CN108820120B - Pedal load control method based on position compensation - Google Patents

Pedal load control method based on position compensation Download PDF

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Publication number
CN108820120B
CN108820120B CN201810718842.9A CN201810718842A CN108820120B CN 108820120 B CN108820120 B CN 108820120B CN 201810718842 A CN201810718842 A CN 201810718842A CN 108820120 B CN108820120 B CN 108820120B
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pedal
compensation
pedal load
load control
load
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CN108820120A (en
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王翀
王方明
陈文博
熊国强
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Longkou Jiayuan Dongsheng Thermal Power Co.,Ltd.
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Beijing Qiaoqi Technology Co ltd
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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
    • 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
    • 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
    • B62M6/60—Rider propelled cycles with auxiliary electric motor power-driven at axle parts
    • 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
    • B62M6/80—Accessories, e.g. power sources; Arrangements thereof
    • B62M6/90—Batteries

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Eletrric Generators (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a pedal load control method based on position compensation, which is used in a pedal load control system and comprises the following steps: s10: inputting the initial fixed duty ratio and the maximum compensation ratio of the PWM to determine a pedal reference load and a pedal maximum load; s20: setting a starting position and an end position of asymptotic increase compensation and a starting position and an end position of asymptotic decrease compensation; s30: detecting a pedal position through a position detection unit, wherein the pedal position refers to an angle theta between a crank connected between a generator and a pedal and a vertical line perpendicular to a horizontal plane; s40: and calculating the PWM duty ratio of the pedal at different positions according to the compensation function. The control method for adjusting the pedal load based on the position compensation can enable a rider to feel uniform pedal load in the process of pedaling for 360 degrees, is beneficial to keeping relatively smooth pedal speed of the rider and obtains good riding experience.

Description

Pedal load control method based on position compensation
Technical Field
The invention relates to the technical field of riding control, in particular to a pedal load control method based on position compensation.
Background
A general electric bicycle or an electric power-assisted bicycle includes an electric motor for rotating a wheel and a battery for powering the electric motor, and travels by means of the rotation of the wheel by the electric motor. The common electric bicycle is not provided with a pedal, and the advancing speed of the bicycle is controlled by setting different fixed gears through rotating a speed regulating handle; the electric power-assisted bicycle is provided with a torque sensor and a motor controller, and whether a rider needs motor power assistance and the required power assistance is judged by detecting the pedal torque of a user.
These electric bicycles do not support the user to autonomously adjust the pedal load of the pedals. When the user reduces the pedal load for saving physical strength or increases the pedal load for exercising the body, the actual demand thereof cannot be satisfied.
The traditional bicycle adopts a chain structure, and the treading force is transmitted to the wheels to realize running. The bicycle with speed changing function has complicated fluted disc and other parts, and the load of the pedal can be regulated by regulating the size of the front fluted disc and the rear fluted disc, but the chain and the gear have complicated structure, inconvenient maintenance, easy pollution and other problems.
Disclosure of Invention
The invention aims to provide a pedal load control method based on position compensation, which is used for solving the problem that the actual experience of riding or body building is influenced because the speed of the existing pedal suddenly changes to make a rider feel like stepping empty.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a position compensation based pedal load control method for use in a pedal load control system, comprising the steps of:
s10: inputting the initial fixed duty ratio and the maximum compensation ratio of PWM (Pulse Width Modulation) to determine the pedal reference load and the pedal maximum load;
s20: setting a starting position and an end position of asymptotic increase compensation and a starting position and an end position of asymptotic decrease compensation;
s30: detecting a pedal position through a position detection unit, wherein the pedal position refers to an angle theta between a crank connected between a generator and a pedal and a vertical line perpendicular to a horizontal plane;
s40: and calculating the PWM duty ratio of the pedal at different positions according to the compensation function.
The compensation function represents a mapping relationship between pedal position and PWM duty cycle, and when the right pedal position is between 0 and 180 °, the calculation process of the PWM duty cycle is described by the following formula:
Figure GDA0002709557140000021
wherein θ is a pedal position; d isθIs the PWM duty cycle output at pedal position θ; d0Is initial PWM, k is the maximum compensation proportion of PWM; thetaaAnd thetabRespectively representing a start position a and an end position b, theta of a gradually increasing pedal loadcAnd thetadRespectively represent a start position c and an end position d at which the pedal load gradually decreases, and the following relationship exists: thetaa＜θb＜θc＜θd。
Theta is describedc＝θa+90 °, said θd＝θb+90°。
The pedal load control system includes: a storage battery; the generator is connected with the pedal and generates alternating voltage through the driving of the pedal; and a pedal load adjusting portion that adjusts a pedal load of the pedal by an amount of electricity charged into the battery by the alternating-current voltage generated by the generator.
The pedal load adjustment portion includes: a rectifying unit that rectifies an alternating-current voltage generated by the generator into a direct-current voltage, an input side of the rectifying unit being connected to the generator; the rectifier comprises a Boost circuit, a first rectifying unit and a second rectifying unit, wherein the Boost circuit comprises an inductor L, a switch S and a diode D, and the output side of the rectifying unit is connected between the input side and the ground side of the inductor L; the inductor L is connected with the output side of the rectifying unit and the input side of the diode D; the diode D is connected between the input side of the inductor L and the input side of the storage battery; the switch S is connected between a junction of the output side of the inductor L and the input side of the diode D and the ground side.
The pedal load control system further comprises a main control unit, wherein the main control unit is used for carrying out pulse width modulation control on the pedal load adjusting part and adjusting the electric quantity of the storage battery charged by the voltage generated by the generator so as to adjust the pedal load of the pedal.
The pedal load control system further comprises a position detection unit, wherein the position detection unit is used for detecting the pedal position of the pedal, and the pedal position refers to the position of a rotor inside the generator.
The pedal load control system further comprises a speed detection unit for detecting the pedal speed of the pedal; the pedal speed refers to the rotational speed of a drive shaft connected to the pedal.
The pedal load control system further comprises a power detection unit, and the power detection unit is used for detecting the electric quantity and the charging power charged to the storage battery in real time, namely detecting the generated power and the generated energy of the rider.
The pedal load control system further comprises an interface device, wherein the interface device is used for setting the pulse width modulation duty ratio of the pedal load adjusting part according to a user input value, and displaying a real-time speed curve of the pedal and the generated power and the generated energy output by the power detection unit.
The invention has the following advantages: the pedal load control system supports the user to independently adjust the load of the pedal, can be applied to the electric bicycle and the power riding platform, simplifies the existing mechanical structure, and greatly improves the experience of riding and body building of the user; by controlling the pedal load of the pedal connected to the generator, a rider can feel the pedal feeling as if a chain exists when stepping on the pedal, and the rider can automatically adjust the pedal load according to the physical strength and the intention; meanwhile, based on the riding pedal load control system, a chainless electric transmission bicycle is developed; the pedal load can be controlled by controlling the boosting proportion of a Boost circuit to adjust the electric quantity charged into the storage battery by the generator, so that a rider feels the feeling of riding the pedal as if a chain exists when pedaling; meanwhile, the pedal load control method based on the position compensation can enable a rider to feel uniform pedal load in the process of pedaling for 360 degrees, so that the rider can keep relatively smooth pedal speed and obtain good riding experience.
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Fig. 1 is a schematic perspective view illustrating a pedal load control system applied to an electric bicycle according to an embodiment of the present invention.
FIG. 2 is a general block diagram of a pedal load control system provided by an embodiment of the present invention.
Fig. 3 is a schematic block diagram of a pedal load adjusting portion of the pedal load control system according to the embodiment of the present invention.
Fig. 4 and 5 are charging and discharging process diagrams of a pedal load adjusting part of the pedal load control system according to the embodiment of the present invention.
Fig. 6 is a timing chart of switches of the pedal load adjusting portion of the pedal load control system according to the embodiment of the present invention.
FIG. 7 is a schematic diagram illustrating the variation of pedal speed at a fixed pedal load for a pedal load control system according to an embodiment of the present invention.
FIG. 8 is a flowchart illustrating a method for controlling pedal load based on position compensation according to an embodiment of the present invention.
FIG. 9 is a schematic diagram of the operation of the pedal load control method based on position compensation according to the embodiment of the present invention.
FIG. 10 is a schematic reference diagram illustrating pedal speed variation of a position compensation based pedal load control method according to an embodiment of the present invention.
Detailed Description
The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1 to 10, the pedal load control system according to the embodiment of the present invention can be applied to an electric bicycle, which includes a front frame 19, a rear frame 18, a battery 13, a generator 10, pedals 21, a main control unit 22, and an interface device 20, as shown in fig. 1.
A generator 10 is provided in the front frame 19, and pedals 21 are rotatably mounted on both sides of the generator 10. When the rider rotates the pedal 21, the rotational force of the pedal 21 is converted into electric energy in the generator 10, and the electric energy of such generator 10 can be stored in the battery 13.
A battery 13 for storing the electric power converted by the generator 10 and a main control unit 22 may be installed in the front frame 19. The interface device 20 displays the driving state and riding data of the electric bicycle to a rider, and may transmit parameters such as pedal load to the main control unit 22 through an input means such as a button or a touch screen. Such interface devices 20 are either wired or wirelessly connected to the master control unit 22.
As shown in fig. 2, a pedal load control system according to an embodiment of the present invention includes: a storage battery 13; the generator 10 is connected with the pedal 21, and generates alternating voltage through the driving of the pedal 21; and a pedal load adjusting portion 15, the pedal load adjusting portion 15 adjusting a pedal load of the pedal 21 by an amount of electricity charged into the battery 13 by the alternating-current voltage generated by the generator 10, the pedal load adjusting portion 15 including: a rectifying unit 11, wherein the rectifying unit 11 rectifies an alternating-current voltage generated by the generator 10 into a direct-current voltage, and an input side of the rectifying unit 11 is connected to the generator 10; the rectifier circuit comprises a Boost circuit 12, wherein the Boost circuit 12 comprises an inductor L, a switch S and a diode D, and the output side of the rectifier unit 11 is connected between the input side of the inductor L and the ground side; the inductor L is connected to the output side of the rectifying unit 11 and the input side of the diode D; the diode D is connected between the input side of the inductor L and the input side of the battery 13; the switch S is connected between the junction P of the output side of the inductor L and the input side of the diode D and the ground side.
When the switch S is turned on, a voltage is supplied from the rectifying unit 11 to the inductor L to charge it, and when the switch S is turned off, the current flowing through the inductor L does not jump due to the current holding characteristic of the inductor L, and the inductor L charges the secondary battery 13 through the diode D, and the terminal voltage of the secondary battery 13 rises.
The switch S is a transistor or a field effect transistor MOSFET.
The pedal load control system according to the embodiment of the present invention further includes a main control unit 22, wherein the main control unit 22 performs Pulse Width Modulation (PWM) control on the pedal load adjusting unit 15, and adjusts the amount of electricity charged into the battery 13 by the voltage generated by the generator 10, so as to adjust the pedal load of the pedal 21.
The main control unit 22 performs Pulse Width Modulation (PWM) control on the switch S, and when the duty ratio of the switch S is increased, the pedal load of the pedal 21 is increased accordingly; when the duty ratio of the switch S is decreased, the pedal load of the pedal 21 is decreased accordingly.
The riding pedal load control system provided by the embodiment of the invention further comprises a position detection unit 24, wherein the position detection unit 24 is used for detecting the pedal position of the pedal 21, and the pedal position refers to the position of the rotor inside the generator.
The pedal load control system provided by the embodiment of the invention further comprises a speed detection unit 23, wherein the speed detection unit 23 is used for detecting the pedal speed of the pedal 21; the pedal speed refers to the rotational speed of a drive shaft connected to the pedal. The speed detection unit may be a hall sensor built into the generator.
The pedal load control system provided by the embodiment of the invention further comprises a power detection unit, wherein the power detection unit is used for detecting the electric quantity and the charging power charged to the storage battery in real time, namely detecting the generated power and the generated energy of a rider.
The power detection unit is one of a power meter, a resistance sampler or a current sensor.
The pedal load control system provided by the embodiment of the invention further comprises an interface device 20, wherein the interface device 20 is used for setting the pulse width modulation duty ratio of the pedal load adjusting part according to the user input value and displaying the real-time speed curve of the pedal and the generated power and the generated energy output by the power detection unit.
The pedal load adjusting section 15 adjusts the load of the pedal 21 so that the rider feels a pedal feel with different loads when pedaling, as necessary. The pedal load adjustment portion may adjust the amount of electricity charged into the battery 13 by the generator 10 of the electric power generated from the driving of the pedal 21 to adjust the pedal load of the pedal 21. When the pedal load adjusting portion applies the pedal load to the pedal 21, the rider must depress the pedal 21 to rotate the vehicle, and feel the pedal. Also, the pedal load adjusting portion may apply different pedal loads by controlling a duty ratio through Pulse Width Modulation (PWM). When the PWM duty is 0, that is, the step-up ratio of the pedal load adjusting portion 15 is set to 0, thereby releasing the pedal load supplied to the pedal 21; when the PWM duty ratio is 1, three phases of the generator are in short circuit, and therefore the pedal load is maximum.
As shown in fig. 3, the pedal load adjusting unit includes a generator 10 that generates an ac voltage by being driven by a pedal connected thereto, a rectifying unit 11 that rectifies the ac voltage generated in the generator 10 into a dc voltage, a Boost circuit 12 (including an inductor L, a diode D, and a switch S) that boosts the rectified dc voltage, and a battery 13 that limits an output voltage of the Boost circuit 12 and charges the same. The switch S is connected between the output side of the inductor L and the input side of the diode D. The voltage output from the Boost circuit 12 for charging the battery 13 is adjusted by duty control for variably controlling the on time and off time of the switch S, and the generator 10 generates electric power to charge the battery 13 when the rider steps on the pedal, so as to provide a pedal load feeling when the rider steps on the pedal. According to the Boost principle of a Boost circuit, when the PWM duty ratio d is changed from small to large, the output voltage is gradually increased, and the pedal load feeling is gradually enhanced.
The switch S may be an electronic switching element such as a Field Effect Transistor (FET), a Transistor (Transistor), or the like. The inductance L is provided between the output side of the rectifying unit 11 and the input side of the switch S. The diode D is provided between the output side of the switch S and the input side of the battery 13. When the switch S is turned on, the inductor L is charged by the output voltage of the rectifying unit 11. Due to the reverse blocking characteristic of the diode D, the battery 13 does not discharge to charge the inductor L. When the switch S is turned off, the amount of electricity stored in the inductor L is transmitted to the battery 13 through the diode D, and the battery 13 is charged.
FIGS. 4 to 5 are switch operation diagrams of a pedal load adjusting portion of the pedal load control system according to the embodiment of the invention; referring to fig. 4 and 5, when the rider steps on the pedal, the pedal load of the control pedal is adjusted by setting the duty ratio d of the control switch S, i.e., pulse width modulating it.
Specifically, as shown in fig. 4, when the switch S is turned on, the output current of the rectifying unit 11 is conducted to the ground side through the inductor L and the switch S as shown by the arrow direction. At this time, the circuit connected to the generator 10 forms a closed circuit, stores energy into the inductor L, and generates a counter electromotive force in the generator 10, thereby generating a pedal load.
As shown in fig. 5, when the switch S is turned off, the energy stored in the inductor L flows into the battery 13 as indicated by the arrow, charges the battery 13, and generates a voltage difference across the diode, which causes heat loss in the diode D.
When the switch S is alternately turned on and off, the rider continuously steps on the pedal to rotate the pedal, and the rider can always feel the pedal feel.
Fig. 6 is a timing chart of switches of the pedal load adjusting portion of the pedal load control system according to the embodiment of the present invention. The main control unit 22 pulse-width-modulates the switch S of the pedal load adjusting unit 15 to control the duty ratio d (0< d <1), and controls the on time and the off time of the switch S to be alternately changed. With a fixed PWM duty cycle, the pedal load of the pedal will remain unchanged.
When the pedal load of the pedal is increased, the duty ratio d of the switch S is increased. At this time, the on time of the switch S is correspondingly increased, and the energy stored in the inductor L by the generator 10 in one switching period T is increased, so that a larger back electromotive force can be provided.
When the pedal load of the pedal is reduced, the duty ratio d of the switch S is reduced. At this time, the on time of the switch S is reduced accordingly, the energy stored in the inductor L by the generator 10 in one switching period T is reduced, and the generated back electromotive force is reduced accordingly.
Fig. 7 is a reference diagram of the change in pedal speed at a fixed pedal load for the pedal load control system according to the embodiment of the invention. Referring to fig. 7, when the step-up ratio of the pedal load adjusting portion, i.e., the PWM duty is fixed, the pedal load will remain unchanged.
During 360 deg. rotation of the pedal, when the pedal is in a position where the foot is easy to apply force, the pedal speed will show an alternation of peaks and valleys as shown in the figure, i.e. the pedal speed will have a sudden change.
When the pedal connected to the generator is rotated in the forward direction by the driver, the user inputs a different boosting ratio, and the pedal load of the pedal is adjusted by the pedal load adjusting portion as a booster that can adjust the amount of electricity charged in the battery by the generator. When the boosting ratio of the pedal load adjusting part is fixed, the rotating speed of the pedal is suddenly changed when the pedal is positioned at a position where the foot part is convenient to exert force, so that a rider feels like stepping empty, and the actual experience of riding or body building is influenced.
FIG. 8 is a flowchart of a method for position compensation based pedal load control according to an embodiment of the present invention.
In view of this problem, an embodiment of the present invention provides a pedal load control method based on position compensation, as shown in fig. 8, which includes the following steps:
s10: inputting the initial fixed duty ratio and the maximum compensation ratio of the PWM to determine a pedal reference load and a pedal maximum load;
s20: setting a starting position a and an end position b of the asymptotic increase compensation and a starting position c and an end position d of the asymptotic decrease compensation;
s30: detecting a pedal position through a position detection unit, wherein the pedal position refers to an angle theta between a crank connected between a generator and a pedal and a vertical line perpendicular to a horizontal plane;
s40: and calculating the PWM duty ratio of the pedal at different positions according to the compensation function.
The compensation function represents a mapping relationship between pedal position and PWM duty cycle, and when the right pedal position is between 0 and 180 °, the calculation process of the PWM duty cycle is described by the following formula:
Figure GDA0002709557140000091
wherein θ is a pedal position; d isθIs the PWM duty cycle output at pedal position θ; d0Is initial PWM, k is the maximum compensation proportion of PWM; thetaaAnd thetabRespectively representing a start position a and an end position b, theta of a gradually increasing pedal loadcAnd thetadRespectively represent a start position c and an end position d at which the pedal load gradually decreases, and the following relationship exists: thetaa＜θb＜θc＜θd。
For simplicity, as a preferred embodiment, θ may be takenc＝θa+90°，θd＝θb+90°。
The compensation function between the left pedal position and the output PWM can be easily derived from the mathematical equation, based on the centrosymmetric structure of the motor.
The pedal control system and the load control method provided by the invention can control the pedal load by adjusting the PWM duty ratio of the pedal load adjusting part and adjust the pedal load by adopting a position compensation method, and have the advantages of simple structure, convenience in control, high conversion efficiency and the like.
FIG. 9 is a schematic diagram of the operation of the pedal load control method based on position compensation according to the embodiment of the present invention.
Referring to fig. 9, the pedal position is represented by an angle θ between the crank and a vertical line perpendicular to the horizontal plane.
Specifically, between a start position a and an end position b of the region where the pedal load gradually increases, the pedal load is calculated according to the following formula;
Figure GDA0002709557140000101
between the start position c and the end position d of the region where the pedal load gradually decreases, the pedal load is calculated according to the following formula.
Figure GDA0002709557140000102
According to different positions of the feet suitable for exerting force, different starting positions and ending positions can be set.
In this example, the start position a of the region where the pedal load gradually increases may be set to 20 °, that is, θaThe end position d is set to 50 °, i.e., θ, at 20 °b50 deg.. From the symmetry, θ can be calculatedc＝110°，θd＝140°。
Furthermore, the relationship between the left pedal position and the output PWM can be easily derived from the mathematical equation based on the centrosymmetric structure of the motor shaft.
FIG. 10 is a reference diagram illustrating pedal speed variation of a position compensation based pedal load control method according to an embodiment of the present invention.
Referring to fig. 10, when the step-up ratio of the pedal load adjusting portion is changed in a manner described by the mathematical equation, the pedal load is compensated for an increase or decrease at a position where the force is applied, a sudden change in the pedal speed is prevented, a relatively smooth range is maintained, and a good riding experience can be achieved.
The pedal load control system provided by the embodiment of the invention can adjust the electric quantity charged into the battery by controlling the Boost proportion of the Boost generator to control the pedal load, so that a rider feels the pedal feeling as if a chain exists when pedaling. Based on the system, the control method for adjusting the pedal load based on the position compensation provided by the embodiment of the invention can enable a rider to feel uniform pedal load in the process of pedaling for 360 degrees, is beneficial to keeping relatively smooth pedal speed of the rider and obtains good riding experience.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims (9)

1. A pedal load control method based on position compensation is characterized in that the pedal load control method based on the position compensation is used in a pedal load control system and comprises the following steps:
s10: inputting the initial fixed duty ratio and the maximum compensation ratio of the PWM to determine a pedal reference load and a pedal maximum load;
s20: setting a starting position and an end position of asymptotic increase compensation and a starting position and an end position of asymptotic decrease compensation;
s30: detecting a pedal position through a position detection unit, wherein the pedal position refers to an angle theta between a crank connected between a generator and a pedal and a vertical line perpendicular to a horizontal plane;
s40: calculating PWM duty ratios of the pedal at different positions according to the compensation function; the compensation function represents a mapping relationship between pedal position and PWM duty cycle, and when the right pedal position is between 0 and 180 °, the calculation process of the PWM duty cycle is described by the following formula:
Figure FDA0002709557130000011
wherein θ is a pedal position; d isθIs the PWM duty cycle output at pedal position θ; d0Is initial PWM, k is the maximum compensation proportion of PWM; thetaaAnd thetabRespectively representing a start position a and an end position b, theta of a gradually increasing pedal loadcAnd thetadRespectively represent a start position c and an end position d at which the pedal load gradually decreases, and the following relationship exists: thetaa＜θb＜θc＜θd。
2. The position compensation based pedal load control method according to claim 1, wherein θc＝θa+90 °, said θd＝θb+90°。
3. The position compensation based pedal load control method according to claim 1, wherein the pedal load control system includes: a storage battery; the generator is connected with the pedal and generates alternating voltage through the driving of the pedal; and a pedal load adjusting portion that adjusts a pedal load of the pedal by an amount of electricity charged into the battery by the alternating-current voltage generated by the generator.
4. The position compensation-based pedal load control method according to claim 3, wherein the pedal load adjusting portion includes: a rectifying unit that rectifies an alternating-current voltage generated by the generator into a direct-current voltage, an input side of the rectifying unit being connected to the generator; the rectifier comprises a Boost circuit, a first rectifying unit and a second rectifying unit, wherein the Boost circuit comprises an inductor L, a switch S and a diode D, and the output side of the rectifying unit is connected between the input side and the ground side of the inductor L; the inductor L is connected with the output side of the rectifying unit and the input side of the diode D; the diode D is connected between the input side of the inductor L and the input side of the storage battery; the switch S is connected between a junction of the output side of the inductor L and the input side of the diode D and the ground side.
5. The pedal load control method based on position compensation according to claim 3, wherein the pedal load control system further comprises a main control unit that performs pulse width modulation control on the pedal load adjustment portion to adjust the amount of electricity charged into the battery by the voltage generated by the generator, thereby adjusting the pedal load of the pedal.
6. The pedal load control method based on the position compensation according to claim 3, further comprising a position detection unit for detecting a pedal position of the pedal, wherein the pedal position refers to a position of a rotor inside the generator.
7. The pedal load control method based on position compensation according to claim 3, wherein the pedal load control system further includes a speed detection unit for detecting a pedal speed of the pedal; the pedal speed refers to the rotational speed of a drive shaft connected to the pedal.
8. The pedal load control method based on position compensation according to claim 3, further comprising a power detection unit for detecting an amount of electricity charged to the battery and a charging power in real time, that is, detecting a generated power and an amount of electricity generated by the rider.
9. The pedal load control method based on position compensation according to claim 8, wherein the pedal load control system further includes an interface device for setting a pulse width modulation duty ratio of the pedal load adjusting portion according to a user input value and displaying a real-time speed profile of the pedal and the generated power and the generated amount of electricity output from the power detecting unit.
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