CN104236771A - Method for estimating treading moment by using treading speed of bicycle - Google Patents
Method for estimating treading moment by using treading speed of bicycle Download PDFInfo
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- CN104236771A CN104236771A CN201310241253.3A CN201310241253A CN104236771A CN 104236771 A CN104236771 A CN 104236771A CN 201310241253 A CN201310241253 A CN 201310241253A CN 104236771 A CN104236771 A CN 104236771A
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- speed
- trampling
- moment
- bicycle
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Abstract
The invention provides a method for estimating the treading moment by using the treading speed of a bicycle. The treating moment is the treaded moment borne by a crank of the bicycle. The method comprises the following steps that in a preset time interval, the treading speed of the crank of the bicycle is detected by preset times through a speed sensor; the area of the ideal waveform of the treading speed and the area of the actual waveform of the treading speed are solved to be V0 and V1, and the difference of V0 and V1 is delta Vi; the correction c is obtained according to the relation between the treading speed and the moment; operation is conducted according to the following first formula: delta Mi/M0=delta Vi/V0+c; thus, the relative change amount delta Mi/M0 of the treading moment is obtained, wherein M0 is the moment for generating V0, M1 is the moment for generating V1, the M0 and the M1 are obtained through actual experiments, and the difference value of the M0 and the M1 is delta Mi.
Description
Technical field
The present invention is relevant with bicycle, refers to that a kind of bicycle that utilizes steps on speed to estimate the method for trampling moment especially.
Background technology
Electric booster bicycle, mainly provides an auxiliary power when rider tramples, rider is enjoyed and tramples the enjoyment driven, and a lot of strength can not be needed again to reach the result of trampling.Therefore, electric booster bicycle ever more popular.
When providing auxiliary power, must measure for the stampede power of rider, the corresponding auxiliary power exported required for this rider of ability, otherwise rider's sky can be caused when auxiliary power is excessive on the contrary to step on, rider can be caused again time too small to experience less than power-assisted, provide the function of power-assisted to equal invalid.The detecting mode of current stampede power (or moment) is by installing a torque sensor on bicycle, can sense stampede power or moment when rider's pushes pedals.But torque sensor is very complicated and expensive, therefore, do not use torque sensor and use other modes to obtain the technology of trampling moment, receiving the concern of this area practitioner because of reducing costs.
TaiWan, China discloses No. TW201202090A1 " method of estimation of the moment of pedal crank driver and device " patent of invention case, i.e. Germany's No. 102010028656.7 Patent Cases, disclose a kind of method estimating moment, it mainly utilizes detecting angular velocity and the relation of time, after obtaining at least one signal properties of this angular velocity, at least one to moment and this signal properties is associated with the predetermined dependence between moment by the signal properties utilizing this at least one.This kind of mode utilizes the change of waveform to know legpower by inference, its have the change that much cannot decompose and quantize because of, obtaining of such as its signal properties, the signal shape of it can be (1) the alternating component power of angular velocity or the alternating component of (2) angular velocity and a sinusoidal deviation, the technology contents of aforesaid (1) and (2) and numerically widely different, the otherness of the provable moment result that it finally obtains also can be very large, and then the error can understanding the moment that it is tried to achieve is very large, accuracy may be bad.
In addition, above-mentioned case is known, and the change of trampling speed and the change of trampling moment have correlativity, and therefore above-mentioned case just can develop the speed of trampling to estimate the technology of trampling moment.But, though aforesaid method of estimation attempts this correlativity clearly to calculate, but its result is except error is very large, computationally also comparatively complicated, except needing to try to achieve at least one signal properties of angular velocity, also need to utilize the dependence between signal properties with moment to associate to obtain it, therefore its computation process is complicated, on performing, need the arithmetic element using higher speed, this also can make cost improve.
Summary of the invention
It is large and calculate complicated problem that known moment method of estimation has error.Therefore, a kind of bicycle that utilizes provided by the present invention steps on speed to estimate the method for trampling moment, this is trampled moment and refers to the moment that a crank of bicycle is trampled, the method includes the following step: in a schedule time interval, the detecting of pre-determined number is carried out by the speed of trampling of a speed pickup to a crank of bicycle, and then obtain this frequency data trampling speed and amplitude data, and aforementioned data is arranged formation one and trample speed actual waveform, and trample speed ideal waveform according to aforementioned data definition one again; Ask for this area trampling speed ideal waveform as V
0, and ask for this area trampling speed actual waveform as V
1, and ask for V
0-V
1difference as Δ V
i, then the relative variation obtaining the speed of trampling is Δ V
i/ V
0; According to the relation of trampling between speed and moment, obtain a correction c; Computing is carried out: Δ M according to following first formula
i/ M
0=Δ V
i/ V
0+ c; By the relative variation Δ V of the speed of trampling
i/ V
0add correction c, namely obtain the relative variation Δ M trampling moment
i/ M
0; Wherein, M
0for producing V
0moment, M
1for producing V
1moment, both obtain through actual experiment; M
0-M
1difference be then Δ M
i.
Whereby, the present invention can reach to utilize and step on speed to estimate the effect of legpower, and reaches the effect simplifying and calculate and reduce error.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of first preferred embodiment of the invention, the data measured by display speed sensor.
Fig. 2 is the waveform schematic diagram of first preferred embodiment of the invention, and speed actual waveform is trampled in display.
Fig. 3 A is the waveform schematic diagram of first preferred embodiment of the invention, shows and extrapolates the state of trampling speed ideal waveform by the speed actual waveform of trampling.
Fig. 3 B is another waveform schematic diagram of first preferred embodiment of the invention, shows and extrapolates by the speed actual waveform of trampling the state that another kind tramples speed ideal waveform.
Fig. 4 is the integration schematic diagram of first preferred embodiment of the invention, and the state that speed actual waveform carries out integral operation is trampled in display.
Fig. 5 is another integration schematic diagram of first preferred embodiment of the invention, and the state that speed ideal waveform carries out integral operation is trampled in display.
Fig. 6 is the another schematic diagram of first preferred embodiment of the invention, and display is trampled speed actual waveform and carried out state overlapping after integral operation with the speed ideal waveform of trampling.
Fig. 7 is the block schematic diagram of first preferred embodiment of the invention, the related elements of display bicycle.
Fig. 8 is another block schematic diagram of first preferred embodiment of the invention, the related elements of display experiment bicycle.
[symbol description]
10-bicycle;
11-speed pickup;
13-storer;
15-micro computer;
10 '-experiment bicycle;
11 '-speed pickup;
17 '-torque sensor;
T
pd-the schedule time is interval;
V
0-trample the area of speed ideal waveform;
V
1-trample the area of speed actual waveform.
Embodiment
As shown in Figures 1 to 7, a kind of bicycle that utilizes that first preferred embodiment of the invention provides steps on speed to estimate the method for trampling moment, and this is trampled moment and refers to the moment that a crank of bicycle is trampled, and the method includes the following step:
As shown in Figure 1, at a schedule time interval t
pdin, carried out the detecting of pre-determined number (being for 20 times in figure) by the speed of trampling of a speed pickup 11 to a crank (not shown) of a bicycle 10, and then obtain this frequency data trampling speed and amplitude data.And aforementioned data is arranged formation one and trample speed actual waveform, as shown in Figure 2.And trample speed ideal waveform, as shown in Fig. 3 A or Fig. 3 B according to aforementioned data definition one again.From Fig. 3 A, speed of trampling ideal waveform shown in speed of trampling actual waveform shown in dotted line and solid line by contrast, trample speed actual waveform the amplitude of front half cycle is comparatively large and the cycle is shorter, second half then amplitude is identical but the cycle is longer, it can thus be appreciated that the amplitude trampling speed ideal waveform is with reference to trampling the second half of speed actual waveform and obtaining.Again from Fig. 3 B, speed of trampling ideal waveform shown in speed of trampling actual waveform shown in dotted line and solid line by contrast, trample speed actual waveform the amplitude of front half cycle is identical but the cycle is shorter, second half then amplitude is less and the cycle is longer, it can thus be appreciated that the amplitude trampling speed ideal waveform is with reference to trampling the front half cycle of speed actual waveform and obtaining.In the present embodiment, trampling speed ideal waveform is for Fig. 3 A those shown.From aforementioned, the amplitude trampling speed ideal waveform can with reference to the amplitude in certain cycle trampling speed actual waveform, in fact, and also can with reference to the mean value of the amplitude of front half cycle and second half, or by the self-defined amplitude of user.On the implementation, this tramples the frequency data of speed and amplitude data is stored in a storer 13.Further, the function of computing and process is provided by a micro computer 15.And this speed pickup 11 is also installed on this bicycle 10, its schematic diagram connected is shown in Fig. 7.
As shown in Figures 4 and 5, by integral operation, ask for this area trampling speed ideal waveform as V
0, and ask for this area trampling speed actual waveform as V
1; And ask for V
0-V
1difference as Δ V
i, then the relative variation obtaining the speed of trampling is Δ V
i/ V
0.
According to the relation of trampling between speed and moment, obtain a correction c.
Computing is carried out according to following first formula:
Δ M
i/ M
0=Δ V
i/ V
0+ c.................................... (the first formula)
By the relative variation Δ V of the speed of trampling
i/ V
0add correction c, namely obtain the relative variation Δ M trampling moment
i/ M
0; Wherein, M
0for producing V
0moment, M
1for producing V
1moment, both obtain through actual experiment; M
0-M
1difference be then Δ M
i.The relative variation Δ M of moment is trampled by this
i/ M
0can draw and actually trample moment M
1.Wherein, this correction c obtains, and is by carrying out in advance actually trampling experiment and obtaining the relative variation Δ V of the speed of trampling
i/ V
0and trample the relative variation Δ M of moment
i/ M
0, then both are subtracted each other namely obtain this correction c.And the actual of indication tramples experiment herein, be purchase an experiment bicycle 10 ', this experiment bicycle 10 ' senses by a speed pickup 11 ' speed of trampling, and an external torque sensor 17 ' senses and tramples moment.The connection diagram of this experiment bicycle 10 ' is shown in Fig. 8.On the implementation, after obtaining this correction c, can according to the actual numerical value that obtains in experiment trampled to define its display form, if under difference tramples speed, its numerical value all similar (such as error range is within ± 100%), then getting its mean value definition is correction c, and now this correction c is a constant; If differ greatly (such as error range is greater than 100%) at the actual numerical value obtained under difference tramples speed in experiment of trampling, then with the mode record of the table of comparisons, and this table of comparisons is defined as correction c, and when carrying out computing according to this first formula, corresponding numerical value is obtained to carry out computing with this table of comparisons to this correction c, now this correction c is comparison list, because the table of comparisons is prior art, therefore allows and no longer represent with accompanying drawing.
In above-mentioned steps, trample the relative variation Δ V of speed
i/ V
0by V
0-V
1poor Δ V
iwith the area V trampling speed ideal waveform
0be divided by and obtain, therefore trampling the relative variation Δ V of speed
i/ V
0being the numerical value without unit, therefore can carrying out computing when not considering unit, therefore this first formula that is to say and by correction c and the relative variation Δ V trampling speed
i/ V
0calculate the relative variation Δ M trampling moment
i/ M
0.Same, trample the relative variation Δ M of moment
i/ M
0also be the numerical value without unit.When not needing to consider unit, it calculates more to simplify.And undertaken acquired by result that on entity, speed pickup 11 ' senses and the result that torque sensor 17 ' senses by experiment bicycle 10 ' due to correction c, therefore the real corresponding actual situation of trampling of its meeting, also therefore there is splendid accuracy, so can make to obtain estimated by this case actually trample moment M
1more accurate, error more reduces.
Whereby, first embodiment of the invention can not need mounting torque sensor on bicycle, and only need installation rate sensor, the sensing of speed of trampling is carried out in the process of driving, and to be processed according to the technology of first embodiment of the invention and after computing, namely comparable prior art more adequately estimates and actually tramples moment M
1.
In summary, first embodiment of the invention can go out actually to trample moment M by trampling velocity estimation
1, and reach the effect simplifying and calculate and reduce error.
A kind of bicycle that utilizes that second preferred embodiment of the invention provides steps on speed to estimate the method for trampling moment, and main contents are roughly the same with aforementioned first embodiment, and difference is:
This first formula is modified to one second formula further:
Δ M
i/ M
0=t (Δ V
i/ V
0)+c.................................. (the second formula)
Wherein, t is after deduction falls correction c, Δ M
i/ M
0with Δ V
i/ V
0between multiple correction.
In addition, wherein, multiple correction t obtains, and is by carrying out in advance actually trampling experiment and obtaining the relative variation Δ V of the speed of trampling
i/ V
0and trample the relative variation Δ M of moment
i/ M
0, and obtain correction c and multiple correction t according to the linear relationship of experiment.In addition, described in aforementioned first embodiment, the actual of second embodiment of the invention tramples experiment, is equally to purchase an experiment bicycle 10 ', sense at the upper Negotiation speed sensor 11 ' of this experiment bicycle 10 ' speed of trampling, and sensed by torque sensor 17 ' and trample moment.
Whereby, second embodiment of the invention can provide the second formula more accurately, and out actual estimated by can making tramples moment M
1more accurate.
All the other technical characteristics of second embodiment of the invention and the effect that can reach all roughly the same with aforementioned first embodiment, hold and do not repeat.
By the technology of this case, it make use of the technology of waveform being carried out to integral operation, because namely integral operation itself has average effect, therefore little noise nonlinear in waveform can be eliminated by this kind of mode in the process of integration, therefore, also therefore have can the function of stress release treatment in this case.
Claims (9)
1. utilize bicycle to step on speed to estimate a method of trampling moment, it is characterized in that, this is trampled moment and refers to the moment that a crank of bicycle is trampled, and the method includes the following step:
In a schedule time interval, the detecting of pre-determined number is carried out by the speed of trampling of a speed pickup to a crank of bicycle, and then obtain this frequency data trampling speed and amplitude data, and aforementioned data is arranged formation one and trample speed actual waveform, and trample speed ideal waveform according to aforementioned data definition one again;
Ask for this area trampling speed ideal waveform as V
0, and ask for this area trampling speed actual waveform as V
1, and ask for V
0-V
1difference as Δ V
i, then the relative variation obtaining the speed of trampling is Δ V
i/ V
0;
According to the relation of trampling between speed and moment, obtain a correction c;
Computing is carried out according to following first formula:
ΔM
i/M
0＝ΔV
i/V
0+c
By the relative variation Δ V of the speed of trampling
i/ V
0add correction c, namely obtain the relative variation Δ M trampling moment
i/ M
0; Wherein, M
0for producing V
0moment, M
1for producing V
1moment, both obtain through actual experiment; M
0-M
1difference be then Δ M
i.
2. the bicycle that utilizes according to claim 1 steps on speed to estimate the method for trampling moment, wherein: this correction c obtains, is by carrying out in advance actually trampling experiment and obtaining the relative variation Δ V of the speed of trampling
i/ V
0and trample the relative variation Δ M of moment
i/ M
0, then both are subtracted each other namely obtain this correction c.
3. the bicycle that utilizes according to claim 2 steps on speed to estimate the method for trampling moment, wherein: that carries out in advance at this actually tramples in experiment, purchase an experiment bicycle, on this experiment bicycle, Negotiation speed sensor senses the speed of trampling, and is sensed by torque sensor and trample moment.
4. the bicycle that utilizes according to claim 1 steps on speed to estimate the method for trampling moment, wherein: ask for this area trampling speed ideal waveform or ask for this trample the area of speed actual waveform time, be obtain by carrying out integral operation to this waveform.
5. the bicycle that utilizes according to claim 1 steps on speed to estimate the method for trampling moment, wherein: this first formula is modified to one second formula further: Δ M
i/ M
0=t (Δ V
i/ V
0)+c, wherein t is after deduction falls correction c, Δ M
i/ M
0with Δ V
i/ V
0between multiple correction.
6. the bicycle that utilizes according to claim 5 steps on speed to estimate the method for trampling moment, wherein: this multiple correction t obtains, is by carrying out in advance actually trampling experiment and obtaining the relative variation Δ V of the speed of trampling
i/ V
0and trample the relative variation Δ M of moment
i/ M
0, and obtain correction c and multiple correction t according to the linear relationship of experiment.
7. the bicycle that utilizes according to claim 6 steps on speed to estimate the method for trampling moment, wherein: that carries out in advance at this actually tramples in experiment, purchase an experiment bicycle, on this experiment bicycle, Negotiation speed sensor senses the speed of trampling, and is sensed by torque sensor and trample moment.
8. the bicycle that utilizes according to claim 1 steps on speed to estimate the method for trampling moment, wherein: this tramples the frequency data of speed and amplitude data is stored in a storer, this actual trample moment frequency data and amplitude data be stored in this storer; In addition, the function of computing and process is provided by a micro computer.
9. the bicycle that utilizes according to claim 1 steps on speed to estimate the method for trampling moment, wherein: this correction c is a constant or is comparison list.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310241253.3A CN104236771B (en) | 2013-06-18 | 2013-06-18 | Bicycle is utilized to step on the method that speed estimates to trample moment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310241253.3A CN104236771B (en) | 2013-06-18 | 2013-06-18 | Bicycle is utilized to step on the method that speed estimates to trample moment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104236771A true CN104236771A (en) | 2014-12-24 |
| CN104236771B CN104236771B (en) | 2016-12-28 |
Family
ID=52225292
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310241253.3A Expired - Fee Related CN104236771B (en) | 2013-06-18 | 2013-06-18 | Bicycle is utilized to step on the method that speed estimates to trample moment |
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| Country | Link |
|---|---|
| CN (1) | CN104236771B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111924037A (en) * | 2019-12-05 | 2020-11-13 | 南京溧水电子研究所有限公司 | Climbing compensation processing method for electric power-assisted bicycle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2441731Y (en) * | 2000-01-24 | 2001-08-08 | 欣锠国际股份有限公司 | Torque detector for electric bicycle |
| JP4024091B2 (en) * | 2002-06-21 | 2007-12-19 | 松下電器産業株式会社 | Vehicle with auxiliary power |
| WO2010094515A1 (en) * | 2009-02-17 | 2010-08-26 | Robert Bosch Gmbh | Method for operating a motor-assisted pedal-operated vehicle, in particular bicycle |
| CN102869564A (en) * | 2010-05-06 | 2013-01-09 | 罗伯特·博世有限公司 | Method for estimating a torque and device for estimating a torque for a pedal crank drive |
-
2013
- 2013-06-18 CN CN201310241253.3A patent/CN104236771B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2441731Y (en) * | 2000-01-24 | 2001-08-08 | 欣锠国际股份有限公司 | Torque detector for electric bicycle |
| JP4024091B2 (en) * | 2002-06-21 | 2007-12-19 | 松下電器産業株式会社 | Vehicle with auxiliary power |
| WO2010094515A1 (en) * | 2009-02-17 | 2010-08-26 | Robert Bosch Gmbh | Method for operating a motor-assisted pedal-operated vehicle, in particular bicycle |
| CN102869564A (en) * | 2010-05-06 | 2013-01-09 | 罗伯特·博世有限公司 | Method for estimating a torque and device for estimating a torque for a pedal crank drive |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111924037A (en) * | 2019-12-05 | 2020-11-13 | 南京溧水电子研究所有限公司 | Climbing compensation processing method for electric power-assisted bicycle |
| CN111924037B (en) * | 2019-12-05 | 2022-04-05 | 南京溧水电子研究所有限公司 | Climbing compensation processing method for electric power-assisted bicycle |
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|---|---|
| CN104236771B (en) | 2016-12-28 |
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