CN104743045A - Voltage difference moped system with gear and speed signals input into distributor - Google Patents
Voltage difference moped system with gear and speed signals input into distributor Download PDFInfo
- Publication number
- CN104743045A CN104743045A CN201510123981.3A CN201510123981A CN104743045A CN 104743045 A CN104743045 A CN 104743045A CN 201510123981 A CN201510123981 A CN 201510123981A CN 104743045 A CN104743045 A CN 104743045A
- Authority
- CN
- China
- Prior art keywords
- signal
- data
- controller
- digital signal
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M25/00—Actuators for gearing speed-change mechanisms specially adapted for cycles
- B62M25/08—Actuators for gearing speed-change mechanisms specially adapted for cycles with electrical or fluid transmitting systems
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Feedback Control In General (AREA)
Abstract
The invention relates to a voltage difference moped system with gear and speed signals input into a distributor, and belongs to a differentiation assisted power supply bike power supply controller system which distributes power to a front wheel and a back wheel in a difference mode.. The voltage difference moped system comprises the two wheels and two motors of an electric booster bike and a gear signal manual controller, and further comprises a differential distributor; the differential distributor comprises three modules which are sequentially connected; the first module conducts numeric comparison processing on feedback currents IA and IB; the second module conducts model function processing on data of the first module with a model function; according to the third module, a gear signal ID and a bike uniform velocity signal IS are input into the data distributor of a differential distributor, the model function is processed, and the processing of adding the factors of the gear signal ID and the bike uniform velocity signal IS to control data, in prior of a controller A and a controller B, to be distributed to a controlled electric appliance is carried out. The voltage difference moped system has the advantages that differentiation control power supply is carried out on the two motors of the front wheel and the back wheel of the booster bike, and the differentiation control contents are model function processing set in advance.
Description
Technical field
The invention belongs to the assist controller system, particularly front wheel of electric assisted bicycle and trailing wheel all to give and distribute morpet power-supply controller system with the differential front-wheel for power-assisted electricity and trailing wheel difference.
Background technology
The Chinese patent 201210011641.8 of Hunan Shengtong Technology Group Co., Ltd's application proposes a kind of double wheel hub motor driven systems adaptive equalization rotating direction control method, but does not provide the technical design of electronic differential application specific processor.
Chinese patent 201110358020.2 1 kinds of double wheel hub motor electronic differentials of Hunan Shengtong Technology Group Co., Ltd's application and speed governing Centralized Controller, but there is no the specific design of electronic differential module.
Hitachi Co., Ltd 01122460.6 disclosed herein is a kind of change-speed box, it comprise for by the energy distribution of a drive source to the mechanism of many boxs of tricks; The many motors be connected with described many boxs of tricks respectively; With the mechanism for combining the energy exported from described many boxs of tricks.But there is no the specific design of electronic differential module.
The Chinese patent 201210399458.X of Chengdu Lian Teng power control Technology Co., Ltd. application discloses a kind of Double Motor Control device having electronic differential function, but does not have 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, being all the method for Mechanical course speed change, is not electron steering speed change.
Summary of the invention
The object of this invention is to provide front-wheel and trailing wheel dynamic stress two key elements, speed of a motor vehicle key element, and the morpet power-supply controller system of this four elements determination front-wheel of power-assisted gear key element of manually setting and trailing wheel difference distribution power supply.
And be that difference that power-assisted gear key element and speed of a motor vehicle key element two key elements have calculated to front-wheel and trailing wheel dynamic stress key element Controlling model function, to be output distributes control signal, carry out again with after the calculating of another Controlling model function, then the morpet power-supply controller system exported.
Structure of the present invention is:
Gear and speed signal is had all to input the voltage difference boosted vehicle system of distributing box, comprise two wheels of electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and drive the motor B of wheel B, comprise the shift signal manual mode controller 3 of 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 that the speed signal of vehicle speed signal sensor 12 in certain hour is become the signal processor of average velociity in this certain hour.
Be connected with controller A between differential distributing box 1 with motor A, controller A differential distributing box 1 give with control signal control electrical source of power wheel A powered;
Be connected with controller B between differential distributing box 1 with motor B, controller B differential distributing box 1 give with control signal control electrical source of power wheel B powered.
Between motor A and controller A, negate feedforward control signal electric current I A inputs the current values comparator 9 of differential distributing box 1;
Between motor B and controller B, negate feedforward control signal electric current I B inputs the current values comparator 9 of differential distributing box 1.
The shift signal ID of shift signal manual mode controller 3 inputs the current values comparator 9 of differential distributing box 1;
The car average rate signal IS of average rate device 20 inputs the current values comparator 9 of differential distributing box 1.
On morpet, shift signal manual mode controller 3 is exactly the gear rotary switc be fixed on handle-bar cross bar, and people moves shift signal manual mode controller 3 with hand-screw, selects various from the car bumper position as automobile.The gear of morpet stirs the ratio selection portion part machinery that bar itself is the physical construction relation of foot-operated chain drum and the multiple gear multiplication of trailing wheel, in the present invention, shift signal manual mode controller 3 is electronicies package, and it exports to the transmitting ratio selection mode electronic signal that gear stirs bar the electronic unit needing to control.
On morpet, vehicle speed signal sensor 12 is fixed on morpet to experience this morpet moving velocity, export the sensor representing speed of a motor vehicle electric signal.
The average velociity that average rate device 20 exports is floating signal, float and be meant to: if the average velociity within setting average rate device 20 is got at that time front 5 seconds, then the average velociity of latter a second will add this speed of latter one second and remove the speed of first 6th second, calculates the average velociity within 5 seconds.The floating meaning is exactly that average velociity is at any time with the floating change of the speed of a motor vehicle.
Differential distributing box 1 comprises three modules be connected successively;
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 comparatively processed;
The second module pattern function set carries out pattern function process to the data of the first module;
The car average rate signal IS of the shift signal ID of shift signal manual mode controller 3 and average rate device 20 is inputted the data distributor 10 of differential distributing box 1 by the 3rd module, will distribute to controlled electrical equipment to pattern function process is the process that control data before controller A and controller B adds shift signal ID and car average rate signal IS key element respectively, the control data that controller A and controller B is obtained not only has the key element of feedback control signal electric current I A and feedback control signal electric current I B, also has the key element of shift signal ID and car average rate signal IS.
First module: two input ends of current values comparator 9 connect feedback control signal electric current I A and feedback control signal electric current I B respectively; IA and IB is the original control current signal of received current digital comparator 9 respectively; Two mouths of current values comparator 9 connect IA > IB difference model data handler 7 and IA < IB difference model data handler 8 respectively.
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 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 is 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 is 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 is 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 Controlling model and export, make Controlling model more can adapt to be controlled the needs of thing.
IA and IB is for controlling two target electric appliances, as electrical motor, or two current controling signals for controlling two strong power controllers; Digital signal is the difference that current values comparator 9 couples of IA, IB carry out reduction algorithms process, so digital signal can enter follow-up function value computing as scalar.Current controling signal IA and IB not only can have size variation, can also change in direction, but digital signal only has size variation.
Second module: IA > IB difference model data handler 7 connects current values comparator 9 and pattern function holder 11 respectively; And IA < IB difference model data handler 8 also connects current values comparator 9 and pattern function holder 11 respectively.
Its effect is;
As IA > IB, start IA > IB difference model data handler 7, by the IA > IB vector signal data of the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, current values comparator 9, substitute in the function mated with this digital signal and this vector signal stored in pattern function holder 11 and carry out calculation process; And by the IA > IB vector signal data of the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, current values comparator 9, substitute in the function mated with this digital signal and this vector signal stored in pattern function holder 11 and carry out calculation process; Obtain two the IA > IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data y IAn of IA > IB is obtained, with the data that this two subsequent module of the IB control data y IBn of IA > IB, y IAn and y IBn will use; 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).
Above-mentioned these two is in the formula of a group, and digital signal equals the absolute value that IA subtracts IB;
Digital signal n and IAn is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n.
Or, as IA < IB, start IA < IB difference model data handler 8, by the IA < IB vector signal data of the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, current values comparator 9, substitute in the function mated with this digital signal and this vector signal stored in pattern function holder 11 and carry out calculation process; And by the IA < IB vector signal data of the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, current values comparator 9, substitute in the function mated with this digital signal and this vector signal stored in pattern function holder 11 and carry out calculation process; Obtain two the IA < IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data y IAn of IA < IB is obtained, with the data that this two subsequent module of the IB control data y IBn of IA < IB, y IAn and y IBn will use; 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).
Above-mentioned these two is in the formula of a group, and digital signal equals the absolute value that IA subtracts IB;
Digital signal n and IAn is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n; IAn and IBn is computing value, is digital signal.
Above-mentioned pattern function at identical vectorial sum digital signal value, during different I A and IB, can obtain one group of different control signal y IAn and y IBn.As IAn=10 and IBn=5, digital signal=5; With IAn-1=20 and IBn-1=15, the Controlling model that these two groups of primary current signals of digital signal=5 obtain is not identical, and this can represent Controlling model the demand of IA and IB more accurately.In function y IAn, digital signal is implied with IBn content, make its easier Modling model function, or pattern function is fairly simple; And if without digital signal, directly use IA, IB very not easily Modling model function, the pattern function of foundation is very complicated.In like manner, in function y IBn, digital signal is implied with IAn content, is the method for drawing for simplifying Modling model function.
3rd module: the input end of data distributor 10 respectively with pattern function holder 11, shift signal manual mode controller 3, average rate device 20, IA > IB difference model data handler 7 and IA < IB difference model data handler 8 totally five parts be connected, 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 A and strong power controller B respectively; Realize the object that difference controller controls strong power controller A and strong power controller B.
Its effect is, the shift signal ID of shift signal the manual mode controller 3 and car average rate signal IS of average rate device 20 inputs the data distributor 10 of differential distributing box 1 respectively, to carrying out IA, the process of IB pattern function, will distribute to controlled electrical equipment is the process of pattern function again that the control data before controller A and controller B is carried out respectively adding shift signal ID and added car average rate signal IS two key elements, the control data that controller A and controller B is obtained not only has the key element of feedback control signal electric current I A and feedback control signal electric current I B, also there are shift signal ID and car average rate signal IS two key elements.
Become y IAnIDIS and y IBnIDIS after the IAn of control data y in groups that data distributor 10 inputs IA > IB difference model data handler 7 and y IBn carries out the process adding shift signal ID and add car average rate signal IS two key elements respectively, then distribute to strong power controller A and strong power controller B respectively; Or become y IAnIDIS and y IBnIDIS after the IAn of control data y in groups of IA < IB difference model data handler 8 input and y IBn carries out the process adding shift signal ID and add car average rate signal IS two key elements respectively, distribute to strong power controller A and strong power controller B more respectively, namely y IAnIDIS distributes to strong power controller A, then y IBnIDIS distributes to strong power controller B; D and A converter 16 carries out digital to analogy conversion respectively the digital signal y IAnIDIS and y IBnIDIS distributing control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can use, finally these two control voltage signals is sent to two corresponding strong power controllers; Function with the control data in groups of ID, IS two key elements is:
y IAnIDIS = f（y IAn，ID，IS）；
y IBnIDIS = f（y IBn，ID，IS）。
Realize the shift signal ID of shift signal manual mode controller 3, average rate device 20 car average rate signal IS, feedback control signal electric current I A and feedback control signal electric current I B by difference controller to strong power controller A and strong power controller B carry out regulation pattern function difference control power supply, 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 the work of two motor couplings can be obtained, the effect of morpet two wheel balance motions.
Control data y IAn and y IBn feedback control signal electric current I A and feedback control signal electric current I B calculates through pattern function in groups, the morpet front and back wheel different stressed demand to power supply in a flash can only be represented, what gear condition this morpet does not travel in, what speed state is to the integrated demand of power supply, stressedly to change although front and back wheel is different in a flash in other words, but car also should keep original speed of regulation gear condition as far as possible, such speed of a motor vehicle could be steadily, so need to add shift signal ID and car average rate signal IS two key elements in the final control signal exported.So control data y IAn and y IBn is in groups calculated the IAnIDIS of control data y in groups with gear and speed two element informations and y IBnIDIS with a group model function again with shift signal ID and car average rate signal IS.
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 rate, the difference size of powering how many is different again, so want ID, IS, IA and IB tetra-to control former key element.The weight of people on morpet is constant, front-wheel or certain wheel of trailing wheel stressed large time, power consumption electric current can increase at once, feedback control signal electric current also increases at once, the former difference relationship of IA and IB is changed, new ID, IS, IA and IB tetra-controls former key element input difference and controls boosted vehicle system, difference controls boosted vehicle system through controlling the pattern function that former key element matches calculate with these four, two control voltage signals that output and these four controlling elements match give the motor of front-wheel and trailing wheel respectively, even if make wheel A and wheel B stressed unequal, also the work of two motor couplings can be obtained, two wheel balance motions, the effect of morpet held stationary speeds.
Due to different electric controller A and strong power controller B, require the control voltage signal of different voltage range, 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 use.So D and A converter 16 is indispensable.
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.
Whether stable the leading rotational angle of bicycle representative can be in state at bicycle substantially, if leading rotational angle is than the angle that have rotated 80 degree to 90 degree time just forward, then bicycle is in unstable motoring condition, at this moment no matter feedback control signal electric current I A and IB is any signal, can not, again to feeding electric motors, must stop feeding electric motors immediately.If leading rotational angle is than the angle that have rotated 30 degree to 80 degree time just forward, feedback control signal electric current I A and IB requires to reduce the delivery to motor to should increasing with leading rotational angle of feeding electric motors.General leading rotational angle is when the angle of 0 degree to 30 degree, and bicycle is in completely normal motoring condition, and feedback control signal electric current I A and IB requires can, completely according to execution, not need to revise to the delivery of motor.
The speed of a motor vehicle controlled to make differential distributing box 1 and the body weight of cyclist match, namely under the condition of the same group of feedback control signal electric current I A changed and feedback control signal electric current I B, two control voltage signals that differential distributing box 1 exports can change with the body weight difference of cyclist.As being match with 50 kilograms of body weights with former two the control voltage signals that should export of differential distributing box 1, when the body weight of cyclist is 40 kilograms, two control voltage signals that differential distributing box 1 reality exports all reduce 20%, or when the body weight of cyclist is 70 kilograms, two control voltage signals that differential distributing box 1 reality exports all reduce 40%.The body weight reaching the speed of a motor vehicle that differential distributing box 1 controls and cyclist matches.For achieving this end technical scheme be: on the human body cushion of morpet, or pressure sensor is set on the elastomeric element be connected with cushion, this pressure sensor is connected with the data distributor 10 in differential distributing box 1, and the pressure signal of pressure sensor carries out to two control voltage signals in data distributor 10 process that same ratio increase or same ratio reduce respectively.
Advantage of the present invention: differential distributing box 1 of the present invention can carry out the process of digital model function to car average rate signal IS, the feedback control signal electric current I A and feedback control signal electric current I B of the shift signal ID of shift signal manual mode controller 3, average rate device 20, to two controlled things that will control, front and back wheel two motors of morpet carry out differential control power supply, and the content of differential control is exactly the pattern function process of setting in advance.Namely differential distributing box 1 Neng Dui tetra-road of the present invention analog current signal carries out twice pattern function process respectively, obtain and have differential two-way voltage control signal independently to export, digital model function content can be added to four tunnel analog signals, the control that front and back wheel two motors carry out independently is powered, also claims difference to control power supply.The work of front and back wheel two motor couplings, both front and back wheel change strained condition, front and back wheel two motors mate to from different power supplies, reach front and back wheel velocity of rotation identical, and be make morpet substantially keep being limited within the scope of gear by ID, form the state of the average velociity of IS.The people ridden on this morpet feels comfortably cool, the identical not wastes power again of front and back wheel velocity of rotation.
The present invention removes four original controlling elements and is divided into twice pattern function to calculate, the variable that each pattern function calculates reduces, this the method for four variablees decomposition twice pattern function calculating, twice pattern function is made to calculate having a bowel movement all greatly, still containing IA, IB, ID, IS key element in the control signal in the end exported, but set up each pattern function and pattern function to calculate its variable and there is no four, make common simplification Modling model function, computation speed is faster, adapts to the good method of data processing regulated kinematic velocity.
Difference of the present invention controls boosted vehicle system and controls through ID, IS, IA and IB and these four pattern function that former key element matches and calculate, export and to control two control voltage signals that former key element matches with these four respectively to the motor of front-wheel and trailing wheel, even if make wheel A and wheel B stressed unequal, also the work of two motor couplings can be obtained, the effect of two wheel balance motions.
When the former key element of identical ID, IS, IA and IB tetra-control is identical, as long as change the digital model function of setting, the different control signals that just can obtain multiple artificial setting export, solve and directly control two analog electronics by IA and IB two analog signals, only have a kind of mode, the shortcoming of mode can not be adjusted by human needs.
Whether stable state can be in leading rotational angle presumption bicycle, and by the size of leading rotational angle, the feedback control signal electric current I A produce cycle racing state and the difference delivery required by IB are revised, to ensure when bicycle plays pendulum, no longer labile factor is increased to bicycle, 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, the annexation of each parts of differential distributing box of the present invention of corner parameter Processor and signal is had to flow to schematic diagram;
Fig. 4, the annexation of each parts of the present invention of leading rotary angle transmitter and signal is had to flow to schematic diagram.
In figure, 1 be differential distributing box, 3 are shift signal manual mode controllers, 7 are IA > IB difference model data handlers, 8 are IA < IB difference model data handlers, 9 are current values comparators, 10 are data distributors, 11 are pattern function holders, 12 are vehicle speed signal sensors, 16 are D and A converters, 20 are average rate devices, 30 are corner parameter Processor, 31 is leading rotary angle transmitters.
Detailed description of the invention
Embodiment 1, gear and speed signal is had all to input the voltage difference boosted vehicle system of distributing box
As Fig. 1,2, comprise two wheels of electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and drive the motor B of 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 that the speed signal of vehicle speed signal sensor 12 in certain hour is become the signal processor of average velociity in this certain hour.
Be connected with controller A between differential distributing box 1 with motor A, controller A differential distributing box 1 give with control signal control electrical source of power wheel A powered;
Be connected with controller B between differential distributing box 1 with motor B, controller B differential distributing box 1 give with control signal control electrical source of power wheel B powered.
Between motor A and controller A, negate feedforward control signal electric current I A inputs the current values comparator 9 of differential distributing box 1;
Between motor B and controller B, negate feedforward control signal electric current I B inputs the current values comparator 9 of differential distributing box 1;
The shift signal ID of shift signal manual mode controller 3 inputs the current values comparator 9 of differential distributing box 1;
The car average rate signal IS of average rate device 20 inputs the current values comparator 9 of differential distributing box 1.
Differential distributing box 1 comprises three modules be connected successively;
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 comparatively processed;
The second module pattern function set carries out pattern function process to the data of the first module;
The car average rate signal IS of the shift signal ID of shift signal manual mode controller 3 and average rate device 20 is inputted the data distributor 10 of differential distributing box 1 by the 3rd module, will distribute to controlled electrical equipment to pattern function process is the process that control data before controller A and controller B adds shift signal ID and car average rate signal IS key element respectively, the control data that controller A and controller B is obtained not only has the key element of feedback control signal electric current I A and feedback control signal electric current I B, also has the key element of shift signal ID and car average rate signal IS.
First module: two input ends of current values comparator 9 connect feedback control signal electric current I A and feedback control signal electric current I B respectively; IA and IB is the original control current signal of received current digital comparator 9 respectively; Two mouths of current values comparator 9 connect IA > IB difference model data handler 7 and IA < IB difference model data handler 8 respectively; .
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 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 is 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 is transferred to difference model data handler 8, the digital signal of difference value under referred to as digital signal.
Second module: IA > IB difference model data handler 7 connects current values comparator 9 and pattern function holder 11 respectively; And IA < IB difference model data handler 8 also connects current values comparator 9 and pattern function holder 11 respectively.
Its effect is;
As IA > IB, start IA > IB difference model data handler 7, by the IA > IB vector signal data of the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, current values comparator 9, substitute in the function mated with this digital signal and this vector signal stored in pattern function holder 11 and carry out calculation process; And by the IA > IB vector signal data of the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, current values comparator 9, substitute in the function mated with this digital signal and this vector signal stored in pattern function holder 11 and carry out calculation process; Obtain two the IA > IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data y IAn of IA > IB is obtained, with the data that this two subsequent module of the IB control data y IBn of IA > IB, y IAn and y IBn will use; 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).
Above-mentioned these two is in the formula of a group, and digital signal equals the absolute value that IA subtracts IB;
Digital signal n and IAn is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n.
Or, as IA < IB, start IA < IB difference model data handler 8, by the IA < IB vector signal data of the digital signal data of current values comparator 9, the IA data corresponding with this digital signal, current values comparator 9, substitute in the function mated with this digital signal and this vector signal stored in pattern function holder 11 and carry out calculation process; And by the IA < IB vector signal data of the digital signal data of current values comparator 9, the IB data corresponding with this digital signal data, current values comparator 9, substitute in the function mated with this digital signal and this vector signal stored in pattern function holder 11 and carry out calculation process; Obtain two the IA < IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data y IAn of IA < IB is obtained, with the data that this two subsequent module of the IB control data y IBn of IA < IB, y IAn and y IBn will use; 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).
Above-mentioned these two is in the formula of a group, and digital signal equals the absolute value that IA subtracts IB;
Digital signal n and IAn is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n; IAn and IBn is computing value, is digital signal.
3rd module: the input end of data distributor 10 respectively with pattern function holder 11, shift signal manual mode controller 3, average rate device 20, IA > IB difference model data handler 7 and IA < IB difference model data handler 8 totally five parts be connected, 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 A and strong power controller B respectively; Realize the object that difference controller controls strong power controller A and strong power controller B.
Its effect is, the shift signal ID of shift signal the manual mode controller 3 and car average rate signal IS of average rate device 20 inputs the data distributor 10 of differential distributing box 1 respectively, to carrying out IA, the process of IB pattern function, will distribute to controlled electrical equipment is the process of pattern function again that the control data before controller A and controller B is carried out respectively adding shift signal ID and added car average rate signal IS two key elements, the control data that controller A and controller B is obtained not only has the key element of feedback control signal electric current I A and feedback control signal electric current I B, also there are shift signal ID and car average rate signal IS two key elements.
Become y IAnIDIS and y IBnIDIS after the IAn of control data y in groups that data distributor 10 inputs IA > IB difference model data handler 7 and y IBn carries out the process adding shift signal ID and add car average rate signal IS two key elements respectively, then distribute to strong power controller A and strong power controller B respectively; Or become y IAnIDIS and y IBnIDIS after the IAn of control data y in groups of IA < IB difference model data handler 8 input and y IBn carries out the process adding shift signal ID and add car average rate signal IS two key elements respectively, distribute to strong power controller A and strong power controller B more respectively, namely y IAnIDIS distributes to strong power controller A, then y IBnIDIS distributes to strong power controller B; D and A converter 16 carries out digital to analogy conversion respectively the digital signal y IAnIDIS and y IBnIDIS distributing control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can use, finally these two control voltage signals is sent to two corresponding strong power controllers; Function with the control data in groups of ID, IS two key elements is:
y IAnIDIS = f（y IAn，ID，IS）；
y IBnIDIS = f（y IBn，ID，IS）。
Realize the shift signal ID of shift signal manual mode controller 3, average rate device 20 car average rate signal IS, feedback control signal electric current I A and feedback control signal electric current I B by difference controller to strong power controller A and strong power controller B carry out regulation pattern function difference control power supply, 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 the work of two motor couplings can be obtained, the effect of morpet two wheel balance motions.
Have gear and the speed signal of embodiment 2, band corner parameter Processor all input the voltage difference boosted vehicle system of distributing box
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 pressure sensor is set on the elastomeric element be connected with cushion, this pressure sensor is connected with the data distributor 10 in differential distributing box 1, and the pressure signal of pressure sensor carries out to two control voltage signals in data distributor 10 process that same ratio increase or same ratio reduce respectively.
Claims (2)
1. there are gear and speed signal all to input the voltage difference boosted vehicle system of distributing box, comprise two wheels of electric booster bicycle: wheel A and wheel B, and drive the motor A of wheel A and drive the motor B of wheel B, comprise the shift signal manual mode controller (3) of 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 that the speed signal of vehicle speed signal sensor (12) in certain hour is become the signal processor of average velociity in this certain hour;
Differential distributing box (1) is connected with controller A with between motor A, controller A differential distributing box (1) give with control signal control electrical source of power wheel A powered;
Differential distributing box (1) is connected with controller B with between motor B, controller B differential distributing box (1) give with control signal control electrical source of power wheel B powered;
Between motor A and controller A, negate feedforward control signal electric current I A inputs the current values comparator (9) of differential distributing box (1);
Between motor B and controller B, negate feedforward control signal electric current I B inputs the current values comparator (9) of differential distributing box (1);
The shift signal ID of shift signal manual mode controller (3) inputs the current values comparator (9) of differential distributing box (1);
The car average rate signal IS of average rate device (20) inputs the current values comparator (9) of differential distributing box (1);
Differential distributing box (1) comprises three modules be connected successively;
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 comparatively processed;
The second module pattern function set carries out pattern function process to the data of the first module;
The car average rate signal IS of the shift signal ID of shift signal manual mode controller (3) and average rate device (20) is inputted the data distributor (10) of differential distributing box (1) by the 3rd module, will distribute to controlled electrical equipment to pattern function process is the process that control data before controller A and controller B adds shift signal ID and car average rate signal IS key element respectively, the control data that controller A and controller B is obtained not only has the key element of feedback control signal electric current I A and feedback control signal electric current I B, also there is the key element of shift signal ID and car average rate signal IS,
First module: two input ends of current values comparator (9) connect feedback control signal electric current I A and feedback control signal electric current I B respectively; IA and IB is the original control current signal of received current digital comparator (9) respectively; Two mouths of current values comparator (9) connect IA > IB difference model data handler (7) and IA < IB difference model data handler (8) respectively;
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 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 is 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 is transferred to difference model data handler (8), the digital signal of difference value under referred to as digital signal,
Second module: IA > IB difference model data handler (7) connects current values comparator (9) and pattern function holder (11) respectively; And IA < IB difference model data handler (8) also connects current values comparator (9) and pattern function holder (11) respectively;
Its effect is;
As 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, current values comparator (9) IA > IB vector signal data, substitute in the function mated with this digital signal and this vector signal stored in pattern function holder (11) and carry out calculation process; And by the digital signal data of current values comparator (9), the IB data corresponding with this digital signal data, current values comparator (9) IA > IB vector signal data, substitute in the function mated with this digital signal and this vector signal stored in pattern function holder (11) and carry out calculation process; Obtain two the IA > IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data y IAn of IA > IB is obtained, with the data that this two subsequent module of the IB control data y IBn of IA > IB, y IAn and y IBn will use; 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);
Above-mentioned these two is in the formula of a group, and digital signal equals the absolute value that IA subtracts IB;
Digital signal n and IAn is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n;
Or, as 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, current values comparator (9) IA < IB vector signal data, substitute in the function mated with this digital signal and this vector signal stored in pattern function holder (11) and carry out calculation process; And by the digital signal data of current values comparator (9), the IB data corresponding with this digital signal data, current values comparator (9) IA < IB vector signal data, substitute in the function mated with this digital signal and this vector signal stored in pattern function holder (11) and carry out calculation process; Obtain two the IA < IB types that control corresponding respectively with IA and IB pair and organize control data, namely the IA control data y IAn of IA < IB is obtained, with the data that this two subsequent module of the IB control data y IBn of IA < IB, y IAn and y IBn will use; 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);
Above-mentioned these two is in the formula of a group, and digital signal equals the absolute value that IA subtracts IB;
Digital signal n and IAn is the control current signal value IAn about this same time point corresponding to some digital signal n; Digital signal n and IBn is the control current signal value IBn about this same time point corresponding to some digital signal n; IAn and IBn is computing value, is digital signal;
3rd module: the input end of data distributor (10) respectively with pattern function holder (11), shift signal manual mode controller (3), average rate device (20), IA > IB difference model data handler (7) and IA < IB difference model data handler (8) totally five parts be connected, 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 A and strong power controller B respectively; Realize the object that difference controller controls strong power controller A and strong power controller B;
Its effect is, the shift signal ID of shift signal manual mode controller (3) and the car average rate signal IS of average rate device (20) inputs the data distributor (10) of differential distributing box (1) respectively, to carrying out IA, the process of IB pattern function, will distribute to controlled electrical equipment is the process of pattern function again that the control data before controller A and controller B is carried out respectively adding shift signal ID and added car average rate signal IS two key elements, the control data that controller A and controller B is obtained not only has the key element of feedback control signal electric current I A and feedback control signal electric current I B, also there are shift signal ID and car average rate signal IS two key elements,
Become y IAnIDIS and y IBnIDIS after the IAn of control data y in groups that data distributor (10) inputs IA > IB difference model data handler (7) and y IBn carries out the process adding shift signal ID and add car average rate signal IS two key elements respectively, then distribute to strong power controller A and strong power controller B respectively; Or the IAn of control data y in groups that IA < IB difference model data handler (8) inputs and y IBn becomes y IAnIDIS and y IBnIDIS after carrying out the process adding shift signal ID and add car average rate signal IS two key elements respectively, distribute to strong power controller A and strong power controller B more respectively, namely y IAnIDIS distributes to strong power controller A, then y IBnIDIS distributes to strong power controller B; D and A converter (16) carries out digital to analogy conversion respectively the digital signal y IAnIDIS and y IBnIDIS distributing control object, digital signal is converted to the control voltage signal that strong power controller A and strong power controller B can use, finally these two control voltage signals is sent to two corresponding strong power controllers; Function with the control data in groups of ID, IS two key elements is:
y IAnIDIS = f（y IAn，ID，IS）；
y IBnIDIS = f（y IBn，ID，IS）；
Realize the shift signal ID of shift signal manual mode controller (3), average rate device (20) car average rate signal IS, feedback control signal electric current I A and feedback control signal electric current I B by difference controller to strong power controller A and strong power controller B carry out regulation pattern function difference control power supply, 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 the work of two motor couplings can be obtained, the effect of morpet two wheel balance motions.
2. the voltage difference boosted vehicle system having gear and speed signal all to input distributing box according to claim 1, 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), corner parameter Processor (30) is also connected with leading rotary angle transmitter (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510123981.3A CN104743045A (en) | 2014-08-20 | 2015-03-21 | Voltage difference moped system with gear and speed signals input into distributor |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410408420 | 2014-08-20 | ||
| CN2014104084203 | 2014-08-20 | ||
| CN201510123981.3A CN104743045A (en) | 2014-08-20 | 2015-03-21 | Voltage difference moped system with gear and speed signals input into distributor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104743045A true CN104743045A (en) | 2015-07-01 |
Family
ID=53583468
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510123981.3A Pending CN104743045A (en) | 2014-08-20 | 2015-03-21 | Voltage difference moped system with gear and speed signals input into distributor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104743045A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1142290A (en) * | 1994-12-28 | 1997-02-05 | 雅马哈发动机株式会社 | Controller for dc. motor |
| JPH10167162A (en) * | 1996-12-06 | 1998-06-23 | Matsushita Electric Ind Co Ltd | Electric bicycle |
| CN101559818A (en) * | 2009-05-16 | 2009-10-21 | 江南大学 | Control technology for electric motor car with nature boost function |
| CN203996736U (en) * | 2014-08-20 | 2014-12-10 | 成都宽和科技有限责任公司 | There are gear and speed signal all to input the voltage difference boosted vehicle system of distributing box |
-
2015
- 2015-03-21 CN CN201510123981.3A patent/CN104743045A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1142290A (en) * | 1994-12-28 | 1997-02-05 | 雅马哈发动机株式会社 | Controller for dc. motor |
| JPH10167162A (en) * | 1996-12-06 | 1998-06-23 | Matsushita Electric Ind Co Ltd | Electric bicycle |
| CN101559818A (en) * | 2009-05-16 | 2009-10-21 | 江南大学 | Control technology for electric motor car with nature boost function |
| CN203996736U (en) * | 2014-08-20 | 2014-12-10 | 成都宽和科技有限责任公司 | There are gear and speed signal all to input the voltage difference boosted vehicle system of distributing box |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204161147U (en) | The digital differential boosted vehicle system of comparator is all added with gear and speed signal | |
| CN204077972U (en) | Gear and speed signal is had all to input the digital differential boosted vehicle system of distributing box | |
| CN204077408U (en) | There is the voltage difference boosted vehicle system of gear and speed signal all input processor | |
| CN204077416U (en) | Gear and speed signal is had all to add the voltage difference boosted vehicle system of treater | |
| CN204077410U (en) | There is the digital differential boosted vehicle system of gear and speed signal all input processor | |
| CN204077409U (en) | The voltage difference that shift signal adds model processor divides control boosted vehicle system | |
| CN204077412U (en) | Gear and speed signal is had all to add the digital differential boosted vehicle system of treater | |
| CN204077413U (en) | The voltage difference boosted vehicle system of comparator is all added with gear and speed signal | |
| CN204077415U (en) | The digital differential of shift signal process output signal controls force aid system | |
| CN204077411U (en) | Control boosted vehicle system is divided with the voltage difference of gear and speed signal successively input | |
| CN203996736U (en) | There are gear and speed signal all to input the voltage difference boosted vehicle system of distributing box | |
| CN104139826B (en) | The voltage difference that shift signal adds comparator divides control boosted vehicle system | |
| CN203996739U (en) | Shift signal is processed the voltage difference of output signal and is divided control force aid system | |
| CN204161146U (en) | Boosted vehicle system is controlled with the digital differential of gear and speed signal successively input | |
| CN204077407U (en) | The voltage difference of speed signal process output signal divides control force aid system | |
| CN204077417U (en) | The voltage difference that speed signal adds comparator divides control boosted vehicle system | |
| CN204527515U (en) | Want the digital differential boosted vehicle system of gear and speed signal all input difference device | |
| CN203996735U (en) | Want the successively voltage difference boosted vehicle system of input difference device of gear and speed signal | |
| CN203996738U (en) | Shift signal adds the voltage difference of comparator to divide control boosted vehicle system | |
| CN203995746U (en) | Want the successively digital differential boosted vehicle system of input difference device of gear and speed signal | |
| CN203996737U (en) | Want gear and speed signal all to add the voltage difference boosted vehicle system of treater | |
| CN204077414U (en) | The digital differential of speed signal process output signal controls force aid system | |
| CN104149654B (en) | The digital differential that speed signal adds comparator controls boosted vehicle system | |
| CN104149658B (en) | There is the digital differential boosted vehicle system of gear and speed signal all input processor | |
| CN104149659B (en) | Want the digital differential boosted vehicle system of gear and speed signal priority input difference device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150701 |