CN104149656B - The voltage difference that speed signal adds model processor divides control force aid system - Google Patents
The voltage difference that speed signal adds model processor divides control force aid system Download PDFInfo
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- CN104149656B CN104149656B CN201410408449.1A CN201410408449A CN104149656B CN 104149656 B CN104149656 B CN 104149656B CN 201410408449 A CN201410408449 A CN 201410408449A CN 104149656 B CN104149656 B CN 104149656B
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Abstract
The voltage difference that speed signal of the present invention adds model processor divides control force aid system to belong to the differential front-wheel for power-assisted electricity and trailing wheel difference distribution morpet power-supply controller system.Comprise two wheels and two motors of electric booster bicycle, shift signal manual mode controller, also comprises differential distributing box, and differential distributing box comprises three modules be connected successively; First module is carried out numeric ratio to the original input signal feedback control signal electric current I A for controlling and feedback control signal electric current I B and is comparatively processed; The pattern function that the car average rate signal behavior of the second module average rate device has set in pattern function holder carries out pattern function process to the data of the first module; It is controller A and controller B that 3rd module distributes to controlled electrical equipment to pattern function process.Advantage: carry out differential control power supply to front and back wheel two motors of morpet, the content of differential control is exactly the pattern function process of setting in advance.
Description
Technical field
The invention belongs to the assist controller system, particularly front wheel of electric assisted bicycle and trailing wheel all to give and distribute morpet power-supply controller system with the differential front-wheel for power-assisted electricity and trailing wheel difference.
Background technology
The Chinese patent 201210011641.8 of Hunan Shengtong Technology Group Co., Ltd's application proposes a kind of double wheel hub motor driven systems adaptive equalization rotating direction control method, but does not provide the technical design of electronic differential application specific processor.
Chinese patent 201110358020.2 1 kinds of double wheel hub motor electronic differentials of Hunan Shengtong Technology Group Co., Ltd's application and speed governing Centralized Controller, but there is no the specific design of electronic differential module.
Hitachi Co., Ltd 01122460.6 disclosed herein is a kind of change-speed box, it comprise for by the energy distribution of a drive source to the mechanism of many boxs of tricks; The many motors be connected with described many boxs of tricks respectively; With the mechanism for combining the energy exported from described many boxs of tricks.But there is no the specific design of electronic differential module.
The Chinese patent 201210399458.X of Chengdu Lian Teng power control Technology Co., Ltd. application discloses a kind of Double Motor Control device having electronic differential function, but does not have the specific design of electronic differential module.
The multinomial Chinese patents such as Chinese patent 03123625.1 automatic shifting controller for bicycle of Shimano KK's application, being all the method for Mechanical course speed change, is not electron steering speed change.
Summary of the invention
The object of this invention is to provide front-wheel and trailing wheel dynamic stress two key elements, and the morpet power-supply controller system of these three key element determination front-wheels of the boosted vehicle average rate key element of the speed of a motor vehicle and trailing wheel difference distribution power supply.And be that speed of a motor vehicle key element selects Controlling model function, speed of a motor vehicle key element does not participate in pattern function and calculates, only front-wheel and trailing wheel dynamic stress two key elements Controlling model function calculate, and pattern function simplifies, the morpet difference power-supply controller system that computation speed is fast.
Structure of the present invention is:
The voltage difference that speed signal adds model processor divides control force aid system, it is characterized in that: two wheels comprising electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and drive the motor B of wheel B, comprise the average rate device 20 of electric booster bicycle, it is characterized in that: also comprise differential distributing box 1, vehicle speed signal sensor 12 and average rate device 20; Vehicle speed signal sensor 12 is connected with average rate device 20, and average rate device 20 is that the speed signal of vehicle speed signal sensor 12 in certain hour is become the signal processor of average velociity in this certain hour.
Be connected with controller A between differential distributing box 1 with motor A, controller A differential distributing box 1 give with control signal control electrical source of power wheel A powered;
Be connected with controller B between differential distributing box 1 with motor B, controller B differential distributing box 1 give with control signal control electrical source of power wheel B powered;
Between motor A and controller A, negate feedforward control signal electric current I A inputs the current values comparator 9 of differential distributing box 1;
Between motor B and controller B, negate feedforward control signal electric current I B inputs the current values comparator 9 of differential distributing box 1;
The car average rate signal IS of average rate device 20 inputs the pattern function holder 11 of differential distributing box 1.
On morpet, vehicle speed signal sensor 12 is fixed on morpet to experience this morpet moving velocity, export the sensor representing speed of a motor vehicle electric signal.
The average velociity that average rate device 20 exports is floating signal, float and be meant to: if the average velociity within setting average rate device 20 is got at that time front 5 seconds, then the average velociity of latter a second will add this speed of latter one second and the speed removed first 6th second will calculate average velociity within 5 seconds.The floating meaning is exactly that average velociity is at any time with the floating change of the speed of a motor vehicle.
Differential distributing box 1 comprises three modules be connected successively;
First module is carried out numeric ratio to the original input signal feedback control signal electric current I A for controlling and feedback control signal electric current I B and is comparatively processed;
The pattern function that the car average rate signal behavior of the second module average rate device 20 has set in pattern function holder 11 carries out pattern function process to the data of the first module;
It is controller A and controller B that 3rd module distributes to controlled electrical equipment to pattern function process.
First module: two input ends of current values comparator 9 connect feedback control signal electric current I A and feedback control signal electric current I B respectively; IA and IB is the original control current signal of received current digital comparator 9 respectively; Two mouths of current values comparator 9 connect IA > IB difference model data handler 7 and IA < IB difference model data handler 8 respectively.
Its effect is, current values comparator 9 is the two-way continually varying feedback control signal electric current I A of input, feedback control signal electric current I B becomes the digital signal of one group of difference value, with two kinds of vector signals a certain obtaining IA > IB or IA < IB, current values comparator 9 is by the digital signal of this difference value, IA, IB and IA > IB vector signal is transferred to difference model data handler 7, or current values comparator 9 is by the digital signal of this difference value, IA, IB and IA < IB vector signal is transferred to difference model data handler 8, the digital signal of difference value is hereinafter referred to as digital signal.
Current values comparator 9 subtracts IB with IA exactly, and the plus or minus of its difference is as vector, and the absolute value of difference is as digital signal, so digital signal is a value, is scalar.This is convenient at digital signal value identical, and vector is different, also can obtain different Controlling model and export, make Controlling model more can adapt to be controlled the needs of thing.
IA and IB is for controlling two target electric appliances, as electrical motor, or two current controling signals for controlling two strong power controllers; Digital signal is the difference that current values comparator 9 couples of IA, IB carry out reduction algorithms process, so digital signal can enter follow-up function value computing as scalar.Current controling signal IA and IB not only can have size variation, can also change in direction, but digital signal only has size variation.
Second module: IA > IB difference model data handler 7 connects current values comparator 9 and pattern function holder 11 respectively; And IA < IB difference model data handler 8 also connects current values comparator 9 and pattern function holder 11 respectively.
Pattern function holder 11 also connects average rate device 20, the car average rate signal IS input model function holder 11 of average rate device 20, selects in the pattern function input IA > IB difference model data handler 7 and input IA < IB difference model data handler 8 belonging to some car average rate signal IS in pattern function holder 11.
Its effect is;
As IA > IB, start IA > IB difference model data handler 7, the IA > IB vector signal data exported with the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, current values comparator 9, carry out calculation process in the pattern function mated with this digital signal and this vector signal stored in the pattern function holder 11 that substitution car average rate signal IS selects; And the IA > IB vector signal data exported with the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, current values comparator 9, carry out calculation process in the pattern function mated with this digital signal and this vector signal stored in the pattern function holder 11 that substitution car average rate signal IS selects; Obtain two the IA > IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data yIAn of IA > IB is obtained, with the data that this two subsequent module of the IB control data yIBn of IA > IB, yIAn and yIBn will use; Its function line of yIAn and yIBn is:
YIAn=f(IA > IB vector, digital signal n, IAn);
YIBn=f(IA > IB vector, digital signal n, IBn).
Digital signal n and IAn is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n.
Or, as IA < IB, start IA < IB difference model data handler 8, the IA < IB vector signal data exported with the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, current values comparator 9, carry out calculation process in the pattern function mated with this digital signal and this vector signal stored in the pattern function holder 11 that substitution car average rate signal IS selects; And the IA < IB vector signal data exported with the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, current values comparator 9, carry out calculation process in the pattern function mated with this digital signal and this vector signal stored in the pattern function holder 11 that substitution car average rate signal IS selects; Obtain two the IA < IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data yIAn of IA < IB is obtained, with the data that this two subsequent module of the IB control data yIBn of IA < IB, yIAn and yIBn will use; Its function line of yIAn and yIBn is:
YIAn=f(IA < IB vector, digital signal n, IAn);
YIBn=f(IA < IB vector, digital signal n, IBn).
Digital signal n and IAn is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n.
Digital signal in above-mentioned pattern function includes the content of IS, IA and IB, i.e. digital signal but also be the function of IS, IA and IB.Digital signal=f(IS, IA, IB).
The calculating of above-mentioned pattern function is: first go to select pattern function corresponding to IS value in pattern function holder 11 by IS value, the value of IS does not participate in pattern function, then the pattern function that IS selects is inputted in IA > IB difference model data handler 7 and IA < IB difference model data handler 8, the some difference model data handlers in IA > IB difference model data handler 7 or IA < IB difference model data handler 8 are selected according to vector, yIAn and yIBn is calculated in some difference model data handlers.YIAn and yIBn is last for controlling the original data of former and later two motors of morpet.
Above-mentioned pattern function at identical vectorial sum digital signal value, during different I A and IB, can obtain one group of different control signal yIAn and yIBn.In function yIAn, digital signal is implied with IBn and IS content, and IBn and ISn does not participate in pattern function calculating, make its easier Modling model function, or pattern function is fairly simple; And if without digital signal, directly use IA, IB, IS very not easily Modling model function, the pattern function of foundation is very complicated.In like manner, in function yIBn, digital signal is implied with IAn and IS content, is the method for drawing for simplifying Modling model function.
3rd module: the input end of data distributor 10 is connected with IA > IB difference model data handler 7 and IA < IB difference model data handler 8 respectively, the mouth of data distributor 10 is connected with D and A converter 16, and the mouth of D and A converter 16 is connected with strong power controller A and strong power controller B respectively; Realize the object that difference controller controls strong power controller A and strong power controller B.
Its effect is; The control data yIAn in groups that data distributor 10 inputs IA > IB difference model data handler 7 and yIBn distributes to strong power controller A and strong power controller B respectively, or control data yIAn in groups and the yIBn of the input of IA < IB difference model data handler 8 distribute to strong power controller A and strong power controller B respectively, namely yIAn distributes to strong power controller A, then yIBn distributes to strong power controller B; D and A converter 16 carries out digital to analogy conversion respectively the digital signal yIAn and yIBn distributing control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can use, finally these two control voltage signals is sent to two corresponding strong power controllers;
The car average rate signal IS, the feedback control signal electric current I A and feedback control signal electric current I B that realize average rate device 20 control power supply by difference controller to the difference that strong power controller A and strong power controller B carries out regulation pattern function, electrical source of power of controlling well provides different power supplies to wheel A and wheel B, even if make wheel A and wheel B stressed unequal, also the work of two motor couplings can be obtained, the effect of morpet two wheel balance motions.
General trailing wheel is stressed many, and power supply is many, and front-wheel is stressed few, and power supply is few.For different car average rate, the difference size of powering how many is different again, so want IS, IA and IB tri-to control former key element.The weight of people on morpet is constant, front-wheel or certain wheel of trailing wheel stressed large time, power consumption electric current can increase at once, feedback control signal electric current also increases at once, the former difference relationship of IA and IB is changed, new IS, IA and IB tri-controls former key element input difference and controls boosted vehicle system, difference controls boosted vehicle system through controlling the pattern function that former key element matches calculate with these three, export and to control two control voltage signals that former key element matches with these three respectively to the motor of front-wheel and trailing wheel, even if make wheel A and wheel B stressed unequal, also the work of two motor couplings can be obtained, the effect of morpet two wheel balance motions.
Due to different electric controller A and strong power controller B, require the control voltage signal of different voltage range, D and A converter 16 is exactly according to different electric controller A and strong power controller B, and digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can use.So D and A converter 16 is indispensable.
All right, IA > IB difference model data handler 7 is connected with data distributor 10 by corner parameter Processor 30 with IA < IB difference model data handler 8, and corner parameter Processor 30 is also connected with leading rotary angle transmitter 31.
Whether stable the leading rotational angle of bicycle representative can be in state at bicycle substantially, if leading rotational angle is than the angle that have rotated 80 degree to 90 degree time just forward, then bicycle is in unstable motoring condition, at this moment no matter feedback control signal electric current I A and IB is any signal, can not, again to feeding electric motors, must stop feeding electric motors immediately.If leading rotational angle is than the angle that have rotated 30 degree to 80 degree time just forward, feedback control signal electric current I A and IB requires to reduce the delivery to motor to should increasing with leading rotational angle of feeding electric motors.General leading rotational angle is when the angle of 0 degree to 30 degree, and bicycle is in completely normal motoring condition, and feedback control signal electric current I A and IB requires can, completely according to execution, not need to revise to the delivery of motor.
The speed of a motor vehicle controlled to make differential distributing box 1 and the body weight of cyclist match, namely under the condition of the same group of feedback control signal electric current I A changed and feedback control signal electric current I B, two control voltage signals that differential distributing box 1 exports can change with the body weight difference of cyclist.As being match with 50 kilograms of body weights with former two the control voltage signals that should export of differential distributing box 1, when the body weight of cyclist is 40 kilograms, two control voltage signals that differential distributing box 1 reality exports all reduce 20%, or when the body weight of cyclist is 70 kilograms, two control voltage signals that differential distributing box 1 reality exports all reduce 40%.The body weight reaching the speed of a motor vehicle that differential distributing box 1 controls and cyclist matches.For achieving this end technical scheme be: on the human body cushion of morpet, or pressure sensor is set on the elastomeric element be connected with cushion, this pressure sensor is connected with the data distributor 10 in differential distributing box 1, and the pressure signal of pressure sensor carries out to two control voltage signals in data distributor 10 process that same ratio increase or same ratio reduce respectively.
Advantage of the present invention: differential distributing box of the present invention can carry out the process of digital model function to car average rate signal IS, the feedback control signal electric current I A and feedback control signal electric current I B of average rate device, to two controlled things that will control, front and back wheel two motors of morpet carry out differential control power supply, and the content of differential control is exactly the pattern function process of setting in advance.Namely differential distributing box Neng Dui tri-road of the present invention analog current signal carries out pattern function and is processed into differential two-way voltage control signal independently and exports, digital model function content can be added to three two-way analog signals, the control that front and back wheel two motors carry out independently is powered, also claims difference to control power supply.The work of front and back wheel two motor couplings, both front and back wheel change strained condition, front and back wheel two motors mate to from different power supplies, reach front and back wheel velocity of rotation identical, the people ridden on this morpet feels comfortably cool, the identical not wastes power again of front and back wheel velocity of rotation.
In pattern function holder, the pattern function being applicable to IS value is selected at first by the car average rate signal IS value of average rate device 20, namely under identical IA and IB condition, the car average rate that morpet travels is different, and last difference controls the control power-assisted effect difference that boosted vehicle system exports.Participate in differential distributing box owing to there being the car average rate signal IS of average rate device 20 and synthesize final control signal, make morpet when front and back moment stressed overbalance, differential distributing box export final control signal can make morpet try one's best held stationary travel, both kept the speed of a motor vehicle traveling of go into car average rate signal IS, people drives the morpet of this mode can be more comfortable as far as possible.
Difference of the present invention controls boosted vehicle system and controls through IS, IA and IB and these three pattern function that former key element matches and calculate, export and to control two control voltage signals that former key element matches with these three respectively to the motor of front-wheel and trailing wheel, even if make wheel A and wheel B stressed unequal, also the work of two motor couplings can be obtained, the effect of two wheel balance motions.
When the former key element of identical IS, IA and IB tri-control is identical, as long as change the digital model function of setting, the different control signals that just can obtain multiple artificial setting export, solve and directly control two analog electronics by IA and IB two analog signals, only have a kind of mode, the shortcoming of mode can not be adjusted by human needs.
Whether stable state can be in leading rotational angle presumption bicycle, and by the size of leading rotational angle, the feedback control signal electric current I A produce cycle racing state and the difference delivery required by IB are revised, to ensure when bicycle plays pendulum, no longer labile factor is increased to bicycle, use morpet of the present invention more humane, safer.
Accompanying drawing explanation
Annexation and the signal of Fig. 1, each parts of differential distributing box of the present invention flow to schematic diagram;
Annexation and the signal of Fig. 2, each parts of the present invention flow to schematic diagram;
Fig. 3, the annexation of each parts of differential distributing box of the present invention of corner parameter Processor and signal is had to flow to schematic diagram;
Fig. 4, the annexation of each parts of the present invention of leading rotary angle transmitter and signal is had to flow to schematic diagram.
In figure, 1 is differential distributing box, 7 are IA > IB difference model data handlers, 8 are IA < IB difference model data handlers, 9 are current values comparators, 10 are data distributors, 11 are pattern function holders, 12 are vehicle speed signal sensors, 16 are D and A converters, 20 are average rate devices, 30 are corner parameter Processor, 31 is leading rotary angle transmitters.
Detailed description of the invention
The voltage difference that embodiment 1, speed signal add model processor divides control force aid system
As Fig. 1,2, comprise two wheels of electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and drive the motor B of wheel B, comprise the average rate device 20 of electric booster bicycle, it is characterized in that: also comprise differential distributing box 1, vehicle speed signal sensor 12 and average rate device 20; Vehicle speed signal sensor 12 is connected with average rate device 20, and average rate device 20 is that the speed signal of vehicle speed signal sensor 12 in certain hour is become the signal processor of average velociity in this certain hour.
Be connected with controller A between differential distributing box 1 with motor A, controller A differential distributing box 1 give with control signal control electrical source of power wheel A powered;
Be connected with controller B between differential distributing box 1 with motor B, controller B differential distributing box 1 give with control signal control electrical source of power wheel B powered.
Between motor A and controller A, negate feedforward control signal electric current I A inputs the current values comparator 9 of differential distributing box 1;
Between motor B and controller B, negate feedforward control signal electric current I B inputs the current values comparator 9 of differential distributing box 1;
The car average rate signal IS of average rate device 20 inputs the pattern function holder 11 of differential distributing box 1.
Differential distributing box 1 comprises three modules be connected successively;
First module is carried out numeric ratio to the original input signal feedback control signal electric current I A for controlling and feedback control signal electric current I B and is comparatively processed;
The pattern function that the car average rate signal behavior of the second module average rate device 20 has set in pattern function holder 11 carries out pattern function process to the data of the first module;
It is controller A and controller B that 3rd module distributes to controlled electrical equipment to pattern function process.
First module: two input ends of current values comparator 9 connect feedback control signal electric current I A and feedback control signal electric current I B respectively; IA and IB is the original control current signal of received current digital comparator 9 respectively; Two mouths of current values comparator 9 connect IA > IB difference model data handler 7 and IA < IB difference model data handler 8 respectively.
Its effect is, current values comparator 9 is the two-way continually varying feedback control signal electric current I A of input, feedback control signal electric current I B becomes the digital signal of one group of difference value, with two kinds of vector signals a certain obtaining IA > IB or IA < IB, current values comparator 9 is by the digital signal of this difference value, IA, IB and IA > IB vector signal is transferred to difference model data handler 7, or current values comparator 9 is by the digital signal of this difference value, IA, IB and IA < IB vector signal is transferred to difference model data handler 8, the digital signal of difference value is hereinafter referred to as digital signal.
Second module: IA > IB difference model data handler 7 connects current values comparator 9 and pattern function holder 11 respectively; And IA < IB difference model data handler 8 also connects current values comparator 9 and pattern function holder 11 respectively.
Pattern function holder 11 also connects average rate device 20, the car average rate signal IS input model function holder 11 of average rate device 20, selects in the pattern function input IA > IB difference model data handler 7 and input IA < IB difference model data handler 8 belonging to some car average rate signal IS in pattern function holder 11.
Its effect is;
As IA > IB, start IA > IB difference model data handler 7, the IA > IB vector signal data exported with the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, current values comparator 9, carry out calculation process in the pattern function mated with this digital signal and this vector signal stored in the pattern function holder 11 that substitution car average rate signal IS selects; And the IA > IB vector signal data exported with the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, current values comparator 9, carry out calculation process in the pattern function mated with this digital signal and this vector signal stored in the pattern function holder 11 that substitution car average rate signal IS selects; Obtain two the IA > IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data yIAn of IA > IB is obtained, with the data that this two subsequent module of the IB control data yIBn of IA > IB, yIAn and yIBn will use; Its function line of yIAn and yIBn is:
YIAn=f(IA > IB vector, digital signal n, IAn);
YIBn=f(IA > IB vector, digital signal n, IBn).
Digital signal n and IAn is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n.
Or, as IA < IB, start IA < IB difference model data handler 8, the IA < IB vector signal data exported with the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, current values comparator 9, carry out calculation process in the pattern function mated with this digital signal and this vector signal stored in the pattern function holder 11 that substitution car average rate signal IS selects; And the IA < IB vector signal data exported with the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, current values comparator 9, carry out calculation process in the pattern function mated with this digital signal and this vector signal stored in the pattern function holder 11 that substitution car average rate signal IS selects; Obtain two the IA < IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data yIAn of IA < IB is obtained, with the data that this two subsequent module of the IB control data yIBn of IA < IB, yIAn and yIBn will use; Its function line of yIAn and yIBn is:
YIAn=f(IA < IB vector, digital signal n, IAn);
YIBn=f(IA < IB vector, digital signal n, IBn).
Digital signal n and IAn is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n; IAn and IBn is computing value, is digital signal.
3rd module: the input end of data distributor 10 is connected with IA > IB difference model data handler 7 and IA < IB difference model data handler 8 respectively, the mouth of data distributor 10 is connected with D and A converter 16, and the mouth of D and A converter 16 is connected with strong power controller A and strong power controller B respectively; Realize the object that difference controller controls strong power controller A and strong power controller B.
Its effect is; The control data yIAn in groups that data distributor 10 inputs IA > IB difference model data handler 7 and yIBn distributes to strong power controller A and strong power controller B respectively, or control data yIAn in groups and the yIBn of the input of IA < IB difference model data handler 8 distribute to strong power controller A and strong power controller B respectively, namely yIAn distributes to strong power controller A, then yIBn distributes to strong power controller B; D and A converter 16 carries out digital to analogy conversion respectively the digital signal yIAn and yIBn distributing control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can use, finally these two control voltage signals is sent to two corresponding strong power controllers.
The car average rate signal IS, the feedback control signal electric current I A and feedback control signal electric current I B that realize average rate device 20 control power supply by difference controller to the difference that strong power controller A and strong power controller B carries out regulation pattern function, electrical source of power of controlling well provides different power supplies to wheel A and wheel B, even if make wheel A and wheel B stressed unequal, also the work of two motor couplings can be obtained, the effect of morpet two wheel balance motions.
Embodiment 2, the voltage difference being with the speed signal of corner parameter Processor to add model processor divide control force aid system
As Fig. 3,4, as the entire infrastructure of embodiment 1, and IA > IB difference model data handler 7 is connected with data distributor 10 by corner parameter Processor 30 with IA < IB difference model data handler 8, and corner parameter Processor 30 is also connected with leading rotary angle transmitter 31.
On the human body cushion of morpet, or pressure sensor is set on the elastomeric element be connected with cushion, this pressure sensor is connected with the data distributor 10 in differential distributing box 1, and the pressure signal of pressure sensor carries out to two control voltage signals in data distributor 10 process that same ratio increase or same ratio reduce respectively.
Claims (2)
1. the voltage difference that speed signal adds model processor divides control force aid system, comprise two wheels of electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and drive the motor B of wheel B, comprise the average rate device (20) of electric booster bicycle, it is characterized in that: also comprise differential distributing box (1), vehicle speed signal sensor (12) and average rate device (20); Vehicle speed signal sensor (12) is connected with average rate device (20), and average rate device (20) is that the speed signal of vehicle speed signal sensor (12) in certain hour is become the signal processor of average velociity in this certain hour;
Differential distributing box (1) is connected with controller A with between motor A, controller A differential distributing box (1) give with control signal control electrical source of power wheel A powered;
Differential distributing box (1) is connected with controller B with between motor B, controller B differential distributing box (1) give with control signal control electrical source of power wheel B powered;
Between motor A and controller A, negate feedforward control signal electric current I A inputs the current values comparator (9) of differential distributing box (1);
Between motor B and controller B, negate feedforward control signal electric current I B inputs the current values comparator (9) of differential distributing box (1);
The car average rate signal IS of average rate device (20) inputs the pattern function holder (11) of differential distributing box (1);
Differential distributing box (1) comprises three modules be connected successively;
First module is carried out numeric ratio to the original input signal feedback control signal electric current I A for controlling and feedback control signal electric current I B and is comparatively processed;
The pattern function that the car average rate signal behavior of the second module average rate device (20) has set in pattern function holder (11) carries out pattern function process to the data of the first module;
It is controller A and controller B that 3rd module distributes to controlled electrical equipment to pattern function process;
First module: two input ends of current values comparator (9) connect feedback control signal electric current I A and feedback control signal electric current I B respectively; IA and IB is the original control current signal of received current digital comparator (9) respectively; Two mouths of current values comparator (9) connect IA > IB difference model data handler (7) and IA < IB difference model data handler (8) respectively;
Its effect is, current values comparator (9) is the two-way continually varying feedback control signal electric current I A of input, feedback control signal electric current I B becomes the digital signal of one group of difference value, with two kinds of vector signals a certain obtaining IA > IB or IA < IB, current values comparator (9) is by the digital signal of this difference value, IA, IB and IA > IB vector signal is transferred to difference model data handler (7), or current values comparator (9) is by the digital signal of this difference value, IA, IB and IA < IB vector signal is transferred to difference model data handler (8), the digital signal of difference value is hereinafter referred to as digital signal,
Second module: IA > IB difference model data handler (7) connects current values comparator (9) and pattern function holder (11) respectively; And IA < IB difference model data handler (8) also connects current values comparator (9) and pattern function holder (11) respectively;
Pattern function holder (11) also connects average rate device (20), car average rate signal IS input model function holder (11) of average rate device (20), select in pattern function holder (11) in pattern function input IA > IB difference model data handler (7) and input IA < IB difference model data handler (8) belonging to some car average rate signal IS
Its effect is;
As IA > IB, start IA > IB difference model data handler (7), the IA > IB vector signal data exported with the digital signal data of current values comparator (9), the IA data corresponding with this digital signal, current values comparator (9), substitute in the pattern function mated with this digital signal and this vector signal of the middle storage of pattern function holder (11) that car average rate signal IS selects and carry out calculation process; And the IA > IB vector signal data exported with the digital signal data of current values comparator (9), the IB data corresponding with this digital signal data, current values comparator (9), substitute in the pattern function mated with this digital signal and this vector signal of the middle storage of pattern function holder (11) that car average rate signal IS selects and carry out calculation process; Obtain two the IA > IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data yIAn of IA > IB is obtained, with the data that this two subsequent module of the IB control data yIBn of IA > IB, yIAn and yIBn will use; Its function line of yIAn and yIBn is:
YIAn=f(IA > IB vector, digital signal n, IAn);
YIBn=f(IA > IB vector, digital signal n, IBn);
Digital signal n and IAn is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n;
Or, as IA < IB, start IA < IB difference model data handler (8), the IA < IB vector signal data exported with the digital signal data of current values comparator (9), the IA data corresponding with this digital signal, current values comparator (9), substitute in the pattern function mated with this digital signal and this vector signal of the middle storage of pattern function holder (11) that car average rate signal IS selects and carry out calculation process; And the IA < IB vector signal data exported with the digital signal data of current values comparator (9), the IB data corresponding with this digital signal data, current values comparator (9), substitute in the pattern function mated with this digital signal and this vector signal of the middle storage of pattern function holder (11) that car average rate signal IS selects and carry out calculation process; Obtain two the IA < IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data yIAn of IA < IB is obtained, with the data that this two subsequent module of the IB control data yIBn of IA < IB, yIAn and yIBn will use; Its function line of yIAn and yIBn is:
YIAn=f(IA < IB vector, digital signal n, IAn);
YIBn=f(IA < IB vector, digital signal n, IBn);
Digital signal n and IAn is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n; IAn and IBn is computing value, is digital signal;
3rd module: the input end of data distributor (10) is connected with IA > IB difference model data handler (7) and IA < IB difference model data handler (8) respectively, the mouth of data distributor (10) is connected with D and A converter (16), and the mouth of D and A converter (16) is connected with strong power controller A and strong power controller B respectively; Realize the object that difference controller controls strong power controller A and strong power controller B;
Its effect is; The control data yIAn in groups that data distributor (10) inputs IA > IB difference model data handler (7) and yIBn distributes to strong power controller A and strong power controller B respectively, or the control data yIAn in groups that IA < IB difference model data handler (8) inputs and yIBn distributes to strong power controller A and strong power controller B respectively, namely yIAn distributes to strong power controller A, then yIBn distributes to strong power controller B; D and A converter (16) carries out digital to analogy conversion respectively the digital signal yIAn and yIBn distributing control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can use, finally these two control voltage signals is sent to two corresponding strong power controllers;
The car average rate signal IS, the feedback control signal electric current I A and feedback control signal electric current I B that realize average rate device (20) control power supply by difference controller to the difference that strong power controller A and strong power controller B carries out regulation pattern function, electrical source of power of controlling well provides different power supplies to wheel A and wheel B, even if make wheel A and wheel B stressed unequal, also the work of two motor couplings can be obtained, the effect of morpet two wheel balance motions.
2. the voltage difference that speed signal according to claim 1 adds model processor divides control force aid system, it is characterized in that: IA > IB difference model data handler (7) is connected with data distributor (10) by corner parameter Processor (30) with IA < IB difference model data handler (8), corner parameter Processor (30) is also connected with leading rotary angle transmitter (31).
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| US20020148656A1 (en) * | 2001-04-13 | 2002-10-17 | Shu-Hsien Li | Dual motor driving control system of electrical vehicle |
| US20050029031A1 (en) * | 2003-08-04 | 2005-02-10 | Thomas Ralph M. | Vehicle |
| JP2006187047A (en) * | 2004-12-24 | 2006-07-13 | Nissan Motor Co Ltd | Driving force controller for four-wheel independent drive vehicle |
| KR101158187B1 (en) * | 2010-01-18 | 2012-06-19 | 주식회사 이랜텍 | Power distribution device for electric bicycle |
| WO2013051194A1 (en) * | 2011-10-06 | 2013-04-11 | ヤマハ発動機株式会社 | Electric vehicle |
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| CN1410318A (en) * | 2001-09-27 | 2003-04-16 | 本田技研工业株式会社 | Motor-assisted bicycle |
| CN103270693A (en) * | 2010-12-22 | 2013-08-28 | 微空间株式会社 | Motor drive control device |
| CN103112365A (en) * | 2013-01-30 | 2013-05-22 | 武汉新能车桥技术发展有限公司 | Self-adaption electronic differential control system |
| CN203996733U (en) * | 2014-08-20 | 2014-12-10 | 成都宽和科技有限责任公司 | Speed signal adds the voltage difference of model treater to divide control force aid system |
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