WO2013041276A2 - Procédé de commande automatique du moteur électrique d'un vélo et dispositif de commande correspondant - Google Patents

Procédé de commande automatique du moteur électrique d'un vélo et dispositif de commande correspondant Download PDF

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Publication number
WO2013041276A2
WO2013041276A2 PCT/EP2012/064870 EP2012064870W WO2013041276A2 WO 2013041276 A2 WO2013041276 A2 WO 2013041276A2 EP 2012064870 W EP2012064870 W EP 2012064870W WO 2013041276 A2 WO2013041276 A2 WO 2013041276A2
Authority
WO
WIPO (PCT)
Prior art keywords
bicycle
electric motor
estimated value
basis
total mass
Prior art date
Application number
PCT/EP2012/064870
Other languages
German (de)
English (en)
Other versions
WO2013041276A3 (fr
Inventor
Norbert WALDE
Daniel Schifferdecker
Daniel Baumgaertner
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2013041276A2 publication Critical patent/WO2013041276A2/fr
Publication of WO2013041276A3 publication Critical patent/WO2013041276A3/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
    • B60L15/2027—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope whilst maintaining constant speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/20—Electric propulsion with power supplied within the vehicle using propulsion power generated by humans or animals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/51—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by AC-motors
    • 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
    • B62J45/415—Inclination sensors
    • B62J45/4152—Inclination sensors for sensing longitudinal inclination of the cycle
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/12—Bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions
    • B60L2240/642—Slope of road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/22—Standstill, e.g. zero speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/44—Control modes by parameter estimation
    • 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
    • Y02T10/64—Electric machine technologies in electromobility
    • 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
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Definitions

  • the invention relates to a method for automatically controlling the electric motor of a bicycle, which should facilitate the user handling of his electric bicycle, especially in mountainous terrain, and a corresponding control device.
  • Electric bicycles are usually heavier than comparable standard bicycles due to the engine and the battery. Accordingly, electric bicycles require increased driving force, which is particularly noticeable when starting on a slope. But electric bikes also require a greater braking and holding power to hold the bike when standing on a slope. An uncontrolled backward rolling represents a danger to the road users and is therefore to be avoided.
  • the bike gets very quickly in an unstable position, for example by turning the handlebar, which - due to the relatively high weight of the electric bicycle - can only be corrected with a relatively high force. When falling over can be damaged in addition to other costly components and the sensitive drive components of the electric bicycle. In addition, the re-installation of an electric bicycle also requires a relatively high effort. Disclosure of the invention
  • the present invention proposes a method for automatically controlling the electric motor of a bicycle, which is intended to make it easier for the user to stop, stop and start on a slope in the ascending direction.
  • the invention is based on the idea to provide the control of the electric motor of a bicycle with an anti-rollback function, which is automatically activated and adapted to the specific situation, in particular the current slope and the total weight of the bicycle with driver and luggage.
  • This anti-rollback function not only prevents the bicycle from rolling backwards by compensating for the downhill power by controlling the electric motor in a controlled manner. It also leads to a significant relief of the driver when starting on the mountain, since the bike after releasing the brake - if at all - can only roll back slightly.
  • the method according to the invention is based on sensor information that is usually already available since electric bicycles are equipped with a number of sensors for functional reasons.
  • a high resolution speed sensor that can distinguish between forward and reverse scrolls, or a sensor that measures pedal rotation, and also an engine speed sensor provide information about whether or not the electric bicycle is backward rolling.
  • the control process can be significantly shortened when the electric motor is activated upon activation of the anti-rollback function with an initial torque M to capture, on the basis of the current speed ratio i, the current terrain gradient ⁇ and a value of m is the total mass of the bicycle with rider and luggage is determined.
  • the speed v is detected by means of a speed sensor.
  • the average force of the driver and electric motor at constant speed v and the corresponding torque M can be determined by means of a torque sensor. From the information of the speed sensor and a driver speed / engine speed sensor, finally, the current transmission ratio i is determined.
  • an initial torque M An f ang is then determined, with which the electric motor is controlled in order to keep the electric bicycle after stopping on a slope at a standstill.
  • the first estimated value of the total mass m can then be modified on the basis of the readjusted torque M ta t S ambaiich to determine a better estimate of the total mass m.
  • this improved estimate of the total mass m is based on the subsequent anti-rollback control of the electric motor, in particular the determination of the initial torque M to start Assistance of the driver when driving uphill but also when braking.
  • the weight of the driver and any luggage is queried in order to determine a value for the total mass m.
  • the control of the electric motor must have an HMI (human machine interface) with data input options.
  • HMI human machine interface
  • it is possible to dispense with a sensor for detecting the terrain gradient ⁇ , since an estimated value for the gradient ⁇ is determined on the basis of sensor information acquired during the journey. This estimation is also based on the assumption that, given a constant velocity v, there is an equilibrium of forces and the slope ⁇ results from the functional relationship mg-sin (a) 2 ⁇ -M / iu.
  • An initial torque M is then determined in fishing on the basis of the thus determined first estimated value for the gradient ⁇ and the predetermined value of the total mass m, with which the electric motor is controlled to keep the elec- rofahrrad after stopping on a slope at a standstill.
  • the first estimated value for the slope ⁇ is modified on the basis of the readjusted torque M ta t S ambaiich to obtain an improved estimate for the slope ⁇ .
  • This improved estimate for the Gradient ⁇ can then be used, for example, as the basis for subsequent activation of the electric motor to assist in starting on the mountain and / or when driving uphill.
  • Another way to use the improved estimate for the slope ⁇ is to determine the deviation to the first estimate to account for this deviation in the subsequent slope determination.
  • Fig. 1 shows a schematic representation of the situation in which the inventive anti-rollback function of the electric motor of a bicycle is activated.
  • FIG. 2 shows a flowchart of the method for modifying the first estimated value for the total mass m on the basis of the actual drive torque actually determined by regulation.
  • FIG. 3 shows a flowchart of the method for modifying the first estimated value for the slope ⁇ based on the actual drive torque determined by control
  • FIG. 1 an electric bicycle 1 is shown on a slope 2 with the slope ⁇ . Accordingly affects the electric bicycle 1, the downhill force F H
  • F H mg-sin (a) where m is the total mass of the bike with driver and luggage and g is the gravitational acceleration.
  • the driver of the electric bicycle 1 has stopped on slope 2.
  • the slope angle ⁇ can be detected, for example, with the aid of an inclination sensor or a barometric pressure sensor, or else with the aid of an acceleration sensor which calculates the incline. If the driver now releases the brake, the bicycle 1 rolls at least minimally backwards due to the downhill force F H.
  • this backward rolling is detected, preferably with the aid of a sensor that is already part of the equipment of the electric bicycle 1, such as a high-resolution speed sensor that can distinguish between forward and reverse rollers, a sensor that measures the pedal rotation, or an engine speed sensor ,
  • a sensor that is already part of the equipment of the electric bicycle 1 such as a high-resolution speed sensor that can distinguish between forward and reverse rollers, a sensor that measures the pedal rotation, or an engine speed sensor
  • the activation of the anti-rollback function can also be linked to other conditions, for example, that the pitch angle ⁇ must be greater than a predetermined critical angle.
  • initial torque M to catch a torque value can be determined, for example, which has been detected just before the stopping of a torque sensor of the electric bicycle.
  • each electric bicycle is equipped with such a torque sensor to detect the force transmitted by the driver and the electric motor to the rear wheel.
  • control process is significantly shortened when the initial torque M to catch on the basis of the transmission ratio i, the current terrain gradient ⁇ and a value for the total mass of the bicycle with rider and luggage m is detected, namely on the basis of the functional relationship
  • the parameters, gear ratio i, current terrain gradient ⁇ and total mass m, are detected, determined or specified during the journey preceding the stopping on a slope.
  • the transmission ratio i can be easily determined based on the driver's speed and the speed v.
  • the electric motor with the initial torque M is applied to catch as soon as a reverse rolling is detected on a slope.
  • a control loop that modifies this initial torque M to start then ensures that the bike 1 comes to a standstill.
  • the applied torque M ta t S is measured in order to improve the estimated value of the total mass m. This procedure is illustrated by the flowchart of FIG.
  • the real system ie the control process of the anti-rollback control of the electric motor, determines the torque M ta t S ambaiich required to actually bring the bike to a standstill.
  • the value thus determined for the total mass can be based not only on the next anti-rollback control but also on the control of the electric motor for individual assistance of the driver when driving uphill.
  • it can be used to characterize the driver, for example, to distinguish between different drivers and to control the electric motor in support mode to the needs of each driver.
  • an estimated value for the terrain slope ⁇ is determined, so that it is possible to dispense with a separate inclination sensor.
  • the determination of the initial torque M at the beginning of a predetermined value for the total mass m is based.
  • the average force exerted by the driver and the electric motor at constant speed v is also determined or the corresponding torque M.
  • the electric motor with the initial torque M is applied to catch as soon as a reverse rolling is detected on a slope.
  • a control loop that modifies this initial torque M to start then ensures that the bike 1 comes to a standstill.
  • the applied torque M ta t S ambaiich measured to improve the estimated value for the terrain slope ⁇ . This procedure is illustrated by the flowchart of FIG.
  • the slope value thus determined can be used, for example, to adapt the assist mode of the engine control when driving uphill.
  • the deviation between the first estimate and the modified value for the slope ⁇ can be considered below in the estimation of the slope.
  • FIG 4 illustrates the incorporation of the anti-rollback function 121 described above into the control device 10 of an electric bicycle and the interaction of the anti-rollback function 121 with the sensor system 20 and the electric motor 30 of the electric bicycle.
  • electric bicycles are equipped with a number of sensors 20 for monitoring bicycle movement and motor drive function.
  • This sensor equipment usually includes a speed sensor, a driver speed / engine speed sensor and a torque sensor.
  • the speed sensor is a high resolution sensor that can distinguish between forward and reverse scrolls.
  • the bicycle may still be equipped with an acceleration sensor, a tilt sensor and / or a sensor that detects the pedal rotation.
  • the sensor signals are supplied to the control device 10, which comprises an evaluation device 1 1 for the sensor signals.
  • the control device 10 Based on the sensor signals, a backward rolling of the bicycle is detected here and it is checked whether this backward rolling is gradient-dependent in order to activate the anti-rollback function 121 in this case.
  • the evaluation unit 1 1 determines based on the driver / engine speed and the speed of the current transmission ratio. Depending on the sensor The evaluation unit 11 can also calculate a first estimated value for the total mass or the current terrain slope. Finally, the evaluation unit 1 1 still determines an initial torque M An fan g for driving the electric motor 30 when the anti-rollback function 121 is activated.
  • the control device 10 usually comprises a plurality of different control functions 12 for the electric motor 30 in order to meet different requirements. In most cases, the user can choose between individual control modes 12 in order to adapt the assistance power of the electric motor 30 to his needs and the respective route. According to the invention these
  • Control modes 12 supplemented by the anti-rollback function 121, which is activated automatically, but only if a gradient-induced backward rolling of the bicycle is detected.
  • the anti-rollback function first controls the electric motor 30 with the initial torque M to start.
  • the anti-rollback function 121 comprises a control circuit for regulating the engine torque to a torque M tat - sumbleiich, wherein the speed v of the electric bicycle is equal to zero.
  • the evaluation unit 11 of the control function can be equipped with means for calculating a first estimated value for the total mass m of the electric bicycle on the basis of the evaluated sensor information.
  • the evaluation unit 1 1 calculates the initial torque M to catch on the basis of this first estimation value m and the evaluated sensor information.
  • the evaluation device 11 of the control device 10 can also be equipped with means for calculating a first estimate for the terrain gradient ⁇ on the basis of the evaluated sensor information.
  • the initial torque M An f ang is calculated on the basis of this first estimated value ⁇ and the evaluated sensor information.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

La présente invention concerne un procédé de commande automatique du moteur électrique d'un vélo (1), destiné à faciliter pour l'utilisateur l'arrêt, le stationnement et le démarrage en pente (2) dans le sens de la montée. La fonction antirecul selon l'invention est activée automatiquement dès que le vélo se trouve sur une pente ou en cas de détection d'un recul du vélo (1) en raison d'une déclivité. Dans ce cas, le moteur électrique est commandé et régulé de sorte que la force de déclivité (FH) soit compensée dans une très large mesure par la force motrice du moteur électrique (FM) de sorte que le vélo électrique (1) s'arrête, la vitesse (v) du vélo électrique étant alors nulle.
PCT/EP2012/064870 2011-09-20 2012-07-30 Procédé de commande automatique du moteur électrique d'un vélo et dispositif de commande correspondant WO2013041276A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011083072A DE102011083072A1 (de) 2011-09-20 2011-09-20 Verfahren zum automatischen Ansteuern des Elektromotors eines Fahrrads und entsprechende Steuervorrichtung
DE102011083072.3 2011-09-20

Publications (2)

Publication Number Publication Date
WO2013041276A2 true WO2013041276A2 (fr) 2013-03-28
WO2013041276A3 WO2013041276A3 (fr) 2013-05-30

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DE (1) DE102011083072A1 (fr)
WO (1) WO2013041276A2 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
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JP2016005921A (ja) * 2014-06-20 2016-01-14 船井電機株式会社 歩行アシストカート
CN110203074A (zh) * 2019-01-07 2019-09-06 北京致行慕远科技有限公司 速度控制方法及电动车、存储介质、电子装置
US10933943B2 (en) * 2019-01-09 2021-03-02 Neutron Holdings, Inc. Uphill slope hold and start assistance for electric vehicles
CN113226831A (zh) * 2018-12-26 2021-08-06 祖玛创新有限公司 设置有基于对用户的刺激的控制***的电动车辆
CN113680042A (zh) * 2020-05-18 2021-11-23 保时捷股份公司 电力驱动的小型车辆
US11518470B2 (en) 2018-04-30 2022-12-06 Accelerated Systems Inc. Method and apparatus for controlling a vehicle

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