WO2012104810A1

WO2012104810A1 - Electrically pedal-assisted bicycle

Info

Publication number: WO2012104810A1
Application number: PCT/IB2012/050492
Authority: WO
Inventors: Crisitano SPELTA; Giovanni Alli; Pierfrancesco SPAGNOL; Sergio Matteo Savaresi; Massimo VANZULLI; Giuseppe BIESUZ
Original assignee: Politecnico di Milano; FNM SpA; Sems SRL
Current assignee: Politecnico di Milano; FNM SpA; Sems SRL
Priority date: 2011-02-03
Filing date: 2012-02-02
Publication date: 2012-08-09
Anticipated expiration: 2013-08-03
Also published as: ITMI20110150A1; CN103429456A; JP2014504575A; US20140062351A1; US9102317B2; EP2670623A1; JP5970480B2; EP2670623B1; CN103429456B; IT1404164B1

Abstract

It is described an electronic system (50) to drive an electric device (5) of a bicycle assisted electrically (1) by means of a rechargeable battery (6). In case of detecting that the calculated human power is greater than or equal to the bicycle estimated friction power and in case of detecting that the state of charge of the battery (6) is greater than or equal to a first threshold, the processor is such to generate a driving current value for driving the electric device (5) operating as an electric motor (5) supplied from the battery (6). In case of detecting that the calculated human power is smaller than the estimated bicycle friction power, the processor is such to convert at least part of the human power into electric power by means of the electric device (5) operating as an electric generator (5), and generate therefrom another driving current value for charging the battery (6) from the electric device operating as electric generator.

Description

Electrically pedal-assisted bicycle

Technical field of the invention

The present invention generally refers to the field of the electrical bicycles. More in particular, the present invention concerns an electrically pedal-assisted bicycle by means of rechargeable batteries .

Prior art

Electrically pedal-assisted bicycles by means of batteries are known: see, for example, the European patents EP 1612084, EP 1886913. Such bicycles have the disadvantage to have a limited range, because in case of an extended use of the bicycle the used battery discharges and thus it is necessary to recharge the battery by means of the electric network.

European patent nb. 1236640-Bl claims the priority of Japanese patent application having publication nb. 2002/255080, publication date of Sept.11, 2002, filing nb. 2001/055400 and filing date of Febr.28, 2001 and claims the priority of Japanese patent application having publication nb. 2002/2550801, publication date of Sept.11, 2002, filing nb. 2001/055401 and filing date of Febr.28, 2001; accordingly, EP 1236640-Bl includes the subject-matter of the two above indicated Japanese patent applications.

EP 1236640-Bl discloses a control unit for a motor- assisted bicycle during a period of initial pedaling or startup on an upward slope or at the time of acceleration. EP 1236640-Bl does not disclose to monitor the state of charge of the battery 17.

German patent application nb. DE 19600243-Al published on July 10, 1997 discloses a control circuit for metering the power to electrical loads on a bicycle which has an auxiliary drive. DE 19600243-Al discloses to monitor the state of charge of the battery 12 (see the signal generator 22 in Fig.l) when charging the battery 12 (see Fig.4, wherein the state of charge of the battery 12 is indicated as percentage of the maximum power) and when the electric motor 11 is generating electrical power (see Fig.5, wherein again the state of charge of the battery 12 is indicated as percentage of the maximum power) . DE 19600243-Al further discloses that the battery 12 is charged during braking or when the bicycle 1 is travelling downhill (see the flow chart in Fig.2) .

Brief summary of the invention

The present invention refers to an electronic system to drive an electric device of an electrically assisted bicycle as defined in the enclosed claim 1 and to its preferred embodiments described in dependent claims from 2 to 5.

The Applicant has perceived that the electronic system according to the present invention allows to obtain a running condition for the cyclist which is particularly comfortable (that is, the cyclist exerts less effort during the run) and in a completely automatic way (that is it does not require any manual control by the cyclist and thus it is not necessary any button to turn on/off the electric motor) , increasing the bicycle range (possibly without requiring to charge the battery by means of the electric network) because it allows to maintain a sufficient state of charge of the battery also during an extended use of the bicycle.

It is an object of the present invention also an electrically pedal-assisted bicycle as defined in the enclosed claim 6.

It is an object of the present invention also a method for driving an electric device of an electrically pedal- assisted bicycle as defined in the enclosed claim 7 and its preferred embodiments described in the dependent claims 8 and 9.

It is an object of the present invention also a program for computer as defined in the enclosed claim 10.

Brief description of the drawings

Further characteristics and advantages of the invention will result, from the following description of a preferred embodiment and of its variants provided only as an example with reference to the enclosed drawings, wherein:

Figure 1 schematically shows an electrically pedal- assisted bicycle according to an embodiment of the invention;

Figure 2 schematically shows an electronic system to drive an electric device of an electrically pedal-assisted bicycle according to an embodiment of the invention,

Figure 3 shows more in detail a control module used in the electronic driving system according to the embodiment of the invention,

Figure 4a schematically shows a flow chart of a method for driving the electric device of the electrically pedal- assisted bicycle according to a first embodiment of the invention;

Figure 4b schematically shows a flow chart of a method for driving the electric device of the electrically pedal- assisted bicycle according to a second embodiment of the invention;

Figure 5 schematically shows a possible trend of the function β as the state of charge of the battery changes, Figure 6 schematically shows a possible trend of the charge current function,

Figure 7 schematically shows a first possible trend of power signals of the driving system according to the invention;

Figure 8 schematically shows a second possible trend of the power signals of the driving system according to the invention.

Detailed description of the invention

Referring to Figure 1, it is schematically shown an electrically assisted bicycle according to an embodiment of the invention.

Bicycle 1 comprises a battery 6, a control module 7, a measurement module 8 for measuring the angular velocity of the pedal arms and for measuring the torque of the pedal arms, a motor housing 5. Preferably, the bicycle 1 comprises an inclination sensor (not shown in Figure 1) for measuring the inclination of the road along wherein the bicycle is running; for example, the inclination sensor is positioned in the pedal arms assembly.

The battery 6 and the control module 7 are for example positioned on the bicycle frame in the part joining the front portion to the portion supporting the pedal arms assembly.

The measurement module 8 is positioned in the pedal arm assembly as schematically. shown in Figure 1.

The motor housing 5 is for example mounted in the front wheel, as shown in Figure 1; alternatively, the motor housing 5 is mounted in the rear wheel. The motor housing 5 comprises :

an electric device mechanically connected to the front wheel , a motor sensor for measuring the angular velocity (o_mot of the electric motor (for example, the revolution per minute) .

For example, in case wherein the motor housing 5 is mounted in the rear wheel, the electric device is connected to the hub of the front wheel. Alternatively, the electric device is mounted on other kinds of supports and the bicycle comprises transmission members for transferring the mechanical power from the electric motor to the (front or rear) wheel.

The term electric device mounted in the motor housing 5 means, in the present description, an electric device which is such to have a first and a second operation mode. In the first operation mode the electric device is such to operate as an electric motor supplied by the battery 6, that is it is such to convert the electric power supplied by the battery 6 into ^"mechanical power used for rotating the electric motor■^■and thus for contributing to the movement of the bicycle 1; in the second operation mode the electric device is such to operate as an electric generator for charging the battery 6.

The motor sensor comprises, for example, integrated Hall sensors which supply information about the relative position of the electric motor, wherefrom it is obtained the velocity of the electric motor by deriving the relative position of the electric motor.

The control module 7 has the function to control the electric device and the battery 6, so that the electric device is operating in the first mode as an electric motor or in the second mode as an electric generator.

Referring to Figure 2, it is shown an electronic system 50 to drive an electric device of the bicycle 1.

The electronic system 50 comprises:

a measurement module 8 having the function to measure the angular velocity co_mot of the pedal arms of the bicycle 1 and the torque T_ped generated by the cyclist on the pedal arms of the bicycle 1,

the motor sensor to measure the angular velocity Q_mot of the electric motor (the motor sensor for the sake of simplicity has not been shown in Figure 2 and it is included in the motor housing 5) ,

- the control module 7.

In particular, the measurement module 8 is such to measure the angular velocity co_mot of the pedal arms of the bicycle 1 and it is such to generate a pedal arms velocity signal S_u_p_ed indicating the performed measure of the angular velocity co_ped of the pedal arms of the bicycle 1; moreover, the measurement module 8 is such to measure the torque T_ped generated by the cyclist on the pedal arms of the bicycle 1 and it is such to generate a pedal arms torque signal S_T_p_ed indicating the performed measure of the torque _ped generated by the cyclist on the pedal arms of the bicycle 1.

Advantageously, the measurement module 8 is implemented with a single component such to generate both the pedal arms velocity signal S^ed. and the pedal arms torque signal S_T_ped; for example, it is possible to use the "Sensory BB- Cartridges X-CELL RT" manufactured by Alfred Thun GmbH (www.thun.de), having the technical characteristics described in the document downloadable from the following link:

www . thun . de/ thun_eng/Datenblatt%20X-CELL_GB . df The motor sensor is such to measure the angular velocity co_mot of the electric motor and it is such to generate a motor velocity signal S(o__mot indicating the performed measurement of the angular velocity G)_mot of the electric motor.

When the electric device is such to operate as an electric motor, the control module 7 is such to receive at the input the pedal arms velocity signal S_u_p_ed and the pedal arms torque signal S_T_p_ea _/ it is such to receive at the input the motor velocity signal S_a__mot , it is such to receive at the input from the battery 6 a battery signal Sbat indicating one or more electric values associated to the battery 6, it is such to receive at the input from battery 6 a charge/discharge current signal I_cs which carries a current generated by the battery 6 and it is such to generate a motor current signal I_mot which carries said charge/discharge current I_cs in order to supply the electric device operating as an electric motor, as it will be explained more in detail afterwards in the part regarding the operation.

Moreover, when the electric device is such to operate as an electric generator, the control module 7 is such to receive at the input the pedal arms velocity measurement signal S_u_p_ed and the pedal arms torque measurement signal S_T_ped_/ it is such to receive at the input the motor velocity measurement signal S^mot, it is such to receive at the input from the battery 6 the battery signal S_bat_/ it is such to receive at the input from the motor housing 5 the motor current signal I_mot carrying a current generated by the electric generator and it is such to generate the charge/discharge current signal I_cs carrying said motor current I_mot in order to recharge the battery 6, as it will be explained more in detail afterwards in the part regarding the operation.

Preferably, the electronic system 50 further comprises an inclination sensor 9 for measuring the slope 9_str of the road wherein the bicycle is running. The inclination sensor 9 is such to measure the slope 9_str of the road wherein the bicycle is running and it is such to generate a slope signal S_e__str indicating the performed measure of the slope 9_str of the road wherein the bicycle is running. In this case, when the electric device is such to operate as an electric motor, the control module 7 is such to generate the motor current signal I_mot for supplying the electric motor by further taking into account the value of the slope signal S_e__str, as it will be explained more in detail afterwardsin the part regarding the operation.

Referring to Figure 3, it is shown more in detail the control module 7. The control module 7 comprises :

a processor 20;

- a current management module 22;

a state of charge detecting circuit 23 for detecting the state of charge of the battery 6.

The processor 20 is such to perform the method 100 shown in Figure 4a and the method 150 shown in Figure 4b for driving the electric device in the motor housing 5 of the bicycle 1, wherein the method is performed by means of an algorithm implemented with software code portions . For example, the processor 20 is a microcontroller and the software code is implemented with "ANSI C" code.

The state of charge detecting circuit 23 is such to receive the battery signal S a and, as a function of it, is such to calculate a state of charge signal S_Sd_C indicating the state of charge of the battery 6. For example, the battery 6 is composed of two or more cells, the battery signal S_bat is the value of the voltages of the cells and the state of charge signal S_s<a_c s a value expressed as a percentage indicating the state of charge of the battery 6 (for example: 100% = the battery 6 is completely charged, 50% = the battery 6 is half charged) .

The processor 20 is such to receive at the input the pedal arms velocity signal S_OJ,_ed , the pedal arms torque signal S_T_p_ed the motor velocity signal S_{Q mo}t _/ the state of charge signal S_sac and, as a function of the values of signals received at the input, is such to generate a selection signal S_sei having a first logic value (for example, a low logic value) for indicating the first operation mode as an electric motor and having a second logic value (for example, a high logic value) for indicating, the second operation mode as an electric generator. Moreover, the processor 20 is such to generate a processed signal S_ei_ab carrying the value of the charge/discharge current signal I_cs for charging the battery 6 or the value of the motor current signal I_mot for driving the electric motor.

The current management module 22 has the function to control the current direction between the battery 6 and the electric device. In particular, the current management module 22 is such to receive from the processor 20 the processed signal S_ei_ab and the selection signal S_sei . When the selection signal S_sei has the first logic value indicating the first operation mode as electric motor, the current management module 22 is such to receive from battery 6 the charge/discharge current I_cs signal and it is such to transmit the motor current signal I_mot equal to the charge/discharge current signal I_cs and having a value depending on the value of processed signal S_ei_ab- When the selection signal S_sei has the second logic value indicating the second operation mode as electrical generator, the current management module 22 is such to receive from the electric generator the motor current I_mot signal and it is such to transmit the charge/discharge current I_cs signal equal to the motor current I_mot signal and having a value depending on the value of the processed signal S_eiab-

It has to be observed that, for the purpose of the explanation of the invention, two signals (S_sei, S_eiab) carrying the information from the processor 20 to the current management module 22 have been considered, however this should be intended just as a functional description which is not limiting, which can also be implemented differently. For example, it is possible to use a bus connecting the processor 20 to the current management module 22: in this case, the processor 20 exchanges information with the current management module 22 by means of a communications protocol on the bus , for example a bus of the CAN type (Controller Area Network) .

Referring to Figure 4a, it is shown schematically a flow chart of the method 100 for driving the electric device of the electrically assisted bicycle 1 according to a first embodiment of the invention.

The method 100 comprises the steps 101, 103, 105.

In step 101 it is performed the comparison between the human power Pum with respect to the friction power P_attr: in case the human power is greater than or equal to the friction power, it is performed the step 103 , otherwise it is performed the step 105 .

The term human power Pum means the power generated by the cyclist on the pedal arms of the bicycle 1 when the cyclist is pedaling; in other words, it is the effort performed by the cyclist when he is pressing on the pedal arms with his feet. For example, the human power is calculated with the following formula ( 1 ) :

Pum ⁼ Tp_e<j* G3p_e(i ( 1 )

Wherein T_pea is the torque generated by the cyclist on the pedal arms of the bicycle 1 and co_ped is the angular velocity of the pedal arms of the bicycle 1 .

The term friction power P_attr means the estimation of the power wasted for frictions caused by the cyclist and by the bicycle when the cyclist is pedaling, such as for example the friction between the cyclist and the air, the friction between the bicycle 1 and the air, the friction between the wheels of the bicycle 1 and ground, the frictions of bicycle gears for transmitting the motion from the pedals to the rear wheel. For example, the friction power P_attr is calculated with the following formula ( 2 )

Pattr= Rrt*F_attr(v) * C0_rt ( 2 )

wherein R_rt is the radius of the front wheel of the bicycle 1 , co_rt is the angular velocity of the front wheel of the bicycle 1 , v is the velocity of the bicycle 1 (for example, calculated with the formula v= co_rt * R_rt ) F_attr(v) (known as "coasting down" function) indicates the value of the friction of the bicycle as a function of velocity v of bicycle 1 and it is obtained experimentally for example by means of a downhill test of the the bicycle without pedaling until it stops. For example, the function F_attr(v) has a parabolic shape of the type F_attr(v)= F₀+a*v², wherein F₀ and a are pre-determined values .

It has to be observed that, for the purpose of explaining the invention, it is assumed for simplicity co_mot = (o_rt , that is it is assumed that the angular velocity co_rt of the front wheel of the bicycle 1 is equal to the angular velocity o_mot of the electric motor mounted in the motor housing 5 of the front wheel (for example, there are no gears reducing the ratio between the angular velocity of the electric motor and the angular velocity of the front wheel) .

Moreover, it has to be observed that in the embodiment shown in the figures it is assumed that the motor housing 5 is mounted in the front wheel, however similar considerations can be made in case the motor housing 5 is mounted in the rear wheel : in this case co_rt is the angular velocity of the rear wheel and co_mot is the angular velocity of the electric motor mounted in the motor housing of the rear wheel .

In step 103 it is calculated at a time instant t the variation AI_mot, with respect to a previous time instant (t- 1 ) , of the value of the motor current signal I_mot for driving the electric device as an electric motor supplied by battery 6 , that is I_mot(t)= I_mot(t-l)+ AI_mot(t) . For example, the time interval between t and (t- 1 ) is less than 20 ]is , corresponding to a calculation frequency of at least 50 Hz .

In the present description it is used the convention of considering AI_mot>0 for indicating that the electric device operates as an electric motor and thus direction of the motor current is from the battery 6 to the electric motor, that is the battery supplies current to the electric motor, wherein the electric energy is converted into mechanical energy for the motion of the front wheel of the bicycle 1.

The variation AI_mot of the value of the motor current signal AI_mot is calculated as a function of difference ΔΡ between the human power Ρ^, and the friction power P_attr and as a function of the value of the state of charge signal

Ssdc ·

For example, the variation AI_mot of the value of the motor current signal is calculated with the following formula (3 ) :

AI_mot= (S_sdc) * [ AP/(k_T* co_rt)] (3)

wherein:

kr is the electric constant of the electric motor,

- ΔΡ= P^- P_attr, (4)

wherein:

• Pattr= Rrt*F_attr(v) *C0_rt; (6) (Ssdc) is a function of the state of charge signal S_Sdc that is it depends on the state of charge of the battery

6.

In particular, the function (S_Sd_C) is directly proportional to the state of charge signal S_Sdc- For example, the function β(3₃α_α) has a substantially increasing trend from the value 0 to the value 1 and it takes the value 0 when the state of charge signal S_Sd_C has a minimum threshold value S_Sd_C_min (greater than zero) , while it takes the value 1 when the state of charge signal S_sdc has a maximum threshold value S_sdCjnax (greater than S_Sdc_min) · The minimum threshold value S_sdc_inin and the maximum threshold value S_Sdc_max are pre-determined or can be modified by the cyclist; for example,

Preferably, the function 3(S_Sdc) has the trend shown in Figure 5, wherein the trend is substantially linear increasing in the range comprised between S_Sdc_min and

In step 105 it is calculated the value of the motor current signal I_mot for the operation of the electric device as an electric generator for charging battery 6. In the present description it will be used the convention of considering lm.ot<0 for indicating that the electric device operates as an electric generator and thus the direction of the current I_mot is from the electric generator to battery 6, that is the electric generator converts the mechanical power of the front wheel of the bicycle 1 into electric power and generates current towards the battery 6 which is recharged, thus in the battery 6 the electric power is convrted into chemical power stored into the battery 6.

The value of the motor current signal I_mot in the step 105 is calculated as a function of the velocity v of the bicycle 1 and as a function of the value of the state of charge signal S_Sd_C-

For example, the value of motor current signal I_mot is calculated by the following formula:

Imot= [l- (Ssdc) ]*Ichg(v) (7)

wherein 3(S_Sdc) has been previously defined, v is the velocity of the bicycle 1 (calculated for example with the formula v= co_rt*R_rt) and I_Chg(v) is a charge current function depending on the velocity v of the bicycle 1.

For example, the charge current function I_Chg(v) can have the trends I_Chgi (dashed line) or I_Chg2 (solid line) shown in Figure 6. In particular, the charge current function I_cghi has a substantially null value for values of the velocity of the bicycle 1 comprised between 0 and a velocity threshold value vh (for example equal to 6 Km/h) and has a value Il_Chgi substantially constant (for example equal to 3 Ampere) for values of the velocity of the bicycle 1 greater than the velocity threshold value v_th: in this way the current generated by the electric device operating as an electric generator is independent on the velocity v of the bicycle. The charge current function I_Chg2 is directly proportional to the velocity v of the bicycle 1; for example, the charge current function I_Chg₂ has a substantially linear increasing trend starting from value 0 for a velocity equal to 0: in this way the power generated by the electric device operating as electric generator is substantially constant.

Referring to Figure 4b, it is schematically shown a flow chart of a method 150 for driving the electric device of the electrically assisted bicycle 1 according to a second embodiment of the invention. It has to be observed that in Figure 4b steps and symbols equal to the ones of Figure 4a are indicated with the same reference numbers.

The method 150 comprises the steps 101, 102, 153, 154,

105.

In the step 101 it is performed the comparison between the human power Pum and the friction power P_attr : in. case wherein the human power is greater than or equal to the friction power, it is performed the step 102, otherwise it is performed the step 105.

In the step 102 it is evaluated the slope e_str of the road (in other words the slope of the ground) wherein the bicycle 1 is running. When the slope of the road 9_str is greater than zero (that is the cyclist is running along an uphill road) or equal to zero (that is the cyclist is running along an flat road) , it is performed step 153. In the case wherein the slope of the road e_str is smaller than zero (that is the cyclist is running along a downhill road), it is performed the step 154 .

The step 153 is similar to the step 103 of the method 100 according to the first embodiment, with the difference that in the step 153 the variation AI_mot' of the value of the motor current signal for driving the electric device as an electric motor supplied by battery 6 is calculated also as a function of a slope power P_pen_d and as a function of the time variation dP_pend/dt of the slope power. The term slope power means the power associated to the slope, that is the power that the force of gravity transmits to the vehicle, and is calculated with the following formula:

P_Pend= m*g*sen( 9_str ) *Rrt*M_rt ( 8 ) wherein m is the sum of the mass of the bicycle and of the cyclist average mass (for example, the cyclist average mass is estimated equal to 70 Kg) , g is the gravitational acceleration ( 9 . 81 m/s²) and 9_str is the slope of the road wherein the bicycle is running (that is the angle included between the road and the horizon) .

Therefore the variation of the value of the motor current signal AI_mot' is calculated as a function of the difference ΔΡ ' between the human power Ρ^, the friction power Pa_ttr and the slope power P_pend / as a function of the time variation dP_pend/clt of the slope power and as a function of the value of the state of charge signal S_Sdc - For example, the variation of the value of the motor current signal AI_mot' is calculated with the following formula (9) :

AI_mot'= (3_β3ο)*[ AP'/(k_T* u_rt) + a* (dP_Pend/dt) ] (9) wherein :

the slope power P_pend has been calculated with the formula (8) ,

k_T is the electric constant of the electric motor, a is a pre-determined constant, which depends on the value of the help which is given to the cyclist in the starting phase of the ascent,

- ΔΡ'= Pum- Pattr- Ppend, wherein:

• Pun, has been defined with the formula (1) ;

• Pattr has been defined with the formula (2);

• Ppend has been defined with the formula (8) ;

(S_Sdc) is the function of the state of charge signal S_sdc previously defined in the description of the method 100 according to the first embodiment of the invention.

In the step 154 it is calculated the value of the motor current signal I_mot for the operation of the electric device as an electric generator for charging the battery 6, in the same way of step 105 of the method 100 according to the first embodiment of the invention.

The value of the motor current signal I_mot in the step 154 is calculated as a function of the velocity v of the bicycle 1 and as a function of the value of the state of charge-^signal S_Sd_C- For simplicity, it is assumed that the motor current signal I_mot value in the step 154 is calculated similarly to the step 105, that is with the formula (7 ) .

Referring to Figure 7, it is shown a first possible trend of the power signals of the driving system 50. In particular, the upper part of Figure 7 shows the trends of the required power signals P_req_/ of the human power signal Pum and of the motor power signal P_mot_/ while the lower part of Figure 7 shows the trend of the state of charge signal Ssdc- The term motor power P_mot means the mechanical power generated by the electric device of the bicycle 1 when it operates as an electric motor (in this case it is assumed Pmot>0) and the electric power generated by the electric device of the bicycle 1 when it operates as an electric generator (in this case it is assumed P_mot<0) . The term required power P_reg means the value of the mechanical power necessary to the cyclist for covering a certain part of the road by the bicycle 1 and it is defined as the sum of the human power Pum with the motor power P_mot_/ that is P_req = Pum+Pmot- In other words, the bicycle 1 is operated both by the cyclist generating the human power Pum and by the electric motor generating the motor power P_mot-

In the time interval comprised between the instants to and ti the cyclist is perceiving a high fatigue sensation; for example, the cyclist has started while standing or is covering an uphill part of the road. In this case the electric device mounted in the motor housing 5 of he bicycle 1 operates as an electric motor and thus helps the cyclist during the run of the bicycle 1, by reducing the fatigue sensation perceived by the cyclist; therefore in this interval the electric energy supplied by battery 6 is used for operating the electric motor, which in turn converts the electric energy into mechanical energy used for rotating the electric motor, which generates the motor power P_mot>0 contributing - together with the human power Pum generated by the cyclist - to the motion of the front wheel of the bicycle 1. Therefore in the interval between to and ti the human power Pum' (not shown in the figures) without the electric device - defined as the power generated by the cyclist on the pedal arms when he is pedaling on a not electrically assisted bicycle (that is without the electric device) , in the same road conditions of the cyclist which is pedaling on the bicycle 1 - would be sharply greater than the human power Pum with the electric device. It is possible to observe that the state of charge signal S_sdc has a decreasing trend, that is the battery 6 is discharging because it is supplying electric power to the electric motor to help the cyclist who is perceiving a high fatigue sensation; moreover it is possible to observe that the value of the state of charge signal S_sdc at the instant ti is greater than the minimum threshold value S_Sd_C_min-

In the time interval comprised between the instants ti and t₂ the cyclist is perceiving a low fatigue sensation (for example, the cyclist is covering a flat part of the road) . In this case, the value of the state of charge signal S_s<a_c at instant ti is smaller than the maximum threshold value S_sdc_max and the electric device operates as an electric generator and thus generates a current I_cs which charges the battery 6, slightly increasing the fatigue sensation of the man, who however does not perceive this increase because it occurs in an operation condition (time interval between tiand t₂) wherein the fatigue sensation perceived by the cyclist is low; therefore in this time interval a part of power Pum supplied by the human by means of the pressure on the pedal arms is converted into mechanical power for operating the electric device as an electric generator, which in turn performs a conversion of a part of power Pum supplied by the human into electric power used for charging battery 6.

Therefore in the time interval between ti and t₂ the human power Pum' (not shown in the drawings) without the electric device would be slightly smaller than the human power Pun, with the electric device. It is possible to observe that the state of charge signal S_sa_c has an increasing trend, that is the battery 6 is charging because a part of the human power Pum generated by the cyclist is used for charging the battery 6, by means of the conversion of the mechanical power of the electric generator into electric power and then into chemical power stored into the battery 6; moreover, it is possible to observe that the value of the state of charge signal S_sdc at instant t₂ is smaller than the maximum threshold value S_Sdc_max-

In the time interval comprised between instants t₂ and t₃ the electric device of the bicycle 1 operates as an electric motor helping the cyclist, analogously to the time interval between t₀and ti .

In the time interval comprised between instants t₃ and t₄ the electric device of the bicycle 1 operates as an electric generator generating current I_cs which charges the battery 6, analogously to the time interval between ti and t₂. It is possible to observe that the state of charge signal S_Sdc at instant t₄ has reached the maximum threshold value S_sdc_max_/ that is the battery 6 has been charged at the maximum threshold value.

In the time interval comprised between instants t and t₅ the cyclist is perceiving a low fatigue sensation (for example, the cyclist is covering a flat part of the road) . In this case, since the value of the state of charge signal Ssdc at instant t₄ is equal to the maximum threshold value S_Sdc_max the electric generator of the bicycle 1 does not further generate the current I_cs and thus it does not further recharge battery 6, which is already charged at the maximum threshold value.

It is possible to observe that the value of the state of charge signal S_Sdc in the time interval comprised between instants t₀ and t₅ is always comprised between the minimum threshold value S_Sdc_min and the maximum threshold value S_Sdc_max: in this way the range of the bicycle 1 is increased and, advantageously, it is no more necessary to recharge battery 6 by connecting it to an electric source external to bicycle 1 (for example, it is not necessary to use an external battery charger connecting the electric network to the battery 6) .

Referring to Figure 8, it is shown a second possible trend of the power signals of the driving system 50. Similarly to Figure 7, also the upper part of Figure 8 shows the trends of the required power signals P_req_> of the human power signal Pum and of the motor power signal P_mot/ while the lower part shows the trend of the state of charge signal S_sdc.

In the time interval comprised between instants to and tio the cyclist is perceiving a high fatigue sensation. The electric device mounted in the motor housing 5 of the bicycle 1 operates as an electric motor and thus helps the cyclist during the run of the bicycle 1, by reducing the fatigue sensation perceived by the cyclist, analogouslyto the interval between to and ti of Figure 7.

In the time interval comprised between instants tio and tii the cyclist is perceiving a low fatigue sensation. The electric device operates as an electric generator generating current I_cs which charges the battery 6, analogously to the interval between ti and t₂ of Figure 7.

In the time interval comprised between the instants tu and t_i2 the electric device of the bicycle 1 operates as an electric motor helping the cyclist during the run of the bicycle 1, analogously to the interval between to and tio. It is possible to observe that the state of charge signal Ssdc at the instant ti₂ has reached the minimum threshold value S_sdc_min / that is the battery 6 is discharged at the minimum threshold value.

In the time interval comprised between the instants t₁₂ and ti3 the cyclist is perceiving a high fatigue sensation. In this case, since the value of the state of charge signal Ss_dc at the instant ti₂ is equal to the minimum threshold value Ss_dc^min , the electric device of the bicycle 1 no more operates as an electric generator, that is it does not help anymore the cyclist during the run of the bicycle 1, even if he is perceiving a high fatigue sensation, preventing in this was the battery 6 from excessively discharging, increasing the range of the bicycle 1 and, advantageously, preventing the battery 6 from being recharged by connecting it to an electric source external to the bicycle 1.

It will be described hereinafter the operation of the electronic system 50, by reference to Figures 2, 3, 4a, 5, 6 and 7.

It is assumed that the processor 20 is capable of reading out (for example from a memory connected to it) the value of the radius R_rt of the front wheel of the bicycle 1, the value of the friction F_attr(v) of the bicycle 1 as the velocity v of the bicycle 1 changes, the value of the electric constant of the electric motor k_T, the minimum threshold value S_sa_c_min and the maximum threshold value S_Sdc_max - For example, said values are defined by means of a configuration phase before the instant t₀ wherein the operation of the bicycle 1 starts .

For the sake of simplicity it is further assumed that

The time instants to, ti, t₂, t₃, t₄, t₅ represent the time instants when the processor 20 runs the method 100 and calculates the value of the motor current signal I_mot and of the charge/discharge current signal I_cs: the distance between said time instants does not necessarily correspond to the calculation period (for example, 20 μΞ) used by the processor 20 , that is between two subsequent instants (for example, between t₀ and ti) the processor 20 can execute one or more times the method 100 , but for simplicity these executions are disregarded.

At instant to the cyclist of the bicycle 1 starts to pedal while standing and thus he perceives a rather high fatigue sensation.

The measurement module 8 measures a first value ω0_ρθά of the angular velocity of the pedal arms of the bicycle 1 and measures a first value τ 0_ρβ<3 of the torque generated by the cyclist on the pedal arms of the bicycle 1 .

The processor 20 executes the method 100 by means of a computer program running on the processor 20 and by means of software code portions. For example, the programming language used for the software code is "ANSI C" language.

In particular, the processor 20 receives the pedal arms velocity signal 3_ω_ρ_βά having the first value of the pedal arms angular velocity co0_ped _/ receives the pedal arms torque signal S_IJped having the first value of the generated torque ^"cOped and calculates a first value POum of the human power by means of the formula P0_xjm= τ0_ρβά*ω0ρβά·

The motor sensor measures a first value a0_mot of the angular velocity of the electric motor; the processor 20 receives the motor velocity signal S_u__mot having the first value of the electric motor angular velocity o)0_mot and obtains therefrom the velocity vO of the bicycle 1, for example with the formula v0= co_rt*R_rt= wO_mo *Rrt- The processor 20 receives the motor velocity signal

Somot having the first value co0_mot of the electric motor angular velocity, reads out the value of the radius R_rt and the value of the friction F_attr(v0) as a function of the bicycle velocity vO (that is

F0_attr) and calculates a first value P0_attr of the estimation of the friction power by means of the formula

In step 101 the processor 20 performs the comparison between the first human power value POum and the first friction power estimation value P0_attr and detects that P0um>

POattr-

The state of charge detecting circuit 23 receives the battery signal Sbat and, as a function of it, calculates a first value S0_Sd_C of the state of charge signal S_sdc which indicates the state of charge of the battery 6.

In step 103 the processor 20 detects that the first value of the state of charge signal S0_Sdc is greater than the minimum threshold value S_Sdc_min and generates the selection signal S_sei having the first low logic value indicating the first operation mode as electric motor.

Moreover, in step 103 the processor 20 calculates (see Figure 5) a first value βθ of the function β corresponding to the first value of the state of charge signal S0_Sdc/ that is β0= β (SOsdc) .

Moreover, in step 103 the processor 20 calculates the difference ΔΡ0 between the human power POum and the frictxon power PU_attr_/ that is:

ΔΡ0= POum" P0_attr= lOpec^Oped- Rrt*F0_attr*C00_mot

Afterwards, in step 103 the processor 20 calculates the variation Al0_mot of the motor current signal I_mot according to formula (3), that is:

Al0_mot= β0*[ΔΡ0/(1<_τ* co_rt)]= β0*[ΔΡ0/(¾:_τ* co0_mot) ] (3')

Finally, in step 103 the processor 20 generates the processed signal S_eiab carrying the value Al0_mot.

The current management module 22 receives the selection signal S_sei having the first low logic value which indicates the first operation mode as an electric motor, receives the processed signal S_eiab carrying the value Al0_mot# turns on the electric device in the motor housing 5 in the operation mode as an electric motor, activates the circuits necessary for transmitting the motor current I_mot equal to the charge/discharge current I_cs in the direction from battery 6 towards the electric motor in the motor housing 5, thus generates the motor current I_mot equal to the value Al0_mot/ that lS I_mot= I0_mot= AlOmof

The electric motor in the motor housing 5 receives the value iOmot of the motor current I_mot_/ causing a rotation of the electric motor with an angular velocity equal to a value coOmot' (different from co0_mot) ·

The electric motor is mechanically connected to the front wheel of the bicycle 1, for example is mounted in the hub of the front wheel; in this case, the rotation of the electric motor contributes to the rotation of the front wheel, in addition to the human power POum generated by the cyclist during the pedaling at instant t₀, thus reducing the fatigue perceived by the cyclist.

In the instants between t₀ and ti (excluded) , the processor 20 continues to detect that the value of the human power is greater than the value of the estimation of the friction power P_attr- Consequently, the operation of the electronic system 50 in the instants comprised between to and ti (excluded) is analogous to the one at instant t₀ and theus the electric motor helps the cyclist during the pedaling, while the battery 6 discharges from the first value of the state of charge signal S0_s<a_c to a second value of the state of charge signal Sl_Sd_C (see the diagram in the lower part of Figure 7), because it is consumed the electric energy of the battery 6 for supplying the operation of the electric motor.

At the instant ti the cyclist of bicycle 1 is pedaling on a substantially flat road and perceives a low fatigue sensation.

The measurement module 8 measures a second value (ol_pea of the pedal arms angular velocity of the bicycle 1 and measures a second value τ1_ρθ<ι of the torque generated by the cyclist on the pedal arms of the bicycle 1.

Again, the processor 20 executes the method 100 by means of the computer program running on the processor 20. .

In particular, the processor 20 receives the pedal arms signal 3_ω_ρ_βά having the second value of the pedal arms angular velocity col_ped , receives the pedal arms torque signal S_t_p_e<a having the second value of the generated torque τ1_ρβά and calculates a second value Plum of the human power by means of the formula Plum= ^"tlped*wl_ped-

The motor sensor measures a second value col_mot of the angular velocity of the electric motor; the processor 20 receives the motor velocity signal S_a__mot having the second value of the electric motor angular velocity col_mot and obtains therefrom the velocity vl of the bicycle 1 , for example with the formula vl= o_rt*Rrt= wl_mot*Rrt-

The processor 20 receives the motor velocity signal S(o_mot having the second value of the electric motor angular velocity <3l_mot, reads out the radius R_rt and the value of the friction F_attr(vl) as a function of the velocity vl of the bicycle (that is F_attr(vl)= Fl_attr)■ and calculates a second value Pl_attr of the estimation of the friction power by means of the formula

Rrt*Fl_attr*<al_mot · In step 101 the processor 20 performs the comparison between the second value of the human power Plum and the second value of the estimation of the friction power Pl_attr and detects that Plum< Plattr-

The state of charge detecting circuit 23 receives the battery signal Sbat and, as a function of it, calculates a second value Sl_Sdc of the state of charge signal S_Sdc indicating the state of charge of the battery 6 .

In step 105 the processor 20 detects that the second value of the state of charge signal Sl_Sdc is smaller than the maximum threshold value S_sa_c_max and generates the selection signal S_sei having the second high logic value indicating the second operation mode as an electric generator .

Moreover, in ste 105 the processor 20 calculates (see Figure 5 ) a second value βΐ of the function β corresponding to the second value of the state of charge signal Sl_Sd_C, that is β1= ίεΐβάο); moreover, the processor 20 calculates a value Il_Chgi (see Figure 6) of the charge current function Ichgi(v) corresponding to the second value of the velocity v2, that is

Il_Chgi.

Afterwards, the processor 20 calculates in step 105 the value of the charge/discharge signal I_cs according to formula (7), that is:

[l-βΐ] *Hchgl

Therefore the processor 20 generates the processed signal S_eiab carrying the value Ilmot-

The current management module 22 receives the selection signal S_sei having the second high logic value indicating the second operation mode as electric generator, switches the electric device in the motor housing 5 from the operation as electric motor to the operation as electric generator, receives the processed signal S_eiab carrying the value Ilmot activates the circuits necessary to transmit the charge/discharge current I_cs equal to the motor current Imot in the direction from the electric motor in the motor housing 5 to the battery 6, thus generates the charge/discharge current I_cs equal to the value Il_mot_/ that is Ics^{= =} Ilmot-

The battery 6 receives the value Ilmot of the charge/discharge current I_cs and the battery 6 starts charging.

Therefore the. cyclist generates during the run of the bicycle 1 at instant ti a human power Plum and a part of it is used for moving the electric generator in the motor housing 5, which generates the charge/discharge current Ics_/ which starts charging the battery 6.

In the instants comprised between ti and t₂ (excluded) the processor 20 continues to detect that the value of human power Pum is smaller than the value of the estimation of the friction power P_attr . Consequently, the operation of the electronic system 50 at instants comprised between ti and t₂ (excluded) is analogous to the operation at instant ti and thus the electric generator recharges battery 6, which recharges from the second value of the state of charge signal Sl_sdc to a third value of the state of charge signal S2_sdc (see the diagram in the lower part of Figure 7) , because it is used a part of the power generated by the man on the pedal arms for recharging battery 6.

In the time interval comprised between the instants t₂ and t₃ (excluded) the electric device in the motor housing 5 operates as an electric motor which helps the cyclist, analogously to the time interval between t₀ and ti; therefore the considerations made with reference to the operation in the time interval between t₀ and t± can also be applied analogously to the time interval between t₂ and t₃.

In the time interval comprised between instants t₃ and t₃ (excluded) the electric device in the motor housing 5 operates as an electric generator recharging the battery 6, analogously to the time interval between ti and t₂; therefore the considerations made with reference to the operation in the time interval between ti abd t₂ can be applied analogously to the time interval between t₃ and t . It has to be observed that at the instant t₄ the state of charge signal S_sdc has reached the maximum threshold value Ssdc_max _/ that is the battery 6 has been charged at the maximum threshold value.

At instant t₄ the cyclist is perceiving a low fatigue sensation. The state of charge detecting circuit 23 receives the battery signal S_bat and, as a function of it, calculates a fourth value S4_sdc of the state of charge signal S_Sdc indicating the state of charge of the battery 6. The processor 20 detects that the fourth value of the state of charge signal S4_sdc is equal to the maximum threshold value S_Sdc_max and calculates (see Figure 5) the value of function β corresponding to the maximum threshold value Ssdc_max, that is β4= β (Ssdcmax) =1; moreover, the processor 20 calculates the value Il_Chgi (see Figure 6) of the charge current function I_Chgi(v) corresponding to a fourth value of velocity v4, that is

I4_chgi. Afterwards, the processor 20 calculates the value of the charge/discharge current signal I_cs according to the formula (7) , that is:

Therefore also the value of the charge/discharge current I_cs is equal to 0, that is the battery 6 is not further recharged.

At the instants comprised between t₄ and t₅ the processor 20 continues to detect that the fourth value of the state of charge signal S4_sdc is equal to the maximum threshold value S_Sd_C_max and the operation of the electronic system 50 at the instants comprised between t₄ and t₅ is analogous to the one at instant t₄, that is the battery 6 is not further recharged, because it is already charged to its maximum value.

The operation of processor 20 executing at the instants comprised between to and ti the steps 101, 102, 153 of the method 150 shown in Figure 4b is similar to the one of the steps 101, 103 of the method 100 previously shown, with the following differences. After the step 101, it is performed the step 102 wherein the inclination sensor 9 measures a first value GOgtr of the road slope along wherein the bicycle 1 is running; moreover, the processor 20 receives the slope signal S_e__str having a first slope value e0_str, detects 90_str>0 (that is the cyclist is running along an uphill road) and executes step 153.

The step 153 is analogous to the step 103 of the method 100, with the following differences. The processor 20 calculates the first value P0_pend of the slope power according to formula (8) , that is:

P0_Pend= m*g*sen(60_str) *R_rt*co_rt (8')

The processor 20 calculates the difference ΔΡΟ' between the human power POum the friction power P0_attr and the slope power P0_pend_f that is:

ΔΡ0'= POum- POattr" P0_pend=

-c0_Ped*C00ped- Rrt*F0_attr*6⁾0_mot- m*g*Sen ( GOstr ) *Rrt^_rt

Processor 20 calculates the variation ΔΡΟ' of the value of motor current signal I_mot according to formula (9) , that is:

β0*[ APO'/dtr* <fl_rt) + a* (dP0pend/dt) ] =

β0*[ AP0'/(k_T* coOmot) + a* (dP0p_end/dt) ] (9')

Therefore the processor 20 generates the processed signal S_eiab carrying the value Al0_mot' and thus the current management module 22 generates the motor current I_mot equal to the value Al0_mot' ·

It is an object of the present invention also a method for driving an electric device of a bicycle assisted electrically by means of a rechargeable battery. The method comprises the step a) of calculating a human power as a function of a torque of the bicycle pedal arms and of an angular velocity of the bicycle pedal arms, comprises the step b) of estimating a friction power of the bicycle as a function of an angular velocity of the electric motor and as a function of a bicycle speed, comprises the step c) of comparing the calculated human power with respect to the estimated bicycle friction power and checking the state of charge of the battery. In case of detecting that the calculated human power is greater than or equal to the estimated bicycle friction power and in case of detecting that the battery state of charge is greater than or equal to a first threshold, the method comprises the step d) of generating a driving current value for driving the electric device operating as an electric motor supplied from the battery. In case detecting that the calculated human power is smaller than the estimated bicycle friction power , the method comprises the step e) of generating another driving current value for charging the battery from the electric device operating as an electric generator.

Advantageously, the step d) further comprises, after the detection that the calculated human power is greater than or equal to the estimated bicycle friction power, the step of measuring the inclination of the road wherein the bicycle is running. In case the estimated inclination is greater than or equal to zero, the method comprises the step d2.1) of checking the state of charge of the battery and performing the step d) . In case the estimated inclination is smaller than zero, the method comprises the step d2.2) of generating another driving current value for charging the battery from the electric device operating as an electric generator.

Advantageously, the steps e) or d2.2) comprise the generation of said other driving current value for charging the battery, in case of detecting that the battery state of charge is lower than a second threshold greater than the first threshold.

Advantageously, in step d) the generation of said driving current value is directly proportional to the value of the state of charge of the battery over an interval comprised between the first and the second threshold.

The steps of the method according to the invention can be performed by means of a computer program comprising software code and executed on the processor 20.

Claims

1. Electronic system (50) to drive an electric device of a bicycle (1) assisted electrically by means of a rechargeable battery (6) , said electric device being configured for operating as an electric motor supplied from the battery or as an electric generator for charging the battery,

the system comprising:

a measurement module (8) configured for measuring the angular velocity (S_u_p_ed) of the bicycle pedal arms and the torque (S_T_p_ed) of the bicycle pedal arms;

a sensor configured for measuring the angular velocity (S(o__mot) of the electric motor;

a circuit (23) configured for detecting a state of charge of the battery;

a processor (20) configured for:

• calculating a bicycle speed as a function of the angular velocity of the electric motor;

• calculating (101) a human power (Pum) as a function of the measured torque of the bicycle pedal arms and of the measured angular velocity of the bicycle pedal arms ;

• estimating (101) a friction power (P_attr) of the bicycle as a function of the angular velocity of the electric motor and as a function of the bicycle speed;

• comparing (101) the calculated human power with respect to the estimated bicycle friction power and checking the state of charge of the battery;

• in case of detecting that the calculated human power is greater than or equal to the estimated bicycle friction power and in case of detecting that the battery- state of charge is greater than or equal to a first, threshold (S_Sd_C_min) , generating (103) a driving current value (AI_mot) for driving the electric device operating as an electric motor supplied from the battery;

• in case of detecting that the calculated human power is smaller than the estimated bicycle friction power, converting at least part of the human power into electric power by means of the electric device operating as an electric generator, and generating (105) therefrom another driving current value (I_Chg) for charging the battery from the electric device operating as electric generator.

2. Electronic system according to claim 1, further comprising a sensor (9) configured for measuring the inclination of the road wherein the bicycle is running, wherein, in case of detecting that the calculated human power is greater than or equal to the estimated bicycle friction power, the processor (20) is further configured for:

• in case the estimated inclination is greater than or equal to zero, generating (153) said driving current value for driving the electric device operating as an electric motor;

• in case the estimated inclination is smaller than zero, generating (154) another driving current value for charging the battery from the electric device operating as an electric generator.

3. Electronic system according to claims 1 or 2 , wherein the generation of said driving current value is directly proportional (β) to the value of the state of charge of the battery over an interval comprised between the first threshold (S_sdc_min) and a second threshold (S_Sdc_max) greater than the first threshold.

4^". Electronic system according to claim 3, wherein the processor is further configured for generating said other driving current value for charging the battery, in case of detecting that the battery state of charge is smaller than the second threshold (S_sa_c__max) .

5. Electronic system according to claim 4, wherein the generation of said other driving current value is directly proportional (Ichg₂) to the bicycle speed or is substantially constant (I_Chgi) over the values of the bicycle speed greater than a speed threshold (v_th) ·

6. Electrically assisted bicycle comprising:

- a rechargeable battery (6) ;

an electric device configured for operating as an electric motor supplied from the battery or as an electric generator for charging the battery;

an electronic system (50) according to at least one of the claims from 1 to 5.

7. Method (100) for driving an electric device of a bicycle (1) assisted electrically by means of a rechargeable battery (6) , the method comprising the steps of:

a) calculating (101) a human power (Pum) as a function of a torque (S_T_p_ed) of the bicycle pedal arms and of an angular velocity (S_u_p_ed) of the bicycle pedal arms;

b) estimating (101) a friction power (P_attr) of the bicycle as a function of an angular velocity (S^mot) of the electric motor and as a function of a bicycle speed;

c) comparing (101) the calculated human power with respect to the estimated bicycle friction power and checking the state of charge of the battery;

d) in case of detecting that the calculated human power is greater or equal than the estimated bicycle friction power and in case of detecting that the battery state of charge is greater than or equal to a first threshold (Ssdc_min) / generating (103) a driving current value (AI_mot) for driving the electric device operating as an electric motor supplied from the battery;

e) in case of detecting that the calculated human power is smaller than the estimated bicycle friction power, converting at least part of the human power into electric power by means of the electric device operating as an electric generator, and generating (105) therefrom another driving current value (I_Chg) for charging the battery from the electric device operating as electric generator .

8. Method (150) according to claim 7, wherein step d) further comprises, after the detection that the calculated human power is greater than or equal to the estimated bicycle friction power, the steps of:

dl) measuring (102) the inclination of the road wherein the bicycle is running;

d2.1) in case the estimated inclination is greater than or equal to zero, checking the state of charge of the battery and performing the step d) ;

d2.2) in case the estimated inclination is smaller than zero, generating (154) another driving current value for charging the battery from the electric device operating as an electric generator.

9. Method according to claims 7 or 8 ,

wherein steps e) or d2.2) comprise the generation of said other driving current value for charging the battery, in case of detecting that the battery state of charge is smaller than a second threshold (S_s<a_c_max) greater than the first threshold (S_sdc__min) ,

and wherein in step d) the generation of said driving current value is directly proportional (β) to the value of the state of charge of the battery over an interval comprised between the first threshold (S_sa_c_~ir.) and the second threshold (S_Sdc max) ·

10. Computer program comprising software code adapted to perform all the steps of the method according to at least one of the claims from 7 to 9, when said program is run on a computer.