Engagement control method, and electric bicycle and readable storage medium

Abstract

The present application relates to the technical field of bicycle control. Disclosed are an engagement control method, and an electric bicycle and a readable storage medium. The engagement control method comprises: according to the pedal cadence of an electric bicycle, determining a target rotation speed corresponding to an electric motor of the electric bicycle, wherein the target rotation speed is the maximum rotation speed of the electric motor which can be achieved in a situation in which an engagement collision would not occur between a gear of the electric motor and a chainring thereof under the act of the pedal cadence; according to the target rotation speed and a preset flux linkage value, calculating a target back electromotive force voltage which corresponds to the electric motor and is used for limiting the maximum rotation speed of the electric motor to the target rotation speed; on the basis of the target back electromotive force voltage, controlling the electric motor to increase the rotation speed; and if it is detected that the rotation speed of the electric motor has been increased to the target rotation speed on the basis of the target back electromotive force voltage, gradually increasing the speed of engagement between the gear of the electric motor and the chainring thereof according to the target back electromotive force voltage.

Description

Engagement control method, electric bicycle and readable storage medium

[0001] Related applications

[0002] This application claims priority to Chinese patent application No. 202311516771.1 filed on November 14, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of bicycle control technology, and in particular to an engagement control method, an electric bicycle, and a readable storage medium. Background Art

[0004] At present, if an E-bike (Electric Bicycle) is started under the condition that the one-way clutch is engaged when the electric power assist is involved, or under similar conditions such as a small inertia object smoothly pushing a large inertia object, the motor inside the electric bicycle will accelerate too quickly due to the small inertia of the motor, which will cause the motor gear to collide with the crank gear at the moment of engagement, thereby causing the electric bicycle to shake and affecting the rider's riding experience.

[0005] Summary of the Invention

[0006] The main purpose of this application is to provide an engagement control method, device, electric bicycle and readable storage medium, aiming to solve the technical problem that the motor gear collides with the crank gear at the moment of engagement, causing the electric bicycle to shake and affecting the rider's riding experience.

[0007] To achieve the above objectives, the present application provides an engagement control method, which is applied to an electric bicycle. The engagement control method includes:

[0008] Determining a target speed corresponding to a motor of the electric bicycle based on the cadence speed of the electric bicycle, wherein the target speed is a maximum speed that the motor can reach under the condition that a gear of the motor does not mesh with or collide with a crank gear under the action of the cadence speed;

[0009] Calculating a target back-motive force voltage corresponding to the motor according to the target speed and a preset flux linkage value, wherein the target back-motive force voltage is used to limit the maximum speed of the motor to the target speed;

[0010] controlling the motor to increase the speed based on the target back-motive voltage;

[0011] If it is detected that the motor has been accelerated to the target rotational speed based on the target back-motive voltage, the meshing speed of the gear of the motor and the crank gear is gradually increased according to the target back-motive voltage.

[0012] In one embodiment, the step of determining a target speed corresponding to the motor of the electric bicycle based on the pedaling speed of the electric bicycle includes:

[0013] Obtaining a target angular velocity ratio, wherein the target angular velocity ratio refers to an angular velocity ratio between the motor and the pedal when the pedal of the electric bicycle and the motor of the electric bicycle are in a dynamic balance state, wherein the dynamic balance state is a critical state in which the gear of the motor does not mesh with or collide with the crank gear;

[0014] Based on the target angular velocity ratio, the pedaling speed of the electric bicycle is converted into a speed ratio to obtain a target speed corresponding to the motor of the electric bicycle.

[0015] In one embodiment, the step of gradually increasing the meshing speed between the gear of the motor and the crank gear according to the target back-motive voltage comprises:

[0016] Using the target back potential voltage as the initial control voltage;

[0017] Performing gain processing on the initial control voltage to obtain a target control voltage;

[0018] The gear of the motor is controlled to engage with the crank gear at an engagement speed corresponding to the target control voltage, and after a preset period of time, the target control voltage is used as a new initial control voltage, and the step of performing gain processing on the initial control voltage to obtain the target control voltage is returned to execute until it is detected that the gear of the motor is fully engaged with the crank gear.

[0019] In one embodiment, after the step of performing gain processing on the initial control voltage to obtain the target control voltage, the engagement control method further includes:

[0020] detecting whether the target control voltage is greater than or equal to a preset control voltage threshold;

[0021] If so, controlling the gear of the motor to mesh with the crank gear at a meshing speed corresponding to the preset control voltage threshold;

[0022] If not, the step of controlling the gear of the motor to mesh with the crank gear at the meshing speed corresponding to the target control voltage is performed.

[0023] In one embodiment, the engagement control method further includes:

[0024] Obtaining a first output voltage of a current loop of the electric bicycle;

[0025] If it is detected that the first output voltage is less than the target control voltage, it is determined that the gear of the motor is fully engaged with the crank gear.

[0026] In one embodiment, after the step of determining that the gear of the motor is fully engaged with the crank gear, the engagement control method further comprises:

[0027] detecting whether the target control voltage is less than a preset control voltage threshold;

[0028] If yes, then the target control voltage is subjected to gain processing to obtain the vehicle control voltage;

[0029] The electric bicycle is controlled to increase its speed based on the vehicle control voltage, and after a preset period of time, the vehicle control voltage is used as a new target control voltage, and the step of performing gain processing on the target control voltage to obtain the vehicle control voltage is returned to execute until it is detected that the target control voltage is equal to the preset control voltage threshold.

[0030] In one embodiment, before the step of gradually increasing the meshing speed of the gear of the motor and the crank gear according to the target back-motive voltage if it is detected that the motor has accelerated to the target speed based on the target back-motive voltage, the meshing control method further includes:

[0031] Obtaining a second output voltage of the current loop of the electric bicycle;

[0032] If it is detected that the second output voltage is greater than a preset output voltage threshold, it is determined that the motor has been accelerated to the target speed based on the target back-motive voltage.

[0033] In one embodiment, the engagement control method further includes:

[0034] Obtaining a torque signal, a pedaling frequency signal, and a speed signal of the electric bicycle;

[0035] If it is detected that the torque signal is greater than a preset torque threshold, and it is detected that there are at least a preset number of pulse signals in the cadence signal, and it is detected that the vehicle speed signal is greater than zero, then the step of determining the target speed corresponding to the motor of the electric bicycle based on the cadence speed of the electric bicycle is executed.

[0036] The present application also provides an engagement control device, which is applied to an electric bicycle. The engagement control device includes:

[0037] a determination module, configured to determine a target speed corresponding to a motor of the electric bicycle according to a cadence speed of the electric bicycle, wherein the target speed is a maximum speed that the motor can reach under the condition that a gear of the motor does not mesh with or collide with a crank gear under the action of the cadence speed;

[0038] a calculation module, configured to calculate a target back-motive force voltage corresponding to the motor according to the target speed and a preset flux linkage value, wherein the target back-motive force voltage is used to limit the maximum speed of the motor to the target speed;

[0039] an increasing speed module, configured to control the motor to increase its speed based on the target back-motive voltage;

[0040] The meshing module is configured to gradually increase the meshing speed of the gear of the motor and the crank gear according to the target back-motive voltage if it is detected that the motor has accelerated to the target speed based on the target back-motive voltage.

[0041] The present application also provides an electric bicycle, which is a physical device and 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 engagement control method as described above.

[0042] The present application also provides a readable storage medium, which is a computer-readable storage medium. The computer-readable storage medium stores a program for implementing the engagement control method. The program for implementing the engagement control method is executed by a processor to implement the steps of the engagement control method as described above.

[0043] The present application also provides a computer program product, comprising a computer program, which implements the steps of the above-mentioned meshing control method when executed by a processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0046] FIG1 is a flow chart of a first embodiment of the meshing control method of the present application;

[0047] FIG2 is a schematic diagram of controlling motor acceleration provided in Example 1 of the present application;

[0048] FIG3 is a schematic diagram of the voltage performance of the current loop provided in Example 1 of the present application;

[0049] FIG4 is a flow chart of a second embodiment of the meshing control method of the present application;

[0050] FIG5 is a schematic diagram of the module structure of the engagement control device according to an embodiment of the present application;

[0051] FIG6 is a schematic diagram of the device structure of the hardware operating environment involved in the meshing control method in an embodiment of the present application.

[0052] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0053] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0054] Example 1

[0055] At present, if an E-bike (Electric Bicycle) is started under the condition that the one-way clutch is engaged when the electric power assist is involved, or under similar conditions such as a small inertia object smoothly pushing a large inertia object, the motor inside the electric bicycle will accelerate too quickly due to the small inertia of the motor, which will cause the motor gear to collide with the crank gear at the moment of engagement, thereby causing the electric bicycle to shake and affecting the rider's riding experience.

[0056] Based on this, the present application proposes a first embodiment of an engagement control method, as shown in FIG1 , which is applied to an electric bicycle. The engagement control method includes:

[0057] Step S10, determining a target speed corresponding to the motor of the electric bicycle according to the cadence speed of the electric bicycle, wherein the target speed is the maximum speed that the motor can reach under the condition that the gear of the motor does not mesh with the crank gear under the action of the cadence speed;

[0058] 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, a controller, and a display instrument system. The cadence speed is used to characterize the ratio of the number of times the pedals of an electric bicycle rotate per minute to the time. The target speed is positively correlated with the cadence speed, that is, the greater the cadence speed, the greater the target speed, and the smaller the cadence speed, the smaller the target speed.

[0059] It is understandable that if the motor gear does not engage and collide with the crank gear under the action of the cadence speed, it means that the real-time speed of the motor is less than or equal to the cadence speed of the electric bicycle. In the actual process of starting the electric bicycle, the motor often needs to accelerate to a final speed that is greater than the cadence speed, so the motor gear and the crank gear will collide when they engage.

[0060] As an example, in order to improve the efficiency of determining the target speed, a speed configuration table can be set to record the target speeds corresponding to different cadence speeds. At this time, the step of determining the target speed corresponding to the motor of the electric bicycle based on the cadence speed of the electric bicycle includes: using the cadence speed of the electric bicycle as an index, searching for the target speed corresponding to the motor of the electric bicycle in the preset speed configuration table.

[0061] Step S20, calculating a target back-motive force voltage corresponding to the motor according to the target speed and a preset flux linkage value, wherein the target back-motive force voltage is used to limit the maximum speed of the motor to the target speed;

[0062] It should be noted that the flux linkage value refers to the total flux linkage of the magnetic field created by the current passing through the motor windings. Generally, the flux linkage value varies depending on the motor model, production process, and materials used. Therefore, one motor typically has one flux linkage value. To ensure the applicability of the meshing control method of this embodiment, an average flux linkage value can be set as the calibration flux linkage, i.e., the preset flux linkage value mentioned in this embodiment, to calculate the target back-motive voltage corresponding to the motor and the target speed. The back-motive voltage is used to characterize the electromotive force voltage generated by the tendency to oppose the change in current.

[0063] It is understandable that the maximum speed of the motor limited by the target back-motive voltage does not refer to the maximum speed that the motor can reach, but rather the maximum speed that the motor can reach under the action of the target back-motive voltage.

[0064] As an example, the formula for calculating the target back-motive voltage corresponding to the motor based on the target speed and the preset flux linkage value is as follows:

[0065] U targlimit =ωtarg *ψ m

[0066] Among them, U targlimit is the target back potential voltage, ω targ is the target speed, ψ m is the preset flux linkage value.

[0067] Step S30, controlling the motor to increase the speed based on the target back-motive voltage;

[0068] In step S40 , if it is detected that the motor has been accelerated to the target speed based on the target back-motive voltage, the meshing speed between the gear of the motor and the crank gear is gradually increased according to the target back-motive voltage.

[0069] It should be noted that before it is detected that the motor has accelerated to the target speed based on the target reaction potential voltage, the motor gear will not engage with the crank gear because it is in a relatively static state with the crank gear. Only when the motor accelerates to the target speed will the motor gear begin to engage with the crank gear. The meshing speed of the motor gear and the crank gear is the real-time speed of the motor during the process of the motor gear engaging with the crank gear.

[0070] In addition, it should be noted that gradually increasing the meshing speed of the motor gear and the crank gear can be performed by periodically increasing the meshing speed of the motor gear and the crank gear according to a fixed interval time and a fixed / random speed increase, or by non-periodically increasing the meshing speed of the motor gear and the crank gear according to a random interval time and a fixed / random speed increase, or by non-periodically increasing the meshing speed of the motor gear and the crank gear according to an interval time with a certain change pattern and a fixed / random speed increase. This embodiment does not limit this.

[0071] An embodiment of the present application provides an engagement control method, which is applied to an electric bicycle. The embodiment of the present application determines the target speed corresponding to the motor of the electric bicycle through the cadence speed of the electric bicycle, that is, determines the maximum speed that the motor can reach under the action of the cadence speed when the gear of the motor does not engage and collide with the crank gear, so that the target reaction potential voltage corresponding to the motor can be calculated through the target speed and the preset magnetic flux value, that is, the target reaction potential voltage for limiting the maximum speed of the motor to the target speed is calculated to ensure that the motor will not increase its speed greater than the target speed in the process of increasing its speed based on the target reaction potential voltage, so as to avoid the risk of collision when the gears of the motor and the crank gear are engaged. Furthermore, if it is detected that the motor has accelerated to the target speed based on the target reaction potential voltage, the meshing speed of the motor gear and the crank gear is gradually increased according to the target reaction potential voltage to achieve slow meshing of the motor gear and the crank gear. By achieving slow meshing, the collision phenomenon during the meshing process of the motor gear and the crank gear is avoided, and the technical defect in the prior art that the motor accelerates too fast due to the small inertia of the motor inside the electric bicycle, which causes the motor gear to collide with the crank gear at the moment of meshing, is overcome. The vibration of the electric bicycle when starting is reduced, and the riding experience of the rider is improved.

[0072] In one possible implementation, step S10 of determining a target speed corresponding to the motor of the electric bicycle based on the pedaling speed of the electric bicycle includes:

[0073] Step S11, obtaining a target angular velocity ratio, wherein the target angular velocity ratio refers to the angular velocity ratio of the motor to the pedal when the pedal of the electric bicycle and the motor of the electric bicycle are in a dynamic balance state, and the dynamic balance state is a critical state in which the gear of the motor does not mesh with the crank gear and collide;

[0074] Step S12: Based on the target angular velocity ratio, convert the pedaling speed of the electric bicycle into a speed ratio to obtain a target speed corresponding to the motor of the electric bicycle.

[0075] As an example, based on the target angular velocity ratio, the speed ratio of the pedaling frequency of the electric bicycle is converted to obtain the target speed corresponding to the motor of the electric bicycle using the following formula:

[0076] ω targ =ω cadc *k

[0077] Among them, ω targ is the target speed, ω cadc is the cadence speed, and k is the target angular velocity ratio.

[0078] It can be understood that the calculation method of converting the pedaling speed of the electric bicycle into a speed ratio through the dynamic balance coefficient to obtain the target speed corresponding to the motor not only simplifies the calculation process, but also ensures that the calculated target speed can be closer to the final speed that the motor needs to reach when the electric bicycle is actually started, thereby improving the accuracy of determining the target speed.

[0079] In one possible implementation, step S40 of gradually increasing the meshing speed between the motor gear and the crank gear according to the target back-motive voltage includes:

[0080] Step S41, using the target back potential voltage as the initial control voltage;

[0081] Step S42, performing gain processing on the initial control voltage to obtain a target control voltage;

[0082] It should be noted that the target control voltage represents the voltage applied to the motor when the gear controlling the motor meshes with the crank gear. Gaining the initial control voltage refers to increasing the initial control voltage. This gain can be performed by increasing the initial control voltage by a fixed amount or by a specific amount based on actual conditions. This embodiment does not specifically limit the manner in which the gain is performed on the initial control voltage.

[0083] As an example, the formula for performing gain processing on the initial control voltage to obtain the target control voltage is as follows:

[0084] U' qlimit =U qlimit +ΔU qlimit

[0085] Among them, U' qlimit is the target control voltage, U qlimit is the initial control voltage, ΔU qlimit is the gain voltage.

[0086] Step S43, controlling the gear of the motor to engage with the crank gear at an engagement speed corresponding to the target control voltage, and after a preset time, using the target control voltage as a new initial control voltage, returning to execute the step of performing gain processing on the initial control voltage to obtain the target control voltage, until it is detected that the gear of the motor is fully engaged with the crank gear.

[0087] In this embodiment, the target reaction potential voltage is first used as the initial control voltage, and then the initial control voltage is gain processed to obtain the target control voltage, and then the gear of the motor is controlled to engage with the crank gear at the engagement speed corresponding to the target control voltage, and after a preset time, the target control voltage is used as the new initial control voltage to repeat the above steps until it is detected that the gear of the motor is fully engaged with the crank gear. Therefore, this embodiment increases the speed of the motor regularly and slowly during the process of the gear of the motor engaging with the crank gear, so that the engagement process of the gear of the motor and the crank gear can be carried out smoothly and slowly, which not only realizes the slow engagement of the gear of the motor and the crank gear, but also ensures the stability of the engagement, further reduces the jitter when the electric bicycle is started, and improves the riding experience of the rider.

[0088] In one possible implementation, after the step S42 of performing gain processing on the initial control voltage to obtain the target control voltage, the engagement control method further includes:

[0089] Step S421, detecting whether the target control voltage is greater than or equal to a preset control voltage threshold;

[0090] It should be noted that the preset control voltage threshold is used to represent the maximum voltage that can act on the motor in the electric bicycle. The preset control voltage threshold is determined by the output voltage of the power module of the electric bicycle.

[0091] Step S422: If yes, control the gear of the motor to mesh with the crank gear at a meshing speed corresponding to the preset control voltage threshold;

[0092] Step S423: If not, executing the step of controlling the gear of the motor to mesh with the crank gear at the meshing speed corresponding to the target control voltage.

[0093] In this embodiment, whether the target control voltage exceeds the maximum voltage that can act on the motor in the electric bicycle is determined by detecting whether the target control voltage is greater than or equal to a preset control voltage threshold. If it is detected that the target control voltage is greater than or equal to the preset control voltage threshold, it means that the target control voltage at this time exceeds the maximum voltage that can act on the motor in the electric bicycle. Since a voltage greater than the preset control voltage threshold cannot be applied to the motor, the preset control voltage threshold can be applied to the motor to control the gears of the motor to engage with the crank gear at an engagement speed corresponding to the preset control voltage threshold until full engagement is achieved to ensure normal engagement. If it is detected that the target control voltage is less than the preset control voltage threshold, it means that the target control voltage at this time does not exceed the maximum voltage that can act on the motor in the electric bicycle. Then, the motor speed is continued to be increased regularly and slowly to control the gears of the motor to engage with the crank gear at an engagement speed corresponding to the target control voltage.

[0094] In one possible implementation, the engagement control method further includes:

[0095] Step S431, obtaining a first output voltage of the current loop of the electric bicycle;

[0096] It should be noted that the first output voltage refers to the voltage output by the current loop of the electric bicycle when the gear of the motor is engaged with the crank gear.

[0097] Step S432: If it is detected that the first output voltage is less than the target control voltage, it is determined that the gear of the motor is fully engaged with the crank gear.

[0098] It can be understood that since the current loop is directly controlled by the motor, the voltage output by the current loop can intuitively reflect the actual situation of the motor. If the voltage output by the current loop is less than the target control voltage acting on the motor, it means that the load of the motor has increased at this time, and it can be accurately determined that the motor gear is fully engaged with the crank gear, thereby improving the accuracy of determining the engagement situation.

[0099] In one possible implementation, after step S432: determining that the gear of the motor is fully engaged with the crank gear, the engagement control method further includes:

[0100] Step S433, detecting whether the target control voltage is less than a preset control voltage threshold;

[0101] Step S434: If yes, then perform gain processing on the target control voltage to obtain the vehicle control voltage;

[0102] Step S435, controlling the electric bicycle to increase its speed based on the vehicle control voltage, and after a preset period of time, using the vehicle control voltage as a new target control voltage, returning to execute the step of performing gain processing on the target control voltage to obtain the vehicle control voltage, until it is detected that the target control voltage is equal to the preset control voltage threshold.

[0103] In this embodiment, if after the gears of the motor are fully engaged with the crank gear, it is detected that the target control voltage is less than the preset control voltage threshold, indicating that the voltage in the electric bicycle can continue to be increased, the target control voltage will continue to be gain processed to obtain the whole vehicle control voltage, and then the whole vehicle control voltage is used to control the electric bicycle to increase the speed, and after a preset time, the whole vehicle control voltage is used as the new target control voltage and the above operation is repeated until it is detected that the target control voltage is equal to the preset control voltage threshold, so as to achieve maximum control of the voltage inside the electric bicycle. It can be understood that since the gears of the motor have completed the engagement with the crank gear, the load of the entire motor will become larger, so that the subsequent increase in the voltage in the electric bicycle will not drive the motor to continue to accelerate, but will drive the electric bicycle to accelerate through this part of the increased voltage.

[0104] In one possible implementation, in step S40, if it is detected that the motor has accelerated to the target speed based on the target back-motive voltage, before gradually increasing the meshing speed of the gear of the motor and the crank gear based on the target back-motive voltage, the meshing control method further includes:

[0105] Step S401, obtaining a second output voltage of the current loop of the electric bicycle;

[0106] It should be noted that the second output voltage refers to the voltage output by the current loop of the electric bicycle when the motor speed is increased by controlling the motor based on the target back-motive voltage.

[0107] Step S402 : If it is detected that the second output voltage is greater than a preset output voltage threshold, it is determined that the motor has been accelerated to the target speed based on the target back-motive voltage.

[0108] It should be noted that the preset output voltage threshold is used to represent the minimum output voltage at which the current loop enters a saturation state.

[0109] It is understood that if the voltage output by the current loop is detected to be greater than a preset output voltage threshold when the motor speed is increased based on the target back-potential voltage, the current loop is saturated. This indicates that the motor's real-time speed is equal to the e-bike's pedaling speed, and it can be determined that the motor has accelerated to the maximum speed defined by the target back-potential voltage. This means that the motor has accelerated to the target speed based on the target back-potential voltage. Because the motor controls the operation of the current loop, obtaining the voltage output by the current loop is more convenient and accurate than directly obtaining the motor's speed. This improves the accuracy and portability of determining whether the motor has accelerated to the target speed.

[0110] For example, in order to help understand the technical concept or technical principle of the present application, please refer to FIG2 and FIG3, before improvement (corresponding to the upper half of the current control process in FIG2 and the i in FIG3 ref When the electric bicycle with a motor is accelerating, the current iq* and the current iq fd After the current loop is processed, the output voltage Ud is returned to the motor after PARK transformation and voltage space vector pulse width modulation (SV-PWM). After the improvement (corresponding to the lower half of the current control process in Figure 2 and the i in Figure 3), fb When an electric bicycle with a rotating shaft (line) accelerates its motor, gain processing is introduced for the voltage output by the current loop to obtain the voltage Uq. Therefore, the motor can be slowly accelerated when the current loop is in a saturated state (the voltage Uq* finally output by the current loop is greater than the preset output voltage threshold Uqtarget) by continuously performing gain processing, thereby achieving slow engagement of the motor gear and the crank gear. When the voltage Uq* finally output by the current loop is less than the target control voltage Uqlimit, it can be determined that the motor gear is fully engaged with the crank gear.

[0111] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the meshing control method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0112] Example 2

[0113] Based on the first embodiment of the present application, in another embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction and will not be repeated hereafter. On this basis, please refer to FIG4 , the meshing control method further includes:

[0114] Step S01, obtaining a torque signal, a pedaling frequency signal, and a speed signal of the electric bicycle;

[0115] It should be noted that the torque signal is used to characterize the force applied to the target bicycle's pedals, the cadence signal is used to characterize the rotation of the target bicycle's pedals, and the speed signal is used to characterize the target bicycle's operating conditions. The torque signal of an electric bicycle can be obtained using a torque sensor, the cadence signal can be obtained using a cadence sensor, and the speed signal can be obtained using a speed sensor.

[0116] Step S02: If it is detected that the torque signal is greater than the preset torque threshold, and it is detected that there are at least a preset number of pulse signals in the cadence signal, and it is detected that the vehicle speed signal is greater than zero, then the step of determining the target speed corresponding to the motor of the electric bicycle based on the cadence speed of the electric bicycle is executed.

[0117] Generally, two pulse signals are required in the cadence signal to determine that the pedals of the target bicycle are rotating. Therefore, the preset number can be set to two. To further improve the accuracy of the determination, the preset number can also be set to three, four, etc. This embodiment does not limit this.

[0118] It can be understood that if the torque signal is detected to be greater than the preset torque threshold, it means that the pedals of the target bicycle are subjected to a force from the rider at this time; if at least a preset number of pulse signals are detected in the cadence signal, it means that the pedals of the target bicycle have rotated at this time; if the vehicle speed signal is detected to be greater than zero, it means that the target bicycle is in the starting state at this time.

[0119] In this embodiment, the torque signal, cadence signal and vehicle speed signal of the electric bicycle are first obtained. If the torque signal is detected to be greater than a preset torque threshold, and at least a preset number of pulse signals are detected in the cadence signal, and the vehicle speed signal is detected to be greater than zero, it means that the pedals of the target bicycle are not only subjected to the force given by the rider but also rotate, and the target bicycle is in a starting state. Then it can be determined that the working condition of the electric bicycle is belt speed starting. Since the motor of the electric bicycle must accelerate under the belt speed starting condition, it will inevitably face the situation where the motor accelerates too fast due to the small inertia of the motor inside the electric bicycle, which will cause the motor gear to collide with the crank gear at the moment of engagement. Therefore, it is necessary to adopt a strategy to achieve slow engagement of the motor gear and the crank gear. Therefore, this embodiment limits the use scenario of the engagement control method to the belt speed starting condition of the electric bicycle to reduce the vibration of the electric bicycle under the belt speed starting condition, thereby specifically improving the rider's riding experience.

[0120] Example 3

[0121] An embodiment of the present invention further provides an engagement control device, as shown in FIG5 , which is applied to an electric bicycle. The engagement control device includes:

[0122] a determination module 10, configured to determine a target speed corresponding to the motor of the electric bicycle according to the cadence speed of the electric bicycle, wherein the target speed is the maximum speed that the motor can reach under the condition that the gear of the motor does not mesh with the crank gear under the action of the cadence speed;

[0123] a calculation module 20 for calculating a target back-motive force voltage corresponding to the motor according to the target speed and a preset flux linkage value, wherein the target back-motive force voltage is used to limit the maximum speed of the motor to the target speed;

[0124] An increasing speed module 30 is configured to control the motor to increase its speed based on the target back-motive voltage;

[0125] The meshing module 40 is configured to gradually increase the meshing speed between the gear of the motor and the crank gear according to the target back-motive voltage if it is detected that the motor has accelerated to the target speed based on the target back-motive voltage.

[0126] In one embodiment, the determining module 10 is further configured to:

[0127] Obtaining a target angular velocity ratio, wherein the target angular velocity ratio refers to an angular velocity ratio between the motor and the pedal when the pedal of the electric bicycle and the motor of the electric bicycle are in a dynamic balance state, wherein the dynamic balance state is a critical state in which the gear of the motor does not mesh with or collide with the crank gear;

[0128] Based on the target angular velocity ratio, the pedaling speed of the electric bicycle is converted into a speed ratio to obtain a target speed corresponding to the motor of the electric bicycle.

[0129] In one embodiment, the engagement module 40 is further configured to:

[0130] Using the target back potential voltage as the initial control voltage;

[0131] Performing gain processing on the initial control voltage to obtain a target control voltage;

[0132] The gear of the motor is controlled to engage with the crank gear at an engagement speed corresponding to the target control voltage, and after a preset period of time, the target control voltage is used as a new initial control voltage, and the step of performing gain processing on the initial control voltage to obtain the target control voltage is returned to execute until it is detected that the gear of the motor is fully engaged with the crank gear.

[0133] In one embodiment, the engagement module 40 is further configured to:

[0134] detecting whether the target control voltage is greater than or equal to a preset control voltage threshold;

[0135] If so, controlling the gear of the motor to mesh with the crank gear at a meshing speed corresponding to the preset control voltage threshold;

[0136] If not, the step of controlling the gear of the motor to mesh with the crank gear at the meshing speed corresponding to the target control voltage is performed.

[0137] In one embodiment, the engagement control device further comprises:

[0138] Obtaining a first output voltage of a current loop of the electric bicycle;

[0139] If it is detected that the first output voltage is less than the target control voltage, it is determined that the gear of the motor is fully engaged with the crank gear.

[0140] In one embodiment, the engagement control device further comprises:

[0141] detecting whether the target control voltage is less than a preset control voltage threshold;

[0142] If yes, then the target control voltage is subjected to gain processing to obtain the vehicle control voltage;

[0143] The electric bicycle is controlled to increase its speed based on the vehicle control voltage, and after a preset period of time, the vehicle control voltage is used as a new target control voltage, and the step of performing gain processing on the target control voltage to obtain the vehicle control voltage is returned to execute until it is detected that the target control voltage is equal to the preset control voltage threshold.

[0144] In one embodiment, the engagement control device further comprises:

[0145] Obtaining a second output voltage of the current loop of the electric bicycle;

[0146] If it is detected that the second output voltage is greater than a preset output voltage threshold, it is determined that the motor has been accelerated to the target speed based on the target back-motive voltage.

[0147] In one embodiment, the engagement control device further comprises:

[0148] Obtaining a torque signal, a pedaling frequency signal, and a speed signal of the electric bicycle;

[0149] If it is detected that the torque signal is greater than a preset torque threshold, and it is detected that there are at least a preset number of pulse signals in the cadence signal, and it is detected that the vehicle speed signal is greater than zero, then the step of determining the target speed corresponding to the motor of the electric bicycle based on the cadence speed of the electric bicycle is executed.

[0150] The meshing control device provided by the present invention, employing the meshing control method of the aforementioned embodiment, can resolve the technical problem of electric bicycle vibration caused by collision between the motor gear and the crank gear at the moment of meshing, thereby affecting the rider's riding experience. Compared to the prior art, the beneficial effects of the meshing control device provided by the embodiment of the present invention are the same as those of the meshing control method provided by the aforementioned embodiment. Other technical features of the meshing control device are the same as those disclosed in the aforementioned embodiment and are not further described here.

[0151] Example 4

[0152] An 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 that can be executed 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 engagement control method of the above-mentioned embodiment 1.

[0153] Reference is now made to FIG6 , which illustrates a schematic structural diagram of an electric bicycle suitable for implementing an embodiment of the present disclosure. The electric bicycle in the embodiment 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), vehicle-mounted terminals (e.g., vehicle-mounted navigation terminals), and fixed terminals such as digital TVs and desktop computers. The electric bicycle shown in FIG6 is merely an example and should not limit the functionality and scope of use of the embodiment of the present disclosure.

[0154] As shown in Figure 6, an electric bicycle may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the operation of the electric bicycle. Processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007, such as a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008, such as a liquid crystal display (LCD), speaker, vibrator, etc.; storage device 1003, such as a magnetic tape or hard disk; and communication device 1009. The communication device 1009 can allow the electric bicycle to communicate with other devices wirelessly or by wire 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 systems shown. More or fewer systems can be implemented or provided instead.

[0155] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program code for executing 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 the processing device 1001, the above-mentioned functions defined in the method of the embodiment of the present disclosure are performed.

[0156] The electric bicycle provided by the present invention, employing the meshing control method of the aforementioned embodiment, can resolve the technical problem of electric bicycle vibration caused by collision between the motor gear and the crank gear at the moment of meshing, thereby affecting the rider's riding experience. 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 meshing control method provided by the aforementioned embodiment. The other technical features of the electric bicycle are the same as those disclosed in the aforementioned embodiment and are not further described here.

[0157] It should be understood that various parts of the present disclosure can be implemented with hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in an appropriate manner.

[0158] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

[0159] Example 5

[0160] An embodiment of the present invention provides a computer-readable storage medium having computer-readable program instructions stored thereon, and the computer-readable program instructions are used to execute the meshing control method in the above-mentioned embodiment 1.

[0161] The computer-readable storage medium provided in the embodiment of the present invention may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0162] The computer-readable storage medium may be included in the electric bicycle, or may exist independently without being assembled into the electric bicycle.

[0163] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the electric bicycle, the electric bicycle is enabled to: determine the target speed corresponding to the motor of the electric bicycle based on the pedaling speed of the electric bicycle, wherein the target speed is the maximum speed that the motor can reach under the action of the pedaling speed without the gear of the motor engaging and colliding with the crank gear; calculate the target reaction potential voltage corresponding to the motor based on the target speed and a preset magnetic flux value, wherein the target reaction potential voltage is used to limit the maximum speed of the motor to the target speed; control the motor to increase the speed based on the target reaction potential voltage; if it is detected that the motor has accelerated to the target speed based on the target reaction potential voltage, then gradually increase the meshing speed of the gear of the motor and the crank gear based on the target reaction potential voltage.

[0164] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In cases involving 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., through the Internet using an Internet service provider).

[0165] The flow charts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0166] The modules involved in the embodiments described in this disclosure may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0167] The computer-readable storage medium provided by the present invention stores computer-readable program instructions for executing the aforementioned meshing control method. This computer-readable storage medium can address the technical issue of electric bicycles vibrating and affecting the rider's riding experience due to collisions between the motor gear and the crank gear at the moment of meshing. Compared to 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 meshing control methods provided by the first or second embodiments above, and are not further elaborated here.

[0168] Example 6

[0169] An embodiment of the present invention further provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the above-mentioned meshing control method are implemented.

[0170] The computer program product provided in this application can solve the technical problem of electric bicycles vibrating and affecting the rider's riding experience due to collisions between the motor gear and the crank gear at the moment of engagement. Compared to the prior art, the beneficial effects of the computer program product provided in this embodiment of the present invention are the same as those of the engagement control method provided in the first or second embodiment above, and are not further elaborated here.

[0171] The above are merely embodiments of the present application and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent scope of the present application.

Claims

1. A meshing control method, applied to an electric bicycle, wherein: The meshing control method comprises: Determine a target speed corresponding to the motor of the electric bicycle according to the pedaling speed of the electric bicycle, wherein the target speed is the maximum speed that the motor can reach under the condition that the gear of the motor does not mesh and collide with the crank gear under the action of the pedaling speed; Calculating a target back-movement potential voltage corresponding to the motor according to the target speed and a preset flux linkage value, wherein the target back-movement potential voltage is used to limit the maximum speed of the motor to the target speed; Controlling the motor to increase the speed based on the target back-motive voltage; If it is detected that the motor has been accelerated to the target rotation speed based on the target back-motive voltage, the meshing speed of the gear of the motor and the crank gear is gradually increased according to the target back-motive voltage.

2. The meshing control method according to claim 1, wherein: The step of determining a target speed corresponding to the motor of the electric bicycle according to the pedaling frequency and speed of the electric bicycle comprises: Obtaining a target angular velocity ratio, wherein the target angular velocity ratio refers to an angular velocity ratio between the motor and the pedal when the pedal of the electric bicycle and the motor of the electric bicycle are in a dynamic balance state, and the dynamic balance state is a critical state in which the gear of the motor does not mesh and collide with the crank gear; Based on the target angular velocity ratio, the pedaling speed of the electric bicycle is converted into a speed ratio to obtain a target speed corresponding to the motor of the electric bicycle.

3. The meshing control method according to claim 1 or 2, wherein: The step of gradually increasing the meshing speed between the gear of the motor and the crank gear according to the target back potential voltage comprises: Using the target back potential voltage as the initial control voltage; Performing gain processing on the initial control voltage to obtain a target control voltage; The gear of the motor is controlled to mesh with the crank gear at the meshing speed corresponding to the target control voltage, and after a preset period of time, the target control voltage is used as a new initial control voltage, and the step of performing gain processing on the initial control voltage to obtain the target control voltage is returned to execute until it is detected that the gear of the motor is fully meshed with the crank gear.

4. The meshing control method according to claim 3, wherein: After the step of performing gain processing on the initial control voltage to obtain the target control voltage, the meshing control method further includes: Detecting whether the target control voltage is greater than or equal to a preset control voltage threshold; If yes, controlling the gear of the motor to mesh with the crank gear at a meshing speed corresponding to the preset control voltage threshold; If not, the step of controlling the gear of the motor to mesh with the crank gear at the meshing speed corresponding to the target control voltage is executed.

5. The meshing control method according to any one of claims 1 to 3, wherein: The meshing control method further comprises: Acquire a first output voltage of a current loop of the electric bicycle; If it is detected that the first output voltage is less than the target control voltage, it is determined that the gear of the motor is fully meshed with the crank gear.

6. The meshing control method according to claim 5, wherein: After the step of determining that the gear of the motor is fully meshed with the crank gear, the meshing control method further comprises: Detecting whether the target control voltage is less than a preset control voltage threshold; If yes, the target control voltage is subjected to gain processing to obtain the vehicle control voltage; The electric bicycle is controlled to increase its speed based on the vehicle control voltage, and after a preset period of time, the vehicle control voltage is used as a new target control voltage, and the step of performing gain processing on the target control voltage to obtain the vehicle control voltage is returned to execute until it is detected that the target control voltage is equal to the preset control voltage threshold.

7. The meshing control method according to any one of claims 1 to 6, wherein: Before the step of gradually increasing the meshing speed of the gear of the motor and the crank gear according to the target back potential voltage if it is detected that the motor has accelerated to the target speed based on the target back potential voltage, the meshing control method further includes: Obtaining a second output voltage of the current loop of the electric bicycle; If it is detected that the second output voltage is greater than a preset output voltage threshold, it is determined that the motor has been accelerated to the target speed based on the target back-motive voltage.

8. The meshing control method according to any one of claims 1 to 7, wherein: The meshing control method further comprises: Obtaining a torque signal, a pedaling frequency signal and a vehicle speed signal of the electric bicycle; If it is detected that the torque signal is greater than a preset torque threshold, and it is detected that there are at least a preset number of pulse signals in the cadence signal, and it is detected that the vehicle speed signal is greater than zero, then the step of determining the target speed corresponding to the motor of the electric bicycle based on the cadence speed of the electric bicycle is executed.

9. An electric bicycle, wherein: The electric bicycle comprises: 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 meshing control method according to any one of claims 1 to 8.

10. A readable storage medium, wherein: The readable storage medium is a computer-readable storage medium, on which is stored a program for implementing the meshing control method, and the program for implementing the meshing control method is executed by a processor to implement the steps of the meshing control method as described in any one of claims 1 to 8.

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