CN1765692A - Small-sized electric motion/power assistance bicycle/tricycle and its controller and sensor - Google Patents
Small-sized electric motion/power assistance bicycle/tricycle and its controller and sensor Download PDFInfo
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- CN1765692A CN1765692A CNA200510015875XA CN200510015875A CN1765692A CN 1765692 A CN1765692 A CN 1765692A CN A200510015875X A CNA200510015875X A CN A200510015875XA CN 200510015875 A CN200510015875 A CN 200510015875A CN 1765692 A CN1765692 A CN 1765692A
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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
- B62J1/00—Saddles or other seats for cycles; Arrangement thereof; Component parts
- B62J1/02—Saddles resiliently mounted on the frame; Equipment therefor, e.g. springs
- B62J1/06—Saddles capable of parallel motion up and down
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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
- B62J45/20—Cycle computers as cycle accessories
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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
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/411—Torque sensors
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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
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/412—Speed sensors
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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
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/414—Acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
- B62K23/02—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips hand actuated
- B62K23/06—Levers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62L—BRAKES SPECIALLY ADAPTED FOR CYCLES
- B62L3/00—Brake-actuating mechanisms; Arrangements thereof
- B62L3/02—Brake-actuating mechanisms; Arrangements thereof for control by a hand lever
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to a new, high property, multimode, energy-saving electric vehicle and its controller and sensor, which completely improves the detection mode of present mini-electric vehicle (comprising electric/power assisted bicycle/tricycle, and multi-energy sources/dual-power electric/power assisted vehicle). The invention is characterized in that: it uses new sensor to replace the traditional manual power-treadle torque transducer to realize the combination with speed and treadle speed transformation sensors; and it has a slide inertia energy feedback/regeneration-reverse charging/electric break control part to realize the full control on the electric vehicle. The new electric vehicle and controller can intelligently set the control strategy according to the parameters of road condition, to realize the higher property, multifunction, lower power consumption, lower cost, and batch production of electric vehicle to meet the demand of people in this high oil price time. The invention can decrease/increase the function or assembly according to the personal demand of users to form variable new electric/power assisted vehicle.
Description
The invention belongs to the small-sized electric car field, particularly electronic/morpet, three-wheel vehicle, also comprise multipotency source/hybrid electrical bicycle/boosted vehicle and controller and sensor thereof, relate to the major tuneup of observing and controlling strategy, structure and the sensor that uses car load and electric machine controller.
With closing on day by day of worldwide oil resources exhaustion, the soaring oil prices epoch arrive.Automobile as one of main vehicle of modern humans, not only be faced with traditional crowded traffic, discharging and noise emission and safety etc. are required and the problem of controlling increasingly stringent, and will face oil starvation, few oil and the ever-increasing serious threat of operation cost again and again.Battery-driven car without outstanding environmental protection characteristics such as fuel oil, energy-conservation, low-power consumption, pollution-free, low noises, makes it must become one of main vehicle of new century with it, and great vitality is arranged.
At present, as the China of bikedom, the gross annual output amount of Electrical Bicycle in 2004 has reached more than 6,000,000, continues to increase to surpass 100% rate of rise in continuous 8 years.Meanwhile, to particularly Personal Transporter's such as small-sized electric car research and development, manufacturing of battery-driven car, new upsurge has appearred also in the world wide.With day by day ripe, the battery-driven car industry certainly will will progressively be grown into one of new backbone industry of world economy, have great market outlook with the progress of new forms of energy development.
Background technology
In the small-sized electric car so far, Electrical Bicycle mainly is divided into pure electrodynamic type and booster type two major types, and hybrid-type kind is also arranged; Battery-operated motor cycle and Segway Human Transporter then almost are pure electrodynamic type.
The common TT﹠C system structure of pure electrodynamic type is simpler, and cost is low, has formed the large market in China; Compare with booster type, owing to do not utilize bicyclist's manpower, under the identical condition of the continual mileage that once charges, volume of battery, weight will be twice usually, thereby overall energy consumption relatively is big, car body Heavy Weight, energy-saving efficiency are lower.
1+1 booster type or the characteristics that claim electric power assistive drive formula are representative with the PAS technology of Japanese YAMAHA company then antithesis, account for main flow in Europe, Japanese market, and also that pure power type is considered as self-propelled vehicle is relevant with the local transit rules for this.Traditional booster type electric bicycle must be equipped with and be used to detect the torque sensor that scrunches of the foot-operated power of people of riding, and adopts the intelligent motor controller that contains micro controller system (microcontroller) to control simultaneously.
With pure electrodynamic type relatively, it is unquestionable that the booster type electric bicycle has many good qualities in essence, no matter still light and handy from car body from safety traffic, can efficiently utilize limited energy equal angles to see to be still superior choosing.Particularly one of major customer group of Electrical Bicycle is women and old man, angle from this user, assistance type is compared with pure power type car has very big advantage: under the identical situation of the continual mileage that once charges, can make volume of battery, weight reduce half.And the lead-acid storage battery that present pure power type bicycle is equipped with usually is the specification of 10AH, because its specific energy is still low, only battery weight can reach more than the 12Kg, and this will can't bear its hardship to needing in portable battery, the walking go home electrically-charged old man and women of higher floor every day.
In addition, according to the regulation of external related standards (for example Japan), after the speed of a motor vehicle surpasses 15Km/h, the every rising 1Km/h of the speed of a motor vehicle, the power-assisted ratio should reduce by 1/9; When the speed of a motor vehicle arrived 24Km/h, the power-assisted ratio should be reduced to zero.This restriction greatly reduces the possibility that traffic accident takes place, and can contain effectively that the major hidden danger of traffic accident causes because of riding at a high speed in the driving family of pure electrodynamic type bicycle.And the hypervelocity problem perplexs the important submerged reef that China battery-driven car industry develops in a healthy way undoubtedly just at present---in China, though national Specification maximum speed must not surpass the restriction of 20Km/h, yet usually remain incessant after repeated prohibition.Battery-driven car manufacturer is the normal unilateral requirement of catering to some customers of contending for markets, to the bright limit of the speed of a motor vehicle, secretly do not limit---the speed limit facility that the installing user is easy to dismantle voluntarily, the actual maximum speed of some Electrical Bicycles very easily causes traffic accident unexpectedly up to more than the 40Km/h.This has become some regional traffic control departments and has made one of Consideration of forbidden battery-driven car decision-making, and is very unfavorable to the sound development of battery-driven car industry.
At present, though pure power-assisted electric vehicle has very big advantage, its production development still mainly is subjected to scrunching the expensive restriction of torque sensor.Owing to scrunch the with high content of technology of torque sensor observing and controlling part, complicated in mechanical structure, the manufacturing process difficulty is big, thereby causes the overall price of sensor and battery-driven car all to be significantly higher than the common electrical ejector half, is unfavorable for promoting the use of in China and developing country's large tracts of land.Another shortcoming that scrunches torque sensor that is installed on Electrical Bicycle axis place is: the people's that rides the power that scrunches is not constant, and two dead points and two maxims were arranged in a week of pedal crank---scrunch power or scrunch the fluctuating that torque presents nearly sine or half-sinusoid shape.Existing electric power-assisted drive controlling pattern great majority are to simulate the output torque of this curve with the control motor fully, thereby cause the speed of a motor vehicle and acceleration/accel very inhomogeneous.From " on the microcosmic ", car load reality is quivered with awave speed and is advanced, and this pulsation has reduced comfort level and the stationarity that the people that rides drives to a certain extent.In addition, also with the cycle identical with dtc signal, similar waveform, change significantly pro rata, this will cause the deterioration of motor drive efficiency, the reduction of energy conversion efficiency and the increase of power consumption to controller according to the electric current that scrunches dtc signal control.Japanese Patent JP2004-314753 promptly is recently for reducing one of effort that above-mentioned shortcoming does example.
In addition, scrunch some designs of torque sensor itself or the defective in the manufacturing and also have influence on its in-use performance to a certain extent.For example: be subjected to the elastic element of sensor employing and the restriction of installation method, its torque range is big inadequately, the linearity is good inadequately; Some electro-optical pickoff Keep away from rain water and dust are invaded, be difficult to clean and service life low etc.
In recent years, some had appearred merely to scrunch " the intelligent power-assisted electric vehicle " of the combination of tachogen and micro controller system on the China market.The controller architecture of this car is simple, and cost is low, and only to scrunch rotating speed as given signal control motor, reality only makes the speed of a motor vehicle follow the tracks of in proportion and scrunches rotating speed, non-true " 1+1 power-assisted ".To this, because unilateral propaganda, the misleading of some controller manufacturers (comprising part battery-driven car manufacturer), the customer usually for want of expertise also be difficult to know the inside story, cause car load can't bring into play the good performance of riding: this car owing to can not the extract people that rides scrunches torque under different road conditions, thereby under the road conditions of climbing and contour riding resistance against the wind, the low speed of a motor vehicle, what scrunch the corresponding output of tachogen can only be low speed signal, thus 1: 1 high-power power-assisted that electric force aid system is provided should export.Therefore the effort that causes riding can't realize the power-assisted effect of true 1+1.
In addition,, some boosted vehicles scrunch force gauge though being equipped with, and bad because of its sensor technology performance, also can't realize the assist function of real 1+1.For example, the sensor that has has used the principle that detects the upper and lower displacement that scrunches power effect lower chain, and very little because of its linear scaling work area that scrunches power-displacement, uncertainty is very big, reasons such as inevitably shake in addition, chain are loosening also can't realize good power-assisted effect.The sensor that also has is for example turned round axle---strain gage, owing to used insecure running contact signal to draw measurement technique, output signal is very little and anti-interference resistance is poor, the outdoor bad working environments when being difficult to adapt to vehicle ' in addition, thereby the life-span is low, and product lacks survivability.Reality is withdrawn from the market at present.
A kind of Electrical Bicycle that uses acceleration pick-up is disclosed among Japanese Patent JP8258782 and the Chinese patent ZL96103741.5, the traditional single-axis acceleration sensors of the only single employing of this patent is measured the acceleration/accel in riding, and only controls the electric power that electric assistant drive system makes its output corresponding proportion in view of the above; Its control policy is: when acceleration/accel is zero---be that sensor is not measured under the situation of acceleration/accel, stop motor output, cut off electric power-assisted.Its defective is: even this scheme reckons without acceleration/accel is zero, and electric assistant drive system also should be output as and overcome tire---the respective electrical power that ground-surface rolling resistance and frontal resistance are required.Otherwise, not only will cause the interrupted of the process of riding, also because of can not determine the required suitable electric assistive drive power of riding be difficult to guarantee to ride people's light comfortable riding.Particularly this scheme can not be measured road surface bevelled road conditions such as also reckoning without climbing, and the sliding force during climbing will produce deceleration/decel-low speed of a motor vehicle; Otherwise the sliding force during descending will produce acceleration/accel; If according to the level land ride the controller strategy---acceleration/accel electric auxiliary power big more, that provide is big more, will obtain wrong result and may cause serious consequence.Owing to these reasons, this scheme is difficult to obtain comprehensive, good 1+1 power-assisted effect equally.
Recently, Japanese Patent JP2004-322809 discloses another and has used the electric assisted bicycle of acceleration pick-up.Though this patent use acceleration pick-up is measured acceleration/accel and inclination angle in riding, but for determining that the required electric assistive drive power of power-assisted still mainly based on the test result that scrunches torque sensor that adopts, scrunches the core sensor that torque sensor is still this electric assisted bicycle.It is in addition level and smooth that this patent adopts low-pass filter will scrunch the output signal of torque sensor, and this also is foregoing because of scrunching torque sensor output signal one of another effort that the shortcoming brought done the recently example of pulsing significantly for reducing.Its shortcoming of technical scheme that this patent proposes is: not only fail to omit and scrunch torque sensor, increased acceleration/accel and vibration sensor on the contrary again, the general electric assisted bicycle of its manufacturing cost is higher.
Purpose of the present invention
The objective of the invention is to overcome above-mentioned the deficiencies in the prior art, though do not use present performance better, but what structure was complicated, the manufacturing process difficulty is big, cost is high is the main 1+1 power-assisted testing and control project that constitutes by scrunching torque sensor, do not use yet critical defect, separately by single-axis acceleration sensors or scrunch the observation and control technology scheme that tachogen constitutes.
The present invention will be according to the power-assisted principle of land vehicle theory and battery-driven car, a kind of brand new is proposed, based on RM---the road conditions determination techniques, do not detect the power of scrunching/scrunch torque yet can realize the power-assisted observation and control technology scheme of 1+1: by select low cost, be easy to stock production and assembling, novel sensor that structural behaviour is more advanced is as core sensor, is aided with the torque sensor that scrunches that conventional sensor etc. makes up to substitute high price; Propose new control policy simultaneously: the minimum sensor of usage quantity but can be measured multiple parameters, and can obtain to scrunch the same or more good 1+1 power-assisted effect of torque sensor with using, and then form complete series according to new detection, control, power-assisted principle---comprise from simple and easy to the luxurious all kinds, can adapt to desirable electric/morpet, three-wheel vehicle and the multipotency source/hybrid electrical/boosted vehicle and the controller of a brand-new generation of the different users' of stratum individual demand.
Technical scheme of the present invention
By new observation and control technology scheme of the present invention, it is characterized in that: use novel sensor to detect road conditions at any time, comprise rolling, climbing and frontal resistance when riding, detect vehicle condition simultaneously, the actual resistance due to acceleration that adds, forms when subtracting the speed of a motor vehicle of the people that promptly rides also carries out comprehensive treatment, calculate the required gross horsepower of riding, and then determine to realize the required supply current of 1+1 power-assisted, via controller provides and the proportional motor-driven power of manpower driving power again.According to the present invention, desirable other power-assisted ratios can be provided according to the people's that rides wish, also can switch to traditional electric-only mode by the mode of operation select switch, become the Electrical Bicycle of power-assisted/electronic double control-type, to adapt to the individual demand of different customers according to the people's that rides wish.
Technical characterictic of the present invention is: the novel core sensor of selecting for the sensing road condition change is based on advanced micromechanics MEMS technology, adopts the advanced integrated circuit technology manufacturing of continuous develop rapidly, but sense acceleration, also can detect the inclination angle, have twin shaft or three low g value, the new single chip micro-acceleration sensor of ultra-low noise, sensor is preferably based on the type of principle of work such as electric capacity or hot gas group.This sensor has highly reliable, and the advantage of micro-miniaturisation though the manufacturing process difficulty is also big, technology maturation, is produced in enormous quantities, and price is still progressively reducing, and has reached the acceptable level that uses on the small-sized electric car product at present.
Another feature of the present invention is: only use this sensor, its output signal makes up and calculation process by mode of the present invention,---road conditions/vehicle condition parameter: the acceleration/accel---resistance due to acceleration that can detect multinomial riding simultaneously, slide---braking deceleration, road gradient/inclination angle---grade resistance, road roughness---ride coefficient of rolling resistance and resistance, the speed of a motor vehicle and the travelled distance/distance of riding, and send that the Parking car body is moved or by stolen, or the alerting signal of being tumbled by wind or being knocked over etc., really realize multi-functional target cheaply again.
By the present invention, its feature also is, needs and above-mentioned monolithic multiaxis acceleration/accel---the combination of inclination angle core sensor, the parallel aiding sensors that uses also have conventional voltage, current sensor.Voltage, current sensor are used for still that conventional battery is under-voltage, motor is protected with overcurrent protection, the driving of controller and torque control etc.Though the output signal by acceleration pick-up can obtain vehicle speed signal through integration, for reducing the computing work capacity of micro controller system, improve its processing capability in real time, also can adorn independent car speed sensor in addition or scrunch tachogen.This is that the repeatedly cumulative errors when calculating the speed of a motor vehicle often can produce sizable deviation because the actual acceleration/accel or the speed of a motor vehicle of riding middle car body can often continuously change.Press this programme,, must propose very high requirement to the operational precision of micro controller system or the precision of IC hardware integrator, thereby improve manufacturing cost greatly for overcoming this shortcoming.According to the present invention, directly measure the speed of a motor vehicle with car speed sensor and can effectively overcome above-mentioned shortcoming.Consider that battery-driven car is civilian goods, according to the present invention, the above-mentioned aiding sensors of selecting for use is all with low cost, can reach the effect of the overall manufacturing cost of remarkable reduction car load.
By the present invention, its feature is that also according to measured parameters, host scm is by judging vehicle condition exactly according to selected criterion in the diagnostic program, for example: by the symbol decision level land that has that it's too late, climbing or the descending at inclination angle; By the symbol decision that has that it's too late of acceleration/accel at the uniform velocity, quicken or slow down; Determine selected mode of operation by the positions/conditions of mode of operation select switch: power-assisted, electronic, constant speed (cruise---automatic steering) or self check (trouble diagnosing) etc.; By the speed of a motor vehicle, step on each signal such as speed, voltage, electric current and brake have or not, change and size is judged startup, speed governing, constant speed, is slided, counter filling or mode of operation such as drag; And operation is normal, et out of order (for example outage or driving are out of control) and vehicle conditions such as under-voltage, overcurrent or hypervelocity.According to vehicle condition and road conditions, micro controller system follow procedure flow process enters the respective handling subprogram, and output signals such as computing, control, demonstration, voice suggestion or warning are provided.
Though the present invention still is based on the determined power-assisted principle of definition of " ratio that 1: 1 power-assisted means manpower driving power and motor-driven power ", realizes that power-assisted method is different fully with prior art.Prior art adopts and scrunches torque sensor as core sensor, and measuring essence is a manpower input driving power.By the present invention, it is characterized in that being that observing and controlling strategy by new is handled: adopt monolithic multiaxis acceleration pick-up as core sensor, or again with the auxiliary speed of a motor vehicle, step on sensor combinations such as speed, measuring essence is by car load horsepower output required under the road conditions of riding/vehicle condition condition.Then, the cooperation of aiding sensors such as the voltage by routine, electric current, the micro controller system stronger by function carries out calculation process, calculate in real time realize the 1+1 power-assisted required, with the proportional electric assistive drive power of manpower input driving power, thereby obtain and the given signal of the proportional electric current of motor-driven power, the corresponding real-time control motor of signal via controller/actuator thus can be realized the 1+1 power-assisted again.By the present invention's being chosen as other aiding sensors: voltage, current sensor still are popular usually direct current resistance partial pressure type and the metallic resistor formula of taking a sample; Car speed sensor can be with normally used magnet steel on the present battery-driven car---Hall-type noncontact pulse transducer.Also can further select substitute to use the scheme of car speed sensor: without car speed sensor, vehicle speed signal is directly extracted in the commutation signal voltage by the ripple component of brush direct current motor armature voltage or dc brushless motor.
By the present invention, its feature also is: be different from the common electric boosted vehicle, for the luxurious Moped Scooter of top grade, the present invention is an air velocity transducer for another auxiliary novel sensor that the sensing road condition change increases, this sensor can be small-sized impeller, blast plate, thermally dependent resistor, hot-bulb or hot line and hot line---one of thermocouple, small IC kinetic pressure and flow sensor or the like, its output signal corresponding to the situation of facining the wind (comprise from the wind through calm to against the wind, cooresponding with it frontal resistance serve as reasons negative to just or by little to big), be used to determine the windage of riding.In addition, the aiding sensors that high-grade Moped Scooter uses also can increase load (load-carrying) sensor and tire pressure sensing, can carry out more accurate correction to vehicle condition and road conditions automatically by load and tire pressure, to determine power-assisted ratio preferably.More high-grade luxurious electronic/boosted vehicle also can further install GPS global location---warning additional, in the hope of further improving the antitheft and safety of car load.Can form the highly reliable power-assisted of brand-new series that is fit to different customer personalized demands or electronic---power-assisted two control battery-driven car and multipotency source/hybrid electrical cars by the above-mentioned sensor combinations of selecting for use.
By the present invention, its feature also is: by observing and controlling New Policy of the present invention, the road conditions parameter adopts new test method, low frequency range (≤10---50Hz) definite automatically tire of the test result of amplitude---coefficient of rolling resistance between ground of the vertical acceleration component of the monolithic multiaxis acceleration pick-up mensuration that can be adopted by the present invention for condition of road surface (from smooth asphalt surface to sandstone or muddy road surface and riding resistance by little to big corresponding).When do not adopt by the multiaxis acceleration pick-up measure vertical acceleration component determine coefficient of rolling resistance, when not adopting air velocity transducer to measure windage yet, the selectable reduction procedure that substitutes in addition is: coefficient of rolling resistance and windage all can by the bicyclist according to actual road conditions (road surface: good, generally, earth, sandstone, mire; Wind-force: calm, gentle breeze, little wind, strong wind, high wind; Wind direction: with the wind, against the wind) carries out manual regulation; The parts of manual shift can be: but but the digital regulation resistance of the self-locking from the sliding potential device of the simplest straight line to complexity, band LED alignment demonstration and lifting button self-locking, also but with the linear Hall voltage regulator of auto-lock function.Regulate position component and can be placed in the convenient position of regulating of bicyclist, for example near the handlebar grips cover of handlebar.The output signal size of regulating parts and condition of road surface quality or wind direction and wind-force size are corresponding down with the wind.
By the present invention, its feature also is: the installation of core sensor with the signal combination mode is: the plane, place of the X-axis of diaxon miniature acceleration sensor and Y-axis perpendicular to ground level and with the parallel or coplane of front and back wheel longitudinal plane of symmetry of boosted vehicle car body, X-axis and Y-axis to gravity vertical (gravity vertical) become ± 45 ° of symmetries and direction are upwards, position by the fine setting sensor element can make it at car body level, output signal equal and opposite in direction when static, opposite in sign.The X-axis of three miniature acceleration sensors and the installation site of Y-axis be with two axle sensors, and the position of Z axle is a level and perpendicular to the front and back wheel longitudinal plane of symmetry of boosted vehicle car body.The acceleration pick-up parts can be installed on the optional position of vehicle body, can consider preferentially to be installed on the barycenter place at vehicle body, and promptly the standpipe place below saddle also can be installed in the controller.The shell that the acceleration pick-up parts are installed be provided with setting angle the fine setting hole and with the latching device of car body.Auxiliary car speed sensor can be installed on front-wheel and front fork or trailing wheel and back vent or chain stay place all can, preferentially be installed in front-wheel and front fork place.Auxiliary air velocity transducer can be installed in the special-purpose breather port or pipeline of handlebar center, also can combine, and require near the layout in front and back of air velocity transducer should make other parts not hinder the airiness of flowing through wind speed end instr place with the shell that the instrument display panel is installed.
By the present invention, its feature also is, need to carry out combinatorial operation by host scm to each signal of sensor and handle, its concrete grammar is: the normal component z (perpendicular to the road surface) that is obtained horizontal component a (being parallel to the road surface), road gradient or the inclination alpha and the acceleration/accel of its acceleration/accel by the output signal of the X-axis of acceleration pick-up and Y-axis through micro controller system exclusive disjunction circuit earlier; Calculation Method is a vector method.Near and continue to calculate and obtain coefficient of rolling resistance f (or replace by the given signal of f that artificial road conditions regulating control is sent here) and further calculate the total drag value of riding:
F＝mg(fCosα+a/g+Sinα)+Fw
In the formula, m is load total mass (the quality summation of car body and ride people and object to be carried), and g is an acceleration due to gravity, and Fw is a frontal resistance.Then, calculate vehicle velocity V (or the signal V that is directly sent here by car speed sensor replaces) by the horizontal component a of acceleration/accel through integrating meter again, the ratio that further calculates send as an envoy to manpower and the driving power of electric power again is that the required electric current given value that should provide is provided 1: 1 o'clock electricity assistant drive system:
I＝V[mg(fCosα+a/g+Sinα)+Fw]/(K+1)Uη
In the formula, the cell pressure of U for going out through voltage sensor senses; Selected motor---the combined efficiency of control group of η for measuring in advance is the function of the total drag F that rides; K is a coefficient---be the function of vehicle velocity V, K=1/ ζ.ζ is the power-assisted ratio, to the standard assistant mode, and ζ=1-(V-15)/9.
The result of following formula calculating delivers to controller as the required electric current given value definite according to the road conditions measurement result, deliver to direct current or three-phase alternating current PWM (pulse width modulator) driving circuit after the signal Id that sends here with current sensor subtracts each other again with PI or PID closed loop control, adaptive control, fuzzy control or other motors of master mode control efficiently, can make DC brush or brushless motor export the motor-driven power that scrunches power corresponding to manpower, make both become 1: 1 or other power-assisted ratiometric linear functional relation.
The relative wind velocity signal W that facings the wind that the air velocity transducer that uses as for luxury power-assisted/battery-driven car is measured, then be used to calculate windage Fw: after W square, multiply each other and to draw with air resistance coefficient Kw again by micro controller system, this windage can be used for proofreading and correct more accurately total driving power required under the corresponding road conditions, with make its with the wind or the power-assisted effect under strong against the wind the road conditions better.Be cost-cutting manual replacement scheme then as described above.For the simple electric car, all right reduction procedure is similar to the fixed numbers windage of input corresponding to general wind-force, in the hope of further reducing the car load total manufacturing cost.
Scrunch in use under the situation of tachogen, Calculation Method and above-mentioned formula are similar, but result calculated is the average required moment that scrunches.The corresponding signal of result of calculation therewith directly can be sent into present general-duty 1+1 moment-assistant controller, can obtain and the same or more good effect of using at present of riding of the boosted vehicle that scrunches torque sensor.The shortcoming of this scheme is to need to use one in addition to scrunch tachogen, and only its manufacturing cost slightly increases.
Each signal of sensor will be sent into the micro controller system corresponding interface according to its signal characteristic (analog or digital); The output signal of micro controller system can be the analog or digital signal, can directly or by the motor special control chip control motor, and this class technology is owing to belonging to known technology, so no longer describe in detail.
By the present invention, its feature also is with control group car is arranged---the inertia energy feedback/regeneration when sliding of robot system summation quality---reverse charge/electric braking control part: what its reverse charge/electric braking control technology was used is the authorized basic patent technology of present inventor: " the automobile-used electric controller that recharges of ZL00231334.0 Electrical Bicycle/electric motorcycle ".By the present invention, controllability with reverse charge electric current (being electric braking) with brushless brush motor all is suitable for the great advantage that is to use this patent, also be with present world patent in disclosed similar energy feedback/regeneration---the key distinction of reverse charge/electric braking control technology.Because controlled current, it is also advantageous in that the possibility of not damaging battery.Compare with the similar technology of no special-purpose reverse charge part, its weak point only cost is high slightly.In addition, realize controllability method and with have reverse charge/the different of electric braking control technology now and be: the control of reverse charge/electric braking should be used the new brake handle that has the brake lever position-detection sensor.By new brake handle of the present invention, its inside be equipped with a pair of same polarity relatively, can move nd-fe-b permanent-magnet steel that (commentariess on classics) moved with brake lever is coaxial, be equiped with the linear hall element of a fixed position between two magnet steel, the output signal size of this Hall element is decided by the brake lever position, can represent the degree or the wish of ride people's brake/deceleration or electric braking.This output signal is delivered to above-mentioned reverse charge/electric braking control part, can become suitably reverse charge---the electric braking electric current of size with sliding transformation of energy, and then can be according to the people's that rides wish control electric braking intensity and braking deceleration, corresponding change coasting distance.
By the present invention, its feature also is: the battery dump energy shows signal is for obtaining the output signal of current sensor as calculated after to time integral by micro controller system again.Integral result is power consumption, and the difference of this result and capacity of cell is a dump energy.This is more accurate than at present popular voltage measurement method, and is lower than cost with reserve battery IC chip method.Telltale also can be measured the speed of a motor vehicle and mileage, the obtaining as described above of vehicle speed signal, and the mileage signal is then obtained through integration or counting by vehicle speed signal.Because these shows signal acquisition processs are succinct, need not to increase too much hardware circuit, can make instrument display board circuit designs simplification, cost reduces.Also comprise on the instrument display panel: the mode of operation select switch, can select power-assisted, electronic, constant speed, Auto-Sensing Mode by thin-film switch.When Auto-Sensing Mode, the people that rides can a/s mode handles the tested parts of battery-driven car successively, is detected and is determined its quality by micro controller system.By the present invention, the measurement of instrument display panel, demonstration work can be carried out under the Single-chip Controlling of low price, this micro controller system can and host scm between communicate through serial communication port.Because this also belongs to known technology, so repeat no more.
By the present invention, its feature also is: the multipotency source means except that storage battery, also can increase small-sized oil and gas motor/generator, also comprises super capacitor etc.Double dynamical finger also can increase small-sized oil and gas driving engine except that electrical motor.
Figure one is the lateral plan by the routine power-assisted/electronic double-cotrolled type Electrical Bicycle of one of the present invention.Among the figure, 1 is front-wheel, and 2 is front fork, 3 is car speed sensor, 4 is vehicle frame, 5 instrument display panels for band headlight and air velocity transducer, and 6 is handlebar, 7 is charged braking---the brake handle of reverse charge control, 8 is speed control crank, and 9 for being with the axis of stepping on speed sensors, and 10 is chain wheel cover and hinge wheel, 11 is chain, 12 be that position, inner pcb board angle is fine-tuning, the detection part of built-in acceleration pick-up etc., 13 is saddle, 14 is battery, 15 is shelf, 16 is trailing wheel, and 17 is wheel hub motor, and 18 is the car ladder, 19 is flywheel, and 20 is controller.
Figure two is the inner structure scheme drawing of the detection part of circuit such as fine-tuning, built-in acceleration pick-up in position, inner pcb board angle and signal condition.Among the figure, 21 is single chip microcomputer tool MEMS diaxon or 3-axis acceleration sensor, and 22 are fine setting telescoping inner nut, and 23 is captive nut, and 24 is hinge screws, and 25 is pin, and 26 is connecting rod, and 27 is shell, and 28 is pcb board, and 29 is rotary middle spindle, and 30 is fixing hoop.
Figure three is an example of the electric functional block diagram of controller and detection part part.Among the figure, 31 is single chip microcomputer tool MEMS diaxon or 3-axis acceleration sensor, and wherein Ax, Ay, Az are respectively the output signal after filter amplifying processing of its X, Y, Z axle; 32 is the low-pass filter group, and 33 is signal conditioning circuit, and 34 are the divider as voltage sensor, and U is a voltage sampling signal; 35 are the big electric current " diverter " (metallic resistor) as current sensor, and I is a current sampling signal; 36 is the speed control crank sensor, and Um is the given signal of speed governing, and 37 for braking the electric braking sensor, and Ub is the given signal of electric braking (reverse charge), and 38 is car speed sensor, and V is a vehicle speed signal; 39 for scrunching tachogen, and Vm is for stepping on fast signal; 40 for braking brake switch, and Ub0 is the braking ct-off signal; 41 is air velocity transducer, and W is a wind velocity signal; 42 is the High Performance one-chip computer, 43 low-pass filters, and 44 is the brushless motor control chip; 45 is DC permanent magnet hub-type brushless motor; 46 is reverse charge/electric braking control part; 47 is the instrument display panel; 48 is the mode of operation selector button, and 49 is switch lock; 50 is battery; 51 is fuse; 52 is the driving fender guard, and 53 is direct current stabilizer, and 54 is phaselocking frequency multiplier.
Figure four is for to have the brake of brake lever position-detection sensor the principle sketch.Among the figure, 55 for braking body, and 56 are the brake handgrip, and 57 is BK Brake Switch, and 58 is linear magnetosensitive Hall element, and 59 is the relative magnet steel of a pair of polarity.
Figure five is the schematic appearance of the instrument display panel of an example band air velocity transducer.Among the figure, 60 is the small impeller air velocity transducer, 61 upper casings for the band air channel, and 62 is lower casing, 63 are handlebar installation clip, 64 panels for the band thin-film switch, and 65 is that dump energy shows, 66 is that the speed of a motor vehicle shows, 67 for mileage shows that 68 is the mode of operation selection key, and 69 is the mode of operation indicator lamp.
Figure six is the structure diagram of load cell.Among the figure, 70 are following frame plate, and 71 is the magnet steel sleeve pipe, 72 is cable, and 73 is sensor holder, and 74 is the linear Hall end instr, 75 is lower casing, and 76 is sleeve pipe, and 77 and 84 is the relative magnet steel of a pair of polarity, 78 is upper casing, and 79 is hinge screws, and 80 is screw, 81 is last frame plate, and 82 is last shell block, and 83 is pin, 85 is saddle, and 86 is saddle spring.
Figure seven is the dimension sketch of the parts of manual shift.Among the figure, 87 for condition of road surface is provided with button, and 88 for the wind-force size is provided with button, and 89 for condition of road surface is provided with indicator lamp, and 90 for the wind-force size is provided with indicator lamp, and 91 for wind direction is provided with button, and 92 is wind direction indicator lights.
Below in conjunction with accompanying drawing the specific embodiment of the present invention is further described.
With reference to accompanying drawing one, include manpower drive part and electric assistive drive part by power-assisted/Electrical Bicycle of the present invention/three-wheel vehicle and multipotency source/hybrid electrical/boosted vehicle, manpower drive part and ordinary bicycle/three-wheel vehicle and Electrical Bicycle/three-wheel vehicle do not have essential distinction, particularly include pedal, sprocket wheel, chain, flywheel or also have mechanical transmission part etc. to realize that manpower drives the essential basic element of character; The driven by power part does not have significant difference with common electric bicycle/three-wheel vehicle yet, all has storage battery, motor, controller, electric brake lever etc. and realizes the essential essential part of electric assistive drive.Mainly be to have replaced fully with the significant difference of 1+1 power-assisted electric vehicle and scrunch torque sensor with novel core single-sheet miniature multiaxis acceleration pick-up.Thereby, it is conspicuous implementing main advantages of the present invention: not only overcome traditional torque sensor output signal that scrunches and changed the speed of a motor vehicle of bringing and the comfort level that acceleration/accel is very inhomogeneous, the people that rides drives and stationarity reduction in time significantly, and the electric current of controller changes the defective of the increase of the reduction of the deterioration that causes motor drive efficiency, energy conversion efficiency and power consumption significantly; With high content of technology, the manufacturing process difficulty is big, cost the is high shortcoming of observing and controlling part have also been overcome owing to scrunch the torque sensor complicated in mechanical structure.By new solution of the present invention, because the electronic degree of major part scrunches the assistance type of torque sensor far above use, thereby be easy to produce in enormous quantities, be easy to assembling adjustment, cost is also low, and increases with production lot, still has bigger further room for price-cut.In addition, ride smoothly, high cost performance is arranged, also be easy to be combined to form the complete series novel electric vehicle, can adapt to different customers' individual demand by Moped Scooter perfect in shape and function of the present invention, function admirable, power-assisted.
Claims (9)
1, a kind of small-sized electric/boosted vehicle, particularly electronic/morpet/three-wheel vehicle, and multipotency source/hybrid electrical bicycle/boosted vehicle and controller and sensor thereof, include manpower drive part and electric assistive drive part, the manpower drive part comprises pedal, sprocket wheel, chain, flywheel or also has mechanical transmission part etc. to realize that manpower drives the essential basic element of character; Driven by power partly has storage battery, motor, controller, electric brake lever etc. and realizes the essential basic element of character of electric assistive drive, also comprises the instrument display panel; It is characterized in that with single-sheet miniature multiaxis acceleration pick-up be core sensor, and with voltage, electric current, the speed of a motor vehicle or step on speed sensors in addition and air velocity transducer is an aiding sensors, replace the torque sensor that scrunches of existing 1+1 power-assisted electric vehicle; Realize that the 1+1 power-assisted is based on RM---the new mode of road conditions determination techniques: calculate level and vertical acceleration, deceleration degree and the gradient/inclination angle by High Performance, low price micro controller system by vector method with the multiaxis acceleration pick-up, then calculate road conditions and vehicle condition parameter, comprise rolling, climbing and frontal resistance, the resistance due to acceleration when riding and carry out comprehensive treatment, continue to calculate ride required gross horsepower and definite required supply current of 1+1 power-assisted of realizing by micro controller system again, back via controller provides and the proportional motor-driven power of manpower driving power;---the inertia energy feedback/regeneration when sliding of the robot system summation quality---reverse charge/electric braking control part that the controlled car of reverse charge electric current (being electric braking) arranged with control group; The people that rides selects mode of operation by select switch, also can select other power-assisteds ratios to adapt to the individual demand of different customers; Send that Parking car body is moved or by alerting signal stolen, that tumbled by wind or knocked over etc. according to the variation of cross dip; The aiding sensors increase that high-grade electronic/boosted vehicle uses has load (load-carrying) sensor, also can increase tire pressure sensing, to determine power-assisted ratio preferably.Luxurious electronic/boosted vehicle can install GPS global location---warning additional, to improve the antitheft and safety of car load.
2, according to claim 1, it is characterized in that core sensor is based on advanced micromechanics MEMS technology, adopts the integrated circuit technology manufacturing, but sense acceleration, also can detect the inclination angle, have twin shaft or three low g value, the new single chip micro-acceleration sensor of ultra-low noise, sensor is preferably based on the type of principle of work such as electric capacity or hot gas group; Installation/signal combination the mode of core two axle acceleration sensors that use is: the plane, place of X-axis and Y-axis perpendicular to ground level and with the parallel or coplane of front and back wheel longitudinal plane of symmetry of boosted vehicle car body, X-axis and Y-axis to gravity vertical (gravity vertical) become ± 45 ° of symmetries and direction are upwards, position by the fine setting sensor element can make it at car body level, output signal equal and opposite in direction when static, opposite in sign; When using three miniature acceleration sensors, same two axle sensors in the installation site of X-axis and Y-axis, the position of Z axle is a level and perpendicular to the front and back wheel longitudinal plane of symmetry of boosted vehicle car body; The acceleration pick-up parts can be installed on the optional position of vehicle body, can consider preferentially to be installed on the barycenter place at vehicle body, and promptly the standpipe place below saddle also can be installed in the controller; The shell that the acceleration pick-up parts are installed be provided with the acceleration pick-up setting angle the fine setting hole and with the latching device of car body, the position, angle that its inside is equipped with the pcb board of detection parts such as acceleration pick-up and signal conditioning circuit can lock after finely tuning the part adjustment; Voltage, current sensor are direct current resistance partial pressure type and metallic resistor sampling formula in the aiding sensors; Auxiliary car speed sensor is a magnet steel---Hall-type noncontact pulse transducer, car speed sensor can be installed on front-wheel and front fork or trailing wheel and back vent or chain stay place all can, preferentially be installed in front-wheel and front fork place; Auxiliary air velocity transducer can be small-sized impeller, blast plate, thermally dependent resistor, hot-bulb, hot line, hot line---one of thermocouple, small IC kinetic pressure and flow sensor etc.; Air velocity transducer preferentially is installed in the special-purpose breather port or pipeline of handlebar center, also can combine with the shell that the instrument display panel is installed, near the layout the front and back of air velocity transducer is: make other parts not hinder the airiness of flowing through wind speed end instr place; Substituting the another program use car speed sensor directly extracts in the commutation signal voltage by the ripple component of brush direct current motor armature voltage or dc brushless motor as vehicle speed signal; Load cell preferentially is installed in the saddle, in shock-absorbing is pitched before or after also can being installed on; The load cell that is installed in the saddle is fixed between the upper and lower frame plate, and upper and lower frame plate is fixed on a pair of saddle spring at saddle rear portion; Load cell is by the tubular distance piece between the relative magnet steel of last shell block, upper casing, hinge screws, magnet steel sleeve pipe, a pair of polarity, linear Hall end instr, sensor holder, magnet steel between the magnet steel, lower casing, compositions such as following frame plate and cable; The hinge that is connected to one of between last shell block and upper casing or lower casing and following frame plate is connected.
3, according to claim 1, it is characterized in that host scm by measured parameters by judging vehicle condition according to criterion in the diagnosis program: by the symbol decision level land that has that it's too late, climbing or the descending of vertical inclination angle; By the symbol decision that has that it's too late of acceleration/accel at the uniform velocity, quicken or slow down; Judge the selected mode of operation of people of riding by the positions/conditions of mode of operation select switch: power-assisted, electronic, constant speed (cruise---automatic steering) or self check (trouble diagnosing); By the speed of a motor vehicle, step on having or not, change and mode of operations such as size is judged startup, speed governing, constant speed, slided, counter filling/electric braking or drag of each signal such as speed, voltage, electric current and brake; And operation is normal, et out of order (for example outage or driving are out of control) and vehicle conditions such as under-voltage, overcurrent or hypervelocity; According to vehicle condition and road conditions, output signal such as micro controller system follow procedure flow process is carried out computing, control is provided, demonstration, voice suggestion or warning; The road conditions parameter adopts new test method, for condition of road surface (from smooth asphalt surface to sandstone or muddy road surface and riding resistance by little to big corresponding) employing by the low frequency range of the vertical acceleration component of monolithic multiaxis acceleration pick-up mensuration (≤10--50Hz) test result of amplitude is determined tire---the coefficient of rolling resistance between ground; It is characterized in that micro controller system carries out combinatorial operation to each signal of sensor and handles, its concrete grammar is:
The total drag value of riding:
F＝mg(fCosα+a/g+Sinα)+Fw
In the formula, m is load total mass (the quality summation of car body and ride people and loading), and g is an acceleration due to gravity, and α is the inclination angle, and a is an acceleration/accel, and Fw is a frontal resistance.Then, directly the signal V that is sent here by car speed sensor measures the speed of a motor vehicle, also can calculate vehicle velocity V through integrating meter by the horizontal component a of acceleration/accel;
The required electric current given value that should provide is provided the electricity assistant drive system:
I＝V[mg(fCosα+a/g+Sinα)+Fw]/(K+1)Uη
In the formula, the cell pressure of U for going out through voltage sensor senses; η is selected motor---the combined efficiency of control group measured in advance, is the function of total drag F of riding; K is a coefficient---be the function of vehicle velocity V, K=1/ ζ; ζ is the power-assisted ratio, to the standard assistant mode, and ζ=1-(V-15)/9;
Result of calculation is delivered to controller as the required electric current given value definite according to the road conditions measurement result, deliver to after the signal Id that sends here with current sensor subtracts each other again direct current or three-phase alternating current PWM (pulse width modulator) driving circuit with PI or PID closed loop control, adaptive control, fuzzy control or other efficiently master mode control motor; The relative wind velocity signal W that facings the wind that air velocity transducer is measured is used to calculate frontal resistance (windage) Fw; Method of calculating is: multiply each other with air resistance coefficient Kw after W square by micro controller system again; For the simple electric car, also can be without air velocity transducer, and be similar to the fixed numbers windage of input corresponding to general wind-force.
4, according to claim 1, it is characterized in that scheme to simplification of the present invention, coefficient of rolling resistance and windage can be regulated setting manually according to condition of road surface and wind-force; The parts of manual shift can be: but the self-locking from the sliding potential device of the simplest straight line to complexity, band LED alignment demonstration and lifting button, retainable digital regulation resistance, also but with the linear Hall voltage regulator of auto-lock function.Regulate position component and can be placed in the convenient position of regulating of bicyclist, for example near the handlebar grips cover of handlebar; The parts of manual shift comprise that condition of road surface and wind-force size are provided with button, and condition of road surface and wind-force size are provided with indicator lamp.
5, according to claim 1, it is characterized in that scrunching under the situation of tachogen in use, Calculation Method and above-mentioned formula are similar, but result calculated is the average required moment that scrunches; The corresponding signal of result of calculation therewith directly can be sent into present general-duty 1+1 moment-assistant controller.
6, according to claim 1, it is characterized in that the method that realizes reverse charge electric current (being electric braking) controllability is: the control of reverse charge/electric braking should be used the new brake handle that has the brake lever position-detection sensor; New brake inside be equipped with a pair of same polarity relatively, can move nd-fe-b permanent-magnet steel that (commentariess on classics) moved with brake lever is coaxial, be equiped with the linear hall element of a fixed position between two magnet steel, the output signal size of this Hall element is decided by the brake lever position.
7,, it is characterized in that the battery dump energy shows signal is for obtaining the output signal of current sensor as calculated after to time integral by micro controller system again according to claim 1.Integral result is power consumption, and the difference of this result and capacity of cell is a dump energy.
8,, it is characterized in that also comprising on the instrument display panel according to claim 1: the mode of operation select switch of thin-film switch formula, can select power-assisted, electronic, constant speed, Auto-Sensing Mode; The measurement of instrument display panel, demonstration are controlled by the micro controller system of low price in addition, communicate through serial communication port between this micro controller system and host scm.
9, according to claim 1, it is characterized in that the multipotency source means can increase small-sized oil and gas motor/generator except that storage battery, also comprise super capacitor etc.; Double dynamical pointing out can increase small-sized oil and gas driving engine outside the electrical motor.
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