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

Abstract

A flexible vibration suppression method and apparatus, and an electric bicycle and a readable storage medium. The flexible vibration suppression method is applied to the electric bicycle. The method comprises: acquiring an electric motor rotational-speed signal of an electric bicycle when the electric bicycle is operating according to an assist current signal; extracting an electric motor vibration signal from the electric motor rotational-speed signal; on the basis of the electric motor vibration signal, determining a vibration compensation current signal, wherein the vibration compensation current signal is used for offsetting electric motor vibration generated by the electric motor vibration signal; and superimposing the vibration compensation current signal onto the assist current signal, so as to suppress flexible vibration in the electric bicycle.

Description

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

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on January 31, 2024, with application number 202410139123.7, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of bicycle control technology, and in particular to a flexible vibration suppression method, device, electric bicycle, and readable storage medium. Background Art

[0003] An electric bicycle (E-bike) uses a transmission device to connect the motor to the wheel load so that the power output by the motor is transmitted to the wheel load, thereby achieving power-assisted riding of the electric bicycle.

[0004] However, since the transmission device is mainly composed of gears and chains, which have flexible connection characteristics, 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 pedals and the body to shake, which will be perceived by the rider, thereby affecting the rider's riding experience. Technical issues

[0005] The main purpose of this application is to provide a flexible vibration suppression method, device, electric bicycle and readable storage medium, aiming to solve the technical problem that the electric bicycle generates flexible vibration due to unreasonable control of the electric bicycle, which affects the rider's riding experience. Technical Solutions

[0006] To achieve the above objectives, the present application provides a flexible vibration suppression method, which is applied to an electric bicycle. The flexible vibration suppression method includes:

[0007] Acquiring a motor speed signal of the electric bicycle during operation according to the power-assist current signal;

[0008] Extracting a motor vibration signal from the motor speed signal;

[0009] determining a vibration compensation current signal according to the motor vibration signal, wherein the vibration compensation current signal is used to offset the motor vibration generated by the motor vibration signal;

[0010] The vibration compensation current signal is superimposed on the assist current signal to suppress flexible vibration in the electric bicycle.

[0011] In one embodiment, the step of extracting the motor vibration signal from the motor speed signal includes:

[0012] Performing Fourier transform processing on the motor speed signal, and using the frequency obtained after the Fourier transform processing of the motor speed signal as the motor vibration frequency;

[0013] Determining filtering parameters of a preset filter according to the vibration frequency of the motor;

[0014] The motor speed signal is input into the preset filter, so as to filter the motor speed signal based on the filtering parameters to obtain the motor vibration signal.

[0015] In one embodiment, when the preset filter is a high-pass filter, the filtering parameter is the cutoff frequency of the high-pass filter;

[0016] The step of determining the filtering parameters of the preset filter according to the vibration frequency of the motor includes:

[0017] Twice the motor vibration frequency is used as the cutoff frequency of the high-pass filter.

[0018] In one embodiment, when the preset filter is a resonant filter, the filtering parameter is the center frequency of the resonant filter;

[0019] The step of determining the filtering parameters of the preset filter according to the vibration frequency of the motor includes:

[0020] The motor vibration frequency is used as the center frequency of the resonant filter.

[0021] In one embodiment, when the preset filter is a sliding average filter, the filtering parameter is a sliding average period of the sliding average filter;

[0022] The step of determining the filtering parameters of the preset filter according to the vibration frequency of the motor includes:

[0023] 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;

[0024] The frequency product is used as the sliding average period of the sliding average filter.

[0025] In one embodiment, the step of determining the vibration compensation current signal according to the motor vibration signal includes:

[0026] The product of the motor vibration signal and a preset vibration compensation gain is calculated to obtain the vibration compensation current signal.

[0027] In one embodiment, the flexible vibration suppression method further includes:

[0028] Obtaining the resonance peak value of each vibration compensation gain in the Bode diagram of the electric bicycle;

[0029] The vibration compensation gain corresponding to the minimum resonance peak value among the resonance peak values ​​is used as the preset vibration compensation gain.

[0030] The present application also provides a flexible vibration suppression device, which is applied to an electric bicycle. The flexible vibration suppression device includes:

[0031] an acquisition module, configured to acquire a motor speed signal of the electric bicycle during operation according to the assist current signal;

[0032] An extraction module, configured to extract a motor vibration signal from the motor speed signal;

[0033] 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 offset the motor vibration generated by the motor vibration signal;

[0034] The suppression module is used to superimpose the vibration compensation current signal on the power-assisting current signal to suppress the flexible vibration in the electric bicycle.

[0035] 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 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 perform the steps of the flexible vibration suppression method as described above.

[0036] 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 flexible vibration suppression method. 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.

[0037] The present application also provides a computer program product, comprising a computer program, which implements the steps of the flexible vibration suppression method as described above when the computer program is executed by a processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] 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.

[0039] 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.

[0040] FIG1 is a schematic diagram of a process flow of a flexible vibration suppression method according to a first embodiment of the present invention;

[0041] FIG2 is a schematic diagram of a flow chart of a second embodiment of the flexible vibration suppression method of the present application;

[0042] FIG3 is a schematic diagram of a simplified flow chart of a flexible vibration suppression method provided in Example 2 of the present application;

[0043] FIG4 is a schematic block diagram of a flexible vibration suppression method provided in Example 2 of the present application;

[0044] FIG5 is a schematic diagram of the module structure of the flexible vibration suppression device according to an embodiment of the present application;

[0045] FIG6 is a schematic diagram of the device structure of the hardware operating environment involved in the flexible vibration suppression method in an embodiment of the present application.

[0046] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Modes for Carrying Out the Invention

[0047] To make the above-mentioned purposes, features, and advantages of the present application more clearly understood, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection of this application.

[0048] Example 1

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

[0050] An electric bicycle (E-bike) uses a transmission device to connect the motor to the wheel load so that the power output by the motor is transmitted to the wheel load, thereby achieving power-assisted riding of the electric bicycle.

[0051] However, since the transmission device is mainly composed of gears and chains, which have flexible connection characteristics, 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 pedals and the body to shake, which will be perceived by the rider, thereby affecting the rider's riding experience.

[0052] Based on this, the present application proposes a flexible vibration suppression method of the first embodiment, as shown in FIG. 1 , which is applied to an electric bicycle. The flexible vibration suppression method includes steps S10 to S40:

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

[0054] An electric bicycle is a mechatronic bicycle equipped with a motor, controller, and display instrument system, using a battery as an auxiliary energy source. The assist current signal is used to control the operation of the electric bicycle. Specifically, the motor can be controlled by the current loop based on this assist current signal, thereby achieving the operation of the electric bicycle through current loop control. The motor speed signal represents the ratio of the number of revolutions per minute of the electric bicycle's motor to the time.

[0055] In a specific implementation, when obtaining the motor speed signal of the electric bicycle during operation according to the power-assist current signal, it can be obtained in real time or periodically, and this embodiment does not specifically limit this.

[0056] In one embodiment, a speed sensor connected to the motor or other device capable of collecting motor speed signals can be installed on the electric bicycle, and a speed sensor connected to the motor or other device capable of collecting motor speed signals can be installed on other devices connected to the electric bicycle, so that the motor speed signal of the electric bicycle can be collected through the speed sensor or other device capable of collecting motor speed signals during the operation according to the power-assist current signal.

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

[0058] The motor vibration signal refers to a 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 component greater than the preset frequency in the motor speed signal 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, determining a vibration compensation current signal according to the motor vibration signal, wherein the vibration compensation current signal is used to offset the motor vibration generated by the motor vibration signal;

[0061] Since the motor vibration signal is extracted from the motor speed signal, the motor vibration signal is actually a speed, and the motor speed is positively correlated with the current frequency (that is, the current signal). Therefore, the positive correlation between the two can be used to determine the vibration compensation current signal corresponding to the motor vibration signal.

[0062] In one embodiment, in order to improve the efficiency of determining 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, so that step S30 can include: searching for the vibration compensation current signal corresponding to the motor vibration signal in a preset current signal configuration table.

[0063] In one embodiment, the step S30 of determining the vibration compensation current signal according to the motor vibration signal may include the step S31:

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

[0065] The preset vibration compensation gain indicates the multiple by which the motor vibration signal should be increased. The preset vibration compensation gain can be a user-set value greater than 1 but less than or equal to the optimal vibration compensation gain, or can be the optimal vibration compensation gain for the electric bicycle, which is not specifically limited in this embodiment. The optimal vibration compensation gain can be set by the user or determined based on the Bode plot of the electric bicycle, which is also not specifically limited in this embodiment.

[0066] The above are merely two implementation methods of step S30 provided in this embodiment, and this embodiment does not specifically limit the specific implementation method of step S30.

[0067] Step S40: superimposing the vibration compensation current signal onto the power assist current signal to suppress flexible vibration in the electric bicycle.

[0068] Since the motor vibration in the electric bicycle is caused by the flexible vibration in the electric bicycle, after the vibration compensation current signal that can offset the motor vibration in the electric bicycle is superimposed on the power-assisting current signal, the motor vibration in the electric bicycle will be offset to a certain extent, and thus, the flexible vibration in the motor bicycle will also be suppressed to a certain extent.

[0069] This embodiment provides a flexible vibration suppression method, which is applied to an electric bicycle. This embodiment first obtains the motor speed signal of the electric bicycle during its operation according to the power-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, based on the motor vibration signal, determines a vibration compensation current signal for offsetting the motor vibration generated by the motor vibration signal; since the motor vibration is caused by the flexible vibration of the electric bicycle, the flexible vibration can be suppressed in reverse by offsetting the motor vibration, and therefore, the vibration compensation current signal is finally superimposed on the power-assist current signal, so that the flexible vibration generated in the electric bicycle by the power-assist current signal can be suppressed by 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 one embodiment, the step S20 of extracting the motor vibration signal from the motor speed signal may include steps S21 to S23:

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

[0072] The motor vibration frequency refers to the number of times the motor vibrates per second. The motor vibration frequency is used to represent the frequency of the signal in the motor speed signal that causes the motor of the electric bicycle to vibrate.

[0073] When Fourier transform processing is performed 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; or the motor speed signal can be identified by offline system characteristics to achieve Fourier transform processing of the motor speed signal. This embodiment does not specifically limit this.

[0074] Step S22, determining filtering parameters of a preset filter according to the vibration frequency of the motor;

[0075] The preset filter is used to filter the motor speed signal based on a filter parameter to filter out the motor vibration signal from the motor speed signal. The filter parameter refers to a parameter that the preset filter references when filtering the motor speed signal. The filter parameter may include a cutoff frequency, a center frequency, or a sliding average period, and is not specifically limited in this embodiment.

[0076] As an example, when the preset filter is a high-pass filter, the filtering parameter is the cutoff frequency of the high-pass filter; the step S22 of determining the filtering parameter of the preset filter according to the motor vibration frequency may include step S201:

[0077] Step S201 : setting twice the motor vibration frequency as the cutoff frequency of the high-pass filter.

[0078] A high-pass filter is a combination of capacitors, inductors, resistors, and other components that allows signal components above the cutoff frequency to pass through, but does not allow signal components below the cutoff frequency to pass through.

[0079] As another example, when the preset filter is a resonant filter, the filtering parameter is the center frequency of the resonant filter; the step S22 of determining the filtering parameter of the preset filter according to the motor vibration frequency may include step S211:

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

[0081] A harmonic filter is a combination of capacitors, inductors, resistors, and other components that can filter out harmonics in a signal using the center frequency as a reference.

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

[0083] Step S221, 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;

[0084] Step S222: Using the frequency product as the sliding average period of the sliding average filter.

[0085] The working principle of the sliding average filter is to first establish a sampling window and a filtering window, and define the length of the sampling window and the filtering window; then fill the sampling window with each point in the data sample (signal) and the data (signal component) of each point according to the sliding average period, and judge whether the sampling window is filled. If the sampling window is not filled, the data of each point in the sampling window are accumulated and the average value is calculated. If the sampling window is filled, the data of each point are bubble sorted and the n maximum and minimum values ​​are removed, and then the data of each point in the filtering window are accumulated and the average value is calculated; if a new data sample arrives, the earliest point in the sampling window and the data of that point need to be removed, and then the above operation is repeated.

[0086] In the three examples of step S22 described above, the sliding average filter provides the best filtering effect, so the motor vibration signal obtained by filtering with the sliding smoothing filter has the highest accuracy. The high-pass filter provides the highest filtering efficiency, so the motor vibration signal can be quickly obtained using the high-pass filter. The resonant filter can simultaneously achieve both efficiency and accuracy in determining the motor vibration signal. In actual use, the preset filter can be selected based on actual conditions, and this embodiment does not impose any specific limitations on this.

[0087] The above are merely three examples of step S22 provided in this embodiment, and this embodiment does not specifically limit the specific implementation method of step S22.

[0088] Step S23 : inputting the motor speed signal into the preset filter to filter the motor speed signal based on the filtering parameters to obtain the motor vibration signal.

[0089] In this embodiment, the motor speed signal is first subjected to Fourier transform processing, and the frequency obtained after the Fourier transform processing of the motor speed signal is used as the motor vibration frequency; then, based on the motor vibration frequency, the filter parameters of the preset filter are determined; then, the motor speed signal is input into the preset filter, and the motor speed signal is filtered based on the filter parameters to obtain the motor vibration signal. Therefore, in the process of extracting the motor vibration signal from the motor speed signal, this embodiment first determines the motor vibration frequency, and then uses the motor vibration frequency as a reference to determine the filter parameters required by the preset filter during the filtering process. Then, 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] Example 2

[0091] 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 FIG2 , the flexible vibration suppression method further includes steps A10 to A20:

[0092] Step A10, obtaining the resonance peak value of each vibration compensation gain in the Bode diagram of the electric bicycle;

[0093] The Bode plot of an e-bike is used to characterize its frequency characteristics. The resonance peak refers to the maximum amplitude of the motor vibration in the e-bike at the resonant frequency. The larger the resonance peak of the vibration compensation gain, the less effective the vibration compensation gain is in suppressing vibrations.

[0094] In addition, the Bode plot of an e-bike can be obtained by plotting its transfer function. Transfer function linearity refers to the ratio of the Laplace transform of the output of a linear system to the Laplace transform of its input under zero initial conditions. The transfer function of an e-bike is the ratio of the Laplace transform of the motor speed signal to the Laplace transform of the assist current signal under zero initial conditions. The transfer function of an e-bike can be obtained by performing offline system characteristic identification on the e-bike.

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

[0096] In one embodiment, when obtaining the resonance peaks of each vibration compensation gain in the Bode diagram of the electric bicycle, in order to improve the efficiency of determining the subsequent preset vibration compensation gain, the resonance peaks of some vibration compensation gains in the Bode diagram of the electric bicycle can be obtained.

[0097] The above are merely two implementation methods of step A10 provided in this embodiment, and this embodiment does not specifically limit the specific implementation method of step A10.

[0098] Step A20 : Using 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 a vibration compensation gain. This embodiment first obtains the resonance peak values ​​of each vibration compensation gain in the Bode diagram of the electric bicycle; then, the vibration compensation gain corresponding to the minimum resonance peak value among the resonance peak values ​​is used as the preset vibration compensation gain, thereby obtaining the vibration compensation gain with the best effect of suppressing flexible vibration. When the flexible vibration in the electric bicycle is suppressed by using the vibration compensation gain with the best effect of suppressing flexible vibration, the flexible vibration in the electric bicycle can be suppressed to the greatest extent, thereby maximizing the rider's riding experience.

[0100] For example, to help understand the technical concept or technical principle of the present application, please refer to FIG3 and FIG4. FIG3 provides a schematic flow chart of the flexible vibration suppression method, and FIG4 provides a schematic block diagram of the flexible vibration suppression method. Specifically:

[0101] First, the motor speed signal of the electric bicycle during the power-assisting process is obtained, that is, the motor speed signal of the electric bicycle during the operation according to the power-assisting current signal is obtained; then, the motor vibration frequency is obtained based on the motor speed signal analysis; then, the motor vibration signal in the motor speed signal is extracted based on the motor vibration frequency; then, according to the transfer function of the electric bicycle, the optimal compensation gain is determined; then, according to the optimal compensation gain and the motor vibration signal, the optimal vibration compensation current signal is calculated; then, the optimal vibration compensation current signal is superimposed on the power-assisting current signal to update the power-assisting current signal, that is, to update the power-assisting current curve; finally, the motor of the electric bicycle is controlled to control the current loop according to the updated power-assisting current signal, so as to achieve the suppression of the flexible vibration in the electric bicycle.

[0102] The above examples are only used to understand the present application and do not constitute a limitation on the flexible vibration suppression method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0103] Example 3

[0104] The present application also provides a flexible vibration suppression device, as shown in FIG5 , which is applied to an electric bicycle. The flexible vibration suppression device includes:

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

[0106] An extraction module 20 is used 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 offset the motor vibration generated by the motor vibration signal;

[0108] The suppression module 40 is configured to superimpose the vibration compensation current signal onto the power-assisting current signal to suppress the flexible vibration in the electric bicycle.

[0109] In one embodiment, the extraction module 20 is further configured to:

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

[0111] Determining filtering parameters of a preset filter according to the vibration frequency of the motor;

[0112] The motor speed signal is input into the preset filter, so as to filter the motor speed signal based on the filtering parameters to obtain the motor vibration signal.

[0113] In one embodiment, when the preset filter is a high-pass filter, the filtering parameter is the cutoff frequency of the high-pass filter;

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

[0115] Twice the motor vibration frequency is used as the cutoff frequency of the high-pass filter.

[0116] In one embodiment, 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] The motor vibration frequency is used as the center frequency of the resonant filter.

[0119] In one embodiment, when the preset filter is a sliding average filter, the filtering parameter is a sliding average period of the sliding average filter;

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

[0121] 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;

[0122] The frequency product is used as the sliding average period of the sliding average filter.

[0123] In one embodiment, the determining module 30 is further configured to:

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

[0125] In one embodiment, the determining module 30 is further configured to:

[0126] Obtaining the resonance peak value of each vibration compensation gain in the Bode diagram of the electric bicycle;

[0127] The vibration compensation gain corresponding to the minimum resonance peak value among the resonance peak values ​​is used as the preset vibration compensation gain.

[0128] The flexible vibration suppression device provided in this application, employing the flexible vibration suppression method described in the aforementioned embodiments, can address the technical issue of improper control of electric bicycles, which can cause flexible vibrations in electric bicycles and affect the rider's riding experience. Compared to the prior art, the flexible vibration suppression device provided in this application's embodiments has the same beneficial effects as the flexible vibration suppression method described in the aforementioned embodiments. Other technical features of the flexible vibration suppression device are the same as those disclosed in the aforementioned embodiments and are not further elaborated here.

[0129] Example 4

[0130] An embodiment of the present application 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 flexible vibration suppression method in the above-mentioned embodiment one.

[0131] Reference is now made to Figure 6, which illustrates a schematic diagram of the structure of an electric bicycle suitable for implementing embodiments of the present disclosure. The electric bicycle in the embodiments of the present disclosure may include, but is not limited to, mobile devices such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. The electric bicycle shown in Figure 6 is merely an example and should not limit the functionality or scope of use of the embodiments of the present disclosure.

[0132] As shown in Figure 6 , an electric bicycle may include a processing device 1001 (e.g., a central processing unit, graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 1002 or programs loaded from storage device 1003 into 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 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.

[0133] 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.

[0134] The electric bicycle provided in this application utilizes the flexible vibration suppression method described in the aforementioned embodiment, resolving the technical issue of improper control of the electric bicycle causing flexible vibrations, which in turn affects the rider's riding experience. Compared to the prior art, the electric bicycle provided in this embodiment achieves the same beneficial effects as the flexible vibration suppression method described in the aforementioned embodiment. The other technical features of this electric bicycle are the same as those disclosed in the aforementioned embodiment and are not further elaborated upon here.

[0135] 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.

[0136] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0137] Example 5

[0138] An embodiment of the present application provides a computer-readable storage medium having computer-readable program instructions stored thereon, and the computer-readable program instructions are used to execute the flexible vibration suppression method in the above-mentioned embodiment 1.

[0139] The computer-readable storage medium provided in the embodiments of the present application 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 having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), 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 suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0140] The computer-readable storage medium may be included in the electric bicycle, or may exist independently without being assembled into the electric bicycle.

[0141] 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: obtain the motor speed signal of the electric bicycle during the operation according to the power-assist current signal; extract the motor vibration signal from the motor speed signal; determine the vibration compensation current signal based on the motor vibration signal, wherein the vibration compensation current signal is used to offset the motor vibration generated by the motor vibration signal; and superimpose the vibration compensation current signal on the power-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 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 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., through the Internet using an Internet service provider).

[0143] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. 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 by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0144] 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.

[0145] The computer-readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions for executing the flexible vibration suppression method described above. This computer-readable storage medium can address the technical issue of improper control of electric bicycles causing flexible vibrations, which can negatively impact the rider's riding experience. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this embodiment of the application are similar to those of the flexible vibration suppression method provided in the first or second embodiments described above, and are not further elaborated here.

[0146] Example 6

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

[0148] The computer program product provided in this application can address the technical issue of improper control of electric bicycles, which can cause flexible vibrations and affect the rider's riding experience. Compared to the prior art, the computer program product provided in this embodiment has the same beneficial effects as the flexible vibration suppression methods provided in Examples 1 and 2 above, and will not be further elaborated here.

[0149] 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 flexible vibration suppression method, applied to an electric bicycle, wherein: The flexible vibration suppression method comprises: Acquiring a motor speed signal of the electric bicycle during operation according to the power-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 offset the motor vibration generated by the motor vibration signal; The vibration compensation current signal is superimposed on the assist current signal to suppress 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 comprises: Performing Fourier transform processing on the motor speed signal, and using the frequency obtained after the Fourier transform processing of the motor speed signal as the motor vibration frequency; Determining filtering parameters of a preset filter according to the vibration frequency of the motor; The motor speed signal is input into the preset filter, so as to filter 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, wherein: In the case where the preset filter is a high-pass filter, the filtering parameter is the cutoff frequency of the high-pass filter; The step of determining the filtering parameters of the preset filter according to the vibration frequency of the motor includes: Twice the motor vibration frequency is used as the cutoff 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 the preset filter according to the vibration frequency of the motor includes: The motor vibration frequency is used 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 sliding average filter, the filtering parameter is a sliding average period of the sliding average filter; The step of determining the filtering parameters of the preset filter according to the vibration frequency of the motor 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; The frequency product is used as the sliding average period of the sliding average filter.

6. The flexible vibration suppression method according to any one of claims 1 to 5, wherein: The step of determining the vibration compensation current signal according to the motor vibration signal comprises: The product of the motor vibration signal and a preset vibration compensation gain is calculated 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 value of each vibration compensation gain in the Bode diagram of the electric bicycle; The vibration compensation gain corresponding to the minimum resonance peak value among the resonance peak values is used as the preset vibration compensation gain.

8. A flexible vibration suppression device, applied to an electric bicycle, wherein: The flexible vibration suppression device comprises: an acquisition module, configured to acquire a motor speed signal of the electric bicycle during operation according to the assist current signal; An extraction module, configured to extract a motor vibration signal from the motor speed signal; 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 offset the motor vibration generated by the motor vibration signal; The suppression module is used to superimpose the vibration compensation current signal on the power-assisting current signal to suppress the flexible vibration in the electric bicycle.

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 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 perform the steps of the flexible vibration suppression method according to any one of claims 1 to 7.

10. A readable storage medium, wherein: The readable storage medium is a computer-readable storage medium, which stores a program for implementing the flexible vibration suppression method. 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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