Method and device for controlling the output of the motor torque of an electrically assisted bicycle

Abstract

The application provides an output control method and device for motor torque of an electric power-assisted bicycle, which can determine the operation condition of the electric power-assisted bicycle based on the current acquisition signal of the electric power-assisted bicycle, determine whether to start or stop the high-power output mode (Hypershift function) based on the current operation condition, the starting time length of the high-power output mode and the high-power output mode, so that the electric motor can release powerful power in the conditions of starting, climbing and sudden acceleration, and the riding experience of the rider can be improved. According to the application, a high-power motor such as a 500W motor can be used, and the rated power of the motor can be controlled at a lower value such as 250W through an algorithm. In this way, the electric power-assisted bicycle can temporarily become a 500W motor to output power when climbing. Alternatively, the system can actively switch to the 500W high-power output mode when it is determined that the rider may need power assistance.

Description

Technical Field

[0001] This invention relates to a method and device for controlling the output torque of an electric-assisted bicycle motor. Background Technology

[0002] The timing of the motor assist function activation on existing electric-assist bicycles is not accurate enough, and the assist effect is not intelligent enough, resulting in a poor riding experience. Summary of the Invention

[0003] The purpose of this invention is to provide a method and device for controlling the output torque of an electric-assisted bicycle motor.

[0004] To address the above problems, this invention provides a method for controlling the output torque of an electric-assisted bicycle motor, comprising:

[0005] Based on the current operating conditions of the electric-assisted bicycle, the duration of the high-power output mode, and the duration of the high-power output mode, determine whether the current mode is the high-power output mode or the rated power output mode of the electric-assisted bicycle motor, where the high power mode is greater than the rated power mode.

[0006] When determining the high-power output mode or the rated power output mode, the corresponding output limit value of the motor torque;

[0007] Based on the current vehicle speed and the current temperature of the motor, the output limit value of the motor torque is corrected to obtain the minimum correction value of the motor torque;

[0008] The minimum correction value of the motor torque is smoothed to obtain a smoothed motor torque value, and the motor is controlled to output the motor torque value.

[0009] Furthermore, in the above method, based on the current operating conditions of the electric-assisted bicycle, the duration of the high-power output mode, and the duration of the high-power output mode's end, it is determined whether the current mode is the high-power output mode or the rated power output mode of the electric-assisted bicycle motor. Here, high power exceeding rated power includes:

[0010] Step S10: In the initial state of starting to ride the electric-assisted bicycle, set TimingBar=0 and CoolingBar=0. TimingBar=1 indicates that the high-power output mode is in progress, and TimingBar=0 indicates that the high-power output mode is stopped. CoolingBar=1 indicates that the high-power output mode is cooling down, and CoolingBar=0 indicates that the high-power output mode has finished cooling down.

[0011] Step S11: When {TimingBar=0 or TimingBar=1} and the condition {“CoolingBar 0”} is not met, stop the high power output mode and enter the rated power mode, outputting TimingBar=0; CoolingBar timing: when the current timing time of CoolingBar is less than the preset second time threshold, output CoolingBar=1; when the current timing time of CoolingBar is greater than or equal to the preset second time threshold, output CoolingBar=0.

[0012] Otherwise, if the conditions {TimingBar=0 or TimingBar=1} and {"CoolingBar=0"} are met, proceed to step S12.

[0013] Furthermore, in the above method, step S12:

[0014] When the high-power output mode button is pressed, or the slope of the road where the bicycle is located is greater than the preset slope threshold, or the condition TimingBar=1 is met, the high-power output mode is activated. At the same time, the TimingBar starts timing. When the current timing time of the TimingBar is less than the first time threshold, TimingBar=1 is output; when the current timing time of the TimingBar is greater than or equal to the first time threshold, the high-power output mode is stopped and the rated power mode is entered, and TimingBar=0 is output. The CoolingBar starts timing. When the current timing time of the CoolingBar is less than the preset second time threshold, CoolingBar=1 is output; when the current timing time of the CoolingBar is greater than or equal to the preset second time threshold, CoolingBar=0 is output.

[0015] Otherwise, if the button for high power output mode is pressed, or the slope of the road where the bicycle is located is greater than the preset slope threshold, or the condition TimingBar=1 is not met, step S13 is executed.

[0016] Furthermore, in the above method, step S13:

[0017] When P 请求 <= preset power threshold, maintain rated power mode; where P 请求 = Pedal speed * Pedal torque * k / 9.55, where k is the assist ratio;

[0018] Otherwise, when P 请求 >Preset power threshold and execute step S14.

[0019] Furthermore, in the above method, step S14:

[0020] When the condition T request > preset torque threshold is met, the high-power output mode is maintained, and the TimingBar timing is activated. When the current timing time of the TimingBar is less than the first time threshold, TimingBar = 1 is output; when the current timing time of the TimingBar is greater than or equal to the first time threshold, the high-power output mode is stopped and the rated power mode is entered, and TimingBar = 0 is output. The CoolingBar timing is activated. When the current timing time of the CoolingBar is less than the preset second time threshold, CoolingBar = 1 is output; when the current timing time of the CoolingBar is greater than or equal to the preset second time threshold, CoolingBar = 0 is output. Where T request = pedal torque * k.

[0021] Otherwise, if T request is less than or equal to the preset torque threshold, maintain the rated power mode.

[0022] Furthermore, in the above method, the corresponding output limit value of the motor torque when determining the high-power output mode or the rated power output mode includes:

[0023] When the high-power output mode is determined, the first table of torque boundary limits corresponding to the high-power output mode is obtained. Based on the current pedal speed of the electric-assisted bicycle, the first table is consulted to obtain the corresponding motor torque output limit value.

[0024] Furthermore, in the above method, the corresponding output limit value of the motor torque when determining the high-power output mode or the rated power output mode includes:

[0025] When determining the rated power output mode, obtain the second table of torque boundary limits corresponding to the rated power output mode, and look up the second table based on the current pedal speed of the electric-assisted bicycle to obtain the corresponding motor torque output limit value.

[0026] Furthermore, in the above method, based on the current vehicle speed and the current temperature of the motor, the output limit value of the motor torque is corrected to obtain the minimum correction value of the motor torque, including:

[0027] The current motor temperature (Moter Temp) of the electric-assist bicycle is determined by referring to the third table to obtain the torque command correction factor (Motor Temp Derating Factor), and then calculating T. 修正1 =Motor Temp Derating Factor * Torque Limit, where Torque Limit is the output torque limit value of the motor;

[0028] Based on the current vehicle speed (Vehicle Speed) of the electric-assisted bicycle, refer to the fourth table to obtain the torque command correction factor (Vehicle Speed ​​Derating Factor), and calculate T. 修正2 =Vehicle Speed ​​DeratingFactor*TorqueLimit;

[0029] Calculate the minimum correction value for motor torque Treq = MIN{T 请求 T 修正1 T 修正2}

[0030] According to another aspect of the present invention, a computer-readable storage medium is also provided, having stored thereon computer-executable instructions, wherein when executed by a processor, the computer-executable instructions cause the processor to perform the method as described in any of the preceding claims.

[0031] According to another aspect of the present invention, a calculator device is also provided, comprising: a processor; and a memory arranged to store computer-executable instructions, which, when executed, cause the processor to perform the method described in any of the preceding claims.

[0032] Compared with existing technologies, this invention can determine the operating condition of the electric-assisted bicycle based on the current collected signals. Based on the current operating condition, the duration of the high-power output mode, and the high-power output mode, it determines whether to start or stop the high-power output mode (Hypershift function). This enables the motor to release powerful motor power during starting, climbing, and rapid acceleration, thereby improving the rider's riding experience.

[0033] This invention allows the use of high-power motors, such as 500W motors, while algorithms can control the motor's rated power to a lower value, such as 250W. This enables the electric-assist bicycle to briefly switch to a 500W motor when going uphill. Alternatively, when the system determines that the rider may need assistance, it can actively switch to a 500W high-power output mode, i.e., hypershift mode. Attached Figure Description

[0034] Figure 1 This is a flowchart of a method for controlling the output torque of an electric-assisted bicycle according to an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram illustrating the start / stop determination of the Hypershift function according to an embodiment of the present invention;

[0036] Figure 3 This is a flowchart of torque limit boundary extraction according to an embodiment of the present invention;

[0037] Figure 4 This is a schematic diagram of the Torque Limit, an output torque limit value for a motor according to an embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of torque command correction according to an embodiment of the present invention;

[0039] Figure 6 This is a schematic diagram of the output power curve of a Timyo motor according to an embodiment of the present invention;

[0040] Figure 7 This is a schematic diagram of the speed-torque relationship of a motor with hypershift mode according to an embodiment of the present invention;

[0041] Figure 8 This is a schematic diagram of a Hyper Shift Mode interface beacon according to an embodiment of the present invention;

[0042] Figure 9 This is a schematic diagram of a normal mode interface beacon according to an embodiment of the present invention;

[0043] Figure 10 This is a schematic diagram of riding a bicycle on a flat road according to an embodiment of the present invention;

[0044] Figure 11 This is a schematic diagram of preparing to climb a slope according to an embodiment of the present invention;

[0045] Figure 12 This is a schematic diagram illustrating the activation of hypershift mode according to an embodiment of the present invention;

[0046] Figure 13 This is a schematic diagram of a dual-motor or tri-motor architecture according to an embodiment of the present invention. Detailed Implementation

[0047] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] like Figure 1 As shown, the present invention provides a method for controlling the output torque of an electric-assisted bicycle motor, comprising:

[0049] Step S1: Based on the current operating conditions of the electric-assisted bicycle, the duration of the high-power output mode, and the duration of the high-power output mode, determine whether the current mode is the high-power output mode or the rated power output mode of the electric-assisted bicycle motor, where the high power mode is greater than the rated power mode.

[0050] Step S2: Determine the corresponding motor torque output limit value when using high power output mode or rated power output mode;

[0051] Step S3: Based on the current vehicle speed and the current temperature of the motor, correct the output limit value of the motor torque to obtain the minimum correction value Treq for the motor torque;

[0052] Step S4: Smooth the minimum correction value Treq of the motor torque to obtain the smoothed motor torque value Tref, and control the motor to output the motor torque value Tref.

[0053] Here, according to the definition in EN15194, an EPAC is a bicycle that uses electricity as auxiliary power and has a rated power of no more than 250W. The EU stipulates that the rated power of the mid-drive motor of an electric bicycle cannot exceed 250W (low power output mode). However, when climbing hills, the torque provided by a 250W motor is insufficient, making the rider feel very tired.

[0054] This invention allows the use of high-power motors, such as 500W motors, while algorithms can control the motor's rated power to a lower value, such as 250W. This enables the electric-assist bicycle to briefly switch to a 500W motor when going uphill. Alternatively, when the system determines that the rider may need assistance, it can actively switch to a 500W high-power output mode, i.e., hypershift mode.

[0055] Specifically, rated power refers to the power at which a motor can operate stably for a long period of time, not its maximum power.

[0056] This invention can determine the operating condition of an electric-assisted bicycle based on the current collected signals. Based on the current operating condition, the duration of the high-power output mode, and the high-power output mode, it determines whether to start or stop the high-power output mode (Hypershift function). This enables the motor to release powerful motor energy during starting, climbing, and rapid acceleration, thereby improving the rider's riding experience.

[0057] In detail, the riding experience of an EPAC (electric-assisted bicycle) is exactly the same as that of a traditional bicycle. However, EPACs can provide pedal assistance to allow riders to travel further and enjoy a more comfortable riding experience. The pedal assistance comes from one or more motors (the motors are commonly installed at the bottom bracket or wheel hub).

[0058] Riders can choose different assist modes, and the motor provides different assist torque in different assist modes (similar to the eco, normal, and sport modes on a car, where the car's power response is different in different modes).

[0059] The motor installed in the bottom bracket of an electric bicycle (also known as a mid-drive motor, mainstream brands include Shimano, Bosch, Bafang, and Anita) needs to consider the maximum load that the rear wheel hub of the entire EPAC (Electric Electric Bicycle) can withstand during the design phase. The rear wheel hub usually integrates the derailleur, which can typically withstand a maximum torque of around 60-80 Nm, which in turn limits the maximum output torque of the motor. Mainstream motor suppliers limit the maximum output torque of the motor to avoid damaging the rear wheel hub and the derailleur on the hub.

[0060] Timyo's motors have a unique "Hypershift" mode, which has two features:

[0061] - The algorithm can detect the riding status (e.g., climbing, starting, cruising on flat ground);

[0062] -Unlimited by the load-bearing capacity of the wheel hub, the motor still meets the rated power of 250W under normal conditions, but can output 500W or even higher output power when needed to provide greater output torque (the first generation can reach a maximum output torque of 120Nm, and the next generation can reach a maximum output torque of 150Nm).

[0063] -Timyo's motor still has the normal assist mode of traditional motors on the market (for example, traditional motors have assist levels arranged in numbers 1-10, with smaller numbers providing less assistance). In normal mode, Timyo motor still maintains a rated power of 250W and a maximum output torque of about 80Nm, but it can be switched to hypershift mode "by user" or "automatically" when needed.

[0064] Motors with "Hypershift mode" are always paired with "freewheels," which means the derailleur and other gear-related mechanisms are removed from the wheel hub. With the derailleur removed, the gear ratio between the large and small chainrings is fixed. This fixed chainring gear ratio is designed to ensure that, whether in "Normal mode" or "Hypershift mode," the rider's pedaling cadence remains within a comfortable range when reaching a speed of 25 km / h.

[0065] When "Hypershift mode" and "Freewheel" are used together:

[0066] 1. Create a new human-bike interaction experience. Because at this time, the EPAC can detect the rider's cadence, pedaling force, or other sensors to determine whether to activate "hypershift mode". As a mode unique to Timyo, "hypershift mode" will provide riders with a riding experience that is different from the "normal mode" that the traditional EPAC only has.

[0067] 2. The derailleur on the EPAC will be eliminated. Instead, the motor itself will control the output power and torque to meet the rider's riding needs, without the assistance of a derailleur. This simplifies the EPAC structure, reduces the number of parts, and lowers costs.

[0068] For cyclists, this will have the following advantages:

[0069] 1. Cyclists can receive optimal assistance at the most suitable time – for example, when starting, going uphill, or when the assistance level is insufficient during riding. Currently, for 250W rated power motors on the market, the maximum output assistance torque is usually limited to 60-80Nm, but sometimes cyclists need greater torque output for assistance, such as when climbing hills. In this case, "Hypershift"...

[0070] The "hypershift mode" can unleash 120Nm or even higher torque output. Of course, if the rider only needs 100Nm, then the "hypershift mode" can recognize this need and provide it precisely.

[0071] 100Nm of assist torque.

[0072] 2. Simplifies the user experience. Because the gearbox is eliminated, cyclists no longer need to focus on the EPAC's gear selection; they only need to select the assist mode. With other traditional EPACs, cyclists need to pay attention to both gear selection and assist mode. (Note: 1. Some EPACs on the market are equipped with automatic gearboxes, but these use software to control the automatic transmission, freeing cyclists from manual shifting. Hypershift's logic is to completely eliminate the gearbox. 2. The gearboxes are equivalent to 1st, 2nd, 3rd, 4th, and 5th gears in a manual transmission car.)

[0073] The power steering mode is similar to the Eco, Normal, Sport, and Turbo modes found in some high-end cars, so gear shifting and power steering modes are different concepts and functions.

[0074] In one embodiment of the motor torque output control method for an electric-assisted bicycle of the present invention, step S1, determining whether the current operating condition of the electric-assisted bicycle is in high-power output mode or rated power output mode based on the current operating condition of the electric-assisted bicycle, the duration of the high-power output mode, and the duration of the high-power output mode, includes:

[0075] Step S10: In the initial state of starting to ride the electric-assisted bicycle, set TimingBar=0 and CoolingBar=0. TimingBar=1 indicates that the high-power output mode is in progress, and TimingBar=0 indicates that the high-power output mode is stopped. CoolingBar=1 indicates that the high-power output mode is cooling down, and CoolingBar=0 indicates that the high-power output mode has finished cooling down.

[0076] Specifically, when the electric-assisted bicycle starts riding, the timing bar for activating the Hypershift function is set to "TimingBar=0" by default, and the timing bar for cooling down the Hypershift function is set to "CoolingBar=0" by default.

[0077] Step S11: When the condition {TimingBar=0 or TimingBar=1} and {CoolingBar=0} is not met, stop the high power output mode and enter the rated power mode, outputting TimingBar=0; CoolingBar timing: when the current timing time of CoolingBar is less than the preset second time threshold, output CoolingBar=1; when the current timing time of CoolingBar is greater than or equal to the preset second time threshold, output CoolingBar=0; otherwise, when the condition {TimingBar=0 or TimingBar=1} and {"CoolingBar=0"} is met, execute step S12;

[0078] Here, the first condition for starting and stopping the Hypershift function is determined: if the condition {"TimingBar=0"||"TimingBar=1"}&{"CoolingBar=0"} is not met, Hypershift is stopped; otherwise, step S12 is executed.

[0079] Preferably, the fifth condition for starting and stopping the Hypershift function is determined as follows: when the "TimingBar Finish" condition is met, if the current timing time of the TimingBar is greater than or equal to the first time threshold, the "TimingBar=0" flag indicating that the Hypershift function is stopped is output.

[0080] More preferably, when the Hypershift function is stopped, the CoolingBar starts timing. If the "CoolingBarFinish" condition is not met, such as when the current timing time of the CoolingBar is less than a preset second time threshold, "CoolingBar=1" is output to indicate that the Hypershift function is cooling down. If the "CoolingBar Finish" condition is met, such as when the current timing time of the CoolingBar is greater than or equal to the preset second time threshold, "CoolingBar=0" is output to indicate that the Hypershift function has finished cooling down.

[0081] Step S12: When the high-power output mode button is pressed, or the slope of the road where the bicycle is located is greater than the preset slope threshold, or any of the following conditions is met (TimingBar=1), the high-power output mode is activated. Simultaneously, the TimingBar starts timing. When the current timing time of the TimingBar is less than the first time threshold, TimingBar=1 is output; when the current timing time of the TimingBar is greater than or equal to the first time threshold, the high-power output mode is stopped and the rated power mode is entered, and TimingBar=0 is output. The CoolingBar starts timing. When the current timing time of the CoolingBar is less than the preset second time threshold, CoolingBar=1 is output; when the current timing time of the CoolingBar is greater than or equal to the preset second time threshold, CoolingBar=0 is output. Otherwise, if none of the following conditions are met (high-power output mode button pressed, slope of the road where the bicycle is located greater than the preset slope threshold, or TimingBar=1), step S13 is executed.

[0082] Here, the second condition for starting and stopping the Hypershift function is determined: when any of the following conditions are met, such as "Hypershift function button is pressed", "Slope gradient > θ", or "TimingBar = 1", the Hypershift function is started; otherwise, step S13 is executed. Slope gradient is the slope, and θ is the slope threshold condition for setting the Hypershift function.

[0083] A button for a high-power output mode can be set on the bicycle. When the rider presses the button, it means that the rider has selected to activate the high-power output mode.

[0084] Preferably, when the Hypershift function is activated, the TimingBar starts timing. If the "TimingBar Finish" condition is not met, such as when the current timing time of the TimingBar is less than the first time threshold, the output "TimingBar=1" indicates that the Hypershift function is in progress.

[0085] Step S13, when P 请求 <= Preset power threshold P 阈值 Maintain rated power mode; where P 请求 = Pedal Speed ​​* Pedal Torque * k / 9.55, where k is the assist ratio;

[0086] Specifically, when P 请求 <= Preset power threshold P 阈值 The Hypershift function is maintained in rated power mode. As long as the Hypershift function is enabled and TimingBar=1, the Hypershift function will remain enabled. The Hypershift function will be disabled when TimingBar timer is completed, i.e., TimingBar=0.

[0087] Otherwise, when P 请求 >Preset power threshold and execute step S14.

[0088] Step S14: When the condition T request > preset torque threshold is met, maintain high power output mode and simultaneously start timing with TimingBar. If the current timing time of TimingBar is less than the first time threshold, output TimingBar = 1 and then output TimingBarFlag = 1. If the current timing time of TimingBar is greater than or equal to the first time threshold, stop high power output mode and enter rated power mode, output TimingBar = 0. Start timing with CoolingBar. If the current timing time of CoolingBar is less than the preset second time threshold, output CoolingBar = 1. If the current timing time of CoolingBar is greater than or equal to the preset second time threshold, output CoolingBar = 0. Otherwise, if T request <= preset torque threshold, maintain rated power mode. Where T request = pedal torque * k.

[0089] Specifically, if T request <= preset torque threshold, maintain rated power mode Hypershift. As long as Hypershift function is enabled and TimingBar = 1, Hypershift function will remain enabled. Hypershift function will be disabled when TimingBar timer completes, i.e., TimingBar = 0.

[0090] Preferably, the aforementioned preset torque threshold is not limited to a fixed threshold, but can also be a threshold that changes with the rotational speed. The purpose is to more accurately meet the rider's needs for activating Hypershift. Any modified scheme with the same intention falls within the scope of this protection.

[0091] The fourth condition for starting and stopping the Hypershift function is determined as follows: when the condition "T request > T threshold (preset torque threshold)" is met, the Hypershift function remains on; otherwise, the Hypershift function is not entered; T request = Pedal torque * k, k: assist ratio.

[0092] Preferably, when the Hypershift function is started, the TimingBar starts timing. When the "TimingBar Finish" condition is not met, "TimingBar=1" is output to indicate that the Hypershift function is starting; when the "TimingBarFinish" condition is met, "TimingBar=0" is output to indicate that the Hypershift function is stopped.

[0093] Preferably, when the Hypershift function is stopped, the CoolingBar starts timing. When the "CoolingBar Finish" condition is not met, "CoolingBar=1" is output to indicate that the Hypershift function is cooling down; when the "CoolingBarFinish" condition is met, "CoolingBar=0" is output to indicate that the Hypershift function has finished cooling down.

[0094] One innovation of this application is the timing bar, because the motor cannot operate at 500W continuously, otherwise the rated power would be exceeded. Therefore, a timing bar and a cooling bar are set up. After running at 500W for a predetermined period of time, it automatically switches to 250W, i.e., low-power operating mode. Then, it must run in low-power mode (i.e., rated power output mode) for a predetermined period of time (i.e., cool down for a predetermined period of time) before it can switch back to 500W, i.e., high-power output mode.

[0095] In one embodiment of the motor torque output control method for an electric-assisted bicycle of the present invention, step S2, determining the corresponding motor torque output limit value in high-power output mode or rated power output mode, includes:

[0096] Step S21: When the high power output mode is determined, obtain the first table of torque boundary limits corresponding to the high power output mode, and look up the first table based on the current pedal speed of the electric-assisted bicycle to obtain the corresponding motor torque output limit value.

[0097] Specifically, the Hypershift function start / stop determination is as follows: when starting, "Hypershift State = Hypershift on", the first table of "Hypershift on TorqueLimit" corresponding to the torque boundary limit of the high power output mode is extracted, and then the output torque limit value Torque Limit of the motor is obtained by looking up the first table according to the current pedal speed of the electric-assisted bicycle.

[0098] like Figure 3 As shown, in one embodiment of the motor torque output control method for an electric-assisted bicycle of the present invention, step S2, determining the corresponding motor torque output limit value in high-power output mode or rated power output mode, includes:

[0099] In step S22, when determining the rated power output mode, the second table of torque boundary limits corresponding to the rated power output mode is obtained. The output limit value of the corresponding motor torque is obtained by looking up the second table based on the current pedal speed of the electric-assisted bicycle.

[0100] Here, when the Hypershift function is determined to be stopped, "Hypershift State = Hypershift off". The second table of torque boundary limit "Hypershift off TorqueLimit" corresponding to the rated power output mode is extracted. Then, the output limit value of motor torque, Torque Limit, is obtained by looking up the second table based on the current pedal speed of the electric-assisted bicycle.

[0101] In detail, the characteristics of the first table (Hypershift on Torque Limit, external characteristic curve of a 500W motor) and the second table (Hypershift off Torque Limit, is as follows) are... Figure 4 As shown; this application sets an equal power curve outside the external characteristic curve of the 500W motor, and the motor power is 250W for all points on the equal power curve.

[0102] It should be noted that the second table mentioned in this application, in the embodiments, features a torque boundary limit that does not violate the definition of "250W rated power motor"; any scheme that modifies with the same intent falls within the scope of protection.

[0103] Figure 4 The line segment l1 in the speed range {S1, S2}, the line segment l2 in the speed range {S2, S3}, and the line segment l3 in the speed range {S3, S4} represent the Hypershift off Torque Limit, where the torque in the line segment l2 in the speed range {S2, S3} is a constant power P. 阈值 limit.

[0104] Figure 4 The line segment l1 in the speed range {S1,S2}, the line segment l4 in the speed range {S2,S3}, and the line segment l3 in the speed range {S3,S4} represent Hypershift on Torque Limit.

[0105] In one embodiment of the motor torque output control method for an electric-assisted bicycle of the present invention, step S3, based on the current vehicle speed and the current temperature of the motor, corrects the output limit value of the motor torque to obtain the minimum correction value Treq of the motor torque, including:

[0106] Step S31: Based on the current motor temperature (Moter Temp) of the electric-assisted bicycle, look up the third table to obtain the torque command correction factor (Motor Temp Derating Factor), and calculate T. 修正1 =Motor Temp Derating Factor * Torque Limit, where Torque Limit is the output torque limit value of the motor;

[0107] Preferably, the third table is the Motor Temp Derating Factor, and the range of the output value is {0,1}. When the motor temperature does not exceed the "over-temperature initiation threshold", the derating factor output by the table is 1; when the motor temperature exceeds the "over-temperature initiation threshold", the derating factor output by the table is less than 1; and when the motor temperature exceeds the "over-temperature protection threshold", the derating factor output by the table is 0.

[0108] Among them, "over-temperature protection threshold" > "over-temperature initiation threshold".

[0109] Step S32: Based on the current vehicle speed (Vehicle Speed) of the electric-assisted bicycle, look up the fourth table to obtain the torque command correction factor (Vehicle Speed ​​Derating Factor), and calculate T. 修正2 =Vehicle SpeedDeratingFactor*Torque Limit;

[0110] Preferably, the fourth table is the vehicle speed derating factor, and the range of the table output value is {0,1}. When the vehicle speed does not exceed the "speed limit start threshold", the derating factor output by the table is 1; when the vehicle speed exceeds the "speed limit start threshold", the derating factor output by the table is less than 1; and when the vehicle speed exceeds the "speed limit protection threshold", the derating factor output by the table is 0.

[0111] Among them, "speed limit protection threshold" > "speed limit start threshold".

[0112] Step S33, calculate the minimum correction value of motor torque Treq = MIN{T 请求 T 修正1 T 修正2}

[0113] In one embodiment of the motor torque output control method for an electric-assisted bicycle of the present invention, step S4 involves performing a smooth transition process on the minimum correction value Treq of the motor torque to obtain a smoothed motor torque value Tref, and controlling the motor to output the motor torque value Tref.

[0114] Specifically, suppose we need to adjust the motor torque value Tref from 60 to 40. Instead of adjusting it directly from 60 to 40, we use an array of numbers, for example, 10, and output the average value of the array to the motor each time.

[0115] For example, when the speed is stable at 60, the array looks like this: [60, 60, 60, 60, 60, 60, 60, 60, 60, 60], and the output value is 60;

[0116] After receiving the instruction, the array becomes: [40, 60, 60, 60, 60, 60, 60, 60, 60, 60], and the output value is 58.

[0117] Specifically, the hypershift mode can be broadly divided into two main implementation architectures:

[0118] 1. Single motor architecture (including both mid-drive motors and hub motors): The potential power of a single motor is "limited" or "released" through algorithm control, allowing the motor to switch back and forth between normal mode (rated power output mode) and hyper shift mode, thereby meeting the needs of normal operating conditions and high power output conditions.

[0119] 2. In dual-motor, tri-motor, or multi-motor architectures (whether it is a mid-mounted motor, a hub motor, or a combination of both): algorithms are used to control the output states of different motors to meet the needs of normal operating conditions and high-power output conditions;

[0120] The working principles of the two architectures are explained in detail below.

[0121] Single motor architecture :

[0122] Figure 6 This is the output power curve of the Timyo motor, which includes two main types of assist modes: normal mode and hypershift. Normal mode refers to the traditional assist modes found in most motors on the market. Normal mode is typically further subdivided into 1, 2… up to 10 different assist levels, or it can be categorized as ECO, TOUR, BOOST. Hypershift mode is a different type of assist mode from normal mode. In this mode, the motor can release greater torque in a shorter time. Figure 6 This shows the difference in output power variation between hypershift mode and normal mode. Figure 7 It displays the speed-torque relationship of a motor with hypershift mode.

[0123] The 250W motor defined in European standards refers to a rated power of 250W, not a maximum power of 250W. Rated power refers to the power a motor can operate at for an extended period, not the maximum power it can achieve in a short time. A motor with a hypershift mode can output a maximum power of 500W-600W or more for a short period.

[0124] The accurate definition of rated power is: the power at which a motor can operate for an extended period without causing damage after reaching thermal equilibrium. For example... Figure 7 As shown by the black line, in normal mode, the motor exhibits the power output of a typical 250W rated motor; however, when entering hypershift mode, the motor can release greater output power through software control algorithms. This greater output power ensures that the motor can output greater torque and higher speed. Figure 7 The dashed line in the figure corresponds to the motor speed-torque relationship in hypershift mode.

[0125] Because the motor is designed to have a rated power of 250W, it cannot and is not permitted to operate for extended periods at an output power exceeding 250W. Therefore, the Hypershift mode dashboard beacon includes a "timing bar" and a "cooling bar". Figure 8The beacon corresponding to Hypershift mode on the dashboard designed by Timyo is shown. You can see that after Hypershift mode is activated, a "timer bar" will appear. When the "timer bar" finishes counting down, the motor will automatically exit Hypershift mode and then enter a cooling period. The cooling period corresponds to the "cooling bar". Only after the "cooling period" ends can the motor re-enter Hypershift mode. During the cooling period, the motor cannot enter Hypershift mode. Figure 9 The standard mode is shown, which includes four sub-modes: BOOST, TOUR, ECO, and OFF.

[0126] This invention can collect information from the following sensors using algorithms to determine when to enter "Hypershift mode":

[0127] - Cyclist's pedaling torque

[0128] - Cyclist's cadence

[0129] -EPAC speed

[0130] - Current road gradient

[0131] Here is an example of using "Hypershift mode":

[0132] 1. Assuming the cyclist is currently riding on a flat road, the current motor speed-torque relationship curve is as follows: Figure 10 As shown. Under these conditions, 250W of output power is sufficient, therefore the motor will operate at...

[0133] Hypershift mode will not be entered from normal mode. Assume the motor's operating point is point 1 at this time.

[0134] The output power corresponding to point 1 is 250W.

[0135] 2. Suppose there is a slope ahead, and the EPAC is preparing to climb it. As is well known, climbing hills requires greater torque. For example... Figure 11 As shown, in normal mode, higher output torque can only be achieved by reducing the motor speed (because the black line is the performance limit boundary of the motor in normal mode, and the motor cannot exceed this line under any circumstances, so the only way to increase torque is to reduce the speed), that is, transitioning from point 1 to point 2.

[0136] At this point, we face a problem: while the motor speed at point 1 is appropriate, the motor output torque at point 1 is insufficient. If we increase the motor's output torque, i.e., transition from point 1 to point 2, the motor speed will decrease. A lower motor speed means a slower vehicle speed, which makes it harder for the rider to maintain balance and increases the time spent climbing hills. Therefore, in this situation, what the rider truly needs is a motor that can output high torque while maintaining a high speed.

[0137] 3. At this point, the EPAC will detect sensor data such as "incline," "cyclist's pedaling force," "bike speed," and "cyclist's cadence" to determine whether to activate "hypershift mode." When the activation conditions are met, the motor will enter "hypershift mode" and release its potential peak power. For example... Figure 12 As shown, the output power of working point 3 can reach more than 500W (only for a short time period). At this time, the output torque and speed of the motor are greater than the torque and speed of point 2 in normal mode, which can ensure the smooth and easy uphill process.

[0138] 4. After the EPAC finishes climbing, it will detect sensor data such as "gradient", "cyclist's pedaling force", "speed" and "cyclist's cadence" to determine whether to exit "hypershift mode". If the exit conditions are met, it will return to normal mode.

[0139] When the timer bar in "Hypershift mode" reaches the limit, regardless of the current state, EPAC will be forced out of Hypershift mode and will need to wait for a "cooldown period" before it can re-enter Hypershift mode.

[0140] Dual-motor, tri-motor, or multi-motor architectures:

[0141] Dual-motor, three-electrode, or multi-motor architectures, such as Figure 13 As shown (the diagram is for illustrative purposes only and does not enumerate all possible combinations). Motor 1 is a mid-drive motor, and motors 2 and 3 are hub motors.

[0142] Compared to the logic of a single-motor solution, the logic of a multi-motor solution is simpler:

[0143] 1. When the rider is in normal mode, only one motor needs to be driven for assistance. Usually, a mid-mounted motor is used for driving, and the hub motor does not need to provide external assistance.

[0144] 2. In Usual mode, when the EPAC is going downhill or decelerating, the hub motor can activate the energy recovery function. At this time, the hub motor does not output externally, but will act as a generator to recover the kinetic energy of the EPAC.

[0145] 3. When the EPAC enters "hypershift mode", the mid-drive motor and the wheel hub motor will work simultaneously, and obtain greater torque output through the assistance of multiple motors.

[0146] 4. Figure 8 All motors in the system have a rated power of no more than 250W.

[0147] 5. Multi-motor architectures also need to collect information from the following sensors to determine when to enter "hypershift mode".

[0148] - Cyclist's pedaling torque

[0149] - Cyclist's cadence

[0150] -EPAC speed

[0151] - Current road gradient

[0152] 6. After entering "hypershift mode", the multi-motor architecture also has "timing bar" and "cooldown bar", and their functions are the same as those in the single-motor architecture.

[0153] According to another aspect of the present invention, a computer-readable storage medium is also provided, having stored thereon computer-executable instructions, wherein when executed by a processor, the computer-executable instructions cause the processor to perform the method as described in any of the preceding claims.

[0154] According to another aspect of the present invention, a calculator device is also provided, comprising: a processor; and a memory arranged to store computer-executable instructions, which, when executed, cause the processor to perform the method described in any of the preceding claims.

[0155] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0156] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the invention. Obviously, those skilled in the art can make various modifications and variations to the invention without departing from the spirit and scope of the invention. Thus, if these modifications and variations of the invention fall within the scope of the claims of the invention and their equivalents, the invention is also intended to include these modifications and variations.

Claims

1. A method for controlling the output torque of an electric-assisted bicycle motor, characterized in that, include: Based on the current operating conditions of the electric-assisted bicycle, the duration of the high-power output mode, and the duration of the high-power output mode, determine whether the current mode is the high-power output mode or the rated power output mode of the electric-assisted bicycle motor, where the high power mode is greater than the rated power mode. When determining the high-power output mode or the rated power output mode, the corresponding output limit value of the motor torque; Based on the current vehicle speed and the current temperature of the motor, the output limit value of the motor torque is corrected to obtain the minimum correction value of the motor torque; The minimum correction value of the motor torque is smoothed to obtain a smoothed motor torque value, and the motor is controlled to output the motor torque value; Based on the current operating conditions of the electric-assisted bicycle, the duration of the high-power output mode, and the duration of the high-power output mode's termination, determine whether the current mode is the electric-assisted bicycle motor's high-power output mode or the rated power output mode. High power refers to power exceeding the rated power, including: Step S10: In the initial state of starting to ride the electric-assisted bicycle, set TimingBar=0 and CoolingBar=0. TimingBar=1 indicates that the high-power output mode is in progress, and TimingBar=0 indicates that the high-power output mode is stopped. CoolingBar=1 indicates that the high-power output mode is cooling down, and CoolingBar=0 indicates that the high-power output mode has finished cooling down. Step S11: When the conditions {TimingBar = 0 or TimingBar = 1} and {"CoolingBar = 0"} are not met, stop the high power output mode and enter the rated power mode, outputting TimingBar = 0; CoolingBar timing: when the current timing time of CoolingBar is less than the preset second time threshold, output CoolingBar = 1; when the current timing time of CoolingBar is greater than or equal to the preset second time threshold, output CoolingBar = 0. Otherwise, if the conditions {TimingBar = 0 or TimingBar = 1} and {"CoolingBar = 0"} are met, proceed to step S12; Step S12: When the high-power output mode button is pressed, or the slope of the road where the bicycle is located is greater than the preset slope threshold, or any of the following conditions are met (TimingBar = 1), the high-power output mode is activated. Simultaneously, the TimingBar starts timing. If the current timing time of the TimingBar is less than the first time threshold, TimingBar = 1 is output; if the current timing time of the TimingBar is greater than or equal to the first time threshold, the high-power output mode stops and enters the rated power mode, outputting TimingBar = 0. The CoolingBar also starts timing. If the current timing time of the CoolingBar is less than the preset second time threshold, CoolingBar = 1 is output; if the current timing time of the CoolingBar is greater than or equal to the preset second time threshold, CoolingBar = 0 is output. Otherwise, if the button for high power output mode is pressed, or the slope of the road where the bicycle is located is greater than the preset slope threshold, or the condition TimingBar = 1 is not met, step S13 is executed.

2. The method for controlling the output torque of the motor in an electric-assisted bicycle as described in claim 1, characterized in that, Step S13: When P request is less than or equal to the preset power threshold, maintain the rated power mode; where P request = pedal speed. Pedal torque k / 9.55, where k is the assist ratio; Otherwise, when P 请求 Set the preset power threshold and proceed to step S14.

3. The method for controlling the output torque of the motor in an electric-assisted bicycle as described in claim 2, characterized in that, Step S14: When the condition T request > preset torque threshold is met, the high-power output mode is maintained, and the TimingBar timing continues. If the current timing time of the TimingBar is less than the first time threshold, TimingBar = 1 is output; if the current timing time of the TimingBar is greater than or equal to the first time threshold, the high-power output mode is stopped and the rated power mode is entered, with TimingBar = 0 output. The CoolingBar timing continues. If the current timing time of the CoolingBar is less than the preset second time threshold, CoolingBar = 1 is output; if the current timing time of the CoolingBar is greater than or equal to the preset second time threshold, CoolingBar = 0 is output. Where T request = pedal torque. k; Otherwise, if T requests <= the preset torque threshold, maintain the rated power mode.

4. The method for controlling the output torque of the motor in an electric-assisted bicycle as described in claim 3, characterized in that, When determining the high-power output mode or the rated power output mode, the corresponding motor torque output limit values ​​include: When the high-power output mode is determined, the first table of torque boundary limits corresponding to the high-power output mode is obtained. Based on the current pedal speed of the electric-assisted bicycle, the first table is consulted to obtain the corresponding motor torque output limit value.

5. The method for controlling the output torque of the motor in an electric-assisted bicycle as described in claim 1, characterized in that, When determining the high-power output mode or the rated power output mode, the corresponding motor torque output limit values ​​include: When determining the rated power output mode, obtain the second table of torque boundary limits corresponding to the rated power output mode, and look up the second table based on the current pedal speed of the electric-assisted bicycle to obtain the corresponding motor torque output limit value.

6. The method for controlling the output torque of the motor in an electric-assisted bicycle as described in claim 1, characterized in that, Based on the current vehicle speed and the current temperature of the motor, the output limit value of the motor torque is corrected to obtain the minimum correction value of the motor torque, including: The current motor temperature (Moter Temp) of the electric-assist bicycle is found in the third table. The torque command correction factor (MotorTemp DeratingFactor) is then obtained, and T is calculated. 修正1 = Motor Temp Derating Factor Torque Limit, TorqueLimit is the output torque limit value of the motor; Based on the current vehicle speed (Vehicle Speed) of the electric-assisted bicycle, refer to the fourth table to obtain the torque command correction factor (Vehicle Speed ​​Derating Factor), and calculate T. 修正2 = Vehicle Speed ​​DeratingFactor TorqueLimit; Calculate the minimum torque correction value Treq = MIN{ T 请求 T 修正1 T 修正2 } 7. A computer-readable storage medium having stored thereon computer-executable instructions, wherein, When the computer-executable instructions are executed by a processor, the processor causes the processor to perform the method as described in any one of claims 1 to 6.

8. A calculator device, wherein, include: processor; as well as A memory configured to store computer-executable instructions, which, when executed, cause the processor to perform the method as described in any one of claims 1 to 6.

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