Method and device for activating a drive of a pedal-operated vehicle
A method and a device for controlling an additional electric or motor drive of a vehicle that can be driven at least partially by the rider using a pedal drive. To derive the control of the drive, at least one first rotational movement variable is detected that represents the rotational movement of the pedals or the pedaling movement of the crank performed by the rider. The first rotational movement variable can be detected by one or more sensors. The drive is controlled or regulated dependent on a second rotational movement variable that is derived from the first rotational movement variable. At least one time constant that influences the follow-up time of the actuated or regulated drive is taken into consideration in addition to the first rotational movement that represents the pedaling movement of the rider. The time constant used may be varied to calculate the second rotational movement variable.
1 . A method for controlling a drive of a pedal-powered vehicle, the method comprising the following steps:
detecting, using at least one first sensor, a first rotational movement variable that represents a rotational movement of pedals by the rider;
generating a second rotational movement variable dependent on the first rotational movement variable and a time constant, the time constant determining a follow-up time of the drive;
varying the time constant dependent on a comparison of the second rotational movement variable with the first rotational movement variable; and
controlling the drive to provide propulsion to the pedal-powered vehicle based on the second rotational movement variable,
wherein for the varying of the time constant, a first time constant is selected when the first rotational movement variable is greater than a threshold value that is established dependent on the second rotational movement variable, and a second time constant is selected when the first rotational movement variable is less than or equal to the threshold value, the first time constant being different than the second time constant.
2 . The method as recited in claim 1 , wherein the pedal-powered vehicle is an electric bicycle.
3 . The method as recited in claim 1 , wherein the second rotational movement variable is generated by low pass filtering of the first rotational movement variable.
4 . The method as recited in claim 1 , wherein dependent on the comparison of the second rotational movement variable with the first rotational movement variable, the time constant is varied at least between a first and a second time constant, the at least first and second time constants being are specified.
5 . The method as recited in claim 1 , wherein, the first time constant being less than the second time constant.
6 . The method as recited in claim 5 , wherein the threshold value corresponds to the second rotational movement variable generated.
7 . The method as recited in claim 5 , wherein the threshold value is established by: (i) scaling the second rotational movement variable with a scaling factor, or (ii) adding an absolute or variable value to the second rotational movement variable, wherein (i) the scaling factor, or (ii) the absolute or variable value, is specified dependent on a vehicle-dynamics sensor variable or an operating variable of the vehicle.
8 . The method as recited in claim 1 , wherein the second rotational movement variable is generated additionally dependent on an actuating variable that represents an actuation of the pedals by the rider.
9 . The method as recited in claim 8 , wherein the time constant is varied dependent on the actuating variable.
10 . The method as recited in claim 8 , wherein the second rotational movement variable is modified with an offset, the offset being established dependent on the actuating variable and the time constant.
11 . The method as recited in claim 8 , wherein the first rotational movement variable or the actuating variable represents a torque that the rider exerts on the pedals.
12 . The method as recited in claim 8 , wherein the first rotational movement variable or the actuating variable represents a pedaling frequency that is generated by the rider when pedaling.
13 . A device for controlling a drive of a pedal-powered vehicle, comprising
a control unit is configured to:
detect, using at least one first a first rotational movement variable that represents the rotational movement of the pedals by the rider;
generate a second rotational movement variable dependent on the first rotational movement variable and a time constant, the time constant determining a follow-up time of the drive;
wherein the control unit is configured to carry out a comparison of the second rotational movement variable with the first rotational movement variable, and to vary the time constant dependent on the comparison; and
control the drive to provide propulsion to the pedal-powered vehicle based on the second rotational movement variable,
wherein for the varying of the time constant, a first time constant is selected when the first rotational movement variable is greater than a threshold value that is established dependent on the second rotational movement variable, and a second time constant is selected when the first rotational movement variable is less than or equal to the threshold value, the first time constant being different than the second time constant.
14 . The device as recited in claim 13 , wherein the pedal-powered vehicle is an electric bicycle.
15 . A method for controlling a drive of a pedal-powered vehicle, the method comprising the following steps:
detecting, using at least one first sensor, a first rotational movement variable that represents a rotational movement of pedals by the rider;
generating a second rotational movement variable dependent on the first rotational movement variable and a time constant, the time constant determining a follow-up time of the drive;
varying the time constant dependent on a comparison of the second rotational movement variable with the first rotational movement variable to obtain a first variation of the time constant;
further varying the time constant dependent on an actuating variable different from the first rotational movement variable, the actuating variable representing at least one of a torque that the rider exerts on the pedals and a pedaling frequency that is generated by the rider when pedaling to obtain a second variation of the time constant; and
controlling the drive based on the second rotational movement variable.
16 . The method as recited in claim 15 , wherein the second rotational movement variable is generated by low pass filtering of the first rotational movement variable.
17 . The method as recited in claim 15 , wherein for the varying of the time constant, a first time constant is selected when the first rotational movement variable is greater than a threshold value that is established dependent on the second rotational movement variable, and a second time constant is selected when the first rotational movement variable is less than or equal to the threshold value, the first time constant being different than the second time constant, wherein the threshold value corresponds to the second rotational movement variable generated.
18 . A method for controlling a drive of a pedal-powered vehicle, the method comprising the following steps:
detecting, using at least one first sensor, a first rotational movement variable that represents a rotational movement of pedals by the rider;
generating a second rotational movement variable dependent on the first rotational movement variable and a time constant, the time constant determining a follow-up time of the drive;
varying the time constant dependent on a comparison of the second rotational movement variable with the first rotational movement variable; and
controlling the drive based on the second rotational movement variable,
wherein the second rotational movement variable is modified with an offset, the offset being established dependent on the time constant and an actuating variable that represents at least one of a torque that the rider exerts on the pedals and a pedaling frequency that is generated by the rider when pedaling.
19 . The method as recited in claim 18 , wherein the second rotational movement variable is generated by low pass filtering of the first rotational movement variable.
20 . The method as recited in claim 18 , wherein for the varying of the time constant, a first time constant is selected when the first rotational movement variable is greater than a threshold value that is established dependent on the second rotational movement variable, and a second time constant is selected when the first rotational movement variable is less than or equal to the threshold value, the first time constant being different than the second time constant, wherein the threshold value corresponds to the second rotational movement variable generated.