TWI557021B - Power assisted bicycle control method - Google Patents
Power assisted bicycle control method Download PDFInfo
- Publication number
- TWI557021B TWI557021B TW102113275A TW102113275A TWI557021B TW I557021 B TWI557021 B TW I557021B TW 102113275 A TW102113275 A TW 102113275A TW 102113275 A TW102113275 A TW 102113275A TW I557021 B TWI557021 B TW I557021B
- Authority
- TW
- Taiwan
- Prior art keywords
- pedaling force
- speed
- sensor
- value
- control method
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Description
本發明關於一種電助力自行車，尤指一種電助力自行車之助力控制方法。 The invention relates to an electric assist bicycle, in particular to a power assist control method for an electric assist bicycle.
一般來說，電助力自行車是根據騎乘者的踏力來決定馬達所欲輸出的動力大小，以減輕騎乘者的負擔。有關如何檢測踏力的先前技術有很多，例如德國公開第10201001755號專利案所揭露之電動自行車係利用壓力感測器檢測踩踏軸承在受到鏈條張力時所產生的壓力變化，再由控制單元將此壓力變化經過計算而獲得騎乘者的踩踏力矩；此外，日本公開第2012021783號專利案是藉由形變感測器檢測支撐栓蓋在曲柄軸受到鏈條張力作用時所產生的形變，再換算出踏力值的大小。 In general, an electric assist bicycle determines the amount of power that the motor desires to output according to the pedaling force of the rider to reduce the burden on the rider. There are many prior art techniques for detecting the pedaling force. For example, the electric bicycle disclosed in the German Patent Publication No. 10201001755 uses a pressure sensor to detect a pressure change generated when the pedal bearing is subjected to the tension of the chain, and then the pressure is controlled by the control unit. The variation is calculated to obtain the pedaling moment of the rider; in addition, Japanese Patent Publication No. 2012021783 detects deformation of the support bolt cover when the crankshaft is subjected to the chain tension by the deformation sensor, and then converts the pedaling force value. the size of.
然而，上述兩件專利案均是透過檢測鏈條的張力來換算出踏力的大小，並非直接對騎乘者的踏力進行檢測，因此在數據判讀上容易出現誤差，進而將影響馬達的助力輸出效果。 However, in the above two patent cases, the magnitude of the pedaling force is converted by detecting the tension of the chain, and the pedaling force of the rider is not directly detected. Therefore, errors in the data interpretation are likely to occur, which in turn affects the assist output effect of the motor.
本發明之主要目的在於提供一種電助力自行車之助力控制方法，其能直接感測踏力值的大小來控制中置馬達作動。 The main object of the present invention is to provide a power assist control method for an electric assist bicycle, which can directly sense the magnitude of the pedaling force value to control the operation of the center motor.
為了達成上述目的，本發明之助力控制方法先藉由一踏力感測器感測該電助力自行車之兩踏板所受到的踏力大小而發送一踏力感測訊號，同時再藉由一轉速感測器感測該電助力自行車之一中置馬達的輸出轉速而發送一轉速感測訊號，接著藉由一控制器電性連接該踏力感測器及該轉速感測器，使該控制器根據該踏力感測器之踏力感測訊號及該轉速感測器之轉速感測訊號而分別取得一踏力值及一轉速值，最後再藉由該控制器以該踏力值及該轉速值為參考依據而控制該中置馬達啟動或停止運轉，使該中置馬達提供助力輸出 或中斷助力輸出。 In order to achieve the above object, the power assist control method of the present invention first transmits a pedaling force sensing signal by sensing the magnitude of the pedaling force of the two pedals of the electric assist bicycle by a pedaling force sensor, and simultaneously adopts a speed sensor. Sensing the output speed of the central motor of the electric assist bicycle to send a speed sensing signal, and then electrically connecting the pedal force sensor and the speed sensor by a controller, so that the controller is based on the pedaling force The pedaling force sensing signal of the sensor and the speed sensing signal of the speed sensor respectively obtain a pedaling force value and a speed value, and finally, the controller controls the pedaling force value and the speed value as a reference basis. The center motor is started or stopped, so that the center motor provides a power assist output Or interrupt the boost output.
藉此，本發明之助力控制方法係直接針對該踏力值及該轉速值進行檢測，使該中置馬達能夠配合騎乘者本身之需求而達到即時啟動或斷電的效果。 Therefore, the power assist control method of the present invention directly detects the pedaling force value and the speed value, so that the center motor can meet the needs of the rider itself to achieve the effect of instant start or power off.
10‧‧‧中置馬達 10‧‧‧ center motor
12‧‧‧外殼 12‧‧‧ Shell
14‧‧‧踏板 14‧‧‧ pedal
16‧‧‧鏈條 16‧‧‧Chain
18‧‧‧曲柄軸 18‧‧‧ crankshaft
20‧‧‧踏力感測器 20‧‧‧ pedal force sensor
30‧‧‧轉速感測器 30‧‧‧Speed Sensor
40‧‧‧控制器 40‧‧‧ Controller
F‧‧‧踏力 F‧‧‧踏力
S1~S3‧‧‧步驟 S1~S3‧‧‧ steps
第1圖為本發明之結構示意圖。 Figure 1 is a schematic view showing the structure of the present invention.
第2圖為本發明之方塊圖。 Figure 2 is a block diagram of the present invention.
第3圖為本發明之流程圖。 Figure 3 is a flow chart of the present invention.
請參閱第1至3圖，本發明之助力控制方法包含有三個步驟S1~S3，流程如下： Referring to Figures 1 to 3, the power assist control method of the present invention comprises three steps S1 to S3, and the flow is as follows:
步驟S1：藉由一踏力感測器20感測電助力自行車之兩踏板14所受到的踏力大小而發送一踏力感測訊號，同時藉由一轉速感測器30感測電助力自行車之一中置馬達10的輸出轉速而發送一轉速感測訊號。 Step S1: Sending a pedaling force sensing signal by sensing the magnitude of the pedaling force of the two pedals 14 of the electric assist bicycle by a pedaling force sensor 20, and sensing one of the electric assist bicycles by a rotational speed sensor 30 A rotational speed sensing signal is transmitted by setting the output speed of the motor 10.
在此需要補充說明的是，踏力感測器20為一應變規且貼設於中置馬達10之一外殼12的表面，並位於曲柄軸18的正上方或其他適當位置，用以感測中置馬達10之外殼12在各踏板14受踏力時所連帶產生的變形；轉速感測器30在此可為一轉速電壓訊號產生器或一方波脈衝訊號產生器，用以測量通過中置馬達10之一轉子(圖中未示)的轉速電壓大小或方波脈衝頻率大小而感測中置馬達10的輸出轉速。 It should be additionally noted that the pedaling force sensor 20 is a strain gauge and is attached to the surface of one of the outer casings 12 of the center motor 10, and is located directly above the crankshaft 18 or other suitable position for sensing. The deformation of the outer casing 12 of the motor 10 when the pedals 14 are subjected to the pedaling force; the rotational speed sensor 30 can be a speed voltage signal generator or a square wave pulse signal generator for measuring the passing through the center motor 10 The output speed of the center motor 10 is sensed by the magnitude of the rotational speed voltage or the square wave pulse frequency of one of the rotors (not shown).
步驟S2：藉由一控制器40電性連接踏力感測器20及轉速感測器30，使控制器40根據踏力感測器20之踏力感測訊號及轉速感測器30之轉速感測訊號而分別取得一踏力值及一轉速值。 Step S2: The controller 40 is electrically connected to the pedaling force sensor 20 and the rotational speed sensor 30, so that the controller 40 senses the signal according to the pedaling force of the pedaling force sensor 20 and the rotational speed sensing signal of the rotational speed sensor 30. And obtain a pedaling force value and a speed value respectively.
步驟S3：藉由控制器40以踏力值及轉速值為參考依據而控制中置馬達10啟動或停止運轉，使中置馬達10 提供助力輸出或中斷助力輸出。 Step S3: The central motor 10 is controlled to start or stop by the controller 40 with reference to the pedaling force value and the rotational speed value, so that the central motor 10 is enabled. Provide boost output or interrupt boost output.
當騎乘者未施力踩動各踏板14時，踏力感測器20的輸出電壓值約為2.00V。接著請配合參閱第1圖，當轉速值為零且踏力值大於控制器40所內建之一預設啟動值時，亦即表示騎乘者剛開始施力踩動各踏板14且中置馬達10處於未啟動的狀態，此時的踏力感測器20從中置馬達10之外殼12所量測到的變形量是單純來自騎乘者的踏力F，並不會受到過多外在因素(例如鏈條16的張力或中置馬達10在運轉時所產生的扭力)的干擾，而且，在正常踩踏時，由於騎乘者的每隻腳可以產生約5kg的力量，再加上踏力感測器20的輸出電壓值在每1kg的力量作用下會產生大約0.005V的變化，所以踏力感測器20的輸出電壓值在騎乘者對各踏板14踩動一圈時會在2+0.025V至2-0.025V之間變化，在此情況下，控制器40即可根據踏力訊號值的變化而控制中置馬達10啟動，使中置馬達10提供適當的助力來減輕騎乘者的負擔。 When the rider does not apply force to step on each of the pedals 14, the output voltage value of the pedaling force sensor 20 is about 2.00V. Then, please refer to FIG. 1 , when the speed value is zero and the pedaling force value is greater than a preset starting value built in the controller 40, that is, the rider just starts to apply force to step on each pedal 14 and the center motor 10 is in an unactuated state, and the amount of deformation measured by the pedaling force sensor 20 from the outer casing 12 of the center motor 10 is simply the pedaling force F from the rider, and is not subject to excessive external factors (such as a chain). The tension of 16 or the torque generated by the center motor 10 during operation), and, in normal pedaling, each rider's foot can generate about 5 kg of force, plus the pedaling force sensor 20 The output voltage value will produce a change of about 0.005V per 1kg of force, so the output voltage value of the pedaling force sensor 20 will be at 2+0.025V to 2- when the rider steps on each of the pedals 14 The change between 0.025V, in this case, the controller 40 can control the start of the center motor 10 according to the change of the pedaling force signal value, so that the center motor 10 provides appropriate power to reduce the burden on the rider.
另一方面，當轉速值大於零且踏力值小於控制器40所內建之一預設停止值時，亦即表示中置馬達10處於運轉狀態，使騎乘者的雙腳可以跟著各踏板14作動，此時的踏力感測器20所量測到的變形量會相當小而能忽略不計，而且，踏力感測器20的輸出電壓值約介於2+0.005V與2-0.005V之間，故控制器40能根據踏力訊號值的變化來控制中置馬達10停止運轉，以中斷助力輸出。 On the other hand, when the rotational speed value is greater than zero and the pedaling force value is less than a preset stop value built in the controller 40, that is, the mid-mounted motor 10 is in an operating state, so that the rider's feet can follow the pedals 14 Actuation, the amount of deformation measured by the pedaling force sensor 20 at this time will be relatively small and negligible, and the output voltage value of the pedaling force sensor 20 is approximately between 2+0.005V and 2-0.005V. Therefore, the controller 40 can control the stop of the center motor 10 according to the change of the pedaling force signal value to interrupt the assist output.
綜上所陳，本發明之助力控制方法是在中置馬達10的適當位置貼設踏力感測器20，用以感測中置馬達10之外殼12在受到踏力作用時所產生的變形量，讓控制器40可以直接獲得踏力值的大小而即時控制中置馬達10啟動或斷電，以快速且簡易地達到助力輸出及助力中斷的效果。 In summary, the power control method of the present invention is to apply a pedaling force sensor 20 at an appropriate position of the center motor 10 for sensing the amount of deformation generated by the outer casing 12 of the center motor 10 when subjected to a pedaling force. The controller 40 can directly obtain the magnitude of the pedaling force value and instantly control the start-up or power-off of the center motor 10 to quickly and easily achieve the effects of the assist output and the assist interruption.
10‧‧‧中置馬達 10‧‧‧ center motor
12‧‧‧外殼 12‧‧‧ Shell
14‧‧‧踏板 14‧‧‧ pedal
16‧‧‧鏈條 16‧‧‧Chain
18‧‧‧曲柄軸 18‧‧‧ crankshaft
20‧‧‧踏力感測器 20‧‧‧ pedal force sensor
F‧‧‧踏力 F‧‧‧踏力
Claims (7)
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW102113275A TWI557021B (en) | 2013-04-15 | 2013-04-15 | Power assisted bicycle control method |
| DE102014105197.1A DE102014105197A1 (en) | 2013-04-15 | 2014-04-11 | Control method for an auxiliary power on electrically driven bicycles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW102113275A TWI557021B (en) | 2013-04-15 | 2013-04-15 | Power assisted bicycle control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201438958A TW201438958A (en) | 2014-10-16 |
| TWI557021B true TWI557021B (en) | 2016-11-11 |
Family
ID=51618546
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW102113275A TWI557021B (en) | 2013-04-15 | 2013-04-15 | Power assisted bicycle control method |
Country Status (2)
| Country | Link |
|---|---|
| DE (1) | DE102014105197A1 (en) |
| TW (1) | TWI557021B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108238205A (en) * | 2016-12-27 | 2018-07-03 | 广州市哥得圣电动车有限公司 | Moped velocity sensor |
| TWI665112B (en) * | 2018-08-20 | 2019-07-11 | 李岳翰 | Auxiliary power control system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2852264A (en) * | 1955-02-28 | 1958-09-16 | Granata Rosario Charles | Vacuum chuck |
| US5159374A (en) * | 1991-04-04 | 1992-10-27 | Vlsi Technology, Inc. | Water sealing develop ring |
| CN2501635Y (en) * | 2001-04-17 | 2002-07-24 | 姜福民 | Adsorption type zero setting device |
| US6767018B1 (en) * | 2002-07-26 | 2004-07-27 | The United States Of America As Represented By The Secretary Of The Army | Machinable datum for a self-centering vacuum fixture |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102010001755B4 (en) | 2010-02-10 | 2014-12-24 | Koenig & Bauer Aktiengesellschaft | Device for fastening at least one elevator on a cylinder |
| JP2012021783A (en) | 2010-07-12 | 2012-02-02 | Panasonic Corp | Torque detector |
-
2013
- 2013-04-15 TW TW102113275A patent/TWI557021B/en active
-
2014
- 2014-04-11 DE DE102014105197.1A patent/DE102014105197A1/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2852264A (en) * | 1955-02-28 | 1958-09-16 | Granata Rosario Charles | Vacuum chuck |
| US5159374A (en) * | 1991-04-04 | 1992-10-27 | Vlsi Technology, Inc. | Water sealing develop ring |
| CN2501635Y (en) * | 2001-04-17 | 2002-07-24 | 姜福民 | Adsorption type zero setting device |
| US6767018B1 (en) * | 2002-07-26 | 2004-07-27 | The United States Of America As Represented By The Secretary Of The Army | Machinable datum for a self-centering vacuum fixture |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102014105197A1 (en) | 2014-10-16 |
| TW201438958A (en) | 2014-10-16 |
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