CN101462500B - Rear shaft accurate boosting signal acquisition control system of electric assisted bicycle - Google Patents
Rear shaft accurate boosting signal acquisition control system of electric assisted bicycle Download PDFInfo
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- CN101462500B CN101462500B CN2009100760418A CN200910076041A CN101462500B CN 101462500 B CN101462500 B CN 101462500B CN 2009100760418 A CN2009100760418 A CN 2009100760418A CN 200910076041 A CN200910076041 A CN 200910076041A CN 101462500 B CN101462500 B CN 101462500B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention relates to a system for acquiring and controlling an accurate boost signal of a rear shaft of an electric boost bicycle. The system comprises a strain foil, a Hall sensor, a boost ratio adjusting button arranged in a handlebar of the electric boost bicycle, and a PCB circuit board arranged on a brushless motor of the electric boost bicycle, wherein the strain foil is stuck on the rear shaft of the electric boost bicycle, namely the shaft of the brushless motor; the Hall sensor is stuck in the circumferential direction of a motor shell of the brushless motor; the PCB circuit board is stuck in the radial direction of the motor shell of the brushless motor; the PCB circuit board comprises a signal controller, a brushless motor controller, a first socket and a second socket; and the signal controller comprises a signal amplifying circuit integrated on the PCB circuit board, a pulse shaping circuit, a voltage source, an integral circuit, and a singlechip. Therefore, the invention provides the boost signal acquisition and control system of the electric boost bicycle, which has no abrasion, adjustable and accurate boost ratio, smooth and stable operation, and safety.
Description
Technical field
The present invention relates to a kind of signal acquisition control system, particularly a kind ofly be applied to accurate power-assisted acquisition of signal and control system on the electric assisted bicycle.
Background technology
The power-assisted sensor-based system of popular now electric assisted bicycle adopts the foot-operated power of axis to detect power-assisted or rear axle sliding ring type Sense of Technology is answered people's force signal, and the power that manpower is scrunched is converted into voltage signal and sends controller to.Wherein, there is potential safety hazard in the axis power-assisted, and promptly when go-cart was walked, pedal can rotate along with advancing, and the axis assistant sensor can provide the power-assisted signal that car is given it the gun and cause danger at this moment.The heavy slip ring of rear axle sliding ring type technology is arranged near the chain, when the people scrunches bicycle, is easy to generate wearing and tearing, in addition; Also have the work-saving device of some other types,, promptly set several speed thresholds like switching mode; When reaching a certain speed, motor just provides certain power-assisted, does not have accurate power-assisted to say; And can not accurately regulate the power-assisted ratio, making electric assisted bicycle in the process of operation, be easy to generate power-assisted once in a while increases excessive and the problem fluctuation of service brought, and the device that has does not further limit speed; When people use electric boosted bicycle, make the speed of a motor vehicle too fast and cause danger easily.
Summary of the invention
To the defective of above-mentioned prior art, the purpose of this invention is to provide a kind of power-assisted signal acquisition control system that does not have wearing and tearing, power-assisted than smooth stable, the safe electric assisted bicycle of adjustable and accurate, operation.Can be used with present common multiple electric machine controller, applied widely.
A kind of rear shaft accurate boosting signal acquisition control system of electric assisted bicycle; Comprise: strain-gauge, Hall element, be installed in electric assisted bicycle handlebar place power-assisted than regulating button, being installed in the PCB circuit card on the brushless motor on the electric assisted bicycle; Said strain-gauge sticks on the axle that the electric assisted bicycle rear axle is a brushless motor; The week that said Hall element sticks on the motor housing of said brushless motor makes progress; The footpath that said PCB circuit card sticks on the motor housing of brushless motor makes progress; Comprise signal controller and brushless motor controller and first socket and second socket on the said PCB circuit card; Said signal controller comprises signal amplification circuit, pulse shaping circuit, voltage source, integrating circuit and the micro controller system that is integrated on the PCB circuit card, and said signal amplification circuit, pulse shaping circuit, voltage source, integrating circuit link to each other with micro controller system through corresponding pin;
Said voltage source is that said signal amplification circuit, pulse shaping circuit, integrating circuit and micro controller system are supplied power;
Said strain-gauge connects first socket through lead, and said first socket links to each other with signal amplification circuit in the said signal controller, and the deformation signal that strain-gauge is provided amplifies and sends in the micro controller system and handle;
Said Hall element connects second socket through lead, and said second socket links to each other with pulse shaping circuit in the said signal controller, and the hall signal that Hall element is provided carries out shaping and sends in the micro controller system and handle; Said second socket also links to each other than regulating button through lead and power-assisted, is used for through to be used for the power-assisted that the change system provides big or small than regulating making of button to power-assisted;
Said micro controller system calculates present speed V through the hall signal process that Hall element is provided, and through present speed V and predefined velocity amplitude are compared, during greater than predefined velocity amplitude, power-assisted will not be provided; The deformation signal that strain-gauge is provided converts current magnitude of voltage U into; Through current magnitude of voltage and predefined maximum voltage value are compared, during greater than predefined maximum voltage value, power-assisted will not be provided; To be not more than predefined maximum voltage value and velocity amplitude and carry out corresponding calculated; Obtain corresponding pulse width modulated PWM as control signal, and carry out integration, obtain the pulsation-free control signal so that brushless motor controller is controlled through integrating circuit.
Rear shaft accurate boosting signal acquisition control system of electric assisted bicycle of the present invention, wherein said strain-gauge are installed in 1/3rd places of rear axle near chain one end.
Rear shaft accurate boosting signal acquisition control system of electric assisted bicycle of the present invention, wherein said Hall element are three, and the week that is installed in motor housing respectively makes progress, and its angle is 120 degree.
Rear shaft accurate boosting signal acquisition control system of electric assisted bicycle of the present invention, wherein said PCB circuit card is installed in brushless motor axle sleeve bottom, and is rounded, is enclosed within on the axle of brushless motor.
Rear shaft accurate boosting signal acquisition control system of electric assisted bicycle of the present invention, wherein said predefined velocity amplitude is 20km/h.
Rear shaft accurate boosting signal acquisition control system of electric assisted bicycle of the present invention, wherein said predefined maximum voltage value is 5V.
Rear shaft accurate boosting signal acquisition control system of electric assisted bicycle of the present invention, wherein said pulse width modulated PWM=a * U+b * V.
Rear shaft accurate boosting signal acquisition control system of electric assisted bicycle of the present invention, wherein said a and b are preset parameters, and wherein, a and b are respectively 0 to 1 arbitrary value, and a and b's and be 1.
Rear shaft accurate boosting signal acquisition control system of electric assisted bicycle of the present invention, wherein said first socket has three pins, and said second socket has four pins.
The accurate power-assisted acquisition of signal of a kind of electric assisted bicycle rear axle control method may further comprise the steps:
1) system carries out initialization;
2) micro controller system judges whether timer internal starts, if the result for being change 4);
3) micro controller system starts timer;
4) micro controller system is waited for and being interrupted;
5) Hall element induction hall signal;
6) hall signal sensed of Hall element carries out shaping through pulse shaping circuit;
7) micro controller system reads the signal after the shaping;
8) micro controller system judges whether the Hall pulse after the shaping, if the result for otherwise change 1);
9) micro controller system gets into interrupt routine;
10) micro controller system judges whether the time of timer internal arrive, if the result for otherwise change 1);
11) micro controller system calculates current speed V;
12) micro controller system to the present speed V that calculates whether greater than predefined velocity amplitude, if the result is for being then to change step 11);
13) deformation of strain-gauge induction electric morpet rear axle;
14) signal amplification circuit amplifies the deformation signal that strain-gauge collects;
15) entering of the deformation signal after amplification micro controller system carries out the A/D conversion;
16) micro controller system reads the sampled value after A/D changes;
17) micro controller system makes sampled value and the preceding sampled value that once reads after A/D changes carry out the weighting smoothing processing;
18) whether micro controller system judges the number of times of sampling greater than predefined number of times K, if the result is otherwise changes 16);
19) micro controller system is introduced moving average;
20) the magnitude of voltage U after micro controller system output is handled;
21) micro controller system reads the current magnitude of voltage U after output is handled
22) whether micro controller system judges current magnitude of voltage U greater than predefined maximum voltage value, if the result for being change 11);
23) micro controller system calculates pulse width modulated PWM;
24) control signal of the PWM that calculates carries out integration through integrating circuit;
25) control signal is controlled brushless motor controller, so that corresponding power-assisted to be provided.
Rear shaft accurate boosting signal acquisition control system of electric assisted bicycle of the present invention and method; Because strain-gauge is installed on the electric assisted bicycle rear axle; Thereby wearing and tearing have been avoided to signal detection and output unit; The signal that strain-gauge provides passes through the denoising treatment measures, thereby makes signal more reliable and more stable; Again because through button scalable power-assisted ratio, micro controller system goes out the size of the power that the people applies through the calculated signals that strain-gauge is provided, and promptly calculates the correspondent voltage value, therefore can make power-assisted than more accurate; Micro controller system utilization is simultaneously revised the control voltage that brushless motor controller provides through integrating circuit the measurement of speed; The just situation of outage of electric assisted bicycle can not appear not trampling; The go-cart walking also can not occur also has power-assisted phenomenon, thereby makes the operation of electric assisted bicycle smooth more and stable; Owing to added the restriction that the speed limit program provides the electric assisted bicycle power-assisted, when speed surpasses 20km/h, power-assisted is not provided again, has guaranteed the safety of going.
Description of drawings
Fig. 1 is the circuit diagram of rear shaft accurate boosting signal acquisition control system of electric assisted bicycle of the present invention;
Fig. 2 is the strain-gauge installation site scheme drawing of rear shaft accurate boosting signal acquisition control system of electric assisted bicycle of the present invention;
Fig. 3 is the Hall element installation site scheme drawing of rear shaft accurate boosting signal acquisition control system of electric assisted bicycle of the present invention;
Fig. 4 is the PCB PCB socket scheme drawing of rear shaft accurate boosting signal acquisition control system of electric assisted bicycle of the present invention;
Fig. 5 is the PCB circuit board position scheme drawing of rear shaft accurate boosting signal acquisition control system of electric assisted bicycle of the present invention.
Fig. 6 is the system diagram of rear shaft accurate boosting signal acquisition control system of electric assisted bicycle of the present invention;
Fig. 7 is a rear shaft accurate boosting signal acquisition control system of electric assisted bicycle workflow diagram of the present invention.
The specific embodiment
Describe the specific embodiment of the present invention in detail below in conjunction with accompanying drawing.
Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 6, rear shaft accurate boosting signal acquisition control system of electric assisted bicycle of the present invention comprises the strain-gauge 1 that is installed on the morpet rear axle; Said strain-gauge 1 is installed in 1/3rd places of morpet rear axle near chain one end; Its scope is no more than ± 1cm, is through being adhesive on the bicycle rear axle, and said rear axle is the axle of brushless motor; In 1/3rd positions of axle one end is the optimum position, can obtain the strongest signal; Be installed in the Hall element 2 on the motor, said Hall element 2 has three, sticks with glue respectively in the week of electric machine casing 11 to make progress, and its angle is 120 degree; Place the signal controller 3 of brushless motor, said signal controller 3 is integrated on the PCB circuit card 13, comprises signal amplification circuit 6, pulse shaping circuit 7, voltage source 9, integrating circuit 8 and micro controller system 10; Said micro controller system is the PIC16F684 micro controller system; 1,4,6,7 pins meet VCC respectively, 14 pin ground connection, and 2 pins connect 3 pins of NAND gate 74LS00; 8,9 pins connect 6 pins of op1 and op2 respectively, and 12,13 pins connect 1,2 pins of J1; Op1 and op2 are op amp, and its 7 pin meets VCC, 4 pin ground connection, and 2 pins of op1 and 6 pins connect the two ends of R17, and 2 pins of op2 and 6 pins connect the two ends of R2, and 4 pins connect the common point of R11 and R14, and other pins are unsettled; 74LS00 is a NAND gate; 1, the 2 pins connecting terminal J3 that connects together; 3 pins connect 2 pins of micro controller system, and 14 pins meet VCC, 7 pin ground connection; Signal controller 3 is used for that strain-gauge 1 is transmitted the signal that comes with Hall element 2 to be handled and computing, sends the corresponding command to brushless motor controller 4; And brushless motor controller 4; Said brushless motor controller is used to control the speed that brushless motor rotates; And the power-assisted ratio adjusting button 5 that is installed in the handlebar place, power-assisted is used for the power-assisted ratio that the conditioning signal controller provides than regulating button 5, after the adjusting of said power-assisted ratio adjusting button; Speed is divided into 5 grades, is respectively 0-5km/h, 5-10km/h, 10-15km/h, 15-20km/h and greater than 20km/h.
Referring to Fig. 3, Fig. 4, Fig. 5; PCB circuit card 13 is equipped with in brushless motor in-to-in axle sleeve 12 bottoms; Said circuit card 13 is circular, be enclosed within on the axle, and stick on brushless motor motor housing 11 the footpath upwards; Said PCB circuit card 13 also is equipped with and extraneous four pins, the second socket J2,14, three pins, the first socket J1 15 that is connected usefulness.Four pins of said four needle sockets 14 connect Hall element 2 respectively and power supply 7, ground wire and outside power-assisted touch the button than regulating, strain-gauge 1, power supply 7 and ground wire that said three needle sockets 15 connect on the electric assisted bicycle rear axle.
Referring to Fig. 6, three Hall elements 2 link to each other with pulse shaping circuit 7 in the signal controller 3 through second socket 14, and pulse shaping circuit 7 links to each other with micro controller system 10, is that each several part is supplied power through voltage source 9; When electric assisted bicycle is advanced, when Hall element 2 rotates at brushless motor, corresponding Hall impulse singla is provided, said Hall impulse singla through the pulse shaping circuit inference elimination, remove the burr on the impulse singla after; Judge through micro controller system 10 whether micro controller system 10 timer internals start, if be not activated, then start timer, wait for and interrupting; If timer starts, then directly wait for and interrupting, when the Hall impulse singla arrives; Then get into and interrupt, judged whether the Hall pulse, when not having the Hall pulse to get into; Be that electric assisted bicycle is not activated, system is reinitialized, when the Hall pulse gets into; Then get into the break in service state, judge whether timer time arrives, if the time of timer does not arrive; System initialization then, if time is up for timer, then the speed V through 10 pairs of electric assisted bicycles of micro controller system calculates; Behind the speed V that calculates current electric assisted bicycle; Micro controller system 10 compares current speed V and predefined velocity amplitude, and this predefined velocity amplitude is 20km/h, as the current speed V that calculates during greater than predefined velocity amplitude 20km/h; Micro controller system makes pulse width modulated PWM=0; Promptly will not electric current be provided motor, make the motor of electric assisted bicycle that corresponding power-assisted is not provided, only electric assisted bicycle moved with manpower; When the present speed V that calculates was not more than 20km/h, strain-gauge 1 linked to each other with signal amplification circuit 15 through connecting first socket 15, and signal amplification circuit 15 links to each other with micro controller system 10; Be the each several part power supply through voltage source 9, the deformation of strain-gauge 1 induction electric morpet rear axle provides deformation signal, and this signal amplifies through signal amplification circuit 6; Be transferred in the micro controller system 10, micro controller system 10 in-to-in A/D conversion portions carry out the A/D conversion to the deformation signal that amplifies through signal amplification circuit, obtain corresponding sampled value; Do the weighting smoothing processing when micro controller system 10 A/D sampled value that reads and the value of last time reading in, wherein the coefficient of weighted value is 0.3～0.7, perhaps adjusts according to the particular hardware circuit; Whether micro controller system 10 judges the number of times of sampling greater than predefined number of times K simultaneously, and wherein the selection of K can specifically be confirmed according to different noise level situation, if sampling number is greater than predefined number of times K; Then read in the A/D sampled value again,, then introduce moving average if sampling number is not more than predefined this moment of K; Export the value after handling, reach the purpose of denoising, after deformation signal passes through the processing of denoising; Value after the output processing is converted into current magnitude of voltage U; Simultaneously whether micro controller system 10 judges current magnitude of voltage U greater than predefined maximum voltage value, and this predefined maximum voltage value is 5V, if current magnitude of voltage U is during greater than predefined maximum voltage value; Micro controller system makes pulse width modulated PWM=250; Promptly will not electric current be provided motor, make the motor of electric assisted bicycle that corresponding power-assisted is not provided, only electric assisted bicycle moved with manpower; If current magnitude of voltage U is not more than predefined voltage max; Then micro controller system is through corresponding calculated, and formula is PWM=a * U+b * V, calculates corresponding pulse width modulated PWM value; Transfer signals in the brushless motor controller 4 through integrating circuit 8; Control through 4 pairs of brushless motors of brushless motor controller, revise control voltage that brushless motor controller provide through integrating circuit this moment, controls power-assisted purpose thereby reached pulsation-free; A and b parameter wherein for setting, a and b are respectively 0 to 1 arbitrary value, and a and b's and be 1; This parameter is regulated than regulating button 5 through power-assisted; Through change to parameter value, speed is divided into 5 grades, be respectively 0-5km/h, 5-10km/h, 10-15km/h, 15-20km/h and greater than 20km/h; Promptly different power-assisteds can be provided, make us when using electric assisted bicycle, can produce corresponding speed.When speed during greater than 20km/h, power-assisted is not provided, can guarantee that people do not exceed the speed limit when using electric assisted bicycle, guaranteed safety.
Referring to Fig. 7, the accurate power-assisted acquisition of signal of a kind of electric assisted bicycle rear axle control method may further comprise the steps:
Step 101, system carries out initialization;
Step 102, micro controller system judge whether timer internal starts, if the result then arrives step 103 for not, if the result is for being then to change step 104;
Step 103, micro controller system starts timer;
Step 104, micro controller system are waited for and being interrupted;
Step 105, Hall element induction hall signal;
The hall signal that step 106, Hall element are sensed carries out shaping through pulse shaping circuit;
Step 107, micro controller system read the signal after the shaping;
Step 108, micro controller system judge whether the Hall pulse after the shaping, if the result then changes step 109 for being, if the result then changes step 101 for not, make system reinitialize;
Step 109, micro controller system gets into interrupt routine;
Step 110, micro controller system judge whether the time of timer internal arrive, if the result then changes step 111 for being, if the result then changes step 101 for not, make system reinitialize;
Step 111, micro controller system calculates current speed V;
Step 112, micro controller system to the present speed V that calculates whether greater than predefined velocity amplitude 20km/h, if the result then changes step 111 for being, if the result then changes step 113 for not;
Step 113, the deformation of strain-gauge induction electric morpet rear axle;
Step 114, signal amplification circuit amplifies the deformation signal that strain-gauge collects;
Step 115, the deformation signal after the amplification get into micro controller system and carry out the A/D conversion;
Step 116, micro controller system read the sampled value after the A/D conversion;
Step 117, micro controller system make sampled value and the preceding sampled value that once reads after the A/D conversion carry out the weighting smoothing processing;
Whether step 118, micro controller system judge the number of times of sampling greater than predefined number of times K, if the result then changes step 116 for not, if the result is for being then to change step 119;
Step 119, micro controller system is introduced moving average;
Step 120, the magnitude of voltage U after micro controller system output is handled;
Step 121, micro controller system read the current magnitude of voltage U after output is handled
Whether step 122, micro controller system judge current magnitude of voltage U greater than predefined maximum voltage value 5V, if the result then changes step 111 for being, if the result then changes step 123 for not;
Step 123, micro controller system are calculated pulse width modulated PWM, calculate through formula PWM=a * U+b * V;
Step 124, the control signal of the PWM that calculates carries out integration through integrating circuit;
Step 125, control signal is controlled brushless motor controller, so that corresponding power-assisted to be provided.
Rear shaft accurate boosting signal acquisition control system of electric assisted bicycle of the present invention; Because strain-gauge is installed on the electric assisted bicycle rear axle; Thereby wearing and tearing have been avoided to signal detection and output unit; The signal that strain-gauge provides passes through the denoising treatment measures, thereby makes signal more reliable and more stable; Again because through button scalable power-assisted ratio, micro controller system goes out the size of the power that the people applies through the calculated signals that strain-gauge is provided, and promptly calculates the correspondent voltage value, therefore can make power-assisted than more accurate; Micro controller system utilization is simultaneously revised the control voltage that brushless motor controller provides through integrating circuit the measurement of speed; The just situation of outage of electric assisted bicycle can not appear not trampling; The go-cart walking also can not occur also has power-assisted phenomenon, thereby makes the operation of electric assisted bicycle smooth more and stable; Owing to added the restriction that the speed limit program provides the electric assisted bicycle power-assisted, when speed surpasses 20km/h, power-assisted is not provided again, has guaranteed the safety of going.
Above embodiment describes preferred implementation of the present invention; Be not that scope of the present invention is limited; Design under the prerequisite of spirit not breaking away from the present invention; Various distortion and improvement that the common engineering staff in this area make technical scheme of the present invention all should fall in the definite protection domain of claims of the present invention.
Claims (8)
1. rear shaft accurate boosting signal acquisition control system of electric assisted bicycle; It is characterized in that; Comprise: strain-gauge (1), Hall element (2), be installed in electric assisted bicycle handlebar place power-assisted than regulating button (5), being installed in the PCB circuit card (13) on the brushless motor on the electric assisted bicycle; Said strain-gauge (1) sticks on the axle that the electric assisted bicycle rear axle is a brushless motor; The week that said Hall element (2) sticks on the motor housing (11) of said brushless motor makes progress; The footpath that said PCB circuit card (13) sticks on the motor housing (11) of brushless motor makes progress; Comprise signal controller (3) and brushless motor controller (4) and first socket (15) and second socket (14) on the said PCB circuit card (13); Said signal controller (3) comprises signal amplification circuit (6), pulse shaping circuit (7), voltage source (9), integrating circuit (8) and the micro controller system (10) that is integrated on the PCB circuit card, and said signal amplification circuit (6), pulse shaping circuit (7), voltage source (9), integrating circuit (8) link to each other with micro controller system (10) through corresponding pin;
Said voltage source (9) is that said signal amplification circuit (6), pulse shaping circuit (7), integrating circuit (8) and micro controller system (10) are supplied power;
Said strain-gauge (1) connects first socket (15) through lead, and said first socket (15) links to each other with signal amplification circuit (6) in the said signal controller (3), and the deformation signal that strain-gauge (1) is provided amplifies and sends in the micro controller system (10) and handle;
Said Hall element (2) connects second socket (14) through lead; Said second socket (14) links to each other with pulse shaping circuit in the said signal controller (3), and the hall signal that Hall element (2) is provided carries out shaping and sends in the micro controller system (10) and handle; Said second socket (14) also links to each other than regulating button (5) through lead and power-assisted, is used for through to be used for the power-assisted that the change system provides big or small than regulating making of button (5) to power-assisted;
Said micro controller system (10) calculates present speed V through the hall signal process that Hall element (2) is provided, and through present speed V and predefined velocity amplitude are compared, during greater than predefined velocity amplitude, power-assisted will not be provided; When being not more than predefined velocity amplitude, the deformation signal that strain-gauge (1) is provided converts current magnitude of voltage U into, through current magnitude of voltage and predefined maximum voltage value are compared; During greater than predefined maximum voltage value, power-assisted will not be provided, when being not more than predefined maximum voltage value; Calculate corresponding pulse width modulated PWM as control signal according to formula PWM=a * U+b * V, and carry out integration, obtain the pulsation-free control signal so that brushless motor controller (4) is controlled through integrating circuit (8); Wherein, a and b are preset parameters, wherein; A and b are respectively 0 to 1 arbitrary value, and a and b's and be 1.
2. rear shaft accurate boosting signal acquisition control system of electric assisted bicycle according to claim 1 is characterized in that, said strain-gauge (1) is installed in 1/3rd places of rear axle near chain one end.
3. rear shaft accurate boosting signal acquisition control system of electric assisted bicycle according to claim 2 is characterized in that, said Hall element (2) is three, and the week that is installed in motor housing (11) respectively makes progress, and its angle is 120 degree.
4. rear shaft accurate boosting signal acquisition control system of electric assisted bicycle according to claim 3 is characterized in that, said PCB circuit card (13) is installed in brushless motor axle sleeve (12) bottom, and is rounded, is enclosed within on the axle of brushless motor.
5. rear shaft accurate boosting signal acquisition control system of electric assisted bicycle according to claim 4 is characterized in that, said predefined velocity amplitude is 20km/h.
6. rear shaft accurate boosting signal acquisition control system of electric assisted bicycle according to claim 5 is characterized in that, said predefined maximum voltage value is 5V.
7. rear shaft accurate boosting signal acquisition control system of electric assisted bicycle according to claim 6 is characterized in that, said first socket (15) has three pins, and said second socket (14) has four pins.
8. the accurate power-assisted acquisition of signal of an electric assisted bicycle rear axle control method is characterized in that, may further comprise the steps:
1) system carries out initialization;
2) micro controller system judges whether timer internal starts, if the result for being change 4);
3) micro controller system starts timer;
4) micro controller system is waited for and being interrupted;
5) Hall element induction hall signal;
6) hall signal sensed of Hall element carries out shaping through pulse shaping circuit;
7) micro controller system reads the signal after the shaping;
8) micro controller system judges whether the Hall pulse after the shaping, if the result for otherwise change 1);
9) micro controller system gets into interrupt routine;
10) micro controller system judges whether the time of timer internal arrive, if the result for otherwise change 1);
11) micro controller system calculates current speed V;
12) micro controller system to the present speed V that calculates whether greater than predefined velocity amplitude, if the result is for being then to change step 11);
13) deformation of strain-gauge induction electric morpet rear axle;
14) signal amplification circuit amplifies the deformation signal that strain-gauge collects;
15) entering of the deformation signal after amplification micro controller system carries out the A/D conversion;
16) micro controller system reads the sampled value after A/D changes;
17) micro controller system makes sampled value and the preceding sampled value that once reads after A/D changes carry out the weighting smoothing processing;
18) whether micro controller system judges the number of times of sampling greater than predefined number of times K, if the result is otherwise changes 16);
19) micro controller system is introduced moving average;
20) the magnitude of voltage U after micro controller system output is handled;
21) micro controller system reads the current magnitude of voltage U after output is handled
22) whether micro controller system judges current magnitude of voltage U greater than predefined maximum voltage value, if the result for being change 11);
23) micro controller system calculates pulse width modulated PWM, calculates through formula PWM=a * U+b * V, and wherein, a and b are preset parameters, and wherein, a and b are respectively 0 to 1 arbitrary value, and a and b's and be 1;
24) control signal of the PWM that calculates carries out integration through integrating circuit;
25) control signal is controlled brushless motor controller, so that corresponding power-assisted to be provided.
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| CN2009100760418A CN101462500B (en) | 2009-01-06 | 2009-01-06 | Rear shaft accurate boosting signal acquisition control system of electric assisted bicycle |
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| CN2009100760418A CN101462500B (en) | 2009-01-06 | 2009-01-06 | Rear shaft accurate boosting signal acquisition control system of electric assisted bicycle |
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| CN101462500B true CN101462500B (en) | 2012-07-04 |
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| CN1157245A (en) * | 1995-10-31 | 1997-08-20 | 三洋电机株式会社 | Electrically assisted vehicle |
| EP1097863A2 (en) * | 1999-11-08 | 2001-05-09 | Mitsubishi Heavy Industries, Ltd. | Electric power assist bicycle |
| JP2001130476A (en) * | 1999-11-08 | 2001-05-15 | Mitsubishi Heavy Ind Ltd | Electric power-assisted bicycle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1157245A (en) * | 1995-10-31 | 1997-08-20 | 三洋电机株式会社 | Electrically assisted vehicle |
| CN1148013A (en) * | 1996-09-20 | 1997-04-23 | 清华大学 | Intelligent type electricity-aid hub |
| EP1097863A2 (en) * | 1999-11-08 | 2001-05-09 | Mitsubishi Heavy Industries, Ltd. | Electric power assist bicycle |
| JP2001130476A (en) * | 1999-11-08 | 2001-05-15 | Mitsubishi Heavy Ind Ltd | Electric power-assisted bicycle |
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| CN101462500A (en) | 2009-06-24 |
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