CN116118925A - Moped torque compensation method and device, moped and storage medium - Google Patents

Abstract

The present application relates to a torque compensation method and device for a power-assisted vehicle, a power-assisted vehicle and a storage medium. The method includes: obtaining all crank angles of the crank of the moped during motion; determining the crank angle change period according to the crank angle; determining the torque compensation value of the driving motor of the power-assisted bicycle according to the crank angle change period, wherein, during the crank angle change period, The torque of the crank first increases and then decreases, and the torque compensation value first decreases and then increases. By adopting the method, the crank torque can be compensated according to the torque compensation value, so as to make the input torque stable and ensure the stable electric power output of the moped.

Description

Moped torque compensation method, device, moped and storage medium

technical field

The present application relates to the technical field of mopeds, in particular to a torque compensation method and device for mopeds, mopeds, storage media and computer program products.

Background technique

Due to the convenience of use, mopeds such as power-assisted bicycles have begun to be used in people's lives. Assisted bicycles include conventional bicycle components integrated with an electric motor that can be used for propulsion, including assisting or supplementing pedal power supplied by the rider.

The pedaling crank of the moped belongs to a lever model that can move around a fulcrum. During the riding process of the moped, the output power of the motor of the moped is not stable.

Contents of the invention

Based on this, it is necessary to address the above technical problems and provide a moped torque compensation device, method, moped, computer readable storage medium and computer program product that can solve the problem of uneven output power of the motor of the moped.

In a first aspect, the present application provides a torque compensation method for a moped, the method comprising:

Obtain all crank angles of the crank of the moped during motion;

determining the crank angle variation period according to the crank angle;

Determine the torque compensation value of the driving motor of the power-assisted vehicle according to the crank angle change cycle, wherein, within the crank angle change cycle, the trend of the torque compensation value of the drive motor is different in different states, so that the drive motor outputs The torque is within the preset torque range.

In one of the embodiments, the crank angle change period includes the first state of the crank and the second state of the crank; the torque of the crank increases in the first state of the crank, and the corresponding torque of the drive motor of the moped compensates value decreases;

The torque of the crank decreases in the second state of the crank, and the corresponding torque compensation value of the driving motor of the power-assisted bicycle increases.

In one of the embodiments, the acquisition of all crank angles of the crank of the moped during motion includes:

Obtain the number of pulse signals generated between the crank passing through the set starting position twice;

The crank angle corresponding to each pulse signal is determined according to the number of pulse signals.

In one of the embodiments, the determining the torque compensation value of the driving motor of the power-assisted bicycle according to the crank angle variation period includes:

A crank angle variation period is determined according to the crank angle, and a torque compensation value of the driving motor of the power-assisted vehicle is determined according to a sine relationship of the crank angle during the crank angle variation period.

In one of the embodiments, it is characterized in that the determining the torque compensation value of the driving motor of the power-assisted vehicle according to the crank angle variation cycle includes:

A crank angle change cycle is determined according to the crank angle, and a torque compensation value of the driving motor of the power-assisted vehicle is determined according to a cosine relationship of the crank angle during the crank angle change cycle.

In the second aspect, the present application also provides a torque compensation device for a moped,

The device includes a torque sensor arranged on the moped and a controller connected to the torque sensor, wherein a hall sensor and a magnetic ring are integrated in the torque sensor, and the hall sensor is not attached to the crank of the moped The rotation rotates synchronously, the magnetic ring rotates synchronously with the crank rotation of the moped, and the Hall sensor and the magnetic ring are used to determine all crank angles during the crank movement of the moped;

The controller is configured to determine a crank angle change cycle according to the crank angle, and determine a torque compensation value of the driving motor of the power-assisted vehicle according to the crank angle change cycle, wherein, within the crank angle change cycle, different states The trends of the torque compensation values of the driving motors described below are different, so that the output torque of the driving motors is within a preset torque range.

In a third aspect, the present application also provides a moped. The booster bike includes a booster bike body and a booster bike torque compensation device,

The device includes a torque sensor arranged on the moped and a controller connected to the torque sensor, wherein a hall sensor and a magnetic ring are integrated in the torque sensor, and the hall sensor is not attached to the crank of the moped The rotation rotates synchronously, the magnetic ring rotates synchronously with the crank rotation of the moped, and the Hall sensor and the magnetic ring are used to determine all crank angles during the crank movement of the moped;

The controller is configured to determine a crank angle variation period according to the crank angle, and determine a torque compensation value of the driving motor of the power-assisted vehicle according to the crank angle variation period, wherein, in the crank angle

During the angle change period, the trend of the torque compensation value of the drive motor is different in different states, so that the torque output by the drive motor is within a preset torque range.

In a fourth aspect, the present application also provides a computer-readable storage medium. The computer-readable storage medium has a computer program stored thereon, and when the computer program is executed by a processor, the following steps are implemented:

0 Get all the crank angles of the crank of the moped during the movement;

determining the crank angle variation period according to the crank angle;

Determine the torque compensation value of the driving motor of the power-assisted vehicle according to the crank angle change cycle, wherein, within the crank angle change cycle, the trend of the torque compensation value of the drive motor is different in different states, so that the drive motor outputs The torque is within the preset torque range.

5 In the fifth aspect, the present application also provides a computer program product. said computer program product,

Including a computer program which, when executed by a processor, implements the following steps:

Obtain all crank angles of the crank of the moped during motion;

determining the crank angle variation period according to the crank angle;

Determine the torque compensation value of the drive motor of the power-assisted vehicle according to the crank angle change cycle, wherein, in the crank angle change cycle, the torque compensation value trend of the drive motor is different in different states, so that the drive The torque output by the motor is within a preset torque range.

The above-mentioned moped torque compensation method, device, moped, storage medium and computer program product obtain all crank angles of the crank of the moped during motion; according to the crank angle change period

The torque change of the crank is determined, and based on the torque change of the crank, the torque compensation value of the drive 5 motor of the moped is determined according to the crank angle. The crank torque is compensated according to the torque compensation value, so that the input torque is stable, and then the electric power output of the moped is stable.

Description of drawings

Fig. 1 is a schematic flow chart of a method for torque compensation of a moped in an embodiment;

Fig. 2 is a schematic diagram of the crank angle during the movement of the crank in one embodiment;

Fig. 3 is a schematic diagram of the change of the crank during the movement in one embodiment;

Fig. 4 is a schematic diagram of crank torque before compensation and torque after compensation in one embodiment;

Fig. 5 is a schematic flow chart of a torque compensation method for a moped in another embodiment;

Fig. 6 is a structural block diagram of a torque compensation device for a moped in an embodiment;

Fig. 7 is a structural block diagram of a torque compensation device for a moped in another embodiment;

Figure 8 is a diagram of the internal structure of a computer device in one embodiment.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

During the riding process of the moped, the pedaled crank belongs to a lever model that can move around the fulcrum, so the direction of the force applied to the crank changes, so the generated torque also changes. Since the crank belongs to the circular motion model, ideally, the torque sensed by the torque sensor is a sine wave that changes periodically, resulting in a fluctuating state of motor output, which is not stable enough. In order to solve the problem of unstable output power of the motor of the moped, a torque compensation method of the moped is proposed.

In one embodiment, as shown in FIG. 1 , a method for torque compensation of a moped is provided, and this embodiment is illustrated by taking the method applied to a moped. In this embodiment, the method includes the following steps:

Step 102, acquiring all the crank angles of the crank of the moped during its movement.

Wherein, crank is exactly the lever that the pedal of bicycle is connected, and the position of crank is exactly the position of pedal. The structure of the moped includes a moped body, a motor and a motor controller.

The crank angle refers to the absolute position of each crank state during the motion of the crank of the moped. The absolute position of the crank can be determined by determining the set initial position of the moped, and the absolute position of the crank during movement is determined according to the set initial position. The set initial position is preconfigured. The motion process of the crank of the moped may be a circular motion, and the crank angles obtained here may be all the crank angles of one round of the crank motion. The crank angle can be determined by a Hall-type sensor provided on the moped, or by other types of sensors, and the type of the sensor is not limited here.

For example, when it is detected that the crank passes the set starting position, a trigger signal is generated, and when the crank passes through different Hall sensors, the Hall sensor senses the crank, and a pulse signal is generated, and the pulse signal is sent to the processor , the processor counts according to the received pulse signal. When passing the initial position for the second time, the pulse count value of one revolution of the crank is obtained, and the crank angle of the crank at each pulse signal is obtained according to the pulse count value, and the initial position can be set according to actual needs. For example, the angle of one round of crank movement is 360°, and six pulses are generated during one round of crank movement, then the corresponding crank angles are 0°, 60°, 120°, 180°, 240° and 360°, and the absolute position. As shown in Figure 2, it includes all crank angles for one round of crank movement. Among them, zero crossing can be understood as the crank passing the initial position. According to the pulse count value generated between the current initial position and the next passing initial position, it can be determined All crank angles for one revolution of the crank.

Step 104, determine the crank angle variation period according to the crank angle.

Wherein, the crank angle change cycle refers to the change of the angle of the crank for one revolution. For example, the crank angle changes from 0 to 90°, from 90° to 180°, from 180° to 270°, and from 270° to 360° during the motion of the moped.

Step 106, determine the torque compensation value of the drive motor of the power-assisted vehicle according to the crank angle change cycle, wherein, within the crank angle change cycle, the trend of the torque compensation value of the drive motor is different under different states, so that the output torque of the drive motor is within the preset torque within range.

Wherein, the preset torque range may be set according to actual requirements. The torque of the torque sensor is compensated to keep the output power of the drive motor stable.

It can be understood that, during the movement of the crank, the motor assist is output by detecting the pedaling torque of the user. According to the way to determine the torque, as the crank angle of the crank changes continuously, the angle between the force applied on the crank and the arm also changes continuously, and the torque of the moped also changes with the angle, and the torque sensor on the moped senses The torque of the moped is also constantly changing. According to the change of the sensed torque, the output power of the moped corresponds to the torque, and the output power is also changing, resulting in unstable output power of the moped, increased energy consumption, and decreased efficiency, which in turn affects the motor. service life. In order to ensure a stable output power of the moped, that is, it is necessary to make the torque sensed by the torque sensor fluctuate within the set range, and it is necessary to compensate the pedaling torque of the user to assist the motor. Torque is a special moment that makes an object rotate.

Wherein, during the crank angle change cycle, the crank torque may first increase and then decrease, and the torque compensation value first decrease and then increase. When determining the torque compensation value, it is determined according to the crank angle corresponding to each crank state. As shown in Figure 3, when the crank exerts a fixed force, there are two torque-induced lowest points crank state 1 and crank state 3, and two torque-induced highest points crank state 2 and crank state State 4, crank state 1 is set to 0°, crank state 2 is 90°, crank state 3 is 180°, crank state 4 is 270°. In the interval 1 from crank state 1 to crank state 2, as the crank position changes, the torque becomes larger and larger, and the torque compensation value calculated according to the crank position becomes smaller and smaller. In the interval 2 from crank state 2 to crank state 3, as the crank position changes, the torque becomes smaller and smaller, and at this time, the torque compensation value calculated according to the crank position becomes larger and larger.

In the interval 3 from crank state 3 to crank state 4, as the crank position changes, the torque becomes larger and larger, and the torque compensation value calculated according to the crank position becomes smaller and smaller. In the interval 4 from crank state 4 to crank state 1, as the crank position changes, the torque becomes smaller and smaller, and at this time the torque compensation value calculated according to the crank position becomes larger and larger, as shown in Figure 4, for each crank After the torque of the state is compensated, the compensated torque is obtained, and the compensated torque fluctuates within the setting range. The fluctuation within the torque setting range after compensation can be understood as the torque remains stable after compensation.

Further, compensating the output of the torque sensor according to the torque compensation value can restore the real torque applied by the person, and make the power output output by the motor more stable. The torque generated by different road conditions is different. Relatively speaking, the torque on a flat road is relatively small, and the torque on a hill is relatively large. This embodiment is described by taking the moped driving on a flat road as an example.

In the above-mentioned moped torque compensation method, by obtaining all crank angles of the crank of the moped during motion; determining the torque change of the crank according to the crank angle change cycle, and determining the torque compensation value of the driving motor of the moped based on the crank torque change according to the crank angle . Compensate the output of the torque sensor according to the torque compensation value to make the input torque stable, thereby ensuring the power output of the moped is stable, and avoiding the response hysteresis caused by filtering, making the torque output more timely.

In one embodiment, the crank angle variation cycle includes a crank first state and a crank second state, the first crank state refers to a state in which the torque of the crank increases, and the second state of the crank refers to a state in which the torque of the crank decreases. When the torque of the crank increases in the first state of the crank, the corresponding torque compensation value of the drive motor of the bicycle decreases; when the torque of the crank decreases in the second state of the crank, the corresponding torque compensation value of the drive motor of the bicycle increases. By determining the torque compensation value of each crank state according to the crank angle, the crank torque is compensated to make the input torque stable.

In another embodiment, as shown in FIG. 5 , a method for compensating torque of a moped is provided, and this embodiment is illustrated by applying the method to a moped. In this embodiment, the method includes the following steps:

Step 502, acquiring the number of pulse signals generated between the crank passing through the set initial position twice.

Wherein, when the crank of the moped passes through the zero-point detection device, a zero-point signal will be triggered to indicate that the crank of the moped has passed the set initial position. The zero point signal can be a pulse signal, a magnetic field signal, an analog signal, an optical signal, etc. At this time, if the crank passes a Hall sensor during motion, it will be triggered to generate a pulse signal. The pulse signal is sent to the controller, and the controller counts according to the received pulse signal. When the starting position is passed for the second time, the pulse count value of one revolution of the crank is obtained. Wherein, the zero point detection device can be different types of sensors, and the zero point detection device does not rotate with the crank. The zero point detection device may be a zero point Hall sensor, and the zero point detection device does not rotate with the rotation of the crank, but is fixed at a designated position. When the crank is rotating, when the single-pole magnetic ring arranged on the torque sensor rotates one circle with the crank, the zero point detection device outputs a pulse as the set starting position.

Step 504, determine the crank angle corresponding to each pulse signal according to the number of pulse signals.

For example, as shown in Figure 2, the pulse between the two zero points is the pulse signal of the crank turning one revolution. Assuming that the zero point position is 0°, and there are 6 pulse signals in one circle, counting from the zero point, every time a pulse signal passes through, 60° will pass, and so on to obtain other crank positions. It can be understood that the more the number of pulses between two zero points, the higher the angular resolution and the finer the angle, and then the torque compensation value of each crank state can be determined according to the crank angle to make the input torque more stable.

Step 506, determine the change period of the crank angle according to the crank angle.

Step 508: Determine the torque compensation value of the driving motor of the power-assisted vehicle according to the crank angle change cycle, wherein, within the crank angle change cycle, the trend of the torque compensation value of the drive motor in different states is different, so that the output torque of the drive motor is within the preset torque within range.

Wherein, the crank angle change cycle is determined according to the crank angle, and the crank angle change cycle includes the first state of the crank and the second state of the crank; the torque of the crank increases in the first state of the crank, and the corresponding torque compensation value of the drive motor of the moped decreases; The torque of the crank decreases in the second state of the crank, and the corresponding torque compensation value of the driving motor of the power-assisted bicycle increases.

Determining the torque compensation value of the drive motor of the moped according to the crank angle change cycle can be achieved in at least one of the following ways:

Method 1: Determine the crank angle variation period according to the crank angle, and determine the torque compensation value of the drive motor of the moped according to the sine relationship of the crank angle during the crank angle variation period. Wherein, the sinusoidal relationship is preset. In the crank angle change period, the torque compensation value of the driving motor of the power-assisted vehicle is determined according to the crank angle sinusoidal relationship, satisfying that the torque compensation value decreases in the first state of the crank and increases in the second state.

Method 2: Determine the crank angle variation period according to the crank angle, and determine the torque compensation value of the driving motor of the moped according to the cosine relationship of the crank angle during the crank angle variation period. Wherein, the cosine relationship is preset. In the crank angle change cycle, the torque compensation value of the driving motor of the power-assisted vehicle is determined according to the sine relationship of the crank angle, so that the torque compensation value decreases in the first state of the crank and increases in the second state.

Method 3: Calculate the original torque value of each crank state, and obtain the torque compensation value of each crank state according to the torque difference between the original torque value of each crank state and the set torque value.

In the above-mentioned moped torque compensation method, by obtaining the number of pulse signals generated between the two passes of the crank through the set starting position, the crank angle corresponding to each pulse signal is determined according to the number of pulse signals, and the torque change of the crank is determined according to the change period of the crank angle. Based on the torque change of the crank, the torque compensation value of the driving motor of the power-assisted bicycle is determined according to the crank angle. The torque of the crank is compensated according to the torque compensation value, so that the input torque is stable, thereby ensuring a stable output power of the motor of the moped, and prolonging the service life of the motor.

It should be understood that although the steps in the flow charts involved in the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in the flow charts involved in the above embodiments may include multiple steps or stages, and these steps or stages are not necessarily executed at the same time, but may be executed at different times, The execution order of these steps or stages is not necessarily performed sequentially, but may be executed in turn or alternately with other steps or at least a part of steps or stages in other steps.

Based on the same inventive concept, an embodiment of the present application further provides a torque compensation device for a motorized vehicle for implementing the above-mentioned method for compensating the torque of a motorized vehicle. The solution to the problem provided by the device is similar to the implementation described in the above-mentioned method, so for the specific limitations in one or more embodiments of the power-assisted vehicle torque compensation device provided below, please refer to the above-mentioned method for the power-assisted vehicle torque compensation limited and will not be repeated here.

In one embodiment, as shown in FIG. 6 , a power-assisted vehicle torque compensation device is provided. The power-assisted vehicle torque compensation device includes a torque sensor arranged on the power-assisted vehicle and a controller connected to the torque sensor, wherein the torque sensor is integrated with a Hall Hall sensor and magnetic ring, the Hall sensor does not rotate synchronously with the crank rotation of the moped, the magnetic ring rotates synchronously with the crank rotation of the moped, the Hall sensor and the magnetic ring are used to determine all crank angles during the crank movement of the moped; The controller is used to determine the crank angle change cycle according to the crank angle, and determine the torque compensation value of the driving motor of the power-assisted vehicle according to the crank angle change cycle, wherein, within the crank angle change cycle, the trend of the torque compensation value of the drive motor is different under different states, Make the torque output by the drive motor within a preset torque range.

It can be understood that the number of Hall-type sensors can be set according to actual needs, for example, there can be two, and the number of Hall-type sensors is not limited here. The motion process of the crank of the moped can be a circular motion. The crank moves to different positions, and the corresponding crank angles are different. The angle of the crank determined at this time is a relative position. In order to accurately determine the absolute position of the crank during the motion, you can The starting position of the crank is determined, and based on the determined starting position, the absolute position of the crank during motion can be determined. The starting position of the crank can be determined by the pulse signal number of the pulse count. The pulse signal number is zero, and the default is the starting position of the crank. When the pulse signal number of the pulse count reaches the set count value, it indicates that the crank is moving A week to get to the starting position again.

The crank angle refers to the absolute position of the crank during motion, and the crank angle can be determined by a Hall sensor arranged on the torque sensor of the moped. When it is detected that the crank passes the initial position, a trigger signal is generated. When the crank passes the Hall sensor, the Hall sensor senses the crank, and a pulse signal is generated, which is sent to the controller. The received pulse signal is counted. When passing through the starting position for the second time, the pulse count value of one revolution of the crank is obtained, and the crank angle of the crank at each pulse signal is obtained according to the pulse count value. For example, the angle of one round of crank movement is 360°, and six pulses are generated during one round of crank movement, then the corresponding crank angles are 0°, 60°, 120°, 180°, 240° and 360°, and the absolute position.

During the operation of the moped, the driving force comes from the driving force output by the motor and/or the driving force applied by the person. The torque of the moped changes with the movement of the crank during the driving process, and the output power of the motor of the moped also changes. , in order to ensure the stable output power of the motor of the moped, it is necessary to perform torque compensation for each position during the crank movement.

The above is through the torque sensor arranged on the moped and the controller connected to the torque sensor, wherein the torque sensor is integrated with a Hall sensor and a magnetic ring, the Hall sensor does not rotate synchronously with the crank rotation of the moped, and the magnetic ring follows the rotation of the moped. The crank rotates synchronously, and the crank angle of the crank of the moped is determined based on the Hall sensor. According to the change cycle of the crank angle during the exercise, it is determined that the torque compensation value of the driving motor of the moped changes periodically, so that the input torque is stable, and then the power output of the moped is stable.

In one embodiment, the crank angle change period includes the first state of the crank and the second state of the crank; the torque of the crank increases in the first state of the crank, and the corresponding torque compensation value of the drive motor of the power-assisted bicycle decreases; The second state decreases, and the corresponding torque compensation value of the driving motor of the power-assisted vehicle increases.

In another embodiment, a power-assisted vehicle torque compensation device is provided, including a torque sensor arranged on the power-assisted vehicle and a controller connected to the torque sensor, wherein the torque sensor is integrated with a Hall-type sensor and a magnetic ring, and the Hall The sensor does not rotate synchronously with the crank rotation of the moped, but the magnetic ring rotates synchronously with the crank rotation of the moped.

As shown in Figure 7, a schematic structural diagram of a torque sensor is provided. Two Hall sensors and two magnetic rings are integrated in the torque sensor, wherein one Hall sensor is a zero-point Hall sensor, and the other Hall sensor is Hall-type sensor is a pulse Hall-type sensor, one magnetic ring is a unipolar pair of magnetic rings, and the other magnetic ring is a multi-pair magnetic ring; the zero-point Hall-type sensor is used to output a zero-point signal and Determine the set starting position, and send the zero point signal to the controller, so that the controller responds to the zero point signal, and determine all crank angles between the two passes of the crank through the set starting position, according to the crank angle change cycle of all crank angles Determine the torque compensation value of the drive motor of the moped; all crank angle pulse Hall sensors are determined based on multi-pole magnetic rings. In other words, the torque sensor contains two magnetic rings and two Hall sensors, the Hall sensor does not move, and the two magnetic rings rotate synchronously with the rotation of the crank. Among them, the outer magnetic ring is a single-pole magnetic ring, and when it rotates one circle, the zero-point Hall outputs a pulse as the initial position detection. The inner ring is a multi-pole magnetic ring. Assuming there are 32 pairs of poles, then the magnetic ring rotates once, and the pulse hall will output 32 pulses, which can be used as the calculation of the current position to obtain all the crank angles of the crank during motion.

It can be understood that the zero-point Hall-type sensor can also be understood as a zero-point detection device. The zero-point detection device is arranged inside the torque sensor, and the magnetic poles of the single-pole magnetic ring are set corresponding to the position of the crank. When the zero-point Hall-type sensor detects a single When the signal of the polar magnetic ring is detected, the corresponding position of the crank is detected. The zero point detection device can also be arranged outside the torque sensor to directly detect the corresponding position of the crank. For example, photoelectric sensor, electromagnetic sensor or metal sensor detects the signal when the crank rotates, and transmits it to the controller. The controller knows the position of the crank at this time and controls it as the zero position. Among them, based on the crank angle change cycle, the torque compensation value of the drive motor of the power-assisted vehicle is determined according to the crank angle of each crank state. The torque compensation value of the drive motor of the power-assisted vehicle is determined according to the sine relationship of the crank angle, and the power-assisted vehicle can also be determined according to the cosine relationship of the crank angle. The torque compensation value of the drive motor.

The aforementioned moped torque compensating device detects that the crank passes the set initial position by setting the zero point detection device, obtains the number of pulse signals generated between the two passes of the crank through the set initial position, and determines each pulse signal corresponding to the number of pulse signals according to the number of pulse signals. The crank angle is based on the torque change of the crank, and the torque compensation value of the driving motor of the moped is determined according to the crank angle. The absolute position of the state of the crank is determined by setting a zero-point detection device, and the torque of the crank is compensated according to the torque compensation value, so that the input torque is stable, thereby ensuring that the electric power output of the moped is stable.

Each module in the torque compensation device of the above-mentioned power-assisted vehicle can be fully or partially realized by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, and can also be stored in the memory of the computer device in the form of software, so that the processor can invoke and execute the corresponding operations of the above-mentioned modules.

In one embodiment, a power-assisted vehicle is provided, including a power-assisted vehicle body and the above-mentioned power-assisted vehicle torque compensating device.

In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure may be as shown in FIG. 8 . The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Wherein, the processor of the computer device is used to provide calculation and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, mobile cellular network, NFC (Near Field Communication) or other technologies. When the computer program is executed by the processor, a method for a power-assisted vehicle torque compensation device is realized. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device may be a touch layer covered on the display screen, or a button, a trackball or a touch pad provided on the casing of the computer device , and can also be an external keyboard, touchpad, or mouse.

Those skilled in the art can understand that the structure shown in FIG. 8 is only a block diagram of a partial structure related to the solution of this application, and does not constitute a limitation on the computer equipment to which the solution of this application is applied. The specific computer equipment can be More or fewer components than shown in the figures may be included, or some components may be combined, or have a different arrangement of components.

In one embodiment, a computer device is provided, including a memory and a processor, a computer program is stored in the memory, and the processor implements the following steps when executing the computer program:

Obtain all crank angles of the crank of the moped during motion;

Determine the crank angle change cycle according to the crank angle;

Determine the torque compensation value of the driving motor of the power-assisted vehicle according to the crank angle change cycle, wherein, in the crank angle change cycle, the torque compensation value trend of the drive motor is different under different states, so that the output torque of the drive motor is within a preset within the torque range.

In one embodiment, the processor also implements the following when executing the computer program:

The crank angle change cycle includes the first state of the crank and the second state of the crank; the torque of the crank increases in the first state of the crank, and the corresponding torque compensation value of the driving motor of the moped decreases;

The torque of the crank decreases in the second state of the crank, and the corresponding torque compensation value of the driving motor of the power-assisted bicycle increases.

In one embodiment, the following steps are also implemented when the processor executes the computer program:

Obtain the number of pulse signals generated between the crank's two passes through the set starting position;

The crank angle corresponding to each pulse signal is determined according to the number of pulse signals.

In one embodiment, the following steps are also implemented when the processor executes the computer program:

The crank angle change period is determined according to the crank angle, and in the crank angle change period, the torque compensation value of the drive motor of the power-assisted bicycle is determined according to the sinusoidal relationship of the crank angle.

In one embodiment, the following steps are also implemented when the processor executes the computer program:

The crank angle change period is determined according to the crank angle, and in the crank angle change period, the torque compensation value of the driving motor of the power-assisted bicycle is determined according to the cosine relationship of the crank angle.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

Obtain all crank angles of the crank of the moped during motion;

Determine the crank angle change cycle according to the crank angle;

Determine the torque compensation value of the driving motor of the power-assisted vehicle according to the crank angle change cycle, wherein, in the crank angle change cycle, the torque compensation value trend of the drive motor is different under different states, so that the output torque of the drive motor is within a preset within the torque range.

In one embodiment, the computer program also implements the following when executed by the processor:

The crank angle change cycle includes the first state of the crank and the second state of the crank; the torque of the crank increases in the first state of the crank, and the corresponding torque compensation value of the driving motor of the moped decreases;

The torque of the crank decreases in the second state of the crank, and the corresponding torque compensation value of the driving motor of the power-assisted bicycle increases.

In one embodiment, when the computer program is executed by the processor, the following steps are also implemented:

Obtain the number of pulse signals generated between the crank's two passes through the set starting position;

The crank angle corresponding to each pulse signal is determined according to the number of pulse signals.

In one embodiment, when the computer program is executed by the processor, the following steps are also implemented:

The crank angle change period is determined according to the crank angle, and in the crank angle change period, the torque compensation value of the drive motor of the power-assisted bicycle is determined according to the sinusoidal relationship of the crank angle.

In one embodiment, when the computer program is executed by the processor, the following steps are also implemented:

The crank angle change period is determined according to the crank angle, and in the crank angle change period, the torque compensation value of the driving motor of the power-assisted bicycle is determined according to the cosine relationship of the crank angle.

In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

Obtain all crank angles of the crank of the moped during motion;

Determine the crank angle change cycle according to the crank angle;

Determine the torque compensation value of the driving motor of the power-assisted vehicle according to the crank angle change cycle, wherein, in the crank angle change cycle, the torque compensation value trend of the drive motor is different under different states, so that the output torque of the drive motor is within a preset within the torque range.

In one embodiment, the computer program also implements the following when executed by the processor:

The crank angle change cycle includes the first state of the crank and the second state of the crank; the torque of the crank increases in the first state of the crank, and the corresponding torque compensation value of the driving motor of the moped decreases;

The torque of the crank decreases in the second state of the crank, and the corresponding torque compensation value of the driving motor of the power-assisted bicycle increases.

In one embodiment, when the computer program is executed by the processor, the following steps are also implemented:

Obtain the number of pulse signals generated between the crank's two passes through the set starting position;

The crank angle corresponding to each pulse signal is determined according to the number of pulse signals.

In one embodiment, when the computer program is executed by the processor, the following steps are also implemented:

The crank angle change period is determined according to the crank angle, and in the crank angle change period, the torque compensation value of the drive motor of the power-assisted bicycle is determined according to the sinusoidal relationship of the crank angle.

In one embodiment, when the computer program is executed by the processor, the following steps are also implemented:

The crank angle change period is determined according to the crank angle, and in the crank angle change period, the torque compensation value of the driving motor of the power-assisted bicycle is determined according to the cosine relationship of the crank angle.

It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all Information and data authorized by the user or fully authorized by all parties.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above-mentioned embodiments can be completed by instructing related hardware through computer programs, and the computer programs can be stored in a non-volatile computer-readable memory In the medium, when the computer program is executed, it may include the processes of the embodiments of the above-mentioned methods. Wherein, any reference to storage, database or other media used in the various embodiments provided in the present application may include at least one of non-volatile and volatile storage. Non-volatile memory can include read-only memory (Read-Only Memory, ROM), tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive variable memory (ReRAM), magnetic variable memory (Magnetoresistive Random Access Memory, MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (Phase Change Memory, PCM), graphene memory, etc. The volatile memory may include random access memory (Random Access Memory, RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the various embodiments provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a blockchain-based distributed database, etc., but is not limited thereto. The processors involved in the various embodiments provided by this application can be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, data processing logic devices based on quantum computing, etc., and are not limited to this.

The technical features of the above embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered to be within the range described in this specification.

The above-mentioned embodiments only express several implementation modes of the present application, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be determined by the appended claims.

Claims (10)

1. A method of torque compensation for a power assisted vehicle, the method comprising:

acquiring all crank angles of a crank of the power-assisted vehicle in the motion process;

determining a crank angle variation period from the crank angle;

and determining a torque compensation value of a driving motor of the power-assisted vehicle according to the crank angle change period, wherein in the crank angle change period, the trends of the torque compensation values of the driving motor are different in different states, so that the torque output by the driving motor is in a preset torque range.

2. The method of claim 1, wherein the crank angle change period comprises a crank first state and a crank second state; the moment of the crank is increased in the first state of the crank, and the torque compensation value of the driving motor of the corresponding power-assisted vehicle is reduced;

and the moment of the crank is reduced in the second state of the crank, and the torque compensation value of the driving motor of the corresponding power-assisted vehicle is increased.

3. The method of claim 1, wherein the acquiring all crank angles of the crank of the power assisted vehicle during the movement comprises:

acquiring the number of pulse signals generated between two times of crank passing through a set starting position;

and determining the crank angle corresponding to each pulse signal according to the pulse signal number.

4. A method according to any one of claims 1 to 3, wherein said determining a torque compensation value of a drive motor of the power-assisted vehicle according to the crank angle variation period includes:

and determining a crank angle change period according to the crank angle, and determining a torque compensation value of a driving motor of the power-assisted vehicle according to the sine relation of the crank angle in the crank angle change period.

5. A method according to any one of claims 1 to 3, wherein said determining a torque compensation value of a drive motor of the power-assisted vehicle according to the crank angle variation period includes:

and determining a crank angle change period according to the crank angle, and determining a torque compensation value of a driving motor of the power-assisted vehicle according to the cosine relation of the crank angle in the crank angle change period.

6. The device is characterized by comprising a torque sensor arranged on a power-assisted vehicle and a controller connected with the torque sensor, wherein a Hall sensor and a magnetic ring are integrated in the torque sensor, the Hall sensor does not synchronously rotate along with the rotation of a crank of the power-assisted vehicle, the magnetic ring synchronously rotates along with the rotation of the crank of the power-assisted vehicle, and the Hall sensor and the magnetic ring are used for determining all crank angles in the crank movement process of the power-assisted vehicle;

the controller is used for determining a crank angle change period according to the crank angle, and determining a torque compensation value of a driving motor of the power-assisted vehicle according to the crank angle change period, wherein in the crank angle change period, the trends of the torque compensation values of the driving motor in different states are different, so that the torque output by the driving motor is in a preset torque range.

7. The apparatus of claim 6, wherein the crank angle change period comprises a crank first state and a crank second state; the moment of the crank is increased in the first state of the crank, and the torque compensation value of the driving motor of the corresponding power-assisted vehicle is reduced;

and the moment of the crank is reduced in the second state of the crank, and the torque compensation value of the driving motor of the corresponding power-assisted vehicle is increased.

8. The device of claim 6, wherein two hall-type sensors and two magnetic rings are integrated in the torque sensor, wherein one hall-type sensor is a zero hall-type sensor, the other hall-type sensor is a pulse hall-type sensor, one magnetic ring is a single pole pair magnetic ring, and the other magnetic ring is a plurality of pairs of pole magnetic rings; the zero hall type sensor is used for outputting a zero signal and determining a set starting position according to the monopole pair magnetic ring, and sending the zero signal to the controller so that the controller responds to the zero signal, all crank angles between the crank passing through the set starting position twice are determined, and torque compensation values of driving motors of the power-assisted vehicles are determined according to crank angle change periods of all crank angles; the pulse hall sensor is determined based on the plurality of pairs of polar magnetic rings for all crank angles.

9. A power assisted vehicle characterized by comprising a power assisted vehicle body and a power assisted vehicle torque compensating device as claimed in any of claims 6 to 8.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 5.

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