CN115214835B - Starting control method of electric power-assisted vehicle and electric power-assisted vehicle - Google Patents
Starting control method of electric power-assisted vehicle and electric power-assisted vehicle Download PDFInfo
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- CN115214835B CN115214835B CN202210760024.1A CN202210760024A CN115214835B CN 115214835 B CN115214835 B CN 115214835B CN 202210760024 A CN202210760024 A CN 202210760024A CN 115214835 B CN115214835 B CN 115214835B
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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
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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
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- 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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Abstract
The invention discloses a starting control method of an electric power-assisted vehicle and the electric power-assisted vehicle. The electric power assisted vehicle starting control method is used for the electric power assisted vehicle, and comprises the following steps of: acquiring pedal torque and pedal rotation speed; determining whether the pedal torque and the pedal rotation speed meet a preset starting condition; if yes, obtaining a pre-stored chain transmission ratio, a current assistance ratio, a current user weight and a ground gradient; determining a torque output command based on the pre-stored chain drive ratio, the current boost ratio, the current user weight, the ground grade, and the pedal torque; and outputting the torque output command to the motor. By adopting the scheme, the effect of comfortable starting is realized.
Description
Technical Field
The invention relates to the technical field of electric vehicles, in particular to a starting control method of an electric power-assisted vehicle and the electric power-assisted vehicle.
Background
The existing electric power-assisted vehicle is widely popularized in daily life of people due to the outstanding characteristics of smaller size, more flexible movement, lower manufacturing cost and the like, and becomes an important riding instead of walking tool in daily life of people. The electric power-assisted vehicle generally indirectly estimates the pedaling moment of riding through a vehicle speed input signal, and controls the power-assisted motor to output torque according to the estimated moment, so that the whole power-assisted process is realized. When the stepping rate is higher, the provided power assisting torque is larger, namely, when a user steps on the pedal in starting, the motor outputs torque to start the electric power assisting vehicle. While normal travel drive is motor torque followed by pedal torque, motor torque is generally proportional to pedal torque.
Because the ground condition and the power-assisted gear are different when the electric bicycle starts, the force required by treading is also different, so that the problem that the treading force is insufficient or the treading force is large to cause too fast starting acceleration occurs, and the starting is uncomfortable.
Disclosure of Invention
The invention provides a starting control method of an electric power-assisted vehicle and the electric power-assisted vehicle so as to achieve the effect of comfortable starting.
According to an aspect of the present invention, there is provided a start control method for an electric power assisted vehicle, the start control method for an electric power assisted vehicle including:
acquiring pedal torque and pedal rotation speed;
determining whether the pedal torque and the pedal rotation speed meet a preset starting condition;
if yes, obtaining a pre-stored chain transmission ratio, a current assistance ratio, a current user weight and a ground gradient;
determining a torque output command based on the pre-stored chain drive ratio, the current boost ratio, the current user weight, the ground grade, and the pedal torque;
and outputting the torque output command to the motor.
In an alternative embodiment of the present invention, the determining whether the pedal torque and the pedal rotation speed meet a preset starting condition includes:
determining whether the pedal torque is greater than a preset torque threshold and whether the pedal rotational speed is greater than a preset rotational speed threshold;
if the pedal torque is greater than the preset torque threshold and the pedal rotation speed is greater than the preset rotation speed threshold, determining that the pedal torque and the pedal rotation speed meet a preset starting condition;
and if the pedal torque is not greater than the preset torque threshold or the pedal rotating speed is not greater than the preset rotating speed threshold, determining that the pedal torque and the pedal rotating speed do not meet the preset starting condition.
In an alternative embodiment of the present invention, the obtaining the pre-stored chain transmission ratio, the current assistance ratio, the current user weight and the ground slope includes:
acquiring a pre-stored chain transmission ratio, a current assistance ratio and a current user weight;
acquiring triaxial angular velocity data obtained by triaxial gyroscope detection, wherein the triaxial angular velocity data comprises Y-axis angular velocity;
acquiring triaxial acceleration data detected by a triaxial accelerometer, wherein the triaxial acceleration data comprises X-axis acceleration and Z-axis acceleration;
determining a ground gradient based on the Y-axis angular velocity, the X-axis acceleration, and the Z-axis acceleration by:
wherein: gyroy is the Y-axis angular velocity; dt is the sampling time; k is the weight of the value of the triaxial accelerometer, accX is the X-axis acceleration; accZ is the Z-axis acceleration.
In an alternative embodiment of the present invention, said determining a torque output command based on said pre-stored chain drive ratio, said current boost ratio, said current user weight, said ground grade, and said pedal torque comprises:
determining a torque output command based on the pre-stored chain gear ratio, the current assistance ratio, the current user weight, the ground grade, and the pedal torque by:
T 2 ＝γ 1 *K 1 *K 2 *T 1 +M 1 gsinθ；
wherein, gamma 1 To adjust the coefficient T 2 For the torque output command, K 1 K for the pre-stored chain transmission ratio 2 For the current boost ratio, T 1 For the pedal torque, M 1 And θ is the ground gradient for the current user weight.
In an alternative embodiment of the present invention, after the outputting of the torque output command to the motor, the method further includes:
acquiring the speed of the whole vehicle;
determining whether the speed of the whole vehicle is greater than a preset normal riding threshold value;
if yes, determining a riding torque output instruction based on the current assistance ratio and the pedal torque, and reducing the torque output instruction to the riding torque output instruction in a preset time.
In an alternative embodiment of the present invention, the determining a riding torque output command based on the current assistance ratio and the pedal torque includes:
determining a riding torque output command based on the current assistance ratio and the pedal torque by:
T 3 ＝K 2 *T 1 ；
wherein T is 3 For outputting a command for the riding torque, T 1 For the pedal torque, K 2 For the current boost ratio.
In an alternative embodiment of the present invention, after the step of decrementing the torque output command to the riding torque output command within a preset time, the method further includes:
acquiring the rotation speed of a rear wheel;
determining a current chain drive ratio based on the pedal speed and the rear wheel speed;
and updating the pre-stored chain transmission ratio to the current chain transmission ratio.
In an alternative embodiment of the present invention, before the determining the current chain transmission ratio based on the pedal rotation speed and the rear wheel rotation speed, the method further includes:
acquiring the rotating speed of a motor and the gear ratio of the motor;
the pedal speed is determined based on the motor speed and the motor gear ratio.
According to another aspect of the present invention, there is provided an electric power-assisted vehicle including a power-assisted vehicle body, a pedal, a motor, a controller, a torque detecting member, and a pedal rotation speed detecting member;
the pedal, the motor, the controller, the torque detection piece and the pedal rotation speed detection piece are all arranged on the power-assisted vehicle main body;
the torque detection piece is used for detecting the torque of the pedal;
the pedal rotation speed detection piece is used for detecting the rotation speed of the pedal;
the torque detection part, the pedal rotating speed detection part and the motor are all electrically connected with the controller, and the controller is used for executing the starting control method of the electric power-assisted vehicle.
In an alternative embodiment of the present invention, the electric power assisted vehicle body includes a rear wheel, and the electric power assisted vehicle further includes any one of the following:
a weight detecting member for detecting a weight of a user;
the three-axis gyroscope is used for detecting the three-axis angular speed of the electric power-assisted vehicle;
the triaxial accelerometer is used for detecting triaxial acceleration of the electric power assisted vehicle;
the speed detection piece is used for detecting the whole vehicle speed and/or the rear wheel rotating speed of the electric booster vehicle.
According to the technical scheme, pedal torque and pedal rotating speed are obtained firstly, and then whether the pedal torque and the pedal rotating speed meet preset starting conditions or not is determined; if yes, obtaining a pre-stored chain transmission ratio, a current assistance ratio, a current user weight and a ground gradient; determining a torque output command based on the pre-stored chain drive ratio, the current boost ratio, the current user weight, the ground grade, and the pedal torque; and finally, outputting the torque output instruction to a motor. Because the pre-stored chain transmission ratio, the current boost ratio, the current user weight, the ground gradient, the pedal torque and the like are different, the motor output torque required in starting is also different, and the torque output command is determined based on the pre-stored chain transmission ratio, the current boost ratio, the current user weight, the ground gradient and the pedal torque, compared with the existing electric power assisted vehicle, the motor torque is made to be proportional to the pedal torque, so that the output torque of the motor is more in line with the actual situation, the problem that the starting acceleration is too fast due to insufficient stepping force or larger stepping force is solved, and the comfortable starting effect is realized.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a starting control method of an electric bicycle according to a first embodiment of the present invention;
fig. 2 is a flowchart of a starting control method of an electric bicycle according to a second embodiment of the present invention;
fig. 3 is a block diagram of an electric bicycle according to a third embodiment of the present invention;
fig. 4 is a block diagram of another electric bicycle according to the third embodiment of the present invention.
Wherein: 31. a controller; 32. a torque detecting member; 33. a pedal rotation speed detecting member; 34. a motor; 35. a three-axis gyroscope; 36. a three-axis accelerometer; 37. a speed detecting member; 38. a weight detecting member.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a starting control method of an electric power assisted vehicle according to a first embodiment of the present invention, where the method is applicable to a starting situation of an electric power assisted vehicle, and it should be noted that the electric power assisted vehicle of the present invention may also be referred to as a power assisted bicycle, E-BIKE, petele, a power assisted vehicle, etc.; the electric bicycle comprises a controller, and the controller of the electric bicycle can be used for executing the starting control method of the electric bicycle, as shown in fig. 1, comprising the following steps:
s110, acquiring pedal torque and pedal rotating speed.
The electric power-assisted vehicle generally has pedals, and torque is a special torque for rotating an object, and pedal torque refers to a torque generated by the pedals and capable of enabling rear wheels to rotate forward. The pedal rotation speed refers to the number of turns of the pedal in a unit time. There are various ways to obtain the pedal torque and the pedal rotation speed, for example, a torque detecting member is provided at the pedal for detecting the torque of the pedal, and a pedal rotation speed detecting member is provided for detecting the rotation speed of the pedal, and in a specific embodiment, the torque detecting member may be a torque sensor, and the pedal rotation speed detecting member may be a rotation speed sensor.
S120, determining whether the pedal torque and the pedal rotation speed meet preset starting conditions.
When the electric bicycle runs, a user is generally required to step on the pedal to indicate that the electric bicycle is ready to start, the motor outputs torque to start the electric bicycle, and in order to prevent the motor from being started by mistake, the torque and the rotating speed of the pedal are required to meet certain conditions to be determined as the ready to start. The preset starting condition refers to a condition that torque and rotation speed of a stepping should be met when the electric bicycle is ready to start.
If yes, execution is S130, if no, execution may continue to S120.
When the pedal torque and the pedal rotation speed satisfy the preset starting conditions, it is indicated that the vehicle is ready to start at this time, and the next step S130 is executed. When the pedal torque and the pedal rotation speed do not meet the preset starting conditions, the step is not ready for starting, and the step 120 is continuously executed, so that whether the step is ready for starting is continuously judged.
S130, acquiring a pre-stored chain transmission ratio, a current assistance ratio, a current user weight and a ground gradient.
Among them, an electric vehicle generally includes a rear wheel, and a pre-stored chain transmission ratio refers to a chain transmission ratio of an electric power-assisted vehicle pre-stored in advance, the chain transmission ratio=rear wheel rotation speed/pedal rotation speed.
Electric power assisted vehicles generally have a plurality of different gears, and the power assistance ratio of the electric power assisted vehicle in the different gears is different, and the current power assistance ratio refers to the power assistance ratio of the current gear, and the power assistance ratio=the motor output torque/pedal torque.
The current user weight refers to the weight of the user currently using the electric scooter.
The ground gradient refers to the current ground gradient of the electric bicycle, namely the pitch angle of the current bicycle.
The pre-stored chain transmission ratio, the current assistance ratio, the current user weight, the ground gradient and the like can be obtained simultaneously, or the pre-stored chain transmission ratio and the current assistance ratio can be obtained step by step, for example, the current user weight is obtained, the ground gradient is obtained finally, or four values are obtained simultaneously. The mode that obtains can be multiple, for example prestore chain transmission ratio and current helping hand ratio can prestore in the controller of electric power assisted vehicle, and electric power assisted vehicle usually has the instrument, and current user's weight user can be directly through instrument input, also can set up weight detection spare and detect current user's weight etc. on electric power assisted vehicle's seat. The ground gradient can also be detected by a sensor, and the order and mode of acquisition are not particularly limited.
S140, determining a torque output command based on the pre-stored chain transmission ratio, the current assistance ratio, the current user weight, the ground gradient and the pedal torque.
The torque output command is a command indicating a torque output from the motor. Because the pre-stored chain transmission ratio, the current assistance ratio, the current user weight, the ground gradient, the pedal torque and the like are different, the motor output torque required in starting is also different, and the torque output command is determined based on the pre-stored chain transmission ratio, the current assistance ratio, the current user weight, the ground gradient and the pedal torque, so that the output torque of the motor is more in line with the actual situation, and the starting is more comfortable.
And S150, outputting the torque output instruction to a motor.
The torque output command is a command for indicating the torque output by the motor, so that the motor can start and output corresponding torque according to the torque output command, and the power-assisted starting function is achieved.
According to the scheme, the pedal torque and the pedal rotating speed are firstly obtained, and then whether the pedal torque and the pedal rotating speed meet preset starting conditions or not is determined; if yes, obtaining a pre-stored chain transmission ratio, a current assistance ratio, a current user weight and a ground gradient; determining a torque output command based on the pre-stored chain drive ratio, the current boost ratio, the current user weight, the ground grade, and the pedal torque; and finally, outputting the torque output instruction to a motor, and outputting corresponding torque by the motor based on the torque output instruction. Because the pre-stored chain transmission ratio, the current boost ratio, the current user weight, the ground gradient, the pedal torque and the like are different, the motor output torque required in starting is also different, and the torque output command is determined based on the pre-stored chain transmission ratio, the current boost ratio, the current user weight, the ground gradient and the pedal torque, compared with the existing electric power assisted vehicle, the motor torque is made to be proportional to the pedal torque, so that the output torque of the motor is more suitable for the actual situation, the problem that the starting acceleration is too fast due to insufficient stepping force or larger stepping force is solved, and the more comfortable starting effect is realized.
In an alternative embodiment of the present invention, the determining whether the pedal torque and the pedal rotation speed meet a preset starting condition includes:
determining whether the pedal torque is greater than a preset torque threshold and whether the pedal speed is greater than a preset speed threshold.
And if the pedal torque is larger than the preset torque threshold and the pedal rotating speed is larger than the preset rotating speed threshold, determining that the pedal torque and the pedal rotating speed meet the preset starting condition.
And if the pedal torque is not greater than the preset torque threshold or the pedal rotating speed is not greater than the preset rotating speed threshold, determining that the pedal torque and the pedal rotating speed do not meet the preset starting condition.
The preset torque threshold value refers to a value which is larger than the pedal torque during starting, and the preset rotating speed threshold value refers to a value which is larger than the pedal rotating speed during starting.
When the pedal torque is larger than the preset torque threshold and the pedal rotating speed is larger than the preset rotating speed threshold, the pedal torque and the pedal rotating speed are both in accordance with the starting condition, and therefore it is determined that the pedal torque and the pedal rotating speed meet the preset starting condition.
When the pedal torque is not greater than the preset torque threshold or the pedal rotation speed is not greater than the preset rotation speed threshold, at least one of the pedal torque and the pedal rotation speed does not accord with the starting condition, so that the pedal torque and the pedal rotation speed are determined to not meet the preset starting condition.
In an alternative embodiment of the present invention, the obtaining the pre-stored chain transmission ratio, the current assistance ratio, the current user weight and the ground slope includes:
and obtaining a pre-stored chain transmission ratio, a current assistance ratio and a current user weight.
And acquiring triaxial angular velocity data obtained by triaxial gyroscope detection, wherein the triaxial angular velocity data comprises Y-axis angular velocity.
And acquiring triaxial acceleration data detected by a triaxial accelerometer, wherein the triaxial acceleration data comprise X-axis acceleration and Z-axis acceleration.
Determining a ground gradient based on the Y-axis angular velocity, the X-axis acceleration, and the Z-axis acceleration by:
θ 1 ＝K*angle+(1-K)*(θ 1 +gyroy*dt)；angle＝atan(accX/AccZ)。
wherein: gyroy is the Y-axis angular velocity; dt is the sampling time; k is the weight of the value of the triaxial accelerometer, accX is the X-axis acceleration; accZ is the Z-axis acceleration.
The three-axis gyroscope can measure the positions, the movement tracks and the accelerations in 6 directions at the same time, and can obtain angular velocities in a plurality of directions. There are various implementations of accelerometers, which can be mainly classified into piezoelectric, capacitive and thermal sensing types, classified by the number of input axes, including single-axis, double-axis and triaxial accelerometers. The triaxial accelerometer is based on the basic principle of acceleration to realize work, has the characteristics of small volume and light weight, can measure the spatial acceleration, and can comprehensively and accurately reflect the motion property of an object. Therefore, the three-axis angular velocity data and the three-axis acceleration data of the electric power-assisted vehicle can be respectively measured through the three-axis gyroscope and the three-axis accelerometer, the three-axis gyroscope and the three-axis accelerometer can be arranged on the vehicle body of the electric power-assisted vehicle in a specific detection mode, and the three-axis gyroscope and the three-axis accelerometer can detect the three-axis angular velocity data and the three-axis acceleration data of the electric power-assisted vehicle during the movement of the electric power-assisted vehicle.
Because the acceleration and the angular velocity of the electric bicycle during movement are correspondingly different when the gradients of the ground are different, the gradient of the ground can be conveniently obtained through the data measured by the triaxial gyroscope and the triaxial accelerometer through the formula. And then the torque output instruction is conveniently determined according to the ground gradient and other related data, and then the motor starts to assist, so that comfortable starting is realized.
In an alternative embodiment of the present invention, said determining a torque output command based on said pre-stored chain drive ratio, said current boost ratio, said current user weight, said ground grade, and said pedal torque comprises:
determining a torque output command based on the pre-stored chain gear ratio, the current assistance ratio, the current user weight, the ground grade, and the pedal torque by:
T 2 ＝γ 1 *K 1 *K 2 *T 1 +M 1 gsinθ。
wherein, gamma 1 To adjust the coefficient T 2 For the torque output command, K 1 K for the pre-stored chain transmission ratio 2 For the current boost ratio, T 1 For the pedal torque, M 1 And θ is the ground gradient for the current user weight.
Wherein, gamma 1 In order to adjust the coefficient, the torque output instruction T can be conveniently calculated and obtained by the above formula when knowing the pre-stored chain transmission ratio, the current assistance ratio, the current user weight, the ground gradient and the pedal torque 2 Outputting a proper torque output command T in time according to the calculated result when starting 2 The torque output command solves the problem that the electric bicycle with the speed change device needs to tread a larger force or the starting acceleration is too fast when starting due to different ground conditions, assistance ratios and the like according to the road conditions and the chain transmission ratio, the corresponding torque output command is output to the motor when the road conditions and the assistance ratios are different, the motor can output corresponding torque to assist based on the torque output command, comfortable starting is achieved, and user experience is improved.
Example two
Fig. 2 is a flowchart of a starting control method of an electric bicycle according to a second embodiment of the present invention, optionally, after the torque output command is output to the motor, the method further includes: acquiring the speed of the whole vehicle; determining whether the speed of the whole vehicle is greater than a preset normal riding threshold value; if yes, determining a riding torque output instruction based on the current assistance ratio and the pedal torque, and reducing the torque output instruction to the riding torque output instruction in a preset time. Based on this, as shown in fig. 2, the method includes:
s210, acquiring pedal torque and pedal rotating speed.
S220, determining whether the pedal torque and the pedal rotation speed meet preset starting conditions.
If yes, execution is S230, otherwise execution may continue with S220.
S230, obtaining a pre-stored chain transmission ratio, a current assistance ratio, a current user weight and a ground gradient.
S240, determining a torque output command based on the pre-stored chain transmission ratio, the current assistance ratio, the current user weight, the ground grade and the pedal torque.
S250, outputting the torque output command to a motor.
S260, acquiring the speed of the whole vehicle.
The speed of the whole vehicle refers to the speed of the electric power-assisted vehicle during running. The speed of the whole vehicle can be obtained in various ways, for example, a wheel speed sensor can be arranged on the rear wheel of the electric power-assisted vehicle to detect the speed, or a speed sensor can be arranged on the vehicle body to detect the speed, and the speed detection way is not particularly limited.
S270, determining whether the speed of the whole vehicle is greater than a preset normal riding threshold value.
If yes, S280 may be executed, and if not, S270 may be executed continuously.
The whole vehicle riding threshold value refers to a value that the speed of the whole electric power assisted vehicle is larger than a preset normal riding threshold value when the whole vehicle is in a whole vehicle riding state, and when the speed of the whole vehicle is larger than the preset normal riding threshold value, the whole vehicle of the electric power assisted vehicle is started and ended to enter the normal riding state, otherwise, the whole vehicle is not in the normal riding state, and the S270 is continuously executed to determine whether the speed of the whole vehicle is larger than the preset normal riding threshold value.
S280, determining a riding torque output instruction based on the current assistance ratio and the pedal torque, and reducing the torque output instruction to the riding torque output instruction within a preset time.
The riding torque output command refers to a command corresponding to the motor output torque in a normal riding state. The step of decreasing the torque output command to the riding torque output command within the preset time means that the torque output command is gradually decreased, and is just decreased to the riding torque output command after the preset time is reached.
When the electric bicycle is in a normal riding state, the riding state is less influenced by gradient and the like, at the moment, a riding torque output instruction is determined according to the current assistance ratio and the pedal torque, and meanwhile, the torque output instruction is reduced to the riding torque output instruction in a preset time, so that the electric bicycle can be smoothly transited from a starting state to the normal riding state, and the user experience is good. The preset time may be formulated according to the use requirement, and is not limited herein, and in a specific embodiment, may be 500ms.
According to the scheme, the speed of the whole vehicle is obtained after starting, and then whether the speed of the whole vehicle is larger than the preset normal riding threshold value is determined. And finally, when the speed of the whole vehicle is greater than a preset normal riding threshold, determining a riding torque output instruction based on the current assistance ratio and the pedal torque, and decrementing the torque output instruction to the riding torque output instruction in preset time, so that the vehicle can smoothly transition from a starting state to a normal riding state, and the experience of a user is better.
On the basis of the above embodiment, the determining a riding torque output command based on the current assistance ratio and the pedal torque includes:
determining a riding torque output command based on the current assistance ratio and the pedal torque by:
T 3 ＝K 2 *T 1 。
wherein T is 3 For outputting a command for the riding torque, T 1 For the pedal torque, K 2 For the current boost ratio.
Through the formula, the riding torque output command can be calculated under the condition that the pre-stored chain transmission ratio and the current assistance ratio are known.
In an alternative embodiment of the present invention, after the step of decrementing the torque output command to the riding torque output command within a preset time, the method further includes:
and acquiring the rotation speed of the rear wheel.
A current chain drive ratio is determined based on the pedal speed and the rear wheel speed.
And updating the pre-stored chain transmission ratio to the current chain transmission ratio.
The rear wheel rotating speed refers to the rotating speed of the rear wheel, and because the chain transmission ratio=the rear wheel rotating speed/the pedal rotating speed, the current chain transmission ratio can be conveniently determined according to the pedal rotating speed and the rear wheel rotating speed, and the pre-stored chain transmission ratio is updated to the current chain transmission ratio, so that a torque output instruction is conveniently obtained by calculating according to the riding chain transmission ratio in the next starting process, and the comfortable starting in the next starting process is facilitated.
On the basis of the above embodiment, before the determining of the current chain transmission ratio based on the pedal rotation speed and the rear wheel rotation speed, further includes:
and obtaining the motor rotating speed and the motor gear ratio.
The pedal speed is determined based on the motor speed and the motor gear ratio.
Wherein pedal speed = motor speed/motor gear ratio, therefore, when knowing motor speed and motor gear ratio, the pedal speed can be conveniently determined from the motor speed and the motor gear ratio.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
Example III
Fig. 3 is a block diagram of an electric bicycle according to a third embodiment of the present invention. As shown in fig. 3, the electric power-assisted vehicle includes a power-assisted vehicle body (not shown), a pedal (not shown), a motor 34, a controller 31, a torque detecting member 32, and a pedal rotation speed detecting member 33.
The pedal, the motor 34, the controller 31, the torque detecting member 32, and the pedal rotation speed detecting member 33 are all provided on the body of the booster vehicle.
The torque detecting member 32 is for detecting the torque of the pedal. The torque sensing element 32 may be a torque sensor that senses the torque on various rotating or non-rotating mechanical components. The torque sensor converts the physical change in torque force into an accurate electrical signal.
The pedal rotation speed detecting member 33 is for detecting the rotation speed of the pedal. The pedal rotation speed detecting member 33 may be any one of a magnetic encoder, a photoelectric encoder, a hall sensor, and a speed sensor.
The torque detecting member 32, the pedal rotation speed detecting member 33 and the motor 34 are all electrically connected with the controller 31, and the controller 31 is used for executing the electric power assisted vehicle starting control method according to any one of the embodiments of the present invention.
According to the scheme, the torque detection piece 32 and the pedal rotation speed detection piece 33 are arranged on the power-assisted vehicle main body, meanwhile, the torque detection piece 32, the pedal rotation speed detection piece 33 and the motor 34 are electrically connected with the controller 31, and the controller 31 can firstly acquire the pedal torque and the pedal rotation speed and then determine whether the pedal torque and the pedal rotation speed meet preset starting conditions or not; if yes, obtaining a pre-stored chain transmission ratio, a current assistance ratio, a current user weight and a ground gradient; determining a torque output command based on a pre-stored chain transmission ratio, a current assistance ratio, a current user weight, a ground grade, and a pedal torque; finally, a torque output command is output to the motor 34 to cause the motor 34 to start. Because the prestored chain transmission ratio, the current assistance ratio, the current user weight, the ground gradient, the pedal torque and the like are different, the output torque of the motor 34 required in starting is also different, and the torque output instruction is determined based on the prestored chain transmission ratio, the current assistance ratio, the current user weight, the ground gradient and the pedal torque, compared with the existing electric bicycle, the motor 34 torque is proportional to the pedal torque, so that the output torque of the motor 34 is more in line with the actual situation, the problem that the starting acceleration is too fast due to insufficient stepping force or larger stepping force is solved, and the more comfortable starting effect is realized.
In an alternative embodiment of the invention, the power assist vehicle body includes a rear wheel, as shown in fig. 4, and the electric power assist vehicle further includes any one of the following:
the weight detecting member 38 is configured to detect a weight of a user, wherein the weight detecting member 38 may be a weight sensor, and the power-assisted vehicle body includes a seat, and the weight sensor may be disposed on the seat, thereby being capable of conveniently detecting the weight of the user.
The tri-axis gyroscope 35 is used for detecting the tri-axis angular velocity of the electric power assisted vehicle. Among them, the three-axis gyroscope 35 can measure the positions, movement trajectories, and accelerations in 6 directions at the same time, and can obtain angular velocities in a plurality of directions. Therefore, the triaxial angular velocity of the electric power assisted vehicle can be conveniently detected by the triaxial gyroscope 35.
And a triaxial accelerometer 36 for detecting triaxial acceleration of the electric bicycle. There are various implementations of accelerometers, which can be largely categorized as piezoelectric, capacitive, and thermal sensing, and there are single, dual, and tri-axis accelerometers 36. The triaxial accelerometer 36 is based on the basic principle of acceleration to realize work, has the characteristics of small volume and light weight, can measure the spatial acceleration, and can comprehensively and accurately reflect the motion properties of an object. Therefore, the triaxial acceleration of the electric power assisted vehicle can be conveniently detected by the triaxial accelerometer 36.
The speed detecting part 37 is used for detecting the whole vehicle speed and/or the rear wheel rotating speed of the electric power-assisted vehicle. The speed detecting member 37 may be a wheel speed sensor, which may be provided on a hub of the rear wheel, so that the rear wheel rotational speed can be conveniently detected. Because the operation of the electric booster vehicle mainly depends on the operation of the rear wheels, the speed of the whole vehicle can be obtained according to the rotation speed of the rear wheels under the condition of knowing the diameter of the rear wheels. In another specific embodiment, the speed sensor may be directly disposed at other positions of the electric power assisted vehicle, for example, the vehicle body and the vehicle head, so as to directly detect the speed of the whole vehicle, and the specific structure and the disposed position of the speed detecting member 37 are not specifically limited.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (9)
1. The starting control method for the electric power assisted vehicle is characterized by comprising the following steps of:
acquiring pedal torque and pedal rotation speed;
determining whether the pedal torque and the pedal rotation speed meet a preset starting condition;
if yes, obtaining a pre-stored chain transmission ratio, a current assistance ratio, a current user weight and a ground gradient;
determining a torque output command based on the pre-stored chain drive ratio, the current boost ratio, the current user weight, the ground grade, and the pedal torque;
outputting the torque output command to a motor;
the determining a torque output command based on the pre-stored chain gear ratio, the current assistance ratio, the current user weight, the ground grade, and the pedal torque includes:
determining a torque output command based on the pre-stored chain gear ratio, the current assistance ratio, the current user weight, the ground grade, and the pedal torque by:
T 2 ＝γ 1 *K 1 *K 2 *T 1 +M 1 gsinθ；
wherein, gamma 1 To adjust the coefficient T 2 For the torque output command, K 1 K for the pre-stored chain transmission ratio 2 For the current boost ratio, T 1 For the pedal torque, M 1 And θ is the ground gradient for the current user weight.
2. The electric power assisted vehicle start control method according to claim 1, characterized in that the determining whether the pedal torque and the pedal rotation speed satisfy a preset start condition includes:
determining whether the pedal torque is greater than a preset torque threshold and whether the pedal rotational speed is greater than a preset rotational speed threshold;
if the pedal torque is greater than the preset torque threshold and the pedal rotation speed is greater than the preset rotation speed threshold, determining that the pedal torque and the pedal rotation speed meet a preset starting condition;
and if the pedal torque is not greater than the preset torque threshold or the pedal rotating speed is not greater than the preset rotating speed threshold, determining that the pedal torque and the pedal rotating speed do not meet the preset starting condition.
3. The electric vehicle launch control method of claim 1, wherein the obtaining a pre-stored chain transmission ratio, a current assistance ratio, a current user weight, and a ground slope comprises:
acquiring a pre-stored chain transmission ratio, a current assistance ratio and a current user weight;
acquiring triaxial angular velocity data obtained by triaxial gyroscope detection, wherein the triaxial angular velocity data comprises Y-axis angular velocity;
acquiring triaxial acceleration data detected by a triaxial accelerometer, wherein the triaxial acceleration data comprises X-axis acceleration and Z-axis acceleration;
determining a ground gradient based on the Y-axis angular velocity, the X-axis acceleration, and the Z-axis acceleration by:
θ 1 ＝K*angle+(1-K)*(θ 1 +gyroy*dt)；angle＝atan(accX/AccZ)；
wherein: gyroy is the Y-axis angular velocity; dt is the sampling time; k is the weight of the value of the triaxial accelerometer, accX is the X-axis acceleration; accZ is the Z-axis acceleration.
4. The electric power assisted vehicle start control method according to claim 1, characterized in that after the torque output instruction is output to the motor, the method further comprises:
acquiring the speed of the whole vehicle;
determining whether the speed of the whole vehicle is greater than a preset normal riding threshold value;
if yes, determining a riding torque output instruction based on the current assistance ratio and the pedal torque, and reducing the torque output instruction to the riding torque output instruction in a preset time.
5. The electric power assisted vehicle launch control method of claim 4, wherein said determining a riding torque output command based on said current assistance ratio and said pedal torque comprises:
determining a riding torque output command based on the current assistance ratio and the pedal torque by:
T 3 ＝K 2 *T 1 ；
wherein T is 3 For outputting a command for the riding torque, T 1 For the pedal torque, K 2 For the current boost ratio.
6. The electric power assisted vehicle launch control method of claim 4, wherein said decrementing said torque output command to said riding torque output command within a preset time further comprises:
acquiring the rotation speed of a rear wheel;
determining a current chain drive ratio based on the pedal speed and the rear wheel speed;
and updating the pre-stored chain transmission ratio to the current chain transmission ratio.
7. The electric power assisted vehicle launch control method of claim 6, wherein before said determining a current chain transmission ratio based on said pedal rotation speed and said rear wheel rotation speed, further comprising:
acquiring the rotating speed of a motor and the gear ratio of the motor;
the pedal speed is determined based on the motor speed and the motor gear ratio.
8. An electric power-assisted vehicle is characterized by comprising a power-assisted vehicle main body, a pedal, a motor (34), a controller (31), a torque detection piece (32) and a pedal rotation speed detection piece (33);
the pedal, the motor (34), the controller (31), the torque detection piece (32) and the pedal rotation speed detection piece (33) are all arranged on the power-assisted vehicle main body;
the torque detecting member (32) is for detecting a torque of the pedal;
the pedal rotation speed detecting member (33) is used for detecting the rotation speed of the pedal;
the torque detecting member (32), the pedal rotation speed detecting member (33) and the motor (34) are all electrically connected with the controller (31), and the controller (31) is configured to execute the electric power assisted vehicle start control method according to any one of claims 1 to 7.
9. The electric scooter of claim 8, wherein the scooter body includes rear wheels, the electric scooter further comprising any one of:
a weight detecting member (38) for detecting a weight of a user;
a triaxial gyroscope (35) for detecting triaxial angular velocity of the electric power-assisted vehicle;
a three-axis accelerometer (36) for detecting three-axis acceleration of the electric power assisted vehicle;
and the speed detection piece (37) is used for detecting the whole vehicle speed and/or the rear wheel rotating speed of the electric booster vehicle.
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| JPH06211179A (en) * | 1993-01-19 | 1994-08-02 | Aqueous Res:Kk | Power assisted bicycle |
| JP3642364B2 (en) * | 1996-03-29 | 2005-04-27 | 本田技研工業株式会社 | Bicycle regeneration control device with auxiliary power |
| JP2007230411A (en) * | 2006-03-02 | 2007-09-13 | Matsushita Electric Ind Co Ltd | Vehicle with auxiliary power |
| FR2915158B1 (en) * | 2007-04-19 | 2009-10-02 | Renault Sas | METHOD FOR ASSISTING AT THE SIDE MANEUVER FOR A VEHICLE |
| KR101209609B1 (en) * | 2010-11-12 | 2012-12-07 | 현대자동차주식회사 | Method for controlling motor power assist of electric bicycle |
| JP2015145238A (en) * | 2015-04-03 | 2015-08-13 | 太陽誘電株式会社 | Motor drive control device and electrically-assisted vehicle |
| CN109941390A (en) * | 2019-02-27 | 2019-06-28 | 天津三一友泰科技有限公司 | Moped intelligent-induction system |
| TWI770430B (en) * | 2019-10-24 | 2022-07-11 | 英屬開曼群島商睿能創意公司 | Electronic bicycle, transmission device, and operation method |
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Address after: No. 3 Gongye West Road, Songshan Lake Park, Dongguan City, Guangdong Province, 523000 Patentee after: Guangdong Gaobiao Intelligent Technology Co.,Ltd. Address before: No.3, Gongye West Road, Songshanhu high tech Industrial Development Zone, Dongguan City, Guangdong Province Patentee before: SHENZHEN GOBAO ELECTRONIC TECHNOLOGY Co.,Ltd. |