CN116215732B - Control method, device and system for pedal frequency assisted bicycle - Google Patents
Control method, device and system for pedal frequency assisted bicycle Download PDFInfo
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- CN116215732B CN116215732B CN202310488454.7A CN202310488454A CN116215732B CN 116215732 B CN116215732 B CN 116215732B CN 202310488454 A CN202310488454 A CN 202310488454A CN 116215732 B CN116215732 B CN 116215732B
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- 238000000034 method Methods 0.000 title claims abstract description 38
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- 238000001514 detection method Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 description 10
- 238000011217 control strategy Methods 0.000 description 8
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Classifications
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/20—Controlling the acceleration or deceleration
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application discloses a control method, a device and a system of a pedal frequency power-assisted bicycle, which relate to the technical field of pedal frequency power-assisted bicycles, wherein the method is used for controlling the pedal frequency power-assisted bicycle when starting or ascending, and comprises the following steps: when starting or ascending, acquiring the pedal rotating speed of the pedal frequency boosting bicycle; determining a speed control coefficient of the pedal frequency booster bicycle; calculating a given rotating speed of the motor according to the rotating speed of the pedal and the speed control coefficient; PI control is carried out according to the given rotating speed of the motor, the actual rotating speed of the motor and the actual current of the motor, PWM signals are output, and the motor is driven to rotate, so that the problems that riding experience is poor and ascending is difficult to control due to a torque sensor control mode and a speed sensor control mode in the prior art are solved.
Description
Technical Field
The invention relates to the technical field of pedal frequency power-assisted bicycles, in particular to a pedal frequency power-assisted bicycle control method, device and system.
Background
At present, the control modes of the booster bicycle are roughly divided into two modes, namely a moment sensor control mode and a speed sensor control mode.
The torque sensor control mode is as follows: the torque sensor is arranged on the shaft, when a person steps on the pedal to exert force, the torque sensor feeds corresponding torque back to the controller, the faster the pedal is stepped on, the larger the power-assisted torque output by the motor is, and the power-assisted magnitude of the motor changes along with the change of the stepping torque. The scheme has obvious boosting effect and good pedal following performance, but the torque sensor has high price and high cost.
Speed sensor control mode: the speed sensor is arranged on the shaft, only the pedal frequency is needed to be detected, the controller outputs corresponding boosting torque according to the pedal frequency and other related information, the scheme is low in cost and simple in structure, the pedal frequency is detected to help the driver to ride, the driver is poor in riding experience, meanwhile, the driver is difficult to advance when riding on a slope, the driver is required to step on the driver when riding on the slope due to overlarge torque, the driver is required to ride due to overlarge torque, and meanwhile, the driver cannot start due to overlarge pedal frequency when starting on the slope.
Disclosure of Invention
The invention aims to overcome the defects of poor riding experience and difficult control of an ascending slope in a moment sensor control mode and a speed sensor control mode in the prior art, thereby providing a pedal frequency power-assisted bicycle control method, device and system.
Therefore, the novel control strategy is provided on the basis of using only the rotating speed sensor, riding feeling is improved, the control effect of the torque sensor can be approached, and the cost is greatly reduced.
In order to solve the technical problems, the embodiment of the invention discloses at least a control method, a device and a system for a pedal frequency assisted bicycle.
In a first aspect, disclosed embodiments of the present invention provide a method for controlling a pedal-frequency assisted bicycle, the method being used for controlling the pedal-frequency assisted bicycle when starting or ascending a slope, the method comprising:
When starting or ascending, acquiring the pedal rotating speed of the pedal frequency boosting bicycle;
Determining a speed control coefficient of the pedal frequency booster bicycle;
Calculating a given rotating speed of the motor according to the rotating speed of the pedal and the speed control coefficient;
And PI control is carried out according to the given rotating speed of the motor, the actual rotating speed of the motor and the actual current of the motor, PWM signals are output, and the motor is driven to rotate.
Optionally, the calculating the motor given rotation speed according to the pedal rotation speed and the speed control coefficient includes:
Judging whether the pedal rotating speed is greater than 0;
if the pedal rotation speed is not greater than 0, the motor is given a rotation speed=0;
if the pedal rotating speed is greater than 0, judging whether the pedal frequency assisted bicycle is in a low-speed running state currently;
If the pedal frequency power-assisted bicycle is in a low-speed running state currently, the motor is set to rotate at a preset rotating speed=a preset minimum rotating speed;
If the pedal frequency assisted bicycle is not currently in a low-speed running state, the motor rotation speed=the product of the speed control coefficient and the pedal rotation speed.
Optionally, the speed control coefficient of the step-on frequency-determining booster bicycle is: the speed control coefficient of the pedal frequency booster bicycle is determined according to the number of teeth of the chain wheel, the number of teeth of the rear wheel and the reduction ratio.
Optionally, the speed control coefficient of the pedal frequency boosting bicycle determined according to the number of teeth of the chain wheel, the number of teeth of the rear wheel and the reduction ratio is as follows: according to the formulaDetermining a speed control coefficient of a pedal frequency assisted bicycle, wherein/>Is a speed control coefficient,/>Is the number of teeth of the chain wheel,/>For the number of rear teeth,/>Is a reduction ratio.
Optionally, the PI control according to the given rotation speed of the motor, the actual rotation speed of the motor and the actual current of the motor includes:
The rotating speed controller performs PI control according to the difference value between the given rotating speed of the motor and the actual rotating speed of the motor, and outputs given current of the motor;
And the current controller performs PI control according to the difference value between the given current of the motor and the actual current of the motor.
In a second aspect, the disclosed embodiments of the present invention also provide a pedal-frequency assisted bicycle control device for controlling a pedal-frequency assisted bicycle when starting or ascending a slope, the device comprising:
the pedal rotating speed acquisition module is used for acquiring the pedal rotating speed of the pedal frequency boosting bicycle when the bicycle starts or goes up a slope;
the speed control coefficient determining module is used for determining the speed control coefficient of the pedal frequency booster bicycle;
The motor given rotating speed calculating module is used for calculating the motor given rotating speed according to the pedal rotating speed and the speed control coefficient;
And the rotating speed control module is used for performing PI control according to the given rotating speed of the motor, the actual rotating speed of the motor and the actual current of the motor, outputting PWM signals and driving the motor to rotate.
Optionally, the rotation speed control module includes:
The rotating speed controller is used for performing PI control according to the difference value between the given rotating speed of the motor and the actual rotating speed of the motor and outputting given current of the motor;
and the current controller is used for performing PI control according to the difference value between the given current of the motor and the actual current of the motor.
In a third aspect, the disclosed embodiments of the present invention also provide a pedal frequency assisted bicycle control system, comprising:
a pedal frequency detection sensor for detecting the pedal rotation speed of the pedal frequency booster bicycle;
A current sensor for detecting the actual current of the motor;
The rotating speed sensor detects the actual rotating speed of the motor;
The motor controller is used for acquiring the pedal rotating speed of the pedal frequency power-assisted bicycle through the pedal frequency detection sensor when starting or ascending, determining the speed control coefficient of the pedal frequency power-assisted bicycle, calculating the given rotating speed of the motor according to the pedal rotating speed and the speed control coefficient, acquiring the actual current of the motor through the current sensor, acquiring the actual rotating speed of the motor through the rotating speed sensor, performing PI control according to the given rotating speed of the motor, the actual rotating speed of the motor and the actual current of the motor, and outputting PWM signals;
And the motor is used for providing power for the pedal frequency assisted bicycle according to the PWM signal.
In a fourth aspect, the disclosed embodiments of the invention also provide a computer device comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication via the bus when the computer device is running, the machine-readable instructions when executed by the processor performing the steps of the first aspect, or any of the possible implementations of the first aspect.
In a fifth aspect, the disclosed embodiments also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the first aspect, or any of the possible implementation manners of the first aspect.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
When starting or ascending, acquiring the pedal rotating speed of the pedal frequency boosting bicycle; determining a speed control coefficient of the pedal frequency booster bicycle; calculating a given rotating speed of the motor according to the rotating speed of the pedal and the speed control coefficient; PI control is carried out according to the given rotating speed of the motor, the actual rotating speed of the motor and the actual current of the motor, PWM signals are output, and the motor is driven to rotate. The rotational speed of the motor is closed-loop controlled based on the frequency signal. Through the related calculation, the corresponding relation between the pedal frequency and the motor rotating speed is determined, the motor rotating speed can adaptively follow the pedal rotating speed, and compared with the traditional control strategy, the riding feeling of a rider is obviously improved; on the basis of only the pedal frequency sensor, the device can be better suitable for working conditions such as starting, ascending 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 that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a method for controlling a bicycle with frequency boosting provided by an embodiment of the present disclosure;
FIG. 2 is a flowchart illustrating another method for controlling a bicycle with frequency boosting provided by the disclosed embodiments of the present invention;
FIG. 3 is a schematic diagram showing a functional structure of a bicycle control device for frequency-assisted pedaling according to an embodiment of the present invention;
FIG. 4 is a schematic diagram showing a functional configuration of a bicycle control system for frequency-assisted pedaling provided in accordance with an embodiment of the present invention;
FIG. 5 is a schematic diagram showing the functional configuration of another bicycle control system for frequency-assisted pedaling provided in accordance with the disclosed embodiments of the invention;
fig. 6 shows a schematic structural diagram of a computer device according to an embodiment of the disclosure.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the accompanying summary.
Example 1
As shown in fig. 1, a flowchart of a control method of a pedal frequency assisted bicycle according to an embodiment of the present invention is used for controlling the pedal frequency assisted bicycle when starting or ascending a slope, and the method includes:
S11, acquiring the pedal rotating speed of the pedal frequency boosting bicycle when starting or ascending a slope;
S12, determining a speed control coefficient of the pedal frequency booster bicycle;
S13, calculating a given rotating speed of the motor according to the rotating speed of the pedal and the speed control coefficient;
And S14, PI control is carried out according to the given rotating speed of the motor, the actual rotating speed of the motor and the actual current of the motor, PWM signals are output, and the motor is driven to rotate.
It can be understood that the technical scheme provided by the embodiment obtains the pedal rotation speed of the pedal frequency boosting bicycle when starting or ascending a slope; determining a speed control coefficient of the pedal frequency booster bicycle; calculating a given rotating speed of the motor according to the rotating speed of the pedal and the speed control coefficient; PI control is carried out according to the given rotating speed of the motor, the actual rotating speed of the motor and the actual current of the motor, PWM signals are output, and the motor is driven to rotate. The rotational speed of the motor is closed-loop controlled based on the frequency signal. Through the related calculation, the corresponding relation between the pedal frequency and the motor rotating speed is determined, the motor rotating speed can adaptively follow the pedal rotating speed, and compared with the traditional control strategy, the riding feeling of a rider is obviously improved; on the basis of only the pedal frequency sensor, the device can be better suitable for working conditions such as starting, ascending and the like.
Example 2
As an improvement of embodiment 1, as shown in fig. 2, another method for controlling a bicycle with pedal frequency assistance according to the disclosed embodiment of the invention includes:
s21, acquiring the pedal rotating speed of the pedal frequency boosting bicycle when starting or ascending a slope;
s22, determining a speed control coefficient of the pedal frequency booster bicycle;
specifically, in some alternative embodiments, the speed control coefficient of the bicycle may be determined based on the number of sprocket teeth, the number of rear wheel teeth, and the reduction ratio, e.g., the speed control coefficient may be formulated Determining a speed control coefficient of a pedal frequency assisted bicycle, wherein/>Is a speed control coefficient,/>Is the number of teeth of the chain wheel,/>For the number of rear teeth,/>Is a reduction ratio.
S23, calculating a given rotating speed of the motor according to the rotating speed of the pedal and the speed control coefficient;
And S24, PI control is carried out according to the given rotating speed of the motor, the actual rotating speed of the motor and the actual current of the motor, PWM signals are output, and the motor is driven to rotate.
In some alternative embodiments, S23 may be implemented by, but is not limited to, the following process:
S231, judging whether the pedal rotating speed is greater than 0;
s232, if the pedal rotation speed is not greater than 0, setting the motor rotation speed=0;
S233, if the pedal rotating speed is greater than 0, judging whether the pedal frequency assisted bicycle is in a low-speed running state currently;
S234, if the pedal frequency assisted bicycle is currently in a low-speed running state, letting the given rotation speed of the motor=a preset minimum rotation speed;
and S235, if the pedal frequency power-assisted bicycle is not in the low-speed running state currently, the motor rotation speed=the product of the speed control coefficient and the pedal rotation speed.
In some alternative embodiments, S24 may be implemented by, but is not limited to, the following process:
S241, the rotating speed controller performs PI control according to the difference value between the given rotating speed of the motor and the actual rotating speed of the motor, and outputs the given current of the motor;
And S242, the current controller performs PI control according to the difference value between the given current of the motor and the actual current of the motor.
It can be understood that the technical scheme provided by the embodiment obtains the pedal rotation speed of the pedal frequency boosting bicycle when starting or ascending a slope; determining a speed control coefficient of the pedal frequency booster bicycle; calculating a given rotating speed of the motor according to the rotating speed of the pedal and the speed control coefficient; PI control is carried out according to the given rotating speed of the motor, the actual rotating speed of the motor and the actual current of the motor, PWM signals are output, and the motor is driven to rotate. The rotational speed of the motor is closed-loop controlled based on the frequency signal. Through the related calculation, the corresponding relation between the pedal frequency and the motor rotating speed is determined, the motor rotating speed can adaptively follow the pedal rotating speed, and compared with the traditional control strategy, the riding feeling of a rider is obviously improved; on the basis of only the pedal frequency sensor, the device can be better suitable for working conditions such as starting, ascending and the like.
Example 3
As shown in fig. 3, the embodiment of the present invention further provides a device for controlling a pedal-frequency assisted bicycle, which is used for controlling the pedal-frequency assisted bicycle when starting or ascending a slope, including:
The pedal rotation speed acquisition module 31 is used for acquiring the pedal rotation speed of the pedal frequency boosting bicycle when starting or ascending a slope;
A speed control coefficient determination module 32 for determining a speed control coefficient of the pedal frequency assisted bicycle;
a motor given rotation speed calculation module 33 for calculating a motor given rotation speed based on the pedal rotation speed and the speed control coefficient;
The rotation speed control module 34 is configured to perform PI control according to a given rotation speed of the motor, an actual rotation speed of the motor, and an actual current of the motor, and output a PWM signal to drive the motor to rotate.
In some alternative embodiments, the rotational speed control module 34 includes:
the rotation speed controller 341 is configured to perform PI control according to a difference between a given rotation speed of the motor and an actual rotation speed of the motor, and output a given current of the motor;
and a current controller 342 for performing PI control according to a difference between a given current of the motor and an actual current of the motor.
It can be understood that the technical scheme provided by the embodiment obtains the pedal rotation speed of the pedal frequency boosting bicycle when starting or ascending a slope; determining a speed control coefficient of the pedal frequency booster bicycle; calculating a given rotating speed of the motor according to the rotating speed of the pedal and the speed control coefficient; PI control is carried out according to the given rotating speed of the motor, the actual rotating speed of the motor and the actual current of the motor, PWM signals are output, and the motor is driven to rotate. The rotational speed of the motor is closed-loop controlled based on the frequency signal. Through the related calculation, the corresponding relation between the pedal frequency and the motor rotating speed is determined, the motor rotating speed can adaptively follow the pedal rotating speed, and compared with the traditional control strategy, the riding feeling of a rider is obviously improved; on the basis of only the pedal frequency sensor, the device can be better suitable for working conditions such as starting, ascending and the like.
Example 4
As shown in fig. 4, an embodiment of the present invention further provides a functional block diagram of a bicycle control system for pedal frequency assistance, the system comprising:
a pedal frequency detection sensor 41 for detecting the pedal rotation speed of the pedal frequency assisted bicycle;
a current sensor 42 for detecting an actual current of the motor;
A rotation speed sensor 43 for detecting an actual rotation speed of the motor;
The motor controller 44 obtains the pedal rotation speed of the pedal frequency assisted bicycle through the pedal frequency detection sensor when starting or ascending, determines the speed control coefficient of the pedal frequency assisted bicycle, calculates the given rotation speed of the motor according to the pedal rotation speed and the speed control coefficient, obtains the actual current of the motor through the current sensor, obtains the actual rotation speed of the motor through the rotation speed sensor, performs PI control according to the given rotation speed of the motor, the actual rotation speed of the motor and the actual current of the motor, and outputs PWM signals;
and a motor 45 for powering the pedal frequency assisted bicycle according to the PWM signal.
In some alternative embodiments, motor controller 44 includes a speed calculation module 441 and speed control module 34 of embodiment 3, wherein speed calculation module 441 includes pedal speed acquisition module 31, speed control coefficient determination module 32, and motor given speed calculation module 33 of embodiment 3.
For the convenience of readers, the technical scheme principle and implementation details of the embodiment of the invention are described in detail below.
For a booster bicycle, there are two ways to power the bicycle, one is that the rider rotates the front sprocket wheel by pedaling the pedal, and the rotation of the sprocket wheel drives the rear flywheel wheel to rotate, so that the bicycle is driven to advance. The other is that the hub motor inside the rear wheel is connected with the flywheel through a speed reducer to drive the flywheel to rotate, so that the vehicle is driven to advance. For the first mode, it is assumed that the pedal rotation speed isThe number of teeth of the chain wheel is/>Rear wheel tooth number is/>The rear wheel rotation speed/>, can be calculated; For the second approach, assume motor speed is/>The reduction ratio is/>The rear wheel rotation speed/>, can be calculated. When/>At this time, the power of the vehicle forward is all sourced from the rider, when/>At this time, the power of the vehicle advancing is all sourced from the motor, and when/>At this time, the power of the vehicle forward is derived from the motor and the rider. Let/>The pedal rotation speed/>, can be obtainedAnd motor speed/>The relation between them is/>Coefficient/>Is a definite coefficient related to the tooth number reduction ratio (different gear/>)Different,/>Different) pedal speed/>Can be obtained by a pedal frequency detection sensor.
Setting a minimum motor given rotation speed at low speed under starting and ascending conditions. The specific strategy is as follows: obtaining the pedal frequency rotating speed/>, according to the pedal frequency detecting sensorIf/>If not, then/>If (3)If so, further judging whether the bicycle is currently in a low-speed running state, and if so, stopping runningIf the bicycle is not currently in a low-speed driving state,/>。
Based on the above analytical discussion, the final control strategy is: referring to fig. 3, the rotational speed is first obtained by a rotational speed sensor on the pedalDetermining coefficient/>, by combining gear information and related parametersFurther according to the formula and the control logic, the given rotating speed/> -of the motor is calculatedThe rotational speed controller is based on a given rotational speed/>And motor actual speed/>The difference value of (c) is subjected to PI control, output a given current/>The current controller is based on a given current/>And actual current/>And (3) performing PI control on the difference value of the voltage signal, outputting a PWM signal, and driving the motor to rotate. Finally, the coefficient/>, based on the last riding experienceAppropriate adjustments are made.
It can be understood that the technical scheme provided by the embodiment obtains the pedal rotation speed of the pedal frequency boosting bicycle when starting or ascending a slope; determining a speed control coefficient of the pedal frequency booster bicycle; calculating a given rotating speed of the motor according to the rotating speed of the pedal and the speed control coefficient; PI control is carried out according to the given rotating speed of the motor, the actual rotating speed of the motor and the actual current of the motor, PWM signals are output, and the motor is driven to rotate. The rotational speed of the motor is closed-loop controlled based on the frequency signal. Through the related calculation, the corresponding relation between the pedal frequency and the motor rotating speed is determined, the motor rotating speed can adaptively follow the pedal rotating speed, and compared with the traditional control strategy, the riding feeling of a rider is obviously improved; on the basis of only the pedal frequency sensor, the device can be better suitable for working conditions such as starting, ascending and the like.
Example 5
Based on the same technical concept, the embodiment of the application also provides a computer device, which comprises a memory 1 and a processor 2, as shown in fig. 5, wherein the memory 1 stores a computer program, and the processor 2 implements the control method of the pedal frequency assisted bicycle according to any one of the above when executing the computer program.
The memory 1 includes at least one type of readable storage medium including flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. The memory 1 may in some embodiments be an internal memory unit of a bicycle control system, such as a hard disk. The memory 1 may also be an external memory device of the bicycle control system, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), etc. in other embodiments. Further, the memory 1 may also include both an internal memory unit and an external memory device of the bicycle control system. The memory 1 may be used not only for storing application software installed in the pedal frequency assisted bicycle control system and various kinds of data, such as codes of pedal frequency assisted bicycle control programs, etc., but also for temporarily storing data that has been output or is to be output.
The processor 2 may in some embodiments be a central processing unit (Central Processing Unit, CPU), controller, microcontroller, microprocessor or other data processing chip for running program code or processing data stored in the memory 1, for example executing a pedal frequency assisted bicycle control program or the like.
It can be understood that the technical scheme provided by the embodiment obtains the pedal rotation speed of the pedal frequency boosting bicycle when starting or ascending a slope; determining a speed control coefficient of the pedal frequency booster bicycle; calculating a given rotating speed of the motor according to the rotating speed of the pedal and the speed control coefficient; PI control is carried out according to the given rotating speed of the motor, the actual rotating speed of the motor and the actual current of the motor, PWM signals are output, and the motor is driven to rotate. The rotational speed of the motor is closed-loop controlled based on the frequency signal. Through the related calculation, the corresponding relation between the pedal frequency and the motor rotating speed is determined, the motor rotating speed can adaptively follow the pedal rotating speed, and compared with the traditional control strategy, the riding feeling of a rider is obviously improved; on the basis of only the pedal frequency sensor, the device can be better suitable for working conditions such as starting, ascending and the like.
The disclosed embodiments also provide a computer readable storage medium having a computer program stored thereon, which when executed by a processor performs the steps of the method for controlling a bicycle with pedaling frequency as described in the above method embodiments. Wherein the storage medium may be a volatile or nonvolatile computer readable storage medium.
The computer program product of the method for controlling a bicycle with frequency boosting provided by the embodiment of the invention comprises a computer readable storage medium storing program codes, wherein the program codes comprise instructions for executing the steps of the method for controlling a bicycle with frequency boosting described in the embodiment of the method, and the specific reference can be made to the embodiment of the method, and the details are not repeated.
The disclosed embodiments also provide a computer program which, when executed by a processor, implements any of the methods of the previous embodiments. The computer program product may be realized in particular by means of hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied as a computer storage medium, and in another alternative embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), or the like.
It is to be understood that the same or similar parts in the above embodiments may be referred to each other, and that in some embodiments, the same or similar parts in other embodiments may be referred to.
It should be noted that in the description of the present invention, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "plurality" means at least two.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (5)
1. A method for controlling a pedal-powered bicycle, the method for controlling the pedal-powered bicycle when starting or ascending a slope, the method comprising:
When starting or ascending, acquiring the pedal rotating speed of the pedal frequency boosting bicycle;
Determining a speed control coefficient of the pedal frequency booster bicycle;
Calculating a given rotating speed of the motor according to the rotating speed of the pedal and the speed control coefficient;
PI control is carried out according to the given rotating speed of the motor, the actual rotating speed of the motor and the actual current of the motor, PWM signals are output, and the motor is driven to rotate;
The calculating the given rotating speed of the motor according to the pedal rotating speed and the speed control coefficient comprises the following steps: judging whether the pedal rotating speed is greater than 0; if the pedal rotation speed is not greater than 0, the motor is given a rotation speed=0; if the pedal rotating speed is greater than 0, judging whether the pedal frequency assisted bicycle is in a low-speed running state currently; if the pedal frequency power-assisted bicycle is in a low-speed running state currently, the motor is set to rotate at a preset rotating speed=a preset minimum rotating speed; if the pedal frequency boosting bicycle is not in a low-speed running state currently, the motor rotating speed=the product of the speed control coefficient and the pedal rotating speed;
The speed control coefficient of the determined pedal frequency booster bicycle is as follows: determining a speed control coefficient of the pedal frequency booster bicycle according to the number of teeth of the chain wheel, the number of teeth of the rear wheel and the reduction ratio;
The speed control coefficient for determining the pedal frequency booster bicycle according to the number of teeth of the chain wheel, the number of teeth of the rear wheel and the reduction ratio is as follows: according to the formula Determining a speed control coefficient of a pedal frequency assisted bicycle, wherein/>Is a speed control coefficient,/>Is the number of teeth of the chain wheel,/>For the number of rear teeth,/>Is a reduction ratio;
The PI control according to the given rotating speed of the motor, the actual rotating speed of the motor and the actual current of the motor comprises the following steps: the rotating speed controller performs PI control according to the difference value between the given rotating speed of the motor and the actual rotating speed of the motor, and outputs given current of the motor; and the current controller performs PI control according to the difference value between the given current of the motor and the actual current of the motor.
2. A pedal-frequency assisted bicycle control device for controlling a pedal-frequency assisted bicycle at start or uphill, the device comprising:
the pedal rotating speed acquisition module is used for acquiring the pedal rotating speed of the pedal frequency boosting bicycle when the bicycle starts or goes up a slope;
The speed control coefficient determining module is used for determining the speed control coefficient of the pedal frequency booster bicycle, and specifically comprises the following steps: the speed control coefficient of the pedal frequency booster bicycle is determined according to the number of teeth of the chain wheel, the number of teeth of the rear wheel and the reduction ratio, and is specifically as follows: according to the formula Determining a speed control coefficient of a pedal frequency assisted bicycle, wherein/>Is a speed control coefficient,/>Is the number of teeth of the chain wheel,/>For the number of rear teeth,/>Is a reduction ratio;
The motor given rotating speed calculating module is used for calculating the motor given rotating speed according to the pedal rotating speed and the speed control coefficient and comprises the following steps: judging whether the pedal rotating speed is greater than 0; if the pedal rotation speed is not greater than 0, the motor is given a rotation speed=0; if the pedal rotating speed is greater than 0, judging whether the pedal frequency assisted bicycle is in a low-speed running state currently; if the pedal frequency power-assisted bicycle is in a low-speed running state currently, the motor is set to rotate at a preset rotating speed=a preset minimum rotating speed; if the pedal frequency boosting bicycle is not in a low-speed running state currently, the motor rotating speed=the product of the speed control coefficient and the pedal rotating speed;
the rotating speed control module is used for performing PI control according to the given rotating speed of the motor, the actual rotating speed of the motor and the actual current of the motor, outputting PWM signals and driving the motor to rotate;
the rotational speed control module includes: the rotating speed controller is used for performing PI control according to the difference value between the given rotating speed of the motor and the actual rotating speed of the motor and outputting given current of the motor; and the current controller is used for performing PI control according to the difference value between the given current of the motor and the actual current of the motor.
3. A pedal frequency assisted bicycle control system, comprising:
a pedal frequency detection sensor for detecting the pedal rotation speed of the pedal frequency booster bicycle;
A current sensor for detecting the actual current of the motor;
The rotating speed sensor detects the actual rotating speed of the motor;
The motor controller, when starting or going up a slope, obtain the pedal rotational speed of pedal frequency helping hand bicycle through pedal frequency detection sensor, confirm the speed control coefficient of pedal frequency helping hand bicycle, calculate motor given rotational speed according to pedal rotational speed and speed control coefficient, obtain the motor actual current through the current sensor, obtain through the rotational speed sensor motor actual rotational speed, carry out PI control according to motor given rotational speed, motor actual rotational speed and motor actual current, output PWM signal, calculate motor given rotational speed according to pedal rotational speed and speed control coefficient and include: judging whether the pedal rotating speed is greater than 0; if the pedal rotation speed is not greater than 0, the motor is given a rotation speed=0; if the pedal rotating speed is greater than 0, judging whether the pedal frequency assisted bicycle is in a low-speed running state currently; if the pedal frequency power-assisted bicycle is in a low-speed running state currently, the motor is set to rotate at a preset rotating speed=a preset minimum rotating speed; if the pedal frequency boosting bicycle is not in a low-speed running state currently, the motor rotating speed=the product of the speed control coefficient and the pedal rotating speed; the speed control coefficient of the determined pedal frequency booster bicycle is as follows: determining a speed control coefficient of the pedal frequency booster bicycle according to the number of teeth of the chain wheel, the number of teeth of the rear wheel and the reduction ratio; the speed control coefficient for determining the pedal frequency booster bicycle according to the number of teeth of the chain wheel, the number of teeth of the rear wheel and the reduction ratio is as follows: according to the formula Determining a speed control coefficient of a pedal frequency assisted bicycle, wherein/>Is a speed control coefficient,/>Is the number of teeth of the chain wheel,/>For the number of rear teeth,/>Is a reduction ratio; the PI control according to the given rotating speed of the motor, the actual rotating speed of the motor and the actual current of the motor comprises the following steps: the rotating speed controller performs PI control according to the difference value between the given rotating speed of the motor and the actual rotating speed of the motor, and outputs given current of the motor; the current controller performs PI control according to the difference value between the given current of the motor and the actual current of the motor;
And the motor is used for providing power for the pedal frequency assisted bicycle according to the PWM signal.
4. A computer device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor in communication with the memory via the bus when the computer device is running, the machine-readable instructions when executed by the processor performing the bicycle control method of step-on-frequency boosting as defined in claim 1.
5. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, performs the pedal frequency assisted bicycle control method as claimed in claim 1.
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