mta(k)；
Figure BDA0001751598870000051
at the kth moment of braking of the electric bicycle, the wheel slip ratio is as follows:
Figure BDA0001751598870000052
in the formula, ω (k) is an angular velocity of the wheel of the electric vehicle, which is measured by a velocity sensor.
v (k) is the speed of the electric bicycle body, which can be measured by an MPU6050 chip, the acceleration of the electric bicycle body in the advancing direction at the moment k is a (k), the sampling period of the microprocessor is T, and the following steps are provided:
v(k)＝v(k-1)+a(k-1)T；
expectation of
Figure BDA0001751598870000053
Then r ω (k) is 0.8v (k).
Therefore, the invention adopts a method of adjusting the wheel rotating speed to control the slip ratio of the electric bicycle. As shown in FIG. 3, a fuzzy PID controller is designed based on a microprocessor, and a closed loop speed regulating system is constructed. When the rider presses the hand brake, an input module connected with a microprocessor is triggered, and the microprocessor is used for controlling the motor-driven bicycle according to the friction coefficient mu (k-1) of the ground and the total mass m of the rider and the electric bicycletCalculating the current parameter K of the PID controller through fuzzy reasoningp(k)、Ki(k)、Kd(k) To obtain the best performance of the governor system. And controlling the real-time rotating speed r omega (k) of the wheel to be 0.8v (k), so that the slip rate of the tire is close to 0.2 in the running process of the vehicle, and the maximum adhesive force and the shortest braking distance are obtained.
The invention has simple structure and low cost.
By measuring the friction coefficient mu (k-1) between the wheel and the ground and the total mass m of the rider and the electric bicycletReal-time adjusting PID controller parameter K by fuzzy reasoningp(k)、Ki(k)、Kd(k) Controlling the slip ratio between the electric bicycle tire and the ground to be 0.2 to obtain the maximum adhesive force andthe shortest braking distance improves the running safety of the vehicle.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.

Claims (7)

1.一种电动自行车制动力分配系统，其特征在于，该电动自行车制动力分配系统包括：微处理器、速度传感器、驱动电路、轮毂电机、压力传感器、六轴陀螺仪以及输入模块；其中，所述驱动电路连接于所述轮毂电机，以通过控制所述轮毂电机的转速和转向调整电动自行车的行驶速度；所述速度传感器连接于所述轮毂电机，用于采集所述电动自行车车轮的角速度；所述压力传感器采集骑行者的压力；所述六轴陀螺仪采集电动自行车的行驶坡度，以采集当前电动自行车的行驶速度；所述微处理器连接于所述速度传感器、压力传感器、六轴陀螺仪和驱动电路，以根据骑行者的压力、电动自行车的行驶坡度以及所述角速度通过模糊推理调节所述角速度使得所述电动自行车的滑移率稳定于预设值；1. An electric bicycle braking force distribution system is characterized in that, this electric bicycle braking force distribution system comprises: a microprocessor, a speed sensor, a drive circuit, a hub motor, a pressure sensor, a six-axis gyroscope and an input module; wherein, The driving circuit is connected to the in-wheel motor, so as to adjust the running speed of the electric bicycle by controlling the rotation speed and steering of the in-wheel motor; the speed sensor is connected to the in-wheel motor, and is used for collecting the angular velocity of the wheel of the electric bicycle The pressure sensor collects the pressure of the rider; the six-axis gyroscope collects the driving gradient of the electric bicycle to collect the current running speed of the electric bicycle; the microprocessor is connected to the speed sensor, the pressure sensor, the six-axis a gyroscope and a driving circuit to adjust the angular velocity through fuzzy reasoning according to the pressure of the rider, the driving gradient of the electric bicycle and the angular velocity, so that the slip rate of the electric bicycle is stable at a preset value; 根据骑行者的压力、电动自行车的行驶坡度以及所述角速度通过模糊推理调节所述角速度使得所述电动自行车的滑移率稳定于预设值具体包括：Adjusting the angular velocity through fuzzy reasoning according to the rider's pressure, the driving gradient of the electric bicycle and the angular velocity so that the slip rate of the electric bicycle is stable at a preset value specifically includes: 获取车辆行驶坡度和行驶速度；Get the vehicle's driving gradient and driving speed; 获取电动自行车和骑行者的总质量；Get the total mass of electric bikes and riders; 获取所述电动自行车车轮的角速度；Obtain the angular velocity of the electric bicycle wheel; 根据公式(1)至公式(3)计算所述滑移率，Calculate the slip rate according to formula (1) to formula (3), F(k)+mtgsinθ-μ(k)mgcosθ＝mta(k)， (1)F(k)+m t gsinθ-μ(k) mgcosθ=m t a(k), (1)
Figure FDA0002938447700000011
Figure FDA0002938447700000011
Figure FDA0002938447700000012
Figure FDA0002938447700000012
 其中，F(k)为所述电动自行车的电机轴输出的牵引力，mt为所述总质量，θ为所述行驶坡度，μ(k)为所述电动自行车的轮胎与路面在k时刻的摩擦系数，a(k)为k时刻所述电动自行车的车身在前进方向的加速度，rω(k)为所述角速度和所述电动自行车车轮的半径的乘积，v(k)为所述行驶速度，s(k)为所述滑移率；Among them, F(k) is the traction force output by the motor shaft of the electric bicycle, m t is the total mass, θ is the driving gradient, and μ(k) is the distance between the tire and the road surface of the electric bicycle at time k Friction coefficient, a(k) is the acceleration of the electric bicycle body in the forward direction at time k, rω(k) is the product of the angular velocity and the radius of the electric bicycle wheel, v(k) is the travel speed , s(k) is the slip rate; 通过所述输入模块判断骑行者是否按下手刹；Determine whether the rider presses the handbrake through the input module; 在判断所述骑行者按下手刹的情况下，根据地面的摩擦系数μ(k-1)以及所述总质量mt，通过模糊推理计算出当前的PID控制器的参数Kp(k)、Ki(k)、Kd(k)，其中，所述PID控制器是基于所述微处理器所设计，摩擦系数μ(k-1)为所述电动自行车的轮胎与路面在k-1时刻的摩擦系数；In the case of judging that the rider has pressed the handbrake, according to the friction coefficient μ(k-1) of the ground and the total mass m t , the parameters K p (k), K i (k), K d (k), wherein the PID controller is designed based on the microprocessor, and the friction coefficient μ(k-1) is the distance between the tire and the road surface of the electric bicycle at k-1 friction coefficient at time; 根据所述参数Kp(k)、Ki(k)、Kd(k)调节所述乘积rω(k)至0.8*所述行驶速度v(k)。The product rω(k) is adjusted to 0.8*the travel speed v(k) according to the parameters K p (k), K i (k), K d (k). 2.根据权利要求1所述的电动自行车制动力分配系统，其特征在于，该电动自行车制动力分配系统还包括：电源，所述电源电连接于所述驱动电路，以给所述驱动电路提供电源以驱动所述轮毂电机的旋转。2 . The electric bicycle braking force distribution system according to claim 1 , wherein the electric bicycle braking force distribution system further comprises: a power source, and the power source is electrically connected to the drive circuit to provide the drive circuit with a power source. 3 . a power source to drive the rotation of the in-wheel motor. 3.根据权利要求1所述的电动自行车制动力分配系统，其特征在于，所述压力传感器通过模数转换器电连接于所述微处理器。3 . The electric bicycle braking force distribution system according to claim 1 , wherein the pressure sensor is electrically connected to the microprocessor through an analog-to-digital converter. 4 . 4.根据权利要求1所述的电动自行车制动力分配系统，其特征在于，所述六轴陀螺仪为型号MPU6050的六轴陀螺仪。4 . The electric bicycle braking force distribution system according to claim 1 , wherein the six-axis gyroscope is a six-axis gyroscope of model MPU6050. 5 . 5.根据权利要求1所述的电动自行车制动力分配系统，其特征在于，所述微处理器为型号STM32F103RCT6的单片机。5 . The electric bicycle braking force distribution system according to claim 1 , wherein the microprocessor is a single-chip microcomputer of the model STM32F103RCT6. 6 . 6.根据权利要求1所述的电动自行车制动力分配系统，其特征在于，所述电机为三相无刷直流电机。6 . The electric bicycle braking force distribution system according to claim 1 , wherein the motor is a three-phase brushless DC motor. 7 . 7.根据权利要求1所述的电动自行车制动力分配系统，其特征在于，所述速度传感器为霍尔编码器。7. The electric bicycle braking force distribution system according to claim 1, wherein the speed sensor is a Hall encoder.
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CN111071063B (en) * 2019-12-30 2021-09-10 厦门兴联智控科技有限公司 Vehicle speed control method and motor vehicle with vehicle speed control function
CN112477631B (en) * 2020-12-04 2022-09-27 广西飞能电机有限公司 Method and system for controlling acceleration process of electric bicycle

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