CN113636008A - Power-assisted control device and method based on state recursion - Google Patents
Power-assisted control device and method based on state recursion Download PDFInfo
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- CN113636008A CN113636008A CN202111052062.3A CN202111052062A CN113636008A CN 113636008 A CN113636008 A CN 113636008A CN 202111052062 A CN202111052062 A CN 202111052062A CN 113636008 A CN113636008 A CN 113636008A
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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
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
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Abstract
The invention discloses a power-assisted control device and a power-assisted control method based on state recursion, wherein the device comprises: the device comprises a device state acquisition module, a device corresponding output module, a device output compensation module and a device total output module; the equipment state acquisition module acquires equipment state values in real time in the vehicle running process and calculates a derivative function of the equipment state values at the current moment; the corresponding output module of the equipment obtains the corresponding output value of the equipment in the current equipment state by reading the numerical value provided by the equipment state acquisition module; the equipment output compensation module reads the numerical value provided by the corresponding output module of the equipment, and obtains the actual equipment output value in the current state after carrying out various compensations; the equipment total output module uses various compensated equipment output values to control equipment to output, and the equipment state is synchronously changed. The invention solves the problems of intermittent frustration and difficulty in balanced coordination of the conventional power assisting equipment when manual intervention is performed.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a power-assisted control device and method based on state recursion.
Background
Traditional electric bicycle, electric scooter's control method, it is common have following three kinds:
1. manual accelerator type (bicycle and scooter):
and setting a target speed according to the degree of pressing the accelerator, and performing closed-loop control on the input of the motor according to the target speed.
2. Pedal speed sensing (bicycle):
when the pedaling speed is detected, a target vehicle speed is set according to the gear speed limit of the current controller, and the input of the motor is subjected to closed-loop control according to the target vehicle speed.
3. Torque sensing (bicycle):
the torque generated when the user steps on the pedal is detected, and the motor is controlled by the torque. When the user steps on the pedal with large strength, the output of the motor is improved, and the force used by the user for stepping is kept to be a constant value as much as possible. So that the user can normally ride the bicycle by pedaling with lower strength.
The above control methods all have certain disadvantages.
1. The manual throttle type has the following defects:
the advancing speed is determined only by pressing the accelerator, and the manpower and the electric power are difficult to coordinate to output in the advancing process. It is not guaranteed that a certain amount of exercise is kept while riding.
2. The pedal speed sensing type has the following defects:
the vehicle typically only advances at the set current gear speed. For example 15, 20, 25 km/h. When the user wishes to use other speeds for forward travel, the vehicle cannot operate smoothly. For example, when the gear is set to 15km/h, the user must frequently step on the pedal and pinch the brake when he/she wants to keep moving for 10 km/h. In addition, the manpower and the electric power are difficult to coordinate to output in the advancing process. The problem that certain amount of exercise can not be kept while riding is solved. For example, when setting 15km/h gear, if the user wants to maintain 17km/h forward, the output power of the motor is 0.
This method is only applicable to electric bicycles with pedals, and is not applicable to other hybrid vehicles such as scooters and the like.
3. The torque sensing type has the disadvantages that:
a pedal crank or bottom bracket with a torque sensor. This structure is expensive and maintenance is difficult.
The basic logic of the method is that a motor is used for amplifying the pedaling force of a user and controlling the pedaling torque of the user to be a fixed value, so that the amount of exercise under different vehicle speeds cannot be freely selected.
This method is only applicable to electric bicycles with pedals, and is not applicable to other hybrid vehicles such as scooters and the like.
In addition, there are some control strategies for performing different coping modes according to states, such as performing individual control on the processes of vehicle starting and climbing, but such control strategies are prone to errors in the state detection process, and users feel strong frustration in the state transition process.
Disclosure of Invention
Therefore, the invention provides a power assisting control device and method based on state recursion, and aims to solve the problems that the existing power assisting equipment has a pause feeling and is difficult to balance and coordinate when a person intervenes in the power assisting equipment.
In order to achieve the above purpose, the invention provides the following technical scheme:
according to a first aspect of the present invention, there is disclosed a state recursion based power assist control apparatus, the apparatus comprising:
the device comprises a device state acquisition module, a device corresponding output module, a device output compensation module and a device total output module;
the equipment state acquisition module acquires equipment state values in real time in the vehicle running process and calculates a derivative function of the equipment state values at the current moment;
the corresponding output module of the equipment obtains the corresponding output value of the equipment in the current equipment state by reading the numerical value provided by the equipment state acquisition module;
the equipment output compensation module reads the numerical value provided by the corresponding output module of the equipment, and obtains the actual equipment output value in the current state after carrying out various compensations;
the equipment total output module uses various compensated equipment output values to control equipment to output, and the equipment state is synchronously changed.
Further, the apparatus further comprises: and the equipment output compensation submodule comprises a user interaction interface/method and an external parameter sensor and is used for acquiring user input information and external measurement information which can be used for compensation output.
Further, the apparatus further comprises: and the equipment state derivative compensation module is used for carrying out re-compensation on the equipment output until the increase and decrease state of the equipment state conforms to a preset function under the condition that the equipment output compensation module outputs the normal output and if the equipment state value is not increased or decreased as expected
Further, the apparatus further comprises: and the equipment state derivative submodule is configured to detect whether the human power or the external power is involved in the running process of the equipment and the degree of the intervention of the human power or the external power, and the degree of the intervention of the human power and the external power needs to be considered when observing the derivative of the equipment state value.
According to a second aspect of the present invention, a power-assisted control method based on state recursion is disclosed, the method comprises:
step 3, setting output addition compensation of the resident equipment;
and 7, referring to the change rate of the equipment state, and automatically correcting the output addition compensation of the equipment.
Further, in step 1, the torque T of the motor is the output quantity of the motor, and is measured by an external dynamometer, or is estimated by parameters of current, voltage and rotation speed in the running state of the motor.
Further, in the step 2, at the time N, the current set current is determined using the speed at the time N-1, and the motor is controlled by the current, and at the time N +1, the set current is determined using the speed at the time N, and so on.
Further, in step 4, when the vehicle is in a special state, the setting current may be subjected to an addition compensation in a temporary state, and a compensated current value in the temporary state may be greater than the constant current.
Further, in step 5, when the user needs to set the boosting magnitude in a simple manner, the adjustment can be performed only by one overall multiplication compensation.
Further, in step 6, according to the vehicle speed value at the previous time, the corresponding function obtained in the previous step is used to calculate the driving current value required at the current time, and as shown in step 2, the compensated function still needs to satisfy that the actual driving current value is lower than the constant-speed driving current value.
The invention has the following advantages:
compared with the traditional control methods of an electric bicycle and an electric scooter, the method has a continuous stable path, and large numerical fluctuation which is not in line with the expectation of a user cannot be generated when equipment force and manpower intervene mutually. The user does not feel the abrupt feeling of the power assistance in the actual body feeling. Compared with the traditional power-assisted control algorithm, the device can be accurately controlled at the expected speed of a user, and meanwhile, the user can freely select the amount of exercise in the control process.
There is no need to use a press throttle, a pedal torque sensor, etc., and an additional device for inputting a user's intention by a user is required. The production cost of the product is reduced. In addition, the method can control almost all equipment devices which are powered by manpower and equipment in a mixed mode. For example, a power-assisted rowing paddle (the device state value is the boat speed, and the device output value is the paddle power), a gasoline-assisted bicycle (the device state value is the vehicle speed, and the device output value is the oil nozzle oil output quantity), and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
Fig. 1 is a flowchart of a power-assisted control method based on state recursion according to an embodiment of the present invention;
FIG. 2 is a diagram of motor torque vector distribution provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating the variation of the resistance and the speed of the driving current according to the embodiment of the present invention;
FIG. 4 is a schematic diagram of the variation of the set current with speed according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of current addition compensation provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram of the starting current addition compensation provided by the embodiment of the invention;
FIG. 7 is a schematic diagram of the uphill current addition compensation provided by the embodiment of the invention
FIG. 8 is a schematic diagram of the current multiplication provided by the embodiment of the present invention;
FIG. 9 is a velocity versus acceleration value diagram provided by an embodiment of the present invention;
fig. 10 is a schematic diagram of current addition correction according to acceleration according to an embodiment of the present invention.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The embodiment discloses a power assisting control device based on state recursion, which comprises:
the device comprises a device state acquisition module, a device corresponding output module, a device output compensation module and a device total output module;
the equipment state acquisition module acquires equipment state values in real time in the vehicle running process and calculates a derivative function of the equipment state values at the current moment; in this embodiment, the device state value refers to a target index that the user desires to control the device to reach. For a power-assisted vehicle, for example, the device state value may be vehicle speed;
the corresponding output module of the equipment obtains the corresponding output value of the equipment in the current equipment state by reading the numerical value provided by the equipment state acquisition module; in this embodiment, the device output value refers to a parameter that is easy to control the device, and changing the parameter affects the device state value at the next time; for a power-assisted vehicle, for example, the device output value may be a motor control current value;
the equipment output compensation module reads the numerical value provided by the corresponding output module of the equipment, and obtains the actual equipment output value in the current state after carrying out various compensations;
the equipment total output module uses various compensated equipment output values to control equipment to output, and the equipment state is synchronously changed. For example, in the case of a power-assisted vehicle, the vehicle motor output current is controlled, and the vehicle speed is also changed according to the magnitude of the motor output.
The device further comprises: the device comprises a device output compensation submodule, a device state derivative compensation module and a device state derivative submodule.
The equipment output compensation submodule comprises a user interaction interface/method and an external parameter sensor and is used for acquiring user input information and external measurement information which can be used for compensation output; taking a power-assisted vehicle as an example, the module can acquire the current gradient, the exercise demand of the user, the expected starting speed of the user, the weight of the user, the tire pressure of the tire, the current wind speed and the like. And compensate the output of the device by these parameters.
And under the condition that the equipment output compensation module outputs normally, if the equipment state value is not increased or decreased as expected, the equipment state derivative compensation module compensates the equipment output again by using the module. Until the increase and decrease state of the equipment state accords with a preset function; for example, in the exemplary power-assisted vehicle of this embodiment, when the output current of the motor is 5A and the vehicle speed is 26km/h, the rider may have a light weight if the vehicle speed does not decrease or increase reversely because no human intervention is provided on the flat ground. The module can be used for reducing the corresponding output current in each speed state.
The equipment state derivative submodule is configured to detect whether the human power or the external power is involved in the equipment operation process and the degree of the intervention of the human power or the external power, and the degree of the intervention of the human power and the external power needs to be considered when observing the derivative of the equipment state value; for example, when the user rides the moped, the user pedals the moped with force all the time, and the normal condition is that the speed of the vehicle does not decrease and increase reversely at the moment, and compensation is not needed. Or when a user brakes, the speed of the vehicle is rapidly reduced, and the normal phenomenon is realized, and the compensation is not needed.
Example 2
Referring to fig. 1, the present embodiment discloses a power control method based on state recursion, where the method includes:
step 3, setting output addition compensation of the resident equipment;
and 7, referring to the change rate of the equipment state, and automatically correcting the output addition compensation of the equipment.
In this embodiment, the device state value is a vehicle speed, and the device output value is a motor torque. Changing the magnitude and direction of the torque of the electric machine can change the magnitude of the propulsion/resistance of the current vehicle. The relationship between the motor torque T and the control current value Iq in the FOC vector control mode is simple. The device output value can be equivalent to the control current of the motor. If other control methods are used for controlling the motor, the relation among the motor torque T, the control current, the voltage and the rotating speed needs to be calibrated by multiple factors through an experimental method, and a lookup table is formed
In step 1, the torque T of the motor is the output of the motor, and is generally measured by an external dynamometer. But can also be estimated through parameters such as current, voltage, rotating speed and the like in the running state of the motor; in vector control, as shown in fig. 2, Iq (i.e., q-axis component current) is proportional in magnitude and direction to T (motor torque). The motor torque T can therefore be estimated roughly as follows.
T＝KT*Iq+C
Wherein KTThe constant is the coefficient when Iq estimates T, the value can be calibrated through the test result of the motor dynamometer, and C is an offset constant.
In the FOC control method, controlling torque may be equivalent to controlling Iq magnitude. The Iq magnitude can be positive or negative. When Iq is negative, the motor has a reverse torque.
When the vehicle is on a windless and smooth road surface, the motor independently provides power to the vehicle and the vehicle moves forwards at a constant speed. The total resistance f experienced by the vehicle is equal to the total thrust. The total propulsive force is proportional to the motor torque T, and then
f＝Kf*Iq+C
When the experimental conditions are met, f mainly consists of tire resistance and wind resistance.
f＝Kw*V+Ka*V3
Referring to fig. 3, when a user is riding a certain brand of electric bicycle, the user weighs 75kg and the tire pressure 3Bar, f and the driving current required to maintain a constant speed, and the corresponding situation between the vehicle speed.
In step 2, the set current that the controller needs to provide at different vehicle speeds is shown in fig. 4, and at time N, the current set current is determined using the speed at time N-1, and the motor is controlled by this current. At time N +1, the set current is determined using the speed at time N. And so on. Because the actual set current is lower than the current required to maintain a constant speed at each speed, the vehicle will gradually slow down when there is no human output. When the user needs to maintain a certain vehicle speed, the user needs to be assisted with manual output. The output force is positively correlated with the distance between the two curves in the graph. As shown in FIG. 4, when the vehicle speed is 26km/h, the two curves are closest to each other. If the vehicle speed is required to be maintained, the vehicle speed is controlled to be 26km/h, and the pedal is easiest to step
In step 3, referring to fig. 5, when the user has a special requirement, the set current curve can be respectively compensated by addition according to different speeds. For example, a user may desire a vehicle that has a better fitness effect when riding at high speeds. When the bicycle is ridden at a low speed, the bicycle is easy to start, and the gradually reduced current compensation values can be respectively added according to different speeds on the basis of the original set current. And forming a setting current curve with high front and low back after compensation.
In step 4, when the vehicle is in a special state, the temporary state addition compensation can be performed on the set current. The compensated current value in the temporary state may be larger than the uniform current; for example: when a user needs to start quickly, starting assistance compensation can be increased. When the controller satisfies both of the conditions of low vehicle speed and continuous pedaling force of the user, as shown in fig. 6. Wherein at a speed of 4-16km/h the current is compensated, and when the user stops pedaling the force, the compensation disappears. In order to avoid the vehicle flying condition when the user cart moves forwards in the low-speed state, the current compensation in the low-speed state can be constructed by the method. Alternatively, referring to fig. 7, current compensation may be added by calculation or by an in-vehicle slope sensor sensing that the vehicle is climbing a hill. This compensation value then disappears when the vehicle is sensed not to be in a climbing state.
In step 5, when the user needs to set the boost magnitude in a simple manner, the adjustment can be made by only one overall multiplication compensation. Typically, the multiplicative compensation value is 0-1. When the compensation value exceeds 1, the setting current may be larger than the constant current, and the constant current should be used as the upper limit value of the compensated setting current. The function saddle point stability at a certain speed is avoided (the speed is not reduced under the condition of not using manpower). When the multiplication compensation value is set to 0, the electric power assistance is equivalently completely turned off. For example, when the user sets the multiplication compensation to 0.6, as shown in fig. 8.
In step 6, according to the compensated function and the speed value of the previous moment, the output of the equipment, namely the output current, required by the current moment is calculated. And calculating the driving current value required by the current (N) time according to the vehicle speed value at the previous (N-1) time by using the corresponding function obtained in the previous step. As shown in step 2, the compensated function still needs to satisfy that the actual driving current value is lower than the uniform driving current value (except for the case of temporary current addition compensation). Thus, if the user does not make a manual output, the vehicle will gradually decrease in speed, consistent with the user's expectations. If the user makes a manual output, the current speed can be maintained or the vehicle speed can be increased. By adjusting the multiplication and addition compensation values, the user can control the amount of motion of the human output. And the vehicle can be controlled to stably advance at any speed, so that the method has great advantages compared with the traditional hybrid power control strategy.
In step 7, referring to fig. 9 and 10, the output of the automatic correction device is compensated for the addition with reference to the rate of change of the device state. When a special situation occurs, such as a weight increase of a user or an insufficient tire pressure of the vehicle, a torque and a driving current required for driving the vehicle may be increased. At this time, when the speed is adjusted by using the primitive function, if the user rides on flat ground without wind and does not output manpower, the vehicle speed is more rapidly reduced. When the speed is regulated by the original function speed regulation mode, the speed change value delta V from N-2 to N-1 is calculated, namely the derivative function of the speed → time function, and if the derivative function value has larger deviation with the preset derivative function, the original function is corrected. The derivative function of the velocity → time function is made to approach the preset derivative function.
Compared with the traditional control methods of an electric bicycle and an electric scooter, the method has a continuous stable path, and large numerical fluctuation which is not in line with the expectation of a user cannot be generated when equipment force and manpower intervene mutually. The user does not feel the abrupt feeling of the power assistance in the actual body feeling. Compared with the traditional power-assisted control algorithm, the device can be accurately controlled at the expected speed of a user, and meanwhile, the user can freely select the amount of exercise in the control process.
There is no need to use a press throttle, a pedal torque sensor, etc., and an additional device for inputting a user's intention by a user is required. The production cost of the product is reduced. In addition, the method can control almost all equipment devices which are powered by manpower and equipment in a mixed mode. For example, a power-assisted rowing paddle (the device state value is the boat speed, and the device output value is the paddle power), and a gasoline-assisted bicycle (the device state value is the vehicle speed, and the device output value is the oil nozzle oil output).
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 (10)
1. A state recursion based power assist control apparatus, the apparatus comprising:
the device comprises a device state acquisition module, a device corresponding output module, a device output compensation module and a device total output module;
the equipment state acquisition module acquires equipment state values in real time in the vehicle running process and calculates a derivative function of the equipment state values at the current moment;
the corresponding output module of the equipment obtains the corresponding output value of the equipment in the current equipment state by reading the numerical value provided by the equipment state acquisition module;
the equipment output compensation module reads the numerical value provided by the corresponding output module of the equipment, and obtains the actual equipment output value in the current state after carrying out various compensations;
the equipment total output module uses various compensated equipment output values to control equipment to output, and the equipment state is synchronously changed.
2. A state-recursive based power assist control apparatus according to claim 1, wherein the apparatus further comprises: and the equipment output compensation submodule comprises a user interaction interface/method and an external parameter sensor and is used for acquiring user input information and external measurement information which can be used for compensation output.
3. A state-recursive based power assist control apparatus according to claim 1, wherein the apparatus further comprises: and the equipment state derivative compensation module is used for compensating the equipment output again when the equipment state value is not increased or decreased as expected under the condition that the equipment output compensation module outputs the normal output until the increasing or decreasing state of the equipment state accords with a preset function.
4. A state-recursion based power assist control apparatus as defined in claim 1, wherein the device further comprises: and the equipment state derivative submodule is configured to detect whether the human power or the external power is involved in the running process of the equipment and the degree of the intervention of the human power or the external power, and the degree of the intervention of the human power and the external power needs to be considered when observing the derivative of the equipment state value.
5. A power-assisted control method based on state recursion is characterized by comprising the following steps:
step 1, calibrating the relation between equipment output and equipment state in a balanced state through calculation and experiments;
step 2, configuring an equipment output curve value to enable the equipment output to be lower than the equipment output value in the balanced state in the step 1 in all equipment states;
step 3, setting output addition compensation of the resident equipment;
step 4, setting output addition compensation of temporary equipment;
step 5, setting integral multiplication compensation;
step 6, calculating the equipment output required by the current moment according to the compensated function and the speed value of the previous moment;
and 7, referring to the change rate of the equipment state, and automatically correcting the output addition compensation of the equipment.
6. A power assisting control method based on state recursion as claimed in claim 5, characterized in that in step 1, the torque T of the motor is the output quantity of the motor, and is measured by an external dynamometer, or is estimated by parameters of current, voltage and rotating speed in the running state of the motor.
7. A state-recursive power assistance control method according to claim 5 wherein in step 2, at time N, the current set current is determined using the speed at time N-1, the motor is controlled using this current, and at time N +1, the set current is determined using the speed at time N, and so on, since at each speed the actual set current is lower than the current required to maintain a constant speed, the vehicle will gradually decelerate in the absence of human power output.
8. A power-assisted control method based on state recursion, as claimed in claim 5, characterized in that, in step 4, when the vehicle is in a special state, the setting current can be compensated by adding in a temporary state, and the compensated current value in the temporary state can be larger than the constant current.
9. A state-recursive power control method according to claim 5, wherein in step 5, when the user needs to set the power level in a simple manner, the adjustment can be made only by a whole multiplication compensation.
10. The power-assisted control method based on state recursion according to claim 5, wherein in step 6, the driving current value required at the current time is calculated according to the vehicle speed value at the previous time by using the corresponding function obtained in the previous step, and as shown in step 2, the compensated function still needs to satisfy that the actual driving current value is lower than the constant-speed driving current value.
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| CN101633391A (en) * | 2008-07-24 | 2010-01-27 | 久鼎金属实业股份有限公司 | Method for compensating for the boosting force of electric boosting bicycle |
| CN102849168A (en) * | 2011-07-01 | 2013-01-02 | 久鼎金属实业股份有限公司 | Power-assisted bicycle with riding state regulated by current for sensing power-assisting motor |
| CN111924037A (en) * | 2019-12-05 | 2020-11-13 | 南京溧水电子研究所有限公司 | Climbing compensation processing method for electric power-assisted bicycle |
| CN113022774A (en) * | 2019-12-25 | 2021-06-25 | 财团法人自行车暨健康科技工业研究发展中心 | Power output control method for electric auxiliary bicycle |
| CN113147994A (en) * | 2021-05-25 | 2021-07-23 | 浙江绿源电动车有限公司 | Method for controlling attitude speed moment of power-assisted electric bicycle |
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2021
- 2021-09-08 CN CN202111052062.3A patent/CN113636008A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101633391A (en) * | 2008-07-24 | 2010-01-27 | 久鼎金属实业股份有限公司 | Method for compensating for the boosting force of electric boosting bicycle |
| CN102849168A (en) * | 2011-07-01 | 2013-01-02 | 久鼎金属实业股份有限公司 | Power-assisted bicycle with riding state regulated by current for sensing power-assisting motor |
| CN111924037A (en) * | 2019-12-05 | 2020-11-13 | 南京溧水电子研究所有限公司 | Climbing compensation processing method for electric power-assisted bicycle |
| CN113022774A (en) * | 2019-12-25 | 2021-06-25 | 财团法人自行车暨健康科技工业研究发展中心 | Power output control method for electric auxiliary bicycle |
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Application publication date: 20211112 |