WO2014019403A1 - Sensor having multiple magnet blocks evenly distributed in housing - Google Patents

Description

 a sensor with multiple magnetic blocks evenly distributed in the housing

Technical field

 The present invention belongs to the technical field of magnetic induction providing signals, and more particularly to a technique for performing multi-point magnetic induction to provide a control signal on a rotating member.

Background technique

 The Chinese patent 201020295192.0 "Hook-type torque sensing device" applied by Yebao Vehicle Industry (Kunshan) Co., Ltd. discloses a sensing device for assisting bicycles. The sensing device includes a magnetic member and an elastic member to cooperate, and the torque is transmitted. Sensing device. After a long period of use, the change in the elastic modulus of the elastic member causes a change in the control effect of the sensing signal and the controlled motor, and the assisting effect becomes incompatible with the human assisting need. Moreover, the design of the elastic member is complicated and the manufacturing cost is high.

 The Chinese patent 01201843.0 "Automatic assisted bicycle automatic detecting device" applied by Beijing University of Science and Technology discloses an automatic assisting bicycle automatic detecting device, which detects contact force, speed and steering without contact, and the device is respectively set on the inner and outer roulettes of relative motion. The magnetic disk has a spring on the inner disc, and the inner and outer discs are spring-reset. The electric signals generated by the two Halls on the inner and outer discs are used to indicate the force, speed and steering. .

 Disadvantages (1) Elastic parts are not durable: After a long period of use, the change of the elastic modulus of the elastic parts will cause the control signal and the control effect of the controlled motor to change, and the boosting effect becomes incompatible with the human assistance needs. Complex and costly.

 Disadvantages (2) Output sine wave so that the edge distance of the disk group can not be less than 4 cm, generally 5 cm is preferred, and the number of available magnetic disk groups is too small, the human-machine cooperation is not ideal: each disk group is the same, then Huo The output of the sine wave is used as the control signal. As the control signal, the sine wave must have a certain peak-to-valley difference. Since the patented magnetic disk group requires a certain length to indicate the forward and reverse movement, the circular groove is rotated at a diameter of 20 cm. There are up to 8 disk groups on the circular track, generally 5 is preferred, Hall can have a sine wave signal with control function. That is to say, the technical solution of the patent 01201843.0 is used to assist the bicycle, the number of the magnetic disk group is limited to 8 or less, the control signal is too small, and the man-machine cooperation is not ideal. However, if there are more than 8 disk sets, when the person is treading faster, the signal pattern of the Hall output is close to a horizontal line. The signal has no control function and cannot control the motor, so that when the power is particularly needed, the power function is lost.

 Disadvantages (3) The blind area of the signal reaches a 45-degree angle. When the power is needed at the start, there is no power. It is well known that people step on the bicycle pedal with the smallest moment at the apex, and the angle from the apex of 10-45 degrees is the area most in need of assistance. However, the angle between the various magnetic disk groups of the patent is 45 degrees, and there is no magnetic disk group in the 10-45 degree angle region from the apex of the pedal, and there is no control signal, and the result is that when the power is most needed However, the motor that assists the bicycle does not help.

In short, in addition to the elastic parts are not durable and complex in structure, due to the matching structure of the Hall and the magnetic sheet group, the size of the turntable The diameter is less than 20 cm, and the number of disk sets is limited to 8 groups. The number of disk sets cannot be increased arbitrarily, which makes the man-machine coordination unsatisfactory, and the power is not activated at the start. The power demand does not match the power supply. The rider does not match. The comfort is poor; if the number of disk sets is forcibly increased, the sensing signal loses the power control function.

 Wang Naikang applied for the Chinese patent 03264387.X "Time-type electric power-assisted bicycle sensor" disclosed that without the elastic member, only two rotating and fixed turntables were set, two permanent magnets were set on the moving plate, and three Halls were set on the fixed plate. The component, the bicycle pedal rotates once a week, each Hall produces two pulses, and the three Hall elements produce six pulses. There are three characteristics of the fold, and the four shortcomings are as follows:

 Features (1) In order to obtain six pulse signals, only the same magnetic pole of each permanent magnet steel can be on one side: two pulses are generated for each Hall, then only the same magnetic pole of two permanent magnets can be set. The same side of the disk, that is, on one side of the moving plate, the two permanent magnets are all north or both. If on the same side of the moving plate, one permanent magnet is the north pole and the other is the south pole, then the pedal turns one week, each Hall can only produce one pulse, and the three Halls only have three pulses, which is not It is described in the patent specification. In order to increase the number of pulses and improve the control effect, only the same magnetic pole of each permanent magnet steel is on one side.

 Features (2) Permanent magnet magnet is used to indicate the fixed position of the pedal, and three Halls indicate the position of the pedal: Since the pedal and the moving disc are synchronously rotated, one position is fixed at two positions on the moving disc corresponding to the two pedals. Permanent magnet steel, where is the position of a certain pedal, then the corresponding permanent magnet magnet is also turned to the position; but only when there is a position in the Hall, the control signal can be sent through the Hall to command the motor of the bicycle. The power needed to turn.

 Features (3) Because a Hall cannot indicate the position of pedaling in different periods of the week, you can't use only one Hall: The pedals are very different in the different time periods of the week. This change in boosting demand, the patent uses three Halls respectively set at three positions within a 180 degree angle, two permanent magnets are respectively placed in two pedal positions, and the pedal is turned to a position with a Hall. The Hall outputs a signal indicating that the pedal has reached the position of the fire. However, the use of multiple Halls has the following disadvantages.

 These features, as a booster bicycle sensor, have three drawbacks:

 Disadvantages (1) Two permanent magnets with no difference are used to indicate the fixed position of the two pedals. Only the Hall can be used to indicate the rotational position of the pedal: there is no difference between the two permanent magnets. It is possible to indicate the fixed positions of the two pedals regardless of the left and right feet, so that the left and right feet can generate the same power assist effect; but the disadvantage is that the permanent magnet steel itself cannot indicate the rotational position of the pedal, but only It is possible to use multiple Halls at different corner positions to indicate the rotational position of the pedal, so it is not possible to use only one Hall, but multiple Halls are necessary.

Disadvantages (2) Cannot use only one Hall, and the three Halls must cause the original control error of the three control signals, so that the power demand model is distorted, and naturally the power output is inconsistent with the power demand: the assist bicycle is either one or two. Motors that control the motor's sensing signal can only be input to the motor controller with a sensing signal to control the motor. Purpose; while the patent uses three Hall control motors, it is necessary to combine the three control signals of the three Halls into one combined control signal before inputting to the motor controller. The sensing parameters of the three Halls cannot be the same, especially since the sensing parameters of the three Halls may vary greatly due to changes in ambient temperature and long usage time. The result is the same boosting demand when different Halls are used. The output is different voltages, which causes the motor to produce different boosting outputs. The boosting output is inconsistent with the boosting demand. When the same boosting demand is used, the output of different Halls may be the same voltage, which causes the motor to produce the same boosting output. A problem arises in which the boost output is inconsistent with the boost demand.

 Disadvantages (3) The combined control signal is easy to generate signal drift, so that the combined control signal does not match the motor controller, and the demand model is distorted: the sensing parameters of the three Halls may vary greatly due to changes in ambient temperature and long use time. The three control signal connection points of the three Halls must change, and the combined control signal generated by the same power demand will produce a segmented signal drift, and the combined control signal will generate signal distortion as a whole, that is, the power demand model distortion If the motor controller selects any one of the three control signals as the reference, the problem that the boosting output and the boosting demand are inconsistent will be generated.

 Disadvantages (4) The sensing site can not be increased arbitrarily, the sensing site is too small, the motor is not stable, making the rider feel very uncomfortable: because of the disadvantages (1) and disadvantages (2) are the most If the number of erres is greater than one, it is obvious that the number of Halls is more and more, and the disadvantages (1) and (2) are more serious. Therefore, the power-assisted bicycle provided by this patent can only be a power-assisted bicycle that makes the rider feel very uncomfortable.

 Disadvantages (5) The blind area of the signal reaches a 42-degree angle. When the start-up requires assistance, it does not get the boost: It is well known that people step on the bicycle pedal with the minimum moment at the apex, and the angle from the apex of 10-45 degrees is the area most in need of assistance. However, the angle between the Halls of the patent is 42.5-43.5 degrees. There is no Hall in the 10-42 degree angle range from the apex of the pedal, and there is no control signal. The result is the most need for assistance. However, the motor that assists the bicycle does not help.

 In short, this patent is a technical solution for controlling the assist mode with multiple Halls, because only a plurality of Halls can be used to indicate the rotational position of the pedal, and multiple control signals of multiple Halls must have original errors, and the combined control signals are combined. It is easy to generate signal drift, which can cause the distortion of the power demand model, that is, the same power demand at different times, but obtain different power-assising effects; the more the number of Halls, the more serious the distortion of the power-assisted demand model, which limits the number of Halls. When the number of Halls is small and the motor is running, it is not stable, making the rider feel uncomfortable and unable to get help at startup. It is necessary to make the demand demand model undistorted, and the motor must run smoothly.

Summary of the invention

SUMMARY OF THE INVENTION The object of the present invention is to provide a sensor for obtaining speed and acceleration signals by rotating a permanent magnet block on a disk with only one Hall and an annular groove, and digitally processing the signal to obtain a signal of an optimum power assisted model signal. In the sensing area, the number of permanent magnet blocks can be increased as much as possible, and the displacement information of the circular groove can be used to maximize the output information. The Hall and the plurality of permanent magnet blocks are fixed by a combination member to fix the relative position of the sensor. Use on a booster bicycle without flexibility Parts and other mechanical measuring torque, the motor runs smoothly to assist the bicycle sensor.

 The idea of the present invention is: in a Hall sensible range, an annular groove rotating disk uses the same plurality of permanent magnet blocks to alternate the south and north magnetic polarities on the side of the Hall, so that the Hall generates The signal is a rectangular wave, which makes the signal control function stronger and more numerous. For assisted bicycles, there is more information about the state of the pedals.

 The relative position of the sensing element Hall and the plurality of permanent magnet blocks is fixed by a mechanical structural assembly to make the sensing signal stable and reliable.

 The rectangular wave signal outputted by the Hall is converted into a digital signal, so that the digital signal of the Hall is digitally processed, and a mathematical model for assisting the human body function can be added in the process of digitizing, and the mathematical model can be assisted by human and machine. Make random adjustments. It can overcome the sinusoidal signal outputted by the Hall of the prior art, and it is difficult to carry out digital processing. Only the analog signal processing can be performed, and the assisting model which can be adjusted arbitrarily can be added, and the assisting model which can only extract the condition limited by the speed signal can be overcome and overcome. The problem that makes the man-machine unable to cooperate.

 The structure of the invention is:

 A sensor in which a plurality of magnetic blocks are hooked in the housing includes a sensing element sequentially connected, a power assist model processor 21, a digital-to-analog converter 27, and an operational amplifier 28;

 [1] The sensing element is an element that changes the rotational motion of the annular groove rotating disk 1 into a rectangular wave signal output;

 The sensing element comprises an annular groove rotating disk 1, an annular groove fixing plate 40, a Hall 3 and a plurality of permanent magnet blocks 2. The plurality of permanent magnet blocks 2 have the same size, the same shape, the same magnetic flux, and the annular groove. The concave groove of the rotating disk 1 and the annular groove fixing disk 40 are opposite to each other, and the annular groove fixing disk 40 is fitted in the annular groove of the circular groove rotating disk 1, so that the two disks can be rotated relative to each other. The outer casing, the concave surface of the two discs is sandwiched into a hollow ring 41; a plurality of permanent magnet blocks 2 are fixedly disposed on the annular groove rotating disc 1 at the position of the hollow ring 41, and the plurality of permanent magnet blocks 2 are rounded The trajectory distribution, that is, the distance between each permanent magnet block 2 to the center of the circle where the circular trajectory line 5 is located is the same, and the distance between the adjacent two permanent magnet blocks 2 is the same; the magnetic pole of each permanent magnet block 2 is magnetic pole N and S The poles respectively rotate on the two sides of the annular groove, and the magnetic polarities of the adjacent two permanent magnet blocks 2 are opposite. The magnetic polarity distribution pattern of all the permanent magnet blocks 2 on the rotating disk 1 of an annular groove is N pole and S pole. N pole, S pole, N pole, S pole ······;

 A Hall 3 is fixedly disposed on the annular groove fixing plate 40 of the hollow ring 41, and the Hall 3 is disposed close to the permanent magnet block.

2 and can feel the position of each permanent magnet block 2 magnetic flux, there is a gap between the Hall 3 and the permanent magnet block 2; Hall 3 is a Hall that generates a rectangular wave output signal to the opposite magnetic polarity;

 [2] The assist model processor 21 is a signal form converter that converts the digital signal rotated by the rotating disk 1 into a digital signal of the assisting model;

The assist model processor 21 includes an analog to digital conversion and speed calculator 24, a boost model memory 25 and a boost model calculator 26; The analog-to-digital conversion and speed calculator 24 is connected to the Hall 3 of the sensing element; the analog-to-digital conversion and speed calculator 24 calculates the rate of change between the rectangular waves of the rectangular wave signal input from the Hall 3 to represent the rotating disk 1 Rotating speed;

 The analog-to-digital conversion and speed calculator 24 is coupled to the assist model calculator 26, which is also coupled to the boost model calculator 26; the boost model calculator 26 uses the rotational speed of the rotating disk 1 of the analog-to-digital conversion and speed calculator 24 to select the boost A certain boosting model function in the model memory 25, and substituting the rotating disk 1 rotational speed condition into the assisting model function to calculate a suitable assisting model digital signal, that is, the assisting model calculator 26 outputs the assisting model digital signal; [3] The converter 27 is an analog signal that converts the power assist model digital signal into a power assist model;

 The boost model calculator 26 is connected to the digital-to-analog converter 27, and the digital-to-analog converter 27 converts the assist model digital signal of the assist model calculator 26 into the assist model analog signal;

 [4] The operational amplifier 28 is a boost model analog signal that converts the assist model analog signal of the digital-to-analog converter 27 into a rated voltage range.

 [1] Description of the sensing element:

 The annular groove rotating disk 1 is fitted with the annular groove fixing plate 40, and is relatively rotatable, thereby ensuring that the rotating position of the rotating disk 1 in the annular groove is not changed, and the sensing positions of the Hall 3 and all the permanent magnetic blocks 2 are not changed, so that The output signal of the Hall 3 is only related to the rotation of all the permanent magnet blocks 2, and is independent of the objects of the annular groove rotating disk 1 and the annular groove fixing disk 40; if the annular groove rotates the disk 1 and the annular groove fixing disk 40 is made of a metal material, and may have a shielding effect. Therefore, the ring 3 and the annular groove fixing plate 40 are used to rotate the Hall 3 and all the permanent magnet blocks 2 in the hollow ring 41 for sensing, thereby improving the Hall 3 The reliability and authenticity of the signal.

 When the annular groove fixing plate 40 is fixed to an object, the annular groove is rotated to rotate the disk 1, and the respective permanent magnets 2 on the annular groove rotating disk 1 are swept over the Hall 3 on the annular groove fixing plate 40. Each permanent magnet block 2 can cause the Hall 3 to generate an electrical signal. Since the magnetic polarities of the adjacent two permanent magnet blocks 2 are opposite, that is, the magnetic polarities of all the permanent magnet blocks 2 are alternately facing the Hall 3 in the south and the north, the Hall 3 generates an electric signal as a rectangular wave signal, and the rectangular wave signal is convenient. Digitize the signal for digital control. In the prior art, all of the permanent magnet blocks 2 are facing the Hall 3 with the same magnetic polarity, and the Hall 3 can only generate a sine wave signal, so it can only be used for analog control; once the Hall 3 changes in the sensing parameters, the simulation Control can be distorted. However, the present invention realizes digital control by using a rectangular wave signal without causing a problem of controlling distortion.

 The annular groove rotating plate 1 may be a plastic plate, a high-strength plate, a copper plate, an aluminum plate or the like which is not easily deformed. When the sensing element is used, the annular groove rotates the disk 1 to rotate, and the center of the rotation is the center of the circle in which the plurality of permanent magnet blocks 2 are distributed in a circular shape.

The plurality of permanent magnet blocks 2 are arranged in a circular shape in a circular annular shape, so that the movement state of all the permanent magnet blocks 2 on the rotating disk can be felt by only one Hall 3, that is, the annular groove is rotated. The movement speed of all permanent magnet blocks 2 on the disc, and the change in speed, or acceleration, this Hall 3 can use the motion state of the permanent magnet block 2 The continuous electrical signal is expressed, and since all the permanent magnet blocks 2 are respectively fixed on the annular groove rotating disk, that is, the annular groove rotating disk 1, the continuous electric signal generated by the Hall 3 can express the annular groove rotating disk. The state of motion. If this continuous electrical signal is used to control other objects, this continuous electrical signal is the control signal. If it is used to control the motor of the bicycle, it is also necessary to use a single-chip microcomputer or other electronic components as the sensor signal processor to convert the position, velocity and acceleration in the control signal into a boost signal that needs assistance. The function of the conversion is the power. A demand model, or a help model.

 The Hall 3 is located close to the permanent magnet block 2 and can sense the magnetic flux of the permanent magnet block 2, and aims to sense the motion state of the permanent magnet block 2 by using the Hall 3, thereby feeling the motion state of the ring groove rotating disk 1, that is, the motion. Position, speed, acceleration.

 The opposite magnetic polarity of the adjacent permanent magnet block 2 is an important technical feature. The magnetic polarity distribution pattern of all the permanent magnet blocks 2 is N pole, S pole, N pole, S pole, N pole, S pole... 3 outputs a rectangular wave signal of high and low phase. Because the ring groove is a limited size rotation disk, it is necessary to obtain as many accurate change signals as possible in one rotation. Of course, a rectangular wave should be selected. The peak-to-valley value of the rectangular wave signal changes for a short period of time, and can generate as many signals as possible with control in a certain period of time. The structures of the adjacent permanent magnet blocks 2 having opposite magnetic polarities generate rectangular waves, and the structures of the adjacent permanent magnet blocks 2 having the same magnetic polarity generate sinusoidal waves, particularly when used to assist bicycles, the annular groove as a sensing member rotates. The disc is generally limited to a diameter of 10-15 cm. In this limited range, a signal with a control function is obtained, and one rotation is made, and the rectangular wave is generated 7 to 9 times more than the number of pulses that the sine wave can provide. Naturally, the structure with the opposite magnetic polarity of the adjacent permanent magnet block 2 has a better control effect on the assist bicycle, and the person and the car cooperate better, and the rider feels more comfortable.

 [II] Description of the assist model processor 21: The assist model processor 21 is a signal form converter that converts the digital signal rotated by the rotating disk 1 into a digital signal of the assist model;

 The assist model processor 21 includes an analog-to-digital conversion and speed calculator 24, a boost model memory 25, and a boost model calculator 26; the rectangular wave signal of the Hall 3 in the sensing element is converted into an analog-to-digital conversion and speed calculator 24 A digital signal indicating the rotational speed of the rotating disk 1, and then using the rotational speed digital signal to select a power assisted mathematical model suitable for a certain rotational speed from the assist model memory 25; finally, the rotational speed digital signal is substituted into the assisting model calculator 26 to calculate a speed suitable for the speed. Power model digital signal. That is, the assist model calculator 26 can output the boost model digital signal.

 [3] Description of the digital-to-analog converter 27: The digital-to-analog converter 27 is an analog signal that converts the power-assisted model digital signal into a power-assisted model.

 The assist model calculator 26 is connected to the digital-to-analog converter 27, which converts the assist model digital signal of the assist model calculator 26 into a boost model analog signal. In order to output an analog signal of the boost model to the motor controller 29 which can only process the analog signal.

[4] Description of Operational Amplifier 28: The operational amplifier 28 is an assist model analog signal that converts the assist model analog signal of the digital-to-analog converter 27 into a rated voltage range. The digital-to-analog converter 27 is connected to the operational amplifier 28. The power-assisted model analog signal of the digital-to-analog converter 27 solves the power-assisted model problem, but the voltage of the power-assisted model signal cannot meet the needs of the motor controller 29, so an operational amplifier is also used. The 28 assisted model analog signal required to convert the boost model analog signal into the rated voltage range can be transmitted to the motor controller 29.

 The signals output by the signal processing components in the sensor of the present invention are:

Hall 3 outputs a rectangular wave signal;

The assist model processor 21 outputs the assist model digital signal;

The magnetic block rotational speed calculator 24 calculates and outputs a digital signal of the rotational speed of the annular groove rotating disk 1;

The assist model memory 25 stores a plurality of boost model function spares, and outputs a digital signal of the selected boost model function; the boost model calculator 26 calculates and outputs a boost model digital signal to be used for the control function;

The digital-to-analog converter 27 outputs an assist model analog signal that converts the power model digital signal into a power model;

The operational amplifier 28 outputs an assist model analog signal that converts the assist model analog signal into a rated voltage range;

 The thermistor R6 ensures that the operational amplifier 28 outputs a boost model analog signal of the rated voltage range, that is, the standard boost model analog signal.

 A thermistor R6 is provided to solve the problem of the analog model analog signal drift, and the thermistor R6 is connected between the input terminal and the output terminal of the operational amplifier 28.

 Hall 3, digital-to-analog converter 27 and operational amplifier 28 are both semiconductor devices and have the function of processing analog signals. It is easy to drift signal parameters with temperature changes, especially in summer and winter, and the bicycles are all outdoors. The effect of temperature variation on the signal parameter drift is obvious. Therefore, it is better to perform signal drift correction on the signal output from the operational amplifier 28 to obtain a standard power assist model analog signal that is not affected by temperature changes, and pass the standard assist model analog signal to the motor controller 29 The motor 30 is controlled to operate, and the person riding the bicycle does not feel the difference in the summer and winter power assist effects.

 The boost model processor 21 is a single chip microcomputer 31 to which a clock circuit 32 is connected. The functions of the analog-to-digital conversion and speed calculator 24, the boost model memory 25, and the boost model calculator 26 are completed by the single chip microcomputer 31. The clock signal of the clock circuit 32 is for distinguishing the rectangular wave signals input from the Hall 3, and it is preferable that the length of each clock signal is 0.001 second.

The mechanical component of the sensor is structurally related to the sensing component: the mechanical component of the sensor comprises an annular groove rotating disk 1 and a fitting annular groove fixing disk 40, and the sensing component of the sensor comprises a plurality of permanent magnet blocks 2 and a Hall 3 , the single chip microcomputer 31, the digital-to-analog converter 27 and the operational amplifier 28; four electronic components of the Hall 3, the single chip microcomputer 31, the digital-to-analog converter 27 and the operational amplifier 28 which are sequentially connected in the sensing unit are disposed on a circuit board 59; The annular groove of the hollow ring 41 rotates the inner wall of the disk 1 to fix a plurality of permanent magnet blocks 2, and the inner wall of the annular groove fixing disk 40 of the hollow ring 41 fixes the circuit board 59, the circuit board The Hall 3 on 59 is set to sense the magnetic flux of the permanent magnet block 2, and the Hall 3 can output the position of the varying electrical signal according to the change in the magnetic flux. The sensing component is the sensing function of the sensor; the mechanical component has two functions. The first is to fix the relative position of each component in the sensing component, so that each component can form a sensing functional whole, and the second is to This sensing function is fixed on the electric bicycle as a whole, and makes the sensing function as a whole to sense the movement state of the electric bicycle. The four electronic components of the sequentially connected Hall 3, the single chip microcomputer 31, the digital-to-analog converter 27 and the operational amplifier 28 are arranged on a circuit board 59, which is advantageous for integration, modularization and miniaturization of the four electronic components. The four electronic components are integrally fixed to the inner wall of the annular groove fixing disk 40 of the hollow ring 41, which simplifies the process of manufacturing the sensor.

 The preferred model and specific connection method of the components of the sensor of the present invention are: Hall 3 is UGN3075, power model processor 21 is AT89S52 single chip 31, digital to analog converter 27 is ADC-C8E; operational amplifier 28 is OF-17F, OF A thermistor R6 is connected between the input terminal 2 of the -17F operational amplifier 28 and the output terminal 6; the connection relationship of each component is as follows:

The signal output terminal 3 of Hall 3 is connected to the 12-pin INTO [P32] of the single chip microcomputer 31 _;

MCU 31's 39-pin P00 is connected to the digital-to-analog converter 27's 12-pin B8;

Mp 31 of the MCU 31 pin P01 is connected to the digital-to-analog converter 27 of the 11-pin B7;

MCU 31's 37-pin P02 is connected to the digital-to-analog converter 27's 10 feet B6;

The 36-pin P03 of the MCU 31 is connected to the 9-pin B5 of the digital-to-analog converter 27;

MCU 31's 35-pin P04 is connected to the digital-to-analog converter 27's 8-pin B4;

The 34-pin P05 of the MCU 31 is connected to the 7-pin B3 of the digital-to-analog converter 27;

The 32-pin P06 of the MCU 31 is connected to the 6-pin B2 of the digital-to-analog converter 27;

The 32-pin P07 of the MCU 31 is connected to the 5-pin B1 of the digital-to-analog converter 27;

The 4-pin of the digital-to-analog converter 27 is connected to the 2 pin of the operational amplifier 28;

The 2-pin of the digital-to-analog converter 27 is connected to the 3 pin of the operational amplifier 28;

The 6th pin of the operational amplifier 28 is the analog signal output.

The OF-17F operational amplifier 28 has a thermistor R6 connected to the input pin 2 and the output pin 6 and a capacitor C6 connected in parallel with the thermistor R6. Preferably, the thermistor R6 is 5K, the capacitor C6 is 8Ρ, and the digital-to-analog converter 27

The 4 pin and the 2 pin of the operational amplifier 28 are grounded with 1.25k R5. Make it possible to use the thermistor R6 to adjust the operational amplifier. The analog signal voltage range of the 286 pin output is stable between 0.8--4.2V.

 A bearing 42 is provided between the outer surface of the inner ring of the annular groove fixing disk 40 and the inner surface of the inner ring of the annular groove rotating disk 1. The bearing 42 maintains a good relative rotation between the annular groove fixing disk 40 and the annular groove rotating disk 1 for a long time.

The Hall 3 is disposed at a position facing the circular trajectory 5 of the plurality of permanent magnet blocks 2. Because Hall 3 is able to feel the gap forever The magnetic block 2 magnetic flux and output electrical signal components, in order to minimize the volume of the permanent magnet block 2, so that the permanent magnet block 2 is placed as much as possible on the annular groove rotating disk 1, so as to minimize the permanent magnet block 2 can be sensed by the Hall 3; the Hall 3 should be placed at a position facing the circular trajectory 5, and is preferably located close to a circular trajectory that can penetrate all of the permanent magnet blocks 2.

 The annular groove rotating disk 1 is provided with a center hole in a circle in which the circular track line 5 of the plurality of permanent magnet blocks 2 is located. If the annular groove rotating disk 1 is to be worn over a rotating shaft, the annular groove rotating disk 1 is provided with a hole for threading the rotating shaft; to ensure that the annular groove rotates the disk 1 while rotating with the rotating shaft, The Hall 3 can sense the motion signal of each permanent magnet block 2 on the rotating disk 1 of the annular groove, and the through hole on the rotating disk 1 of the annular groove should be disposed on the circular trajectory 5 of the plurality of permanent magnet blocks 2. The center of the circle is the center hole. That is to say, the center hole is not necessarily circular, and may be a square, a triangle or the like so as to be sleeved with a rotating shaft of a square shape, a triangle shape, etc., but the inner space of the center hole must include the circle of the circular trajectory line 5 The center can use a Hall 3 to sense the motion signal of all the permanent magnet blocks 2 on the rotating disk of the annular groove rotating disk 1 to rotate the disk.

 The annular groove rotating disk 1 is a plastic plate, an aluminum plate, or a copper plate of a non-magnetic material. Since the present invention is a structure in which the magnetic polarities of the adjacent permanent magnet blocks 2 are opposite to each other, the edges of the adjacent permanent magnet blocks 2 can be made to be close to each other, and the Hall 3 can output an electric signal having a control function.

 The invention has the advantages of simple structure, low cost, unlimited number of permanent magnet blocks on the permanent magnet block ring, output of standard pulse signals, no signal dead zone, and complete representation of only one Hall of output signals. The entire motion state of the moving plate and the output signal are not distorted and drifted, which is used to assist the bicycle, so that the assisting output and the assisting requirement can be highly matched to make the rider feel comfortable.

 (1) Simple structure, no elastic parts, no mechanical failure: Use Hall to feel the rotation output signal of multiple permanent magnet blocks, and use the principle of speed provided by Chinese patent 01201843.0 to calculate the torque principle. Various mathematical models can be used to calculate the torque of the bicycle. Parameters, used to control the motor that assists the bicycle to achieve power. It does not use elastic parts, has a simple structure, and is less costly than a sensor that uses elastic members and mechanical forces. It avoids the problem of deformation of various mechanical parts, no mechanical failure, and poor fit after prolonged use.

 (2) The magnetic polarity is opposite, output rectangular wave signal, with precise control function: Since the magnetic polarity of two adjacent permanent magnet blocks is opposite, and Hall selects Hall which produces rectangular wave output signal for opposite magnetic polarity, adjacent Regardless of the spacing between the two permanent magnet blocks, Hall can output a rectangular wave signal even if there is no gap between two adjacent permanent magnet blocks. For power-assisted bicycles, it is better to use a rectangular wave output signal to control the motor of the assisted bicycle than to use a sine wave, because the rectangular wave can be used as a signal at any point in time, and the signal indicating the speed of motion is accurate, so that the assisted bicycle can be accurately represented. The speed of the pedal's movement, in order to use the pedal's precise speed to calculate the correct power demand for the sport.

(3) The magnetic polarity of adjacent permanent magnet blocks is opposite, and the number of permanent magnet blocks is not limited. The sensing points can be increased as much as possible: Since the magnetic polarity is opposite, the rectangular wave signal is output, and the adjacent permanent magnet blocks have no gap even if they are The output signal is still a number, can be The differentiated rectangular wave signal still has a control function, that is, it does not output a non-changing linear signal without control function. For the purpose of assisting the bicycle, since the diameter of the rotating groove of the annular groove associated with the pedal is limited, the number of permanent magnets can be increased as much as possible on the rotating disk of the ring groove of a predetermined size, and the sensing point can be increased as much as possible. As many sensor signals as possible indicate the speed of the pedal movement of the bicycle, accurately indicating the state of motion.

 (4) The magnetic polarity of adjacent permanent magnet blocks is opposite. There may be more permanent magnet blocks and more sensing points. The motion state of the rotating disk of the annular groove is accurate: for the bicycle used to assist the bicycle, the ring of the permanent magnet block is fixed. The size of the rotating disk of the groove is strictly limited. Generally, the diameter of the rotating disk of the annular groove can only be within 10-15 cm. In order for the Hall to obtain the magnetic pole signal of the permanent magnetic block under the condition of spacing, the diameter of the permanent magnetic block is at least For the Φ 0. 6-0. 8 cm, the annular groove with a diameter of 10-15 cm can be set with 35-73 permanent magnet blocks without gaps around the rotating disk [ ( 10-1 ) * 3.14 / 0.8 = 35 ; ( 15-1 ) *3.14/0.6=73 ], that is, the pedals turn one revolution, Hall can get 35-73 signals to control the motor of the bicycle. However, if the magnetic poles of the adjacent permanent magnet blocks have the same magnetic polarity, the adjacent permanent magnet blocks are spaced by 5 cm, and on the rotating disk of the diameter of 10-15 cm, only 5-8 permanent magnets can be set. Block [ ( 10-1 ) *3.14/5.8=5 ; ( 15-1 ) *3.14/5.6=8 ]. It can be seen that the patented technology can set the permanent magnet block 7-9 times more than the prior art [35/5=6; 73/8=9], and set more 30-65 permanent magnet blocks [35-5=30; 73 -8=65 ]. Therefore, the annular groove rotates the disk one turn, and the patented technology increases the rotational position of the ring groove by 7-9 times than the prior art. The motor control accuracy of the assist bicycle is naturally increased by 7-9 times, which makes the rider's assistance demand accuracy also improved by 7-9 times. The degree of cooperation between the vehicle and the person is greatly improved, and the rider's comfort is greatly increased. It is no longer a quick and uncomfortable feeling of the prior art moped. According to the actual experience of the present invention, when 15 permanent magnet blocks are arranged on the rotating groove of the annular groove, substantially eliminating 5-8 permanent magnet blocks in the prior art, the speed of the bicycle is fastened. Slow and uncomfortable feeling; when the circular groove is roughly hooked on the rotating disk to set 20 permanent magnet blocks, the cooperation between the car and the person can satisfy the needs of the person, and the feeling of riding the bicycle is very comfortable.

 (5) There is no signal blind zone, and the assisting demand will be matched at any time: this patent can set up to 35-73 permanent magnet blocks around the ring groove rotating disk with a diameter of 10-15 cm. The average angle between them is 5-10 degrees. Used to assist bicycles, when starting or running, the pedals have 4-7 permanent magnet blocks from a range of 10 degrees from the apex of 10-45 degrees (a signal at a 10 degree angle from the apex) ), Hall can output 4-7 control signals to respond to the power demand, and it can achieve excellent technical effects that can be obtained at any position and at any time with help, so that the car and people can cooperate well, and the rider feels labor-saving. Comfortable.

(6) Only one Hall is used. One control signal indicates the entire motion state of the rotating disk of the ring groove. The control signal is completely consistent with the motion state of the rotating disk of the ring groove. The control signal is exactly the same as the human demand: The block is fixed on the rotating disk of the annular groove, and the permanent magnet block rotates synchronously with the rotating disk of the annular groove, and the motion signal of all the permanent magnetic blocks is sensed by one Hall, and the control signal of the Hall output and the rotating groove of the annular groove are rotated. The state of motion is exactly the same, with the needs of people The search is completely consistent, and the control signal does not have the original segmentation error and signal drift problem. Even if the Hall sensing parameter changes, the entire control signal moves in parallel. As long as the receiving range of the motor controller receiving the Hall control signal is wide, the control effect of the changed Hall control signal changes systematically. If used to assist bicycles, the power demand model will not be distorted, and the assist output and the power demand still maintain the matching relationship of the original model. It is easy for the rider to grasp the systematic change of the power assist performance.

 (7) Rotating the disk with the relatively rotatable annular groove to fix the disk to form the housing, fixing the relative position of the Hall and all the permanent magnet blocks, avoiding environmental interference outside the casing and improving the reliability of the Hall signal. Sexuality, authenticity, and convenience for installation, commissioning, maintenance, etc.

 (8) The Hall signal can be digitized, the digital signal is converted into a power-assisted model digital signal with a rotating disk speed element, and the power-assisted model digital signal is converted into a power-assisted model analog signal, and finally the power-assisted model analog signal is changed. Control signals available for motor controllers with rated power in a stable voltage range. In short, the signal of the rotation of the magnetic block is digitized. In the process of digitization processing, a mathematical assisting model is added, so that the control signal finally outputted by the sensor contains the added assisting model. Since the mathematical assist model is artificially set, the mathematical assist model can always be set to a model that is suitable for human-machine cooperation as much as possible. The sensor of the present invention can output a control signal that can realize human-machine coordination. However, the magnetic poles of the existing bicycle-assisted bicycle sensors have the same magnetic pole on the same side, and the Hall cannot obtain the rectangular wave signal, so that the Hall signal cannot be digitized, and the control model can only partially modify the Hall signal, so A control signal that achieves the best fit of the output man-machine.

 (9) The final output control signal will not have signal drift: The thermistor R6 feedback adjustment of the output signal of the operational amplifier can solve the drift of the analog model analog signal by semiconductor devices such as Hall, digital-to-analog converter and operational amplifier. The problem is that the sensor finally outputs a standard boost model analog signal that is not subject to ambient temperature changes. DRAWINGS

1 is a schematic structural view of a sensing element of a plurality of N-S alternating permanent magnet blocks of an annular groove rotating disk;

2 is a schematic structural view of a sensing element of a high density plurality of N-S alternating permanent magnet blocks on an annular groove rotating disk;

Figure 3 is a schematic cross-sectional view of the sensor;

4 is a block diagram of signal flow of a Hall, a power assist model processor, a digital to analog converter, and an operational amplifier;

Figure 5 is a circuit diagram of a Hall, a microcontroller, a digital-to-analog converter, and an operational amplifier.

In the figure, 1 is an annular groove rotating disk, 2 is a permanent magnet block, 3 is a Hall, 5 is a circular trajectory line, 21 is a power assist model processor, 24 is an analog to digital conversion and speed calculator, and 25 is a power assist model memory. 26 is the power model calculator, 27 is the digital-to-analog converter, 28 is the operational amplifier, 29 is the motor controller, 30 is the motor, 31 is the single-chip microcomputer, 32 is the clock circuit, 40 is the annular groove fixed disk, 41 is hollow The ring, 42 is the bearing, and 59 is the circuit board.

detailed description Embodiment 1. A sensor in which a plurality of magnetic blocks are uniformly distributed in a casing

1, 3, 4, the sensor of this embodiment comprises a sensing element, a boosting model processor 21, a digital-to-analog converter 27 and an operational amplifier 28;

 [1] The sensing element is an element that converts the rotational motion of the rotating disk 1 into a rectangular wave signal output;

 With the concave surface of both the annular groove rotating disk 1 and an annular groove fixing disk 40, the annular groove rotating disk 1 and the annular groove fixing disk 40 are sized so that the annular groove fixing disk 40 can be fitted in the ring shape. The concave groove rotates the annular groove of the disk 1 to form a fitting inner hollow outer casing of two disks, the concave surfaces of the two disks are sandwiched into a hollow ring 41; the annular groove at the position of the hollow ring 41 rotates the disk 1 There are 20 permanent magnet blocks 2 fixed on the top. The annular groove rotating disk 1 and the annular groove fixing disk 40 are injection molded from high-strength plastic.

8厘米的磁磁量, The magnetic flux is 0. 8cm, the magnetic flux is 0. 8cm, the magnetic flux is 0. 8cm, the magnetic flux is 0. 8cm, the magnetic flux It is a value of 146---279(B · H)max/KJ · m" ^{3. The} structure of the ring groove rotating disk 1, permanent magnet block 2, and Hall 3 is as follows:

 All the permanent magnet blocks 2 are distributed in a circular trajectory, and each permanent magnet block 2 is fixed on a circular trajectory line 5 having a diameter of 9.0 cm, that is, the distance from the center of each circular portion of the permanent magnet block 2 to the circular trajectory line 5. The distance between the same, adjacent permanent magnet blocks 2 is the same.

 All the permanent magnet blocks 2 disposed on one surface of the rotating disk 1 are arranged in such a manner that the magnetic polarities of the adjacent permanent magnetic blocks 2 are opposite, that is, the magnetic polarity distribution pattern of all the permanent magnet blocks 2 on one surface of the rotating disk 1 is N pole, S Pole, N pole, S pole, N pole, S pole...

 A Hall 3 is fixedly disposed on the annular groove fixing plate 40 in the hollow ring 41. The signal output line of the Hall 3 passes through the annular groove fixing plate 40, and the Hall 3 is disposed close to the permanent magnet block 2. , that is, the Hall 3 is disposed in the range of the circular trajectory line 5 where each of the permanent magnet blocks 2 is located, and the Hall 3 maintains a distance of 0.3 cm from each of the permanent magnet blocks 2 in the rotating state, so that each permanent magnet block that rotates 2 When passing through Hall 3, Hall 3 can generate a corresponding rectangular wave electrical signal output.

 The rotating disk 1 is provided with a center hole at the center of the circular trajectory 5 of the permanent magnet block 2, and the center hole is used for the pedal center shaft or the rotating shaft of the assist bicycle.

 [2] The assist model processor 21 is a converter that converts the digital signal rotated by the rotating disk 1 into a signal form of the assist model digital signal;

 The assist model processor 21 includes an analog to digital conversion and speed calculator 24, a boost model memory 25, and a boost model calculator 26;

 The analog-to-digital conversion and speed calculator 24 is connected to the Hall 3 of the sensing element; the analog-to-digital conversion and speed calculator 24 calculates the rate of change between the rectangular waves of the rectangular wave signal input from the Hall 3 to represent the rotating disk 1 Rotating speed;

The analog to digital conversion and speed calculator 24 is coupled to the boost model calculator 26, and the boost model memory 25 is also assisted. The model calculator 26 is connected; the assist model calculator 26 selects one of the assist model functions in the assist model memory 25 by the digital signal of the rotational speed of the rotating disk 1 of the analog-to-digital conversion and speed calculator 24, and finally substitutes the rotational speed digital signal into the assisting force. The model calculator 26 calculates a power assist model digital signal suitable for the rotational speed of the rotating disk 1. That is, the assist model calculator 26 can output the assist model digital signal.

 [3] The digital-to-analog converter 27 is an analog signal that converts the power-assisted model digital signal into a power-assisted model.

 The assist model calculator 26 is connected to the digital-to-analog converter 27, which converts the assist model digital signal of the assist model calculator 26 into a boost model analog signal. In order to output an analog signal of the assist model to the motor controller 29 which can only process the analog signal.

 [4] The operational amplifier 28 is a boost model analog signal that converts the assist model analog signal of the digital-to-analog converter 27 into a rated voltage range.

 The digital-to-analog converter 27 is connected to the operational amplifier 28. The power-assisted model analog signal of the digital-to-analog converter 27 solves the power-assisted model problem, but the voltage of the power-assisted model signal cannot meet the needs of the motor controller 29, so an operational amplifier is also used. 28 The auxiliary model analog signal required to convert the assist model analog signal into the rated voltage range can be transmitted to the motor controller 29 to achieve the purpose of the motor controller 29 controlling the motor 30 for the purpose of assisting.

Embodiment 2. A sensor with high density and multi-magnetic block hook distribution in a housing

2, 3, 4, the annular groove in the hollow ring 41 rotates the disk 1 surface diameter of 10. 0 cm, in the ring groove rotating disk 1 is set 40 permanent magnet blocks 2, 40 permanent magnet blocks 2 diameter respectively For a value of 0.6 cm, the magnetic flux is one of 146-279 (B · H)max/KJ · m- ³ . The Hall 3 maintains a separation distance of 0.2 cm from each of the permanent magnet blocks 2 in the rotating state, so that each of the rotating permanent magnet blocks 2 passes through the Hall 3, and the Hall 3 can generate a corresponding rectangular wave electric signal output. The structures of the other rotating disk 1, permanent magnet block 2, and Hall 3 are the same as those in the first embodiment.

Embodiment 3: A sensor with a specific circuit and a plurality of magnetic blocks in a housing

1, 3, 5, the sensor of the embodiment comprises a sensing element, a boosting model processor 21, a digital-to-analog converter 27 and an operational amplifier 28;

 [1] Hall 3 in the sensing element is UGN3075; the other components and components in the sensing element are the same as in Embodiment 1;

 [2] Power model processor 21 Selecting the single-chip microcomputer 31 to complete all functions, the single-chip 31 selects AT89S52. That is, the AT89S52 MCU 31 performs all functions of the analog-to-digital conversion and speed calculator 24, the assist model memory 25, and the boost model calculator 26.

 [3] Digital-to-analog converter 27 uses ADC-C8E.

[4] The operational amplifier 28 selects OF-17F, the OF-17F operational amplifier 28 has a 5k thermistor R6 connected between the input 2 pin and the output 6 pin; and the thermistor R6 is also connected with 8P capacitor in parallel. C6. Digital to Analog Converter 27 The 4 pin is grounded with the 1.25k R5 between the 2 pins of the operational amplifier 28. It can be used to adjust the analog signal voltage range of the output of the operational amplifier 286 by the thermistor R6 to be stable between 0.8 and 4.2V.

The connection relationship of each electronic component is as follows:

The signal output terminal 3 of Hall 3 is connected to the 12-pin INTO [P32] of the single chip microcomputer 31 _;

The 39-pin P00 of the MCU 31 is connected to the 12-pin B8 of the digital-to-analog converter 27;

Mp 31 of the MCU 31 pin P01 is connected to the digital-to-analog converter 27 of the 11-pin B7;

MCU 31's 37-pin P02 is connected to the digital-to-analog converter 27's 10 feet B6;

The 36-pin P03 of the MCU 31 is connected to the 9-pin B5 of the digital-to-analog converter 27;

MCU 31's 35-pin P04 is connected to the digital-to-analog converter 27's 8-pin B4;

The 34-pin P05 of the MCU 31 is connected to the 7-pin B3 of the digital-to-analog converter 27;

The 32-pin P06 of the MCU 31 is connected to the 6-pin B2 of the digital-to-analog converter 27;

The 32-pin P07 of the MCU 31 is connected to the 5-pin B1 of the digital-to-analog converter 27;

The 4-pin of the digital-to-analog converter 27 is connected to the 2 pin of the operational amplifier 28;

The 2-pin of the digital-to-analog converter 27 is connected to the 3 pin of the operational amplifier 28;

The 6th pin of the operational amplifier 28 is the analog signal output.

 [5] The mechanical component of the sensor is structurally related to the sensing component: The mechanical component of the sensor comprises an annular groove rotating disk 1 and a fitting annular groove fixing disk 40, and the sensing component of the sensor comprises a plurality of permanent magnet blocks 2 Hall 3, single chip microcomputer 31, digital to analog converter 27 and operational amplifier 28; four electronic components of Hall 3, single chip microcomputer 31, digital to analog converter 27 and operational amplifier 28 which are sequentially connected in the sensing unit are provided on one circuit board 59 A plurality of permanent magnet blocks 2 are fixed on the inner wall of the annular groove rotating disk 1 of the hollow ring 41, and the circuit board 59 is fixed on the inner wall of the annular groove fixing disk 40 of the hollow ring 41. The Hall 3 on the circuit board 59 is disposed in the upper wall. The magnetic flux of the permanent magnet block 2 is sensed, and the Hall 3 can output the position of the varying electrical signal according to the change in the magnetic flux. The sensing component is the sensing function of the sensor; the mechanical component has two functions. The first is to fix the relative position of each component in the sensing component, so that each component can form a sensing functional whole, and the second is to This sensing function is fixed on the electric bicycle as a whole, and makes the sensing function as a whole to sense the movement state of the electric bicycle. The four electronic components of the sequentially connected Hall 3, the single chip microcomputer 31, the digital-to-analog converter 27 and the operational amplifier 28 are arranged on a circuit board 59, which is advantageous for integration, modularization and miniaturization of the four electronic components. The four electronic components are integrally fixed to the inner wall of the annular groove fixing disk 40 of the hollow ring 41, which simplifies the process of manufacturing the sensor.

Claims

Rights request 1. A sensor with multiple magnetic blocks evenly distributed in the housing, including sequentially connected sensing elements, a boost model processor (21), a digital-to-analog converter (27) and an operational amplifier (28); It is characterized by: [1] The sensing element is an element that converts the rotational motion of the annular groove rotating disk (1) into a rectangular wave signal output; The sensing element includes an annular groove rotating disk (1), an annular groove fixed disk (40), a Hall (3) and a plurality of permanent magnet blocks (2). The plurality of permanent magnet blocks (2) are the same size. , have the same shape and the same magnetic flux, the concave surfaces of the annular groove rotating disk (1) and the annular groove fixed disk (40) are opposite to each other, and the annular groove fixed disk (40) is fitted in the annular groove rotating disk (1) In the annular groove, two discs are formed into a fitting inner hollow shell that can rotate relatively, and the concave surfaces of the two discs are sandwiched into a hollow ring (41); the annular groove at the position of the hollow ring (41) rotates the disc (1) A plurality of permanent magnet blocks (2) are fixedly arranged on the upper body, and the plurality of permanent magnet blocks (2) are evenly distributed in a circular trajectory, that is, the circle from each permanent magnet block (2) to the circular trajectory line (5) is The distance between the centers is the same, and the distance between two adjacent permanent magnet blocks (2) is the same; the N pole and S pole of the magnetic polarity of each permanent magnet block (2) are respectively on both sides of the annular groove rotating disk (1), The magnetic polarities of two adjacent permanent magnet blocks (2) are opposite. The magnetic polarity distribution pattern of all permanent magnet blocks (2) on an annular groove rotating disk (1) is N pole, S pole, N pole, S pole, N pole, S pole...; A Hall (3) is fixedly provided on the annular groove fixed disk (40) of the hollow ring (41). The Hall (3) is located close to the permanent magnet blocks (2) and can sense each permanent magnet block (2). ) The position of the magnetic flux, there is a distance between Hall (3) and the permanent magnet block (2); Hall (3) is a Hall that generates a square wave output signal for opposite magnetic polarity; [2] The assist model processor (21) is a signal form converter that converts the digital signal of the rotation of the rotating disk (1) into the assist model digital signal; The boost model processor (21) includes an analog-to-digital conversion and speed calculator (24), a boost model memory (25) and a boost model calculator (26); The analog-to-digital conversion and speed calculator (24) is connected to the Hall (3) of the sensing element; the analog-to-digital conversion and speed calculator (24) calculates the rectangular wave signal input from the Hall (3) and calculates the distance between each rectangular wave. The changing speed represents the rotation speed of the rotating disk (1); The analog-to-digital conversion and speed calculator (24) is connected to the assist model calculator (26), and the assist model memory (25) is also connected to the assist model calculator (26); the assist model calculator (26) uses analog-to-digital conversion and speed The rotation speed of the rotating disk (1) of the calculator (24) selects a certain boost model function in the boost model memory (25), and the rotation speed condition of the rotating disk (1) is substituted into the boost model function to calculate a suitable digital signal of the boost model. , that is, the assist model calculator (26) outputs the assist model digital signal; [3] The digital-to-analog converter (27) converts the digital signal of the assist model into the analog signal of the assist model; The boost model calculator (26) is connected to the digital-to-analog converter (27), and the digital-to-analog converter (27) calculates the boost model Convert the assist model digital signal of the device (26) into the assist model analog signal; [4] The operational amplifier (28) converts the boost model analog signal of the digital-to-analog converter (27) into a boost model analog signal within the rated voltage range. 2. The sensor with multiple magnet blocks evenly distributed in the housing according to claim 1, characterized in that: it also includes a thermistor R6, and the thermistor R6 is connected between the input end and the output end of the operational amplifier (28). between. 3. The sensor with multiple magnetic blocks evenly distributed in the housing according to claim 2, characterized in that: the boost model processor (21) is a single-chip microcomputer (31), and a clock circuit (32) is connected to the single-chip microcomputer (31). ; Structural relationship between the mechanical components of the sensor and the sensing component: the mechanical component of the sensor includes an annular groove rotating disk (1) and a fitted annular groove fixed disk (40). The sensing component of the sensor includes a plurality of permanent magnet blocks ( 2), Hall (3), microcontroller (31), digital-to-analog converter (27) and operational amplifier (28); the Hall (3), microcontroller (31), and digital-to-analog converter are connected in sequence in the sensing component Four electronic components (27) and operational amplifier (28) are located on a circuit board (59); multiple permanent magnet blocks (2) are fixed on the inner wall of the annular groove rotating disk (1) of the hollow ring (41). The inner wall of the annular groove fixing plate (40) of the hollow ring (41) fixes the circuit board (59). The Hall (3) on the circuit board (59) is located so that it can sense the magnetic flux of the permanent magnet block (2), and the Hall (3) The position of the electrical signal can be outputted according to changes in magnetic flux. 4. The sensor with multiple magnet blocks evenly distributed in the housing according to claim 3, characterized in that: the Hall (3) is UGN3075, the boost model processor (21) is an AT89S52 single chip microcomputer (31), and the digital-to-analog conversion The device (27) is ADC-C8E; the operational amplifier (28) is OF-17F, and the thermistor R6 is connected between the input pin 2 and the output pin 6 of the OF-17F operational amplifier (28); the connection relationship of each component as follows: The signal output terminal 3 of the Hall (3) is connected to the 12-pin INTO [P32] of the microcontroller (31) _; The 39-pin P00 of the microcontroller (31) is connected to the 12-pin B8 of the digital-to-analog converter (27); The 38-pin P01 of the microcontroller (31) is connected to the 11-pin B7 of the digital-to-analog converter (27); The 37-pin P02 of the microcontroller (31) is connected to the 10-pin B6 of the digital-to-analog converter (27); The 36-pin P03 of the microcontroller (31) is connected to the 9-pin B5 of the digital-to-analog converter (27); The 35-pin P04 of the microcontroller (31) is connected to the 8-pin B4 of the digital-to-analog converter (27); The 34-pin P05 of the microcontroller (31) is connected to the 7-pin B3 of the digital-to-analog converter (27); The 33-pin P06 of the microcontroller (31) is connected to the 6-pin B2 of the digital-to-analog converter (27); The 32-pin P07 of the microcontroller (31) is connected to the 5-pin B1 of the digital-to-analog converter (27); Pin 4 of the digital-to-analog converter (27) is connected to pin 2 of the operational amplifier (28); Pin 2 of the digital-to-analog converter (27) is connected to pin 3 of the operational amplifier (28); Pin 6 of the operational amplifier (28) is the analog signal output. 5. The sensor with multiple magnetic blocks evenly distributed in the housing according to any one of claims 1 to 4, characterized by: A bearing (42) is provided between the outer surface of the inner ring of the annular groove fixed plate (40) and the inner surface of the inner ring of the annular groove rotating plate (1). 6. The sensor with multiple magnet blocks evenly distributed in the housing according to claim 5, characterized in that: the Hall (3) is located on the circular trajectory line (5) facing the multiple permanent magnet blocks (2) s position. 7. The sensor with multiple magnet blocks evenly distributed in the housing according to claim 5, characterized in that: the annular groove rotating disk (1) is in the circular trajectory line (5) of the multiple permanent magnet blocks (2) There is a central hole within the circle. 8. The sensor with multiple magnet blocks evenly distributed in the housing according to claim 5, characterized in that: the annular groove rotating disk (1) is made of a non-magnetic material plastic plate, aluminum plate, or copper plate. Some kind.