Flexible vibration suppression method and device, electric bicycle and readable storage medium

Abstract

The invention discloses a flexible vibration suppression method and device, an electric bicycle and a readable storage medium, and relates to the technical field of bicycle control, the flexible vibration suppression method is applied to the electric bicycle, and the flexible vibration suppression method comprises the steps that a motor rotating speed signal in the process that the electric bicycle operates according to a power-assisted current signal is acquired; extracting a motor vibration signal in the motor rotating speed signal; according to the motor vibration signal, a vibration compensation current signal is determined, and the vibration compensation current signal is used for offsetting motor vibration generated by the motor vibration signal; and superposing the vibration compensation current signal to the assistance current signal to suppress flexible vibration in the electric bicycle. The problem that the riding experience of a rider is affected due to the fact that the electric bicycle generates flexible vibration due to unreasonable control over the electric bicycle is solved.

Description

Technical Field

[0001] The present application relates to the technical field of bicycle control, and particularly relates to a flexible vibration suppression method, device, electric bicycle and readable storage medium. Background Art

[0002] An electric bicycle (E-bike) uses a transmission device to connect a motor to a wheel load, so as to transmit the power output by the motor to the wheel load, thereby realizing the assisted riding of the electric bicycle.

[0003] However, since the transmission device is mainly composed of gears and chains, and both have the characteristic of flexible connection, if the control of the electric bicycle is unreasonable, serious flexible vibration will occur, and this flexible vibration will cause the motor to vibrate, and then cause the foot pedal to shake and the body to shake, which will be perceived by the rider, thus affecting the riding experience of the rider. Summary of the Invention

[0004] The main purpose of the present application is to provide a flexible vibration suppression method, device, electric bicycle and readable storage medium, aiming to solve the technical problem that due to unreasonable control of the electric bicycle, flexible vibration is generated in the electric bicycle, affecting the riding experience of the rider.

[0005] To achieve the above object, the present application provides a flexible vibration suppression method applied to an electric bicycle, and the flexible vibration suppression method includes:

[0006] Obtain the motor speed signal during the operation of the electric bicycle according to the assist current signal;

[0007] Extract the motor vibration signal from the motor speed signal;

[0008] Determine a vibration compensation current signal according to the motor vibration signal, wherein the vibration compensation current signal is used to cancel the motor vibration generated by the motor vibration signal;

[0009] Superimpose the vibration compensation current signal on the assist current signal to suppress the flexible vibration in the electric bicycle.

[0010] Optionally, the step of extracting the motor vibration signal from the motor speed signal includes:

[0011] Perform Fourier transform processing on the motor speed signal, and use the frequency obtained after the Fourier transform processing of the motor speed signal as the motor vibration frequency;

[0012] Determine the filtering parameters of a preset filter according to the motor vibration frequency;

[0013] Input the motor speed signal into the preset filter to filter the motor speed signal based on the filtering parameter to obtain the motor vibration signal.

[0014] Optionally, when the preset filter is a high-pass filter, the filtering parameter is the cut-off frequency of the high-pass filter;

[0015] The step of determining the filtering parameter of the preset filter according to the motor vibration frequency includes:

[0016] Take twice the motor vibration frequency as the cut-off frequency of the high-pass filter.

[0017] Optionally, when the preset filter is a resonance filter, the filtering parameter is the center frequency of the resonance filter;

[0018] The step of determining the filtering parameter of the preset filter according to the motor vibration frequency includes:

[0019] Take the motor vibration frequency as the center frequency of the resonance filter.

[0020] Optionally, when the preset filter is a moving average filter, the filtering parameter is the moving average period of the moving average filter;

[0021] The step of determining the filtering parameter of the preset filter according to the motor vibration frequency includes:

[0022] Calculate the product of the motor vibration frequency and a preset frequency multiple to obtain a frequency product, where the preset frequency multiple is greater than or equal to 1;

[0023] Take the frequency product as the moving average period of the moving average filter.

[0024] Optionally, the step of determining the vibration compensation current signal according to the motor vibration signal includes:

[0025] Calculate the product of the motor vibration signal and a preset vibration compensation gain to obtain the vibration compensation current signal.

[0026] Optionally, the flexible vibration suppression method further includes:

[0027] Obtain the resonance peaks of the vibration compensation gains in the Bode plot of the electric bicycle;

[0028] Take the vibration compensation gain corresponding to the minimum resonance peak among the resonance peaks as the preset vibration compensation gain.

[0029] The present application also provides a flexible vibration suppression device, which is applied to an electric bicycle. The flexible vibration suppression device includes:

[0030] An acquisition module, configured to acquire a motor speed signal during the operation of the electric bicycle according to an assist current signal;

[0031] An extraction module, configured to extract a motor vibration signal from the motor speed signal;

[0032] A determination module, configured to determine a vibration compensation current signal according to the motor vibration signal, wherein the vibration compensation current signal is used to cancel the motor vibration generated by the motor vibration signal;

[0033] A suppression module, configured to superimpose the vibration compensation current signal on the assist current signal to suppress the flexible vibration in the electric bicycle.

[0034] The present application also provides an electric bicycle, which is a physical device. The electric bicycle includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the steps of the flexible vibration suppression method as described above.

[0035] The present application also provides a readable storage medium, which is a computer-readable storage medium. A program for implementing the flexible vibration suppression method is stored on the computer-readable storage medium, and the program for implementing the flexible vibration suppression method is executed by a processor to implement the steps of the flexible vibration suppression method as described above.

[0036] The present application also provides a computer program product, including a computer program, and the computer program implements the steps of the flexible vibration suppression method as described above when executed by a processor.

[0037] The present application provides a flexible vibration suppression method, which is applied to an electric bicycle. First, the present application obtains the motor speed signal during the operation of the electric bicycle according to the assist current signal, and then extracts the motor vibration signal that causes the motor of the electric bicycle to vibrate from the motor speed signal; then, according to the motor vibration signal, a vibration compensation current signal for canceling the motor vibration generated by the motor vibration signal is determined; since the motor vibration is caused by the flexible vibration of the electric bicycle, the suppression of the flexible vibration can be reversely realized by canceling the motor vibration. Therefore, finally, the vibration compensation current signal is superimposed on the assist current signal, and the flexible vibration generated in the electric bicycle by the assist current signal can be suppressed by the vibration compensation current signal, thereby overcoming the technical defect that the electric bicycle generates serious flexible vibration due to unreasonable control of the electric bicycle in the prior art, suppressing the flexible vibration in the electric bicycle, and improving the riding experience of the rider. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0040] Figure 1 It is a schematic flowchart provided for Embodiment 1 of the flexible vibration suppression method of the present application;

[0041] Figure 2 It is a schematic flowchart provided for Embodiment 2 of the flexible vibration suppression method of the present application;

[0042] Figure 3 It is a brief schematic flowchart of the flexible vibration suppression method provided for Embodiment 2 of the present application;

[0043] Figure 4 It is a brief block diagram of the flexible vibration suppression method provided for Embodiment 2 of the present application;

[0044] Figure 5 It is a schematic diagram of the module structure of the flexible vibration suppression device according to the embodiment of the present application;

[0045] Figure 6 It is a schematic diagram of the device structure of the hardware operating environment involved in the flexible vibration suppression method according to the embodiment of the present application.

[0046] The realization of the purpose, functional features and advantages of this application will be further described in conjunction with embodiments with reference to the accompanying drawings. Detailed implementation manners

[0047] To make the above objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0048] Embodiment 1

[0049] Flexible vibration refers to the vibration generated by a device with flexible connection characteristics.

[0050] An electric bicycle (Electric Bicycle, E-bike) uses a transmission device to connect the motor to the wheel load, so as to transmit the power output by the motor to the wheel load, thereby realizing the assisted riding of the electric bicycle.

[0051] However, since the transmission device is mainly composed of gears and chains, both of which have flexible connection characteristics, if the control of the electric bicycle is unreasonable, serious flexible vibration will be generated, and this flexible vibration will cause the motor to vibrate, and then cause the foot pedal to shake and the body to shake, which will be perceived by the rider, thus affecting the riding experience of the rider.

[0052] Based on this, the present application proposes a flexible vibration suppression method for the first embodiment. Please refer to Figure 1 , which is applied to an electric bicycle. The flexible vibration suppression method includes steps S10 to S40:

[0053] Step S10, obtaining the motor speed signal during the operation of the electric bicycle according to the assist current signal;

[0054] It should be noted that an electric bicycle refers to a mechatronic bicycle that uses a battery as an auxiliary energy source and is equipped with operating components such as a motor and a controller and a display instrument system. The assist current signal is used to control the operation of the electric bicycle. Specifically, the motor of the electric bicycle can perform current loop control according to the assist current signal, so as to realize the operation of the electric bicycle through the control of the current loop. The motor speed signal is used to represent the ratio of the number of rotations per minute of the motor in the electric bicycle to the time.

[0055] In the specific implementation, when obtaining the motor speed signal during the operation of the electric bicycle according to the assist current signal, it can be obtained in real time or periodically. This embodiment does not make specific limitations on this.

[0056] In a feasible implementation, a speed sensor connected to the motor or other devices capable of collecting the motor speed signal can be installed on the electric bicycle, or a speed sensor connected to the motor or other devices capable of collecting the motor speed signal can be installed on other devices connected to the electric bicycle, so as to collect the motor speed signal during the operation of the electric bicycle according to the assist current signal through the speed sensor or other devices capable of collecting the motor speed signal.

[0057] Step S20, extract the motor vibration signal from the motor speed signal;

[0058] It should be noted that the motor vibration signal refers to the signal in the motor speed signal that causes the motor of the electric bicycle to vibrate.

[0059] When extracting the motor vibration signal from the motor speed signal, the signal components in the motor speed signal that are greater than the preset frequency can be extracted as the motor vibration signal, or the motor vibration frequency of the motor speed signal can be determined first, and then the motor speed signal can be filtered according to the motor vibration frequency to extract the motor vibration signal from the motor speed signal.

[0060] Step S30, determine the vibration compensation current signal according to the motor vibration signal, where the vibration compensation current signal is used to cancel the motor vibration generated by the motor vibration signal;

[0061] It can be understood that since the motor vibration signal is extracted from the motor speed signal, the motor vibration signal is actually still a speed, and the speed of the motor is positively correlated with the current frequency (i.e., the current signal). Therefore, the vibration compensation current signal corresponding to the motor vibration signal can be determined by using the positive correlation relationship between the two.

[0062] In a feasible implementation, to improve the determination efficiency of the vibration compensation current signal, a current signal configuration table for recording the vibration compensation current signals corresponding to different motor vibration signals can be configured through electromagnetic simulation or offline calibration, etc. Thus, step S30 may include: searching for the vibration compensation current signal corresponding to the motor vibration signal in the preset current signal configuration table.

[0063] In another feasible implementation, the step S30: determine the vibration compensation current signal according to the motor vibration signal, may include step S31:

[0064] Step S31: Calculate the product of the motor vibration signal and the preset vibration compensation gain to obtain the vibration compensation current signal.

[0065] It should be noted that the preset vibration compensation gain is used to indicate the multiple by which the motor vibration signal needs to be increased. This preset vibration compensation gain can be a value set by the user that is greater than 1 and less than or equal to the optimal vibration compensation gain, or it can be the optimal vibration compensation gain of the electric bicycle. This embodiment does not make specific limitations in this regard. The optimal vibration compensation gain can be set by the user or determined according to the Bode plot of the electric bicycle. This embodiment also does not make specific limitations in this regard.

[0066] The above are only two feasible implementation manners of step S30 provided in this embodiment. This embodiment does not make specific limitations on the specific implementation manner of step S30.

[0067] Step S40: Superimpose the vibration compensation current signal on the assist current signal to suppress the flexible vibration in the electric bicycle.

[0068] It can be understood that since the motor vibration in the electric bicycle is caused by the flexible vibration in the electric bicycle, after superimposing the vibration compensation current signal that can cancel out the motor vibration in the electric bicycle on the assist current signal, the motor vibration in the electric bicycle will be partially cancelled out. Thus, the flexible vibration in the electric bicycle will also be partially suppressed.

[0069] This embodiment provides a method for suppressing flexible vibration, which is applied to an electric bicycle. This embodiment first obtains the motor speed signal during the operation of the electric bicycle according to the assist current signal, and then extracts the motor vibration signal that causes the motor of the electric bicycle to vibrate from the motor speed signal; then, according to the motor vibration signal, determines the vibration compensation current signal used to cancel out the motor vibration generated by the motor vibration signal; since the motor vibration is caused by the flexible vibration of the electric bicycle, suppressing the motor vibration can inversely suppress the flexible vibration. Therefore, finally, superimposing the vibration compensation current signal on the assist current signal can suppress the flexible vibration generated in the electric bicycle by the assist current signal through the vibration compensation current signal, thereby overcoming the technical defect in the prior art that the electric bicycle generates serious flexible vibration due to unreasonable control of the electric bicycle, suppressing the flexible vibration in the electric bicycle, and improving the riding experience of the rider.

[0070] In a feasible implementation manner, the step S20: Extract the motor vibration signal from the motor speed signal may include steps S21 to S23:

[0071] Step S21: Perform Fourier transform processing on the motor speed signal, and use the frequency obtained after the Fourier transform processing of the motor speed signal as the motor vibration frequency;

[0072] It should be noted that the motor vibration frequency refers to the number of vibrations per second of the motor, and the motor vibration frequency is used to characterize the frequency of the signal in the motor speed signal that will cause the motor of the electric bicycle to vibrate.

[0073] When performing Fourier transform processing on the motor speed signal, the motor speed signal can be analyzed by offline fast Fourier transform to achieve Fourier transform processing of the motor speed signal; the motor speed signal can also be analyzed by online fast Fourier transform to achieve Fourier transform processing of the motor speed signal; the motor speed signal can also be identified by offline system characteristics to achieve Fourier transform processing of the motor speed signal. This embodiment does not make specific limitations on this.

[0074] Step S22: Determine the filtering parameters of the preset filter according to the motor vibration frequency;

[0075] It should be noted that the preset filter is used to filter the motor speed signal based on the filtering parameters to filter out the motor vibration signal from the motor speed signal. The filtering parameters refer to the parameters required for the preset filter to filter the motor speed signal. The filtering parameters can include cut-off frequency, center frequency, or moving average period, etc. This embodiment does not make specific limitations on this.

[0076] As an example, in the case where the preset filter is a high-pass filter, the filtering parameter is the cut-off frequency of the high-pass filter; the step S22: Determine the filtering parameters of the preset filter according to the motor vibration frequency can include step S201:

[0077] Step S201: Use twice the motor vibration frequency as the cut-off frequency of the high-pass filter.

[0078] It should be noted that a high-pass filter is a combined device composed of components such as capacitors, inductors, and resistors that allows signal components higher than the cut-off frequency to pass through and does not allow signal components lower than the cut-off frequency to pass through.

[0079] As another example, in the case where the preset filter is a resonant filter, the filtering parameter is the center frequency of the resonant filter; the step S22: Determine the filtering parameters of the preset filter according to the motor vibration frequency can include step S211:

[0080] Step S211: Use the motor vibration frequency as the center frequency of the resonant filter.

[0081] It should be noted that a harmonic filter is a combined device composed of components such as capacitors, inductors, and resistors that can filter out harmonics in a signal with the center frequency as a reference.

[0082] As another example, when the preset filter is a moving average filter, the filtering parameter is the moving average period of the moving average filter; the step S22: determining the filtering parameter of the preset filter according to the motor vibration frequency may include steps S221 to S222:

[0083] Step S221, calculate the product of the motor vibration frequency and a preset frequency multiple to obtain a frequency product, where the preset frequency multiple is greater than or equal to 1;

[0084] Step S222, use the frequency product as the moving average period of the moving average filter.

[0085] It should be noted that the working principle of the moving average filter is to first establish a sampling window and a filtering window and define the lengths of the sampling window and the filtering window; then fill each point and the data (signal components) of each point in the data sample (signal) into the sampling window according to the moving average period, and determine whether the sampling window is full. If the sampling window is not full, calculate the average value by accumulating the data of each point in the sampling window. If the sampling window is full, after performing bubble sorting on the data of each point and removing n maximum values and minimum values, calculate the average value by accumulating the data of each point in the filtering window; if a new data sample arrives, it is necessary to remove the point with the earliest time and the data of this point in the sampling window, and then repeat the above operations.

[0086] It can be understood that in the above three examples of step S22, the moving average filter has the best filtering effect, so the accuracy of the motor vibration signal filtered by the moving average filter is the highest; the high-pass filter has the highest filtering efficiency, so the motor vibration signal can be quickly obtained through the high-pass filter; the resonant filter can take into account both the determination efficiency and the determination accuracy of the motor vibration signal. In actual use, the preset filter can be selected according to the actual situation, and this embodiment does not make specific limitations in this regard.

[0087] The above are only three feasible examples of step S22 provided in this embodiment, and this embodiment does not make specific limitations on the specific implementation manner of step S22.

[0088] Step S23, input the motor speed signal into the preset filter to perform filtering processing on the motor speed signal based on the filtering parameter to obtain the motor vibration signal.

[0089] In this embodiment, first, the motor speed signal is processed by Fourier transform, and the frequency obtained after the Fourier transform processing of the motor speed signal is used as the motor vibration frequency. Then, according to the motor vibration frequency, the filtering parameters of the preset filter are determined. Next, by inputting the motor speed signal into the preset filter, the motor speed signal is filtered based on the filtering parameters to obtain the motor vibration signal. Therefore, in the process of extracting the motor vibration signal from the motor speed signal in this embodiment, the motor vibration frequency will be determined first, and then, taking this motor vibration frequency as a reference, the filtering parameters required for the preset filter during the filtering process are determined. Next, the preset filter is used to filter the motor speed signal to accurately extract the motor vibration signal from the motor speed signal, thereby improving the accuracy of the extracted motor vibration signal.

[0090] Embodiment 2

[0091] Based on the first embodiment of the present application, in another embodiment of the present application, the same or similar content as that in the above-mentioned Embodiment 1 can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 2 , the flexible vibration suppression method further includes steps A10 to A20:

[0092] Step A10, obtaining the resonance peak values of the vibration compensation gains in the Bode diagram of the electric bicycle;

[0093] It should be noted that the Bode diagram of the electric bicycle is used to characterize the frequency characteristics of the electric bicycle. The resonance peak value refers to the maximum value reached by the amplitude of the motor vibration in the electric bicycle at the resonance frequency. The larger the resonance peak value of the vibration compensation gain, the worse the final effect of the vibration compensation gain on vibration suppression.

[0094] In addition, it should be noted that the Bode diagram of the electric bicycle can be obtained by plotting the transfer function of the electric bicycle. The transfer function linearity refers to the ratio of the Laplace transform of the output quantity to the Laplace transform of the input quantity of a linear system under zero initial conditions. The transfer function of the electric bicycle refers to the ratio of the Laplace transform of the motor speed signal to the Laplace transform of the assist current signal of the electric bicycle under zero initial conditions. The transfer function of the electric bicycle can be obtained by offline system characteristic identification of the electric bicycle.

[0095] In a feasible embodiment, when obtaining the resonance peak values of the vibration compensation gains in the Bode diagram of the electric bicycle, to improve the accuracy of determining the subsequent preset vibration compensation gain, the resonance peak values of all vibration compensation gains in the Bode diagram of the electric bicycle can be obtained.

[0096] In another feasible implementation, when obtaining the resonance peaks of the vibration compensation gains in the Bode plot of the electric bicycle, in order to improve the determination efficiency of the subsequent preset vibration compensation gain, the resonance peaks of some vibration compensation gains in the Bode plot of the electric bicycle can be obtained.

[0097] The above are only two feasible implementation manners of step A10 provided in this embodiment, and this embodiment does not make specific limitations on the specific implementation manner of step A10.

[0098] Step A20: Take the vibration compensation gain corresponding to the minimum resonance peak among the resonance peaks as the preset vibration compensation gain.

[0099] This embodiment provides a method for determining the vibration compensation gain. First, this embodiment obtains the resonance peaks of the vibration compensation gains in the Bode plot of the electric bicycle; then takes the vibration compensation gain corresponding to the minimum resonance peak among the resonance peaks as the preset vibration compensation gain. Thus, the vibration compensation gain with the best effect of suppressing the flexible vibration can be obtained. Therefore, when suppressing the flexible vibration in the electric bicycle through the vibration compensation gain with the best effect of suppressing the flexible vibration, the flexible vibration in the electric bicycle can be suppressed to the greatest extent, and further the riding experience of the rider can be improved to the greatest extent.

[0100] Exemplarily, to help understand the technical concept or technical principle of this application, please refer to Figure 3 and Figure 4 , Figure 3 which provides a schematic flowchart of the flexible vibration suppression method, Figure 4 and which provides a brief block diagram of the flexible vibration suppression method. Specifically:

[0101] First, obtain the motor speed signal of the electric bicycle during the assistance process, that is, obtain the motor speed signal during the process when the electric bicycle operates according to the assistance current signal; then analyze the motor vibration frequency based on this motor speed signal; then extract the motor vibration signal in the motor speed signal according to this motor vibration frequency; then determine the optimal compensation gain according to the transfer function of the electric bicycle; then calculate the optimal vibration compensation current signal according to this optimal compensation gain and the motor vibration signal; then superimpose this optimal vibration compensation current signal on the assistance current signal to update the assistance current signal, that is, update the assistance current curve; finally, control the motor of the electric bicycle to perform current loop control according to the updated assistance current signal, and the suppression of the flexible vibration in the electric bicycle can be achieved.

[0102] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the flexible vibration suppression method of this application. Based on this technical concept, more forms of simple transformations are within the protection scope of this application.

[0103] Embodiment III

[0104] The embodiment of the present invention further provides a flexible vibration suppression device. Please refer to Figure 5 , which is applied to an electric bicycle. The flexible vibration suppression device includes:

[0105] An acquisition module 10, configured to acquire a motor speed signal during the operation of the electric bicycle according to an assist current signal;

[0106] An extraction module 20, configured to extract a motor vibration signal from the motor speed signal;

[0107] A determination module 30, configured to determine a vibration compensation current signal according to the motor vibration signal, wherein the vibration compensation current signal is used to cancel the motor vibration generated by the motor vibration signal;

[0108] A suppression module 40, configured to superimpose the vibration compensation current signal on the assist current signal to suppress the flexible vibration in the electric bicycle.

[0109] Optionally, the extraction module 20 is further configured to:

[0110] Perform Fourier transform processing on the motor speed signal, and use the frequency obtained after the Fourier transform processing of the motor speed signal as the motor vibration frequency;

[0111] Determine the filtering parameter of a preset filter according to the motor vibration frequency;

[0112] Input the motor speed signal into the preset filter to perform filtering processing on the motor speed signal based on the filtering parameter to obtain the motor vibration signal.

[0113] Optionally, when the preset filter is a high-pass filter, the filtering parameter is the cut-off frequency of the high-pass filter;

[0114] The extraction module 20 is further configured to:

[0115] Use twice the motor vibration frequency as the cut-off frequency of the high-pass filter.

[0116] Optionally, when the preset filter is a resonant filter, the filtering parameter is the center frequency of the resonant filter;

[0117] The extraction module 20 is further configured to:

[0118] Use the motor vibration frequency as the center frequency of the resonant filter.

[0119] Optionally, when the preset filter is a moving average filter, the filtering parameter is the moving average period of the moving average filter.

[0120] The extraction module 20 is further configured to:

[0121] Calculate the product of the motor vibration frequency and a preset frequency multiple to obtain a frequency product, where the preset frequency multiple is greater than or equal to 1.

[0122] Use the frequency product as the moving average period of the moving average filter.

[0123] Optionally, the determination module 30 is further configured to:

[0124] Calculate the product of the motor vibration signal and a preset vibration compensation gain to obtain the vibration compensation current signal.

[0125] Optionally, the determination module 30 is further configured to:

[0126] Obtain the resonance peak values of each vibration compensation gain in the Bode plot of the electric bicycle.

[0127] Use the vibration compensation gain corresponding to the minimum resonance peak value among the resonance peak values as the preset vibration compensation gain.

[0128] The flexible vibration suppression device provided by the present invention adopts the flexible vibration suppression method in the above embodiment, and can solve the technical problem that due to unreasonable control of the electric bicycle, the electric bicycle generates flexible vibration, affecting the riding experience of the rider. Compared with the prior art, the beneficial effects of the flexible vibration suppression device provided by the embodiment of the present invention are the same as those of the flexible vibration suppression method provided by the above embodiment, and other technical features in the flexible vibration suppression device are the same as those disclosed in the method of the above embodiment, and will not be repeated here.

[0129] Embodiment 4

[0130] The embodiment of the present invention provides an electric bicycle, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the flexible vibration suppression method in Embodiment 1 above.

[0131] Next, refer to Figure 6, which shows a schematic structural diagram of an electric bicycle suitable for implementing the embodiments of the present disclosure. The electric bicycle in the embodiments of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (such as in-vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The shown electric bicycle is merely an example and should not impose any limitations on the functions and usage scope of the embodiments of the present disclosure.

[0132] As Figure 6 shown, the electric bicycle may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM: Read Only Memory) 1002 or the program loaded from the storage device 1003 into the random access memory (RAM: Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the electric bicycle are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. The input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the electric bicycle to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows an electric bicycle with various systems, it should be understood that it is not required to implement or have all the shown systems. More or fewer systems may be alternatively implemented or had.

[0133] In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, an embodiment of the present disclosure includes a computer program product that includes a computer program carried on a computer-readable medium, and the computer program includes program code for performing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by a processing device 1001, the above functions defined in the method of the embodiment of the present disclosure are performed.

[0134] The electric bicycle provided by the present invention adopts the flexible vibration suppression method in the above embodiment, and can solve the technical problem that due to unreasonable control of the electric bicycle, the electric bicycle generates flexible vibration, affecting the riding experience of the rider. Compared with the prior art, the beneficial effects of the electric bicycle provided by the embodiment of the present invention are the same as those of the flexible vibration suppression method provided by the above embodiment, and other technical features in the electric bicycle are the same as those disclosed in the method of the previous embodiment, and will not be elaborated here.

[0135] It should be understood that each part of the present disclosure can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0136] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, and all should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

[0137] Embodiment Five

[0138] An embodiment of the present invention provides a computer-readable storage medium having computer-readable program instructions stored thereon for performing the flexible vibration suppression method in the first embodiment above.

[0139] The computer-readable storage medium provided by the embodiments of the present invention can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or component. The program code contained on the computer-readable storage medium can be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0140] The above computer-readable storage medium can be included in an electric bicycle; or can exist independently without being assembled into the electric bicycle.

[0141] The above computer-readable storage medium carries one or more programs, which, when executed by the electric bicycle, cause the electric bicycle to: obtain the motor speed signal during the operation of the electric bicycle according to the assist current signal; extract the motor vibration signal from the motor speed signal; determine a vibration compensation current signal according to the motor vibration signal, where the vibration compensation current signal is used to cancel the motor vibration generated by the motor vibration signal; and superimpose the vibration compensation current signal on the assist current signal to suppress the flexible vibration in the electric bicycle.

[0142] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., connected through the Internet using an Internet service provider).

[0143] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0144] The modules described in the embodiments of the present disclosure may be implemented in software or in hardware. Wherein, the name of the module does not constitute a limitation to the unit itself in some cases.

[0145] The readable storage medium provided by the present invention is a computer-readable storage medium. The computer-readable storage medium stores computer-readable program instructions for performing the above-mentioned flexible vibration suppression method, and can solve the technical problem that due to unreasonable control of the electric bicycle, the electric bicycle generates flexible vibration, affecting the riding experience of the rider. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the embodiments of the present invention are the same as those of the flexible vibration suppression method provided by the first or second embodiment above, and will not be elaborated herein.

[0146] Embodiment Six

[0147] The embodiment of the present invention further provides a computer program product, including a computer program, which when executed by a processor, implements the steps of the flexible vibration suppression method as described above.

[0148] The computer program product provided by this application can solve the technical problem that due to unreasonable control of the electric bicycle, the electric bicycle generates flexible vibration, affecting the riding experience of the rider. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiment of the present invention are the same as those of the flexible vibration suppression method provided by Embodiment One or Embodiment Two above, and will not be elaborated here.

[0149] The above are only the preferred embodiments of this application, and do not limit the patent scope of this application accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of this application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent scope of this application.

Claims

1. A flexible vibration suppression method, characterized in that Applied to an electric bicycle, the flexible vibration suppression method includes: Obtaining a motor speed signal during the operation of the electric bicycle according to an assist current signal; Extracting a motor vibration signal from the motor speed signal; Determining a vibration compensation current signal according to the motor vibration signal, wherein the vibration compensation current signal is used to cancel the motor vibration generated by the motor vibration signal; Superimposing the vibration compensation current signal on the assist current signal to suppress the flexible vibration in the electric bicycle.

2. The flexible vibration suppression method according to claim 1, wherein The step of extracting the motor vibration signal from the motor speed signal includes: Performing Fourier transform processing on the motor speed signal, and taking the frequency obtained after the Fourier transform processing of the motor speed signal as the motor vibration frequency; Determining the filtering parameters of a preset filter according to the motor vibration frequency; Inputting the motor speed signal into the preset filter to perform filtering processing on the motor speed signal based on the filtering parameters to obtain the motor vibration signal.

3. The flexible vibration suppression method according to claim 2, characterized in that, In the case where the preset filter is a high-pass filter, the filtering parameter is the cut-off frequency of the high-pass filter; The step of determining the filtering parameters of a preset filter according to the motor vibration frequency includes: Taking twice the motor vibration frequency as the cut-off frequency of the high-pass filter.

4. The flexible vibration suppression method according to claim 2, wherein In the case where the preset filter is a resonant filter, the filtering parameter is the center frequency of the resonant filter; The step of determining the filtering parameters of a preset filter according to the motor vibration frequency includes: Taking the motor vibration frequency as the center frequency of the resonant filter.

5. The flexible vibration suppression method according to claim 2, wherein In the case where the preset filter is a moving average filter, the filtering parameter is the moving average period of the moving average filter; The step of determining the filtering parameters of a preset filter according to the motor vibration frequency includes: Calculating the product of the motor vibration frequency and a preset frequency multiple to obtain a frequency product, wherein the preset frequency multiple is greater than or equal to 1; Taking the frequency product as the moving average period of the moving average filter.

6. The flexible vibration suppression method according to any one of claims 1 to 5, characterized in that The step of determining the vibration compensation current signal according to the motor vibration signal includes: Calculating the product of the motor vibration signal and a preset vibration compensation gain to obtain the vibration compensation current signal.

7. The flexible vibration suppression method according to claim 6, wherein The flexible vibration suppression method further includes: Obtaining the resonance peak values of each vibration compensation gain in the Bode diagram of the electric bicycle; Taking the vibration compensation gain corresponding to the minimum resonance peak value among the resonance peak values as the preset vibration compensation gain.

8. A flexible vibration suppression device, characterized in that, Applied to an electric bicycle, the flexible vibration suppression device includes: An acquisition module for obtaining a motor speed signal during the operation of the electric bicycle according to an assist current signal; An extraction module for extracting a motor vibration signal from the motor speed signal; A determination module for determining a vibration compensation current signal according to the motor vibration signal, wherein the vibration compensation current signal is used to cancel the motor vibration generated by the motor vibration signal; A suppression module, configured to superimpose the vibration compensation current signal onto the assist current signal to suppress the flexible vibration in the electric bicycle.

9. An electric bicycle, characterized in that, The electric bicycle includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the steps of the flexible vibration suppression method according to any one of claims 1 to 7.

10. A readable storage medium, characterized in that, The readable storage medium is a computer-readable storage medium, and a program for implementing the flexible vibration suppression method is stored on the computer-readable storage medium. The program for implementing the flexible vibration suppression method is executed by a processor to implement the steps of the flexible vibration suppression method according to any one of claims 1 to 7.

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