CN-121990101-A - Automatic speed changing method with feedforward self-adaptive control

CN121990101ACN 121990101 ACN121990101 ACN 121990101ACN-121990101-A

Abstract

The invention relates to an automatic speed changing method with feedforward self-adaptive control, which establishes a riding path diagram file in a riding speed changing database, and divides the riding path diagram file into a plurality of sections according to the gradient, the climbing length and the camber of a riding path, wherein each section is provided with speed changing gear information and positioning information. A riding speed change control module is established in the information device. The speed change setting interface comprises a feedforward control interface for displaying a riding path generating interface on a display screen for inputting instructions from a starting point to a destination, so that the display screen displays a catalog of the same or similar riding path map information, and the riding speed change control module sequentially reads the speed change gear information and the positioning information of each section of the selected riding path map information file. The positioning module obtains immediate addressing information to identify the position of the bicycle, the speed change gear information is transmitted through the signal transmission module in each section in sequence, and the main controller receives the speed change gear information to serve as the basis for driving the speed change of the gear of the electronic speed changer.

Inventors

LIAO ZHONGYI
CHEN CHUNHE

Assignees

财团法人自行车暨健康科技工业研究发展中心

Dates

Publication Date: 20260508
Application Date: 20241101

Claims (9)

1. An automatic transmission method with feedforward adaptive control, characterized in that it comprises: Providing a riding speed change database and at least one bicycle, wherein the riding speed change database is provided with a plurality of riding path diagram data files, each riding path diagram data file is divided into a plurality of sections according to the gradient, the climbing length and the bending degree of each riding path, each section is provided with corresponding speed change gear information, and a positioning information is arranged at the starting position of each section; A riding speed change control module is established in the information device, when the riding speed change control module is started, a speed change setting interface is displayed on a display screen of the information device, the speed change setting interface comprises a feedforward control interface for executing a feedforward control mode, and when the feedforward control interface is started, a riding path generating interface is displayed on the display screen; Inputting instructions from a starting point to a destination or the destination into the riding path generating interface, enabling the display screen to display a catalog of at least one riding path map data file which is the same as or similar to the riding speed changing database, when one catalog is selected, the riding speed changing control module sequentially reads the speed changing position information and the positioning information of each section of the riding path map data file selected in the riding speed changing database, and A positioning module built in the information device obtains immediate addressing information, and the immediate addressing information is compared with the positioning information of each section to identify the position of the at least one bicycle on the riding path in real time, so that the information device sequentially transmits the speed change gear information to each section through the signal transmission module, the main controller receives the real-time speed change gear information through the signal transmission module, and the speed change gear information is used as a basis for driving the electronic speed changer to perform corresponding gear speed change action.
2. The method of claim 1, wherein the database is established in a cloud server, the cloud server is in information link with the information device via a network communication system, the information device comprises a ride recording module for recording the shift position information and the positioning information of each section of the riding path actually ridden by a professional rider or the rider himself as the riding path map data file, and the information device uploads the riding path map data file to the database via the network communication system for establishment or update of the riding path map data file.
3. The method of claim 2, wherein when the command from the start point to the destination or the destination is inputted to the riding path generating interface, the information device uploads the command to the cloud server via the network communication system, and after the command is interpreted by the cloud server, the directory name of the same or similar at least one riding path map file is transmitted to the information device via the network communication system for display, and when one of the directories is selected, the riding speed control module outputs a second command for downloading the content data of the directory, and uploads the second command to the cloud server via the network communication system, so that the cloud server sequentially reads the speed information and the positioning information of each section of the riding path map file selected in the riding speed database, and transmits the speed information to the information device via the network communication system.
4. The method of claim 1, wherein the speed-changing setting interface further comprises an adaptive control interface for executing an adaptive control mode, wherein when the adaptive control interface is started, an average pedal frequency input interface, an average power input interface and a maximum power input interface which can be selectively set by a rider are displayed on a display screen, when the average pedal frequency input interface sets an average pedal frequency value, the information device outputs an average pedal frequency control signal and transmits the average pedal frequency control signal to the main controller through the signal transmission module, so that the main controller drives the electronic transmission to perform a corresponding gear speed change action according to the average pedal frequency value, when the average power input interface sets an average power value, the information device outputs an average power control signal and transmits the average power control signal to the main controller through the signal transmission module, so that the main controller drives the electronic transmission to perform a corresponding gear speed change action according to the average power value, when the average pedal frequency input interface sets a maximum pedal frequency value, the information device outputs the maximum power control signal to the main controller to the maximum power value according to the maximum power value, and the information device outputs the maximum power control signal to the main controller to the maximum power transmission module so that the main controller drives the electronic transmission to perform a corresponding gear speed change action according to the maximum power value.
5. The automatic transmission method according to claim 1, wherein the speed-change setting interface further comprises an adaptive control interface for executing an adaptive control mode, the riding speed-change control module comprises a first fuzzy operation module for inputting a speed parameter value and an average pedal frequency value or an average power value of the bicycle, and when the adaptive control interface is executed, the first fuzzy operation module performs a defuzzification operation according to the speed parameter value, the average pedal frequency value or the average power value, a default knowledge base and a rule base to deduce corresponding predicted speed-change gear information.
6. The method of claim 5, wherein the riding shift control module further comprises default complex fuzzy parameters, each fuzzy parameter defines a corresponding shift position information, the corresponding fuzzy parameter is obtained from a known speed parameter value, a real-time pedal frequency and a formula, and the speed position information which can be used as the predicted shift position information is obtained from the fuzzy parameter, wherein the formula is speed parameter value = fuzzy parameter x real-time pedal frequency/1000.
7. The method of claim 6, wherein the riding speed change control module further comprises a subtracter and a second fuzzy operation module, the subtracter is used for inputting the predicted speed change gear information and the current gear information, the second fuzzy operation module is used for inputting the gear difference information and the average pedal frequency value set by the rider by self after subtraction operation, or the average power value, and the second fuzzy operation module performs defuzzification operation according to the knowledge base and the rule base to deduce the corresponding gear variable information.
8. The method of claim 7, wherein the riding speed-changing control module further comprises a third fuzzy operation module for inputting the variable information and the real-time gradient information, the third fuzzy operation module performs a defuzzification operation according to the knowledge base and the rule base to deduce final speed-changing gear information, so that the main controller uses the final speed-changing gear information as a basis for driving the electronic transmission to perform a gear speed-changing operation.
9. An automatic transmission system with feedforward adaptive control, comprising: A riding speed-changing database for creating plural riding path map data files, each of which is divided into plural sections according to the gradient, climbing length and bending degree of the riding path, each section is set with corresponding speed-changing gear information and a positioning information at the starting position of each section, and The bicycle comprises at least one bicycle, at least one bicycle is provided with an information device, a signal transmission module, an electronic speed changer and a main controller, the information device is in information connection with the main controller through the signal transmission module, the information device establishes a riding speed change control module, when the riding speed change control module is started, a speed change setting interface is displayed on a display screen of the information device, the speed change setting interface comprises a feed-forward control interface used for executing a feed-forward control mode, when the feed-forward control interface is started, a riding path generation interface is displayed on the display screen, the riding path generation interface inputs an instruction from a starting point to a destination or a destination, the display screen is enabled to display a catalog of at least one of the riding path map data files, when one of the catalog is selected, the riding speed change control module sequentially reads speed change position information of each section of the riding path map data file selected in the riding speed change database and positioning information, a positioning module built in the information device is enabled to acquire addressing information immediately, and the addressing information immediately is enabled to be compared with the positioning information of each section in the corresponding speed change position information through the electronic speed change path map data transmission module, and the electronic speed change path map data is enabled to be positioned at the corresponding position transmission module to be a real-time position.

Description

Automatic speed changing method with feedforward self-adaptive control Technical Field The present invention relates to an automatic speed changing method with feedforward adaptive control, and more particularly to an automatic speed changing technology for bicycles, which can obtain road conditions from map data in advance to simulate speed changing advice to build a database so as to provide a better automatic speed changing strategy for riding paths with similar or same road conditions. Background The speed variator is mainly used for carrying out speed change actions of different gears (the gears are arranged according to various gear ratio size combinations), not only can meet the requirements of riding lovers on long-distance riding, but also can achieve the gear speed change purpose of the required gear ratio in a manual or automatic control mode according to the requirements of road conditions (such as level roads, uphill slopes, downhill slopes or curves), so that the riding competition of the bicycle becomes more professional and diversified, and more bicycle lovers are added into the riding row of the bicycle. When the rider needs to change speed, the speed changer drives the chain to move to different fluted discs through the change of the position of the speed changer, and the trampling gravity state is different due to the different fluted discs, so that the speed change effect can be achieved. Specifically, the front and rear derailleurs are provided with a push button for pushing the chain back and forth, or a manual lever, which is called a forward gear when the front derailleur tightens the inner wire to advance the chain to a larger gear plate, and a reverse gear when the rear derailleur loosens the inner wire to retract the chain to a smaller gear plate. The front derailleur control chain moves on big dish, generally speaking, is equipped with about 1~3 fluted disc, tramples the change of gravity state greatly, and because of the interval of every fluted disc is great, so will drop to little fluted disc in advance before entering the uphill, just can not be because the speed change is too slow again trample the damage of speed change ware or the broken condition of chain that causes to produce. In addition, the rear speed changer drives the chain to reach the positions of different flywheels, the flywheels are provided with 8-11 fluted discs, the treading gravity state of each fluted disc has small change, the change of the treading gravity state is mainly used for fine adjustment of the micro-terrain fluctuation on which the bicycle is currently ridden, the proper treading gravity state can be adjusted at any time, the smaller gear ratio (such as 0.745 is called as a low-speed gear) has lighter treading force and slower speed, and the larger gear ratio (such as 3.455 is called as a high-speed gear) has heavier treading force and faster speed. Generally, for a rider seeking speed, the front derailleur is adjusted to a large gear plate during a flat road section, and the rear derailleur adjusts the required flywheel gear plate size according to slight topography fluctuation or upwind. In the long-distance climbing road section, most riders can adjust the front speed changer to the small fluted disc in advance, and the rear speed changer is finely adjusted according to road conditions, so that the stepping force is lighter, the muscle force can be saved, but the speed can be increased only by pulling up the rotating speed. In addition, the bicycle is driven to advance rapidly on the downhill road due to the relation of gravity, if the bicycle is positioned in a gear with lighter pedaling force, the pedaling speed of the feet cannot keep up with the speed of the rear wheel, so that the big disc of the front speed changer is placed on the big fluted disc, the flywheel is placed on the smaller fluted disc, the control capability of the bicycle is enhanced by stepping on the gear with heavier pedaling force, and the bicycle can be driven continuously. From the above, it is known that the conventional bicycle transmission can realize the manual gear shifting function, but for the riding beginners, the riding speed control can result in poor control of the speed change time due to insufficient experience, and the following patent documents have been developed by related art to improve the above-mentioned shortcomings: 1. The patent of the invention bulletin No. I802933, "electric vehicle, method for driving a vehicle, and computer-readable medium," includes a frame, at least one front wheel and at least one rear wheel coupled to the frame, one or more pedals coupled to the frame and configured to operate the electric vehicle via stepping, and a controller configured to output one or more driving signals in response to stepping of the one or more pedals. The electric vehicle further includes a first motor coupled to and configured to drive one of the front and rear wheels, and a first driver coup