Electric bicycle speed control device and method
The present invention relates to electric bicycle speed control device and method. According to the present invention, a torque of a motor for driving a wheel is controlled so that a speed of a pedal driven by a user follows a speed of the wheel, and a torque of the pedal is also controlled by applying an assist level according to the torque of the motor. Therefore, even in an electric bicycle with a chain, it is possible to feel a feeling of the pedal like a bicycle with a chain, and it is possible to adjust the force applied to the pedal according to the assist level.
1. An electric bicycle speed control device comprising:
a speed sensor unit configured to measure a rotation speed of a wheel and a rotation speed of a generator driven by a pedal;
a current sensor unit configured to measure driving currents of a motor for driving the wheel and the generator;
a wheel speed control unit configured to generate a wheel torque command value using a wheel speed command value obtained by multiplying a rotation speed of the pedal measured by the speed sensor unit by a gear ratio and a wheel speed value measured by the speed sensor unit;
a wheel torque control unit configured to generate a motor driving control current for driving the motor using the wheel torque command value and a driving current value of the motor measured by the current sensor unit; and
a pedal torque control unit configured to generate a generator torque control current for controlling a torque of the generator using a value obtained by applying an assist level to the wheel torque command value and a generator driving current measurement value measured by the current sensor unit.
2. The electric bicycle speed control device of claim 1 , wherein the wheel speed control unit controls the wheel torque command value so that the wheel speed value follows the wheel speed command value.
3. The electric bicycle speed control device of claim 1 , wherein the wheel speed control unit generates the wheel torque command value by a Proportional-Integral-Differential (PID) control method.
4. The electric bicycle speed control device of claim 3 , wherein the wheel speed control unit generates the wheel torque command value by adding:
a value obtained by multiplying a value obtained by subtracting a wheel speed from the wheel speed command value by a proportional coefficient;
a value obtained by integrating a value obtained by subtracting the wheel speed from the wheel speed command value; and
a value obtained by differentiating a value obtained by subtracting the wheel speed from the wheel speed command value and then multiplying the differential value by a wheel inertia value.
5. The electric bicycle speed control device of claim 1 , wherein the wheel torque control unit includes:
a wheel torque calculation unit; and
a wheel current control unit,
wherein the wheel torque calculation unit calculates a motor current command for driving the motor using the wheel torque command, and
the wheel current control unit controls a current for driving the motor using the motor current command and the measured motor driving current value.
6. The electric bicycle speed control device of claim 5 , wherein the wheel torque control unit controls the motor driving current so that the motor driving current value follows the motor current command.
7. The electric bicycle speed control device of claim 1 , wherein the pedal torque control unit includes:
a pedal torque calculation unit; and
a pedal current control unit,
wherein the pedal torque calculation unit calculates a generator current command using the value obtained by applying the assist level to the wheel torque command value, and
the pedal current control unit generates the generator torque control current using the generator current command and a measured generator current value.
8. The electric bicycle speed control device of claim 7 , wherein the pedal torque control unit controls the generator torque control current so that the generator current value follows the generator current command.
9. An electric bicycle speed control method executed by a control unit including one or more processors, the method comprising:
receiving a rotation speed of a pedal and a wheel speed;
generating a wheel torque command value using a wheel speed command value obtained by multiplying the rotation speed of the pedal by a gear ratio and a measured wheel speed value;
measuring a driving current of a motor for driving a wheel and a driving current of a generator driven by the pedal;
generating a motor driving control current for driving the motor using the wheel torque command value and a measured motor driving current value; and
generating a generator torque control current for controlling a torque of the generator using a value obtained by applying an assist level to the wheel torque command value and a measured generator driving current value.
10. The electric bicycle speed control method of claim 9 , wherein the generating of the wheel torque command value includes controlling the wheel torque command value so that a measured wheel speed value follows the wheel speed command value.