Method of Estimating Pedaling Torque Using Bicycle Pedaling Speed

Abstract

The invention provides a method for estimating the pedaling torque by using the pedaling speed of the bicycle, and the pedaling torque refers to the pedaling torque of a crank of the bicycle. The method includes the following steps: within a predetermined time interval, a speed sensor is used to detect the pedaling speed of a crank of the bicycle for a predetermined number of times; the area of ​​the ideal waveform of the pedaling speed and the actual waveform of the pedaling speed is calculated as V 0 and V 1 , and find V 0 -V 1 The difference as ΔV i ; Obtain a correction amount c according to the relationship between pedaling speed and torque; calculate according to the following first formula: ΔM i / M 0 =ΔV i / V 0 +c; to obtain the relative change of pedaling torque ΔM i / M 0 ; among them, M 0 to generate V 0 Moment, M 0 obtained through actual experiments; M 0 -M 1 The difference is then ΔM i ; 1 to generate V 1 Moment, M 1 is the pedaling torque to be estimated.

Description

technical field [0001] The present invention is related to bicycles, in particular to a method for estimating pedaling torque by utilizing bicycle pedaling speed. Background technique [0002] The electric power-assisted bicycle mainly provides an auxiliary power when the rider is pedaling, so that the rider can enjoy the fun of pedaling and riding, and can achieve the pedaling effect without a lot of effort. Therefore, electric power-assisted bicycles have become increasingly popular. [0003] When providing auxiliary power, it is necessary to measure the pedaling force of the rider in order to output the corresponding auxiliary power required by the rider. Otherwise, when the auxiliary power is too large, it will cause the rider to pedal empty, and if it is too small, it will cause The rider cannot feel the boost, and the function of providing boost is invalid. The current detection method of pedaling force (or torque) is to install a torque sensor on the bicycle to sens...

AI Technical Summary

Problems solved by technology

However, although the aforementioned estimation methods try to clearly calculate the correlation, the result is not only a large error, but also relatively complicated in calculation. In addition to obtaining at least one signal property of the angular velocity, it also needs Use the dependence between the signal properties and the torque to find the correlation, so the calculation process is complicated, and a higher-speed computing unit is required for execution, which will also increase the cost

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