CN102826185B - Rotary-disc type sensor with multiple magnets uneven in position for power-assisted bicycle - Google Patents
Rotary-disc type sensor with multiple magnets uneven in position for power-assisted bicycle Download PDFInfo
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- CN102826185B CN102826185B CN201210263526.XA CN201210263526A CN102826185B CN 102826185 B CN102826185 B CN 102826185B CN 201210263526 A CN201210263526 A CN 201210263526A CN 102826185 B CN102826185 B CN 102826185B
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Abstract
The invention relates to a rotary-disc type sensor with multiple magnets uneven in position for a motorized bicycle, and belongs to technology of providing control signals by multipoint magnetic induction. The rotary-disc type sensor comprises sensing elements, a motorized model processor, a digital-to-analog converter and an operational amplifier which are connected in sequence, the sensing elements include a plurality of permanent magnets and a Hall sensor unit, the permanent magnets are arranged on a rotary disc at different intervals, magnetic polarities of the adjacent permanent magnets are opposite, in other words, the permanent magnets are distributed according to a magnetic polarity sequence of N-pole, S-pole and N-pole..., and the Hall sensor unit is arranged at a position close to the permanent magnets. The rotary-disc type sensor has the advantages that since the permanent magnets are distributed in a mode that the magnetic polarities of the adjacent permanent magnets are opposite according to the sequence of N-pole, S-pole and N-pole..., the Hall sensor unit can acquire rectangular wave signals which can be processed digitally conveniently; since the intervals of the permanent magnets are different, the square wave signals can represent positions of the permanent magnets on the rotary disc, functions of different rectangular waves can be determined, and accordingly, the sensor can output electrical signals of a human-set control model matched with movement positions of the permanent magnets.
Description
Technical field
The invention belongs to magnetic induction the technical field of signal is provided, particularly relate on rotatable parts, carry out the technology that multi-point magnetic induction provides control signal.
Background technology
The Chinese patent 201020295192.0 < < of Yebao Vehicle Material Industry's application hook pawl formula moment sensor > > and disclose a kind of morpet sensing device, sensing device comprises that magnetic part and elastic component coordinate, and experience the sensing device of moment.After period of service is long, the elasticity modulus variation of elastic component will cause the control effect of transducing signal and controlled motor to change, and power-assisted effect becomes and need to mismatch with people's power-assisted.And complicated with the project organization of elastic component, manufacturing cost is high.
The Chinese patent 01201843.0 < < automatic detecting device of electric booster bicycle > > of University of Science & Technology, Beijing's application discloses a kind of automatic detecting device of electric booster bicycle, no touch detects the power of pedaling, speed and turning to, this device is in relative motion, on outer wheel disc, establish respectively magnetic sheet, on interior wheel disc, there is spring, in, between outer wheel disc, use spring reset, in surveying with two Halls on support, the signal indication that on outer wheel disc, the magnetic sheet of relative motion produces is pedaled power, speed and turning to.
Shortcoming (1) is not durable with elastic component: after period of service is long, the elasticity modulus variation of elastic component will cause the control effect of transducing signal and controlled motor to change, and power-assisted effect becomes and need to mismatch with people's power-assisted, complex structure, and cost is high.
Each magnetic sheet group of shortcoming (2) is identical and magnetic pole set-up mode is all identical, and can not represent the position separately of different magnetic sheet groups, can not express the special power-assisted demand of diverse location: from Fig. 3 of 01201843.0 patent, 4, 5, 6 and the record explanation of the 2nd section of Instructions Page 2, each magnetic sheet group (comprises a magnetic sheet 4, a magnetic sheet 5, a magnetic sheet 6) magnetic pole set-up mode is all identical, be only simply from being provided with again identical magnetic sheet group at interior diverse location of taking turns, the position separately that can not represent different magnetic sheet groups, the state of kinematic motion that can not represent ad-hoc location, and people is by bike time, pedal with each position corresponding with pedal at state of kinematic motion, there is own special power-assisted demand, but the identical structure of this each magnetic sheet group of this patent, can not give expression to the special power-assisted demand of each diverse location on pedal.
Each site signal indifference of shortcoming (3) makes man-machine mismatching: each magnetic sheet group is the same, each magnetic sheet group can not represent this position of magnetic sheet group on interior wheel, the signal that Hall is exported can not represent the position of stretcher and other magnetic sheet group, the signal that is Hall output can not represent the demand of different foot positions to power-assisted, cause the demand of power-assisted and provide the time of power-assisted to mismatch, man-machine cooperation is undesirable.
Shortcoming sine wave output makes magnetic sheet group Edge Distance can not be less than 4 centimetres, generally take 5 centimetres as good, and make to establish magnetic sheet group number very little, man-machine cooperation is undesirable: each magnetic sheet group is identical, Hall output is that sinusoidal waveform is as control signal, as control signal sinusoidal waveform, must there is certain peak valley difference, because the magnetic sheet group of this patent needs certain length to represent forward and reverse motion, at diameter, be to establish at most 8 magnetic sheet groups in the rolling disc circular trace of 20 centimetres, generally take 5 as good, Hall just can have the sine wave signal of controlling function.That is to say, this technical scheme of 01201843.0 patent, for morpet, magnetic sheet group limited amount is only in 8, and very little, man-machine cooperation is undesirable for control signal.If but more than 8 magnetic sheet groups, when people's treadmill is very fast, the signal graph of Hall output is close to a horizon, this signal is not controlled function, can not control electrical motor, while making it need power-assisted especially, loses assist function.
Shortcoming (5) signal blind zone reaches miter angle, when needing power-assisted during startup, really can not get power-assisted: well-known, it is minimum in summit moment that people steps on bicycle pedal, from leaving 10-45 degree angle, summit, it is the region that needs most power-assisted, but the angle between each magnetic sheet group of this patent is 45 degree, at stretcher, leave summit 10-45 degree angular zone neither one magnetic sheet group, also with regard to neither one control signal, when consequently needing most power-assisted, but the motor of morpet really can not power-assisted.
In a word, except with the not durable complex structure again of elastic component, fit structure feature because of Hall and magnetic sheet group, rotating disk size diameter is in 20 centimetres, and having placed restrictions on magnetic sheet group quantity is 8 groups, and magnetic sheet group number can not arbitrarily increase, make man-machine cooperation undesirable, and can not get power-assisted while starting, and power-assisted demand is not mated with power-assisted is provided, and cyclist's traveling comfort is poor; As increased by force magnetic sheet group quantity, its transducing signal loses again Power assisted control function.
The Chinese patent 03264387.X < < timing sensor of electric boosting bicycle > > of Wang Naikang application discloses without elastic component, only with moving, fixed two rotating disks, above Moving plate, inlay two permanent magnetic steels, above price fixing, inlay three Hall elements, bicycle pedal circles, each Hall produces two pulses, and three Hall elements produce six pulses.Divide folding can obtain three features, four shortcomings are as follows:
Feature (1) is for obtaining six impulse singlas, can only be each permanent magnetic steel same pole in one side: each Hall will produce two pulses, can only be the same face that the same pole of two permanent magnetic steels is located at Moving plate,, in certain one side of Moving plate, two permanent-magnet magnetic steel capital be the Huo Doushi South Pole, the arctic.If at the same face of Moving plate, a permanent magnetic steel is the arctic, another is the South Pole, and pedal circles, and each Hall just can only produce a pulse, and three Halls just only have three pulses, and this does not just conform with this patent specification and has recorded.In order to increase pulse count, improve and control effect, can only be that each permanent magnetic steel same pole is in one side.
Feature (2) permanent magnetic steel is used for representing pedal fixed position, three Halls represent pedal travel position: because pedal and Moving plate are to synchronize rotation, so a permanent magnetic steel is fixed respectively in two positions on the Moving plate corresponding with two pedals, where some pedals turn, and where corresponding permanent magnetic steel also turns; But only turn in the position that has Hall, could send control signal by Hall, the motor of commander's morpet produces the power-assisted needing and rotates.
The position of feature (3) middle different period pedal travels because Hall can not represent to circle, just can not be only with a Hall: the different periods of pedal in circling, power-assisted demand is had to very big difference, embody the variation of this power-assisted demand, this patent is located at respectively 180 degree angles with three interior positions with three Halls, two permanent magnetic steels are located at respectively two pedal positions, pedal turns in the position that has Hall, and this Hall represents that with regard to output signal pedal has arrived the position of this Huo Yuan.But there is again shortcoming below with a plurality of Halls.
These features as morpet sensor have three shortcomings:
Shortcoming (1) represents respectively the fixed position of two pedals with two permanent magnetic steels that there is no an otherness, just can only represent with a plurality of Halls the turned position of pedal: two permanent magnetic steels do not have otherness, advantage is can be regardless of the fixed position that represents respectively two pedals of left and right pin, make the raw power-assisted demand of its left and right human hair combing waste, can produce identical motor power-assisted effect; But shortcoming is permanent magnetic steel itself just can not represent the turned position of pedal, and can only be located at the turned position that different angle positions represents pedal with a plurality of Halls, thus can not be only with a Hall, and must use a plurality of Halls.
Shortcoming (2) can not be only with a Hall, and three Halls must cause three control signals to have original segmentation error, make the distortion of power-assisted demand model, naturally produce power-assisted output inconsistent with power-assisted demand: no matter morpet is one or two motor, its transducing signal of controlling motor can only just can reach the object of controlling motor with a transducing signal input electric machine controller; And three Halls are controlled motors for this patent, three control signals of three Halls must be merged into one and could input electric machine controller after merging control signal.The parameter sensing of three Halls can not be the same, particularly due to after variation of ambient temperature, period of service length, the parameter sensing of three Halls may be widely different, when its result causes identical power-assisted demand, the output of different Halls be different voltages, cause motor to produce different power-assisted output, power-assisted output is inconsistent with power-assisted demand; In like manner during identical power-assisted demand, the output of different Halls may be identical voltage again, cause motor to produce the output of same power-assisted, also produce power-assisted output and the inconsistent problem of power-assisted demand.
Shortcoming (3) merges control signal and easily produces signal drift, making to merge control signal does not mate with electric machine controller, power-assisted demand model distortion: due to variation of ambient temperature, after period of service is long, the parameter sensing of three Halls may be widely different, three control signal point of connection of three Halls must change, the merging control signal that identical power-assisted demand produces will produce the signal drift of segmenting, merge control signal as a whole signal distortion that produces, it is the distortion of power-assisted demand model, any one that causes that electric machine controller selects three control signals all can produce power-assisted output and the inconsistent problem of power-assisted demand as benchmark.
Shortcoming sensing site can not arbitrarily increase, sensing site very little, motor operation is just not steady, make people by bike feel very uncomfortable: owing to having shortcoming (1) and shortcoming (2) all to cause because Hall quantity is greater than one, clearly Hall quantity is measured more and more, and shortcoming (1) and shortcoming (2) performance are more serious.So the morpet that this patent provides can only be to make people by bike feel the morpet that traveling comfort is very bad.
Shortcoming (5) signal blind zone reaches 42 degree angles, when needing power-assisted during startup, really can not get power-assisted: well-known, it is minimum in summit moment that people steps on bicycle pedal, from leaving 10-45 degree angle, summit, it is the region that needs most power-assisted, but the angle between each Hall of this patent is 42.5-43.5 degree, at stretcher, leave summit 10-42 degree angular zone neither one Hall, also with regard to neither one control signal, when consequently needing most power-assisted, but the motor of morpet really can not power-assisted.
In a word, this patent is with a plurality of Halls, to control the technical scheme of assistant mode, because can only represent with a plurality of Halls the turned position of pedal, a plurality of control signals of a plurality of Halls must have original error, it merges control signal and easily produces again signal drift, all can cause the distortion of power-assisted demand model, i.e. the identical power-assisted demand of different time, but obtain different power-assisted effects; Hall quantity is measured more and more, and the distortion of power-assisted demand model is more serious, the quantity of having placed restrictions on you, Hall small number and to produce motor operation just not steady, make people by bike feel very uncomfortable, and can not get power-assisted while starting.Make it want power-assisted demand model undistorted, and want motor to operate steadily in these two problems and always attend to one thing and lose sight of another, can not get both.
Summary of the invention
The object of this invention is to provide the sensor that only obtains speed and acceleration signal by each permanent magnets on a Hall and rolling disc, a kind of in can induction region, can increase permanent magnets quantity as far as possible, utilize to greatest extent rolling disc displacement information, how again output information pinpoint sensor.Use, on morpet, is measured moment without elastic component and other machinery, also can make power-assisted demand mate well with the power-assisted providing, the morpet sensor that motor operates steadily.
Design of the present invention is: in a Hall can receptive field, on a rolling disc, by a plurality of permanent magnets, carry out different variation pattern settings, make an one Hall can experience the motor message of whole permanent magnets.The variation pattern of a plurality of permanent magnets is mainly that magnetic polarity changes, change in location, object make Hall can obtain ad-hoc location more accurately, control with better function, more permanent magnets motor message.A plurality of permanent magnets magnetic polarities alternately change with the arctic, the South Pole, and the signal that Hall is produced is square wave, controls with better function, more; It is more accurate that a plurality of permanent magnets change in location make signal that Hall produces can express the position of permanent magnets, thereby can express the state of kinematic motion of ad-hoc location.For morpet, the ad-hoc location of expressing stretcher is extremely important at what state of kinematic motion because the state of kinematic motion direct representation of stretcher the power-assisted need state of people to car.
The square-wave signal of Hall output is become to digital signal, side makes the digital signal of Hall carry out digitized processing, in digitized processing process, can add morpet needs, make the power-assisted math modeling of people's function optimized matching, power-assisted math modeling can be undertaken arbitrarily adjusting by man-machine cooperation.The sine wave signal that can overcome the output of prior art Hall is difficult to carry out digitized processing, can only carry out simulated signal processing and can not add the power-assisted model that can arbitrarily adjust, overcome and only limit to rolling disc ought both rotate the deformation process that analogue speed signal carries out, can only extract the power-assisted model that placed restrictions on by speed signal condition, make man-machine problem that can not optimized matching.
Structure of the present invention is:
The rotating disc type sensor of many magnetic patch position uneven distribution for morpet, comprises the sensitive member, power-assisted model treater 21, D and A converter 27 and the op amp 28 that connect successively; It is characterized in that:
［ 1 ］ sensitive member is the rotational motion of rolling disc 1 to be become to the element of square-wave signal output;
Sensitive member comprises a rolling disc 1 and a plurality of permanent magnets 2, on rolling disc 1, be fixedly installed a plurality of permanent magnets 2,2 one-tenth annular arrangements of a plurality of permanent magnets distribute, and 2 one-tenth of a plurality of permanent magnets are dislocatedly distributed, and being dislocatedly distributed is radius mode or spacing a certain of mode that be dislocatedly distributed that be dislocatedly distributed; Or there are the radius mode that is dislocatedly distributed, an array mode that has again spacing to be dislocatedly distributed;
The radius mode of being dislocatedly distributed is: the plurality of permanent magnets 2 is distributed in annular arrangement 6 scopes, between the interior circular trajectory 5-1 of annular arrangement 6 and outer ring trajectory 5-2, has at least a circular rail trace to run through whole permanent magnets 2; Interior circular trajectory 5-1 and outer ring trajectory 5-2 are concentric circles, have at least two permanent magnets 2 not identical to the distance at circle center, interior circular trajectory 5-1 place;
The spacing mode of being dislocatedly distributed is: the distance between adjacent permanent magnets 2 is permanent magnets spacing 7; Have at least the length of two permanent magnets spacing 7 not identical;
In certain one side of rolling disc 1, the magnetic polarity of adjacent permanent magnets 2 is contrary, and simultaneously to go up the magnetic polarity distribution mode of whole permanent magnets 2 be the N utmost point, the S utmost point, the N utmost point, the S utmost point, the N utmost point, the S utmost point for certain of rolling disc 1
Also comprise a Hall 3, certain one or both sides that Hall 3 is positioned at rolling disc 1 have Hall 3, and Hall 3 is located at the position that approaches permanent magnets 2, between Hall 3 and permanent magnets 2, have spacing; Hall 3 is opposite magnetic polarities to be produced to the Hall of square wave output signal.
［ ［ 2 ］ power-assisted model treater 21 is the digital signal of rolling disc 1 rotation to be become to the signal form conv of power-assisted model digital signal;
Power-assisted model treater 21 comprises analogue to digital conversion and the wide recognizer 22 of ripple, power-assisted starting point finder 23, magnetic patch rotating speed calculator 24, power-assisted model memory device 25 and power-assisted model calculator 26;
Analogue to digital conversion is connected with sensitive member with the wide recognizer 22 of ripple, the width of each square wave identified the square-wave signal of 3 inputs of Hall in sensitive member by the wide recognizer 22 of analogue to digital conversion and ripple, each square-wave signal is become to different digital signals, each square wave is marked, and the wide recognizer 22 output marks of analogue to digital conversion and ripple have the magnetic patch motion digital signal of magnetic patch position order;
Analogue to digital conversion is connected with magnetic patch rotating speed calculator 24 with power-assisted starting point finder 23 respectively with the wide recognizer 22 of ripple, and power-assisted starting point finder 23 is connected with magnetic patch rotating speed calculator 24; The mark of wide recognizer 22 inputs of magnetic patch rotating speed calculator 24 use analogue to digital conversions and ripple has the magnetic patch motion digital signal of magnetic patch position order to calculate the rotating speed of rolling disc 1, and the rotating speed digital signal of rolling disc 1 is passed to power-assisted starting point finder 23, power-assisted starting point finder 23 use marks have the magnetic patch motion digital signal of magnetic patch position order, determine some squares wave corresponding to power-assisted starting point under certain speed conditions with these two signals of rotating speed digital signal of rolling disc 1, determine power-assisted starting point magnetic patch.Power-assisted starting point finder 23 has completed the initial point of finding out power-assisted, namely determine and come into effect power-assisted from certain square wave, accurately say be exactly at rolling disc 1 under certain speed conditions, from certain magnetic patch, in certain position, start to carry out power-assisted, or from certain magnetic patch certain position, the power-assisted model of original power-assisted model being changed into next step selection carries out power-assisted.
Power-assisted starting point finder 23 is all connected with power-assisted model calculator 26 respectively with magnetic patch rotating speed calculator 24, and power-assisted model memory device 25 is also connected with power-assisted model calculator 26; The power-assisted starting point magnetic patch of power-assisted model calculator 26 use power-assisted starting point finders 23, select a certain power-assisted pattern function in power-assisted model memory device 25 with these two conditions of rolling disc 1 rotating speed with magnetic patch rotating speed calculator 24, and by power-assisted starting point magnetic patch and these two condition substitution power-assisted pattern functions of rolling disc 1 rotating speed, calculate the power-assisted model digital signal that is applicable to these two conditions, i.e. power-assisted model calculator 26 output power-assisted model digital signals;
［ 3 ］ D and A converter 27 is power-assisted model digital signal to be converted to the analog signal of power-assisted model;
Power-assisted model calculator 26 is connected with D and A converter 27, and D and A converter 27 converts power-assisted model simulation signal to the power-assisted model digital signal of power-assisted model calculator 26; So that electric machine controller 29 that can only Analog signals can be identified analog signal;
［ 4 ］ op amp 28 is the power-assisted model simulation signal of D and A converter 27 to be converted to the power-assisted model simulation signal of the range of nominal tension.
［ one ］ explanation to sensitive member:
Rolling disc 1 can be the on-deformable plate of material such as plastic flagstone, the exhausted plate of high strength, copper coin, aluminium sheet.While using sensitive member, rolling disc 1 will rotate, and the center of rotation is exactly Yuan center, 2 one-tenth annular arrangement distribution places of a plurality of permanent magnets.
A plurality of permanent magnets 2 are in annular arrangement 6 scopes, the object that becomes annular arrangement to distribute is only with a Hall 3, to experience the state of kinematic motion of whole permanent magnets 2 on rolling disc, experience movement position and the speed of whole permanent magnets 2 on rolling disc, and the variation of speed, or title acceleration/accel, this Hall 3 just can be expressed the state of kinematic motion of permanent magnets 2 with a continuous signal, because it is on rolling disc 1 that whole permanent magnets 2 is separately fixed at rolling disc, the continuous signal that Hall 3 produces just can be expressed the total movement state of rolling disc again.If this continuous signal is used for controlling other object, this continuous signal is exactly control signal.If for controlling the motor 30 of morpet, also need with micro controller system or other electron component as sensing signal processor, position in control signal, speed, acceleration/accel key element are converted to the power-assisted signal that needs the how many amounts of power-assisted, the function converting is exactly power-assisted demand model, or claims power-assisted model.
2 one-tenth meanings that are dislocatedly distributed of a plurality of permanent magnets are: making in signal that Hall 3 produces is not duplicate impulse singla, but the different impulse singla of pulse width, with distinguishing impulse singla, distinguish the diverse location of permanent magnets 2, thereby can obtain the state of kinematic motion of diverse location permanent magnets 2.Reaching can certain position of accurate expression rolling disc, or each has the state of kinematic motion of permanent magnets 2.As for morpet, can ride the demand to power-assisted at diverse location by accurate expression, make the expression of power-assisted demand more accurate, car is just more consistent with people's cooperation.
The permanent magnets 2 radius modes of being dislocatedly distributed are: the permanent magnets 2 having is close to the center of turn of rolling disc, and some permanent magnets 2 are away from the center of turn of rolling disc.No matter but far and near, permanent magnets 2 must can be experienced, can produce in the scope of signal 3 of Halls.The scope that can produce signal is exactly the scope between interior circular trajectory 5-1 and outer ring trajectory 5-2.For guaranteeing that Hall 3 can produce signal, in requiring in structure, between circular trajectory 5-1 and outer ring trajectory 5-2, have at least a circular rail trace to run through whole permanent magnets 2.Have at least two permanent magnets 2 not identical to the distance at circle center, interior circular trajectory 5-1 place, certainly distance that can each permanent magnets 2 Dao Yuan center is not identical, the radius that is each permanent magnets 2 is not identical, so that each pulse of Hall 3 signals can be illustrated in permanent magnets 2, make each pulse can represent a rolling disc position.
The permanent magnets 2 spacing modes of being dislocatedly distributed are: using the outward flange of permanent magnets 2 as the basis of measuring spacing, have at least the length of two permanent magnets spacing 7 not identical, certainly length that can every permanent magnets spacing 7 is not identical, so that each pulse of Hall 3 signals can be illustrated in permanent magnets 2, make each pulse can represent a rolling disc position.
The magnetic polarity of adjacent permanent magnets 2 is very important technical characterictic on the contrary, all the magnetic polarity distribution mode of permanent magnets 2 is the N utmost point, the S utmost point, the N utmost point, the S utmost point, the N utmost point, the S utmost point ... make the high and low alternate square-wave signal of Hall 3 output, because the rolling disc stopping as limited size, rotating and within one week, will obtain as far as possible many accurate variable signals, should be to select square wave certainly.The time that the peak-to-valley value of square-wave signal changes is short, can, within the regular hour, produce as far as possible many signals that has control meaning.The contrary structure generation square wave of magnetic polarity of adjacent permanent magnets 2, and the identical structure generation sinusoidal waveform of the magnetic polarity of adjacent permanent magnets 2, during especially for morpet, as the rolling disc of sensing element, generally placing restrictions at diameter is 10-15 centimetre, in this limit scope, to obtain the signal of controlling function, rotate one week, produce square wave than producing the many 7-9 of the available pulse number of sinusoidal waveform doubly.Nature, to the control effect of morpet more, people coordinates with car better for the magnetic polarity of adjacent permanent magnets 2 contrary structure, and rider people feels more comfortable.
［ two ］ explanation of power-assisted model treater 21: power-assisted model treater 21 is the digital signal of rolling disc 1 rotation to be become to the signal form conv of power-assisted model digital signal;
Power-assisted model treater 21 comprises analogue to digital conversion and the wide recognizer 22 of ripple, power-assisted starting point finder 23, magnetic patch rotating speed calculator 24, power-assisted model memory device 25 and power-assisted model calculator 26, the processing thinking of these parts signals is: the square-wave signal of Hall in sensitive member 3 is decomposited to the position digital signal that represents magnetic patch 2 positions, with the speed digital signal that represents rolling disc 1 rotating speed, because position and speed are all digital signals, just can with power-assisted math modeling, process position and speed, can design power-assisted math modeling by people's best perception, make the power-assisted model digital signal of its power-assisted model treater 21 outputs there is best power-assisted math modeling, the actuation point and the terminating point that have again this good power-assisted math modeling, because there is the position digital signal of magnetic patch 2, so actuation point and terminating point can really arrive the power-assisted demand Complete Synchronization with people.Having solved prior art does not have magnetic patch 2 position signals and causes people's power-assisted demand and power-assisted unmatched models, postpone in the problem of power-assisted demand with the operation of power-assisted model, having solved prior art wants power not to power, to only give energetically little power, want little power again to energetically, do not want power again to man-machine ill-matched problems such as power.In power-assisted model treater 21, annexation and the function of each parts are as follows:
Analogue to digital conversion is connected with sensitive member with the wide recognizer 22 of ripple, the width of each square wave identified the square-wave signal of 3 inputs of Hall in sensitive member by the wide recognizer 22 of analogue to digital conversion and ripple, each square-wave signal is become to different digital signals, each square wave is marked, and the wide recognizer 22 output marks of analogue to digital conversion and ripple have the square-wave signal of magnetic patch position order.Like this, there is other square-wave signal of length field to become the square-wave signal with data mark waveform, convenient in digitized processing process below, square wave length is become to square wave position data and carry out calculation process.So the wide recognizer 22 of analogue to digital conversion and ripple is square wave length to be represented to the signal of magnetic patch position, become the treater by the digital signal of data mark magnetic patch position.This is the important inventive point that the present invention is different from existing morpet, there is the digital signal with data mark magnetic patch position, the present invention just can find some or each magnetic patch position on the rolling disc 1 of circulation circular movement, for starting, motor 30 produces power-assisted, increase power-assisted, reduce power-assisted, stop 30 work of the motors such as power-assisted and found starting point and terminal, people's power-assisted demand and motor 30 power-assisted behaviors can be matched, avoided existing morpet to be difficult to realize man-machine cooperation, while occurring needing power-assisted, motor 30 does not rotate, while not needing power-assisted, motor 30 also keeps motion not stop, even cause the problem of collision accident.
Analogue to digital conversion is connected with magnetic patch rotating speed calculator 24 with power-assisted starting point finder 23 respectively with the wide recognizer 22 of ripple, and power-assisted starting point finder 23 is connected with magnetic patch rotating speed calculator 24; The mark of wide recognizer 22 inputs of magnetic patch rotating speed calculator 24 use analogue to digital conversions and ripple has the magnetic patch motion digital signal of magnetic patch position order to calculate the rotating speed of rolling disc 1, and the rotating speed digital signal of rolling disc 1 is passed to power-assisted starting point finder 23, power-assisted starting point finder 23 use marks have the magnetic patch motion digital signal of magnetic patch position order, determine some squares wave corresponding to power-assisted starting point under certain speed conditions with these two signals of rotating speed digital signal of rolling disc 1, determine power-assisted starting point magnetic patch.Due to, definite power-assisted starting point magnetic patch is the square wave that has data mark, power-assisted starting point magnetic patch has magnetic patch 2 positions of unique correspondence, like this, power-assisted starting point finder 23 has completed magnetic patch 2 positions of finding out power-assisted initial point, also, in the time of just can determining certain magnetic patch 2 where, start or finish motor and carry out certain power-assisted model sport.This just reaches the specific magnetic patch 2 that people controls rolling disc 1 and is synchronized with the movement, specific magnetic patch 2 is controlled motor 30 and is carried out specific synchronous rotation, realize the object of people's synchro control motor, there will not be the starting point of control and terminal inaccurate, there will not be the starting point of control and the problem that terminal postpones.But existing morpet, when opening only power-assisted, all can not find the stop bit that opens of synchronizeing with people and puts, so all can produce the starting point of control and the problem that terminal postpones.
Power-assisted starting point finder 23 is all connected with power-assisted model calculator 26 respectively with magnetic patch rotating speed calculator 24, and power-assisted model memory device 25 is also connected with power-assisted model calculator 26; The power-assisted starting point magnetic patch of power-assisted model calculator 26 use power-assisted starting point finders 23, select a certain power-assisted pattern function in power-assisted model memory device 25 with these two conditions of rolling disc 1 rotating speed with magnetic patch rotating speed calculator 24, and by power-assisted starting point magnetic patch and these two condition substitution power-assisted pattern functions of rolling disc 1 rotating speed, calculate the power-assisted model digital signal that is applicable to these two conditions, power-assisted model calculator 26 just can be exported power-assisted model digital signal.
［ three ］ explanation of logarithmic mode conv 27: D and A converter 27 is power-assisted model digital signal to be converted to the analog signal of power-assisted model.
Power-assisted model calculator 26 is connected with D and A converter 27, and D and A converter 27 converts power-assisted model simulation signal to the power-assisted model digital signal of power-assisted model calculator 26.So that the analog signal to electric machine controller 29 output power-assisted models that can only Analog signals.
［ four ］ explanation to op amp 28: op amp 28 is the power-assisted model simulation signal of D and A converter 27 to be converted to the power-assisted model simulation signal of the range of nominal tension.
D and A converter 27 is connected with op amp 28, although the power-assisted model simulation signal of D and A converter 27 has solved power-assisted model problem, but the voltage of power-assisted model signals can't meet the needs of electric machine controller 29, so also will power-assisted model simulation signal be converted to the power-assisted model simulation signal that the range of nominal tension needs with op amp 28, just can be transferred to electric machine controller 29.
In sensor of the present invention, the signal of each Signal Processing Element output is:
Power-assisted model treater 21 output power-assisted model digital signals;
The wide recognizer 22 output marks of analogue to digital conversion and ripple have the magnetic patch motion digital signal of magnetic patch position order;
The start position signal of the power-assisted starting point magnetic patch that 23 outputs of power-assisted starting point finder are definite;
Magnetic patch rotating speed calculator 24 calculates and exports the rotating speed digital signal of rolling disc 1;
It is standby that power-assisted model memory device 25 has multiple power-assisted pattern function, exports the digital signal of selected power-assisted pattern function;
Power-assisted model calculator 26 calculates and exports for controlling the power-assisted model digital signal of function;
The power-assisted model simulation signal that D and A converter 27 outputs convert power-assisted model digital signal to;
What thermally dependent resistor R6 guaranteed op amp 28 outputs is the power-assisted model simulation signal of the range of nominal tension, i.e. standard power-assisted model simulation signal.
For solving power-assisted model simulation signal drift problem, be provided with thermally dependent resistor R6, thermally dependent resistor R6 is connected between the input end and mouth of op amp 28.
Power-assisted model treater 21 is micro controller systems 31, is connected with clock circuit 32 on micro controller system 31.With micro controller system 31, complete the function of analogue to digital conversion and the wide recognizer 22 of ripple, power-assisted starting point finder 23, magnetic patch rotating speed calculator 24, power-assisted model memory device 25 and power-assisted model calculator 26.The clock signal of clock circuit 32 is the effects for the square-wave signal of Hall 3 inputs is distinguished, and preferably the length of each clock signal is 0.001 second.
The preferred model of each parts of sensor of the present invention and concrete connection mode are: Hall 3 is UGN3075, and power-assisted model treater 21 is AT89S52 micro controller systems 31, and D and A converter 27 is ADC-C8E; Op amp 28 is OF-17F, between input end 2 pin of OF-17F op amp 28 and mouth 6 pin, is connected with thermally dependent resistor R6; Each parts annexation is as follows:
12 pin B8 of 39 pin P00 linking number weighted-voltage D/A converters 27 of micro controller system 31;
11 pin B7 of 38 pin P01 linking number weighted-voltage D/A converters 27 of micro controller system 31;
10 pin B6 of 37 pin P02 linking number weighted-voltage D/A converters 27 of micro controller system 31;
9 pin B5 of 36 pin P03 linking number weighted-voltage D/A converters 27 of micro controller system 31;
8 pin B4 of 35 pin P04 linking number weighted-voltage D/A converters 27 of micro controller system 31;
7 pin B3 of 34 pin P05 linking number weighted-voltage D/A converters 27 of micro controller system 31;
6 pin B2 of 33 pin P06 linking number weighted-voltage D/A converters 27 of micro controller system 31;
5 pin B1 of 32 pin P07 linking number weighted-voltage D/A converters 27 of micro controller system 31;
2 pin of 4 pin concatenation operation amplifiers 28 of D and A converter 27;
3 pin of 2 pin concatenation operation amplifiers 28 of D and A converter 27;
6 pin of op amp 28 are analog signal output.
Between input end 2 pin of OF-17F op amp 28 and mouth 6 pin, be connected with thermally dependent resistor R6, and thermally dependent resistor R6 two ends are also parallel with capacitor C 6.Preferably thermally dependent resistor R6 is 5K, and capacitor C 6 is 8P, uses the R5 ground connection of 1.25k between 4 pin of D and A converter 27 and 2 pin of op amp 28.Make its available temperature-sensitive resistance R 6 regulate the analog signal voltage scope of op amp 286 pin outputs to be stabilized between 0.8--4.2V.
Rolling disc 1 is provided with centre hole in the circle scope of the interior circular trajectory 5-1 place of a plurality of permanent magnets 2.If rolling disc 1 will be set on a turning cylinder and use, on rolling disc 1, will establish a hole that wears turning cylinder; For guaranteeing that rolling disc 1 is when rotating with turning cylinder, Hall 3 can be experienced the motor message of each permanent magnets 2 on rolling disc 1, on rolling disc 1, wear the center that hole should be located at the interior circular trajectory 5-1 place circle scope of a plurality of permanent magnets 2, because interior circular trajectory 5-1 and outer ring trajectory 5-2 are concentric circles, certainly wear the center of circular rail trace 5-2 place circle scope outside, hole, wearing hole is the hole, center of interior circular trajectory 5-1 and outer ring trajectory 5-2, i.e. centre hole.That is to say, centre hole is not necessarily circular, can be the shapes such as square, triangle, to can be nested with the turning cylinder of the shapes such as square, triangle, but the interior sky of centre hole necessarily comprises Yuan center, interior circular trajectory 5-1 place, could use a Hall 3 to experience the motor message of whole permanent magnets 2 on rolling disc 1 rolling disc.
Have at least the length of a permanent magnets spacing 7 to be not equal to other any one permanent magnets spacing 7.Be not equal to other length, the permanent magnets spacing 7 of particular length can be used for representing the position of bicycle pedal.Preferably have at least the length of two permanent magnets spacing 7 to be not equal to other any one permanent magnets spacing 7, the permanent magnets spacing 7 of these two particular length corresponds respectively to two stretchers, for representing the position of two stretchers of bicycle.Because the circular movement of bicycle pedal, judges that pedal position is for the speed that obtains this circular movement, determine that the power-assisted model of circular movement is extremely important next time.
Advantage of the present invention: simple in structure, cost is low, the permanent magnets quantity on permanent magnets ring is not placed restrictions on, the impulse singla of outputting standard, there is no signal blind zone, only with one group of output signal of a Hall, just the total movement state, output signal of energy perfect representation Moving plate can distortion drift about, by permanent magnets change in location, represent can have in fixed position, place, output signal the movement position of each permanent magnets, for morpet, make power-assisted output can highly coordinate with power-assisted demand and cyclist is felt well.
(1) simple in structure, without elastic component, machinery-free fault: experience a plurality of permanent magnets with Hall and rotate output signal, the speed providing with Chinese patent 01201843.0 can be calculated the principle of moment, available multiple math modeling is calculated the moment parameter of morpet, for controlling the motor of morpet, realize power-assisted.Without elastic component, simple in structure, cost lower than with elastic component and mechanically stressed sensor.Each mechanical part distortion, machinery-free fault, the not good problem of cooperation have been avoided after long-time use.
(2) magnetic polarity is contrary, output square-wave signal, there is accurate control function: because the magnetic polarity of adjacent permanent magnets is contrary, and Hall is selected the Hall that opposite magnetic polarities is produced to square wave output signal, no matter spacing is how many for adjacent permanent magnets, even very close to each other between adjacent permanent magnets, Hall can be exported square-wave signal too.As for morpet, the motor of controlling morpet with the output signal of square wave is better than with sinusoidal waveform, because rectangle wave energy is accomplished signal point at any time, the signal implication that represents movement position and speed is accurate, thereby movement position and speed that can Precise Representation booster bicycle pedal, to go out the correct power-assisted demand of this state of kinematic motion with the accurate position of pedal and speed calculation.
(3) magnetic polarity of adjacent permanent magnets is contrary, permanent magnets quantity is not placed restrictions on, can increase sensing point position: because magnetic polarity is contrary as far as possible, output square-wave signal, even adjacent permanent magnets gapless, the signal of its output has remained number, differentiable square-wave signal, still has control function, that is to say and can not export the unchanged linear signal of not controlling function.As for morpet, because the rolling disc diameter with pedal linkage is placed restrictions on, just can be on the rolling disc of prescribed level, increase permanent magnets quantity as far as possible, increase sensing point position as far as possible, with as far as possible many transducing signals, represent bicycle pedal movement position and speed, Precise Representation state of kinematic motion.
(4) magnetic polarity of adjacent permanent magnets is contrary, can arrange that permanent magnets is many, sensing point position is many, the state of kinematic motion of rolling disc is represented accurately: to for morpet, fixedly the rolling disc size of permanent magnets is strictly placed restrictions on, general rolling disc diameter can only be in 10-15 centimetre, in order to make Hall have the magnetic pole signal that obtains permanent magnets under the condition of spacing, the diameter of its permanent magnets is at least Ф 0.6-0.8 centimetre, zero-lash 35-73 permanent magnets ［ (10-1) the * 3.14/0.8=35 that arranges of the periphery of the rolling disc of diameter 10-15 centimetre; (15-1) * 3.14/0.6=73 ］, stretcher circles, and Hall can obtain 35-73 signal for controlling the motor of morpet.But if the identical prior art of adjacent permanent magnets magnetic polarity, adjacent permanent magnets, by 5 centimetres of spacing,, on diameter 10-15 centimetre rolling disc, can only arrange at most 5-8 permanent magnets ［ (10-1) * 3.14/5.8=5; (15-1) * 3.14/5.6=8 ］.Visible, the art of this patent can arrange doubly ［ 35/5=6 of permanent magnets 7-9 than prior art more; 73/8=9 ］, 30-65 permanent magnets ［ 35-5=30 is set more; 73-8=65 ］.So rolling disc circles, the art of this patent has increased 7-9 turn disc site signal doubly than prior art.The electric machine control accuracy rate of morpet has been improved to 7-9 doubly naturally, make cyclist also improve 7-9 doubly to power-assisted demand accuracy rate, car and people's cooperate degree improves greatly, and cyclist's comfort increases greatly, is no longer that fast slow uncomfortable sensation of boosted vehicle of prior art.The present invention asks someone according to actual experience, while roughly 15 permanent magnets being set uniformly on rolling disc, substantially having eliminated prior art and has only established 5-8 permanent magnets and make that fast slow uncomfortable sensation of boosted vehicle; While roughly 20 permanent magnets being set uniformly on rolling disc, car coordinates oneself can meet human needs with people's, and the sensation of riding boosted vehicle is very comfortable.
(5) there is no signal blind zone, power-assisted demand whenever all can obtain the power-assisted matching: this patent can arrange at most 35-73 permanent magnets at the rolling disc periphery of diameter 10-15 centimetre, and between each permanent magnets, average angle is 5-10 degree.For morpet, when starting or move, stretcher is from leaving in the 35 degree regions at 10-45 degree angle, summit, there is 4-7 permanent magnets (just having had a signal in the position of leaving 10Du angle, summit), the exportable 4-7 of Hall control signal reacts power-assisted demand, can realize any position, have power-assisted just can obtain the excellent technique effect of corresponding power-assisted any time, make car and people's no-float, it is laborsaving comfortable again that cyclist feels.
(6) only with a Hall, a control signal represents the total movement state of rolling disc, the state of kinematic motion of control signal and rolling disc is in full accord, control signal and people's demand is in full accord: a plurality of permanent magnets are fixed on rolling disc, permanent magnets is synchronizeed and is rotated with rolling disc, with a Hall, experience whole permanent magnets motor messages, the control signal of Hall output and the state of kinematic motion of rolling disc are in full accord, just in full accord with people's demand, control signal does not have original segmentation error and signal drift problem yet.Even if hall sensing parameter changes, be also whole control signal parallel, as long as it is wider to receive the range of receiving of electric machine controller of Hall control signal, the control effect of the Hall control signal having changed becomes systematicness to change.As for morpet, power-assisted demand model can distortion, and power-assisted output and power-assisted demand still keep the matching relationship of original model, and the systematicness that cyclist is easy to grasp this power-assisted ability changes.
(7) between permanent magnets, have dislocation, dislocation permanent magnets can represent the state of kinematic motion of specific site: because permanent magnets is in radial direction dislocation or the dislocation of circular arc line spacing, dislocation permanent magnets makes Hall export the control signal of peculiar wave space, the state of kinematic motion in a certain fixedly permanent magnets site that control signal of peculiar wave space just can direct representation rolling disc; As each permanent magnets has oneself specific dislocation site, can reach and have how many permanent magnets, just can obtain the motion state signal of how many specific sites.As for morpet, rolling disc diameter is in 10-15 centimetre, and rolling disc circles, and Hall can obtain the control signal of 35-73 different loci state of kinematic motion, naturally knows the power-assisted demand in 35-73 site.Clearly, rolling disc circles, and prior art can only have at most 5-8 power-assisted demand, and being nothing like the maximum available 35-73 of a this patent power-assisted desired signal more can be truly, react cyclist's power-assisted demand multiple data quantity.That is to say, morpet the art of this patent, it is consistent that Che Gengneng and people's demand match, and cyclist experiences stretcher at any turned position, and oneself all completely can regulation speed, and traveling comfort is good.And the morpet of prior art can only be at most 5-8 turned positions ability can regulation speed.
(8) can carry out digitized processing to hall signal, make to add in control signal the control model of man-machine optimized matching: the digital signal that the square-wave signal with magnetic patch position and magnetic patch rotating speed is become to this two key element, with the mathematics power-assisted model of setting, be applicable to man-machine no-float, the digital signal of this two key element is converted to power-assisted model digital signal, again power-assisted model digital signal is converted to power-assisted model simulation signal, finally power-assisted model simulation signal is become to the control signal that electric machine controller burning voltage scope, that have rating horsepower can be used.In a word, the signal exactly magnetic patch being rotated carries out digitized processing, in digitized processing treating process, adds the power-assisted model of mathematics, makes, in the control signal of the last output of sensor, to contain the power-assisted model adding.Because the power-assisted model of mathematics is artificial setting, so, always the power-assisted model specification of mathematics can be become to the model of the most applicable man-machine cooperation, the exportable control signal that can realize best man-machine cooperation of sensor of the present invention.And the magnetic patch same pole of existing morpet sensor is at the same face, Hall can not obtain square-wave signal, also just cannot carry out digitized processing to hall signal, it controls model can only be hall signal to be carried out to part revise, so can not realize the control signal of the man-machine optimized matching of output.
(9) finally the control signal of output does not have signal drift: with thermally dependent resistor R6, the output signal of op amp is carried out to feedback regulation, can solve the problem that the semiconductor devices such as Hall, D and A converter and op amp make power-assisted model simulation signal drift, what make the last output of sensor is the standard power-assisted model simulation signal that is not subject to variation of ambient temperature.
Accompanying drawing explanation
Fig. 1 is the sensitive member structural representation that on rolling disc, a plurality of N-S of uneven distribution replace permanent magnets;
Fig. 2 is the sensitive member structural representation that on rolling disc, a plurality of N-S of high density uneven distribution replace permanent magnets;
Fig. 3 is that the signal of Hall, power-assisted model treater, D and A converter, op amp flows to block scheme;
Fig. 4 is the circuit diagram of Hall, micro controller system, D and A converter, op amp.
In figure, 1 is rolling disc, the 2nd, permanent magnets, the 3rd, Hall, 5-1 is interior circular trajectory, 5-2 is outer ring trajectory, the 6th, annular arrangement, the 7th, permanent magnets spacing, the 21st, power-assisted model treater, the 22nd, the wide recognizer of analogue to digital conversion and ripple, the 23rd, power-assisted starting point finder, the 24th, magnetic patch rotating speed calculator, the 25th, power-assisted model memory device, the 26th, power-assisted model calculator, the 27th, D and A converter, the 28th, op amp, the 29th, electric machine controller, the 30th, motor, the 31st, micro controller system, the 32nd, clock circuit.
The specific embodiment
The rotating disc type sensor of many magnetic patch position uneven distribution for embodiment 1, morpet
As Fig. 1,3, the present embodiment sensor comprises sensitive member, power-assisted model treater 21, D and A converter 27 and the op amp 28 connecting successively;
［ 1 ］ sensitive member is the rotational motion of rolling disc 1 to be become to the element of square-wave signal output;
Sensitive member is that 20 permanent magnets 2 of 0.8 centimetre of diameter are set with a face of highstrenghtpiston's rolling disc 1 of 10.0 centimetres of diameters, and magnetic flow is 146---279 (BH) max/KJm
-3in some values.The structure of rolling disc 1, permanent magnets 2, Hall 3 is as follows:
Each permanent magnets 2 is fixed in 8.5 centimetres of diameters in annular arrangement 6 scopes between circular trajectory 5-19.5 centimetre of outer ring trajectory 5-2, has 2 one-tenth radiuses of a plurality of permanent magnets to be dislocatedly distributed, and has 2 one-tenth spacing of a plurality of permanent magnets to be dislocatedly distributed.
The radius mode of being dislocatedly distributed is: the plurality of permanent magnets 2 is distributed in annular arrangement 6 scopes, between the interior circular trajectory 5-1 of annular arrangement 6 and outer ring trajectory 5-2, has at least a circular rail trace to run through whole permanent magnets 2; Interior circular trajectory 5-1 and outer ring trajectory 5-2 are concentric circles, have at least two permanent magnets 2 not identical to the distance at circle center, interior circular trajectory 5-1 place;
The spacing mode of being dislocatedly distributed is: the distance between adjacent permanent magnets 2 is permanent magnets spacing 7; Have at least the length of two permanent magnets spacing 7 not identical.
Have the length of two permanent magnets spacing 7 to be not equal to the length of other any one permanent magnets spacing 7, and the length of these two permanent magnets spacing 7 is also unequal.The position that has two permanent magnets 2 at these two permanent magnets spacing 7 places is just in time at the two ends of 1 one diameters of rolling disc, and these two permanent magnets 2 for representing the movement position of two stretchers on morpet.
The contrary mode of magnetic polarity in 2 one-tenth adjacent permanent magnets 2 of whole permanent magnets of 1 one face settings of rolling disc is arranged, and on 1 one faces of rolling disc, all the magnetic polarity distribution mode of permanent magnets 2 is the N utmost point, the S utmost point, the N utmost point, the S utmost point, the N utmost point, the S utmost point ...
With a Hall 3, be located at the side that rolling disc 1 has permanent magnets 2, Hall 3 is located at the position that approaches permanent magnets 2, be Hall 3 be located at each permanent magnets 2 circular rail trace 5-1 and annular arrangement 6 scopes between outer ring trajectory 5-2 in, Hall 3 keeps the spacing distance of 0.3 centimetre with each permanent magnets 2 of rotary state, make each permanent magnets 2 of rotating when through Hall 3, Hall 3 can produce a corresponding square-wave signal output.
［ 2 ］ power-assisted model treater 21 is the digital signal of rolling disc 1 rotation to be become to the conv of the signal form of power-assisted model digital signal;
Power-assisted model treater 21 comprises analogue to digital conversion and the wide recognizer 22 of ripple, power-assisted starting point finder 23, magnetic patch rotating speed calculator 24, power-assisted model memory device 25 and power-assisted model calculator 26;
Analogue to digital conversion is connected with sensitive member with the wide recognizer 22 of ripple, the width of each square wave identified the square-wave signal of 3 inputs of Hall in sensitive member by the wide recognizer 22 of analogue to digital conversion and ripple, each square-wave signal is become to different digital signals, each square wave is marked, and the wide recognizer 22 output marks of analogue to digital conversion and ripple have the magnetic patch motion digital signal of magnetic patch position order;
Analogue to digital conversion is connected with magnetic patch rotating speed calculator 24 with power-assisted starting point finder 23 respectively with the wide recognizer 22 of ripple, and power-assisted starting point finder 23 is connected with magnetic patch rotating speed calculator 24; The magnetic patch motion digital signal of wide recognizer 22 inputs of magnetic patch rotating speed calculator 24 use analogue to digital conversions and ripple calculates the rotating speed of rolling disc 1, and the rotating speed digital signal of rolling disc 1 is passed to power-assisted starting point finder 23, power-assisted starting point finder 23 use marks have the magnetic patch motion digital signal of magnetic patch position order, determine some squares wave corresponding to power-assisted starting point under certain speed conditions with these two signals of rotating speed digital signal of rolling disc 1, determine power-assisted starting point magnetic patch; Power-assisted starting point finder 23 has completed the initial point magnetic patch of finding out power-assisted, namely determine and come into effect power-assisted from certain square wave, accurately say be exactly at rolling disc 1 under certain speed conditions, from certain magnetic patch, in certain position, start to carry out power-assisted, or from certain magnetic patch certain position, the power-assisted model of original power-assisted model being changed into next step selection carries out power-assisted.
Power-assisted starting point finder 23 is all connected with power-assisted model calculator 26 respectively with magnetic patch rotating speed calculator 24, and power-assisted model memory device 25 is also connected with power-assisted model calculator 26; The power-assisted starting point magnetic patch of power-assisted model calculator 26 use power-assisted starting point finders 23, select a certain power-assisted pattern function in power-assisted model memory device 25 with these two conditions of rolling disc 1 rotating speed with magnetic patch rotating speed calculator 24, and by power-assisted starting point magnetic patch and these two condition substitution power-assisted pattern functions of rolling disc 1 rotating speed, calculate the power-assisted model digital signal that is applicable to these two conditions, i.e. power-assisted model calculator 26 output power-assisted model digital signals;
［ 3 ］ D and A converter 27 is power-assisted model digital signal to be converted to the analog signal of power-assisted model.
Power-assisted model calculator 26 is connected with D and A converter 27, and D and A converter 27 converts power-assisted model simulation signal to the power-assisted model digital signal of power-assisted model calculator 26.So that the simulation letter to electric machine controller 29 output power-assisted models that can only Analog signals.
［ 4 ］ op amp 28 is the power-assisted model simulation signal of D and A converter 27 to be converted to the power-assisted model simulation signal of the range of nominal tension.
D and A converter 27 is connected with op amp 28, although the power-assisted model simulation signal of D and A converter 27 has solved power-assisted model problem, but the voltage of power-assisted model signals can't meet the needs of electric machine controller 29, so also will power-assisted model simulation signal be converted to the power-assisted model simulation signal that the range of nominal tension needs with op amp 28, just can be transferred to electric machine controller 29, reach electric machine controller 29 control motors 30 and carry out the operation that power-assisted is object.
The rotating disc type sensor of many magnetic patch position uneven distribution for embodiment 2, high density morpet
As a face of the high strength aluminium rolling disc 1 of 10.0 centimetres of Fig. 2,3, diameters arranges 40 permanent magnets 2 of 0.6 centimetre of diameter.The magnetic flow of permanent magnets 2 is 146---279 (BH) max/KJm
-3in some values, Hall 3 keeps the spacing distance of 0.2 centimetre with each permanent magnets 2 of rotary state, makes each permanent magnets 2 of rotating when through Hall 3, Hall 3 can produce a corresponding square-wave signal output.Other structure is same as embodiment 1.
As Fig. 1,4, the present embodiment sensor comprises sensitive member, power-assisted model treater 21, D and A converter 27 and the op amp 28 connecting successively;
［ 1 ］ Hall in sensitive member 3 is selected UGN3075; In sensitive member, the structure of other element and element is same as embodiment 1;
［ 2 ］ power-assisted model treater 21 selects micro controller system 31 to complete repertoire, and micro controller system 31 is selected AT89S52.It is the repertoire that AT89S52 micro controller system 31 completes analogue to digital conversion and the wide recognizer 22 of ripple, power-assisted starting point finder 23, magnetic patch rotating speed calculator 24, power-assisted model memory device 25 and power-assisted model calculator 26.
［ 3 ］ ADC-C8E is selected in D and A converter 27.
［ 4 ］ op amp 28 is selected OF-17F, is connected with the thermally dependent resistor R6 of 5k between input end 2 pin of OF-17F op amp 28 and mouth 6 pin; And thermally dependent resistor R6 two ends are also parallel with 8P capacitor C 6.Between 4 pin of D and A converter 27 and 2 pin of op amp 28, use the R5 ground connection of 1.25k.Make its available temperature-sensitive resistance R 6 regulate the analog signal voltage scope of op amp 286 pin outputs to be stabilized between 0.8--4.2V.
Each electronic unit annexation is as follows:
12 pin B8 of 39 pin P00 linking number weighted-voltage D/A converters 27 of micro controller system 31;
11 pin B7 of 38 pin P01 linking number weighted-voltage D/A converters 27 of micro controller system 31;
10 pin B6 of 37 pin P02 linking number weighted-voltage D/A converters 27 of micro controller system 31;
9 pin B5 of 36 pin P03 linking number weighted-voltage D/A converters 27 of micro controller system 31;
8 pin B4 of 35 pin P04 linking number weighted-voltage D/A converters 27 of micro controller system 31;
7 pin B3 of 34 pin P05 linking number weighted-voltage D/A converters 27 of micro controller system 31;
6 pin B2 of 33 pin P06 linking number weighted-voltage D/A converters 27 of micro controller system 31;
5 pin B1 of 32 pin P07 linking number weighted-voltage D/A converters 27 of micro controller system 31;
2 pin of 4 pin concatenation operation amplifiers 28 of D and A converter 27;
3 pin of 2 pin concatenation operation amplifiers 28 of D and A converter 27;
6 pin of op amp 28 are analog signal output.
Claims (8)
1. the rotating disc type sensor of many magnetic patch position uneven distribution for morpet, comprises the sensitive member, power-assisted model treater (21), D and A converter (27) and the op amp (28) that connect successively; It is characterized in that:
［ 1 ］ sensitive member is the rotational motion of rolling disc (1) to be become to the element of square-wave signal output;
Sensitive member comprises a rolling disc (1) and a plurality of permanent magnets (2), on rolling disc (1), be fixedly installed a plurality of permanent magnets (2), a plurality of permanent magnets (2) become annular arrangement to distribute, and a plurality of permanent magnets (2) become to be dislocatedly distributed, being dislocatedly distributed is radius mode or spacing a certain of mode that be dislocatedly distributed that be dislocatedly distributed; Or there are the radius mode that is dislocatedly distributed, an array mode that has again spacing to be dislocatedly distributed;
The radius mode of being dislocatedly distributed is: the plurality of permanent magnets (2) is distributed in an annular arrangement (6) scope, between the interior circular trajectory (5-1) of annular arrangement (6) and outer ring trajectory (5-2), has at least a circular rail trace to run through whole permanent magnets (2); Interior circular trajectory (5-1) and outer ring trajectory (5-2) are concentric circles, have at least two permanent magnets (2) not identical to the distance at circle center, interior circular trajectory (5-1) place;
The spacing mode of being dislocatedly distributed is: the distance between adjacent permanent magnets (2) is permanent magnets spacing (7); Have at least the length of two permanent magnets spacing (7) not identical;
In certain one side of rolling disc (1), the magnetic polarity of adjacent permanent magnets (2) is contrary, and simultaneously to go up the magnetic polarity distribution mode of whole permanent magnets (2) be the N utmost point, the S utmost point, the N utmost point, the S utmost point, the N utmost point, the S utmost point for certain of rolling disc (1)
Also comprise a Hall (3), certain one or both sides that Hall (3) is positioned at rolling disc (1) have Hall (3), and Hall (3) is located at the position that approaches permanent magnets (2), between Hall (3) and permanent magnets (2), have spacing; Hall (3) is opposite magnetic polarities to be produced to the Hall of square wave output signal;
［ 2 ］ power-assisted model treater (21) is the digital signal of rolling disc (1) rotation to be become to the signal form conv of power-assisted model digital signal;
Power-assisted model treater (21) comprises analogue to digital conversion and the wide recognizer of ripple (22), power-assisted starting point finder (23), magnetic patch rotating speed calculator (24), power-assisted model memory device (25) and power-assisted model calculator (26);
Analogue to digital conversion is connected with sensitive member with the wide recognizer of ripple (22), and the width of each square wave identified the square-wave signal of Hall in sensitive member (3) input by the wide recognizer of analogue to digital conversion and ripple (22),
each square-wave signal is become to different digital signals,each square wave is marked, and the wide recognizer of analogue to digital conversion and ripple (22) output mark has the magnetic patch motion digital signal of magnetic patch position order;
Analogue to digital conversion is connected with magnetic patch rotating speed calculator (24) with power-assisted starting point finder (23) respectively with the wide recognizer of ripple (22), and power-assisted starting point finder (23) is connected with magnetic patch rotating speed calculator (24); Magnetic patch rotating speed calculator (24) has the magnetic patch motion digital signal of magnetic patch position order to calculate the rotating speed of rolling disc (1) with the mark of analogue to digital conversion and the wide recognizer of ripple (22) input, and the rotating speed digital signal of rolling disc (1) is passed to power-assisted starting point finder (23), power-assisted starting point finder (23) has the magnetic patch motion digital signal of magnetic patch position order with mark, with these two signals of the rotating speed digital signal of rolling disc (1) determine some squares wave corresponding to power-assisted starting point under certain speed conditions, determine power-assisted starting point magnetic patch;
Power-assisted starting point finder (23) is all connected with power-assisted model calculator (26) respectively with magnetic patch rotating speed calculator (24), and power-assisted model memory device (25) is also connected with power-assisted model calculator (26); The power-assisted starting point magnetic patch of power-assisted starting point finder (23) for power-assisted model calculator (26), select a certain power-assisted pattern function in power-assisted model memory device (25) with these two conditions of rolling disc (1) rotating speed with magnetic patch rotating speed calculator (24), and by power-assisted starting point magnetic patch and these two condition substitution power-assisted pattern functions of rolling disc (1) rotating speed, calculate the power-assisted model digital signal that is applicable to these two conditions, i.e. power-assisted model calculator (26) output power-assisted model digital signal;
［ 3 ］ D and A converter (27) is power-assisted model digital signal to be converted to the analog signal of power-assisted model;
Power-assisted model calculator (26) is connected with D and A converter (27), and D and A converter (27) converts power-assisted model simulation signal to the power-assisted model digital signal of power-assisted model calculator (26);
［ 4 ］ op amp (28) is the power-assisted model simulation signal of D and A converter (27) to be converted to the power-assisted model simulation signal of the range of nominal tension.
2. the rotating disc type sensor of many magnetic patch position uneven distribution for morpet according to claim 1, is characterized in that: also comprise thermally dependent resistor R6, thermally dependent resistor R6 is connected between the input end and mouth of op amp (28).
3. the rotating disc type sensor of many magnetic patch position uneven distribution for morpet according to claim 2, is characterized in that: power-assisted model treater (21) is micro controller system (31), is connected with clock circuit (32) on micro controller system (31).
4. the rotating disc type sensor of many magnetic patch position uneven distribution for morpet according to claim 3, it is characterized in that: Hall (3) is UGN3075, power-assisted model treater (21) is AT89S52 micro controller system (31), and D and A converter (27) is ADC-C8E; Op amp (28) is OF-17F, between input end 2 pin of OF-17F op amp (28) and mouth 6 pin, is connected with thermally dependent resistor R6; Each parts annexation is as follows:
Signal output part 3 pin of Hall (3) connect 12 pin INTO ［ P32 ］ of micro controller system (31);
12 pin B8 of 39 pin P00 linking number weighted-voltage D/A converters (27) of micro controller system (31);
11 pin B7 of 38 pin P01 linking number weighted-voltage D/A converters (27) of micro controller system (31);
10 pin B6 of 37 pin P02 linking number weighted-voltage D/A converters (27) of micro controller system (31);
9 pin B5 of 36 pin P03 linking number weighted-voltage D/A converters (27) of micro controller system (31);
8 pin B4 of 35 pin P04 linking number weighted-voltage D/A converters (27) of micro controller system (31);
7 pin B3 of 34 pin P05 linking number weighted-voltage D/A converters (27) of micro controller system (31);
6 pin B2 of 33 pin P06 linking number weighted-voltage D/A converters (27) of micro controller system (31);
5 pin B1 of 32 pin P07 linking number weighted-voltage D/A converters (27) of micro controller system (31);
2 pin of 4 pin concatenation operation amplifiers (28) of D and A converter (27);
3 pin of 2 pin concatenation operation amplifiers (28) of D and A converter (27);
6 pin of op amp (28) are analog signal output.
5. the rotating disc type sensor of many magnetic patch position uneven distribution for the morpet described in any one according to claim 1-4, is characterized in that: Hall (3) is located between interior circular trajectory (5-1) and outer ring trajectory (5-2).
6. the rotating disc type sensor of many magnetic patch position uneven distribution for morpet according to claim 5, is characterized in that: rolling disc (1) is provided with centre hole in the circle scope of interior circular trajectory (5-1) place of a plurality of permanent magnets (2).
7. the rotating disc type sensor of many magnetic patch position uneven distribution for the morpet described in any one according to claim 1-4, is characterized in that: have at least the length of a permanent magnets spacing (7) to be not equal to other any one permanent magnets spacing (7).
8. the rotating disc type sensor of many magnetic patch position uneven distribution for the morpet described in any one according to claim 1-4, is characterized in that: rolling disc (1) is plastic flagstone, aluminum board, copper material plate a certain of non-magnet_conductible material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210263526.XA CN102826185B (en) | 2012-07-28 | 2012-07-28 | Rotary-disc type sensor with multiple magnets uneven in position for power-assisted bicycle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210263526.XA CN102826185B (en) | 2012-07-28 | 2012-07-28 | Rotary-disc type sensor with multiple magnets uneven in position for power-assisted bicycle |
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| JP2002154473A (en) * | 2000-11-20 | 2002-05-28 | Honda Motor Co Ltd | Magnetic detecting type sensor |
| CN201273819Y (en) * | 2008-08-07 | 2009-07-15 | 深圳万讯自控股份有限公司 | Hall potentiometer used for execution mechanism |
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| CN202783670U (en) * | 2012-07-28 | 2013-03-13 | 成都宽和科技有限责任公司 | Boosting bicycle rotating disc type sensor with multiple magnetic blocks nonuniform in position distribution |
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| JP2002154473A (en) * | 2000-11-20 | 2002-05-28 | Honda Motor Co Ltd | Magnetic detecting type sensor |
| CN201273819Y (en) * | 2008-08-07 | 2009-07-15 | 深圳万讯自控股份有限公司 | Hall potentiometer used for execution mechanism |
| CN101776464A (en) * | 2010-03-10 | 2010-07-14 | 株洲易力达机电有限公司 | Self-carried absolute position detecting device carried of motor and detecting method |
| CN202783670U (en) * | 2012-07-28 | 2013-03-13 | 成都宽和科技有限责任公司 | Boosting bicycle rotating disc type sensor with multiple magnetic blocks nonuniform in position distribution |
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Inventor after: Bao Pan Inventor after: Bao Xiaoqiang Inventor before: Huang Qiang |
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Effective date of registration: 20171221 Address after: 221600 east side of West Road of Peixian distillery in Xuzhou, Jiangsu Patentee after: Jiangsu Zhong Shui Guan Pai equipment Co., Ltd Address before: 610000, Sichuan District, Longquanyi City, Chengdu District Street, Jackie Chan Road, paragraph two, No. 888, Chengdu open area A10 (building) 3, No. 301 Co-patentee before: Huang Qiang Patentee before: Chengdu Kind Technology Co., Ltd. Co-patentee before: Gao Song Co-patentee before: Ouyang Yanxiong |