WO2021109174A1 - 电动助力自行车爬坡补偿处理方法 - Google Patents

电动助力自行车爬坡补偿处理方法 Download PDF

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WO2021109174A1
WO2021109174A1 PCT/CN2019/124197 CN2019124197W WO2021109174A1 WO 2021109174 A1 WO2021109174 A1 WO 2021109174A1 CN 2019124197 W CN2019124197 W CN 2019124197W WO 2021109174 A1 WO2021109174 A1 WO 2021109174A1
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coefficient
value
pulses
pedal
output
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PCT/CN2019/124197
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张培峰
缪鹏程
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南京溧水电子研究所有限公司
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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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass

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  • the invention relates to a bicycle climbing compensation processing method, in particular to an electric power assisted bicycle climbing compensation processing method.
  • the object of the present invention is to provide an electric-assisted bicycle climbing compensation processing method to obtain an output value with road slope compensation and load compensation to drive the motor to realize automatic boosting when loading or riding uphill.
  • the processing method of the present invention includes the following steps: (1) determination of rolling friction coefficient; (2) determination of inertia coefficient; (3) road surface estimation (4) cadence phase lock (5) pedal force prediction Estimate (6) to get the output value after compensation.
  • the detailed calculation is as follows:
  • Step (1) The determination of the coefficient of rolling friction includes the following steps:
  • Step (2) The determination of the inertia coefficient includes the following steps:
  • the speed sensor will generate n pulses every time it steps on it, and the current value I(t), t ⁇ (0,n) of the motor is recorded every time a pulse is output within the n pulses. Calculate the maximum value I(t)max and the minimum value I(t)min in I(t).
  • tmax pulses When tmax pulses are generated, it means 270° or 90° in Fig. 2 and when tmin pulses are generated, it means 180° or 0° in Fig. 2. If the value of tmin-tmax is close to n/4, the pedaling will be 0° at tmin pulses
  • the controller measures the current I 90° and I 0° when the pedal is at 90° and 0°.
  • Im is proportional to the pedaling force.
  • Step (6) Output value after compensation (V ref ):
  • V ref Vs+KGi+K 1 Im
  • Vs is the assist value calculated according to the cadence
  • K is the constant coefficient to be adjusted in the range of 0 to 1 according to the riding effect
  • K 1 is the torque compensation coefficient and the riding effect is adjusted in the range of 0 to 1.
  • the present invention has significant effects: 1.
  • the boost value will increase when accelerating, and the acceleration boost effect will be improved; 2.
  • the boost value will increase, and the More labor-saving; 3.
  • the assist value can be adjusted, so that there is no too heavy or too light riding feeling; 4.
  • the riding feeling of the low-cost speed sensor is close to the expensive configuration The riding sense of the torque sensor.
  • Fig. 1 is a waveform diagram of a pedal torque signal of the present invention
  • Figure 2 is a schematic diagram of the crank angle of the present invention.
  • An electric-assisted bicycle climbing compensation processing method includes the following steps:
  • the size of the rolling friction depends on the tire material, the friction coefficient of the road surface, the width of the tire, the size of the wheel diameter, the static pressure on the road surface and other factors. This coefficient cannot be a fixed value, and it may change at any time as the ride changes. When riding to the speed limit point, the speed will no longer change, and it is normally considered to be riding on a flat road or downhill.
  • the vehicle speed V measured by the vehicle speed sensor fluctuates near the speed limit point, and the average value is the speed limit point.
  • the instantaneous value of the speed is recorded every 3 seconds, the previous moment is t0, and the current moment is t1.
  • the velocity at the previous moment is recorded as V0, and the velocity at the current moment is recorded as V1.
  • V0 ⁇ V1 it can be considered that the vehicle is in the acceleration phase.
  • the power value may fluctuate greatly, so it is necessary to calculate the power value multiple times during this time period to obtain the average power Pavg .
  • Gv is a usable value.
  • G f and Gv calculated in a single time may have errors and are affected by measurement noise, their values are discrete.
  • De-extreme and first-order low-pass filtering can be used to process G f and Gv.
  • G ffilter G ffilter *k coeff +(1-k coeff )*Mid[G f (n-2), G f (n-1), G f (n)]
  • G ffilter is the filtered G f value, k coeff filter weight coefficient, which is in the range of 0 to 1, adjusted according to the actual riding feeling; Mid[] is the middle value of the calculated three input values.
  • G f (n) represents G f calculated in a single time at time n;
  • Gv filter Gv filter *k coefv +(1-k coefv )*Mid[Gv(n-2),Gv(n-1),Gv(n)]
  • Gv filter is the filtered Gv value, k coefv filter weight coefficient, a value in the range of 0 to 1, adjusted according to the actual riding feeling; Mid[] is the middle value of the calculated three input values.
  • G v (n) represents G v calculated in a single time at time n;
  • Gi is a comprehensive coefficient value including road slope and load information. When the slope is greater, Gi is greater, and when the load
  • the speed sensor will generate n pulses every time it steps, and the current value I(t), t ⁇ (0,n) of the motor is recorded every time a pulse is output within the n pulses. Calculate the maximum value I(tmax) and minimum value I(tmin) of I(t).
  • tmax pulses When tmax pulses are generated, it means 270° or 90° in Fig. 2 and when tmin pulses are generated, it means 180° or 0° in Fig. 2. If the value of tmin-tmax is close to n/4, the pedaling will be 0° at tmin pulses.
  • the phase of the pedal is tracked according to the phase lock value, and the currents I 90° and I 0° when the pedal is at 90° and 0° are measured.
  • Im is proportional to the pedaling force.
  • the compensated boost output can be expressed as
  • V ref KGi+K 1 Im
  • K is a constant coefficient, adjusted in the range of 0 to 1 according to the actual riding effect
  • K 1 is the torque compensation coefficient, adjusted in the range of 0 to 1 according to the actual riding effect.
  • the processed compensation assist output value V ref can directly use the PID closed-loop control method to control the output voltage duty cycle of the motor, thereby automatically increasing the assist when riding a load or uphill, making it easier for the rider to save effort.
  • the assist value will increase accordingly during acceleration.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

一种电动助力自行车爬坡补偿处理方法包括如下步骤：（1）滚动摩擦力系数的测定；（2）惯量系数的测定；（3）路面预估；（4）踏频相位锁定；（5）踏力预估；（6）得到补偿后输出值；所述方法通过对脚踏速度传感器的脉冲信号，电机输出功率，车速信号进行处理，用处理过的助力信号驱动电机，实现车辆的上坡或载重变化的自适应。

Description

电动助力自行车爬坡补偿处理方法 技术领域
本发明涉及一种自行车爬坡补偿处理方法，具体涉及到一种电动助力自行车爬坡补偿处理方法。
背景技术
现有的大部份电动助力车上，都配备了速度传感器(Speed Sensor)，其功能是根据骑行者脚踏频率的大小来决定电机输出功率的大小。一般情况下，脚踏越快，代表着骑行者需要更快的车速，这时电机输出的功率也应该相应地加大，从而不让骑行者付出太多的能量消耗。反之，脚踏越慢，电机的输出功率也越小。因现有的助力方法是根据踏频算出的助力输出较弱，助力骑行感差。
发明内容
发明目的：本发明的目的是提供一种电动助力自行车爬坡补偿处理方法，得到具有路面坡度补偿和载重补偿的输出值，来驱动电机，实现载重或上坡骑行时自动加大助力。
技术方案：本发明的处理方法，包括如下步骤：、(1)滚动摩擦力系数的测定；(2)惯量系数的测定；(3)路面预估(4)踏频相位锁定(5)踏力预估(6)得到补偿后输出值。详细计算如下：
1、步骤(1)滚动摩擦力系数的测定包括如下步骤：
(1.1)测量出当前的车速V；
(1.2)测量出当前的控制器输出电流I和电压U
(1.3)计算输出功率P＝U*I
(1.4)当车速在限速点，且控制器已经进行限速3秒后，计算滚动摩擦力系数G f＝P/V；
2、步骤(2)惯量系数的测定包括如下步骤：
(2.1)分别测量出t0和t1时刻的车速V0、V1，t1-t0＝3S；
(2.2)当V0<V1，测量出t0、t1时间内控制器输出的平均功率P avg；
(2.3)计算出惯量系数Gv＝(P avg/V-G f)Dt/Dv；
3、步骤(3)路面预估：
路面系数Gi＝P/V-G f-G V*Dv/Dt
4、步骤(4)所述的踏频相位锁定：
速度传感器每踏一圈，会产生n个脉冲，n个脉冲内每次输出脉冲时记下电 机的电流值I(t)，t∈(0,n)。算出I(t)中的最大值I(t)max和最小值I(t)min。
产生tmax个脉冲时表示图2的270°或90°，产生tmin个脉冲时表示图2的180°或0°。若tmin－tmax的值与n/4接近，则tmin个脉冲时脚踏为0°
5、步骤(5)踏力预估：
根据锁相值跟踪脚踏的相位，控制器测量脚踏在90°和0°时的电流I 90°和I 0°。
电流波动峰值Im＝I 90°-I 0°
Im与踏力大小成正比。
6、步骤(6)补偿后输出值(V ref)：
V ref＝Vs+KGi+K 1Im
其中，Vs为根据踏频计算出的助力值，K为常量系数根据骑行效果在0到1范围内调节，K 1为力矩补偿系数骑行效果在0到1范围内调节。
有益效果：本发明与现有技术相比，其显著效果是：1、加速时助力值会加大，提升加速助力效果；2、在上坡骑行时，助力值会加大，爬坡骑行更省力；3、在载重较大时或载重较轻时，可调整助力值，无太重或太轻的骑行感；4、使配置价格低廉的速度传感器的骑行感接近配置价格昂贵的力矩传感器的骑行感。
附图说明
图1为本发明的脚踏一圈力矩信号波形图；
图2为本发明的曲柄角度示意图。
具体实施方式
下面结合附图和具体实施方式对本发明作进一步详细描述。
一种电动助力自行车爬坡补偿处理方法，包括如下步骤：
(1)滚动摩擦力系数的测定
滚动摩擦力的大小取决于轮胎的材质，路面的摩擦系数，轮胎的宽度，轮径的大小，对路面的静压等因素。这一系数，不可能是一个定值，随着骑行的变化，随时可能会发生改变。当骑行到限速点时，速度不会再变化，正常认为是平路或下坡骑行。通过车速传感器测出的车速V会在限速点附近波动，平均值为限速点。控制器的母线电流I和母线电压U可通过控制器直接测得。此时控制器的输出功率P＝U*I。持续监控测得的车速V，若3秒内波动较小，计算滚动摩擦力系数G f＝P/V，若5<G f<15，则G f为可用的值，否则需重新检测计算。
(2)惯量系数的测定
每隔3秒记录一次速度的瞬时值，上一时刻为t0，当前时刻为t1。上一时刻的速度记为V0，当前时刻速度记为V1。当V0<V1时，可认为车辆在加速阶段。 t0到t1时间段内，功率值可能会波动较大，故需在此时间段内多次计算功率值，得出平均功率P avg。
计算时间差Dt＝t1-t0；
计算速度差Dv＝V1-V0；
当2<Dv<3时计算惯量系数Gv：
Gv＝(P avg/V-G f)Dt/Dv
若Gv>0，则Gv为可用的值。
(3)路面预估
由于单次计算出的G f和Gv，可能会存在误差，且受测量噪声的影响，其值带有离散性，可采用去极值和一阶低通滤波，对G f和Gv进行处理。
G ffilter＝G ffilter*k coeff+(1-k coeff)*Mid[G f(n-2),G f(n-1),G f(n)]
G ffilter为滤波后的G f值，k coeff滤波权重系数，在0到1范围内取值，根据实际骑行感觉进行调整；Mid[]为计算三个输入值的中间值。
G f(n)表示n时刻单次计算的G f；
Gv filter＝Gv filter*k coefv+(1-k coefv)*Mid[Gv(n-2),Gv(n-1),Gv(n)]
Gv filter为滤波后的Gv值，k coefv滤波权重系数，在0到1范围内取值，根据实际骑行感觉进行调整；Mid[]为计算三个输入值的中间值。
G v(n)表示n时刻单次计算的G v；
Gi＝P/V-Gf filter-Gv filter*Dv/Dt
Gi为包含路面坡度和载重信息的综合系数值。当坡度越大时Gi越大，当载
重越大时Gi越大。
(4)踏频相位锁定为：
速度传感器每踏一圈会产生n个脉冲，n个脉冲内每次输出脉冲时记下电机的电流值I(t)，t∈(0,n)。算出I(t)的最大值I(tmax)和最小值I(tmin)。
产生tmax个脉冲时表示图2的270°或90°，产生tmin个脉冲时表示图2的180°或0°。若tmin－tmax的值与n/4接近，则tmin个脉冲时脚踏为0°。
(5)踏力预估
根据锁相值跟踪脚踏的相位，测量脚踏在90°和0°时的电流I 90°和I 0°。
电流波动峰值Im＝I 90°-I 0°
Im与踏力大小成正比。
(6)补偿值
补偿的助力输出可表示为
V ref＝KGi+K 1Im
其中，K为常量系数，根据实际骑行效果，在0到1范围内调节；K 1为力矩补偿系数，根据实际骑行效果在0到1范围内调节。
处理后的补偿助力输出值V ref可以直接利用PID闭环控制方法控制电机的输出电压占空比，从而在载重或上坡骑行时自动加大助力，使骑行者更加轻松省力。另外，在加速骑行过程中时助力值也会相应增加。

Claims (7)

  1. 一种电动助力自行车爬坡补偿处理方法，其特征在于，包括如下步骤：(1)滚动摩擦力系数的测定；(2)惯量系数的测定；(3)路面预估；(4)踏频相位锁定；(5)踏力预估；(6)得到补偿后输出值。
  2. 根据权利要求1所述的一种电动助力自行车爬坡补偿处理方法，其特征在于，步骤(1)所述的滚动摩擦力系数的测定包括如下步骤：
    (1.1)测量出当前的车速V；
    (1.2)测量出当前的控制器输出电流I和电压U；
    (1.3)计算输出功率P＝U*I；
    (1.4)当车速在限速点，且控制器已经进行限速3s(秒)后，计算滚动摩擦力系数G f＝P/V。
  3. 根据权利要求1所述的电动助力自行车爬坡补偿处理方法，其特征在于，步骤(2)所述的惯量系数的测定包括如下步骤：
    (2.1)分别测量出t0和t1时刻的车速V0、V1，t1-t0＝3s；
    (2.2)当V0<V1，测量出t0至t1时间内控制器输出的平均功率P avg；
    (2.3)计算出惯量系数Gv＝(P avg/V-G f)Dt/Dv，其中Dv＝V1-V0，Dt＝t1-t0。
  4. 根据权利要求1所述的电动助力自行车爬坡补偿处理方法，其特征在于，步骤(3)所述的路面系数预估：路面系数Gi＝P/V-Gf-G V*Dv/Dt。
  5. 根据权利要求1所述的电动助力自行车爬坡补偿处理方法，其特征在于，步骤(4)所述的踏频相位锁定为：
    速度传感器每踏一圈，会产生n个脉冲，n个脉冲内每次输出脉冲时记下电机的电流值I(t)，t∈(0,n)；算出I(t)中的最大值I(t)max和最小值I(t)min；
    产生tmax个脉冲时脚踏为270°或90°，产生tmin个脉冲时脚踏为180°或0°；若tmin-tmax的值与n/4接近，则tmin个脉冲时脚踏为0°。
  6. 根据权利要求1所述的电动助力自行车爬坡补偿处理方法，其特征在于，步骤(4)所述的踏力预估为：
    根据锁相值跟踪脚踏的相位，控制器测量脚踏在90°和0°时的为电流I 90°和I 0°，电流波动峰值Im＝I 90°-I 0°；Im与踏力大小成正比。
  7. 根据权利要求1所述的电动助力自行车爬坡补偿处理方法，其特征在于，步骤(4)所述的补偿后输出值(V ref)为：
    V ref＝Vs+KGi+K 1Im
    其中，Vs为根据踏频计算出的助力值，K为常量系数根据骑行效果在0到1范围内调节；K 1为力矩补偿系数骑行效果在0到1范围内调节。
PCT/CN2019/124197 2019-12-05 2019-12-10 电动助力自行车爬坡补偿处理方法 WO2021109174A1 (zh)

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