EP3601026A1 - Verfahren und steuergerät zur steuerung eines motorantriebs - Google Patents
Verfahren und steuergerät zur steuerung eines motorantriebsInfo
- Publication number
- EP3601026A1 EP3601026A1 EP18717245.7A EP18717245A EP3601026A1 EP 3601026 A1 EP3601026 A1 EP 3601026A1 EP 18717245 A EP18717245 A EP 18717245A EP 3601026 A1 EP3601026 A1 EP 3601026A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- manual
- motor drive
- movement
- force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K3/00—Bicycles
- B62K3/002—Bicycles without a seat, i.e. the rider operating the vehicle in a standing position, e.g. non-motorized scooters; non-motorized scooters with skis or runners
-
- 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
Definitions
- the invention relates to a method for controlling a motor drive, a
- Control unit for carrying out the method and a vehicle with the
- Control unit The subject of the present invention is also a
- Control devices are known, for example, for electrically assisted
- the scooter is driven by an executed by means of a foot of the driver repulsion. Subsequently, a arranged on the scooter motor drive means of the control device is automatically controlled such that the scooter keeps the speed after the repulsion movement for a certain period of time constant or a decrease in the
- a scooter with an electric motor is known, wherein the electric motor is designed to support by means of a driving force acceleration of the scooter during a repelling movement with a foot of a driver.
- Motor drive a driven by means of a manual repulsion movement
- the sensor signal represents at least one value of a characteristic of the manual repulsion movement
- Target value of the final speed of the manual repulsion movement is.
- the subject matter of the present invention is furthermore a control device for carrying out the method, a vehicle with the control device, a motor drive and at least one sensor element and a computer program.
- a method for controlling a motor drive can be understood as a control method for a motor drive.
- the steps of the method can be performed, for example, by means of a computer program set up for this purpose on a control unit.
- motor drive which is adapted to transmit an engine power to a vehicle or to apply an engine power to a vehicle. Under an engine power can under the present
- Motor drive is designed to transmit a drive force to the vehicle by means of a drive torque and / or a braking force to the vehicle by means of a braking torque.
- the motor drive is designed, the
- the motor drive may be, for example, an electric motor or an internal combustion engine.
- the motor drive is designed, a
- manual drive movement in particular a manual repelling movement, by means of a drive torque to assist motor and / or a
- a manual repulsive movement can be understood to mean a repulsive or suppressive movement of a person with his or her body or with a body part on a surface.
- the body part may be, for example, a foot or a hand.
- the area may be the area on which the vehicle is moving,
- the vehicle may be designed as a scooter.
- the manual repulsion movement is preferably performed with the foot, that is, in other words, as a pedestrian repulsion movement.
- the repelling takes place on a surface such as a pedal or a handrim.
- the vehicle may, for example, also be a bicycle or a wheelchair.
- the repelling takes place for example on a water surface or in the water, so that the vehicle can also be a pedalo or a rowing boat.
- a sensor signal can be understood to mean an analog or digital signal which is designed to transmit information.
- the signal can be sent by a sensor and by a sensor
- Control unit be receivable.
- the sensor signal may be composed of the signals of various sensors.
- the sensor signal can be processed by signal processing.
- an end speed of a manual repulsion movement can be understood as meaning the speed of the vehicle when the manual repulsion movement ends.
- the final velocity of the manual repulsion motion may be the maximum velocity during the manual repulsion movement.
- Repelling motion may be a defined value of
- Memory unit of a control unit is stored. It is conceivable that too
- the determined target value of the end velocity may be the value of the end velocity which, in the case of an analogously executed characteristic manual
- Repelling movement is achieved with the motor drive deactivated. It is also conceivable that the determined target value of the end velocity is smaller than the value of
- Final speed is, which is achieved with an analogously executed characteristic manual repulsion movement with deactivated motor drive.
- Vehicle is assisted during the manual repulsion movement by means of the engine power.
- a target value of the final speed of the manual repulsion movement is determined by means of a parameter of the manual repulsion movement and the motor drive is controlled such that the value achieved by means of the manual repulsion movement and the engine power
- Final speed of the manual repulsion movement is equal to the determined target value of the final speed of the manual repulsion movement.
- Repelling movement achieved operating state of the engine drive is the midteis of the method achieved final speed of the vehicle greater than or equal to or less than in a executed by the driver with deactivated motor drive manual repulsion movement. Consequently, the inventive method and the control unit according to the invention optionally allow a less physically strenuous, comfortable or a sporty, physical fitness training locomotion with the vehicle.
- the motor drive is put into an operating state in which the motor drive during the manual repulsion movement a driving force applied to the vehicle to assist an acceleration of the vehicle in the manual repulsion movement by means of the driving force.
- This configuration allows the driver to achieve the determined ornamental value of the end speed of the manual repulsion movement due to the additional driving force of the motor drive with less effort.
- the driver can achieve a higher end speed in the manual repulsion motion than in a manual repulsion motion without
- Repelling movement is a typically achievable with such a manual repulsion movement change in the speed of the vehicle can be determined.
- the motor drive can be controlled such that the to achieve the
- Speed change necessary energy is applied to a first portion of the driver of the vehicle and to a second portion of the motor drive.
- the control unit is programmable such that, for example, in a comfort mode, the proportion of energy to be applied by the driver is significantly smaller than the energy to be applied by the motor drive. It is also conceivable that the control unit is programmable such that, for example, in a
- Initial range of the manual repulsion movement is received. It is conceivable that immediately after a detection of a manual repulsion movement, for example by means of the sensor signal, a control signal is transmitted to the motor drive to enable the motor drive in an operating state in which the motor drive applies an engine power to the vehicle. This allows the motor drive to apply an engine force to the vehicle for as long a period as possible during the manual repulsion movement to achieve the determined target value of the end speed of the manual repulsion movement.
- the sensor signal is at least one element
- Spatial axis can be understood in the context of the present invention, a rotation axis, in particular a roll axis, a pitch axis or a yaw axis.
- the vehicle By pushing away from a surface of the vehicle, the vehicle accelerates and increases its speed.
- the beginning of the manual repulsion movement can be determined, for example, from the fact that the
- Speed increases. It is also conceivable that the driver tilts at least a part of the vehicle about a spatial axis and / or the driver shifts his body weight on the vehicle, in particular away from a distribution of the body weight during a manual repulsion movement temporally upstream coasting phase of the vehicle.
- the manual repulsion movement is stopped by the driver of the vehicle by returning his body or a body part to a starting position similar to a position before the manual repulsion movement.
- the completion of the manual repulsion movement can be detected, for example, by the fact that the acceleration changes its mathematical sign and / or the
- the driver can choose by a manual version chosen by him
- Course represents, in the method detects a manual repulsion movement and different manual repulsion movements are distinguished from each other. This makes it possible, the temporal course of a manual repulsion movement or at least one value of a detected characteristic of a manual repulsion movement with a stored by means of a storage unit amount of time histories of manual repulsive movements or with stored values of the characteristic of manual repulsion movements by means of a
- Each stored time history or each value of the stored characteristic can be a
- Absteth is assigned to the vehicle to be transmitted total energy. From the current speed of the vehicle and the transmitted
- Total energy can be deduced to a target value of the final rate of manual repulsion movement. It is advantageous if, for determining the final speed of the manual repulsion movement, the total mass of
- FIG. 1 shows a schematic representation of a control device for carrying out a method for controlling a motor drive with two
- Figure 2a-h is a schematic diagram of the progress of a
- FIG. 3 shows a schematic side view of a scooter designed as a scooter
- FIG. 4 shows a flowchart of a method for controlling a
- FIG. 1 shows an embodiment of a device 10 for controlling a
- Motor drive 12 and a control unit 10 is shown schematically.
- control unit 10 is electronically coupled to a first sensor element 14, a second sensor element 16 and the motor drive 12.
- the control unit 10 on an interface, not shown, by means of which the first sensor element 14 and the second sensor element 16 are connected to the control unit 10 wired electronically coupled.
- the interface is designed to electronically couple the first sensor element 14 and the second sensor element 16 to the control unit 10 wirelessly.
- the control unit 10 for the motor drive 12 is designed to receive the sensor signal S1 from the first sensor element 14 and the sensor signal S2 from the second sensor element 16 and to transmit a control signal S3 to the motor drive 12.
- the control unit 10 has a memory unit 18, a computing unit 19 and a comparison unit 20.
- the sensor signal S1 represents a characteristic of the manual
- the sensor signal S1 represents the one of a driver of a vehicle which can be driven by means of a manual repulsion movement during the manual repulsion movement
- the control unit 10 is arranged on the vehicle.
- the sensor signal S1 represents an acceleration of the vehicle or a speed of the vehicle or an angular velocity about a spatial axis of the vehicle or a time course of the variables mentioned.
- the sensor signal S2 represents a parameter for a speed of the vehicle.
- the sensor signal S2 represents a rotational speed of a wheel of the vehicle. It is conceivable that the sensor signal S1 and the
- Sensor signal S2 are identical and represent the speed of the vehicle.
- the force sensor 14 is designed to transmit information about the force transmitted by the driver to the carrier structure of the vehicle to the control unit 10 by means of the sensor signal S1 transfer.
- Carrier structure of the vehicle may be arranged.
- the first sensor element 14 can also be used as an acceleration sensor 14 or as
- the second sensor element 6 is a
- Speed sensor 16 is a Hall sensor 16.
- the speed sensor 16 is configured to transmit information about the speed of the vehicle by means of the sensor signal S2 to the control unit 10.
- the control unit 10 is designed to continuously receive, by means of the interface, a value of the force transmitted by the driver to the carrier structure of the vehicle, represented by the sensor signal S1, and a value of the speed of the vehicle represented by the sensor signal S2.
- the control unit 10 is configured to determine the received value of the force transmitted to the vehicle by the driver and the value of
- control unit 10 is formed continuously by means of the stored
- Sensor signals S1 continuously represent the time course of the force transmitted by the driver to the support structure of the vehicle with a stored in the storage unit 18 amount of characteristic time profiles of the force transmitted from the driver to the support structure of the vehicle during the manual repulsion movement by means of the comparison unit 20 to compare.
- the control unit 10 is designed to detect a characteristic manual repulsion movement by this comparison.
- the manual repulsion movement by means of a foot of the driver for example, as follows
- the force exerted by the driver on the scooter frame is initially increased by the movement of the driver's foot in a direction of travel of the vehicle. Subsequently, the transmitted by the driver to the support structure of the vehicle force takes place by placing the driver's foot on a surface of the
- Tretrollers strong or impulsive Upon completion of the manual repulsion movement, the driver positions his body, in particular his foot, in a position taken prior to the manual repulsion movement
- Repelling movement of the force exerted by the driver on the scooter frame force is not or not only as described along the direction of travel of the
- Tretrollers changes, but along a spatial direction, which is different from the direction of travel of the scooter. Characteristic is due to the touchdown of a foot on the ground of the scooter, the change in the force in a direction in space, which is perpendicular to the direction of travel of the scooter.
- the control unit 10 is designed to select by means of the comparison unit 20 from the stored amount of the characteristic time profiles of the force transmitted from the driver to the support structure of the vehicle, a time course which the least deviation from the temporal
- the control unit 10 is designed, by means of the memory unit 18, for each of the stored characteristic time profiles of the force transmitted by the driver to the carrier structure of the vehicle during the manual
- control unit 10 is designed based on the determined by means of the comparison unit 20
- control unit 10 is designed to determine a target value of a final speed of the current manual repulsion movement by means of the arithmetic unit 19.
- target value of the final velocity of the current manual repulsion movement is the sum of the value of the velocity at the beginning of the manual repulsion movement and that by means of the
- Comparison unit 20 determined speed change.
- the control unit 10 is configured to transmit the control signal S3 to the motor drive 12 to place the motor drive 12 in an operating state in which the motor drive 12 transmits an engine power to the vehicle as described below such that the value of the speed of the vehicle a time end of the manual repulsion movement corresponds to the determined target value of the final speed of the vehicle.
- Figure 2a-h is a schematic diagram of the progress of a vehicle with a motor drive 12, one in a support structure of
- Vehicle arranged force sensor, a speed sensor, an acceleration sensor and a control unit 10 for controlling the
- Motor drive 12 shown In the locomotion shown in the flowcharts in Figure 2a-d of the motor drive 12 is set only after completion of a manual repelling movement in an operating state in which the motor drive 12 applies an engine power M to the vehicle. In contrast, the one shown in the flowcharts in FIGS. 2e-h
- FIGS. 2a and 2e show a speed v of the vehicle as a function of the time t.
- FIGS. 2b and 2f show an acceleration a of the vehicle as a function of the time t.
- FIGS. 2c and 2g show a force F as a function of time t transmitted by a driver of the vehicle during a manual repulsion movement to the carrier structure of the vehicle.
- FIGS. 2d and 2h show the engine power M or driving force M transmitted to the vehicle by the motor drive 12 as a function of the time t.
- the time course of the movement of the vehicle is in six different successive phases I, II, III, IV, V, VI in Figure 2a-d or ⁇ , II ', III', IV, V, VI 'in Figure 2e-h divided.
- Phase I the driver of the vehicle accelerates by means of a first manual
- the force F transmitted by the driver to the carrier structure of the vehicle is constant in phase I and, in this exemplary embodiment, results in a constant acceleration a of the vehicle.
- the force F is smaller than in a phase in which the driver is not manual
- Repelling movement It is also conceivable that the force F during the manual repulsion movement is greater than in a phase in which the driver does not execute a manual repulsion movement.
- Phase II begins at the end of the first manual repulsion movement.
- the driver does not perform a manual repulsion movement. That is, in other words, the driver performs no movement, by means of which an acceleration a or a force F is transmitted to the vehicle. It is conceivable that the force on the support structure of the vehicle during phases in which no manual repulsion movement is performed assumes a constant value that is non-zero and different from the value of the force during the manual repulsion movement.
- the completion of the first manual repelling movement can be detected, for example, by means of an acceleration sensor via a change of sign of the acceleration of the vehicle.
- an acceleration sensor via a change of sign of the acceleration of the vehicle.
- Motor drive 12 is placed in an operating state in which the motor drive 12 by means of a torque applying a driving force M to the vehicle to the value of the received from the speed sensor
- the motor drive 12 is automatically placed in phase III in an operating state in which the motor drive 12 no engine power M on the vehicle so that the vehicle due to
- phase IV the driver of the vehicle accelerates the vehicle in analogy to phase I by means of a second manual repulsion movement.
- the driver exerts the force F on the support structure of the vehicle.
- the force F transmitted by the driver to the support structure of the vehicle or the acceleration a of the vehicle in phase IV is constant and greater in magnitude than the force F or acceleration a in phase I.
- the driver achieves a greater absolute speed by means of the second manual repulsion movement and a greater speed difference between the start time of the second manual repulsion movement and the
- Phase V begins at the end of the second manual repulsion motion.
- the driver does not perform a manual repulsion movement. That is, in other words, the driver performs no movement, by means of which an acceleration a or a force F is transmitted to the vehicle.
- the motor drive 12 is put into an operating state in which the motor drive 12 applies a driving force F to the vehicle by means of a torque in order to keep the value of the speed constant over time and to prevent the vehicle from rolling out.
- the motor drive 12 is automated in phase VI in a
- phase ⁇ the driver of the vehicle accelerates the vehicle by means of a third manual repulsion movement.
- the driver exerts the force F on the support structure of the vehicle.
- the driver's on the support structure the vehicle transmitted force F and the acceleration a of the vehicle is constant in a time-first subphase l'i of the phase.
- the controller 10 continuously receives a current value of a
- the current value of the acceleration a of the vehicle and the current value of the force F transmitted to the carrier structure of the vehicle by the driver are stored by means of a memory unit. Detects the controller 10 by means of a
- a speed difference of the vehicle is stored for each time course of the force F on the carrier structure of the vehicle.
- Speed difference of the vehicle may be, for example, the difference in speed, which the driver of the vehicle by means of the time course of the force F without the assistance of the motor drive 12 to one of the current manual repulsion motion ahead in time
- a target value of the speed difference for the current manual repulsion movement can be determined by means of the comparison unit.
- a target value of the final speed of the current manual repulsion movement can be calculated by adding the speed of the vehicle at the beginning of the manual repulsion movement with the determined speed difference.
- the driving force M applies to the vehicle.
- the motor drive 12 transmits the driving force M to the vehicle as described below in such a manner that the speed v of the vehicle after completion of the repulsion movement corresponds to the target value of the final speed of the repulsion movement.
- control unit 12 receives from the speed sensor the current speed v of the vehicle and from the force sensor, the current force F exerted by the driver on the support structure of the vehicle F. If the driver of the vehicle in subphase l'ii increases the absolute value of the vehicle to the support structure Vehicle transmitted force compared to the determined stored time course of the force F transmits the
- the motor drive transmits a braking force to the vehicle.
- the phases ⁇ and III proceed analogously to the phases II and III.
- phase IV the driver of the vehicle accelerates the vehicle analogously to phase I 'by means of a fourth manual repulsion movement.
- the driver exerts the force F on the support structure of the vehicle.
- Vehicle is in a temporally first subphase IV i of the phase IV constant and magnitude greater than the force F or acceleration a in phase ⁇ . Analogous to the phase, the storage unit continuously updates the current
- Speed difference for the current manual repulsion motion can be determined.
- a target value of the final speed of the current manual repulsion movement can be calculated by the
- the driving force M applies to the vehicle.
- the motor drive 12 is controlled as described above such that the
- Speed v of the vehicle after completion of the repulsion movement corresponds to the determined target value of the final speed of the repulsion movement.
- Phases V and VI are analogous to phases V and VI.
- Figure 3 a vehicle or a scooter is shown, wherein the
- the vehicle 22 or the scooter 22 has a motor drive 12, a control unit 10 for the motor drive 12 and seven sensor elements 24, 26, 28, 30, 32, 34, 36. Furthermore, the scooter 22 has a support structure 38, two
- the support structure 38 is as Tretroller(mechanical 38 respectively
- Scooter frame 38 is formed.
- the support structure 38 has a tread area
- the tread area 48 has a footboard 50.
- the tread area 48 serves to accommodate a person to be transported, in particular a driver.
- the support structure 38 is thus designed to receive or carry a person to be conveyed by the scooter 22.
- the control unit 10 At a front in a direction of travel 52 of the scooter 22 front portion 54 of the support structure 38, the control unit 10, a rotation rate sensor 34 and an acceleration sensor 32 are arranged.
- the rotation rate sensor 34 is designed to detect an inclination of the kick scooter 22 relative to a horizontal plane, for example, uphill or downhill travel and / or pendulum-type movements transmitted to the scooter 22 by the driver during the manual repulsion movement.
- Acceleration sensor 32 is designed to detect accelerations exerted on scooter 22 during travel by means of vehicle 22, in particular during the manual repulsion movement of the driver.
- Acceleration sensor 32 and yaw rate sensor 34 may be in their
- Entity be designed as a six-axis inertial measuring unit.
- the six-axis inertial measurement unit accelerations along three different, in particular three orthogonal, spatial directions and
- the change in the acceleration detected by means of the acceleration sensor 32 can be analyzed by the control unit 10.
- the time profile of the gradient of the acceleration is evaluated and compared by means of the comparison unit 20 with characteristic time profiles of the gradient of the acceleration.
- a third force sensor 28 is arranged.
- the force sensors 24, 26, 28 are designed to detect the force exerted by the driver on the carrier structure 38 as described in FIG.
- the force sensors 24, 26, 28 are strain gauges 24, 26, 28.
- the force sensors 24, 26, 28 are designed to have relative and / or absolute values of the pressure forces on the force sensors 24, 26, 28
- Scooter 22 to detect. It is conceivable that the force sensors 24, 26, 28 in such a way are arranged on the scooter 22 that from the sensor signals of the force sensors 24, 26, 28 can be determined whether both feet of the driver of the scooter 22 are on the running board 50. By this arrangement of the force sensors 24, 26, 28 is the manual repulsion of other, not executed by the driver as a manual repulsive motion body movements distinguishable.
- the handlebar 44 is rod-shaped and rotatably mounted to the support structure 38.
- the handlebar 44 has a handlebar 46 and a fourth force sensor 30.
- the fourth force sensor 30 is designed to detect pressure forces and / or tensile forces exerted on the handlebar 44 during the manual repulsion movement of the driver.
- the force sensors 24, 26, 28, 30 are formed in the manual
- Tretrollers 22 and designed as an electric motor 12 motor drive 12 is arranged.
- a speed sensor 36 is arranged in the area of the rear wheel 42.
- the speed sensor 36 detects the rotational speed of the rear wheel 42. From the rotational speed of the rear wheel 42, the
- Control unit 10 the speed of scooter 22 determine.
- the speed sensor 36 is a Hall sensor 36.
- the rear wheel 42 is coupled to the electric motor 12.
- the electric motor 12 is configured to transmit a torque to the rear wheel 42.
- the four force sensors 24, 26, 28, 30, the acceleration sensor 32, the rotation rate sensor 34, the speed sensor 36 and the electric motor 12 are electronically coupled to the controller 10.
- the sensors 24, 26, 28, 30, 32, 34, 36 and the electric motor 2 are electronically connected to the controller 10 via a cable connection.
- Coupling connectionless be realized via a radio signal.
- the control device 10 described in FIG. 1 is used to control the motor drive 12, as shown in FIG. 2 and subsequently described in FIG. 4.
- FIG. 4 shows a flow chart of a method for controlling a
- step 110 the method begins.
- step 120 the controller 10 receives the sensor signal S1 from the first sensor element 14, the first
- Sensor element 14 is a force sensor 14 and the sensor signal S1, the value of the force exerted by the driver on the support structure of the vehicle force
- control unit 10 stores the sensor signal S1 by means of the memory unit 18.
- Step 120 is executed periodically, so that in the
- Memory unit 18 of the control unit 10 is a time course of the force exerted by the driver on the vehicle force is stored.
- step 130 the control unit 10 compares by means of the comparison unit 20 the time profile of the force exerted by the driver on the support structure of the vehicle with stored in the memory unit 18 characteristic time profiles of the driver during a manual
- the controller 10 may initially be a manual
- step 140 the control unit 10 determines a target value for the final speed of the manual repulsion movement by means of the comparison unit 20 and / or the arithmetic unit 19. It is conceivable that saved to everyone
- step 150 the controller 10 transmits the control signal S3 to the motor driver 12 to place the motor drive 12 in an operating state in which the motor drive 12 transmits an engine power to the vehicle 22.
- the control unit 10 receives and stores in step 160 of a
- Speed sensor 16 a sensor signal S2, which represents the current value of the speed of the vehicle. In addition, this receives and stores
- step 170 the motor drive compares the current value of the speed with the target value of the speed. If the current value of the speed is less than or greater than the target value of the end speed, the method proceeds to step 150.
- the control unit 10 transmits the control signal S3 to the motor drive 12 such that the vehicle is accelerated by means of a drive force or braked by means of a braking force.
- the control unit 10 compares, by means of the comparison unit 20, the time profile of the force exerted by the driver on the support structure of the vehicle with stored in the memory unit 16 characteristic time profiles of the force exerted by the driver during a manual repulsion movement on the support structure of the vehicle to a Timing end of the manual repulsion movement to detect.
- the process ends in step 180 and starts again in step 110.
- an exemplary embodiment comprises a "and / or" link between a first feature and a second feature, this is to be read such that the
- Embodiment according to an embodiment both the first feature and the second feature and according to another embodiment, either only the first feature or only the second feature.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017205416.6A DE102017205416A1 (de) | 2017-03-30 | 2017-03-30 | Verfahren und Steuergerät zur Steuerung eines Motorantriebs |
PCT/EP2018/057430 WO2018177920A1 (de) | 2017-03-30 | 2018-03-23 | Verfahren und steuergerät zur steuerung eines motorantriebs |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3601026A1 true EP3601026A1 (de) | 2020-02-05 |
Family
ID=61965924
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18717245.7A Withdrawn EP3601026A1 (de) | 2017-03-30 | 2018-03-23 | Verfahren und steuergerät zur steuerung eines motorantriebs |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3601026A1 (de) |
DE (1) | DE102017205416A1 (de) |
WO (1) | WO2018177920A1 (de) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11001152B2 (en) * | 2018-09-26 | 2021-05-11 | GM Global Technology Operations LLC | Powertrain architectures and control algorithms for intelligent electric scooters |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3548477B2 (ja) * | 2000-01-25 | 2004-07-28 | 鈴木 康之 | 電動軽車両の走行速度制御装置と、電動軽車両 |
EP2714499B1 (de) | 2011-05-27 | 2017-07-05 | Micro-Beam SA | Mit elektrischer fremdkraft unterstüzter trettroller |
DE102011084754B4 (de) * | 2011-10-19 | 2021-05-06 | Bayerische Motoren Werke Aktiengesellschaft | Elektromotorisch unterstützter, intuitiv durch Muskelkraft antreibbarer Tretroller und Verfahren zum Betreiben eines elektromotorisch unterstützten, durch Muskelkraft antreibbaren Tretrollers |
DE102013220424A1 (de) * | 2013-10-10 | 2015-04-16 | Robert Bosch Gmbh | Vorrichtung zur Steuerung eines Vortriebs eines Straßenrollers, elektrisch betriebener Straßenroller und Verfahren zur Steuerung eines Vortriebs eines Straßenrollers |
DE102013225481B4 (de) * | 2013-12-10 | 2020-07-09 | Brake Force One Gmbh | Verfahren zum Betreiben eines Fortbewegungsmittels |
DE102014114124A1 (de) * | 2014-09-29 | 2016-03-31 | e-bility GmbH | Verfahren zum Steuern eines elektrischen Stützantriebes eines Rollers sowie Steuersystem |
DK3227170T3 (da) * | 2014-11-18 | 2021-05-25 | Zehus S P A | System til at styre bevægelsen af et menneskedrevet køretøj af impulstypen |
CN104875842B (zh) * | 2015-05-29 | 2017-10-10 | 纳恩博(北京)科技有限公司 | 个人滑行工具的体感电动滑行控制方法及其系统 |
CN106080879B (zh) * | 2016-06-13 | 2018-12-21 | 纳恩博(北京)科技有限公司 | 滑板车及滑板车的运动控制方法和系统 |
-
2017
- 2017-03-30 DE DE102017205416.6A patent/DE102017205416A1/de not_active Withdrawn
-
2018
- 2018-03-23 EP EP18717245.7A patent/EP3601026A1/de not_active Withdrawn
- 2018-03-23 WO PCT/EP2018/057430 patent/WO2018177920A1/de unknown
Also Published As
Publication number | Publication date |
---|---|
DE102017205416A1 (de) | 2018-10-04 |
WO2018177920A1 (de) | 2018-10-04 |
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