CN110775192B - Electric power-assisted bicycle, power control method and device, computer and storage medium - Google Patents
Electric power-assisted bicycle, power control method and device, computer and storage medium Download PDFInfo
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- CN110775192B CN110775192B CN201911089427.2A CN201911089427A CN110775192B CN 110775192 B CN110775192 B CN 110775192B CN 201911089427 A CN201911089427 A CN 201911089427A CN 110775192 B CN110775192 B CN 110775192B
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000035900 sweating Effects 0.000 claims abstract description 110
- 210000004243 sweat Anatomy 0.000 claims abstract description 83
- 238000004364 calculation method Methods 0.000 claims description 20
- 230000007613 environmental effect Effects 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 9
- 238000009413 insulation Methods 0.000 claims description 7
- 230000037323 metabolic rate Effects 0.000 claims description 7
- 238000001704 evaporation Methods 0.000 claims description 5
- 230000005855 radiation Effects 0.000 claims description 5
- 230000008020 evaporation Effects 0.000 claims description 4
- 230000017525 heat dissipation Effects 0.000 claims description 3
- 230000000241 respiratory effect Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 230000003993 interaction Effects 0.000 description 9
- 238000004891 communication Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000002503 metabolic effect Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000004962 physiological condition Effects 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
-
- 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
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an electric power-assisted bicycle and a power control method, a device, a computer and a storage medium thereof, wherein the power control method of the electric power-assisted bicycle comprises the following steps: acquiring a target sweating rate and a real-time sweating rate of a rider; calculating to obtain a sweating rate control value according to the target sweating rate and the real-time sweating rate; determining the required auxiliary power of the rider according to the sweating rate control value; and adjusting the power parameters of the electric power-assisted bicycle according to the required auxiliary power so as to enable the sweat rate of the rider under the adjusted riding power condition to reach the target sweat rate. The method can calculate the sweat rate control value of the rider according to the target sweat rate and the real-time sweat rate of the rider, so that the power parameters of the electric power-assisted bicycle are controlled, and corresponding assistance is provided for the rider to enable the sweat rate of the rider to reach the target level.
Description
Technical Field
The embodiment of the invention relates to a power control technology, in particular to an electric power-assisted bicycle, a power control method and device, a computer and a storage medium.
Background
Manpower-powered vehicles remain one of the important ways of daily travel today, and power mixing of current transportation systems is the main trend in vehicle development, such as electric bicycles, which can be regarded as a hybrid system using human body energy and battery energy.
Traditional electric bicycle's power generally can't be adjusted, perhaps only can carry out manual regulation through the user, hopes to reduce the sweat rate when riding passerby and improves the comfort level, or when improving the sweat rate in order to reach certain exercise effect, traditional electric bicycle can't realize will riding passerby's control of sweat rate.
Disclosure of Invention
In view of the above, the present invention provides an electric power assisted bicycle, a power control method, a power control device, a computer, and a storage medium thereof, which can control the sweat rate of a rider.
In a first aspect, an embodiment of the present invention provides a power control method for an electric power assisted bicycle, where the method includes:
acquiring a target sweating rate and a real-time sweating rate of a rider;
calculating a sweating rate control value according to the target sweating rate and the real-time sweating rate;
determining a required auxiliary power of the rider from the perspiration rate control value;
and adjusting power parameters of the electric power-assisted bicycle according to the required auxiliary power so as to enable the sweat rate of the rider under the adjusted riding power condition to reach the target sweat rate.
According to the power control method of the electric power-assisted bicycle, the sweat rate control value of the rider can be calculated according to the target sweat rate and the real-time sweat rate of the rider, so that the power parameters of the electric power-assisted bicycle are controlled, and corresponding assistance is provided for the rider, so that the sweat rate of the rider reaches the target level.
In one embodiment, the step of determining the rider's demanded auxiliary power from the perspiration rate control value comprises:
acquiring real-time environment parameters and characteristic parameters of the rider;
and inputting the sweating rate control value, the real-time environment parameter and the characteristic parameter into a sweating rate inverse model to calculate to obtain the required auxiliary power of the rider.
In one embodiment, the real-time environmental parameter includes at least one of thermal insulation, relative air velocity, ambient temperature, thermal radiation exchange, thermal convection exchange, relative humidity, ambient pressure, and ambient evaporation, and the characteristic parameter includes at least one of mass, height, age, gender, skin temperature, metabolic rate, respiratory heat dissipation, and body surface area.
In one embodiment, the step of adjusting the power parameter of the electric power-assisted bicycle according to the required auxiliary power comprises:
and adjusting the motor torque and/or the target speed of the electric power-assisted bicycle according to the required auxiliary power.
In one embodiment, the step of adjusting the motor torque and/or the target vehicle speed of the electric power-assisted bicycle according to the required auxiliary power comprises:
calculating according to the required auxiliary power and the actual vehicle speed to obtain a required torque;
judging whether the required torque exceeds the maximum energy-limiting torque;
adjusting the motor torque to the required torque in a case where the required torque does not exceed the maximum possible torque.
In one embodiment, the step of adjusting the motor torque and/or the target vehicle speed of the electric power-assisted bicycle according to the required auxiliary power comprises:
calculating a required torque according to the required auxiliary power calculation and the actual vehicle speed;
judging whether the required torque exceeds the maximum energy-limiting torque;
under the condition that the required torque exceeds the maximum energy-limiting torque, calculating a target vehicle speed according to the required auxiliary power and the maximum energy-limiting torque;
and adjusting the motor torque to the maximum energy-limiting torque, and adjusting the actual vehicle speed to the target vehicle speed.
In a second aspect, an embodiment of the present invention further provides a power control device for an electric power assisted bicycle, including:
the acquisition module is used for acquiring the target sweating rate and the real-time sweating rate of the rider;
the sweating rate calculation module is used for calculating a sweating rate control value according to the target sweating rate and the real-time sweating rate;
a demand calculation module for determining a demanded auxiliary power of the rider from the perspiration rate control value;
and the power adjusting module is used for adjusting power parameters of the electric power-assisted bicycle according to the required auxiliary power so as to enable the sweat rate of the rider under the adjusted riding power condition to reach the target sweat rate.
The power control device of the electric power-assisted bicycle can calculate the sweat rate control value of the rider according to the target sweat rate and the real-time sweat rate of the rider, thereby controlling the power parameters of the electric power-assisted bicycle, providing corresponding assistance for the rider and enabling the sweat rate of the rider to reach the target level.
In one embodiment, the demand calculation module is a feedforward control unit including a sweat rate inverse model; the power regulating module is a proportional-integral-derivative controller.
In a third aspect, an embodiment of the present invention further provides an electric power assisted bicycle apparatus, including:
an electric drive for providing electric assist to the rider;
the power supply device is connected with the electric driving device and used for supplying power to the electric driving device;
the power control device of the electric power-assisted bicycle is in communication connection with the electric driving device and is used for adjusting power parameters of the electric driving device so that the sweat rate of the rider under the adjusted riding power condition reaches the target sweat rate.
According to the electric power-assisted bicycle equipment, the sweat rate control value of the rider can be calculated according to the target sweat rate and the real-time sweat rate of the rider, so that the power parameters of the electric power-assisted bicycle are controlled, and corresponding assistance is provided for the rider, so that the sweat rate of the rider reaches the target level.
In one embodiment, the electric power assisted bicycle apparatus further comprises:
sensor means, communicatively connected to the power control means of the electric bicycle, for acquiring at least one of the real-time sweating rate of the rider, characteristic parameters of the rider and real-time environmental parameters.
In a fourth aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the power control method for an electric power assisted bicycle as claimed in the above.
In a fifth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the power control method for an electric power assisted bicycle as described above.
Drawings
FIG. 1 is a schematic flow chart of an electric bicycle and a power control method thereof according to an embodiment;
FIG. 2 is a schematic flow chart of a step of calculating a sweat rate control value based on a target sweat rate and a real-time sweat rate in one embodiment;
FIG. 3 is a schematic flow chart of steps for adjusting power parameters of an electric bicycle according to required auxiliary power according to an embodiment;
FIG. 4 is a block diagram of an electric bicycle and its power control device in accordance with one embodiment;
FIG. 5 is a schematic diagram of an electric bicycle and a power control device thereof;
FIG. 6 is a schematic diagram of an embodiment of a sweat rate inverse model;
FIG. 7 is a schematic structural view of an electric bicycle according to an embodiment;
FIG. 8 is a graph showing a variation of human metabolic rate in one embodiment;
FIG. 9 is a schematic interface diagram of a human-computer interaction device of an electric bicycle according to an embodiment.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic flow chart of a power control method of an electric power assisted bicycle in an embodiment, as shown in fig. 1, the power control method of the electric power assisted bicycle in an embodiment includes:
step S120: and acquiring the target sweating rate and the real-time sweating rate of the rider.
Specifically, the sweat rate indicates through the sweat volume of discharging in the human unit skin surface area unit time, and the target sweat rate of riding passerby can have and ride passerby and carry out manual settlement, and the real-time sweat rate of riding passerby can be gathered through setting up the sweat sensor on riding passerby's body surface skin, and the sweat sensor can be integrated in wearable equipment such as intelligent bracelet or intelligent wrist-watch to in riding passerby and wearing.
Step S140: and calculating to obtain a sweating rate control value according to the target sweating rate and the real-time sweating rate.
Specifically, after the target sweating rate and the real-time sweating rate of the rider are obtained, a sweating rate control value may be calculated, which is a deviation between the real-time sweating rate and the target sweating rate, and generally, a difference between the real-time sweating rate and the target sweating rate may be used as the sweating rate control value. When the sweating rate control value is positive, the actual sweating rate is larger than the target sweating rate, the electric power-assisted bicycle needs to be controlled to enhance the power-assisted level, so that the rider saves more labor to reduce the actual sweating rate; when the sweat rate control value is negative, indicating that the actual sweat rate is less than the target sweat rate, the electric power assisted bicycle needs to be controlled to reduce the power assisted level or not to perform power assistance so as to increase the actual sweat rate of the rider.
Step S160: the required auxiliary power of the rider is determined according to the sweating rate control value.
Specifically, the required riding auxiliary power of the rider can be calculated according to the calculated sweating rate control value, the required riding auxiliary power is the power change required by the rider to reach the target sweating rate under the current riding condition, and the power change can be realized by adjusting the power-assisted level or the speed of the electric power-assisted bicycle. The required auxiliary power can be calculated according to a human body thermal model equation, or through a neural network or an equivalent black box modeling technology, and the required auxiliary power is calculated according to the environmental condition and the specific characteristics of the rider.
Step S180: and adjusting the power parameters of the electric power-assisted bicycle according to the required auxiliary power so as to enable the sweat rate of the rider under the adjusted riding power condition to reach the target sweat rate.
Specifically, after the required auxiliary power is determined, the power parameters of the electric power-assisted bicycle can be adjusted, so that the riding power of the rider is correspondingly changed, and the sweating rate of the rider reaches the target value. In a preferred embodiment, the motor torque and/or the target vehicle speed of the electric power-assisted bicycle is adjusted according to the required auxiliary power. For the power parameters of the electric power-assisted bicycle, the motor torque and the vehicle speed can be specifically adjusted, for example, when a rider needs to reduce the sweating rate, the motor torque of the electric power-assisted bicycle can be increased or the target vehicle speed can be reduced, or both the motor torque and the target vehicle speed can be simultaneously increased; when the rider needs to increase the sweating rate, the motor torque of the electric power-assisted bicycle can be reduced or the target vehicle speed can be increased, or both can be increased.
According to the power control method of the electric power-assisted bicycle, the sweat rate control value of the rider can be calculated according to the target sweat rate and the real-time sweat rate of the rider, so that the power parameters of the electric power-assisted bicycle are controlled, and corresponding assistance is provided for the rider, so that the sweat rate of the rider reaches the target level.
Fig. 2 is a schematic flow chart of the step S160 in an embodiment, and as shown in fig. 2, based on the foregoing technical solution, the step S160 may specifically include:
step S162: and acquiring real-time environment parameters and characteristic parameters of the rider.
Specifically, since the sweat rate of the rider is influenced by factors such as the surrounding environment and the physiological conditions of the rider, in addition to the riding power, the real-time environmental parameters and the characteristic parameters of the rider can be obtained first. In a preferred embodiment, the real-time environment parameter may specifically include an amount of thermal insulation
Relative velocity of air
Ambient temperature
Amount of heat radiation exchanged
Heat convection heat exchange amount
Relative humidity RH, ambient pressure
And amount of ambient evaporation
The characteristic parameter may specifically include mass
Height, height
Age, age
Sex, sex
Skin temperature
Metabolic rate of
Breathing heat dissipation
And body surface area
At least one of (1). Wherein the amount of heat insulation
May specifically include garment insulationMeasurement of
Thermal radiation of
May specifically include solar radiation
SL, air relative velocity
Can be driven by the actual speed of the bicycle
Actual course angle of bicycle
Actual wind speed
And actual wind heading angle
And (5) calculating the equal parameters. FIG. 8 is a graph showing a variation of human metabolic rate in one embodiment. An example of the lack of heat rate behavior when the rider is at rest is shown in FIG. 8. Metabolic rate
Depending on many intrinsic and extrinsic factors of the rider, it is possible to vary the metabolic rate according to the heart rate
And carrying out modeling calculation to obtain the target.
Step S164: and inputting the control value of the sweating rate, the real-time environmental parameters and the characteristic parameters into a sweating rate inverse model to calculate to obtain the required auxiliary power of the rider.
Specifically, after obtaining the environmental parameters and the characteristic parameters, a reverse calculation model of the sweating rate can be establishedThe above-described environmental parameters and characteristic parameters are input to the sweat rate inverse model to calculate the required auxiliary power of the rider. The principle of the sweat rate inverse model is based on summerlos (a) which calculates the sweat rate
) The equation, the Dubois equation for calculating the surface area of the body, and the energy heat balance are based on the following equations:
energy heat balance equation:
wherein, in the step (A),
to achieve
Manpower required by the rider;
the Dubois equation:
and finally calculating the required auxiliary power of the rider for achieving the target sweating rate according to the formula.
Fig. 3 is a schematic flowchart of the step S180 in an embodiment, and as shown in fig. 3, based on the above technical solution, the step of adjusting the motor torque and/or the target vehicle speed of the electric power assisted bicycle according to the required auxiliary power may specifically include:
step S182: and calculating to obtain the required torque according to the required auxiliary power and the actual vehicle speed.
Specifically, the required auxiliary power is calculated
Then, can be according to the formula
Based on the current actual degree of turning
Calculating the required torque of an electric power-assisted bicycle
Wherein, in the step (A),
the coefficients correspond to the wheel diameter ratio, unit conversion, pedal distance, system efficiency, and the like of the electric power assisted bicycle.
Step S184: and judging whether the required torque exceeds the maximum energy-limiting torque.
Step S185: in the case where the required torque does not exceed the maximum energy-limiting torque, the motor torque is adjusted to the required torque.
Specifically, after the required torque is obtained through calculation, the required torque and the maximum energy-limited torque which can be provided by the motor of the electric power-assisted bicycle are judged, if the required torque does not exceed the maximum energy-limited torque, the motor of the electric power-assisted bicycle can provide the required torque, and the output torque of the motor can be controlled to the required torque.
Step S186: and under the condition that the required torque exceeds the maximum energy-limiting torque, calculating the target vehicle speed according to the required auxiliary power and the maximum energy-limiting torque.
Step S188: and adjusting the motor torque to the maximum energy-limiting torque, and adjusting the actual vehicle speed to the target vehicle speed.
Specifically, if the required torque does not exceed the maximum energy limit torque, it indicates that the motor of the electric power assisted bicycle cannot provide the required torque and the electric power assisted bicycle cannot provide sufficient motor assistance, so that the target vehicle speed of the electric power assisted bicycle needs to be adjusted, the target vehicle speed is calculated according to the maximum energy limit torque and the required auxiliary power after the motor torque is adjusted to the maximum energy limit torque, and the actual vehicle speed is reduced to the target vehicle speed to achieve the required target sweat rate. Wherein the maximum available torque needs to take into account the current maximum battery power, electrical losses and the current motor speed. The target speed is calculated from a dynamic model of the bicycle, taking into account the rider's size, position and slope of the path.
Fig. 4 is a schematic structural view illustrating a power control apparatus of an electric bicycle according to an embodiment, and as shown in fig. 4, a power control apparatus 300 of an electric bicycle according to an embodiment includes: an obtaining module 320 for obtaining a target sweating rate and a real-time sweating rate of the rider; the sweating rate calculation module 340 is configured to calculate a sweating rate control value according to the target sweating rate and the real-time sweating rate; a demand calculation module 360 for determining a demanded auxiliary power of the rider according to the perspiration rate control value; and the power adjusting module 380 is used for adjusting the power parameters of the electric power-assisted bicycle according to the required auxiliary power so as to enable the sweat rate of the rider under the adjusted riding power condition to reach the target sweat rate.
Specifically, the obtaining module 320 may obtain the target sweating rate set by the rider and the real-time sweating rate of the rider collected by the sweat sensor, and send the target sweating rate data and the real-time sweating rate data to the sweating rate calculating module 340. The sweating rate calculation module 340 calculates a sweating rate control value according to the received target sweating rate and the real-time sweating rate, generally, the sweating rate control value may be a difference value between the real-time sweating rate and the target sweating rate, and the sweating rate calculation module 340 sends the obtained sweating rate control value to the demand calculation module 360. The demand calculation module 360 determines the rider's demanded auxiliary power from the received perspiration rate control value and sends the demanded auxiliary power to the power adjustment module 380. The power adjusting module 380 adjusts power parameters such as electric shock torque or target speed of the electric power assisted bicycle according to the required auxiliary power, so that a rider obtains proper electric power assistance, and the sweating rate under the adjusted riding power condition reaches the target sweating rate.
The power control device 300 of the electric power-assisted bicycle can calculate the control value of the sweat rate of the rider according to the target sweat rate and the real-time sweat rate of the rider, thereby controlling the power parameters of the electric power-assisted bicycle and providing corresponding assistance to the rider so as to enable the sweat rate of the rider to reach the target level.
It can be understood that the power control device of the electric power assisted bicycle provided by the embodiment of the invention can execute the power control method of the electric power assisted bicycle provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. The power control device of the electric power assisted bicycle in the above embodiment includes units and modules that are divided according to functional logic, but is not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
FIG. 5 is a schematic diagram of an electric bicycle and its power control device according to an embodiment, as shown in FIG. 5, in an embodiment, in the electric bicycle and its power control device 400, the demand calculation module is a feedforward control unit 460 including a sweat rate inverse model; the power conditioning module is a proportional-integral-derivative controller 480.
Specifically, control of the perspiration rate may be controlled by a proportional-integral-derivative controller (PID controller) 480, or a PID controller in combination with the feedforward control unit 460. The proportional-integral-derivative controller 480, the PID controller 4 is specifically composed of a proportional unit (P), an integral unit (I) and a derivative unit (D), and the PID controller is suitable for a system that is substantially linear and whose dynamic characteristics do not change with time. The feedforward control unit 460 includes an inverse perspiration rate model based on the body's thermal balance to determine the rider's required auxiliary power based on the perspiration rate control value.
Further, fig. 6 is a schematic diagram of the sweat rate inverse model in an embodiment, as shown in fig. 6, in an embodiment, various environmental parameters and characteristic parameters of the rider can be inputted into the sweat rate inverse model of the feedforward control unit 460 for calculation. Wherein, the concrete can include the quality according to the rider
And height
Calculating body surface area
. According to the actual speed of the bicycle
Actual course angle of bicycle
Actual wind speed
And actual wind heading angle
Calculating the air relative velocity by equal parameters
Relative velocity of air
Heat convection
Relative humidity RH, ambient pressure
Heat insulation quantity of clothes
And the quality of the rider
Height, height
Skin temperature
Calculating to obtain the environmental evaporation capacity
Heat insulation quantity
Relative velocity of air
Ambient temperature
Calculating to obtain the heat convection exchange quantity
. According to solar radiation
SL, insulation amount
Calculating heat radiation from rider's position
And (4) exchanging amount. According to the ambient temperature
According to the quality of the rider
Height, height
Age, age
And sex
Waiting to calculate the metabolic rate of the rider
. According to the metabolic rate of the rider
Ambient temperature
And ambient pressure
Calculating the respiratory heat dissipation of a rider
。
After the above parameters are calculated, the heat convection is carried out
Heat radiation
Exchange amount and ambient evaporation amount
Metabolic rate of
And breath heat dissipation
Input into an energy balance equation to calculate the auxiliary energy required by the rider
To obtain the required auxiliary power, and calculating the required torque according to the required auxiliary power
Fig. 7 is a schematic structural view of an electric bicycle according to an embodiment, and as shown in fig. 7, an electric bicycle apparatus 500 includes: an electric drive 520 for providing electric assist to the rider; a power supply unit 540 connected to the electric drive unit 520 for supplying power to the electric drive unit 520; the power control device 400 of the electric bicycle is in communication with the electric drive device 520, and is used for adjusting the power parameters of the electric drive device 520 so that the sweat rate of the rider under the adjusted riding power condition reaches the target sweat rate.
Specifically, in the electric power assisted bicycle apparatus 500, the electric drive device 520 can include a motor and transmission components that can transmit motor torque to the pedals to provide electric power assistance to the rider. The power supply device 540 may generally include a rechargeable battery or the like to provide power to the various devices in the electric bicycle apparatus 500. The power control device 400 of the electric power assisted bicycle can obtain the target sweating rate set by a rider and the real-time sweating rate on the body surface of the rider, and calculate the sweating rate control value according to the target sweating rate and the real-time sweating rate, so that the required auxiliary power of the rider is determined according to the sweating rate control value, the electric driving device is controlled based on the required auxiliary power, the motor torque or the target vehicle speed and other power parameters are adjusted, the rider obtains the appropriate electric power assistance, and the sweating rate of the rider under the adjusted riding power condition reaches the target sweating rate.
The above-described electric power-assisted bicycle apparatus 500 can calculate the sweat rate control value of the rider according to the target sweat rate and the real-time sweat rate of the rider, thereby controlling the power parameters of the electric power-assisted bicycle and providing the rider with corresponding assistance so that the sweat rate of the rider reaches the target level.
Further, in one embodiment, the electric power assisted bicycle apparatus 500 further comprises: the sensor device 560 is in communication with the power control device 400 of the electric bicycle and is configured to acquire at least one of a real-time perspiration rate of the rider, a characteristic parameter of the rider, and a real-time environmental parameter.
In particular, the sensor unit 560 may include various sensors such as a sweat sensor, a temperature sensor, a pressure sensor, and a heart rate sensor to obtain various physiological parameters of the rider and real-time environmental parameters of the rider. These sensors can be integrated on wearable smart machines such as intelligent wrist-watch or intelligent bracelet, and sensor device 560 can be connected through wireless communication modes such as bluetooth with power control device 400 of electric power bicycle to each item parameter transmission that will gather gives the power control device 400 of bicycle.
In one embodiment, the electric power assisted bicycle apparatus 500 further comprises: and the human-computer interaction device 580 is in communication connection with the power control device 400 of the electric power-assisted bicycle and is used for realizing information interaction between a rider and the power control device 400 of the electric power-assisted bicycle. The human-computer interaction device 580 may be a display screen or a sound device. The rider can interactively set the target sweating rate and observe the vehicle speed through the human-computer interaction device 580, and the interface of the human-computer interaction device 580 can provide a graphical interface representing the sweating rate for the rider to select, for example, to select a sweating rate level such as no sweat, middle sweat, high sweat, or a specific value in different sweating rate levels. Fig. 9 is a schematic interface diagram of a human-computer interaction device 580 of the electric bicycle according to an embodiment, and the human-computer interaction device 580 can also indicate the current target vehicle speed and the actual vehicle speed to the rider in real time so as to facilitate adjustment of the rider. The rider can also set the age, height, and other main characteristics of the rider on the interface of the human-computer interaction device 580.
In one embodiment, the electric power assisted bicycle apparatus 500 can further comprise a navigation device, a communication device, and the like (not shown). The navigation device can acquire the real-time position of the rider, and can plan the riding path, such as finding the shortest riding path away from a destination or finding a proper path to reduce the time of exposing the rider to automobile exhaust and pollutants in a heavily congested urban area. The power control device 400 and the navigation device of the electric bicycle can be integrated in the same device to improve the integration of the electric bicycle apparatus 500. The communication device can remotely acquire network data and the like of the rider or the surrounding environment so as to provide more environmental parameters or characteristic parameters of the rider, which cannot be detected by the sensor device 560, for the power control device 400 of the electric power assisted bicycle, thereby improving the accuracy of power control.
In one embodiment, a computer device is provided that includes a memory, a processor, and a computer program stored on the memory and executable on the processor. The processor, when running the program, may perform the steps of: acquiring a target sweating rate and a real-time sweating rate of a rider; calculating to obtain a sweating rate control value according to the target sweating rate and the real-time sweating rate; determining the required auxiliary power of the rider according to the sweating rate control value; and adjusting the power parameters of the electric power-assisted bicycle according to the required auxiliary power so as to enable the sweat rate of the rider under the adjusted riding power condition to reach the target sweat rate.
It is to be understood that the computer device provided by the embodiments of the present invention, the processor of which executes the program stored in the memory, is not limited to the method operations described above, and may also execute the related operations in the power control method of the electric power assisted bicycle provided by any of the embodiments of the present invention.
Further, the number of processors in the computer may be one or more, and the processors and the memory may be connected by a bus or other means. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory may further include memory located remotely from the processor, which may be connected to the device/terminal/server via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
In one embodiment, the present invention also provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, causes the processor to perform the steps of: acquiring a target sweating rate and a real-time sweating rate of a rider; calculating to obtain a sweating rate control value according to the target sweating rate and the real-time sweating rate; determining the required auxiliary power of the rider according to the sweating rate control value; and adjusting the power parameters of the electric power-assisted bicycle according to the required auxiliary power so as to enable the sweat rate of the rider under the adjusted riding power condition to reach the target sweat rate.
It is to be understood that the computer-readable storage medium containing the computer program according to the embodiments of the present invention is not limited to the method operations described above, and can also perform related operations in the power control method of an electric bicycle according to any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods described in the embodiments of the present invention.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above embodiments only represent the preferred embodiments of the present invention and the applied technical principles, and the description thereof is specific and detailed, but not construed as limiting the scope of the invention. Numerous variations, changes and substitutions will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in more detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (11)
1. A power control method for an electric power assisted bicycle, comprising:
acquiring a target sweating rate and a real-time sweating rate of a rider;
calculating a sweating rate control value according to the target sweating rate and the real-time sweating rate;
determining a required auxiliary power of the rider from the perspiration rate control value;
adjusting power parameters of the electric power-assisted bicycle according to the required auxiliary power so that the sweat rate of the rider under the adjusted riding power condition reaches the target sweat rate;
wherein the step of determining a rider's demanded auxiliary power in accordance with the perspiration rate control value comprises:
acquiring real-time environment parameters and characteristic parameters of the rider;
and inputting the sweating rate control value, the real-time environment parameter and the characteristic parameter into a sweating rate inverse model to calculate to obtain the required auxiliary power of the rider.
2. The method of claim 1, wherein the real-time environmental parameters include at least one of thermal insulation, relative air velocity, ambient temperature, amount of thermal radiation exchanged, amount of thermal convection exchanged, relative humidity, ambient pressure, and amount of ambient evaporation, and wherein the characteristic parameters include at least one of mass, height, age, gender, skin temperature, metabolic rate, respiratory heat dissipation, and body surface area.
3. The method of claim 1, wherein the step of adjusting the power parameter of the electric power-assisted bicycle in accordance with the required auxiliary power comprises:
and adjusting the motor torque and/or the target speed of the electric power-assisted bicycle according to the required auxiliary power.
4. The method according to claim 3, wherein the step of adjusting the motor torque and/or the target vehicle speed of the electric power-assisted bicycle according to the required auxiliary power comprises:
calculating according to the required auxiliary power and the actual vehicle speed to obtain a required torque;
judging whether the required torque exceeds the maximum energy-limiting torque;
adjusting the motor torque to the required torque in a case where the required torque does not exceed the maximum possible torque.
5. The method according to claim 3, wherein the step of adjusting the motor torque and/or the target vehicle speed of the electric power-assisted bicycle according to the required auxiliary power comprises:
calculating a required torque according to the required auxiliary power calculation and the actual vehicle speed;
judging whether the required torque exceeds the maximum energy-limiting torque;
under the condition that the required torque exceeds the maximum energy-limiting torque, calculating a target vehicle speed according to the required auxiliary power and the maximum energy-limiting torque;
and adjusting the motor torque to the maximum energy-limiting torque, and adjusting the actual vehicle speed to the target vehicle speed.
6. A power control device for an electric power assisted bicycle, comprising:
the acquisition module is used for acquiring the target sweating rate and the real-time sweating rate of the rider;
the sweating rate calculation module is used for calculating a sweating rate control value according to the target sweating rate and the real-time sweating rate;
a demand calculation module for determining a demanded auxiliary power of the rider from the perspiration rate control value;
the power adjusting module is used for adjusting power parameters of the electric power-assisted bicycle according to the required auxiliary power so that the sweat rate of the rider under the adjusted riding power condition reaches the target sweat rate;
the demand calculation module is used for acquiring real-time environment parameters and characteristic parameters of the rider; and inputting the sweating rate control value, the real-time environment parameter and the characteristic parameter into a sweating rate inverse model to calculate to obtain the required auxiliary power of the rider.
7. The power control apparatus of an electric power assisted bicycle according to claim 6, wherein the demand calculation module is a feedforward control unit including a sweat rate inverse model; the power regulating module is a proportional-integral-derivative controller.
8. An electrically assisted bicycle apparatus, comprising:
an electric drive for providing electric assist to the rider;
the power supply device is connected with the electric driving device and used for supplying power to the electric driving device;
the power control device of an electric bicycle of any of the above claims 6 or 7, communicatively coupled to said electric drive device, for adjusting power parameters of said electric drive device to achieve said target perspiration rate for said rider under adjusted riding power conditions.
9. The electric assist bicycle apparatus of claim 8, further comprising:
sensor means, communicatively connected to the power control means of the electric bicycle, for acquiring at least one of the real-time sweating rate of the rider, characteristic parameters of the rider and real-time environmental parameters.
10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the power control method of an electric power assisted bicycle according to any of claims 1 to 5 when executing the program.
11. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the method of power control of an electric power assisted bicycle according to any of claims 1-5.
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| CN201911089427.2A CN110775192B (en) | 2019-11-08 | 2019-11-08 | Electric power-assisted bicycle, power control method and device, computer and storage medium |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CA2579917A1 (en) * | 2004-09-14 | 2006-03-23 | 9141-7030 Quebec Inc. | Energy management system for motor-assisted user-propelled vehicles |
| CN105314034A (en) * | 2014-08-01 | 2016-02-10 | 福特全球技术公司 | Electric bicycle |
| CN106564554A (en) * | 2015-10-13 | 2017-04-19 | 通用汽车环球科技运作有限责任公司 | Automated E-assist adjustment to prevent user perspiration |
| 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 |
| CN111114688A (en) * | 2018-10-30 | 2020-05-08 | 株式会社岛野 | Control device and control system |
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2019
- 2019-11-08 CN CN201911089427.2A patent/CN110775192B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2579917A1 (en) * | 2004-09-14 | 2006-03-23 | 9141-7030 Quebec Inc. | Energy management system for motor-assisted user-propelled vehicles |
| CN105314034A (en) * | 2014-08-01 | 2016-02-10 | 福特全球技术公司 | Electric bicycle |
| CN106564554A (en) * | 2015-10-13 | 2017-04-19 | 通用汽车环球科技运作有限责任公司 | Automated E-assist adjustment to prevent user perspiration |
| 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 |
| CN111114688A (en) * | 2018-10-30 | 2020-05-08 | 株式会社岛野 | Control device and control system |
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