JP7164666B2 - Control device for manpowered vehicle and drive device for manpowered vehicle - Google Patents

Description

The present invention relates to a manpowered vehicle control device and a manpowered vehicle drive device.

A manpower-driven vehicle control device disclosed in Patent Document 1 controls a motor for assisting the propulsion of a manpower-driven vehicle according to a manpower driving force.

Japanese Patent No. 5575968

SUMMARY OF THE INVENTION An object of the present invention is to provide a manpower-driven vehicle control device and a manpower-driven vehicle drive device capable of suitably controlling a motor.

The manpower-driven vehicle control device according to the first aspect of the present invention starts integrating the torque detection value when a torque detection value detected by a torque detection unit that detects manpower torque becomes equal to or less than a threshold value, and detects the torque detection value. includes a control unit for controlling the driving of the motor for assisting the propulsion of the human-powered vehicle according to the integrated value of .
According to the manpower-driven vehicle control device of the first aspect, when the torque detection value becomes equal to or less than the threshold value, the driving of the motor is controlled according to the integrated value of the torque detection value. Therefore, the motor can be preferably controlled according to the integrated value of the torque detection values in a running state in which the torque detection value is equal to or less than the threshold value. In addition, since the integrated value of the torque detection value is used, the motor can be controlled with reduced influence of disturbance and momentary change.

In the control device for a manpowered vehicle according to the second aspect according to the first aspect, the threshold includes a first threshold, and the control unit adjusts the sum of the integrated values to the first threshold after the first threshold or less. When the integrated value is reached, the motor is stopped.
According to the manpower-driven vehicle control device of the second aspect, the motor can be stopped when the sum of the integrated values reaches the first integrated value.

In the manpowered vehicle control device according to the third aspect according to the first aspect, the threshold includes a first threshold and a second threshold that changes according to a rotation phase of a crank of the manpowered vehicle, and the control unit is configured to: After becoming equal to or less than the first threshold value, when the torque becomes equal to or less than the first threshold value and equal to or less than the second threshold value, integration of the torque detection value is started.
According to the control device for a manpowered vehicle of the third aspect, since the torque detection value starts to be integrated after the torque detection value becomes equal to or less than the second threshold value that changes according to the rotation phase of the crank, the change in the rotation phase of the crank is detected. It is possible to control the motor taking into consideration.

In the manpowered vehicle control device according to the fourth aspect according to the first aspect, the threshold includes a second threshold that changes according to a rotation phase of a crank of the manpowered vehicle, and the control unit controls the second threshold When it becomes below, the integration of the torque detection value is started.
According to the control device for a manpowered vehicle of the fourth aspect, since the torque detection value starts to be integrated after the torque detection value becomes equal to or less than the second threshold value that changes according to the rotation phase of the crank, the change in the rotation phase of the crank is detected. It is possible to control the motor taking into consideration.

In the manpowered vehicle control device according to the fifth aspect according to the third or fourth aspect, the control unit stops the motor when the sum of the integrated values reaches a second integrated value.
According to the manpower-driven vehicle control device of the fifth aspect, the motor can be stopped when the sum of the integrated values reaches the second integrated value.

The sixth aspect manpowered vehicle control device according to any one of the first to fifth aspects, further comprising a crank angle detection section for detecting a rotation angle of a crank of the manpowered vehicle, wherein the control section The torque detection value is corrected according to the crank angle detection value of the crank angle detection section.
According to the manpower-driven vehicle control device of the sixth aspect, by correcting the torque detection value according to the crank angle detection value, it is possible to control the motor suitable for the crank angle.

In the control device for a manpowered vehicle according to any one of the first to sixth aspects, an elapsed time measuring unit that starts measuring elapsed time when integration of the torque detection value is started; Further comprising at least one of a crank rotation measuring unit that starts measuring the amount of rotation of the crank of the manpowered vehicle when the integration of the torque detection value is started, wherein the control unit measures the elapsed time measured by the elapsed time measuring unit. The torque detection value is corrected according to at least one of the total amount and the total amount of rotation of the crank by the crank rotation measuring section.
According to the control device for a manpowered vehicle of the seventh aspect, by correcting the torque detection value according to at least one of the total elapsed time and the total amount of rotation of the crank, it is suitable for the elapsed time and the rotation amount of the crank. can control the motor.

In the control device for a manpowered vehicle according to the eighth aspect according to the first or second aspect, the control unit controls the torque detection value to exceed the threshold value after the torque detection value has become equal to or less than the threshold value. or when the torque detection value becomes greater than a third threshold different from the threshold after the torque detection value becomes equal to or less than the threshold, the integration of the torque detection value is stopped.
According to the control device for manpower-driven vehicle of the eighth aspect, after the torque detection value becomes equal to or less than the threshold and the integration of the torque detection value is started, the torque detection value larger than the threshold or the third threshold It is possible to prevent a large torque detection value from being added to the integrated value of the torque detection values.

In the control device for a manpowered vehicle according to the eighth aspect, the control unit, after stopping the integration of the torque detection value, when the torque detection value becomes equal to or less than the threshold value, the torque detection value The torque detection value is integrated so as to be further integrated into the integrated value of .
According to the manpower-driven vehicle control device of the ninth aspect, when the torque detection value becomes equal to or less than the threshold value after stopping the torque detection value integration, the torque detection value integration can be resumed.

In the control device for a manpowered vehicle according to the tenth aspect according to the third or fourth aspect, after the torque detection value becomes equal to or less than the second threshold, the control unit controls the torque detection value to exceed the second threshold. also increases, or when the torque detection value becomes greater than a fourth threshold different from the second threshold after the torque detection value becomes equal to or less than the second threshold, the torque detection value Stop integration.
According to the manpower-driven vehicle control device of the tenth aspect, after the torque detection value becomes equal to or less than the second threshold and integration of the torque detection value is started, the torque detection value greater than the second threshold or the It is possible to prevent a torque detection value larger than the four thresholds from being added to the integrated value of the torque detection values.

In the control device for a manpowered vehicle according to the eleventh aspect, the control unit, after stopping the integration of the torque detection value, when the torque detection value becomes equal to or less than the second threshold value, the torque The torque detection value is integrated so as to further integrate the integrated value of the detection values.
According to the manpower-driven vehicle control device of the eleventh aspect, when the torque detection value becomes equal to or less than the second threshold value after stopping the torque detection value integration, the torque detection value integration can be restarted.

In the twelfth aspect of the control device for a manpowered vehicle according to any one of the eighth to eleventh aspects, after stopping the integration of the torque detection value, the control unit performs the integration according to the torque detection value. Subtract a value.
According to the manpower-driven vehicle control device of the twelfth aspect, when the integration of the torque detection value is stopped, the motor can be preferably controlled by subtracting the integration value according to the torque detection value.

In the thirteenth aspect control device for a manpowered vehicle according to any one of the eighth to twelfth aspects, the control unit stops the integration of the torque detection value, and then the integration is performed according to the torque detection value. set the value to zero.
According to the manpower-driven vehicle control device of the thirteenth aspect, when the integration of the torque detection value is stopped, the motor can be preferably controlled by setting the integration value to zero according to the torque detection value.

In the manpowered vehicle control apparatus of the fourteenth aspect according to any one of the first to thirteenth aspects, the threshold is a value less than or equal to zero.
According to the manpower-driven vehicle control device of the fourteenth aspect, when the torque detection value becomes zero or less, the motor can be preferably controlled by the integrated value of the torque detection value.

A controller for a manpowered vehicle according to a fifteenth aspect of the present invention is a cumulative torque detection unit that continuously detects torque detection values below a threshold value when a torque detection value detected by a torque detection unit that detects human power torque becomes below the threshold value. calculating at least one of a period and a total amount of rotation of the crank of the manpowered vehicle while the value below the threshold is continuously detected, and according to at least one of the cumulative period and the total amount of rotation of the crank; A control unit for controlling a motor for assisting the propulsion of the manpowered vehicle is included.
According to the manpower-driven vehicle control device of the fifteenth aspect, when the torque detection value becomes equal to or less than the threshold value, the motor can be preferably controlled according to at least one of the cumulative period and the total amount of rotation of the crank.

In the control device for a manpowered vehicle according to the fifteenth aspect, the control unit controls, when the torque detection value becomes greater than the threshold after the torque detection value becomes equal to or less than the threshold, or and subtracting at least one of the cumulative period and the total amount of rotation of the crank when the torque detection value becomes greater than a third threshold different from the threshold after the torque detection value becomes equal to or less than the threshold. or one of the resets.
According to the manpower-driven vehicle control device of the sixteenth aspect, when the torque detection value becomes greater than the threshold after the torque detection value becomes equal to or less than the threshold, or after the torque detection value becomes equal to or less than the threshold , when the torque detection value becomes larger than the third threshold, at least one of the cumulative period and the total amount of rotation of the crank is decremented or reset, so that the motor can be preferably controlled.

In the manpowered vehicle control device of the seventeenth aspect according to the fifteenth or sixteenth aspect, the threshold is a value less than or equal to zero.
According to the manpower-driven vehicle control device of the seventeenth aspect, when the torque detection value becomes zero or less, the motor can be preferably controlled according to at least one of the cumulative period and the total amount of rotation of the crank.

A manpowered vehicle driving device according to an eighteenth aspect of the present invention is a manpowered vehicle control device according to any one of the first to seventeenth aspects, and a crank of the manpowered vehicle rotates in a first crank rotation direction. , when the crank rotates in a second crank rotation direction opposite to the first crank rotation direction, the crank rotates in a direction opposite to the first output rotation direction. a drive unit comprising an output coupled to the crank for rotation in a second output rotational direction.
According to the manpowered vehicle driving device of the eighteenth aspect, when the crank of the manpowered vehicle rotates in the first crank rotation direction, it rotates in the first output section rotation direction, and the crank rotates in the first crank rotation direction. A drive unit comprising an output coupled to the crank for rotation in a second output rotation direction opposite to the first output rotation direction when rotating in a second crank rotation direction opposite to The motor can be suitably controlled.

The manpower-driven vehicle control device and the manpower-driven vehicle drive device of the present invention can suitably control the motor.

1 is a side view of a manpowered vehicle including a manpowered vehicle drive device and a manpowered vehicle control device according to a first embodiment; FIG. 1 is a block diagram showing an electrical configuration of a controller for a manpowered vehicle according to a first embodiment; FIG. 3 is a flowchart of processing for switching between a first control state and a second control state, which is executed by the control unit in FIG. 2; 10 is a flowchart of motor control processing executed by a control unit according to the second embodiment; 10 is a flowchart of motor control processing executed by a control unit according to a third embodiment; FIG. 11 is a flowchart of motor control processing executed by a control unit according to a fourth embodiment; FIG. 6 is a flowchart of motor control processing executed by a control unit according to a modification of the first embodiment; FIG. 11 is a flowchart of motor control processing executed by a control unit according to a modification of the second embodiment; FIG. FIG. 11 is a flowchart of motor control processing executed by a control unit according to a modification of the third embodiment; FIG.

(First embodiment)
A manpower-driven vehicle driving device 40 including a manpower-driven vehicle control device 50 of the first embodiment will be described with reference to FIGS. 1 to 3. FIG. Hereinafter, the human-powered vehicle control device 50 is simply referred to as the control device 50 . The control device 50 is provided in the manpowered vehicle 10 . The human-powered vehicle 10 is a vehicle that can be driven at least by human-powered driving force. Manpowered vehicle 10 includes, for example, a bicycle. The manpowered vehicle 10 is not limited in the number of wheels and includes, for example, unicycles and vehicles with three or more wheels. The human powered vehicle 10 includes various types of bicycles, such as mountain bikes, road bikes, city bikes, cargo bikes, and recumbent bikes, as well as electrically assisted bicycles (E-bikes). In the following embodiments, the manpowered vehicle 10 will be described as a bicycle.

As shown in FIG. 1 , manpowered vehicle 10 includes crank 12 and drive wheels 14 . The manpowered vehicle 10 further comprises a frame 16 . A human power driving force is input to the crank 12 . The crank 12 includes a crankshaft 12A rotatable with respect to the frame 16, and crank arms 12B provided at axial ends of the crankshaft 12A. A pedal 18 is connected to each crank arm 12B. Drive wheel 14 is driven by rotation of crank 12 . A drive wheel 14 is supported by a frame 16 . The crank 12 and drive wheel 14 are connected by a drive mechanism 20 . The drive mechanism 20 includes a first rotor 22 coupled to the crankshaft 12A. The first rotor 22 includes a sprocket, pulley, or bevel gear. Drive mechanism 20 further includes a second rotating body 24 and a connecting member 26 . The connecting member 26 transmits the rotational force of the first rotating body 22 to the second rotating body 24 . Coupling member 26 includes, for example, a chain, belt, or shaft.

The second rotating body 24 is connected to the drive wheel 14 . The second rotating body 24 includes a sprocket, pulley, or bevel gear. A one-way clutch is preferably provided between the second rotor 24 and the driving wheel 14 . The one-way clutch rotates the drive wheels 14 forward when the second rotating body 24 rotates forward, and prevents the driving wheels 14 from rotating backward when the second rotating body 24 rotates backward.

Manpowered vehicle 10 includes front and rear wheels. A front wheel is attached to the frame 16 via a front fork 16A. A handlebar 16C is connected to the front fork 16A via a stem 16B. In the following embodiment, the driving wheels 14 are the rear wheels, but the driving wheels 14 may be the front wheels.

The human powered vehicle 10 further includes a battery 28 . Battery 28 includes one or more battery cells. A battery cell includes a rechargeable battery. The battery 28 provides power to other electrical components, such as a motor 46 and a controller 50 , provided in the manpowered vehicle 10 and electrically connected to the battery 28 by wires. The battery 28 is communicably connected to the controller 52 of the controller 50 by wire or wirelessly. The battery 28 can communicate with the controller 52 by, for example, power line communication (PLC). The battery 28 may be attached to the outside of the frame 16 or may be housed at least partially inside the frame 16 .

The manpowered vehicle drive device 40 includes a manpowered vehicle control device 50 and a drive unit 42 . The drive unit 42 has an output section 44 . When the crank 12 of the manpowered vehicle 10 rotates in the first crank rotation direction X1, the output portion 44 rotates in the first output portion rotation direction P1, and the crank 12 rotates in the direction opposite to the first crank rotation direction X1. It is coupled to the crank 12 so that when it rotates in the second crank rotation direction X2, it rotates in the second output section rotation direction P2 opposite to the first output section rotation direction P1. Drive unit 42 preferably further includes crankshaft 12A. The rotation axis of the output portion 44 preferably coincides with the rotation axis of the crankshaft 12A. The output portion 44 is provided around the outer peripheral portion of the crankshaft 12A. The output unit 44 rotates integrally with the first rotating body 22 . It is preferable that the crankshaft 12A and the output portion 44 rotate together. The crankshaft 12A and the output portion 44 may be fixed to each other, or may be connected to each other with play. One of the first crank rotation direction X1 and the second crank rotation direction X2 is the rotation direction of the crankshaft 12A for propelling the manpowered vehicle 10 forward.

The drive unit 42 further includes a motor 46 , a speed reducer (not shown) connecting the motor 46 and the output section 44 , and a drive circuit 48 . Motor 46 and drive circuit 48 are preferably provided in the same housing. A drive circuit 48 controls power supplied from the battery 28 to the motor 46 . The drive circuit 48 is communicably connected to the controller 52 by wire or wirelessly. The drive circuit 48 can communicate with the control unit 52 by serial communication, for example. The drive circuit 48 drives the motor 46 according to the control signal from the controller 52 . The motor 46 assists the manpowered vehicle 10 in propulsion. Motor 46 includes an electric motor. The motor 46 is provided so as to transmit rotation to the power transmission path of the manpower driving force from the pedals 18 to the rear wheels or to the front wheels. The motor 46 is provided on the frame 16 of the manpowered vehicle 10, the rear wheels, or the front wheels. In one example, the motor 46 is coupled to the power transmission path from the crankshaft 12A to the first rotating body 22. A one-way clutch is provided in the power transmission path between the motor 46 and the crankshaft 12A so that the motor 46 is not rotated by the rotational force of the crank 12 when the crankshaft 12A is rotated in the forward direction of the manpowered vehicle 10. preferably provided.

The control device 50 includes a control section 52 . Control unit 52 includes an arithmetic processing unit that executes a predetermined control program. The arithmetic processing unit includes, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). Control unit 52 may include one or more microcomputers. The control unit 52 may include a plurality of processing units that are spaced apart at a plurality of locations. Control device 50 further includes storage unit 54 . The storage unit 54 stores various control programs and information used for various control processes. The storage unit 54 includes, for example, nonvolatile memory and volatile memory. The control unit 52 and the storage unit 54 are provided, for example, in at least one of the housing in which the motor 46 is provided, the battery 28, the battery holder, and the cycle computer.

Control device 50 further includes a torque detector 56 . The torque detector 56 is provided, for example, in a housing in which the motor 46 is provided. The torque detection unit 56 detects a torque detection value T corresponding to the human torque input to the crank 12 . The torque detector 56 may output the corrected torque detection value T. FIG. For example, when a human torque of 1 Newton is input to the crank 12, a signal corresponding to zero Newton is output. For example, when a power transmission path is provided with a first one-way clutch, the torque detector 56 is provided upstream of the first one-way clutch. Torque detector 56 includes a strain sensor, a magnetostrictive sensor, or the like. A strain sensor includes a strain gauge. If the torque detector 56 includes a strain sensor, the strain sensor is preferably provided on the outer circumference of the rotating body included in the power transmission path. The rotating body is, for example, the crankshaft 12A. The torque detection unit 56 may include a wireless or wired communication unit. A communication unit of the torque detection unit 56 is configured to be communicable with the control unit 52 .

The control unit 52 drives the motor 46 according to the human torque. Specifically, the motor 46 is driven so that the ratio of the output torque of the motor 46 to the torque detection value T detected by the torque detection unit 56 for detecting human torque becomes a predetermined ratio. The control unit 52 determines the response speed R, which is the change speed of the output torque of the motor 46 with respect to the change speed of the torque detection value T when the torque detection value T decreases, from the response speed R when the torque detection value T increases. preferably later. As a result, the output torque of the motor 46 decreases smoothly when the torque detection value T decreases. The control unit 52 changes the response speed R by, for example, filtering the torque detection value T or the command value of the output torque of the motor 46 using a time constant.

Control device 50 further includes a crank angle detector 58 . The crank angle detector 58 is used to detect the rotation speed of the crank 12 of the manpowered vehicle 10 . The crank angle detector 58 is attached, for example, to the frame 16 of the manpowered vehicle 10 or the housing in which the motor 46 is provided. The crank angle detector 58 includes a magnetic sensor that outputs a signal corresponding to the strength of the magnetic field. An annular magnet whose magnetic field strength changes in the circumferential direction is provided on the crankshaft 12A or on the power transmission path between the crankshaft 12A and the first rotating body 22 . The crank angle detector 58 is communicably connected to the controller 52 by wire or wirelessly. The crank angle detector 58 outputs a signal corresponding to the rotation speed of the crank 12 to the controller 52 . The crank angle detector 58 may be provided on a member that rotates integrally with the crankshaft 12A in the power transmission path of the manpower driving force from the crankshaft 12A to the first rotor 22 . For example, the crank angle detector 58 may be provided on the first rotating body 22 when the first one-way clutch is not provided between the crankshaft 12A and the first rotating body 22. The crank angle detector 58 may be used to detect the vehicle speed of the manpowered vehicle 10 . In this case, the control unit 52 calculates the rotation speed of the drive wheels 14 according to the rotation speed of the crank 12 detected by the crank angle detection unit 58 and the gear ratio of the manpowered vehicle 10, 10 vehicle speeds are detected. Information about the gear ratio is pre-stored in the storage unit 54 .

The controller 52 may change the response speed R according to the rotation speed of the crank 12 . Specifically, the control unit 52 increases the response speed R as the rotation speed of the crank 12 increases. The controller 52 reduces the response speed R by reducing the time constant as the rotational speed of the crank 12 increases.

When the torque detection value T detected by the torque detection unit 56 that detects the human torque becomes equal to or less than the threshold value TX, the control unit 52 starts integrating the torque detection value T, and according to the integrated value ST of the torque detection value T It controls driving of the motor 46 for assisting the propulsion of the manpowered vehicle 10 .

The control device 50 further includes a crank angle detection unit 58 that detects the rotation angle C of the crank 12 of the manpowered vehicle 10, and the control unit 52 detects a torque detection value according to the crank angle detection value of the crank angle detection unit 58. T may be corrected. For example, when the rotation angle C of the crank 12 is the rotation angle C1 corresponding to the top dead center and the bottom dead center, the control unit 52 does not correct the torque detection value T, and the rotation angle C of the crank 12 is the top dead center and the bottom dead center. The torque detection value T is not corrected at a rotation angle C2 that is 90 degrees away from the rotation angle C corresponding to the bottom dead center, and the torque detection value T is small at an angle between the rotation angles C1 and C2. Correct it so that Further, for example, when the rotation angle C of the crank 12 is the rotation angle C1 corresponding to the top dead center and the bottom dead center, the control unit 52 does not correct the torque detection value T and does not correct the rotation angle C of the crank 12. The distance from C1 is made smaller.

The control device 50 includes an elapsed time measurement unit 60 that starts measuring elapsed time when the integration of the torque detection value T is started, and a crank 12 of the manpowered vehicle 10 when the integration of the torque detection value T is started. It further includes at least one of the crank rotation measuring section 62 that starts measuring the amount of rotation. The control unit 52 may correct the torque detection value T according to at least one of the total elapsed time measured by the elapsed time measurement unit 60 and the total amount of rotation of the crank 12 measured by the crank rotation measurement unit 62 .

For example, the control unit 52 does not correct the torque detection value T during the elapsed time from zero to the first predetermined time, and decreases the torque detection value T from the first predetermined time to the second predetermined time. from the second predetermined time to the third predetermined time, the torque detection value T is corrected to be smaller and corrected to be larger than the correction value from the first predetermined time to the second predetermined time, The torque detection value T is not corrected from the third predetermined time to the fourth predetermined time.

For example, the control unit 52 does not correct the torque detection value T when the rotation angle amounts of the crank 12 are 0 degrees and 180 degrees, and does not correct the torque detection value T when the rotation angle amounts of the crank 12 are 90 degrees and 270 degrees. is not corrected, and the torque detection value T is corrected to be small between the rotation angle amounts of the crank 12 between 0 degrees and 90 degrees and between 180 degrees and 270 degrees. Further, for example, when the rotation angle amount of the crank 12 is 0 degrees and 180 degrees, the control unit 52 does not correct the torque detection value T, and decreases it as the rotation angle amount of the crank 12 approaches 90 degrees and 270 degrees. .

The threshold value TX is preferably set to a value that allows determination of the rider's intention to stop or decelerate the manpowered vehicle 10 . The threshold TX is preferably a value less than or equal to zero. In one example, the threshold TX is zero. The output portion 44 rotates in the first output portion rotation direction P1 when the crank 12 rotates in the first crank rotation direction X1, and rotates in the second output portion rotation direction P1 when the crank 12 rotates in the second crank rotation direction X2. It is connected to the crank 12 so as to rotate in the direction of rotation P2. Therefore, when the crank 12 is stopped and the output torque of the motor 46 is greater than zero, the torque detection value T may be detected as a negative value. Further, even when the crank 12 is rotating, if the rider reduces the human-powered driving force input to the crank 12 and the output torque of the motor 46 becomes larger than the human-powered driving force input to the crank 12, torque The detected value T may be detected as a negative value. The threshold value TX may be set to a value that allows determination of the rider's intention to decelerate. Therefore, the torque detection value T at or near zero can be used as a value with which it is possible to determine the rider's intention to stop or decelerate the manpowered vehicle 10 .

The control unit 52 can obtain the integrated value ST by cumulatively adding the torque detection values T input from the torque detection unit 56 . The control unit 52 may obtain the integrated value ST by cumulatively adding values obtained by subtracting the threshold value TX from the torque detection value T input from the torque detection unit 56 . The control unit 52 may use, as the integrated value ST, a value obtained by integrating an area formed between the time change of the torque detection value T input from the torque detection unit 56 and the threshold value TX. When the threshold value TX is greater than zero, the controller 52 may add a value obtained by performing predetermined processing on the detected torque value T greater than zero to the integrated value ST. For example, a torque detection value T greater than zero is added to the integrated value ST as zero.

The thresholds TX include the first threshold TX1. The control unit 52 stops the motor 46 when the sum of the integrated values ST reaches the first integrated value ST1 after becoming equal to or less than the first threshold value TX1. When the sum of the integrated values ST reaches the first integrated value ST1, the manpowered vehicle 10 can be stopped early by stopping the motor 46 .

When the torque detection value T becomes greater than the threshold TX after the torque detection value T becomes equal to or less than the threshold TX, or after the torque detection value T becomes equal to or less than the threshold TX, the control unit 52 changes the torque detection value When T becomes larger than a third threshold TX3 different from the threshold TX, integration of the torque detection value T is stopped. The third threshold TX3 is preferably smaller than the first threshold TX1. In the present embodiment, the control unit 52 controls when the torque detection value T becomes greater than the first threshold TX1 after the torque detection value T reaches the first threshold TX1, or when the torque detection value T is equal to or less than the threshold TX. After , when the torque detection value T becomes larger than the third threshold value TX3, the integration of the torque detection value T is stopped. If the time period during which the torque detection value T is greater than the third threshold value TX3 is longer than or equal to the predetermined time, the controller 52 determines that the traveling distance is greater than or equal to the predetermined distance while the torque detection value T is greater than the third threshold value TX3. and when the amount of rotation of the crank 12 becomes equal to or greater than a predetermined amount while the torque detection value T is greater than the third threshold value TX3, integration of the torque detection value T is stopped. good too. When the torque detection value T becomes equal to or less than the threshold value TX after stopping the integration of the torque detection value T, the control unit 52 integrates the torque detection value T so as to further integrate the integrated value ST of the torque detection value T. . In this embodiment, when the torque detection value T becomes equal to or less than the first threshold value TX1 after stopping the integration of the torque detection value T, the control unit 52 further integrates the torque detection value T into the integrated value ST. The torque detection value T is integrated. For example, the control unit 52 stores the integrated value ST at the time when the integration of the torque detection value T is stopped in the storage unit 54, and when the integration of the torque detection value T is stopped, the torque detection value T becomes equal to or less than the threshold value TX. If not, the integrated value ST stored in the storage unit 54 is read, and the torque detection value T is added to the read integrated value ST.

After stopping the integration of the torque detection value T, the control unit 52 sets the integrated value ST to zero according to the torque detection value T. FIG. The control unit 52 sets the integrated value ST to zero when the reset condition for the integrated value ST of the detected torque value T is satisfied. The condition for resetting the integrated value ST of the torque detection value T is met, for example, when the torque detection value T becomes greater than the first predetermined value TY. The condition for resetting the integrated value ST of the torque detection value T is that the torque detection value T is greater than the first predetermined value TY when the time period during which the torque detection value T is greater than the first predetermined value TY is equal to or longer than the predetermined time. and when the amount of rotation of the crank 12 reaches or exceeds a predetermined amount while the detected torque value T is greater than the first predetermined value TY. You may do so. The first predetermined value TY is preferably equal to or greater than the threshold TX and the third threshold TX3. When the first predetermined value TY is equal to the threshold value TX or the third threshold value TX3, the controller 52 sets the integrated value ST to zero when the detected torque value T becomes equal to or greater than the threshold value TX or the third threshold value TX3. The first predetermined value TY is set to a value that allows determination of the rider's intention to drive the human-powered vehicle 10 .

A process of controlling the motor 46 according to the integrated value ST of the torque detection value T will be described with reference to FIG. When power is supplied from the battery 28 to the control unit 52, the control unit 52 starts processing and proceeds to step S11 of the flowchart shown in FIG. As long as power is supplied, the control unit 52 executes the process from step S11 at predetermined intervals.

In step S11, the control unit 52 determines whether or not the torque detection value T is equal to or less than the first threshold value TX1. If the torque detection value T is greater than the first threshold TX1, the control unit 52 terminates the process. If the torque detection value T is less than or equal to the first threshold value TX1, the controller 52 proceeds to step S12.

In step S12, the control unit 52 integrates the torque detection value T, and proceeds to step S13. Specifically, the integrated value ST of the torque detection value T is read from the storage unit 54, and the torque detection value T input from the torque detection unit 56 is added to the integrated value ST.

In step S13, the control unit 52 determines whether or not the sum of the integrated values ST has reached the first integrated value ST1. When the first integrated value ST1 is a negative value, the control unit 52 determines that the sum of the integrated values ST has reached the first integrated value ST1 when the integrated value ST becomes equal to or smaller than the first integrated value ST1. . When the sum of the integrated values ST reaches the first integrated value ST1, the control unit 52 proceeds to step S14 and stops the motor 46 .

In step S13, if the sum of the integrated values ST has not reached the first integrated value ST1, the control unit 52 proceeds to step S15. In step S15, the control unit 52 determines whether or not the torque detection value T is greater than the first threshold TX1 or greater than the third threshold TX3. If the torque detection value T is greater than the first threshold TX1 or greater than the third threshold TX3, the controller 52 proceeds to step S16.

In step S16, the control unit 52 stops integrating the torque detection value T, and proceeds to step S17. In step S17, the control unit 52 determines whether or not the condition for resetting the integrated value ST of the torque detection value T is satisfied. When the reset condition for the integrated value ST of the torque detection value T is satisfied, the control unit 52 proceeds to step S18. In step S18, the control unit 52 sets the integrated value ST of the torque detection value T to zero, and terminates the process.

If the reset condition for the integrated value ST of the torque detection value T is not satisfied in step S17, the control unit 52 proceeds to step S15. If the torque detection value T is greater than the first threshold value TX1 or greater than the third threshold value TX3 in step S15, the control unit 52 executes the processes of steps S16 and S17 again.

If the torque detection value T is not greater than the first threshold TX1 or not greater than the third threshold TX3 in step S15, the controller 52 proceeds to step S12. The controller 52 integrates the torque detection value T in step S12. Therefore, the integration of the torque detection value T into the integrated value ST is restarted.

The controller 52 may set the integrated value ST to zero when the motor 46 is stopped. Further, the control unit 52 may set the integrated value ST to zero when the motor 46 is driven after being stopped.

According to the control device 50, when the rider stops the rotation of the crank 12 or reduces the human torque input to the crank 12 so that the torque detection value T becomes equal to or less than the threshold value TX, the torque detection value T is integrated. When the value ST reaches the first integrated value ST1, the motor 46 can be preferably stopped.

(Second embodiment)
A control device 50 according to the second embodiment will be described with reference to FIGS. 2 and 4. FIG. The control device 50 of the second embodiment is the same as the control device 50 of the first embodiment except that the control unit 52 controls the motor 46 using the second threshold value TX2. The same reference numerals as in the first embodiment are assigned to the configurations that are common to the form, and overlapping descriptions are omitted.

The threshold TX includes a second threshold TX2 that changes according to the rotation phase of the crank 12 of the manpowered vehicle 10. FIG. The control unit 52 starts integrating the torque detection value T when it becomes equal to or less than the second threshold value TX2. The second threshold TX2 is the smallest when the crank 12 is at the rotation angle C1 corresponding to the top dead center or the bottom dead center, and is the largest when the crank 12 is at the rotation angle C2 90 degrees away from the top dead center and the bottom dead center. Become. The second threshold TX2 is preferably set to increase stepwise from the rotation angle C1 toward the rotation angle C2.

The control unit 52 can obtain the integrated value ST by cumulatively adding the torque detection values T input from the torque detection unit 56 . The control unit 52 may obtain the integrated value ST by cumulatively adding values obtained by subtracting the second threshold value TX2 from the torque detection value T input from the torque detection unit 56 . The control unit 52 may use, as the integrated value ST, a value obtained by integrating an area formed between the temporal change in the torque detection value T input from the torque detection unit 56 and the second threshold value TX2. When the second threshold value TX2 is greater than zero, the controller 52 may add a value obtained by performing predetermined processing on the detected torque value T greater than zero to the integrated value ST. For example, a torque detection value T greater than zero is added to the integrated value ST as zero.

The control unit 52 stops the motor 46 when the sum of the integrated values ST reaches the second integrated value ST2. When the sum of the integrated values ST reaches the second integrated value ST2, the manpowered vehicle 10 can be stopped early by stopping the motor 46 .

After the torque detection value T becomes equal to or less than the second threshold TX2, the control unit 52 controls the control unit 52 when the torque detection value T becomes larger than the second threshold TX2, or when the torque detection value T becomes equal to or less than the second threshold TX2. After that, when the torque detection value T becomes larger than a fourth threshold TX4 different from the second threshold TX2, the integration of the torque detection value T is stopped. The fourth threshold TX4 is preferably smaller than the second threshold TX2. When the time period during which the torque detection value T is greater than the fourth threshold value TX4 is equal to or longer than the predetermined time, the controller 52 determines that the traveling distance is equal to or greater than the predetermined distance while the torque detection value T is greater than the fourth threshold value TX4. and when the amount of rotation of the crank 12 becomes equal to or greater than a predetermined amount while the torque detection value T is greater than the fourth threshold value TX4, the integration of the torque detection value T is stopped. good too. When the torque detection value T becomes equal to or smaller than the second threshold value TX2 after stopping the integration of the torque detection value T, the control unit 52 further adds the torque detection value T to the integrated value ST of the torque detection value T. Accumulate. For example, the control unit 52 stores the integrated value ST at the time when the integration of the torque detection value T is stopped in the storage unit 54, and when the integration of the torque detection value T is stopped, the torque detection value T reaches the second threshold value TX2. When it becomes below, the integrated value ST stored in the storage unit 54 is read, and the torque detection value T is added to the read integrated value ST.

After stopping the integration of the torque detection value T, the control unit 52 sets the integrated value ST to zero according to the torque detection value T. FIG. The control unit 52 sets the integrated value ST to zero when the reset condition for the integrated value ST of the detected torque value T is satisfied. The condition for resetting the integrated value ST of the torque detection value T is met, for example, when the torque detection value T becomes greater than the second predetermined value TZ. The condition for resetting the integrated value ST of the torque detection value T is that the torque detection value T is greater than the second predetermined value TZ when the time period during which the torque detection value T is greater than the second predetermined value TZ is longer than or equal to the predetermined time. and when the amount of rotation of the crank 12 reaches or exceeds a predetermined amount while the torque detection value T is greater than the second predetermined value TZ. You may do so. The second predetermined value TZ is preferably equal to or greater than the second threshold TX2 and the fourth threshold TX4. When the second predetermined value TZ is equal to the second threshold TX2 or the fourth threshold TX4, the controller 52 sets the integrated value ST to zero when the torque detection value T becomes equal to or greater than the second threshold TX2 or the fourth threshold TX4. . The second predetermined value TZ is set to a value that allows determination of the rider's intention to drive the human-powered vehicle 10 .

A process of controlling the motor 46 according to the integrated value ST of the torque detection value T will be described with reference to FIG. When power is supplied from the battery 28 to the control unit 52, the control unit 52 starts processing and proceeds to step S21 of the flowchart shown in FIG. As long as power is supplied, the control unit 52 executes the process from step S21 at predetermined intervals.

In step S21, the control unit 52 determines whether or not the torque detection value T is equal to or less than the second threshold value TX2. If the torque detection value T is greater than the second threshold TX2, the control unit 52 terminates the process. When the torque detection value T is equal to or less than the second threshold value TX2, the controller 52 proceeds to step S22.

In step S22, the control unit 52 integrates the torque detection value T, and proceeds to step S23. Specifically, the integrated value ST of the torque detection value T is read from the storage unit 54, and the torque detection value T input from the torque detection unit 56 is added to the integrated value ST.

In step S23, the control unit 52 determines whether or not the sum of the integrated values ST has reached the second integrated value ST2. When the second integrated value ST2 is a negative value, the control unit 52 determines that the sum of the integrated values ST has reached the second integrated value ST2 when the integrated value ST becomes equal to or smaller than the second integrated value ST2. . When the sum of the integrated values ST reaches the second integrated value ST2, the control unit 52 proceeds to step S24 and stops the motor 46 .

In step S23, if the sum of the integrated values ST has not reached the second integrated value ST2, the control unit 52 proceeds to step S25. In step S25, the control unit 52 determines whether or not the torque detection value T is greater than the second threshold TX2 or greater than the fourth threshold TX4. If the torque detection value T is greater than the second threshold TX2 or greater than the fourth threshold TX4, the controller 52 proceeds to step S26.

In step S26, the control unit 52 stops integrating the torque detection value T, and proceeds to step S27. In step S27, the control unit 52 determines whether or not the condition for resetting the integrated value ST of the torque detection value T is satisfied. When the reset condition for the integrated value ST of the torque detection value T is satisfied, the control unit 52 proceeds to step S28. In step S28, the control unit 52 sets the integrated value ST of the torque detection value T to zero, and terminates the process.

If the reset condition for the integrated value ST of the torque detection value T is not satisfied in step S27, the control unit 52 proceeds to step S25. If the torque detection value T is greater than the second threshold value TX2 or greater than the fourth threshold value TX4 in step S25, the control unit 52 executes the processes of steps S26 and S27 again.

If the torque detection value T is not greater than the second threshold TX2 or not greater than the fourth threshold TX4 in step S25, the controller 52 proceeds to step S22. The controller 52 integrates the torque detection value T in step S22. Therefore, the integration of the torque detection value T into the integrated value ST is restarted.

The controller 52 may set the integrated value ST to zero when the motor 46 is stopped. Further, the control unit 52 may set the integrated value ST to zero when the motor 46 is driven after being stopped.

According to the control device 50, when the rider stops the rotation of the crank 12 and the torque detection value T becomes equal to or less than the threshold value TX, when the integrated value ST of the torque detection value T reaches the second integrated value ST2, the motor 46 can be stopped immediately.

(Third Embodiment)
A control device 50 according to the third embodiment will be described with reference to FIGS. 2 and 5. FIG. The control device 50 of the third embodiment is the same as the control device 50 of the second embodiment except that the control unit 52 controls the motor 46 using the first threshold value TX1 and the second threshold value TX2. Therefore, the same reference numerals as in the second embodiment are given to the configurations that are common to the first embodiment, and overlapping descriptions are omitted.

The threshold TX may include a first threshold TX1 and a second threshold TX2 that changes according to the rotation phase of the crank 12 of the manpowered vehicle 10 . After becoming equal to or less than the first threshold value TX1, the control unit 52 starts integrating the torque detection value T when it becomes equal to or less than the first threshold value TX1 and equal to or less than the second threshold value TX2.

A process of controlling the motor 46 according to the integrated value ST of the torque detection value T will be described with reference to FIG. When power is supplied from the battery 28 to the control unit 52, the control unit 52 starts processing and proceeds to step S31 of the flowchart shown in FIG. As long as power is supplied, the control unit 52 executes the process from step S31 at predetermined intervals.

In FIG. 5, steps S31 and S32 are performed instead of step S21 in FIG. In each of steps S22 to S28 in FIG. 5, processing similar to that of steps having the same number among steps S22 to S28 in FIG. 4 is performed.

In step S31, the control unit 52 determines whether or not the torque detection value T is equal to or less than the first threshold value TX1. If the torque detection value T is not less than or equal to the first threshold value TX1, the control unit 52 terminates the process. In step S31, the control unit 52 determines whether or not the torque detection value T is equal to or less than the first threshold value TX1. When the determination in step S31 is affirmative, the control unit 52 proceeds to step S32. If the torque detection value T is equal to or less than the first threshold TX1 and equal to or less than the second threshold TX2 in step S32, the controller 52 proceeds to step S22. If the torque detection value T is not equal to or less than the first threshold TX1 or is not equal to or less than the second threshold TX2, the control unit 52 terminates the process.

If the controller 52 determines in step S25 that the torque detection value T is not greater than the second threshold TX2 or not greater than the fourth threshold TX4, the process proceeds to step S22.

(Fourth embodiment)
A controller 50 according to the fourth embodiment will be described with reference to FIGS. 2 and 6. FIG. The control device 50 of the fourth embodiment is the same as the control device 50 of the first embodiment except that the motor 46 is controlled according to at least one of the cumulative period and the total amount of rotation of the crank 12. Therefore, the same reference numerals as in the first embodiment are given to the configurations that are common to the first embodiment, and overlapping explanations are omitted.

When the torque detection value T becomes equal to or less than the threshold TX, the control unit 52 controls the cumulative period during which the torque detection value T is continuously detected to be equal to or less than the threshold TX, and the human-powered vehicle 10 during the time during which the torque detection value T is continuously detected to be equal to or less than the threshold TX. at least one of the total amount of rotation of the crank 12. The control unit 52 controls the motor 46 for assisting the propulsion of the manpowered vehicle 10 according to at least one of the accumulated period and the total amount of rotation of the crank 12 .

When the torque detection value T becomes larger than the threshold value TX after the torque detection value T becomes equal to or less than the threshold value, or after the torque detection value T becomes equal to or less than the threshold value TX, the control unit 52 controls the torque detection value T becomes larger than a third threshold TX3 different from the threshold TX, at least one of the cumulative period and the total amount of rotation of the crank 12 is subtracted or reset. The threshold TX is preferably a value less than or equal to zero. The thresholds TX preferably include the first threshold TX1.

A process of controlling the motor 46 according to at least one of the cumulative period and the total amount of rotation of the crank 12 will be described with reference to FIG. When power is supplied from the battery 28 to the control unit 52, the control unit 52 starts processing and proceeds to step S41 of the flowchart shown in FIG. As long as power is supplied, the control unit 52 executes the process from step S41 at predetermined intervals.

In step S41, the control unit 52 determines whether or not the torque detection value T is equal to or less than the first threshold value TX1. If the torque detection value T is not less than or equal to the first threshold value TX1, the control unit 52 terminates the process. If the torque detection value T is equal to or less than the first threshold value TX1, the controller 52 proceeds to step S42.

In step S42, the control unit 52 calculates at least one of the accumulated period and the total amount of rotation of the crank 12, and proceeds to step S43. Specifically, the control unit 52 calculates the accumulated period and the amount of rotation of the crank 12 from the time when the torque detection value T becomes equal to or less than the first threshold value TX1 in step S41.

In step S43, the control unit 52 controls the motor 46 according to at least one of the cumulative period calculated in step S42 and the total amount of rotation of the crank 12, and proceeds to step S44. For example, the control unit 52 stops the motor 46 when the cumulative period is longer than or equal to a predetermined period and when the total amount of rotation of the crank 12 is longer than or equal to a predetermined amount. Further, for example, the control unit 52 controls the driving of the motor 46 so that the output torque of the motor 46 decreases as the sum of the accumulated period and the amount of rotation of the crank 12 increases.

In step S44, the control unit 52 determines whether or not the torque detection value T is greater than the first threshold TX1 or greater than the third threshold TX3. If the torque detection value T is not greater than the first threshold value TX1 or not greater than the third threshold value TX3, the control unit 52 returns to step S42 and performs the processing of steps S42, S43, and S44. run again.

If the control unit 52 determines in step S44 that the detected torque value T is greater than the first threshold value TX1 or greater than the third threshold value TX3, the process proceeds to step S45. In step S45, the control unit 52 subtracts or resets at least one of the cumulative period calculated in step S42 and the total amount of rotation of the crank 12, and ends the process.

(Modification)
The above description of the embodiment is an example of the form that the manpowered vehicle control device and the manpowered vehicle drive system according to the present invention can take, and is not intended to limit the form. The manpowered vehicle control device and the manpowered vehicle drive device according to the present invention can take, for example, a modification of the above-described embodiment shown below and a combination of at least two mutually consistent modifications. In the following modified examples, the same reference numerals as in the embodiment are given to the parts that are common to the embodiment, and the description thereof is omitted.

- In 1st Embodiment, the control part 52 may subtract integrated value ST according to the torque detection value T, after stopping the integration of the torque detection value T. FIG. For example, instead of the process of step S18 of FIG. 3, the process of step S71 of FIG. 7 is executed. In step S71, the control unit 52 subtracts the integrated value ST of the torque detection value T, and ends the process. Preferably, the controller 52 brings the integrated value ST of the torque detection value T closer to zero in step S71. Specifically, when the first integrated value ST1 or the second integrated value ST2 is a negative value, the control unit 52 subtracts a negative numerical value from the integrated value ST of the torque detection value T, When the value ST1 or the second integrated value ST2 is a positive value, the integrated value ST of the torque detection value T is subtracted by a positive numerical value.

- In 2nd Embodiment, the control part 52 may subtract integrated value ST according to the torque detection value T, after stopping the integration of the torque detection value T. FIG. For example, instead of the process of step S28 of FIG. 4, the process of step S81 of FIG. 8 is executed. In step S81, the control unit 52 subtracts the integrated value ST of the torque detection value T, and ends the process. Preferably, the controller 52 brings the integrated value ST of the torque detection value T closer to zero in step S71. Specifically, when the first integrated value ST1 or the second integrated value ST2 is a negative value, the control unit 52 subtracts a negative numerical value from the integrated value ST of the torque detection value T, When the value ST1 or the second integrated value ST2 is a positive value, the integrated value ST of the torque detection value T is subtracted by a positive numerical value.

- In 3rd Embodiment, the control part 52 may subtract integrated value ST according to the torque detection value T, after stopping the integration of the torque detection value T. FIG. For example, instead of the process of step S28 of FIG. 5, the process of step S91 of FIG. 9 is executed. In step S91, the control unit 52 subtracts the integrated value ST of the torque detection value T, and ends the process. Preferably, the controller 52 brings the integrated value ST of the torque detection value T closer to zero in step S71. Specifically, when the first integrated value ST1 or the second integrated value ST2 is a negative value, the control unit 52 subtracts a negative numerical value from the integrated value ST of the torque detection value T, When the value ST1 or the second integrated value ST2 is a positive value, the integrated value ST of the torque detection value T is subtracted by a positive numerical value.

When the operation of the brake device of the manpowered vehicle 10 or the operation of the operation unit for operating the brake device is detected after the torque detection value T becomes equal to or less than the threshold value TX, the control unit 52 stops the motor 46. can be

DESCRIPTION OF SYMBOLS 10... Human-powered vehicle 12... Crank 40... Driving device for human-powered vehicle 42... Drive unit 44... Output part 46... Motor 50... Control device for human-powered vehicle 52... Control part 56... Torque detection Section, 58... Crank angle detection section, 60... Elapsed time measurement section, 62... Crank rotation measurement section.

Claims (21)

When a torque detection value detected by a torque detection unit that detects human torque becomes equal to or less than a threshold value, integration of the torque detection value is started,
a control unit for controlling driving of a motor for assisting propulsion of the human-powered vehicle according to the integrated value of the torque detection value ;
A controller for a manpowered vehicle, wherein the threshold is a value less than or equal to zero . When a torque detection value detected by a torque detection unit that detects human torque becomes equal to or less than a threshold value, integration of the torque detection value is started,
a control unit for controlling driving of a motor for assisting propulsion of the human-powered vehicle according to the integrated value of the torque detection value;
The human-powered vehicle control device, wherein the threshold is set to a value that enables determination of a rider's intention to stop or decelerate the human-powered vehicle. 3. The controller for a manpowered vehicle according to claim 2 , wherein said threshold is a value less than or equal to zero. The threshold includes a first threshold,
4. The manpowered vehicle according to any one of claims 1 to 3, wherein the control unit stops the motor when the sum of the integrated values reaches a first integrated value after the total has become equal to or less than the first threshold value. control device. When a torque detection value detected by a torque detection unit that detects human torque becomes equal to or less than a threshold value, integration of the torque detection value is started,
a control unit for controlling driving of a motor for assisting propulsion of the human-powered vehicle according to the integrated value of the torque detection value;
The threshold includes a second threshold that changes according to the rotation phase of the crank of the manpowered vehicle,
The control device for a manpower-driven vehicle, wherein the control unit starts integration of the torque detection value when the value becomes equal to or less than the second threshold value. The threshold includes a second threshold that changes according to the rotation phase of the crank of the manpowered vehicle,
4. The control device for a manpowered vehicle according to claim 2 , wherein said control unit starts integrating said torque detection value when said torque becomes equal to or less than said second threshold value. 7. The controller for a manpowered vehicle according to claim 5 , wherein said control unit stops said motor when the sum of said integrated values reaches a second integrated value. further comprising a crank angle detection unit that detects a rotation angle of the crank of the manpowered vehicle;
8. The control device for a manpowered vehicle according to claim 1 , wherein said control section corrects said torque detection value according to a crank angle detection value of said crank angle detection section. When the torque detection value becomes greater than the threshold after the torque detection value becomes equal to or less than the threshold, or after the torque detection value becomes equal to or less than the threshold, the torque detection 5. The manpowered vehicle control device according to any one of claims 1 to 4, wherein when the value becomes larger than a third threshold different from the threshold, integration of the torque detection value is stopped. When the torque detection value becomes equal to or less than the threshold value after stopping the integration of the torque detection value, the control unit integrates the torque detection value so as to further integrate the torque detection value. A controller for a manpowered vehicle according to claim 9 . After the torque detection value becomes equal to or less than the second threshold value, the control unit controls the torque detection value when the torque detection value becomes greater than the second threshold value, or when the torque detection value becomes equal to or less than the second threshold value. 7. The controller for a manpowered vehicle according to claim 5 or 6 , wherein when the detected torque value becomes larger than a fourth threshold value different from the second threshold value after the torque detection value is detected, the integration of the detected torque value is stopped. The control unit integrates the torque detection value so as to further integrate the torque detection value when the torque detection value becomes equal to or less than the second threshold value after stopping the integration of the torque detection value. The controller for a manpowered vehicle according to claim 11 . The manpowered vehicle control device according to any one of claims 9 to 12, wherein the control unit subtracts the integrated value according to the detected torque value after stopping integration of the detected torque value. . The manpower - driven vehicle according to any one of claims 9 to 13, wherein the control unit sets the integrated value to zero according to the detected torque value after stopping the integration of the detected torque value. Control device. The integrated value is obtained by cumulatively adding a value obtained by integrating an area formed between the time change of the torque detection value and the threshold value, and a value obtained by subtracting the threshold value from the torque detection value. and a value obtained by cumulatively adding the detected torque values. When a torque detection value detected by a torque detection unit that detects human torque becomes equal to or less than a threshold, calculating the total amount of rotation of the crank of the human-powered vehicle while the value equal to or less than the threshold is continuously detected,
A controller for a manpowered vehicle, comprising a control unit for controlling a motor for assisting propulsion of the manpowered vehicle according to the total amount of rotation of the crank. When the torque detection value becomes equal to or greater than the threshold after the torque detection value becomes equal to or less than the threshold, or after the torque detection value becomes equal to or less than the threshold, the torque detection value 17. The controller for a manpowered vehicle according to claim 16 , wherein the total amount of rotation of the crank is either subtracted or reset when is greater than a third threshold different from the threshold. The control unit
when the torque detection value becomes equal to or less than the threshold, calculating a cumulative period during which the torque value equal to or less than the threshold is continuously detected;
18. The controller for a manpowered vehicle according to claim 16 or 17 , wherein said motor is controlled according to said accumulation period. When the torque detection value becomes equal to or greater than the threshold after the torque detection value becomes equal to or less than the threshold, or after the torque detection value becomes equal to or less than the threshold, the torque detection value 19. A controller for a manpowered vehicle as claimed in claim 18 , wherein the accumulation period is one of decremented or reset when the time is greater than a third threshold different from the threshold. 20. A controller for a manpowered vehicle according to any one of claims 16 to 19 , wherein said threshold is a value less than or equal to zero. a control device for a manpowered vehicle according to any one of claims 1 to 20;
When the crank of the manpowered vehicle rotates in the first crank rotation direction, it rotates in the first output section rotation direction, and the crank rotates in the second crank rotation direction opposite to the first crank rotation direction. a drive unit comprising an output coupled to said crank for rotation in a second output rotation direction opposite to said first output rotation direction, if any.

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