CN105936318A - Two-wheel vehicle - Google Patents
Two-wheel vehicle Download PDFInfo
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- CN105936318A CN105936318A CN201610086217.8A CN201610086217A CN105936318A CN 105936318 A CN105936318 A CN 105936318A CN 201610086217 A CN201610086217 A CN 201610086217A CN 105936318 A CN105936318 A CN 105936318A
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- sliding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to a two-wheel vehicle. According to the invention, torque generated by human labor and torque generated by an electric motor are transmitted to wheels like an electric bicycle and skidding is detected at a low cost. In the two-wheel vehicle (10), a vehicle speed sensor (14) detects rear wheel rotation speed (Vrr). The skid detection unit (36) detects skid of the two-wheel vehicle (10) in a condition that the rear wheel rotation speed (Vrr) increases with the lapse of time and the load rate (Dt) of control signals supplied to a motor drive circuit (32) does not change and when the rear wheel rotation speed (Vrr) is increased to a rotation speed threshold value (Vbs).
Description
Technical field
The torque that the present invention relates to torque and the electro-motor generation produced by manpower is delivered to wheel
The cart travelled.
Background technology
In patent documentation 1, disclose the speed of the rotary speed of the rotary speed from front-wheel and trailing wheel
The sliding of difference detection motorcycle, reports generation sliding to driver, meanwhile, carries out and sliding phase occurs
The output of corresponding electromotor controls.
[patent documentation 1] Japanese Unexamined Patent Publication 2012-206550 publication
The detection sliding technology of patent documentation 1 is applicable to electric bicycle occasion, becomes detection front-wheel
Rotary speed and the rotary speed of trailing wheel, accordingly, it would be desirable to multiple velocity sensor, there is cost and become
High problem.
Summary of the invention
Then, it is an object of the invention to, in the torque produced as electric bicycle, by manpower
And the torque that electro-motor produces is delivered in the cart of wheels travel, it is provided that can examine with low cost
Survey the cart of sliding.
The cart (10) that the present invention relates to is the torque produced by manpower and electro-motor (18) product
The cart (10) that raw torque is delivered to wheel (22) and travels, it has the feature that
Fisrt feature: above-mentioned cart (10) including:
Wheel speed detector (14), detects the car of the wheel (22) that above-mentioned each torque is passed
Wheel speed (Vrr)；And
Sliding detector unit (36), according to above-mentioned wheel velocity (Vrr) upper with time process
Rise, and relative time is not changed in through the output of above-mentioned electro-motor (18), detects above-mentioned two
The sliding of wheel car (10).
Second feature: above-mentioned cart (10) farther includes to control above-mentioned electro-motor (18)
The motor output control unit (34) of output.This occasion, said motor output control unit (34)
When above-mentioned sliding detector unit (36) detects above-mentioned sliding, by above-mentioned electro-motor will be supplied
(18) rate of load condensate (Dt) of control signal is set as 0% so that above-mentioned electro-motor (18)
Output stop.
Third feature: above-mentioned cart (10) farther includes to export involution identifying unit (38),
Judge above-mentioned sliding detected after, with above-mentioned wheel speed detector (14) detect up-to-date
Whether wheel velocity (Vrr) slows down until above-mentioned wheel velocity (Vbs) when sliding being detected.And
And, above-mentioned output involution identifying unit (38) is judged to that above-mentioned up-to-date wheel velocity (Vrr) subtracts
Speed is until above-mentioned wheel velocity (Vbs) occasion when sliding being detected, and said motor output controls single
The unit (34) rate of load condensate (Dtbs) when detecting for above-mentioned sliding, be multiplied by the range of 0～1 is any
Output suppression ratio (X), obtained value is set as new rate of load condensate (Dtbs X), will set
The control signal of fixed above-mentioned new rate of load condensate (Dtbs X) supplies above-mentioned electro-motor (18).
Fourth feature: above-mentioned electro-motor (18) is initially supplied above-mentioned new rate of load condensate (Dtbs X)
Control signal after, if above-mentioned output involution identifying unit (38) is judged to above-mentioned up-to-date wheel speed
Degree (Vrr) rises until above-mentioned wheel velocity (Vbs) occasion when sliding being detected, said motor
Output control unit (34) releases the limit of the rate of load condensate (Dt) using above-mentioned output suppression ratio (X)
System, in the control signal supply of the rate of load condensate (Dt) during the usual action above-mentioned sliding not occurred
State electro-motor (18).
The effect of the present invention is described below:
In accordance with the first feature of the invention, the wheel being passed with wheel speed detector detection torque
Wheel velocity, according to the rising of wheel velocity with time process, and the output of electro-motor
Relative time is through being not changed in, and sliding detector unit detects the sliding of cart.If that is, electronic horse
Reach output certain, then wheel velocity becomes certain speed, on the other hand, although electro-motor output one
Fixed, if the wheel velocity detected with wheel speed detector with the time through rising, the most permissible
There is sliding in easily detection, or has the probability of sliding.
So, in fisrt feature, and detect the rotary speed of front-wheel and trailing wheel respectively, according to detection
To the technology of patent documentation 1 of each Bus-Speed Monitoring sliding compare, the biography of detection wheel velocity can be reduced
The number of sensor, can low cost and carry out sliding detection simply.
In the present invention, so-called " sliding being detected " and " detection of sliding " is to comprise to detect two
The sliding of wheel car actually occurs occasion, and sliding possibility occurrence will be detected before there is sliding
The concept of occasion.
According to the second feature of the present invention, if sliding detector unit detects sliding, then by control signal
Rate of load condensate be set as 0% so that electro-motor output stop.Thus, traction control can be carried out rapidly
System so that wheel velocity slows down, accordingly, it is capable to prevent sliding, even if or there is sliding, also
Its impact can be reduced.
According to the third feature of the present invention, if up-to-date wheel velocity slows down until when sliding being detected
Wheel velocity, then rate of load condensate when sliding being detected will be multiplied by 0～1 model by motor output control unit
The control signal enclosing the new rate of load condensate obtained by interior arbitrary output suppression ratio supplies electro-motor.
So, by the rate of load condensate of the control signal of supply electro-motor is limited to new rate of load condensate, electronic
The output of motor reduces than output when sliding being detected.Thus, being avoided that sliding occurs again (can
Energy property).
According to the fourth feature of the present invention, after being limited to new rate of load condensate, if on up-to-date wheel velocity
Rise until wheel velocity when sliding being detected, then motor output control unit discharges the limit of rate
System so that drive electro-motor with the control signal of rate of load condensate during usual action.Its result, can be fast
Make cart involution to usual action fastly.
Accompanying drawing explanation
Fig. 1 is the schematic block diagram of the cart that this embodiment relates to.
Fig. 2 is the flow chart of the action representing this embodiment.
Fig. 3 is the time dependent time diagram representing trailing wheel rotary speed.
In figure, symbolic significance is as follows:
10-cart
14-vehicle speed sensor (vehicle-wheel speed sensor)
16-PDU
18-motor (electro-motor)
22-trailing wheel (driving wheel)
30-CPU
32-motor drive circuit
34-motor output control unit
36-sliding detector unit
38-exports involution identifying unit
Dt, Dtbs-rate of load condensate (duty)
Vbs-rotary speed threshold value (wheel velocity)
Vrr-trailing wheel rotary speed (wheel velocity)
X-exports suppression ratio
Detailed description of the invention
About the cart that the present invention relates to, enumerate preferable embodiment, referring to the drawings, on one side
Elaborate below.
[composition of this embodiment]
Fig. 1 is the schematic block diagram of the cart 10 that this embodiment relates to, and cart 10 is the most applicable
In electric bicycle.The structure of electric bicycle is known (referring for example to Japanese Unexamined Patent Publication 6-156360
Number publication), the detailed description accordingly, with respect to this structure is omitted.
Cart 10 includes throttle sensor (APS) 12, vehicle speed sensor (wheel velocity
Sensor) 14, PDU16, and motor (electro-motor) 18.
APS12 gradually detects the accelerator open degree amount of the operational ton as oil door handle 20 of driver,
Would indicate that the analogue signal of testing result exports to PDU16.Vehicle speed sensor 14 is at cart
10 as in the wheel of the trailing wheel 22 of driving wheel, be located at as wheel inner motor (In-wheel motor)
Motor 18 in the vehicle speed sensor of Hall integrated circuit etc..Vehicle speed sensor 14 gradually detect with
The rotary speed that the revolution (trailing wheel revolution N) of the axletree 24 of trailing wheel 22 is corresponding is (fast as wheel
Trailing wheel rotary speed Vrr of degree), would indicate that the pulse signal of trailing wheel rotary speed Vrr detected to
PDU16 exports.
PDU16 revolves according to the accelerator open degree amount from APS12 and the trailing wheel from vehicle speed sensor 14
Rotary speed Vrr, generates the control signal for controlling motor 18, according to the control signal control generated
Motor 18 processed.Torque, by being driven according to the control from PDU16, is transmitted by motor 18
To axletree 24 so that trailing wheel 22 rotates.
Because driver's pedal manpower is delivered to the torque of axletree 24, and it is used for assisting driver
Motor 18 be delivered to the torque of axletree 24 by rotation, trailing wheel 22 rotates, and can make cart
10 travel.
PDU16 includes A/D input circuit 26, rotor sensor correction circuit 28, CPU30, with
And motor drive circuit 32.Also, CPU30 is opened by the program being stored in not shown storage part
Dynamic, it is achieved motor output control unit 34, sliding detector unit 36 and output involution judge single
The function of unit 38.
The analogue signal of the accelerator open degree amount inputted from APS12 is transformed to number by A/D input circuit 26
Word signal exports to PDU16.Rotor sensor correction circuit 28 is for from vehicle speed sensor 14
The pulse signal of trailing wheel rotary speed Vrr, impose the set of processing and amplifying and waveform shaping etc.
Signal processing, exports to CPU30.
The motor output control unit 34 of CPU30 generates and accelerator open degree amount and trailing wheel rotary speed
The control signal of rate of load condensate Dt that Vrr is corresponding, exports to motor drive circuit 32.Motor drives
Circuit 32 is the phase inverter of such as three-phase, and the switch element of internal FET etc. is according to control signal
Rate of load condensate Dt be switched on or switched off, by the winding of the motor 18 of drive voltage supply three-phase so that should
Motor 18 rotates.
The sliding detector unit 36 of CPU30 is according to trailing wheel rotary speed Vrr and rate of load condensate Dt, it is determined that
Whether there is the sliding of cart 10, or whether there is the probability that sliding occurs.Sliding detection is single
Unit 36 detects that rate of load condensate Dt is set as 0% by sliding occasion, motor output control unit 34,
The control signal supply motor drive circuit 32 of rate of load condensate Dt by setting so that motor 18
Driving stop.
In this embodiment, so-called " sliding being detected " and " detection of sliding " comprises and detects
The sliding of cart 10 actually occurs occasion, and can detecting sliding generation before there is sliding
The occasion of energy property.Also, cart 10 is at the little road of coefficientoffrictionμ, such as snow road or road
When travelling on the road that face is freezed, easily there is sliding.
If after sliding being detected by sliding detector unit 36, trailing wheel rotary speed Vrr is slowed down until making
Rotary speed threshold value Vbs of trailing wheel rotary speed when detecting for sliding, then output involution identifying unit
38 judge that cart 10 is deviate from from slip state.Rate of load condensate Dt is set by motor output control unit 34
It is set to the arbitrary value in the range of 0%～100%, the control signal supply motor of rate of load condensate Dt will be limited
Drive circuit 32.
Also, when limiting rate of load condensate Dt occasion, if trailing wheel rotary speed Vrr rises until rotary speed
Threshold value Vbs, then output involution identifying unit 38 judges that the probability that sliding occurs is low, it is determined that Ying Cong
Action involution under rate of load condensate limits is to usual action.Motor output control unit 34 is by rate of load condensate
Dt is set as 100%, by the control signal supply motor drive circuit 32 corresponding with usual action.
The traveling action of the cart 10 when so-called generally action refers to not occur sliding, such as,
The traveling action of Dt=100%.
[action of this embodiment]
The cart 10 that this embodiment relates to is constituted as previously discussed, about its action, ginseng
According to Fig. 2 and Fig. 3 while explanation.In this explanation, illustrate also referring to Fig. 1 as required.
In cart 10, because of the torque of the motor 18 corresponding with accelerator open degree amount, and by driving
The torque that the person's of sailing manpower produces, trailing wheel 22 rotates, therefore, when there is not the usual action of sliding,
As shown in Fig. 3 chain lines, relative time process, trailing wheel rotary speed Vrr slowly rises.
In contrast, sliding occasion occurring, as shown by the solid line, compares during with usual action, trailing wheel revolves
Rotary speed Vrr passes through with the time and steeply rises.That is, there is sliding occasion, even if driver stops
Pedal operates, and trailing wheel 22 is still with inertia traveling, and therefore, trailing wheel rotary speed Vrr rises.
Then, in the cart 10 that this embodiment relates to, by carrying out the flow process shown in Fig. 2
Figure, simply detection sliding occur, it is to avoid sliding occur, even if or occur sliding, also can reduce it
Impact.
That is, in step S1 of Fig. 2, the motor output control unit 34 of CPU30 is according to from APS12
By the accelerator open degree amount of A/D input circuit 26 input, and from vehicle speed sensor 14 by turning
Trailing wheel rotary speed Vrr of sub-sensor correction circuit 28 input, rate of load condensate Dt set by generation
The control signal of (such as, Dt=100%), exports to motor drive circuit 32.
Set, according to the control signal ON switch element of input, is driven by motor drive circuit 32
Galvanic electricity pressure supply motor 18.Motor 18 is driven by driving voltage, transmits torque to axletree 24, makes
Obtain trailing wheel 22 to rotate.Thus, in cart 10, carry out the manpower rear wheel by driver
The usual action that the torque of 22 is transmitted and transmitted from the torque of motor 18 rear wheel 22 and travels.
In step s 2, sliding detector unit 36 judges whether trailing wheel rotary speed Vrr rises.When
Trailing wheel rotary speed Vrr is certain speed or deceleration occasion ("No" of step S2), and sliding detects
Unit 36 judges, at cart 10, sliding does not occur.Motor output control unit 34 accepts sliding
The result of determination of detector unit 36, the control signal of Dt=100% is defeated to motor drive circuit 32
Go out so that generally action continues.
Trailing wheel rotary speed Vrr rises occasion ("Yes" of step S2), and sliding detector unit 36 exists
Hereafter step S3 judging, whether rate of load condensate Dt passes through change with the time.Rate of load condensate Dt is adjoint
Time change occasion ("Yes" of step S3), sliding detector unit 36 judges according to rate of load condensate Dt
Change, trailing wheel rotary speed Vrr rises.Motor output control unit 34 accepts sliding detector unit
The result of determination of 36 so that the usual action of step S1 continues.
Rate of load condensate Dt is not changed in occasion ("No" of step S3), sliding detector unit with the time
Although 36 are not changed in the time due to rate of load condensate Dt, trailing wheel rotary speed Vrr rises,
Therefore, it is determined that cart 10 has the probability of sliding, or has just in the probability of sliding.Tool
Saying, in the time diagram of Fig. 3, trailing wheel rotary speed Vrr is passed through with the time and is risen body, and
Dt=100% occasion, if at the moment t1 of Fig. 3, trailing wheel rotary speed Vrr reaches set rotation
Threshold speed Vbs, then sliding detector unit 36 detects that sliding occurs.
In next step S4, motor output control unit 34 accepts sentencing of sliding detector unit 36
Determining result, be set as Dt=0%, the control signal after setting exports to motor drive circuit 32.
Thus, switch element, according to the control signal of input, is set to disconnect, stops by motor drive circuit 32
Only supply driving voltage to motor 18.
In from moment t1 to the time-bands of moment t2, it is cause because there is sliding, cart 10
Inertia traveling, trailing wheel rotary speed Vrr is further up.This occasion, motor 18 stops driving rotation
Turning, stop transmitting torque to axletree 24, on the other hand, driver experiences generation sliding, interrupts
Pedal operates, and trailing wheel rotary speed Vrr is slowed down.
In step s 5, output involution identifying unit 38 judges that vehicle speed sensor 14 detects
Whether new trailing wheel rotary speed Vrr slows down until rotary speed threshold value Vbs.Trailing wheel rotary speed
Vrr does not slow down until rotary speed threshold value Vbs occasion ("No" of step S5), exports involution
Identifying unit 38 is judged to that slip state continues.Motor output control unit 34 accepts output involution and sentences
The result of determination of cell 38, continues defeated to motor drive circuit 32 for the control signal of Dt=0%
Go out.
On the other hand, at Fig. 3 moment t2, trailing wheel rotary speed Vrr is slowed down until rotary speed threshold value
Vbs occasion ("Yes" of step S5), output involution identifying unit 38 judges that cart 10 is from cunning
Shifting state is deviate from.
In next step S6, motor output control unit 34 accepts output involution identifying unit 38
Result of determination, to moment t1 sliding detect time rate of load condensate Dtbs, in the range of being multiplied by 0～1
Arbitrary output suppression ratio X, obtained Dtbs X is set as new rate of load condensate Dt
(Dt=Dtbs X).Then, the control signal of Dt=Dtbs X is defeated to motor drive circuit 32
Go out.
That is, the control signal of rate of load condensate Dtbs (Dtbs=100%) during output sliding detection so that
Motor 18 drives occasion, has the probability of sliding again.Therefore, motor output control unit 34
Generate the control signal of rate of load condensate Dt (such as, X=0.8, Dt=80%) lower than rate of load condensate Dtbs.
Motor drive circuit 32, will according to rate of load condensate Dt confined control signal ON switch element
Drive voltage supply motor 18.Its result, motor 18 is driven in rotation because of driving voltage, and two take turns
Car 10 involution to sliding occur before state.But, due to bearing when rate of load condensate Dt detects than sliding
Lotus rate Dtbs is little, therefore, and turning when being delivered to the torque ratio sliding detection of axletree 24 from motor 18
Square is little.
In the step s 7, output involution identifying unit 38 judges that vehicle speed sensor 14 detects
Whether new trailing wheel rotary speed Vrr rises to rotary speed threshold value Vbs.Output involution identifying unit
38 judge trailing wheel rotary speeies Vrr do not rise to rotary speed threshold value Vbs occasion (step S7
"No"), motor output control unit 34 accepts this result of determination, the again place of steps performed S6
Reason, is set as new rate of load condensate Dt (Dt=Dtbs X).
This occasion, output suppression ratio X is set as than the step in last time by motor output control unit 34
The value high for output suppression ratio X set in the process of rapid S6, by the output suppression ratio X of new settings
It is multiplied by rate of load condensate Dtbs, sets new rate of load condensate Dt.That is, in CPU30, output is made
The value of suppression ratio X rises, and the process of step S6 and S7 is repeated, until Vbs=Vrr.
Then, at moment t3, up-to-date trailing wheel rotary speed Vrr rises to rotary speed threshold value Vbs
Occasion ("Yes" of step S7), output involution identifying unit 38 judges to occur the probability of sliding
Low, it is determined that should be from the action involution rate of load condensate limits to usual action.
In next step S8, motor output control unit 34 accepts output involution identifying unit 38
Result of determination, be set as Dt=100%, the control signal of rate of load condensate Dt of setting driven to motor
Galvanic electricity road 32 exports.
Motor drive circuit 32 is according to the control signal ON switch element of input, by Dt=100%'s
Drive voltage supply motor 18.Its result, torque during usual action is delivered to axletree by motor 18
24 so that trailing wheel 22 rotates.So, from the confined status releasing of rate of load condensate Dt, accordingly, it is capable to
Make the complete involution of cart 10 to usual state.
[effect of this embodiment]
As described above, the cart 10 related to according to this embodiment, use vehicle speed sensor
Trailing wheel rotary speed Vrr of the trailing wheel 22 that 14 detection torques are passed, according to time process
The rising of trailing wheel rotary speed Vrr, and rate of load condensate Dt relative time is through being not changed in, sliding
Detector unit 36 detects the sliding of cart 10.That is, if motor 18 exports necessarily, then trailing wheel rotation
Rotary speed Vrr becomes certain speed, on the other hand, although motor 18 exports necessarily, if the speed of using
Trailing wheel rotary speed Vrr that sensor 14 detects is passed through with the time and is risen, then can be easily
There is sliding in detection, or has the probability of sliding.
So, in this embodiment, and detect the rotary speed of front-wheel and trailing wheel respectively, according to inspection
The technology of the patent documentation 1 of each Bus-Speed Monitoring sliding measured is compared, and can reduce detection wheel velocity
The number of the sensor of (trailing wheel rotary speed Vrr), can low cost and carry out sliding detection simply.
Also, in this embodiment, if sliding detector unit 36 detects sliding, then control is believed
Number rate of load condensate Dt be set as 0% so that motor 18 output stop.Thus, can carry out rapidly and lead
Draw control so that trailing wheel rotary speed Vrr is slowed down, accordingly, it is capable to prevent sliding, even if or
There is sliding, also can reduce its impact.
Further, in this embodiment, if up-to-date trailing wheel rotary speed Vrr is slowed down until rotating speed
Degree threshold value Vbs, then rate of load condensate Dtbs when sliding being detected will be taken advantage of by motor output control unit 34
With new rate of load condensate Dt (=Dtbs X) obtained by the arbitrary output suppression ratio X in the range of 0～1
Control signal supply motor 18.So, by the rate of load condensate by the control signal of supply motor 18
Dt is limited to new rate of load condensate Dt, and when the output ratio of motor 18 detects sliding, output reduces.Thus,
It is avoided that sliding occurs (probability) again.
Further, according to this embodiment, after being limited to new rate of load condensate Dt, if up-to-date trailing wheel rotation
Rotary speed Vrr rises until rotary speed threshold value Vbs, then motor output control unit 34 releases negative
Lotus rate Dt limits so that drive motor 18 with the control signal of rate of load condensate Dt during usual action.
Its result, can promptly make cart 10 involution to usual action.
By constituting the cart 10 that this embodiment relates to as described above, also can obtain following
Effect.
In cart 10, it is set to sensor only vehicle speed sensor 14 of necessity.Vehicle speed sensor
14 at various carts equipments such as electronic auxiliary carts, therefore, when these carts are suitable for this reality
When executing form, need not add parts at hardware aspect.Also, sliding detects or rotates based on trailing wheel
It is soft that the driving force of the motor 18 of speed Vrr and sliding detection controls by suitably change CPU30
Part (program) can realize.
Therefore, in this embodiment, only to the finished car such as existing electrically assisted bicycle work office
Portion sets change, can be achieved with cart 10.Accordingly, it is capable to low cost carry out sliding detection and
Driving force control for the motor 18 that sliding occurs.
Also, in this embodiment, by cart 10 configured as described above, at coefficient of frictionμ
When travelling on the road that little road, such as snow road or road surface freeze, if sliding being detected, then
Carry out rapidly traction control.Its result, is avoided that sliding occurs, even if or occur sliding, also can press down
Make its impact.So, in this embodiment, even if can be with leading that carriage is also adopted by by low cost
Draw control technology and be mounted in the cart of electric bicycle etc., accordingly, it is capable to improve cart 10 to Gu
The captivation of visitor.
Preferable embodiment used above illustrates the present invention, but the technical scope of the present invention does not limit
Record scope for above-mentioned embodiment.Those skilled in the art it should be understood that and can enter above-mentioned embodiment
The various change of row or improvement.The form of such change or improvement also can be included in the present invention in addition
Technical scope, this is knowable to claims are recorded.Also, the parenthesized symbol that claims are recorded
Number being in order to the present invention easy to understand marks according to symbol in accompanying drawing, the present invention not limited interpretation was for should
Key element represented by symbol.
Claims (4)
1. a cart (10), what the torque produced by manpower and electro-motor (18) produced turns
Square is delivered to wheel (22) and travels, and above-mentioned cart (10) is characterised by, including:
Wheel speed detector (14), detects the car of the wheel (22) that above-mentioned each torque is passed
Wheel speed (Vrr)；And
Sliding detector unit (36), according to above-mentioned wheel velocity (Vrr) upper with time process
Rise, and relative time is not changed in through the output of above-mentioned electro-motor (18), detects above-mentioned two
The sliding of wheel car (10).
2. according to the cart (10) described in claim 1, it is characterised in that:
Farther include to control the motor output control unit (34) of the output of above-mentioned electro-motor (18)；
Said motor output control unit (34) detects above-mentioned when above-mentioned sliding detector unit (36)
During sliding, set by the rate of load condensate (Dt) that will supply the control signal of above-mentioned electro-motor (18)
It is 0% so that the output of above-mentioned electro-motor (18) stops.
3. according to the cart (10) described in claim 2, it is characterised in that:
Farther include export involution identifying unit (38), above-mentioned sliding detected after, it is determined that use
State whether the up-to-date wheel velocity (Vrr) that wheel speed detector (14) detects slows down directly
To above-mentioned sliding detected time wheel velocity (Vbs)；
Above-mentioned output involution identifying unit (38) is judged to that above-mentioned up-to-date wheel velocity (Vrr) subtracts
Speed is until above-mentioned wheel velocity (Vbs) occasion when sliding being detected, and said motor output controls single
Unit (34) for above-mentioned sliding detected time rate of load condensate (Dtbs), be multiplied by appointing in the range of 0～1
The output suppression ratio (X) of meaning, is set as new rate of load condensate (Dtbs X) by obtained value, will
The control signal of the above-mentioned new rate of load condensate (Dtbs X) set supplies above-mentioned electro-motor (18).
4. according to the cart (10) described in claim 3, it is characterised in that:
Above-mentioned electro-motor (18) is initially supplied the control of above-mentioned new rate of load condensate (Dtbs X)
After signal, if above-mentioned output involution identifying unit (38) is judged to above-mentioned up-to-date wheel velocity (Vrr)
Rising until above-mentioned wheel velocity (Vbs) occasion when sliding being detected, said motor output controls
Unit (34) releases the restriction of the rate of load condensate (Dt) using above-mentioned output suppression ratio (X), by upper
The control signal of the rate of load condensate (Dt) when stating the usual action that sliding do not occurs supplies above-mentioned electronic horse
Reach (18).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015039828A JP6219326B2 (en) | 2015-03-02 | 2015-03-02 | Motorcycle |
| JP2015-039828 | 2015-03-02 |
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| Publication Number | Publication Date |
|---|---|
| CN105936318A true CN105936318A (en) | 2016-09-14 |
| CN105936318B CN105936318B (en) | 2018-06-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610086217.8A Active CN105936318B (en) | 2015-03-02 | 2016-02-15 | Cart |
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| Country | Link |
|---|---|
| JP (1) | JP6219326B2 (en) |
| CN (1) | CN105936318B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107128428A (en) * | 2016-02-29 | 2017-09-05 | 株式会社岛野 | Bicycle control and bicycle drive unit |
| CN108860444A (en) * | 2017-05-09 | 2018-11-23 | 摩特动力工业股份有限公司 | ECVT system and control method thereof |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107070349B (en) * | 2017-04-24 | 2020-07-03 | 太仓市悦博电动科技有限公司 | Motor control method, motor control device and electric bicycle |
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| CN1773219A (en) * | 2004-11-11 | 2006-05-17 | 丰田自动车株式会社 | Sliding decising device and sliding decising method and vehicle |
| CN101600618A (en) * | 2007-02-02 | 2009-12-09 | 丰田自动车株式会社 | The control method of moving body and moving body |
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| JP2014128994A (en) * | 2012-12-28 | 2014-07-10 | Bridgestone Cycle Co | Motor assist bicycle |
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| JP2002166873A (en) * | 2000-12-01 | 2002-06-11 | Tokyo R & D Co Ltd | Controller for motor driven two-wheeler |
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| JP2004142634A (en) * | 2002-10-25 | 2004-05-20 | Sanyo Electric Co Ltd | Battery-assisted bicycle |
| JP2004243921A (en) * | 2003-02-14 | 2004-09-02 | Yamaha Motor Co Ltd | Auxiliary power control device for of motor-assisted vehicle |
| CN1773219A (en) * | 2004-11-11 | 2006-05-17 | 丰田自动车株式会社 | Sliding decising device and sliding decising method and vehicle |
| CN101600618A (en) * | 2007-02-02 | 2009-12-09 | 丰田自动车株式会社 | The control method of moving body and moving body |
| JP2012166873A (en) * | 2011-02-10 | 2012-09-06 | Sumitomonacco Materials Handling Co Ltd | Reach type forklift |
| JP2014128993A (en) * | 2012-12-28 | 2014-07-10 | Bridgestone Cycle Co | Motor assist bicycle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107128428A (en) * | 2016-02-29 | 2017-09-05 | 株式会社岛野 | Bicycle control and bicycle drive unit |
| CN107128428B (en) * | 2016-02-29 | 2020-11-17 | 株式会社岛野 | Bicycle control device and bicycle drive device |
| CN108860444A (en) * | 2017-05-09 | 2018-11-23 | 摩特动力工业股份有限公司 | ECVT system and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2016159754A (en) | 2016-09-05 |
| CN105936318B (en) | 2018-06-05 |
| JP6219326B2 (en) | 2017-10-25 |
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