CN104192024A - Voltage difference moped system with gear signals and speed signals input into processor - Google Patents
Voltage difference moped system with gear signals and speed signals input into processor Download PDFInfo
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Abstract
The invention relates to a voltage difference moped system with gear signals and speed signals input into a processor and belongs to power supply controller systems of mopeds with assisting power supplied in a differentiation mode and with front wheels and rear wheels distributed in a difference mode. The voltage difference moped system comprises two wheels and two motors of an electric moped, and a gear signal manual controller and further comprises a differential distributor, wherein the differential distributor comprises three modules connected in sequence, the first module is used for conducting numeric comparison processing on feedback currents IA and IB, the second module is used for conducting model function processing on data of the first module through a moped mean speed signal IS selecting model function, and the third module is used for inputting the gear signals ID into a data distributor (10) of the differential distributor (1), so that control data obtained by a controller A and control data obtained by a controller B have elements of the feedback currents IA and IB and also have elements of the gear signals ID. The voltage difference moped system with the gear signals and the speed signals input into the processor has the advantages that differentiation control power supply is conducted on the two motors of the front wheel and the rear wheel of the moped, and the content of differentiation control includes preset model function processing.
Description
Technical field
The assist controller system, particularly front wheel and the trailing wheel that the invention belongs to electric assisted bicycle are all given and the differential front-wheel for power-assisted electricity and trailing wheel difference distribution morpet power-supply controller system.
Background technology
The Chinese patent 201210011641.8 of Hunan Shengtong Technology Group Co.,Ltd's application has proposed a kind of double wheel hub motor driven systems adaptive equalization rotating direction control method, but the technical design of electronic differential application specific processor is not provided.
201110358020.2 1 kinds of double wheel hub motor electronic differentials of Chinese patent and the speed governing Centralized Controller of Hunan Shengtong Technology Group Co.,Ltd application, but there is no the specific design of electronic differential module.
Hitachi Co., Ltd 01122460.6 herein disclosed is a kind of change-speed box, and it comprises for the mechanism to many boxs of tricks by the energy distribution of a drive source; The many motors that are connected with described many boxs of tricks respectively; With the mechanism from the energy of described many boxs of tricks outputs for combination.But the specific design that there is no electronic differential module.
The Chinese patent 201210399458.X that Chengdu connection is risen the application of power control technology Co., Ltd discloses a kind of Double Motor Control device that has electronic differential function, but there is no the specific design of electronic differential module.
The multinomial Chinese patents such as Chinese patent 03123625.1 automatic shifting controller for bicycle of Shimano KK's application, are all the methods that machinery is controlled speed change, are not electron steering speed changes.
Summary of the invention
The object of this invention is to provide two key elements of front-wheel and trailing wheel dynamic stress, speed of a motor vehicle key element, and this four elements of power-assisted gear key element of manually setting determines that front-wheel and trailing wheel difference distribute the morpet power-supply controller system of power supply.
And be that speed of a motor vehicle key element avoids participating in computing by the mode of preference pattern function, make it calculate variable minimizing, pattern function simplification, arithmetic speed is faster.
Power-assisted gear key element is distributed control signal to that calculated, to be exported difference, carries out with another, controlling after pattern function calculating again, then the morpet power-supply controller system of output.
Structure of the present invention is:
There are all voltage difference boosted vehicle systems of input processor of gear and speed signal, two wheels that comprise electric booster bicycle: wheel A and wheel B, and the motor A and the motor B that drives wheel B that drive wheel A, the shift signal manual mode controller 3 that comprises electric booster bicycle, it is characterized in that: also comprise differential distributing box 1, vehicle speed signal sensor 12 and average rate device 20; Vehicle speed signal sensor 12 is connected with average rate device 20, and average rate device 20 is the speed signal of vehicle speed signal sensor 12 in certain hour to be become to the signal processor of average velociity in this certain hour.
Between differential distributing box 1 and motor A, with controller A, be connected, controller A with differential distributing box 1 give with control signal control electrical source of power wheel A powered;
Between differential distributing box 1 and motor B, with controller B, be connected, controller B with differential distributing box 1 give with control signal control electrical source of power wheel B powered.
The current values comparator 9 of negate feedforward control signal electric current I A input differential distributing box 1 between motor A and controller A;
The current values comparator 9 of negate feedforward control signal electric current I B input differential distributing box 1 between motor B and controller B.
The current values comparator 9 of the shift signal ID input differential distributing box 1 of shift signal manual mode controller 3;
The current values comparator 9 of the car average rate signal IS input differential distributing box 1 of average rate device 20.
On morpet, shift signal manual mode controller 3 is exactly the gear rotary switc being fixed on handle-bar cross bar, and people is with the moving shift signal manual mode controller 3 of hand-screw, selects various from the car bumper position as automobile.The gear of morpet is stirred the transmitting ratio alternative pack machinery that bar itself is the physical construction relation of foot-operated chain drum and a plurality of gear multiplications of trailing wheel, in the present invention, shift signal manual mode controller 3 is electronicies package, and it is stirred gear the transmitting ratio selection mode of bar and by electronic signal, exports to the electronic unit that needs control.
On morpet, vehicle speed signal sensor 12 be fixed on morpet, experience this morpet moving velocity, output represents the sensor of speed of a motor vehicle electric signal.
The average velociity of average rate device 20 outputs is unsteady signals, the unsteady meaning is: if set average rate device 20, get front 5 seconds at that time with interior average velociity, the average velociity of latter a second will add this speed of latter one second and remove the speed of first the 6th second, calculates for 5 seconds with interior average velociity.The unsteady meaning is exactly that average velociity floats and changes with the speed of a motor vehicle at any time.
Differential distributing box 1 comprises three modules that are connected successively;
The first module is carried out numeric ratio to the original input signal feedback control signal electric current I A for controlling and feedback control signal electric current I B and is processed;
The second module is chosen in the car average rate signal IS of average rate device 20 pattern function of having set in pattern function holder 11 data of the first module is carried out to pattern function processing;
The 3rd module is by the data distributor 10 of the shift signal ID input differential distributing box 1 of shift signal manual mode controller 3, pattern function is processed to will to distribute to controlled electrical equipment be the processing that control data before controller A and controller B add respectively shift signal key element, the control data that controller A and controller B are obtained not only have the key element of feedback control signal electric current I A and feedback control signal electric current I B, also have the key element of shift signal ID and car average rate signal IS.
The first module: two input ends of current values comparator 9 connect respectively feedback control signal electric current I A and feedback control signal electric current I B; IA and IB are respectively the original control current signals of received current digital comparator 9; Two mouths of current values comparator 9 connect respectively IA > IB difference model data handler 7 and IA < IB difference model data handler 8.
Its effect is, current values comparator 9 is the two-way continually varying feedback control signal electric current I A of input, feedback control signal electric current I B becomes the digital signal of one group of difference value, with two kinds of vector signals a certain of obtaining IA > IB or IA < IB, current values comparator 9 is by the digital signal of this difference value, IA, IB and IA > IB vector signal are transferred to difference model data handler 7, or current values comparator 9 is by the digital signal of this difference value, IA, IB and IA < IB vector signal are transferred to difference model data handler 8, the digital signal of difference value under referred to as digital signal.
Current values comparator 9 subtracts IB with IA exactly, and the plus or minus of its difference is as vector, and the absolute value of difference, as digital signal, so digital signal is a value, is scalar.This is convenient at digital signal value identical, and vector is different, also can obtain different control model output, makes to control model and more can adapt to the needs of being controlled thing.
IA and IB are for controlling two target electric appliances, as electrical motor, or for controlling two current controling signals of two strong power controllers; Digital signal is the difference that current values comparator 9 couples of IA, IB carry out reduction algorithms processing, so digital signal can enter follow-up function numerical calculation as scalar, processes.Current controling signal IA and IB not only can have size variation, can also direction change, but digital signal only have size variation.
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The second module: IA > IB difference model data handler 7 connects respectively current values comparator 9 and pattern function holder 11; And IA < IB difference model data handler 8 also connects respectively current values comparator 9 and pattern function holder 11.
Pattern function holder 11 also connects average rate device 20, the car average rate signal IS input model function holder 11 of average rate device 20 is selected in the pattern function input IA > IB difference model data handler 7 and input IA < IB difference model data handler 8 that belongs to some car average rate signal IS in pattern function holder 11.
Its effect is;
When IA > IB, start IA > IB difference model data handler 7, by the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, the IA > IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution car average rate signal IS selects, carry out calculation process; And by the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, the IA > IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution car average rate signal IS selects, carry out calculation process; The two groups of IA > IB type of two control use that acquisition is corresponding with IA and IB difference are controlled data, the IA that obtains IA > IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA > IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA > IB vector, digital signal n, IAn);
Y IBn=f(IA > IB vector, digital signal n, IBn).
Digital signal n and IAn are the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn are the control current signal value IBn about this same time point corresponding to some digital signal n.
Or, when IA < IB, start IA < IB difference model data handler 8, by the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, the IA < IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution car average rate signal IS selects, carry out calculation process; And by the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, the IA < IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution car average rate signal IS selects, carry out calculation process; The two groups of IA < IB type of two control use that acquisition is corresponding with IA and IB difference are controlled data, the IA that obtains IA < IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA < IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA < IB vector, digital signal n, IAn);
Y IBn=f(IA < IB vector, digital signal n, IBn).
Digital signal n and IAn are the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn are the control current signal value IBn about this same time point corresponding to some digital signal n; IAn and IBn are computing values, are digital signals.
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Digital signal in above-mentioned pattern function includes the content of IS, IA and IB, and digital signal is again the function of IS, IA and IB.Digital signal=f(IS, IA, IB).
The calculating of above-mentioned pattern function is: first by IS value, in pattern function holder 11, go to select and the corresponding pattern function of IS value, the value of IS does not participate in pattern function, then in the pattern function input IA > IB difference model data handler 7 and IA < IB difference model data handler 8 of IS being selected, according to vector, select the some difference model data handlers in IA > IB difference model data handler 7 or IA < IB difference model data handler 8, in some difference model data handlers, calculate y IAn and y IBn.Y IAn and y IBn are last for controlling the original data of former and later two motors of morpet.
Above-mentioned pattern function can be at identical vectorial sum digital signal value, when different I A and IB, obtains different one group of control signal y IAn and y IBn.In function y IAn, digital signal is implied with IBn and IS content, and IBn and ISn do not participate in pattern function calculating, make it more easily set up pattern function, or pattern function are fairly simple; And if without digital signal, directly with IA, IB, IS, be difficult for setting up very much pattern function, the pattern function of foundation is very complicated.In like manner, in function y IBn, digital signal is implied with IAn and IS content, is for simplifying the method that pattern function is drawn of setting up.
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The 3rd module: the input end of data distributor 10 is connected with pattern function holder 11, shift signal manual mode controller 3, IA > IB difference model data handler 7 and IA < IB difference model data handler 8 respectively, the mouth of data distributor 10 is connected with D and A converter 16, and the mouth of D and A converter 16 is connected with strong power controller B with strong power controller A respectively; Realize the object of difference controller to strong power controller A and strong power controller B control.
Its effect is; The data distributor 10 of the shift signal ID input differential distributing box 1 of shift signal manual mode controller 3, pattern function is processed to will to distribute to controlled electrical equipment be that control data before controller A and controller B add respectively the pattern function of shift signal key element to process, the control data that controller A and controller B are obtained not only have the key element of feedback control signal electric current I A and feedback control signal electric current I B, also have the key element of shift signal ID.
Data distributor 10 becomes y IAnID and y IBnID controlling in groups after data y IAn and y IBn add respectively the pattern function of shift signal ID key element to process of IA > IB difference model data handler 7 input, then distributes to respectively strong power controller A and strong power controller B; Or controlling in groups after data y IAn and y IBn add respectively the pattern function of shift signal ID key element to process of IA < IB difference model data handler 8 input becomes y IAnID and y IBnID, distribute to respectively again strong power controller A and strong power controller B, be that y IAnID distributes to strong power controller A, y IBnID distributes to strong power controller B; D and A converter 16 is carried out respectively digital to analogy conversion the digital signal y IAnID and the y IBnID that distribute control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can be used, finally these two, control voltage signals and send two corresponding strong power controllers to.
Shift signal ID, the feedback control signal electric current I A and the feedback control signal electric current I B that realize shift signal manual mode controller 3 carry out the difference control power supply of regulation pattern function to strong power controller A and strong power controller B by difference controller, the electrical source of power of controlling well provides different power supplies to wheel A and wheel B, even if make wheel A and wheel B stressed unequal, also can obtain the work of two motor couplings, the effect of two wheel balance motions.
Controlling in groups car average rate signal IS, feedback control signal electric current I A and feedback control signal electric current I B for data y IAn and y IBn calculates through pattern function, represent a certain speed of the morpet front and back wheel different stressed demands to power supply of moment, this morpet does not travel in the integrated demand in this section, and the integrated demand in this section is exactly that morpet travels in a certain gear condition.So will calculate with alternate model function again controlling in groups data y IAn and y IBn with the shift signal ID of shift signal manual mode controller 3, obtain the y IAnID of control data in groups and y IBnID with gear element information.
General trailing wheel is stressed many, and power supply is many, and front-wheel is stressed few, and power supply is few.For different car average rates, the difference size of powering how many is different again, so want ID, IS, IA and tetra-of IB to control former key element.The weight of people on morpet is constant, certain wheel of front-wheel or trailing wheel is stressed when large, power consumption electric current can increase at once, feedback control signal electric current also increases at once, the former difference relation of IA and IB is changed, new ID, IS, tetra-of IA and IB control former key element input difference and control boosted vehicle system, difference is controlled boosted vehicle system process and is controlled with these four the pattern function calculating that former key elements match, two of matching with these four controlling elements of output control voltage signals respectively to the motor of front-wheel and trailing wheel, even if make wheel A and wheel B stressed unequal, also can obtain the work of two motor couplings, two wheel balance motions, the effect that morpet held stationary speed is travelled.
Due to different electric controller A and strong power controller B, require the control voltage signal of different voltage ranges, D and A converter 16 is exactly according to different electric controller A and strong power controller B, and digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can be used.So D and A converter 16 is indispensable.
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Can also be, IA > IB difference model data handler 7 is connected with data distributor 10 by corner parameter Processor 30 with IA < IB difference model data handler 8, and corner parameter Processor 30 is also connected with leading rotary angle transmitter 31.
The leading rotational angle of bicycle substantially can representative at the bicycle state stable in whether, if leading rotational angle has rotated the angles of 80 degree to 90 degree while comparing just forward, bicycle is in unstable motoring condition, at this moment feedback control signal electric current I A and IB are no matter be any signal, can not, again to motor power supply, must stop immediately motor to power.If leading rotational angle has rotated the angles of 30 degree to 80 degree than just forward time, feedback control signal electric current I A and IB require should increase and reduce the delivery to motor with leading rotational angle motor power supply.General leading rotational angle is at 0 degree during to the angle of 30 degree, and bicycle is that feedback control signal electric current I A and IB require the delivery of motor can, completely according to execution, not needed to revise in completely normal motoring condition.
For the speed of a motor vehicle that differential distributing box 1 controls and cyclist's body weight are matched, namely, under the condition of the same group of feedback control signal electric current I A changing and feedback control signal electric current I B, two control voltage signals that differential distributing box 1 is exported can change with cyclist's body weight difference.As controlled voltage signal with former two of should export of differential distributing box 1, be to match with 50 kilograms of body weights, when cyclist's body weight is 40 kilograms, control voltage signal and all reduce 20% for two of the 1 actual output of differential distributing box, or when cyclist's body weight is 70 kilograms, controls voltage signal and all reduce 40% for two of the 1 actual output of differential distributing box.Reaching the speed of a motor vehicle that differential distributing box 1 controls and cyclist's body weight matches.For achieving this end technical scheme, be: on the human body cushion of morpet, or on the elastomeric element being connected with cushion, pressure sensor is set, this pressure sensor is connected with the data distributor 10 in differential distributing box 1, the pressure signal of pressure sensor respectively in data distributor 10 two control voltage signal and carry out the processing that same ratio increase or same ratio reduce.
Advantage of the present invention: differential distributing box of the present invention can carry out the processing of digital model function to car average rate signal IS, feedback control signal electric current I A and the feedback control signal electric current I B of the shift signal ID of shift signal manual mode controller, average rate device, to will control two controlled things, two motors of front and back wheel of morpet carry out differential control power supply, and the content of differential control is exactly that the pattern function of setting is in advance processed.Namely differential distributing box Neng Dui tetra-road analog current signals of the present invention carry out respectively twice pattern function processing, acquisition has the independently voltage control signal output respectively of differential two-way, can Dui Si road analog signal add digital model function content, two motors of front and back wheel are distinguished and independently controlled power supply, also claim difference to control power supply.The work of two motor couplings of front and back wheel, both the strained condition that front and back wheel changes, two motors of front and back wheel mate to the power supply from different, reach front and back wheel velocity of rotation identical, and be to make morpet substantially keep being limited within the scope of gear by ID, form the state of the average velociity of IS.The people who rides on this morpet feels comfortably cool, the identical electric power of not wasting again of front and back wheel velocity of rotation.
The car average rate signal IS of average rate device 20 only uses selecting containing the series model function of IA, IB key element some, and do not participate in pattern function, does not calculate, and makes to simplify and sets up pattern function, and computation speed is faster, adapts to the good method of data processing that kinematic velocity is regulated.
In function y IAn, be implied with IBn, IS content, and IBn, IS do not participate in pattern function calculating, make it more easily set up pattern function, or pattern function are fairly simple; And if without digital signal, directly with IA, IB, IS, be difficult for setting up very much pattern function, the pattern function of foundation is very complicated.The value of ID and function y IAn, with another pattern function, calculate y IAnID again, in the control signal of output, add shift signal ID, a plurality of variablees are decomposed to the method twice pattern function calculating, make twice pattern function calculate all having a bowel movement greatly, in the end in the control signal of output, contain IA, IB, ID, IS key element, but set up each pattern function and calculate and variable does not have four, to simplify to set up pattern function, computation speed is faster, adapts to the good method of data processing that kinematic velocity is regulated.
Difference of the present invention is controlled boosted vehicle system through ID, IS, IA and IB and these four the pattern function calculating that the former key element of control matches, output and these four two of controlling that former key elements match control voltage signals respectively to the motor of front-wheel and trailing wheel, even if make wheel A and wheel B stressed unequal, also can obtain the work of two motor couplings, the effect of two wheel balance motions.
In the situation that identical ID, IS, IA and tetra-of IB control former key elements is identical, as long as change the digital model function of setting, just can obtain the different control signal outputs of multiple artificial setting, solved by IA and two analog signals of IB and directly controlled two analog electronics, only have a kind of mode, can not adjust by human needs the shortcoming of mode.
Can infer the bicycle state stable in whether with leading rotational angle, and by the size of leading rotational angle, feedback control signal electric current I A and the desired difference delivery of IB that cycle racing state is produced are revised, to guarantee when bicycle plays pendulum, no longer bicycle is increased to labile factor, use morpet of the present invention more humane, safer.
Accompanying drawing explanation
Annexation and the signal of Fig. 1, each parts of differential distributing box of the present invention flow to schematic diagram;
Annexation and the signal of Fig. 2, each parts of the present invention flow to schematic diagram;
Fig. 3, there are annexation and the signal of each parts of differential distributing box of the present invention of corner parameter Processor to flow to schematic diagram;
Fig. 4, there are annexation and the signal of each parts of the present invention of leading rotary angle transmitter to flow to schematic diagram.
In figure, the 1st, differential distributing box, the 3rd, shift signal manual mode controller, the 7th, IA > IB difference model data handler, the 8th, IA < IB difference model data handler, the 9th, current values comparator, the 10th, data distributor, the 11st, pattern function holder, the 12nd, vehicle speed signal sensor, the 16th, D and A converter, the 20th, average rate device, the 30th, corner parameter Processor, the 31st, leading rotary angle transmitter.
The specific embodiment
Embodiment 1, there are all voltage difference boosted vehicle systems of input processor of gear and speed signal
As Fig. 1,2, two wheels that comprise electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and the motor B of driving wheel B, comprise the shift signal manual mode controller 3 of electric booster bicycle, also comprise differential distributing box 1, vehicle speed signal sensor 12 and average rate device 20; Vehicle speed signal sensor 12 is connected with average rate device 20, and average rate device 20 is the speed signal of vehicle speed signal sensor 12 in certain hour to be become to the signal processor of average velociity in this certain hour.
Between differential distributing box 1 and motor A, with controller A, be connected, controller A with differential distributing box 1 give with control signal control electrical source of power wheel A powered;
Between differential distributing box 1 and motor B, with controller B, be connected, controller B with differential distributing box 1 give with control signal control electrical source of power wheel B powered.
The current values comparator 9 of negate feedforward control signal electric current I A input differential distributing box 1 between motor A and controller A;
The current values comparator 9 of negate feedforward control signal electric current I B input differential distributing box 1 between motor B and controller B.
The current values comparator 9 of the shift signal ID input differential distributing box 1 of shift signal manual mode controller 3;
The current values comparator 9 of the car average rate signal IS input differential distributing box 1 of average rate device 20.
Differential distributing box 1 comprises three modules that are connected successively;
The first module is carried out numeric ratio to the original input signal feedback control signal electric current I A for controlling and feedback control signal electric current I B and is processed;
The second module is chosen in the car average rate signal of average rate device 20 pattern function of having set in pattern function holder 11 data of the first module is carried out to pattern function processing;
The 3rd module is by the data distributor 10 of the shift signal ID input differential distributing box 1 of shift signal manual mode controller 3, pattern function is processed to will to distribute to controlled electrical equipment be the processing that control data before controller A and controller B add respectively shift signal key element, the control data that controller A and controller B are obtained not only have the key element of feedback control signal electric current I A and feedback control signal electric current I B, also have the key element of shift signal ID.
The first module: two input ends of current values comparator 9 connect respectively feedback control signal electric current I A and feedback control signal electric current I B; IA and IB are respectively the original control current signals of received current digital comparator 9; Two mouths of current values comparator 9 connect respectively IA > IB difference model data handler 7 and IA < IB difference model data handler 8.
Its effect is, current values comparator 9 is the two-way continually varying feedback control signal electric current I A of input, feedback control signal electric current I B becomes the digital signal of one group of difference value, with two kinds of vector signals a certain of obtaining IA > IB or IA < IB, current values comparator 9 is by the digital signal of this difference value, IA, IB and IA > IB vector signal are transferred to difference model data handler 7, or current values comparator 9 is by the digital signal of this difference value, IA, IB and IA < IB vector signal are transferred to difference model data handler 8, the digital signal of difference value under referred to as digital signal.
The second module: IA > IB difference model data handler 7 connects respectively current values comparator 9 and pattern function holder 11; And IA < IB difference model data handler 8 also connects respectively current values comparator 9 and pattern function holder 11.
Pattern function holder 11 also connects average rate device 20, the car average rate signal IS input model function holder 11 of average rate device 20 is selected in the pattern function input IA > IB difference model data handler 7 and input IA < IB difference model data handler 8 that belongs to some car average rate signal IS in pattern function holder 11.
Its effect is;
When IA > IB, start IA > IB difference model data handler 7, by the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, the IA > IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution car average rate signal IS selects, carry out calculation process; And by the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, the IA > IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution car average rate signal IS selects, carry out calculation process; The two groups of IA > IB type of two control use that acquisition is corresponding with IA and IB difference are controlled data, the IA that obtains IA > IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA > IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA > IB vector, digital signal n, IAn);
Y IBn=f(IA > IB vector, digital signal n, IBn).
Digital signal n and IAn are the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn are the control current signal value IBn about this same time point corresponding to some digital signal n.
Or, when IA < IB, start IA < IB difference model data handler 8, by the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, the IA < IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution car average rate signal IS selects, carry out calculation process; And by the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, the IA < IB vector signal data of current values comparator 9 outputs, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder 11 that substitution car average rate signal IS selects, carry out calculation process; The two groups of IA < IB type of two control use that acquisition is corresponding with IA and IB difference are controlled data, the IA that obtains IA < IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA < IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA < IB vector, digital signal n, IAn);
Y IBn=f(IA < IB vector, digital signal n, IBn).
Digital signal n and IAn are the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn are the control current signal value IBn about this same time point corresponding to some digital signal n; IAn and IBn are computing values, are digital signals.
The 3rd module: the input end of data distributor 10 is connected with pattern function holder 11, shift signal manual mode controller 3, IA > IB difference model data handler 7 and IA < IB difference model data handler 8 respectively, the mouth of data distributor 10 is connected with D and A converter 16, and the mouth of D and A converter 16 is connected with strong power controller B with strong power controller A respectively; Realize the object of difference controller to strong power controller A and strong power controller B control.
Its effect is; The data distributor 10 of the shift signal ID input differential distributing box 1 of shift signal manual mode controller 3, pattern function is processed to will to distribute to controlled electrical equipment be that control data before controller A and controller B add respectively the pattern function of shift signal key element to process, the control data that controller A and controller B are obtained not only have the key element of feedback control signal electric current I A and feedback control signal electric current I B, also have the key element of shift signal ID.
Data distributor 10 becomes y IAnID and y IBnID controlling in groups after data y IAn and y IBn add respectively the pattern function of shift signal ID key element to process of IA > IB difference model data handler 7 input, then distributes to respectively strong power controller A and strong power controller B; Or controlling in groups after data y IAn and y IBn add respectively the pattern function of shift signal ID key element to process of IA < IB difference model data handler 8 input becomes y IAnID and y IBnID, distribute to respectively again strong power controller A and strong power controller B, be that y IAnID distributes to strong power controller A, y IBnID distributes to strong power controller B; D and A converter 16 is carried out respectively digital to analogy conversion the digital signal y IAnID and the y IBnID that distribute control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can be used, finally these two, control voltage signals and send two corresponding strong power controllers to.
Shift signal ID, the feedback control signal electric current I A and the feedback control signal electric current I B that realize shift signal manual mode controller 3 carry out the difference control power supply of regulation pattern function to strong power controller A and strong power controller B by difference controller, the electrical source of power of controlling well provides different power supplies to wheel A and wheel B, even if make wheel A and wheel B stressed unequal, also can obtain the work of two motor couplings, the effect of two wheel balance motions.
Embodiment 2, with corner parameter Processor, there are all voltage difference boosted vehicle systems of input processor of gear and speed signal
As Fig. 3,4, as the entire infrastructure of embodiment 1, and IA > IB difference model data handler 7 is connected with data distributor 10 by corner parameter Processor 30 with IA < IB difference model data handler 8, and corner parameter Processor 30 is also connected with leading rotary angle transmitter 31.
On the human body cushion of morpet, or on the elastomeric element being connected with cushion, pressure sensor is set, this pressure sensor is connected with the data distributor 10 in differential distributing box 1, the pressure signal of pressure sensor respectively in data distributor 10 two control voltage signal and carry out the processing that same ratio increase or same ratio reduce.
Claims (2)
1. there are all voltage difference boosted vehicle systems of input processor of gear and speed signal, two wheels that comprise electric booster bicycle: wheel A and wheel B, and the motor A and the motor B that drives wheel B that drive wheel A, the shift signal manual mode controller (3) that comprises electric booster bicycle, it is characterized in that: also comprise differential distributing box (1), vehicle speed signal sensor (12) and average rate device (20); Vehicle speed signal sensor (12) is connected with average rate device (20), and average rate device (20) is the speed signal of vehicle speed signal sensor (12) in certain hour to be become to the signal processor of average velociity in this certain hour;
Between differential distributing box (1) and motor A, with controller A, be connected, controller A with differential distributing box (1) give with control signal control electrical source of power wheel A powered;
Between differential distributing box (1) and motor B, with controller B, be connected, controller B with differential distributing box (1) give with control signal control electrical source of power wheel B powered;
The current values comparator (9) of negate feedforward control signal electric current I A input differential distributing box (1) between motor A and controller A;
The current values comparator (9) of negate feedforward control signal electric current I B input differential distributing box (1) between motor B and controller B;
The current values comparator (9) of the shift signal ID input differential distributing box (1) of shift signal manual mode controller (3);
The current values comparator (9) of the car average rate signal IS input differential distributing box (1) of average rate device (20);
Differential distributing box (1) comprises three modules that are connected successively;
The first module is carried out numeric ratio to the original input signal feedback control signal electric current I A for controlling and feedback control signal electric current I B and is processed;
The car average rate signal IS of average rate device for the second module (20) is chosen in the pattern function of having set in pattern function holder (11) data of the first module is carried out to pattern function processing;
The 3rd module is by the data distributor (10) of the shift signal ID input differential distributing box (1) of shift signal manual mode controller (3), pattern function is processed to will to distribute to controlled electrical equipment be the processing that control data before controller A and controller B add respectively shift signal key element, the control data that controller A and controller B are obtained not only have the key element of feedback control signal electric current I A and feedback control signal electric current I B, also have the key element of shift signal ID;
The first module: two input ends of current values comparator (9) connect respectively feedback control signal electric current I A and feedback control signal electric current I B; IA and IB are respectively the original control current signals of received current digital comparator (9); Two mouths of current values comparator (9) connect respectively IA > IB difference model data handler (7) and IA < IB difference model data handler (8);
Its effect is, current values comparator (9) is the two-way continually varying feedback control signal electric current I A of input, feedback control signal electric current I B becomes the digital signal of one group of difference value, with two kinds of vector signals a certain of obtaining IA > IB or IA < IB, current values comparator (9) is by the digital signal of this difference value, IA, IB and IA > IB vector signal are transferred to difference model data handler (7), or current values comparator (9) is by the digital signal of this difference value, IA, IB and IA < IB vector signal are transferred to difference model data handler (8), the digital signal of difference value under referred to as digital signal,
The second module: IA > IB difference model data handler (7) connects respectively current values comparator (9) and pattern function holder (11); And IA < IB difference model data handler (8) also connects respectively current values comparator (9) and pattern function holder (11);
Pattern function holder (11) also connects average rate device (20), the car average rate signal IS input model function holder (11) of average rate device (20), in pattern function holder (11), select in the pattern function input IA > IB difference model data handler (7) and input IA < IB difference model data handler (8) that belongs to some car average rate signal IS
Its effect is;
When IA > IB, start IA > IB difference model data handler (7), by the digital signal data of current values comparator (9), the IA data corresponding with this digital signal, the IA > IB vector signal data of current values comparator (9) output, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder (11) that substitution car average rate signal IS selects, carry out calculation process; And by the digital signal data of current values comparator (9), the IB data corresponding with this digital signal data, the IA > IB vector signal data of current values comparator (9) output, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder (11) that substitution car average rate signal IS selects, carry out calculation process; The two groups of IA > IB type of two control use that acquisition is corresponding with IA and IB difference are controlled data, the IA that obtains IA > IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA > IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA > IB vector, digital signal n, IAn);
Y IBn=f(IA > IB vector, digital signal n, IBn);
Digital signal n and IAn are the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn are the control current signal value IBn about this same time point corresponding to some digital signal n;
Or, when IA < IB, start IA < IB difference model data handler (8), by the digital signal data of current values comparator (9), the IA data corresponding with this digital signal, the IA < IB vector signal data of current values comparator (9) output, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder (11) that substitution car average rate signal IS selects, carry out calculation process; And by the digital signal data of current values comparator (9), the IB data corresponding with this digital signal data, the IA < IB vector signal data of current values comparator (9) output, in the pattern function mating with this digital signal and this vector signal storing in the pattern function holder (11) that substitution car average rate signal IS selects, carry out calculation process; The two groups of IA < IB type of two control use that acquisition is corresponding with IA and IB difference are controlled data, the IA that obtains IA < IB controls data y IAn, control data y IBn, these two data that subsequent module will be used of y IAn and y IBn with the IB of IA < IB; Its function line of y IAn and y IBn is:
Y IAn=f(IA < IB vector, digital signal n, IAn);
Y IBn=f(IA < IB vector, digital signal n, IBn);
Digital signal n and IAn are the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn are the control current signal value IBn about this same time point corresponding to some digital signal n; IAn and IBn are computing values, are digital signals;
The 3rd module: the input end of data distributor (10) is connected with pattern function holder (11), shift signal manual mode controller (3), IA > IB difference model data handler (7) and IA < IB difference model data handler (8) respectively, the mouth of data distributor (10) is connected with D and A converter (16), and the mouth of D and A converter (16) is connected with strong power controller B with strong power controller A respectively; Realize the object of difference controller to strong power controller A and strong power controller B control;
Its effect is; The data distributor (10) of the shift signal ID input differential distributing box (1) of shift signal manual mode controller (3), pattern function is processed to will to distribute to controlled electrical equipment be that control data before controller A and controller B add respectively the pattern function of shift signal key element to process, the control data that controller A and controller B are obtained not only have the key element of feedback control signal electric current I A and feedback control signal electric current I B, also have the key element of shift signal ID;
Data distributor (10) becomes y IAnID and y IBnID controlling in groups after data y IAn and y IBn add respectively the pattern function of shift signal ID key element to process of IA > IB difference model data handler (7) input, then distributes to respectively strong power controller A and strong power controller B; Or controlling in groups after data y IAn and y IBn add respectively the pattern function of shift signal ID key element to process of IA < IB difference model data handler (8) input becomes y IAnID and y IBnID, distribute to respectively again strong power controller A and strong power controller B, be that y IAnID distributes to strong power controller A, y IBnID distributes to strong power controller B; D and A converter (16) is carried out respectively digital to analogy conversion the digital signal y IAnID and the y IBnID that distribute control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can be used, finally these two, control voltage signals and send two corresponding strong power controllers to;
Shift signal ID, the feedback control signal electric current I A and the feedback control signal electric current I B that realize shift signal manual mode controller (3) carry out the difference control power supply of regulation pattern function to strong power controller A and strong power controller B by difference controller, the electrical source of power of controlling well provides different power supplies to wheel A and wheel B, even if make wheel A and wheel B stressed unequal, also can obtain the work of two motor couplings, the effect of two wheel balance motions.
2. according to claim 1 have all voltage difference boosted vehicle systems of input processor of gear and speed signal, it is characterized in that: IA > IB difference model data handler (7) is connected with data distributor (10) by corner parameter Processor (30) with IA < IB difference model data handler (8), and corner parameter Processor (30) is also connected with leading rotary angle transmitter (31).
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