Control Method of Transmission and Transmission Control System

Abstract

A control method for a transmission and a transmission control system, the transmission control system being adapted to control a motor of a transmission, comprising determining whether a chain guide member of the transmission continuously moves during a gear shift of the transmission. If so, the torque of the motor is reduced. If not, the torque of the motor is increased.

Description

Technical Field

[0001] The present invention relates to a control method and a control system, in particular to a control method and a variable speed control system for a transmission. Background Art

[0002] In recent years, the market of bicycles has been booming. Whether it is high-end racing bicycles or popular bicycles for commuting and leisure, they are all favored by consumers, which prompts manufacturers to pay more attention to the needs of users for bicycle functions, and continuously improve and refine the vehicle body materials, equipment and functions.

[0003] Generally speaking, currently, bicycles on the market have gradually adopted electronic transmissions. An electronic transmission is provided with a motor. When the transmission is shifting gears, the motor drives the chain shifting member of the electronic transmission, so that the chain can move between multiple chainrings with different outer diameters. However, since the electronic transmission is exposed, dust or sand may adhere to it, resulting in unsmooth movement of the chain shifting member, so that the chain shifting member driven by the motor may get stuck halfway, and then the gear shifting of the transmission is neither successful nor can it return to the original gear. In view of this, current bicycle manufacturers are working hard to improve the above problems. Summary of the Invention

[0004] The present invention aims to provide a control method and a variable speed control system for a transmission, which can solve the problem that the chain shifting member driven by the motor gets stuck halfway during the gear shifting process.

[0005] A control method for a transmission disclosed in an embodiment of the present invention is suitable for controlling a motor of a transmission, and includes determining whether a chain guide of the transmission continuously moves during the gear shifting process of the transmission. If so, the torque of the motor is reduced. If not, the torque of the motor is increased.

[0006] A variable speed control system disclosed in another embodiment of the present invention includes a transmission. The transmission includes a chain guide, a motor, a sensor and a control unit. The motor is connected to the chain guide and is used to drive the chain guide. The sensor is used to sense the movement of the chain guide. The control unit is electrically connected to the motor and the sensor. During the gear shifting process of the transmission, the control unit increases the torque of the motor according to the condition that the chain guide sensed by the sensor does not move.

[0007] According to the control method and the variable speed control system for a transmission disclosed in the above embodiments, in the case that the chain guide does not continuously move during the gear shifting process of the transmission, by increasing the torque of the motor, it is expected to make the chain guide move towards the target position to avoid the problem that the chain guide gets stuck halfway during the gear shifting process.

[0008] The above description of the content of the present invention and the following description of the embodiments are used to demonstrate and explain the principles of the present invention, and provide further explanation for the protection scope of the present invention. Description of the Drawings

[0009] Figure 1 It is a block diagram of a variable speed control system disclosed according to an embodiment of the present invention.

[0010] Figure 2 It is a flowchart of a control method for a transmission disclosed according to another embodiment of the present invention.

[0011] Figure 3 It is a flowchart of a control method for a transmission disclosed according to another embodiment of the present invention.

[0012] Figure 4A It is a partial flowchart of a control method for a transmission disclosed according to another embodiment of the present invention.

[0013] Figure 4B It is Figure 4A Another partial flowchart of the control method for the transmission.

[0014] Figure 5A It is a flowchart of a control method for a transmission disclosed according to another embodiment of the present invention.

[0015] Figure 5B It is Figure 5A Another partial flowchart of the control method for the transmission.

[0016] Figure 6A It is a flowchart of a control method for a transmission disclosed according to another embodiment of the present invention.

[0017] Figure 6B It is Figure 6A Another partial flowchart of the control method for the transmission.

[0018]

Description of the Reference Numerals

[0019] 1: Variable speed control system

[0020] 10: Transmission

[0021] 11: Chain guide

[0022] 12: Motor

[0023] 13: Sensor

[0024] 14: Control unit

[0025] 15: Battery

[0026] 16: Signal transceiver unit

[0027] 20: Shift switch

[0028] 30: Signal transceiver

[0029] S01~S15: Steps Detailed implementation manners

[0030] Please refer to Figure 1 , Figure 1 , which is a block diagram of a shift control system disclosed according to an embodiment of the present invention.

[0031] In this embodiment, the shift control system 1 includes a transmission 10 and a shift switch 20. In addition, in this embodiment, the shift control system may further include a signal transceiver 30.

[0032] The transmission 10 may be a front transmission or a rear transmission. The transmission 10 includes a chain guide 11, a motor 12, a sensor 13, and a control unit 14. In addition, in this embodiment, the transmission 10 may further include a battery 15 and a signal transceiver unit 16. The motor 12 is connected to the chain guide 11 and is used to drive the chain guide 11 so that the bicycle chain moves between different chainrings. The sensor 13 is used to sense the position of the chain guide 11. The control unit 14 is electrically connected to the motor 12, the sensor 13, the signal transceiver unit 16, and the battery 15.

[0033] The shift switch 20 and the signal transceiver 30 are, for example, disposed on one of the left brake handle and the right brake handle. The shift switch 20 may be one of a forward gear switch and a reverse gear switch. The shift switch 20 is electrically connected to the signal transceiver 30 and is electrically connected to the signal transceiver unit 16 of the transmission 10 through the signal transceiver 30. The electrical connection between the signal transceiver 30 and the signal transceiver unit 16 of the transmission 10 can be achieved by wired or wireless means.

[0034] Next, the control method of the transmission in cooperation with the shift control system 1 will be described below. Please refer to Figure 2 , Figure 2 , which is a flowchart of the control method of the transmission disclosed according to another embodiment of the present invention.

[0035] First, as in step S01, the transmission 10 is commanded to shift gears. Further, by triggering the shift switch 20, the transmission 10 can be commanded to shift gears. Specifically, when the shift switch 20 is triggered, the shift switch 20 generates a shift signal, and the shift signal is transmitted to the signal transceiver unit 16 of the transmission 10 through the signal transceiver 30. The control unit 14 operates the motor 12 according to the shift signal received by the signal transceiver unit 16 of the transmission 10, so that the chain guide 11 starts to move from an initial position towards a target position.

[0036] Next, as in step S02, the control unit 14 determines whether the distance between the chain guide 11 and the target position falls within a permissible range. That is, the control unit 14 determines whether the distance between the chain guide 11 and the target position falls within the permissible range based on the position of the chain guide 11 sensed by the sensor 13. Among them, the permissible range is, for example, a range from 0 mm to 2 mm, and there is a preset time value between step S01 and step S02, and the preset time value is, for example but not limited to, 10 milliseconds. Since the preset time value is extremely short, when first entering step S02, the distance between the chain guide 11 and the target position usually does not fall within the permissible range. Therefore, the situation where the distance between the chain guide 11 and the target position falls within the permissible range will not be described temporarily here, but will be described in detail later.

[0037] In addition, after passing the preset time value from step S01 to step S02, normally the chain guide 11 should move a distance from the initial position towards the target position, but the chain guide 11 may be affected by unexpected factors (such as dust or sand attached to it) and cannot move as expected. Therefore, after it is determined in step S02 that the distance between the chain guide 11 and the target position does not fall within the permissible range, step S03 is entered, and the control unit 14 determines whether the chain guide 11 of the transmission 10 continues to move during the gear shift of the transmission 10. For example, when first entering step S03, the control unit 14 can determine whether the distance between the initial position and the target position is equal to the distance between the current position of the chain guide 11 acquired by the current sensor 13 and the target position. If the two are equal, it is determined that the chain guide 11 does not continue to move. If the two are not equal, it is determined that the chain guide 11 continues to move.

[0038] In step S03, if the chain guide 11 of the transmission 10 continues to move during the gear shift of the transmission 10, step S04 is entered, and the control unit 14 reduces the torque of the motor 12. In such a case, it means that the movement of the chain guide 11 is not hindered, so the control unit 14 can gradually reduce the torque of the motor 12 as the chain guide 11 gets closer to the target position. In step S03, if the chain guide 11 of the transmission 10 does not continue to move during the gear shift of the transmission 10, step S05 is entered, and the control unit 14 increases the torque of the motor 12. In such a case, it means that the movement of the chain guide 11 is hindered and does not move towards the target position. Therefore, at this time, the control unit 14 increases the torque of the motor 12 in order to make the chain guide 11 move towards the target position to avoid the problem that the chain guide 11 gets stuck halfway during the gear shift.

[0039] After step S04 or step S05, it returns to step S02, and the control unit 14 determines again whether the distance between the chain guide 11 and the target position falls within the allowable range. If the distance between the chain guide 11 and the target position still does not fall within the allowable range, it enters step S03 again to determine whether the chain guide 11 of the transmission 10 continues to move during the gear shift of the transmission 10. At this time, the control unit 14 can determine whether the distance between the chain guide 11 and the target position obtained by the sensor 13 when entering step S03 last time is equal to the current distance between the current position of the chain guide 11 and the target position obtained by the sensor 13 when entering step S03 this time. If the two are equal, the control unit 14 determines that the chain guide 11 does not continue to move and enters step S05. If the two are not equal, the control unit 14 determines that the chain guide 11 continues to move and enters step S04. On the other hand, when entering step S02 this time, if the distance between the chain guide 11 and the target position falls within the allowable range, it means that the chain guide 11 has moved to the target position (or a position substantially equivalent to the target position), and it enters step S06, and the control unit 14 stops the operation of the motor 12.

[0040] Next, please refer to Figure 3 , Figure 3 which is a flowchart of a control method for a transmission disclosed according to another embodiment of the present invention.

[0041] Steps S01 to S06 of the control method for the transmission in this embodiment are the same as S01 to S06 of the control method for the transmission in the above embodiment. Therefore, only the differences between the two will be described below, and the same parts between the two can be referred to the control method for the transmission given in the above reference Figure 1 , 2 and will not be elaborated here.

[0042] In this embodiment, after step S04 or step S05, it enters step S07, and the control unit 14 determines whether the time for the transmission 10 to shift gears reaches a preset time value, where this preset time value is, for example, 250 milliseconds. If the time for the transmission 10 to shift gears reaches the preset time value, it enters step S08, and the control unit 14 stops the operation of the motor 12. If the time for the transmission 10 to shift gears does not reach the preset time value, it returns to step S02, and the control unit 14 determines whether the distance between the chain guide 11 and the target position falls within the allowable range.

[0043] In practice, the preset time value in step S07 is the maximum limit value that the manufacturer can tolerate for the shift time of the transmission 10. The shift of the transmission 10 should be completed within the preset time value. That is, within the preset time value, the chain guide 11 should move from the initial position to the target position (or a position substantially equivalent to the target position). Therefore, when the time elapsed during the shift of the transmission 10 has reached the preset time value, the control unit 14 commands the motor 12 to stop operating, so as to avoid damage to the motor 12 due to continuously increasing torque when the distance between the chain guide 11 and the target position continues to fall outside the allowable range and the chain guide 11 still does not move.

[0044] Next, after step S08, the control unit 14 performs a shift result confirmation procedure. Specifically, after step S08, step S09 is entered. The control unit 14 determines again whether the distance between the chain guide 11 and the target position falls within the allowable range. If the distance between the chain guide 11 and the target position falls within the allowable range, step S10 is entered, and the transmission 10 enters an idle mode. If the distance between the chain guide 11 and the target position does not fall within the allowable range, step S11 is entered, the chain guide 11 returns to an initial position before the shift, and then step S10 is entered, and the transmission 10 enters the idle mode.

[0045] That is to say, in step S09, the control unit 14 will perform a final confirmation again as to whether the chain guide 11 has moved to the target position (or a position substantially equivalent to the target position). In the case where the control unit 14 still determines that the chain guide 11 has not moved to the target position (or a position substantially equivalent to the target position), the control unit 14 abandons this shift and commands the motor 12 to drive the chain guide 11 back to the initial position. Therefore, steps S09 and S10 can prevent the chain guide 11 from getting stuck halfway. On the other hand, by the control unit 14 determining in step S09 that the chain guide 11 has moved to the target position (or a position substantially equivalent to the target position), it can be avoided that the situation where the chain guide 11 has moved into position when the shift time of the transmission 10 approaches the preset time value is ignored, and it is ensured that the control unit 14 will not directly move the chain guide 11 back to the initial position before the shift in such a situation.

[0046] Next, please refer to Figure 4A and 4B , Figure 4A which is a partial flowchart of a control method for a transmission disclosed according to another embodiment of the present invention. Figure 4B which is another partial flowchart of a control method for a transmission disclosed according to another embodiment of the present invention.

[0047] Steps S01 to S11 of the control method for the transmission in this embodiment are the same as those in the above-mentioned reference Figures 1 to 3Steps S01 to S11 of the control method of the transmission are given. Therefore, for steps S01 to S11 of the control method of the transmission in this embodiment, please refer to the above for reference. Figures 1 to 3 The given control method of the transmission will not be elaborated herein.

[0048] In this embodiment, after step S06, step S12 is entered. The control unit 14 determines whether the number of executions of the step of determining that the distance between the guide chain member 11 and the target position falls within the allowable range reaches a predetermined number of times, where the predetermined number of times is, for example but not limited to, 10 times. When entering step S12 for the first time, since the situation where step S02 was established previously, the control unit 14 will record the number of executions of the step of determining that the distance between the guide chain member 11 and the target position falls within the allowable range as 1 time. Therefore, after being determined in step S12 as not reaching the predetermined number of times in such a situation, step S13 is entered. It should be noted that when entering step S12 for the first time, the control unit 14 is not limited to including the situation where step S02 was established previously in the calculation. In other embodiments, although when entering step S12 for the first time, the situation where step S02 was established previously, the control unit 14 may not include step S02 in the calculation. Therefore, when entering step S12 for the first time, the number of executions of the step of determining that the distance between the guide chain member 11 and the target position falls within the allowable range by the control unit 14 is still 0 times.

[0049] In step S13, the control unit 14 determines whether the time for the transmission 10 to shift gears reaches a preset time value. In this embodiment, the preset time value in step 13 is, for example but not limited to, the same as the preset time value in the aforementioned step S07.

[0050] If the time for the transmission 10 to shift gears does not reach the preset time value, step S14 is entered. The control unit 14 determines again whether the distance between the guide chain member 11 and the target position falls within the allowable range. If the distance between the guide chain member 11 and the target position falls within the allowable range, it returns to step S12. Since the situation where step S14 was established before returning to step S12, the control unit 14 will add 1 to the number of executions of the step of determining that the distance between the guide chain member 11 and the target position falls within the allowable range, and then in step S12, it determines again whether the number of executions of the step of determining that the distance between the guide chain member 11 and the target position falls within the allowable range reaches the predetermined number of times.

[0051] In practice, there is a chance that the misjudgment occurs where the distance between the chain guide 11 and the target position falls within the allowable range. In this embodiment, the loop steps from step S12 through step S13 and step S14 back to step S12 can be repeated multiple times to confirm whether the chain guide 11 has indeed moved to the target position (or a position substantially equivalent to the target position). Once in step S13, the control unit 14 determines that the distance between the chain guide 11 and the target position does not fall within the allowable range, then it enters step S15, and the control unit 14 restarts the motor 12 in order to drive the chain guide 11 to move towards the target position. Then, after step S15, it enters step S03 in the foregoing embodiment.

[0052] In step S13, if the control unit 14 determines that the time for the transmission 10 to shift gears reaches the preset time value, then it will enter the shift result confirmation program. In the situation where the number of executions of the step in which the control unit 14 determines that the distance between the chain guide 11 and the target position falls within the allowable range has not reached the predetermined number, the time for the transmission 10 to shift gears may have reached the preset time value first. At this time, it immediately jumps out of the loop of steps S12 to S14 and directly enters the shift result confirmation program. In practice, the preset time value in step 13 is the maximum limit value allowed by the manufacturer for the gear shift of the transmission 10, and the gear shift of the transmission 10 should be completed within the preset time value. Therefore, in the situation where the time taken for the transmission 10 to shift gears has reached the preset time value, it directly enters the shift result confirmation program to perform the final check on the position of the chain guide 11.

[0053] In step S12, if the number of executions of the step in which the control unit 14 determines that the distance between the chain guide 11 and the target position falls within the allowable range reaches the predetermined number, then it will enter the shift result confirmation program to perform the final check on the position of the chain guide 11.

[0054] It should be noted that the order of steps S11 and S12 is not used to limit the present invention. In other embodiments, after step S06, the control unit may first determine whether the time for the transmission to shift gears reaches the preset time value. After confirming that the time for the transmission to shift gears has not reached the preset time value, it then determines whether the number of executions of the step in which the distance between the chain guide and the target position falls within the allowable range reaches the predetermined number.

[0055] Next, please refer to Figure 5A and 5B , Figure 5A which is a flowchart of a control method for a transmission disclosed according to another embodiment of the present invention. Figure 5B is Figure 5A another part of the flowchart of the control method for the transmission.

[0056] Steps S01 to S11 of the control method of the transmission in this embodiment are the same as steps S01 to S11 of the control method of the transmission given in the above reference Figures 1 to 3 Therefore, for steps S01 to S11 of the control method of the transmission in this embodiment, please refer to the control method of the transmission given in the above reference Figures 1 to 3 and will not be elaborated here. In addition, the control method of the transmission in this embodiment is similar to the control method of the transmission given in Figure 4 of the above reference. Therefore, only the differences between the two will be described below, and the similarities between the two will be referred to the control method of the transmission given in Figure 4 of the above reference and will not be elaborated here.

[0057] In this embodiment, when the number of executions of the step in which the control unit 14 determines that the distance between the chain guide 11 and the target position falls within the allowable range in step S12 has not reached the predetermined number, it directly enters step S14, and the control unit 14 determines again whether the distance between the chain guide 11 and the target position falls within the allowable range. If the distance between the chain guide 11 and the target position falls within the allowable range, it returns to step S12. It can be seen that after step S06, the number of executions of the step in which the distance between the chain guide 11 and the target position falls within the allowable range needs to reach the predetermined number before starting the shift result confirmation procedure.

[0058] Next, please refer to Figure 6. Figure 6 is a flowchart of the control method of the transmission disclosed according to another embodiment of the present invention.

[0059] Steps S01 to S11 of the control method of the transmission in this embodiment are the same as steps S01 to S11 of the control method of the transmission given in the above reference Figures 1 to 3 Therefore, for steps S01 to S11 of the control method of the transmission in this embodiment, please refer to the control method of the transmission given in the above reference Figures 1 to 3 and will not be elaborated here. In addition, the control method of the transmission in this embodiment is similar to the control method of the transmission given in Figure 4 of the above reference. Therefore, only the differences between the two will be described below, and the similarities between the two will be referred to the control method of the transmission given in Figure 4 of the above reference and will not be elaborated here.

[0060] In this embodiment, after step S06, it directly proceeds to step S13, where the control unit 14 determines whether the shifting time of the transmission 10 reaches a preset time value. If the shifting time of the transmission 10 does not reach the preset time value, it enters step S14, and the control unit 14 determines again whether the distance between the chain guide 11 and the target position falls within the allowable range. If the distance between the chain guide and the target position falls within the allowable range, it returns to step S13. That is to say, after step S06, the shifting result confirmation procedure will start only when the shifting time of the transmission 10 reaches the preset time value.

[0061] According to the control method of the transmission and the variable speed control system disclosed in the above embodiment, in the case where the chain guide does not move continuously during the shifting of the transmission, by increasing the torque of the motor, it is expected that the chain guide moves towards the target position to avoid the problem that the chain guide gets stuck halfway during the shifting.

[0062] In addition, in the case where the time taken for the transmission to shift has reached the preset time value, the control unit commands the motor to stop operating, which can avoid damage to the motor due to continuously increasing torque when the distance between the chain guide and the target position still does not fall within the allowable range and the chain guide still does not move.

[0063] In addition, through the shifting result confirmation procedure, the control unit will further finally confirm whether the chain guide has moved to the target position (or a position substantially equivalent to the target position). In the case where the control unit still determines that the chain guide has not moved to the target position (or a position substantially equivalent to the target position), the control unit abandons this shifting and commands the motor to drive the chain guide back to the initial position, thus avoiding the chain guide getting stuck halfway.

[0064] On the other hand, through the shifting result confirmation procedure, it can avoid the situation where the chain guide has moved to the position when the shifting time of the transmission is close to the preset time value being ignored, and ensure that the control unit will not directly move the chain guide back to the initial position before shifting in such a situation.

[0065] After the control unit first determines that the distance between the chain guide and the target position falls within the allowable range, it will repeatedly determine whether the distance between the chain guide and the target position falls within the allowable range multiple times to determine the authenticity of the chain guide moving to the target position (or a position substantially equivalent to the target position).

Claims

1. A control method for a transmission, suitable for controlling a motor of a transmission, characterized in that Comprising: Determine whether a first chain member of the transmission continuously moves during a gear shift of the transmission; If so, reduce the torque of the motor; And If not, increase the torque of the motor; Wherein, before determining whether the chain member of the transmission continuously moves during a gear shift of the transmission, the control method further comprises: Determine whether the distance between the chain member and a target position falls within an allowable range; If so, stop the operation of the motor; and If not, perform the step of determining whether the chain member of the transmission continuously moves during a gear shift of the transmission; Wherein, after reducing the torque of the motor or increasing the torque of the motor, the control method further comprises: Determine whether the time for the transmission to perform a gear shift reaches a preset time value; If so, stop the operation of the motor and perform a gear shift result confirmation procedure; and If not, return to the step of determining whether the distance between the chain member and the target position falls within the allowable range; 2. The control method of the transmission according to claim 1, characterized in that, After determining that the distance between the chain member and the target position falls within the allowable range and stopping the operation of the motor, it further comprises: Determine condition 1, whether the number of executions of the step that the distance between the chain member and the target position falls within the allowable range reaches a predetermined number, and condition 2, whether the time for the transmission to perform a gear shift reaches the preset time value; If one of condition 1 and condition 2 is yes, perform the gear shift result confirmation procedure; And If both condition 1 and condition 2 are no, determine again whether the distance between the chain member and the target position falls within the allowable range; If so, return to the step of determining condition 1 and condition 2; And If not, start the motor and return to the step of determining whether the chain member of the transmission continuously moves; 3. The control method of the transmission according to claim 1, characterized in that After determining that the distance between the chain member and the target position falls within the allowable range and stopping the operation of the motor, it further comprises: Determine whether the number of executions of the step that the distance between the chain member and the target position falls within the allowable range reaches a predetermined number; If so, perform the gear shift result confirmation procedure; And If not, determine again whether the distance between the chain member and the target position falls within the allowable range; If so, return to the step of determining whether the number of executions of the step that the distance between the chain member and the target position falls within the allowable range reaches the predetermined number; And If not, start the motor and return to the step of determining whether the chain member of the transmission continuously moves; 4. The control method of the transmission according to claim 1, characterized in that, After determining that the distance between the chain member and the target position falls within the allowable range and stopping the operation of the motor, it further comprises: Determine whether the time for the transmission to perform a gear shift reaches the preset time value; If so, perform the gear shift result confirmation procedure; And If not, determine again whether the distance between the chain member and the target position falls within the allowable range; If so, return to the step of determining whether the time for the transmission to perform a gear shift reaches the preset time value; And If not, start the motor and return to the step of determining whether the chain member of the transmission continuously moves; 5. The control method of the transmission according to claim 1, characterized in that, The gear shift result confirmation procedure comprises: Judge again whether the distance between the guide chain part and the target position falls within the allowable range; If so, the transmission enters an idle mode; And If not, the guide chain part returns to an initial position before shifting, and then the transmission enters the idle mode.

6. The control method of the transmission according to claim 1, wherein, Before judging whether the distance between the guide chain part and the target position falls within the allowable range, it further includes: Making the transmission shift gears; Wherein, there is a preset time value between the step of making the transmission shift gears and the step of judging whether the distance between the guide chain part and the target position falls within the allowable range.

7. A variable speed control system, characterized in that, Including: A transmission, including: A guide chain part; A motor, connected to the guide chain part and used to drive the guide chain part; A sensor, used to sense the position of the guide chain part; And A control unit, electrically connected to the motor and the sensor; Wherein, during the gear shifting process of the transmission, when the control unit determines that the guide chain part is in a non-moving state according to the position of the guide chain part sensed by the sensor, it increases the torque of the motor; Wherein, during the gear shifting process of the transmission, the control unit increases the torque of the motor according to the situation that the time for the transmission to shift gears does not reach a preset time value, the distance between the position of the guide chain part sensed by the sensor and a target position does not fall within an allowable range, and the guide chain part is in a non-moving state.

8. The variable speed control system according to claim 7, wherein During the gear shifting process of the transmission, when the control unit determines that the guide chain part is in a continuously moving state according to the position of the guide chain part sensed by the sensor, it reduces the torque of the motor.

9. The variable speed control system according to claim 7, characterized in that, During the gear shifting process of the transmission, the control unit stops the operation of the motor according to the situation that the distance between the position of the guide chain part sensed by the sensor and a target position falls within an allowable range.

10. The variable speed control system according to claim 7, wherein During the gear shifting process of the transmission, the control unit makes the guide chain part return to an initial position before shifting according to the situation that the time for the transmission to shift gears reaches a preset time value and the distance between the position of the guide chain part sensed by the sensor and a target position does not fall within an allowable range.

11. The variable speed control system according to claim 7, characterized in that, During the gear shifting process of the transmission, the control unit stops the operation of the motor according to the situation that the time for the transmission to shift gears does not reach a preset time value and the distance between the position of the guide chain part sensed by the sensor and a target position falls within an allowable range.

12. The variable speed control system according to claim 7, characterized in that, It further includes a gear shift switch, the gear shift switch is electrically connected to the control unit, and the gear shift switch is used to be triggered so that the control unit makes the motor operate.

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