CN111717328A - Shift Control Method of Bicycle Electronic Transmission System - Google Patents

Abstract

A shift control method for an electronic speed change system of a bicycle comprises the following steps: a control device receives a shift information from a speed change controller, and outputs a PWM information to a motor device according to the shift information; the motor device drives a chain guide device according to the PWM information, so that the chain guide device guides the bicycle chain to move between different engagement positions on a corresponding toothed disc, and the motor device generates a corresponding current information according to the PWM information; a current detection circuit is used to detect the current information generated by the motor device, and the control device adjusts the duty cycle of the output PWM information according to the detection result of the current detection circuit; a position sensor is used to sense the position of the chain guide device, and sends a position information to the control device, and the control device adjusts the duty cycle of the output PWM information according to the position information.

Description

Shift Control Method of Bicycle Electronic Transmission System

technical field

The present invention relates to an electronic shifting system; in particular, it refers to a shifting control method of a bicycle electronic shifting system of a bicycle.

Background technique

In recent years, the use of bicycle electronic transmissions has become more and more popular. Compared with mechanical transmissions, electronic transmissions do not use mechanical transmissions to drive transmissions by pulling the transmission cable, but use electronic information for transmissions. In addition to the simple structure of no shifting cable, the efficiency of shifting gears is also faster than that of mechanical shifting. In addition, with the passage of time, there are problems such as the extension of the shifting cable, the contamination of the pipeline, and the increase of resistance, or Due to the riding environment, there is a problem of inaccurate shifting due to thermal expansion and contraction of the shifting cable. Therefore, in contrast, electronic shifting does not have the above-mentioned mechanical shifting problem, and the shifting is more accurate and fast, which is bound to be the future transmission. development trend.

When more and more electronic devices are installed on the bicycle, how to make the electronic transmission more power-saving is also one of the directions of the inventor's painstaking research.

SUMMARY OF THE INVENTION

In view of this, the purpose of the present invention is to provide a shift control method of a bicycle electronic transmission system, which can make the electronic transmission more power-saving when shifting.

In order to achieve the above object, the present invention provides a shifting control method for a bicycle electronic shifting system, the electronic shifting system includes a shifting controller, a control device, a motor device, a chain guide device, a current detection circuit and a A position sensor, which includes the following steps: the control device receives a shift information from the speed change controller, and outputs a PWM information to the motor device according to the shift information; the motor device drives the chain guide device according to the PWM information , so that the chain guide device guides the bicycle chain to move between different engaging positions on the corresponding chainrings, and the motor device generates a corresponding current information according to the PWM information; the current detection circuit is used to detect the generated by the motor device. current information, and the control device adjusts the duty cycle of the output PWM information according to the detection result of the current detection circuit; the position sensor is used to sense the position of the chain guide device and send a position information to the The control device adjusts the duty ratio of the output PWM information according to the position information.

The effect of the present invention is that the control device uses the PWM information to control the input voltage of the motor device to adjust the speed of the motor during the shifting process, which can effectively reduce the large current of the motor device when it starts instantaneously, and improve the operation efficiency of the motor device, so as to save energy. purpose of electricity.

Description of drawings

FIG. 1 is a schematic diagram of a bicycle electronic shifting system according to an embodiment.

Figure 2 is a block diagram of a bicycle electronic shifting system.

FIG. 3 is a flow chart of the shift control method of the bicycle electronic shifting system of the present invention.

FIG. 4 is a flow chart of the shifting control method of the bicycle electronic shifting system of the present invention.

5 is a current timing diagram of the motor device in the process of controlling the chain guide device to shift from the first gear position to the second gear position by applying the shift control method of the present invention and the prior art.

Detailed ways

In order to illustrate the present invention more clearly, an embodiment is given and described in detail with the accompanying drawings as follows. Please refer to FIG. 1 to FIG. 2 , which are schematic diagrams of a bicycle electronic shifting system according to an embodiment. In this embodiment, the electronic shifting system is a rear derailleur of a bicycle as an example. The electronic shifting system includes a mounting A seat 1, the mounting seat 1 can be installed on a frame 2 of a bicycle, the frame 2 is provided with a plurality of chainrings 3, and the electronic shifting system 1 includes a shifting controller 10, a control device 20, a The motor device 30 , a guide chain device 40 , a current detection circuit 50 and a position sensor 60 .

The shift controller 10 can be arranged on the handlebar of the bicycle, for example, near the handle of the bicycle, for the user to operate to send out a shift message to change the gear position of the bicycle's transmission system, for example, in In one embodiment, the shift controller 10 may include two buttons, one of which is clicked by the user to trigger the shift controller 10 to send out shifting information for upshifting, and the other button is clicked by the user to trigger the shift control The transmission controller 10 sends out shifting information for downshifting, and the information sent by the transmission controller 10 can be sent to the control device 20 by means of wired transmission or wireless transmission. For example, the transmission controller 10 may be equipped with a Bluetooth wireless transmission module, which may transmit the gear shift information to the control device 20 by means of Bluetooth wireless transmission.

The control device 20 is used for receiving shifting information and sending PWM (Pulse Width Modulation) information to the motor device 30 according to the shifting information, so as to drive the motor device 30 to drive the chain guide device 40 to move. In this embodiment, the control device 20 is installed in the mounting base 1 , the control device 20 may include a microcontroller and a PWM information generator, the microcontroller is connected to the PWM information generator, The PWM information generator can be controlled to output corresponding PWM information according to the gear shift information, and output the PWM information to the motor device 30 . In addition, in an embodiment, the control device 20 can also be a microcontroller integrated with the function of a PWM information generator, which is not limited to the above description.

The motor device 30 is controlled by the control device 20 to drive the chain guide device 40 to move according to the received PWM information, and the motor device 30 will generate a corresponding current information according to the PWM information. In one embodiment, the motor device 30 is installed in the mounting base 1, and includes a driving circuit and a motor, the driving circuit receives the PWM information output by the control device 20, and according to the PWM information The motor is actuated, and the motor is connected to the chain guide device 40 and can drive the chain guide device 40 to guide the bicycle chain to move between different engagement positions on the corresponding chainring 3 .

In this embodiment, the chain guide device 40 includes a link mechanism 42, a tension arm 44 and a sprocket 46, the link mechanism 42 is connected between the motor device 30 and the tension arm 44, the sprocket 46 It is pivoted on the tension arm 44 and connected with the bicycle chain. The link mechanism 42 is driven by the motor device 30 to drive the tension arm 44 to move between different engagement positions on the corresponding chainring 3 to change the gears of the electronic transmission system.

The current detection circuit 50 is electrically connected to the control device 20 and the motor device 30 for detecting the current information generated by the motor device 30 , and the control device 20 adjusts the output according to the detection result of the current detection circuit 50 The duty cycle (duty cycle) of the PWM information. In this embodiment, the current detection circuit 50 is disposed in the mounting base 1 together with the control device 20 and the motor device 30. In addition, in an embodiment, the current detection circuit can also be combined with the control device 30. The devices are integrated together, and are not limited to being disposed on the motor device 30 .

The position sensor 60 is used for sensing the position of the chain guide device 40 and sending a position information to the control device 20 , and the control device 20 adjusts the duty ratio of the output PWM information according to the position information. Wherein, the position sensor 60 may include, but is not limited to, a magnetic encoder, such as: a Hall sensor (Hall Sensor), an anisotropic magnetoresistance (Anisotropic Magnetoresistance, AMR) component or a giant magnetoresistance (Giant Magnetoresistance, GMR) Components, etc., used to sense changes in magnetic field and generate corresponding analog or digital information, for example, magnetic encoder information such as 0V~3.3V (5V) analog voltage or 0~4096 digital information can be output as a bicycle electronic shifting The positioning basis of the absolute position of the toothed plate 3 of the system, wherein, the magnetic encoder can be set on but not limited to the link mechanism or the tension arm, and the magnetic force source can be set on but not limited to the disk 3, when the link mechanism When the chain guide device 40 such as the tension arm moves, the relative position of the magnetic force source will change, and the magnetic encoder will sense the magnetic field change and calculate the position of the chain guide device 40. In this way, when the control device 20 When receiving shifting information such as upshift or downshift, the motor device 30 can be driven to drive the chain guide device 40 according to the magnetic encoding information, so as to guide the chain to the correct position of the chainring, and can be fed back according to the magnetic encoder It is determined whether the chain guide device 40 guides the chain to the correct position or needs to perform other compensation control. In addition, in other applications, the position sensor is not limited to the magnetic encoder, and other devices or methods can also be used to obtain the position of the chainring 3 and/or the chain guide device 40 .

2 to 3 together, when the transmission controller 10 is triggered to send out shifting information, the control device 20 receives the shifting information, and outputs PWM information to the motor device 30 according to the shifting information; The motor device 30 will drive the chain guide device 40 according to the PWM information, and generate corresponding current information according to the PWM information; after that, the current detection circuit 50 and the position sensor 60 will respectively detect the running state of the motor device 30 and the position of the chain guide device, The current detection result and the position information are respectively generated and fed back to the control device 20. After that, the control device 20 can adjust the duty ratio of the output PWM information accordingly, so as to properly adjust the running speed of the motor device 30 to reduce the speed of the motor device. The high current that starts instantly at 30 improves the operation efficiency of the motor device 30 and achieves the purpose of saving electricity.

More specifically, in an embodiment, please cooperate with FIG. 4 and FIG. 5 , when the control device 20 receives the shifting information, the control device 20 detects the position change of the chain guide device 40 according to the position sensor 60 . Corresponding position information changes, for example, linear position information can be output to determine whether the chain guide device 40 has reached the positioning. For example, it is assumed that the shifting information is to move the chain guide device 40 from a first gear position to a second gear position, wherein the position information corresponding to the first gear position is 0, and the second position information The corresponding position information is 100. When the position information received by the control device 20 is not 100, it means that the chain guide device 40 has not moved to the position. The output PWM information is controlled to the motor device 30, so that the motor device 30 can be operated to drive the chain guide device 40 to move. The PWM information corresponds to the actuation of the motor of the driving motor device 30 to drive the link mechanism 42 of the chain guide device 40 to drive the tension arm 44 to move.

In particular, in one embodiment, when the control device 20 determines according to the position information that the chain guide device 40 can move to the second gear position after moving a set stroke, it reduces the output The duty cycle of the PWM information. Wherein, the set stroke may be more than 5% and less than 20% of the total stroke of the first gear position and the second gear position. For example, in this embodiment, 10% is used as an example. That is to say, in this embodiment, when the position information value obtained by the position sensor is greater than or equal to 90, the position information value of the second gear position has been entered (in this example, the position information value of the second gear position is 100 ) of 90%, that is, when the chain guide device 40 is about to or has reached 90% of the positioning, or when the remaining 10% of the stroke can reach the positioning, the control device 20 will reduce the duty ratio of the output PWM information to reduce the The current supplied to the motor assembly 30 to reduce the motor operating speed. Thereby, in the set stroke just before the chain guide device 40 reaches the second gear position, the duty cycle of the PWM information provided to the motor device 30 will be reduced, or it is designed to be gradually reduced, and the motor device 30 will be gradually lowered The running speed of the motor device 30 can achieve the effect of slow stop of the motor device 30 .

When the motor device 30 initially starts to operate, the current detection circuit 50 detects the current information of the motor device 30. If the current information exceeds a set value, the control device 20 will reduce the duty cycle of the PWM information to reduce the power supply to the motor. When the current information is lower than the set value, the control device 20 will increase the duty ratio of the PWM information to increase the current provided to the motor device 30, so as to reduce the operating speed of the motor device 30. The operating speed of the motor device 30 is increased. The set value is not limited to the value of a single point, and can also be set to a value range. Through the above design, the driving current provided for the operation of the motor device 30 will gradually increase, and can gradually The running speed of the motor device 30 is increased to achieve the effect of slow start of the motor device 30 .

Please refer to FIG. 5 , which is a current timing diagram when the drive chain guide device 40 is moved from the first gear position to the second gear position using the shifting control method of the bicycle electronic shifting system of the present embodiment and the prior art , for the convenience of description, the horizontal axis of time is divided into three time intervals T1, T2 and T3. In this embodiment, the time interval T1 is the slow start interval when the motor device 30 starts to receive the PWM information of the control device 20; The prior art does not use PWM information to control the motor device 30, so after receiving the shift information, the motor device generates a large surge current that starts instantaneously, which is likely to cause instability such as sudden increase or sudden drop in the rotational speed of the motor device. , compared with the present embodiment, the prior art consumes more power and the motor device is easily damaged, while the present embodiment saves the electrical energy (or electrical power) in the region R1 shown in FIG. 5 and is safer. During the time interval T2, the current for the motor device 30 has increased to the set value A and remains stable. During the time interval T3, the motor device 30 enters the slow stop interval. At this time, the control device 20 will reduce or gradually reduce the duty cycle of the PWM information provided to the motor device 30 until the chain guide device 40 moves to the position (for example, the first The second gear position), and when the chain guide device 40 moves to the positioning, the control device 20 sends a stop message to the motor device 30 to stop the motor device 30 from running; on the contrary, the prior art does not use the PWM information to control the motor device 30, However, the input current of the motor device is not stopped instantaneously until the chain guide device moves to the position. It is also easy to generate a surge, and it is easy to damage the motor device. In contrast, this embodiment saves more than the prior art. The electric energy of the area R2 shown in FIG. 5 .

Through the above design, the shifting control method of the bicycle electronic shifting system of the present invention can realize the power-saving control of the slow start and slow stop of the motor device when the electronic shifting system is shifting. During the stroke from the first gear position to the second gear position, the input voltage to the motor device is controlled by PWM information to adjust the acceleration and deceleration of the running speed of the motor device, which can avoid the occurrence of high current that the conventional motor device starts instantly. , and can improve the running efficiency of the motor, so as to achieve the purpose of saving electricity.

The above is only a preferred and feasible embodiment of the present invention. In addition, in other applications, the above-described shifting control method of a bicycle electronic transmission can also be applied to the front derailleur of a bicycle, and is not limited to the implementation of the rear derailleur. All equivalent changes made by applying the description of the present invention and the scope of the patent application should be included in the patent scope of the present invention.

Description of reference numerals

[this invention]

1 Mount

2 frame

3 chainrings

10 Variable Speed Controller

20 Controls

30 motor unit

40 Chain guide

42 Linkage 44 Tension Arm 46 Sprocket

50 Current detection circuit

60 position sensor

Claims (5)

1. A gear shift control method of an electronic speed changing system of a bicycle, the electronic speed changing system comprises a speed changing controller, a control device, a motor device, a chain guide device, a current detection circuit and a position sensor, and the method comprises the following steps:

A. the control device receives gear shifting information from the gear shifting controller and outputs PWM information to the motor device according to the gear shifting information;

B. the motor device drives the chain guide device according to the PWM information, so that the chain guide device guides the bicycle chain to move between different joint positions on the corresponding fluted disc, and the motor device generates corresponding current information according to the PWM information;

C. the current detection circuit is used for detecting the current information generated by the motor device, and the control device adjusts the duty ratio of the output PWM information according to the detection result of the current detection circuit; the position sensor is used for sensing the position of the chain guiding device and sending position information to the control device, and the control device adjusts the duty ratio of the output PWM information according to the position information.

2. The shift control method of an electronic bicycle transmission system according to claim 1, wherein said control means increases the duty ratio of said PWM information when the detection result of the current detection circuit is that said current information is lower than a set value; when the detection result of the current detection circuit is that the current information is higher than the set value, the control device reduces the duty ratio of the PWM information.

3. The method for controlling shifting of an electronic bicycle transmission system as claimed in claim 1, wherein in step B, said chain guide is moved from a first gear position to a second gear position; in step C, before the control device determines that the chain guide device moves to the second gear position according to the position information, the duty ratio of the output PWM information is reduced.

4. The method for controlling shifting of an electronic bicycle transmission system as claimed in claim 1, wherein in step B, said chain guide is moved from a first gear position to a second gear position; when the control device judges that the chain guiding device can move to the second gear position by moving a set stroke again according to the position information, the duty ratio of the output PWM information is reduced.

5. The method for controlling a shift in an electronic bicycle transmission system as claimed in claim 4, wherein said set stroke is greater than or equal to 5% and less than or equal to 20% of a total stroke of said first and second shift positions.

Images