CN108082386A - Fast disassembly type bicycle power auxiliary device and its control method - Google Patents
Fast disassembly type bicycle power auxiliary device and its control method Download PDFInfo
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- CN108082386A CN108082386A CN201810068453.6A CN201810068453A CN108082386A CN 108082386 A CN108082386 A CN 108082386A CN 201810068453 A CN201810068453 A CN 201810068453A CN 108082386 A CN108082386 A CN 108082386A
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- 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
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- 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
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- 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
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention is a kind of fast disassembly type bicycle power auxiliary device and its control method, including housing and composite moving wheels, enclosure interior is provided with battery and controller, and composite moving wheels is close to bicycle tyre side by elastic force apparatus, and elastic force apparatus has certain angle of inclination；So that composite moving wheels is more preferably bonded bicycle tyre side, composite moving wheels includes power hub cap, brushless motor, freewheel clutch and rubber tire, power hub cap is rotatably installed in case top, brushless motor is fixed on power hub cap, the power output end connection freewheel clutch inner shaft of brushless motor, rubber tire is sleeved on freewheel clutch outer shaft, rubber tire one side is stretched out power hub cap and is contacted with bicycle tyre side, test the speed Hall sensor and the magnet that tests the speed are installed on the upside of rubber tire, controller connects battery, brushless motor, test the speed Hall sensor and the magnet that tests the speed, housing is fixed on by bandage with vehicle.
Description
Technical Field
The invention belongs to the technical field of bicycles, and particularly relates to a quick-release bicycle power assisting device and a control method thereof.
Background
Riding becomes the most common travel mode for the public. However, limited by manpower, the bicycle is not labor-saving when going out, and is difficult to drive in a long distance, so that the motor is a common scheme for assisting power. At present, the auxiliary driving technology of the electric vehicle is mainly divided into two types. One is wheel hub internal drive, i.e. the motor is arranged on the shaft, the wheel hub is sleeved on the outer ring of the motor, and the wheel is driven to rotate by the rotation of the motor. This is also a common drive for the finished electric vehicle. The second type is wheel external drive, which can be divided into chain drive and friction drive, i.e. the motor power gear is connected with the bicycle chain, the motor rotates to drive the chain to run, further drives the wheel to rotate, or the motor power wheel contacts with the tire, and drives the wheel to rotate by friction.
For example, a driving mode in which a motor is arranged below a bicycle frame and a chain drives a vehicle center shaft is disclosed in a utility model patent with an authorization publication number of CN201280208Y, and the mode needs to modify a center shaft and a chain wheel and is inconvenient to detach. The utility model discloses in the utility model patent of grant publication No. CN201580521U an extra gear of installation for the axis, drive the gear with the motor, and then drive the axis and carry out rotatory drive mode, obviously this kind of mode also must carry out specific transformation to the vehicle. A driving method is disclosed in the utility model with publication No. CN202935528U, in which a motor driving part is disposed right above a rear wheel, and position and pressure are adjusted by four connecting rods, and the rear wheel is driven to move forward by friction of a motor power wheel. The method is not suitable for vehicles with backseat or rear mudguard, the connecting rod is complex to adjust, the connecting rod needs to be adjusted to enable the power wheel to leave the rear wheel tire during feeding or power failure, and obviously, the method does not have the characteristics of quick assembly and disassembly and convenient carrying. A driving method fixed behind the axle of a bicycle seat and pressed against the rear wheel tire is disclosed in the utility model patent with the publication number CN 203844939U. The method is more convenient to install and is the most elegant refitting scheme in the market at present. However, the scheme is still not suitable for vehicles with backseat or mud guards, the seat needs to be detached firstly when the vehicle is detached, and corresponding adjusting devices are not arranged after power feeding to separate the wheels from the power wheels, so that once the power is cut off, the riding resistance is obviously increased, the height of the whole device needs to be adjusted manually, and the vehicle is troublesome.
By analyzing the existing power assist devices, we can summarize several shortcomings of the existing solutions:
1. only for vehicles of a particular appearance, even requiring modification of the vehicle body.
2. The power auxiliary equipment can not be quickly assembled and disassembled.
3. Heavy weight or large volume, and is inconvenient to carry.
4. The non-integrated design often needs to be additionally provided with an accelerator and brake detection device
5. Some devices adopt a simple continuous power assisting method, cannot effectively sense the behaviors of ascending and descending and braking of a user, and have potential safety hazards during riding.
Along with the regression of the concept of green travel of bicycles, a power auxiliary device which can be disassembled and assembled at any time and is convenient to carry is needed in daily life of people, so that shared bicycles on the roadside can be utilized at any time when people go on and off duty and go out, and long-distance easy riding is realized.
Disclosure of Invention
The invention aims to provide a quick-release bicycle power assisting device which can be suitable for any vehicle type, is convenient to disassemble and assemble and is convenient to carry.
The invention relates to a quick-dismantling type bicycle power auxiliary device, which comprises a shell and a composite power wheel, wherein a battery and a controller are arranged in the shell, the composite power wheel is tightly attached to the side surface of a bicycle hub through an elastic device, the composite power wheel comprises a power wheel shell, a brushless motor, an overrunning clutch and a rubber wheel, the power wheel shell is rotatably arranged at the top of the shell, the central axis of the power wheel shell points to a wheel axle, the brushless motor is fixed on the power wheel shell, the power output end of the brushless motor is connected with an inner shaft of the overrunning clutch, the rubber wheel is sleeved on an outer shaft of the overrunning clutch, the side surface of the rubber wheel has a certain inclination angle, one side of the rubber wheel extends out of the power wheel shell to be in contact with the side surface of the bicycle hub, a speed measuring Hall sensor and a speed measuring magnet are arranged on the upper side of the rubber wheel, the controller is connected with the battery, the brushless motor, the Hall sensor and the speed measuring magnet, and the shell is fixed on the bicycle body through a binding band.
The shell is internally provided with a gyroscope, an air pressure sensor, a current sensor and a voltage sensor, the current sensor measures the output current of the battery, the voltage sensor measures the output voltage of the battery, and the gyroscope, the air pressure sensor, the current sensor and the voltage sensor are all connected with the controller.
And a fan impeller is arranged between the brushless motor and the overrunning clutch, and the fan impeller is fixed with the power output end of the brushless motor.
The elastic device comprises an elastic shaft and a powerful torsion spring, the power wheel shell is rotatably installed at the top of the shell through the elastic shaft, the powerful torsion spring is sleeved on the elastic shaft, one end of the powerful torsion spring is clamped on the shell, and the other end of the powerful torsion spring is clamped on the power wheel shell.
The power wheel shell is provided with a limiting part on one side far away from the hub of the bicycle, a second hasp is rotatably installed on one side far away from the hub of the bicycle on the upper portion of the shell, a second snap ring is rotatably installed at the front end of the second hasp, and the second snap ring on the second hasp is contacted with the limiting part on the power wheel shell to pull back the power wheel shell.
A movable clamping plate is fixed at one end of the binding band, the other end of the movable clamping plate is hinged with the shell, a fixed clamping plate is arranged on one side of the movable clamping plate and fixed with the shell, a long-stroke clamping groove is fixed at the other end of the binding band, a first buckle is rotatably installed on the other side of the shell, a second buckle matched with the clamping groove is rotatably installed at the front end of the first buckle, an ear plate is arranged on the shell, and a clamping hole capable of being clamped on the ear plate is formed in the rear end of the first buckle; the inner sides of the movable clamping plate and the fixed clamping plate are provided with anti-skid rubber pads.
A control method of a quick release type bicycle power assisting device comprises the following steps:
(1) The speed measuring magnet and the speed measuring Hall sensor are matched to detect the linear velocity of the wheel in real time, when the linear velocity of the wheel is larger than a threshold value r, the expected power Pu of a user is calculated, the controller controls the motor to start, the output power of the motor is stabilized at Pu, and the vehicle is driven to move forwards. When the linear velocity of the wheel is less than r, the controller controls the motor to automatically stop working.
(2) When a user brakes, the speed of the rubber wheel is measured by the speed measuring Hall sensor to be reduced, the reference road surface gradient can be calculated to obtain the negative value expected instantaneous acceleration alpha u, if the acceleration is lower than a threshold value, the motor stops working for a period of time, and when the acceleration is stabilized above the threshold value, the controller continues to control the motor to accelerate.
In the step (1), the user expected power Pu is calculated by the following formula:
P u ＝V(mα u +F)，
where m is the weight of the vehicle and the user, F is the frictional resistance of the vehicle while riding, α u is the desired instantaneous acceleration, and V is the vehicle speed of travel.
The desired instantaneous acceleration α u is calculated using the following equation:
α u ＝α-α g ；
wherein alpha is the vehicle running acceleration, and the calculation formula of the vehicle running acceleration isDelta tv is the time interval of one circle of rotation of the rubber wheel (20), namely the interval of two electric pulses when the speed measuring magnet (15) passes through the Hall sensor, l is the circumference of the rubber wheel, alpha g is the acceleration of the vehicle under the influence of gravity, and the calculation formula is alpha g = g × sin γ, where γ is the true pitch angle of the vehicle, and the calculation formula is:
γt+1＝filter(γ t ,Δ θ ,β)；
wherein, the filter filters gamma, beta is the road surface gradient, and the calculation formula isWherein Δ h is the altitude change within the time Δ th, Δ s is the distance traveled by the vehicle within the time Δ th, and Δ th is the time interval between two changes of the barometric sensor; the calculation formulas of Δ h and Δ s are respectively:
Δs＝V×Δt h ；
wherein, Δ p is the difference value of the two changes of the air pressure sensor, V is the running speed of the vehicle, and the calculation formula is as follows: v = filter (V, V), whereinThe interval of two electric pulses when the delta tv speed measuring magnet (15) passes through the Hall sensor, and l is the circumference of the rubber wheel;
wherein, delta theta is the change of the attitude angle of the gyroscope, and the calculation formula is Delta θ ＝θ t+n -θ t ，θ t+1 ＝filter(θ t ,θ α ,θ g ) Wherein theta alpha is an included angle measured by the acceleration sensor, and theta g is a rotating angle obtained by integrating the numerical value of the angular velocity sensor;
the calculation method for obtaining Pu by replacing the above formula with the original physical quantity is as follows:
an abnormality detection mechanism based on a time sequence neural network is further arranged in the step (2), and whether the user brakes or not is judged by using the neural network; the motor is powered down when the desired instantaneous acceleration α u is too low or the neural network determines that braking is occurring.
Compared with the prior art, the invention has the following beneficial effects:
the accelerator handle and the brake detection switch are not added on the vehicle by a user, so that all functions are integrated on a single device, and the rapid disassembly and assembly of the user are facilitated. The side friction of the tyre makes the device not limited by the front and rear mud-guards, the basket and the rear seat of the bicycle. The motor uses the brushless motor of frivolous type, and weight is no longer than 60g, and whole equipment weight is no longer than 800g, and the volume is about ordinary mineral water size, conveniently carries to satisfy the demand that the user increases power for the bicycle anytime and anywhere.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic structural diagram of a composite power wheel according to the present invention;
FIG. 3 is a schematic top view of the present invention;
FIG. 4 is a left side view of the present invention;
FIG. 5 is a schematic view of the installation and use structure of the present invention;
FIG. 6 is a control flow diagram of the present invention;
FIG. 7 is a schematic diagram of a multi-layer neural network implementation;
in the figure, 1, a composite power wheel, 2, a second snap ring, 3, a first buckle, 4, an ear plate, 5, a controller, 6, a first snap ring, 7, a clamping groove, 8, a shell, 9, a binding band, 10, a fixed clamping plate, 11, an elastic device, 12, a power wheel shell, 13, an inner shaft of an overrunning clutch, 14, a speed measuring Hall sensor, 15, a speed measuring magnet, 16, an outer shaft of the overrunning clutch, 17, a powerful torsion spring, 18, a brushless motor, 19, a fan impeller, 20, a rubber wheel, 21, a limiting part, 23, a front fork, 24, a bicycle hub, 25, a second buckle, 26, a movable clamping plate, 27 and an anti-skidding rubber mat.
Detailed Description
The present invention will be further described with reference to the following examples.
The quick-release bicycle power assisting device shown in fig. 1 to 7 comprises a shell 8 and a composite power wheel 1, a battery and a controller 5 are arranged inside the shell 8, the composite power wheel 1 is tightly attached to the side surface of a bicycle hub 24 through an elastic device 11, the composite power wheel 1 comprises a power wheel shell 12, a brushless motor 18, an overrunning clutch and a rubber wheel 20, the power wheel shell 12 is rotatably installed at the top of the shell 8, the brushless motor 18 is fixed on the power wheel shell 12, the power output end of the brushless motor 18 is connected with an inner shaft 13 of the overrunning clutch, the rubber wheel 20 is sleeved on an outer shaft 16 of the overrunning clutch, a certain inclination angle is formed in the side surface of the rubber wheel 20, one side of the rubber wheel extends out of the power wheel shell 12 to be in contact with the side surface of the bicycle hub 24, a speed measuring sensor 14 and a speed measuring magnet 15 are installed on the upper side of the rubber wheel 20, the controller 5 is connected with the battery, the brushless motor 18, the hall speed measuring sensor 14 and the speed measuring magnet 15, and the shell 8 is fixed on the bicycle body through a binding belt 9.
The brushless motor 18 may be a low-torque motor of a thin design, such as a brushless motor 18 having a KV value of about 300 to 400 and a peripheral rotation type, such as 5008 and KV 340. The fan impeller 19 is to discharge heat generated when the brushless motor 18 operates in time. The overrunning clutch is a one-way bearing, and when the rotating speed of the outer shaft 16 of the overrunning clutch exceeds the inner shaft 13 of the overrunning clutch, the bearing has no resistance, taking the anticlockwise direction as an example; when the rotating speed of the inner overrunning clutch shaft 13 exceeds that of the outer overrunning clutch shaft 16, the inner overrunning clutch shaft 13 and the outer overrunning clutch shaft 16 are locked, and the inner overrunning clutch shaft 13 drives the outer overrunning clutch shaft 16 to rotate at the same angular speed. When the bicycle wheel rotates, the linear speed of the rubber wheel 20 is always consistent with that of the bicycle hub 24, if the starting condition of the brushless motor 18 is not met or the battery feed is not achieved, the inner shaft 13 of the overrunning clutch does not rotate or the speed is lower than that of the outer shaft 16 of the overrunning clutch, so that the clutch is separated, the brushless motor 18 cannot be driven to rotate, and resistance is not generated. When the brushless motor 18 is started, the inner shaft 13 of the overrunning clutch will overrun the outer shaft 16 of the overrunning clutch, at this time, the inner shaft and the outer shaft are locked, and the brushless motor 18 is loaded to drive the bicycle hub 24 to accelerate through the rubber wheel 20. Namely, the speed of the user is faster than that of the brushless motor 18, no resistance is generated, and the state of the brushless motor 18 after working is opposite to that of the common riding, so that the electric bicycle has obvious power assisting effect on the user. The brushless motor 18 is started and stopped automatically in the riding process by matching with control logic, and a user does not need to stop the bicycle during the whole riding process to adjust the contact state of the device and the bicycle hub 24 manually.
The casing 8 is provided with a gyroscope, an air pressure sensor, a current sensor and a voltage sensor in the casing, the current sensor measures the output current of the battery, the voltage sensor measures the output voltage of the battery, and the gyroscope, the air pressure sensor, the current sensor and the voltage sensor are all connected with the controller 5.
A fan impeller 19 is arranged between the brushless motor 18 and the overrunning clutch, and the fan impeller 19 is fixed with the power output end of the brushless motor 18.
The elastic device 11 comprises an elastic shaft and a strong torsion spring 17, the power wheel shell 12 is rotatably installed at the top of the shell 8 through the elastic shaft, the strong torsion spring 17 is sleeved on the elastic shaft, one end of the strong torsion spring 17 is clamped on the shell 8, and the other end of the strong torsion spring is clamped on the power wheel shell 12.
The side, far away from the bicycle hub 24, of the power wheel shell 8 is provided with a limiting part 21, the side, far away from the bicycle hub 24, of the upper portion of the shell 8 is rotatably provided with a second hasp 25, the front end of the second hasp 25 is rotatably provided with a second snap ring 2, and the second snap ring 2 on the second hasp 25 is in contact with the limiting part 21 on the power wheel shell 8, so that the power wheel shell 8 is pulled back.
A movable clamping plate 26 is fixed at one end of the binding belt 9, the other end of the movable clamping plate 26 is hinged with the shell 8, a fixed clamping plate 10 is arranged on one side of the movable clamping plate 26, the fixed clamping plate 10 is fixed with the shell 8, a long-stroke clamping groove 7 is fixed at the other end of the binding belt 9, a hasp I3 is rotatably arranged on the other side of the shell 8, a clamping ring I6 matched with the clamping groove 7 is rotatably arranged at the front end of the hasp I3, an ear plate 4 is arranged on the shell 8, and a clamping hole capable of being clamped on the ear plate 4 is formed in the rear end of the hasp I3; the inner sides of the movable clamping plate 26 and the fixed clamping plate 10 are provided with anti-skid rubber pads 27.
The anti-skidding cushion 27 is a flexible silica gel liner, the flexible silica gel liner prevents the device from rotating around the car pipe and avoiding scratching car paint, the binding band 9 is made of tensile materials, and the hasp I3 is matched with the clamping groove 7 with a long stroke, so that the car pipe can be adapted to any thickness.
When installed, this is an actual installation view of a 24 "bicycle, as in FIG. 5. The user places the device behind the front fork 23 so that the composite power wheel is highly coincident with the side of the bicycle hub 24 (note: the side of the rubber wheel has a certain slope). According to the difference of the perimeter of the front fork 23, a proper clamping groove 7 position at one end of the bandage 9 is selected, and the bandage 9 is tightened by the hasp I3 and the clamping ring I6. The user pulls the first snap 3 and the composite power wheel 1 is pressed against the bicycle hub 24 by the action of the powerful torsion spring 17 built into the resilient means 11. Because the elastic device 11 has a certain angle, the central axis of the composite power wheel 1 is directed to the central axis of the bicycle hub 24 as much as possible, so that the rotating direction of the rubber wheel 20 is close to the rotating direction of the bicycle hub 24 at the contact position as much as possible. After the user gets on the vehicle, the device provides power for the vehicle according to the intention of the user and road conditions in cooperation with a control algorithm. After parking, the user first pulls the composite power wheel 1 back, and the second snap 25 and the second snap ring 2 vertically lock the power wheel housing 12, so that the composite power wheel 1 leaves the bicycle hub 24. Then the user pulls the first buckle 3, and the bandage 9 falls off naturally. The user takes the entire apparatus off.
The mechanical part of the device can realize quick assembly and disassembly and provide power through friction. In the actual riding process, various conditions such as uphill slope, downhill slope, road bump, obstacles and the like exist, and a user needs to accelerate and decelerate the vehicle at any time. Generally, a bicycle power device is provided with a brake and an accelerator with brake detection, but considering the rapid disassembly and assembly, light weight and simple design of the device, a user cannot add devices such as front and rear brake detection and the accelerator on any vehicle, and the device can understand all user intentions by a series of built-in sensors, utilizing controller control and matching with a specific algorithm.
A control method of a quick release type bicycle power assisting device comprises the following steps:
(1) The speed measuring magnet 15 and the speed measuring Hall sensor 14 are matched with real-time detection of the linear velocity of the wheel, when the linear velocity of the wheel is larger than a threshold value r1, the expected power Pu of a user is calculated, the controller 5 controls the motor to start, the output power of the motor is stabilized at Pu, and the vehicle is driven to move forwards. When the linear velocity of the wheel is less than r1, the controller 5 controls the motor to automatically stop working. The threshold value r1 can avoid the vehicle-flying behavior caused by misunderstanding of the vehicle at low speed, and the value range of r1 is 0-10km.
(2) When a user brakes, the speed of the rubber wheel 20 is measured by the speed measuring Hall sensor 14 to be reduced, the negative value expected instantaneous acceleration alpha u can be calculated by referring to the gradient of the road surface, if the acceleration is lower than a threshold value r2, the motor stops working for a period of time, and when the acceleration is stabilized above the threshold value r2, the controller 5 continues to control the motor to accelerate. Because this device does not set up the brake response, threshold value r2 is used for judging whether the user has the action of braking. Considering the slow reduction of the speed when the vehicle is unpowered, the threshold value r2 should be a value within a negative number range, and the threshold value is less than-0.2 m/s 2 。
The user expected power Pu in step 1 is calculated by the following formula:
P u ＝V(mα u +F)，
where m is the weight of the vehicle and the user, F is the frictional resistance of the vehicle while riding, α u is the desired instantaneous acceleration, and V is the vehicle speed.
When a user rides the bicycle, the real driving acceleration is firstly calculated by combining the road slope, and then the behavior intentions of the user for uniform speed, acceleration and deceleration are judged. In the device, one time of rotation of the rubber wheel 20 generates one Hall interruption, the time interval of the Hall interruption is delta t, and therefore the vehicle running acceleration can be calculated as follows:
the user's desired acceleration α u is
α u ＝α-α g
l is the circumference of the rubber wheel, alpha g is the acceleration of the vehicle affected by gravity, and alpha g is a negative value when ascending and a positive value when descending.
The acceleration alpha g of the vehicle under the influence of gravity can be obtained through a trigonometric function;
α g ＝g×sinγ
in the formula, γ is a real pitch angle of the vehicle, reflects the state of the vehicle on an uphill slope and can be calculated by the following formula:
γ t+1 ＝filter(γ t ,Δ θ ,β)
wherein, the filter is a filter function, the first input variable is filtered by using the second and later variables, and theta is the attitude angle of the gyroscope. The sampling interval of the gyroscope is fixed to delta t g Every time Δ t passes g Time, absolute angle of gyroscope through theta t+1 ＝filter(θ t ,θ α ,θ g ) And (6) updating.
However, during riding, the attitude angle calculated by the gyroscope fluctuates greatly under the influence of road jolt even if filtering is added to theta. Because the vehicle can receive the gravity influence to obtain a negative acceleration under the uphill condition, current road surface slope is difficult to judge to equipment under the condition that the gyroscope receives the interference, does not have under the external brake response's the condition, is thought the user brake by mistake easily, causes the system outage. The problem that the object posture in a bumpy state is difficult to solve in engineering is judged through a gyroscope. The invention introduces a third reference quantity: the road surface gradient β is used to solve this problem.
Beta is obtained through the air pressure sensor, the updating frequency is slow, and the air pressure change is objective and stable, so that the beta and the theta can be combined for filtering, the beta is used as a main numerical value part, and the delta theta is provided with a smaller weight for reflecting the instantaneous angle change around the pitch angle of the z axis. Through filtering, the true pitch angle gamma of the vehicle can be obtained. Further Δ θ, β and V are calculated as follows:
1. gyroscope attitude angle change Δ θ
The gyroscope G is a six-axis gyroscope, and an included angle theta between the power device and the horizontal plane is calculated by measuring the acceleration in the xyz direction and the angular velocity of the xyz axis:
θ t+1 ＝filter(θ t ,θ α ,θ g )
wherein theta is α Is the angle measured by the acceleration sensor, and θ g is the rotation angle obtained by integrating the value of the angular velocity sensor. Acceleration sensor derived theta α No time to accumulate errors, but is very sensitive to shocks; external vibration has little influence on θ g, but long-time integration causes an accumulated error. Therefore, θ g can be set as the main value source, θ α A smaller weight is set to correct the error in thetag. The filtering algorithm in the formula may be any filtering algorithm. Δ θ represents the change in pitch angle of the powerplant about the z-axis over a short period of time. Because the angles of the fixed shafts such as the front fork, the back beam and the like of different vehicles are different, the vehicle inclination angle can not be represented by the absolute angle theta after the gyroscope is filtered, and the vehicle inclination angle change and delta theta measured by the gyroscope must be reflected by delta theta θ ＝θ t+n -θ t The difference between the current gyroscope angle theta and theta n time periods ago. The number n satisfies the condition Δ t h ＝n×Δt g ,Δt h Is the time interval between two numerical changes of the air pressure sensor, namely, the delta theta is updated simultaneously when the air pressure sensor changes.
2. Road surface gradient beta
The atmospheric pressure P is measured by the air pressure sensor, the air pressure is reduced by 100 Pa when the atmospheric pressure P rises by 9m, the difference value delta P of two changes of the air pressure sensor is divided by the time interval delta t of the two changes, and the road surface gradient beta can be obtained by matching the relation between the atmospheric pressure and the altitude, the vehicle running speed and a trigonometric function.
Δs＝V×Δt h
And the distance between the two sides is reduced to a right-angle side and a hypotenuse of a triangle, so that the included angle beta of the road surface is obtained through an inverse trigonometric function. The road surface angle β is more stable than the attitude angle θ, but the reaction time is slow, so β can be regarded as an objectively existing variable, and the change per unit time does not need to be calculated.
3. Vehicle running speed V
The speed measurement Hall is used for calculating the linear velocity of the rubber wheel, and the linear velocity is the running speed S of the bicycle due to friction between the rubber wheel and the tire. The rubber wheel is provided with a magnet, the magnet can generate an electric pulse when passing through the Hall sensor, the instantaneous speed V can be obtained by calculating the interval delta t of two electric pulses and the circumference l of one circle of rotation of the small magnet, and the vehicle running speed V can be obtained after filtering.
V＝filter(V,v)
Substituting the original physical quantity into Pu calculation formula P u ＝V(mα u + F), the calculation method for obtaining Pu is as follows:
wherein m is the weight of the vehicle and the user, F is the frictional resistance when the vehicle is ridden, and under the condition of low speed, the user can increase or decrease the constants of m and F simultaneously through the app or the knob according to the condition that m and F are constants. The knob may be attached to the handlebar where the base output power of the device increases when α u =0 if the user increases m and F, and decreases otherwise, the above constant being dynamically adjustable during riding. The controller MCU controls the power output by using PWM, if the obtained P = UI of the voltage sensor and the current sensor is less than Pu, the PWM is gradually increased, otherwise, the PWM is reduced until P is stabilized at Pu.
An abnormality detection mechanism based on a time sequence neural network is further arranged in the step (2), and whether the user brakes or not is judged by using the neural network; the motor is powered down when the desired instantaneous acceleration α u is too low or the neural network determines that braking is occurring.
The above control is based on the assumption of normal running. Because the device does not have manual control interfaces such as brake detection, an accelerator and the like, unexpected consequences may occur according to a given control logic when a vehicle falls, is impacted and a power wheel slips. For example, the resistance suddenly disappears after the vehicle falls down or the power wheel slips, and the system instantly obtains a larger and wrong expected instantaneous acceleration alpha u, so that the power is suddenly increased and the wheel is accelerated and rotated. Analysis shows that although the rotating speed of the wheel is increased, the power load is instantly reduced, and the state during normal riding is not met. In order to enable the equipment to actively discover the abnormal behavior of the sensor, the control algorithm of the invention is additionally provided with an abnormal detection mechanism based on a time sequence neural network, thereby realizing double insurance of control.
The use of neural networks is divided into two steps, preparing training data and training networks. The original input data is instantaneous sensor vectors x of each time interval in the riding process, and each time interval is based on one circle of rotation of the power wheel. The input instantaneous state vector x is a 6-dimensional vector:
x＝(V,α u ,Δ β ,Δ θ ,Δ I ,Δ U )
where V is the velocity measured by the power wheel, α U is the instantaneous desired acceleration, Δ β is the angular difference measured by the barometric sensor at unit interval, Δ θ is the angular difference measured by the six-axis gyroscope per unit time, Δ I is the current change per unit time, and Δ U is the battery voltage change per unit time. Wherein each column of data is normalized to between [ -1,1 ]. Each input instantaneous state vector corresponds to a 3-dimensional output instantaneous state vector o:
o＝(S b ,S t ,S g )
wherein Sb is the braking force (break), st is the torque of the middle axle caused by the force of the user, and Sg is whether the vehicle tire is in contact with the ground (ground). Sb measures the proximity degree by using a Hall sensor additionally arranged on an experimental vehicle, the value range is standardized to [0,1], and the braking force of a user is reflected from small to large. The torque state St is measured by a torque sensor mounted on an axle in the test vehicle and normalized to [0,1], reflecting the pedaling force of the user. The ground contact state Sg is measured by a pressure sensor arranged at the front axle of the experimental vehicle, and takes a value of 0 or 1, which represents that the ground is not contacted or contacted. The relevant three sensors are provided only on the test vehicle for collecting the output instantaneous state vector. During the experiment, the driving device is arranged on the front wheel, the experimenter performs various long-distance riding simulations, and the experimenter is matched with the three sensors to collect a large number of input instantaneous states and corresponding output instantaneous states.
In training the neural network, raw data is wrapped with a smoothly moving time window, each time the window is shifted by one time point. Given a time window W moving in time, such that W contains an input state vector X of n time nodes, each time window W corresponds to a set of (n, 6) -sized original input state tensors X. Similarly, each time window corresponds to a set (n, 3) size of the original output state tensor. The training data are divided into input and output through m times of time window translation, the input data are 3-dimensional tensors (m, n, 6), the output data correspond to the 3-dimensional tensors (m, n, 3), and the final 2-dimensional output tensors (m, 3) are obtained through averaging the output tensors according to the 2 nd coordinate axis. That is, there are m time-series input sequences X = (X) t ,x t+1 ,…,x t+n-1 ) Each X corresponds to an output state O.
The anomaly detection mechanism of the present invention is implemented using a multi-layer neural network that consists of three partially functional subnetworks. The LSTM long-short term memory model (1) and the CNN time sequence convolution neural network (2) are fully connected with the classification network (3), as shown in figure 7. Because the LSTM, CNN and the full-connection network are some common knowledge in deep learning in the field of machine learning, the invention focuses on describing the network form and does not repeat the specific parameter adjustment algorithm.
(1) Given n time-sequential input sequences X, the desired outputIs O. The LSTM long short term memory model converts the input sequence X into a hidden vector Hlstm. First, LSTM transforms X into a sequence tensor of dimensions (n, LSTM), where each vector ht of dimensions LSTM corresponds to the original input xt. And then carrying out average pooling on the tensor according to a 2 nd axis to obtain a hidden layer vector Hlstm with a dimension of Llstm. (2) The CNN convolutional layer performs convolution on an input sequence X according to a time sequence, and consists of a plurality of convolutional kernels with different lengths and uniform depth. The number and the scanning window (stride window) of the convolution kernel can be variously combined. Through convolution operation, the input sequence X becomes a feature tensor of different lengths and uniform depth. By performing maximum pooling and flattening operations on the feature tensors, a hidden layer vector Hcnn with a dimension Lcnn is obtained. (3) The fully-connected layer firstly splices the Hlstm and the Hcnn, then the output is mapped to the output layer through one or more layers of fully-connected neural networks, and the output vector o = (S) is obtained b ,S t ,S g ). Appointment Sb>, 0.5, the brake is regarded as the brake of the user; st.>, 0.1 is regarded as the force of the user; sg&And lt, 0.5 is regarded as the resistance disappears.
After the training data is given, the neural network adjusts the hidden layer parameters through reverse feedback, and finally the purpose of inputting the instantaneous state and outputting the corresponding instantaneous state is achieved. Therefore, when the state of the vehicle is not in a normal range (such as flying, falling and power wheel skidding), although the classical control method can make an acceleration instruction to continuously accelerate the tire, because the neural network can timely feed back a small or even extremely small Sg value, the system can preferentially judge that the vehicle is abnormal according to the output of the neural network, and then stop the power output, thereby avoiding the occurrence of danger.
In summary, the invention eliminates the need for adding an accelerator handle and a brake detection switch on the vehicle, thereby integrating all functions on a single device and facilitating the quick assembly and disassembly of the user. The side friction of the tyre makes the device not limited by the front and rear mud-guards, the basket and the rear seat of the bicycle. The motor uses the brushless motor of frivolous type, and weight is no longer than 60g, and whole equipment weight is no longer than 800g, and the volume is about ordinary mineral water size, conveniently carries to satisfy the demand that the user increases power for the bicycle anytime and anywhere.
Claims (10)
1. The utility model provides a quick detach formula bicycle power auxiliary device, includes casing (8) and compound power wheel (1), and casing (8) is inside to be provided with battery and controller (5), its characterized in that: the composite power wheel (1) is tightly attached to the side face of a bicycle hub (24) through an elastic device (11), the composite power wheel (1) comprises a power wheel shell (12), a brushless motor (18), an overrunning clutch and a rubber wheel (20), the power wheel shell (12) is rotatably installed at the top of a shell (8), the brushless motor (18) is fixed on the power wheel shell (12), the power output end of the brushless motor (18) is connected with an inner shaft (13) of the overrunning clutch, the rubber wheel (20) is sleeved on an outer shaft (16) of the overrunning clutch, a certain inclination angle is formed in the side face of the rubber wheel (20), one side of the rubber wheel (20) extends out of the power wheel shell (12) to be in contact with the side face of the bicycle hub (24), a speed measuring sensor (14) and a speed measuring magnet (15) are installed on the upper side face of the rubber wheel (20), a controller (5) is connected with a battery, the brushless motor (18), a Hall speed measuring sensor (14) and the speed measuring magnet (15), and the shell (8) is fixed on the bicycle body through a binding band (9).
2. The quick release bicycle power assist device of claim 1, wherein: the battery is characterized in that a gyroscope, an air pressure sensor, a current sensor and a voltage sensor are arranged in the shell (8), the current sensor measures output current of the battery, the voltage sensor measures output voltage of the battery, and the gyroscope, the air pressure sensor, the current sensor and the voltage sensor are all connected with the controller (5).
3. The quick release bicycle power assist device of claim 1 or 2, wherein: a fan impeller (19) is arranged between the brushless motor (18) and the overrunning clutch, and the fan impeller (19) is fixed with the power output end of the brushless motor (18).
4. The quick release bicycle power assist device of claim 3, wherein: the elastic device (11) comprises an elastic shaft and a powerful torsion spring (17), the power wheel shell (12) is rotatably installed at the top of the shell (8) through the elastic shaft, the powerful torsion spring (17) is sleeved on the elastic shaft, one end of the powerful torsion spring (17) is clamped on the shell (8), and the other end of the powerful torsion spring is clamped on the power wheel shell (12).
5. The quick release bicycle power assist device of claim 1, wherein: the power wheel shell (8) is provided with a limiting part (21) on one side far away from the bicycle hub (24), a second hasp (25) is rotatably installed on one side far away from the bicycle hub (24) on the upper portion of the shell (8), a second snap ring (2) is rotatably installed at the front end of the second hasp (25), and the second snap ring (2) on the second hasp (25) is in contact with the limiting part (21) on the power wheel shell (8) to pull back the power wheel shell (8).
6. The quick release bicycle power assist device of claim 1, wherein: a movable clamping plate (26) is fixed at one end of the binding band (9), the other end of the movable clamping plate (26) is hinged with the shell (8), a fixed clamping plate (10) is arranged on one side of the movable clamping plate (26), the fixed clamping plate (10) is fixed with the shell (8), a long-stroke clamping groove (7) is fixed at the other end of the binding band (9), a hasp I (3) is rotatably installed on the other side of the shell (8), a clamping ring I (6) matched with the clamping groove (7) is rotatably installed at the front end of the hasp I (3), an ear plate (4) is arranged on the shell (8), and a clamping hole capable of being clamped on the ear plate (4) is formed in the rear end of the hasp I (3); the inner sides of the movable clamping plate (26) and the fixed clamping plate (10) are provided with anti-skid rubber pads (27).
7. A control method of a quick-release bicycle power assisting device is characterized in that: the control method comprises the following steps:
(1) The speed measuring magnet (15) and the speed measuring Hall sensor (14) are matched to detect the linear velocity of the wheel in real time, when the linear velocity of the wheel is larger than a threshold value r1, the expected power Pu of a user is calculated, the controller (5) controls the motor to start, the output power of the motor is stabilized at Pu, and the vehicle is driven to move forwards; when the linear velocity of the wheel is less than r1, the controller (5) controls the motor to automatically stop working;
(2) When a user brakes, the speed of the rubber wheel (20) is measured by the speed measuring Hall sensor (14) to be reduced, the negative value expected instantaneous acceleration alpha u can be calculated by referring to the gradient of the road surface, if the acceleration is lower than a threshold value r2, the motor stops working for a period of time, and when the acceleration is stabilized above the threshold value r2, the controller (5) continues to control the motor to accelerate.
8. The method of controlling a quick release bicycle power assist device of claim 7, wherein: in the step (1), the user expected power Pu is calculated by the following formula:
P u ＝V(mα u +F)，
where m is the weight of the vehicle and the user, F is the frictional resistance of the vehicle while riding, α u is the desired instantaneous acceleration, and V is the vehicle speed of travel.
9. The method of controlling a quick release bicycle power assist device of claim 8, wherein: the desired instantaneous acceleration α u is calculated using the following equation:
α u ＝α-α g ；
wherein alpha is the vehicle running acceleration, and the calculation formula of the vehicle running acceleration isDelta tv is the time interval of one circle of rotation of the rubber wheel (20), namely the interval of two electric pulses when the speed measuring magnet (15) passes through the Hall sensor, l is the circumference of the rubber wheel, alpha g is the acceleration of the vehicle influenced by gravity, and the calculation formula is alpha g = g × sin γ, where γ is the true pitch angle of the vehicle, and the calculation formula is:
γ t+1 ＝filter(γ t ,Δ θ ,β)；
wherein, the filter filters gamma, beta is the road surface gradient, and the calculation formula isWherein Δ h is the altitude change within a time Δ th, Δ s is the distance traveled by the vehicle within the time Δ th, and Δ th is the time interval between two changes of the barometric sensor; the calculation formulas of Δ h and Δ s are respectively:
Δs＝V×Δt h ；
wherein, Δ p is the difference value of the two changes of the air pressure sensor, V is the running speed of the vehicle, and the calculation formula is as follows: v = filter (V, V), whereinDelta tv is the interval of two electric pulses when the speed measuring magnet (15) passes through the Hall sensor, and l is the circumference of the rubber wheel;
wherein, delta theta is the change of the attitude angle of the gyroscope, and the calculation formula is Delta θ ＝θ t+n -θ t ，θ t+1 ＝filter(θ t ,θ α ,θ g ) Wherein theta alpha is an included angle measured by the acceleration sensor, and theta g is a rotating angle obtained by integrating numerical values of the angular velocity sensor;
the calculation method for obtaining Pu by replacing the above formula with the original physical quantity is as follows:
10. the method of controlling a quick release bicycle power assist device of claim 8, wherein: an abnormality detection mechanism based on a time sequence neural network is further arranged in the step (2), and whether the user brakes or not is judged by using the neural network; the motor is powered down when the desired instantaneous acceleration α u is too low or the neural network determines that braking is occurring.
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