CN107600296A - A kind of power assist control method of electric assisted bicycle - Google Patents
A kind of power assist control method of electric assisted bicycle Download PDFInfo
- Publication number
- CN107600296A CN107600296A CN201711025532.0A CN201711025532A CN107600296A CN 107600296 A CN107600296 A CN 107600296A CN 201711025532 A CN201711025532 A CN 201711025532A CN 107600296 A CN107600296 A CN 107600296A
- Authority
- CN
- China
- Prior art keywords
- value
- power
- assisted
- assist
- inclination
- 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
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention relates to electric bicycle technical field, especially a kind of power assist control method of electric assisted bicycle.The method is for the electric assisted bicycle including the parts such as car body, step tread, assist motor and assist controller, it is included S1, the tachometer value of step tread is obtained using rotating speed measuring sensor, and the inclination value of car body is obtained using 3-axis acceleration gyro sensor；S2, using assist controller corresponding power-assisted coefficient value is established according to tachometer value and inclination value, assist controller is controlled assist motor output power-assisted according to power-assisted coefficient value.The present invention enables the surface conditions that bicycle travels according to the personnel of riding to the operational circumstances and vehicle of vehicle automatically to carry out the adjustment of power-assisted, and condition is provided to strengthen the experience effect of riding of electric bicycle；And the detection at bicycle inclination angle is carried out using the acceleration gyro sensor being widely used in the electric consumers such as mobile phone, it can effectively reduce the installation cost and use cost of sensor.
Description
Technical field
The present invention relates to electric bicycle technical field, especially a kind of power assist control method of electric assisted bicycle.
Background technology
Known, electric assisted bicycle is different from traditional electric bicycle, and it is not come with replacement rider
For the purpose of power is provided, but power-assisted is in time compensated in the larger riding environment of resistance by auxiliary riding person, such as：Climbing
Power-assisted compensation is carried out during slope or against the wind enforcement, to increase comfort of the rider in riding, while also remains rider
The enjoyment rided with itself strength.Therefore, electric assisted bicycle will not both ride as ordinary bicycle and take very much
Power, the size of power directly will not be controlled and easy by handle and throttle because departing from pedal as electric bicycle again
Trigger safety problem and lose the enjoyment of itself of riding.
At present, used by the electric assisted bicycle of in the market power assist control method mainly have it is following two, i.e.,：
1st, the size of the power output of assist motor is controlled as input quantity based on the rotating speed of detection pedal, i.e., ought ridden
The more fast then motor power-assisted of speed that passerby tramples pedal is more, rides and stops then power-assisted closing；The advantages of this method, is：
Pedal rotation speed detection is easy to and the installation of related sensor and use cost are relatively low, is had when level road is ridden good
Ride experience；But also can be more in company with corresponding power-assisted because can more arduously cause the rotating speed decline of pedal when going up a slope
It is small, and power-assisted is smaller, goes up a slope more laborious, thus form vicious circle；It is desirable during upward slope for from the demand of riding
More power-assisteds are obtained, do not reach good power-assisted effect when so resulting in upward slope, because riding very easily during descending, pin
The rotating speed of pedal is also very high, and for the demand of riding and Energy Angle, descending is the power-assisted that or need not only need very little；But
It is this control method because being the rotating speed of direct detection pedal and the gradient ridden can not be detected, is carried when going up a slope
Reduce for more power-assisteds, in descending or power-assisted is not provided, experience of riding is very poor.
2nd, the size of the power output of assist motor is controlled as input quantity based on the torque on detection pedal, that is, worked as
Detect that the more big then power-assisted of the power received on pedal is bigger, it is on the contrary then power-assisted is smaller；The experience that is to ride of this method advantage is non-
Chang Hao, but shortcoming is that do not have good torque measuring method at present, and the cost of torque sensor used is also high, installation
It is difficult and be easily damaged, the life-span of sensor cannot ensure, thus may be only available in some high-end vehicles, can not obtain
Extensive popularization.
The content of the invention
For above-mentioned the shortcomings of the prior art, it is an object of the invention to provide a kind of helping for electric assisted bicycle
Force control method.
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of power assist control method of electric assisted bicycle, the electric assisted bicycle include car body and are installed on
Step tread, assist motor and assist controller on car body；It the described method comprises the following steps：
S1, the tachometer value using rotating speed measuring sensor acquisition step tread, utilize 3-axis acceleration gyro sensor
Obtain inclination value of the car body relative to horizontal road surface of riding；
S2, using assist controller corresponding power-assisted coefficient value is established according to tachometer value and inclination value, and make Power assisted control
Device controls assist motor output power-assisted according to power-assisted coefficient value.
Preferably, in the step S1, the unit level distance of car body is obtained using 3-axis acceleration gyro sensor
Height fall caused by value and unit level distance value, and according to formula PAngle=H/L × 100% draws car body relative to level
Ride the inclination value on road surface；In formula, PAngleAngle of inclination for car body relative to horizontal road surface of riding；H is unit horizontal range
Caused difference in height, it is by making quadratic integral to acceleration magnitude of the 3-axis acceleration gyro sensor in vertical direction
Draw afterwards, unit m；L is unit horizontal range, its be by 3-axis acceleration gyro sensor in the horizontal direction
Acceleration magnitude makees what is drawn after quadratic integral, unit m.
Preferably, in the step S1, using three axles of 3-axis acceleration gyro sensor acceleration magnitude and according to
Formula PAngle=ar tan2 (ax/Sqrt (ax2+ay2+az2)) ridden the inclination value on road surface relative to level to obtain car body；Formula
In, PAngleAngle of inclination for car body relative to horizontal road surface of riding；Ax, ay, az are respectively 3-axis acceleration gyro sensors
The acceleration magnitude of three axles of device, unit are m/s2。
Preferably, in the step S1, the tachometer value of step tread is routinely obtained using rotating speed measuring sensor, profit
Inclination value of the car body relative to horizontal road surface of riding routinely is obtained with 3-axis acceleration gyro sensor；
In the step S2, the power-assisted coefficient value changes according to the change of tachometer value and the change of inclination value.
Preferably, when the tachometer value be on the occasion of and inclination value be to ride on the occasion of being then considered as upward slope, the power-assisted coefficient value
Increase with the increase of inclination value, the assist controller controls assist motor output power-assisted according to power-assisted coefficient value；
When the tachometer value be negative value or zero and inclination value be negative value when be then considered as descending and ride, the power-assisted coefficient value is
Zero or negative value, the assist controller controls assist motor to stop according to power-assisted coefficient value；
Then it is considered as level road when the inclination value is zero to ride, the power-assisted coefficient value is zero, the assist controller root
Stop according to power-assisted coefficient value control assist motor.
Preferably, the rotating speed measuring sensor is installed in the middle rotating shaft of step tread.
Preferably, the power-assisted coefficient value is multiple threshold values or the threshold range defaulted in assist controller.
As a result of such scheme, the present invention enables operational circumstances and car of the bicycle according to the personnel of riding to vehicle
The surface conditions of traveling automatically carry out the adjustment of power-assisted, such as travel on descending section can by stop power-assisted or braking come
Limitation travel speed suitably power-assisted can then be ridden more easily and more with reducing riding safety risk, travelling on uphill way with reaching
Labour-saving effect, when travelling on smooth section then can suitably power-assisted or non-power-assisted with keep bicycle ride and body-building enjoyment；
And carry out bicycle inclination angle using the acceleration gyro sensor being widely used in the electric consumers such as mobile phone
Detection, it can effectively reduce the installation cost and use cost of sensor.
Brief description of the drawings
Fig. 1 is the structural reference schematic diagram of the targeted electric assisted bicycle of the embodiment of the present invention.
Embodiment
Embodiments of the invention are described in detail below in conjunction with accompanying drawing, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
As shown in figure 1, the present embodiment provide a kind of electric assisted bicycle power assist control method, its be directed to have with
On the electric assisted bicycle of lower structure construction, i.e.,：Electric assisted bicycle includes car body and is installed on car body to drive
Step tread 1, assist motor 2 and the assist controller 3 that wheel is rotated；And controlling party rule comprises the following steps：
S1, the tachometer value for obtaining using rotating speed measuring sensor 2 step tread 1, using being built in assist controller 3
3-axis acceleration gyro sensor obtains inclination value of the car body relative to horizontal road surface of riding；
S2, using assist controller 3 corresponding power-assisted coefficient value is established according to tachometer value and inclination value, and make Power assisted control
Device 3 can control assist motor 4 to export corresponding power-assisted according to power-assisted coefficient value.
Thus, bicycle state in itself and the personnel that ride can be obtained to bicycle using rotating speed measuring sensor 2
Mode of operation and related data (when such as bicycle is in idle placement state, what step tread 1 was generally off, and bicycle
When being ridden, the personnel of riding would generally rotate forward step tread 1 and moved ahead with band motor car wheel, made according to road conditions and riding speed
Step tread 1 is stalled or inverted to keep riding speed), so as to make tachometer value present on the occasion of, zero or three kinds of situations such as negative value；
Can then be obtained using 3-axis acceleration gyro sensor bicycle it is idle put or the correlation behavior of traveling road conditions and data (such as
There is bicycle to put or be traveling in uphill way, put or be traveling in plane section and put or be traveling in descending section etc.
Situation) so that inclination value present on the occasion of, zero or three kinds of situations such as negative value；Based on this, can be integrated using assist controller 3
Tachometer value and inclination value in the case of various, so as to match different power-assisted coefficient values for different situations, so that power-assisted can be made
Motor exports corresponding power-assisted, and (" exporting corresponding power-assisted " can be understood as assist motor and carry out rotating forward power-assisted, stop not applying
Power or braking), and then moped is travelled according to the personnel of riding to the operational circumstances and vehicle of vehicle
Surface conditions automatically carry out the adjustment of power-assisted, for enhancing electric bicycle ride experience effect and mode has provided
The condition of profit；Meanwhile carried out using the acceleration gyro sensor being widely used in the electric consumers such as mobile phone
The detection at bicycle inclination angle, it can effectively reduce the installation cost and use cost of sensor.
As a preferred scheme, in step sl, car body can be obtained by 3-axis acceleration gyro sensor
Height fall caused by unit level distance value and unit level distance value, and according to formula PAngle=H/L × 100% is drawn
Car body is ridden the inclination value on road surface relative to level；In formula, PAngleAngle of inclination for car body relative to horizontal road surface of riding；H
For difference in height caused by unit horizontal range, its be by 3-axis acceleration gyro sensor vertical direction acceleration
Angle value make to draw after quadratic integral (i.e.：According to Newton's laws of motion, by entering to acceleration ax of the sensor in vertical direction
Row integration can obtain the speed V in vertical directionx, wherein, Vx=int egrate (ax, dt), in the speed to vertical direction
Carry out Integral Processing and can obtain height difference H, wherein H=int egrat (Vx, dt)), unit m；L is unit horizontal range,
It is by the acceleration magnitude of 3-axis acceleration gyro sensor in the horizontal direction is made draw after quadratic integral (i.e.：Root
According to Newton's laws of motion, by being integrated i.e. available speed in the horizontal direction to the acceleration az of sensor in the horizontal direction
Spend Vz, wherein, Vz=int egrate (az, dt), carry out Integral Processing in the speed to vertical direction and can obtain horizontal range
L, wherein L=int egrat (Vz, dt)), unit m.Certainly, it is to obtain the inclination value of car body simplerly while reduce
The difficulty in computation of related data, in step sl, the acceleration of three axles of 3-axis acceleration gyro sensor can also be used
It is worth and according to formula PAngle=ar tan2 (ax/Sqrt (ax2+ay2+az2)) ridden the inclining of road surface relative to level to obtain car body
Angle value；In formula, PAngleAngle of inclination for car body relative to horizontal road surface of riding；Ax, ay, az are respectively 3-axis acceleration gyro
The acceleration magnitude of three axles of instrument sensor, unit are m/s2。
For ensure assist controller 3 power output of assist motor 2 can be adjusted in real time with decide whether into
Row power-assisted, the adjustment for stopping the operating mode such as power-assisted or braking, in step sl, are routinely obtained using rotating speed measuring sensor 2
The tachometer value of step tread 1 is taken, routinely obtain car body using 3-axis acceleration gyro sensor rides relative to level
The inclination value on road surface；Meanwhile in step s 2, can be according to the change of tachometer value by power-assisted coefficient value using assist controller 3
Change with inclination value and change, i.e., different tachometer values and inclination value should correspond to different power-assisted coefficient values.With this, can determine
The size of the power-assisted of assist motor 4.
As a kind of preferred scheme, assist controller 3 can be set in the following manner, be specially：
1st, when tachometer value be on the occasion of and inclination value be on the occasion of (or more than a certain default threshold value or falling into a certain default threshold
In the range of value) when be then considered as upward slope and ride, now power-assisted coefficient value should increase with the increase of inclination value, and assist controller 3
Power-assisted is then exported according to power-assisted coefficient value control assist motor 4 now；So as to when bicycle, which is considered as upward slope, rides, then
Power-assisted size can be controlled according to the rotating speed of step tread 1 and the gradient of riding.
2nd, when tachometer value be negative value or zero and inclination value be that negative value (or less than a certain default threshold value or is fallen into a certain pre-
If threshold range in) when can then be considered as descending and ride, now power-assisted coefficient value is zero or negative value, and assist controller 3 then may be used
Assist motor 4 is controlled to stop according to power-assisted coefficient value now；So as to when bicycle is considered as descending and ridden, then controllable
Assist motor 4 processed stops power-assisted or braking brake, is controlled with the gait of march to bicycle, and then reduces safety wind
Danger.
3rd, when inclination value is zero (either equal to a certain default threshold value or fall into a certain default threshold range)
Then it is considered as level road to ride, power-assisted coefficient value is zero, and assist controller 3 controls assist motor 4 to stop according to now power-assisted coefficient value
Only.
It should be noted that its can the visual bicycle of situation be in the state put of limitation, to avoid assist motor 4 from missing
Action, to reach the purpose for saving electric energy.
To ensure the accuracy of the detecting to the rotating speed of step tread 1, rotating speed measuring sensor 2 can be installed on pedal and stepped on
In the middle rotating shaft of plate 1, so that rotating speed measuring sensor 2 can obtain the rotary speed data being synchronised with step tread 1.
In addition, the power-assisted coefficient value of the present embodiment can be according to circumstances using the multiple threshold values defaulted in assist controller 3
Or threshold range；Thus, that is, assist controller 3 controls the power output of assist motor 4 using Fuzzy Calculation means,
Such as when inclination value is more than -2 degree and less than 2 degree, also it is believed that inclination value is on the occasion of now assist controller 3 can be according to one
Relatively small power-assisted coefficient value controls the power output of assist motor 4；When inclination value is more than 2 degree, then according to relatively
Big power-assisted coefficient value come control assist motor 4 carry out corresponding power output；Then think inclination angle when inclination value is spent less than -2
Value is negative value, and now assist controller 3 controls assist motor 4 out of service.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the invention, every utilization
The equivalent structure or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations
Technical field, be included within the scope of the present invention.
Claims (7)
1. a kind of power assist control method of electric assisted bicycle, the electric assisted bicycle includes car body and is installed on car
Step tread, assist motor and assist controller on body；It is characterized in that：It the described method comprises the following steps：
S1, the tachometer value using rotating speed measuring sensor acquisition step tread, utilize 3-axis acceleration gyro sensor to obtain
Car body is ridden the inclination value on road surface relative to level；
S2, using assist controller corresponding power-assisted coefficient value is established according to tachometer value and inclination value, and make assist controller root
According to power-assisted coefficient value control assist motor output power-assisted.
A kind of 2. power assist control method of electric assisted bicycle as claimed in claim 1, it is characterised in that：The step S1
In, obtained using 3-axis acceleration gyro sensor caused by the unit level distance value and unit level distance value of car body
Height fall, and according to formula PAngle=H/L × 100% draws inclination value of the car body relative to horizontal road surface of riding；In formula,
PAngleAngle of inclination for car body relative to horizontal road surface of riding；H is difference in height caused by unit horizontal range, and it is to pass through
3-axis acceleration gyro sensor is drawn after the acceleration magnitude of vertical direction makees quadratic integral, unit m；L is single
Position horizontal range, it is by being obtained after making quadratic integral to the acceleration magnitude of 3-axis acceleration gyro sensor in the horizontal direction
Go out, unit m.
A kind of 3. power assist control method of electric assisted bicycle as claimed in claim 1, it is characterised in that：The step S1
In, using three axles of 3-axis acceleration gyro sensor acceleration magnitude and according to formula PAngle=artan2 (ax/Sqrt
(ax2+ay2+az2)) ridden the inclination value on road surface relative to level to obtain car body；In formula, PAngleRidden for car body relative to level
The angle of inclination in walking along the street face；Ax, ay, az are respectively the acceleration magnitude of three axles of 3-axis acceleration gyro sensor, unit
It is m/s2。
A kind of 4. power assist control method of electric assisted bicycle as any one of claim 1-3, it is characterised in that：
In the step S1, the tachometer value of step tread is routinely obtained using rotating speed measuring sensor, is accelerated using three axles
Degree gyro sensor routinely obtains inclination value of the car body relative to horizontal road surface of riding；
In the step S2, the power-assisted coefficient value changes according to the change of tachometer value and the change of inclination value.
A kind of 5. power assist control method of electric assisted bicycle as claimed in claim 4, it is characterised in that：
When the tachometer value be on the occasion of and inclination value be to ride on the occasion of being then considered as upward slope, the power-assisted coefficient value with inclination value increasing
Add and increase, the assist controller controls assist motor output power-assisted according to power-assisted coefficient value；
When the tachometer value be negative value or zero and inclination value be negative value when be then considered as descending and ride, the power-assisted coefficient value be zero or
Negative value, the assist controller control assist motor to stop according to power-assisted coefficient value；
Then it is considered as level road when the inclination value is zero to ride, the power-assisted coefficient value is zero, and the assist controller is according to helping
Force coefficient value control assist motor stops.
A kind of 6. power assist control method of electric assisted bicycle as claimed in claim 5, it is characterised in that：By the rotating speed
Measurement sensor is installed in the middle rotating shaft of step tread.
A kind of 7. power assist control method of electric assisted bicycle as claimed in claim 5, it is characterised in that：The power-assisted system
Numerical value is multiple threshold values or the threshold range defaulted in assist controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711025532.0A CN107600296A (en) | 2017-10-27 | 2017-10-27 | A kind of power assist control method of electric assisted bicycle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711025532.0A CN107600296A (en) | 2017-10-27 | 2017-10-27 | A kind of power assist control method of electric assisted bicycle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107600296A true CN107600296A (en) | 2018-01-19 |
Family
ID=61079339
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711025532.0A Pending CN107600296A (en) | 2017-10-27 | 2017-10-27 | A kind of power assist control method of electric assisted bicycle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107600296A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108082386A (en) * | 2018-01-24 | 2018-05-29 | 济宁学院 | Fast disassembly type bicycle power auxiliary device and its control method |
| CN108423117A (en) * | 2018-03-30 | 2018-08-21 | 浙江齐享科技有限公司 | A kind of electricity power-assisted shares the householder method and system of vehicle |
| CN108466669A (en) * | 2018-02-06 | 2018-08-31 | 浙江齐享科技有限公司 | A kind of method and system of shared Moped Scooter automatic charging |
| CN108482566A (en) * | 2018-02-05 | 2018-09-04 | 浙江齐享科技有限公司 | A kind of method and system of electricity vehicle using motor auxiliary vehicle climb and fall |
| CN109552542A (en) * | 2018-11-23 | 2019-04-02 | 王若冰 | A kind of power output system of minibike |
| CN109682609A (en) * | 2018-12-17 | 2019-04-26 | 黑天鹅智能科技（福建）有限公司 | A kind of bicycle tramples Efficiency testing method and system |
| CN111342707A (en) * | 2018-12-19 | 2020-06-26 | 财团法人自行车暨健康科技工业研究发展中心 | Dual motor control system |
| CN111439135A (en) * | 2020-04-28 | 2020-07-24 | 雅迪科技集团有限公司 | Electric vehicle handle rotating control method and system |
| TWI712541B (en) * | 2019-12-20 | 2020-12-11 | 財團法人自行車暨健康科技工業研究發展中心 | Power output control method of electric assisted bicycle |
| CN112441184A (en) * | 2020-12-11 | 2021-03-05 | 岳阳市爱达兴智能科技有限公司 | Control method of power-assisted bicycle |
| CN112623098A (en) * | 2021-01-11 | 2021-04-09 | 句容志新精密五金零件有限公司 | High-impact-resistance pedal special for high-speed bicycle |
| CN113552822A (en) * | 2021-07-01 | 2021-10-26 | 浙江益恒悦医疗科技有限公司 | Power-assisted control method and device for intelligent walking aid, intelligent walking aid and controller |
| CN113830220A (en) * | 2021-11-04 | 2021-12-24 | 江苏科技大学 | Electric vehicle power-assisted control method based on information fusion |
| TWI755200B (en) * | 2020-12-11 | 2022-02-11 | 財團法人自行車暨健康科技工業研究發展中心 | A supplementary force control method for electric bicycles to follow the metabolic equivalent of the control target |
| CN115230858A (en) * | 2022-07-25 | 2022-10-25 | 常州洪邦新能源技术有限公司 | Power auxiliary method for vehicle attitude correlation system |
| CN116215732A (en) * | 2023-05-04 | 2023-06-06 | 深圳市好盈科技股份有限公司 | Control method, device and system for pedal frequency assisted bicycle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104163225A (en) * | 2014-08-27 | 2014-11-26 | 天津市弘塔科技有限公司 | Electric bicycle simulation torque assistance sensing control system and implementation method thereof |
| CN106379478A (en) * | 2016-09-05 | 2017-02-08 | 深圳市全球卖电子商务有限公司 | Scooter speed control system based on gyroscope and realization method of scooter speed control system |
| CN206187266U (en) * | 2016-11-21 | 2017-05-24 | 天津逍悦达科技有限公司 | Moped system with blind spot detects function |
-
2017
- 2017-10-27 CN CN201711025532.0A patent/CN107600296A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104163225A (en) * | 2014-08-27 | 2014-11-26 | 天津市弘塔科技有限公司 | Electric bicycle simulation torque assistance sensing control system and implementation method thereof |
| CN106379478A (en) * | 2016-09-05 | 2017-02-08 | 深圳市全球卖电子商务有限公司 | Scooter speed control system based on gyroscope and realization method of scooter speed control system |
| CN206187266U (en) * | 2016-11-21 | 2017-05-24 | 天津逍悦达科技有限公司 | Moped system with blind spot detects function |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108082386A (en) * | 2018-01-24 | 2018-05-29 | 济宁学院 | Fast disassembly type bicycle power auxiliary device and its control method |
| CN108082386B (en) * | 2018-01-24 | 2023-07-25 | 济宁学院 | Quick-dismantling type bicycle power auxiliary device and control method thereof |
| CN108482566A (en) * | 2018-02-05 | 2018-09-04 | 浙江齐享科技有限公司 | A kind of method and system of electricity vehicle using motor auxiliary vehicle climb and fall |
| CN108466669A (en) * | 2018-02-06 | 2018-08-31 | 浙江齐享科技有限公司 | A kind of method and system of shared Moped Scooter automatic charging |
| CN108423117A (en) * | 2018-03-30 | 2018-08-21 | 浙江齐享科技有限公司 | A kind of electricity power-assisted shares the householder method and system of vehicle |
| CN109552542A (en) * | 2018-11-23 | 2019-04-02 | 王若冰 | A kind of power output system of minibike |
| CN109682609A (en) * | 2018-12-17 | 2019-04-26 | 黑天鹅智能科技（福建）有限公司 | A kind of bicycle tramples Efficiency testing method and system |
| CN111342707A (en) * | 2018-12-19 | 2020-06-26 | 财团法人自行车暨健康科技工业研究发展中心 | Dual motor control system |
| CN111342707B (en) * | 2018-12-19 | 2022-07-26 | 财团法人自行车暨健康科技工业研究发展中心 | Dual motor control system |
| TWI712541B (en) * | 2019-12-20 | 2020-12-11 | 財團法人自行車暨健康科技工業研究發展中心 | Power output control method of electric assisted bicycle |
| CN111439135A (en) * | 2020-04-28 | 2020-07-24 | 雅迪科技集团有限公司 | Electric vehicle handle rotating control method and system |
| CN112441184A (en) * | 2020-12-11 | 2021-03-05 | 岳阳市爱达兴智能科技有限公司 | Control method of power-assisted bicycle |
| TWI755200B (en) * | 2020-12-11 | 2022-02-11 | 財團法人自行車暨健康科技工業研究發展中心 | A supplementary force control method for electric bicycles to follow the metabolic equivalent of the control target |
| CN112623098A (en) * | 2021-01-11 | 2021-04-09 | 句容志新精密五金零件有限公司 | High-impact-resistance pedal special for high-speed bicycle |
| CN113552822A (en) * | 2021-07-01 | 2021-10-26 | 浙江益恒悦医疗科技有限公司 | Power-assisted control method and device for intelligent walking aid, intelligent walking aid and controller |
| US11793706B2 (en) | 2021-07-01 | 2023-10-24 | Zhejiang Yihengyue Medical Technology Co., Ltd. | Power-assist control method and device for intelligent rollator, intelligent rollator, and controller |
| CN113830220A (en) * | 2021-11-04 | 2021-12-24 | 江苏科技大学 | Electric vehicle power-assisted control method based on information fusion |
| CN113830220B (en) * | 2021-11-04 | 2022-09-13 | 浙江欧飞电动车有限公司 | Electric vehicle power-assisted control method based on information fusion |
| CN115230858A (en) * | 2022-07-25 | 2022-10-25 | 常州洪邦新能源技术有限公司 | Power auxiliary method for vehicle attitude correlation system |
| CN115230858B (en) * | 2022-07-25 | 2023-07-14 | 常州洪邦新能源技术有限公司 | Whole vehicle attitude association system power assisting method |
| CN116215732A (en) * | 2023-05-04 | 2023-06-06 | 深圳市好盈科技股份有限公司 | Control method, device and system for pedal frequency assisted bicycle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107600296A (en) | A kind of power assist control method of electric assisted bicycle | |
| JP3167746U (en) | Power assisted vehicle improvement | |
| JP6884040B2 (en) | Electric Assist Control methods and devices that control the electric motor to assist the bicycle in pushing and walking | |
| CN106476973B (en) | Bicycle control and bicycle drive unit with the control device | |
| EP2377713A1 (en) | Electrically assisted bicycle | |
| CN105172993A (en) | Automatic speed changing method and device for hybrid power bicycle | |
| EP4011678A1 (en) | Method and system for controlling a vehicle's electric motor output | |
| CN102167032A (en) | Upslope auxiliary control method of deep hybrid-electric vehicle | |
| CN103373433A (en) | Method for controlling a pedal-driven vehicle and control device | |
| CN103661770A (en) | Passive electric assisting method and device of bicycle based on energy recycling technology | |
| CN106005221A (en) | Multi-mode driving method of electric bicycle and multi-mode driven electric bicycle | |
| TWI770430B (en) | Electronic bicycle, transmission device, and operation method | |
| CN106926709A (en) | Brake power recovering device, method and LEV | |
| IT202000005530A1 (en) | PEDALING ASSISTANCE SYSTEM FOR ELECTRIC BICYCLE AND RELATED BICYCLE | |
| CN203844933U (en) | Passive electrically-aided bicycle device based on energy recovery technique | |
| JP2019182138A (en) | Controller and gear change system | |
| CN104029783A (en) | Method for adjusting pattern of electric moped and electric booster system | |
| CN205854372U (en) | Electro-tricycle | |
| CN213677035U (en) | Bicycle intelligence helping hand wheel hub | |
| KR101158187B1 (en) | Power distribution device for electric bicycle | |
| JP5537994B2 (en) | Electric assist bicycle | |
| CN206938990U (en) | A kind of self-balancing bicycle of intelligent drives | |
| CN115230858B (en) | Whole vehicle attitude association system power assisting method | |
| CN219154662U (en) | Electric power bicycle capable of detecting gesture and intelligently increasing range | |
| CN111342707B (en) | Dual motor control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180119 |