CN109131708A - Electric bicycle braking force distribution system - Google Patents
Electric bicycle braking force distribution system Download PDFInfo
- Publication number
- CN109131708A CN109131708A CN201810868825.3A CN201810868825A CN109131708A CN 109131708 A CN109131708 A CN 109131708A CN 201810868825 A CN201810868825 A CN 201810868825A CN 109131708 A CN109131708 A CN 109131708A
- Authority
- CN
- China
- Prior art keywords
- electric bicycle
- distribution system
- braking force
- force distribution
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000009826 distribution Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 description 7
- 239000000853 adhesive Substances 0.000 description 6
- 230000001070 adhesive effect Effects 0.000 description 6
- 230000005611 electricity Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
- B62L1/00—Brakes; Arrangements thereof
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
Abstract
本发明公开电动自行车制动力分配系统，包括：驱动电路连接于轮毂电机，以通过控制轮毂电机的转速和转向调整电动自行车的行驶速度；速度传感器连接于轮毂电机，以采集当前电动自行车的行驶速度；压力传感器采集骑行者的压力；六轴陀螺仪采集电动自行车的行驶坡度；控制器连接于速度传感器、压力传感器、六轴陀螺仪和驱动电路，以根据骑行者的压力、电动自行车的行驶坡度以及当前电动自行车的行驶速度通过模糊推理调节PID控制器参数使得电动自行车的滑移率稳定于预设值附近。该电动自行车制动力分配系统克服了现有技术中的电动自行车刹车时存在安全隐患，实现了刹车的制动，在获得最短制动距离的情况下，提高刹车时的安全性。
The invention discloses an electric bicycle braking force distribution system, comprising: a driving circuit is connected to a wheel hub motor to adjust the running speed of the electric bicycle by controlling the rotation speed and steering of the wheel hub motor; a speed sensor is connected to the wheel hub motor to collect the current running speed of the electric bicycle ;The pressure sensor collects the rider's pressure; the six-axis gyroscope collects the driving gradient of the electric bicycle; the controller is connected to the speed sensor, the pressure sensor, the six-axis gyroscope and the driving circuit to adjust the driving gradient of the electric bicycle according to the pressure of the rider and the driving gradient of the electric bicycle. And the current running speed of the electric bicycle adjusts the PID controller parameters through fuzzy reasoning so that the slip rate of the electric bicycle is stable near the preset value. The electric bicycle braking force distribution system overcomes the potential safety hazard when the electric bicycle brakes in the prior art, realizes the braking of the brake, and improves the safety during braking under the condition of obtaining the shortest braking distance.
Description
Technical field
The present invention relates to electric bicycle braking force distribution systems.
Background technique
Electric bicycle uses electric energy as power, and cleaning, green, environmental protection have adapted to the development in epoch.But due to electricity
For dynamic bicycle only there are two wheel, stability is not so good as automobile.The emergency braking under the special road conditions such as sleet, the vehicle of electric bicycle
Wheel is easy to appear straight skidding or even whipping.At this point, the adhesive force between tire and ground is smaller, drives electric bicycle and deposit
In some potential safety problems.When electric bicycle braking, the speed of vehicle wheel rotation are as follows: r ω (k), the actual speed of vehicle body are v
(k).The slip rate of electric bicycle when then brakingWhen slip-based controller is 0.2 or so,
Longitudinal direction and lateral adhesive force between wheel and ground is maximum, can obtain shortest braking distance, improve safety when brake
Property.
Summary of the invention
The object of the present invention is to provide a kind of electric bicycle braking force distribution system, the electric bicycle braking force distributions
There are security risks when system overcomes electric bicycle braking in the prior art, realize the braking of brake, are obtaining most
In the case where short braking distance, safety when brake is improved.
To achieve the goals above, the present invention provides a kind of electric bicycle braking force distribution system, the electric bicycle
Braking force distribution system includes: microprocessor, velocity sensor, driving circuit, hub motor, pressure sensor and six axis gyros
Instrument；Wherein, the driving circuit is connected to the hub motor, to pass through the revolving speed for controlling the hub motor and steering adjustment
The travel speed of electric bicycle；The velocity sensor is connected to the hub motor, to acquire current electric bicycle
Travel speed；The pressure of the pressure sensor acquisition bicyclist；The traveling slope of the six axis gyroscope acquisition electric bicycle
Degree；The controller is connected to the velocity sensor, pressure sensor, six axis gyroscopes and driving circuit, is ridden with basis
The travel speed of the pressure of person, the running gradient of electric bicycle and current electric bicycle adjusts the electric bicycle
Travel speed make the slip rate of electric bicycle lower than preset value.
Preferably, electric bicycle braking force distribution system further include: power supply, the power electric connection is in the driving
Circuit, to provide power supply to the driving circuit to drive the rotation of the hub motor.
Preferably, the pressure sensor is electrically connected to the microprocessor by analog-digital converter.
Preferably, the six axis gyroscope is the six axis gyroscopes of model MPU6050.
Preferably, the microprocessor is the single-chip microcontroller of model STM32F103RCT6.
Preferably, the motor is three-phase brushless dc motor.
Preferably, the velocity sensor is Hall encoder.
Through the above technical solutions, triggering the input module being connected with microprocessor, micro process when bicyclist presses parking brake
Device is according to the friction coefficient μ (k-1) on ground and bicyclist and electric bicycle gross mass mt, calculated and worked as by fuzzy reasoning
The parameter K of preceding PID controllerp(k)、Ki(k)、Kd(k), to obtain the optimum performance of speed-regulating system.And control the real-time of wheel
Revolving speed r ω (k)=0.8v (k) makes the slip rate of tire in vehicle travel process near 0.2, obtain maximum adhesive force with
Shortest braking distance.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is a kind of module frame chart of the electric bicycle braking force distribution system of preferred embodiment of the invention；
Fig. 2 is a kind of force analysis figure of the electric bicycle braking force distribution system of preferred embodiment of the invention；
And
Fig. 3 is a kind of controller control electricity of the electric bicycle braking force distribution system of preferred embodiment of the invention
Electromechanical machine rotating speed module figure.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In the present invention, in the absence of explanation to the contrary, the noun of locality used such as " upper and lower, left and right " typically refers to
It is as shown in Figure 2 up and down." inside and outside " refer in specific profile it is interior with it is outer." remote, close " refers to relative to some component
Far and closely.
The present invention provides a kind of electric bicycle braking force distribution system, the electric bicycle braking force distribution system packet
It includes: microprocessor, velocity sensor, driving circuit, hub motor, pressure sensor and six axis gyroscopes；Wherein, the driving
Circuit connection is in the hub motor, to pass through the traveling of the revolving speed for controlling the hub motor and steering adjustment electric bicycle
Speed；The velocity sensor is connected to the hub motor, to acquire the travel speed of current electric bicycle；The pressure
The pressure of sensor acquisition bicyclist；The running gradient of the six axis gyroscope acquisition electric bicycle；The controller connection
In the velocity sensor, pressure sensor, six axis gyroscopes and driving circuit, according to the pressure of bicyclist, electrical salf-walking
The travel speed of the running gradient of vehicle and current electric bicycle makes electricity to adjust the travel speed of the electric bicycle
The slip rate of dynamic bicycle is stable at preset value 0.2.
Pass through the friction coefficient μ (k-1) and bicyclist and electric bicycle gross mass m on measurement wheel and groundt, warp
Fuzzy reasoning is crossed, adjusts the parameter K of PID controller in real timep(k)、Ki(k)、Kd(k), control electric bicycle tire and ground it
Between slip rate be 0.2, obtain maximum adhesive force and shortest braking distance, improve the safety of vehicle driving.In public affairs
FormulaIn, s (k) is the slip rate of electric bicycle；R ω (k) is the speed of electric bicycle wheel rotation, v
It (k) is the actual speed of electric bicycle vehicle body.
In a kind of specific embodiment of the invention, the electric bicycle braking force distribution system further include: power supply, institute
Power electric connection is stated in the driving circuit, to provide power supply to the driving circuit to drive the rotation of the hub motor.
In a kind of specific embodiment of the invention, the pressure sensor is electrically connected to described by analog-digital converter
Microprocessor.
In a kind of specific embodiment of the invention, the six axis gyroscope is the six axis gyroscopes of model MPU6050.
In a kind of specific embodiment of the invention, the microprocessor is the single-chip microcontroller of model STM32F103RCT6.
In a kind of specific embodiment of the invention, the motor is three-phase brushless dc motor.
In a kind of specific embodiment of the invention, the velocity sensor is Hall encoder.
In the preferred embodiment of the present invention, electric bicycle braking force distribution system of the invention includes micro- place
Manage device, power supply, driving circuit, hub motor, encoder, pressure sensor, A/D converter, input module and MPU6050 six
Axis gyroscope composition.Wherein power supply is connected directly by motor-drive circuit and hub motor, micro process and motor-drive circuit
It is connected, issue pwm control signal control motor speed and turns to.The velocity sensor is connected to the motor, by the revolving speed of motor
Signal is converted into pulse signal and is sent to processor.Pressure sensor passes through A/D converter and microprocessor phase Electricity Federation.
Six axis gyroscope of MPU6050 and microprocessor phase Electricity Federation.
It is θ in the gradient of vehicle driving road, θ can be measured by MPU6050.Wherein, -60 ° < θ < 60 °, when -60 °≤θ < 0 °
When, electric bicycle goes up a slope；The electric bicycle descending when 0 ° < θ≤60 °, when θ=0 °, electric bicycle is in level road row
It sails.Electric bicycle sole mass mv, pressure sensor collects the quality m of bicyclistp, then bicyclist and electric bicycle
Gross mass is mt=mv+mp.Single-chip microcontroller uses PWM control mode driving motor, and under current monolithic machine driving signal, motor shaft is defeated
Tractive force out is F (k), then in electric bicycle driving process, the coefficient of friction at the k moment on tire and road surface is μ (k),
As shown in Figure 2:
F (k)+mgsin θ-μ (k) mgcos θ=mta(k)；
The kth moment of electric bicycle braking, wheel slip are as follows:
In formula, ω (k) is the angular speed of electric car wheel, is measured by velocity sensor.
V (k) is electric bicycle vehicle body speed, can be measured by MPU6050 chip, k moment vehicle body is in direction of advance
Acceleration be a (k), sampling period of microprocessor is T, then have:
V (k)=v (k-1)+a (k-1) T；
It is expected thatR ω (k)=0.8v (k) must then be met.
Therefore the invention patent controls the slip rate of electric bicycle using the method for adjusting vehicle wheel rotational speed.As shown in figure 3,
Based on microprocessor Design fuzzy controller, and construct Closed-Loop Speed Governing System.When bicyclist presses parking brake, triggering and micro- place
The connected input module of device is managed, microprocessor is according to the friction coefficient μ (k-1) on ground and bicyclist and the total matter of electric bicycle
Measure mt, the parameter K of current PID controller is calculated by fuzzy reasoningp(k)、Ki(k)、Kd(k), to obtain speed-regulating system
Optimum performance.And real-time revolving speed r ω (k)=0.8v (k) of wheel is controlled, so that the slip rate of tire in vehicle travel process is existed
Near 0.2, maximum adhesive force and shortest braking distance are obtained.
The invention patent, structure is simple, low in cost.
Pass through the friction coefficient μ (k-1) and bicyclist and electric bicycle gross mass m on measurement wheel and groundt, warp
Fuzzy reasoning is crossed, adjusts the parameter K of PID controller in real timep(k)、Ki(k)、Kd(k), control electric bicycle tire and ground it
Between slip rate be 0.2, obtain maximum adhesive force and shortest braking distance, improve the safety of vehicle driving.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical solution of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the present invention to it is various can
No further explanation will be given for the combination of energy.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810868825.3A CN109131708B (en) | 2018-08-02 | 2018-08-02 | Electric bicycle brake force distribution system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810868825.3A CN109131708B (en) | 2018-08-02 | 2018-08-02 | Electric bicycle brake force distribution system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109131708A true CN109131708A (en) | 2019-01-04 |
| CN109131708B CN109131708B (en) | 2021-04-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810868825.3A Active CN109131708B (en) | 2018-08-02 | 2018-08-02 | Electric bicycle brake force distribution system |
Country Status (1)
| Country | Link |
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| CN (1) | CN109131708B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020143142A1 (en) * | 2019-01-07 | 2020-07-16 | 北京致行慕远科技有限公司 | Electric vehicle control method and electric vehicle |
| CN112407134A (en) * | 2019-08-20 | 2021-02-26 | 安普里奥有限责任公司 | Electric bicycle |
| CN112477631A (en) * | 2020-12-04 | 2021-03-12 | 江苏科技大学 | Method and system for controlling acceleration process of electric bicycle |
| WO2021134769A1 (en) * | 2019-12-30 | 2021-07-08 | 厦门兴联智控科技有限公司 | Vehicle speed control method, and motor vehicle with vehicle speed control function |
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| JPH0937417A (en) * | 1995-07-19 | 1997-02-07 | Tokyo R & D:Kk | Motor slip preventive device for electric bicycle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020143142A1 (en) * | 2019-01-07 | 2020-07-16 | 北京致行慕远科技有限公司 | Electric vehicle control method and electric vehicle |
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| CN112407134A (en) * | 2019-08-20 | 2021-02-26 | 安普里奥有限责任公司 | Electric bicycle |
| WO2021134769A1 (en) * | 2019-12-30 | 2021-07-08 | 厦门兴联智控科技有限公司 | Vehicle speed control method, and motor vehicle with vehicle speed control function |
| CN112477631A (en) * | 2020-12-04 | 2021-03-12 | 江苏科技大学 | Method and system for controlling acceleration process of electric bicycle |
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| Publication number | Publication date |
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| CN109131708B (en) | 2021-04-13 |
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