JP2001245402A - Electromotive vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electromotive vehicle capable of improving safety, during running, and usability, even if an abnormal operation occurs in the circuit to drive the vehicle. SOLUTION: The electromotive vehicle rotates the rear wheels 2 following directions of an accelerator 12 operation, being controlled so that a running speed, according to a rotational frequency detecting means 27, can match with a directed speed according to directions of the accelerator 12 operation, and decides to be abnormal when the signal from the rotational frequency detecting means 27 is not inputted, even if the accelerator 12 is operated. When abnormal, the vehicle outputs restrictively the drive signal to a motor 21, even if the accelerator 12 is operated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric vehicle, such as an electric three-wheeled vehicle, an electric wheelchair, an electric vehicle, etc., on which a user can ride and run by driving a motor.

[0002]

2. Description of the Related Art A conventional electric vehicle is provided with an encoder for detecting the number of rotations of driving wheels as in, for example, an electric three-wheeled vehicle, and increases and decreases PWM so that the number of rotations of the encoder coincides with a signal indicated by an accelerator. There is also known an apparatus which controls an instruction speed of an accelerator and a traveling speed to coincide with each other. Then, when the signal from the encoder disappears, that is, when the wheel is not rotated despite the operation of the accelerator, the control is performed to determine that there is an abnormality and stop traveling.

[0003] However, when the above-described control is performed, the driving is stopped only by not knowing the rotation speed of the driving wheels, even though the circuit for driving the motor is not abnormal. There was a problem that the electric tricycle could not be moved from that location, making it extremely inconvenient to use.

[0004]

SUMMARY OF THE INVENTION It is an object of the present invention to provide an electric vehicle with improved usability even if an abnormality occurs in a driving circuit.

[0005]

According to the first aspect of the present invention, a main body on which a user can ride, a motor for rotating driving wheels provided on the main body, and a driving force of the motor are indicated. Accelerator, a rotational speed detecting means for detecting the rotational speed of the drive wheel, and an abnormality detecting means for judging as abnormal when a signal from the rotational speed detecting means is not input even though the accelerator is operated. And a control unit that receives a signal from the accelerator and a signal from the rotation speed detection unit and outputs a drive signal so that the rotation speed of the drive wheel matches the instruction of the accelerator. The means is characterized in that when an abnormality is detected by the abnormality detecting means, a drive signal to the motor is limited and output.

With the above-described configuration, when the user gets on the vehicle and operates the accelerator, a drive signal corresponding to the instruction of the accelerator is output from the control means, and the motor is driven. Then, so that the rotation speed of the drive wheel becomes the instruction speed indicated by the accelerator,
A drive signal is output and the vehicle travels. At this time, when the drive wheel is not rotating despite the accelerator being operated, the abnormality detecting means detects the abnormality, and the drive signal from the control means is output with being restricted more than during normal driving. Is controlled so that the traveling speed does not increase even if the instruction speed of the accelerator is increased.

According to a second aspect of the present invention, the drive signal output by the control means includes a signal for driving the motor and a signal for braking, and the control means includes a signal for detecting the abnormality. Outputs a signal for braking when the accelerator is not operated when an abnormality is detected.

In this configuration, when an abnormality is detected during traveling,
When the accelerator is operated, the drive signal is limited and output, and when the accelerator is not operated, the brake signal is output to operate to decelerate.

According to the third aspect of the present invention, the abnormality detecting means is configured to detect an abnormality when a signal is not input from the rotation speed detecting means for a predetermined period of time despite the operation of the accelerator. And the control means outputs a signal for braking for the predetermined time.

In this configuration, the abnormality detecting means outputs a signal for braking for a predetermined time for judging the abnormality, and when the accelerator is not operated for a predetermined time, the driving signal during that time is a signal for braking. When the accelerator is operated, the brake signal is output while the drive signal is not output, and the brake and drive signals are output alternately.

Further, according to the fourth and fifth aspects of the present invention, there is provided state detecting means for detecting a state of a traveling road on which the vehicle travels, wherein the control means detects the abnormality by the abnormality detecting means; When an uphill is detected by the state detecting means, the output drive signal is increased, and when a downhill is detected, the output drive signal is decreased.

With this configuration, even if the driving signal is restricted during the running at the time of the abnormality, the driving signal is controlled to be increased on an uphill, so that the vehicle can climb in a safe running state without stopping. In addition, if the vehicle is going downhill, it is possible to drive in a safe driving state by further restricting the drive signal.

According to the configuration of claim 6, when the abnormality is detected by the abnormality detecting means and the accelerator is operated, the control means outputs a constant output to the motor regardless of the instruction of the accelerator. Output the drive signal of
The state detecting means detects a current flowing through the motor at that time.

Thus, when the instruction speed of the accelerator is high and the motor current is large, it can be determined that the vehicle is going uphill, and when the instruction speed of the accelerator is small and the motor current is large, it can be determined that the vehicle is going downhill. The running state can be detected by the configuration.

According to a seventh aspect of the present invention, the drive signal is a PWM signal. Therefore, when the drive signal is limited in the event of an abnormality, the PWM signal is limited and output, and the state detection means is provided. Therefore, even when the signal is further increased or decreased, this can be achieved by changing the PWM signal.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described in detail with reference to the drawings, taking an electric tricycle as an example.

FIG. 1 is an overall perspective view of the electric tricycle of the embodiment as viewed from the front, FIG. 2 is a front view showing a steering wheel, a display panel, and an accelerator lever, and FIG. 3 is a block diagram showing a control circuit of the embodiment. is there.

Reference numeral 1 denotes a driving wheel, that is, a rear wheel 2 which is rotationally driven by a motor 21 on both sides of a rear portion, and one front wheel 3
The main body 1 includes a handle shaft 4 connected to the front wheel 3 and a handle shaft 4.
A handle 5 whose both sides are bent in a U-shape is attached to an upper end of the front wheel 3, and a floor portion 6 is provided between the front wheel 3 and the rear wheel 2 for placing a foot when a user gets on the vehicle. A cover 7 for storing a battery, a motor, and the like is provided behind the floor section 6, and a seat 8 for a user to ride on is mounted on the cover 7.

Reference numeral 10 denotes a display panel provided at the center of the steering wheel 5 for displaying the remaining amount of the battery, the running speed, the forward and backward movements, etc. The display panel 10 has a running direction changeover switch 10a for switching the forward and backward directions. And a power switch 11 for turning on / off the power.
Is provided.

Reference numeral 12 denotes an accelerator lever which is connected by a shaft and operates integrally, and is attached to both sides of the display panel 10. When the accelerator lever 12 is pressed from above, the advance indicated by the traveling direction switch 10b is performed. And travels at a speed corresponding to the amount by which the accelerator lever 12 is pressed.

Next, a control circuit according to the present embodiment will be described with reference to FIG.

Reference numeral 20 denotes a microcomputer as control means (hereinafter abbreviated as a microcomputer).
The power supply is supplied with a voltage of 5 volts by a power supply circuit 23 for stepping down a battery 22 serving as a power supply of the motor 21. A power switch 11 is connected between the battery 22, the power circuit 23 and the motor 21,
The power supply from the battery 22 is interrupted.

Reference numeral 24 denotes a potentiometer whose resistance value changes according to the amount of operation of the accelerator 12. The potentiometer 24 can determine the instruction speed specified by the user based on the resistance value input to the microcomputer 20. I have.

Numeral 25 denotes an electromagnetic brake for braking the rotation of the rear wheel 2 of the main body 1. The electromagnetic brake 25 operates the electromagnetic brake 25 in response to a signal output from the microcomputer 20 to a braking circuit 26 to perform braking. can do.

Reference numeral 27 is provided near the motor 21;
A rotation speed detection circuit that detects the rotation speed of the motor 21 and inputs the rotation speed to the microcomputer 20. The rotation speed detection circuit 27 includes:
It is composed of an encoder.

Reference numeral 28 denotes a driving FET for driving the motor 21. The driving FET 28 outputs a PWM signal from the microcomputer 20 through a driving circuit 29 to perform switching, so that the motor 21 is driven. Drive.

Reference numeral 30 denotes a power generation FET for applying power generation braking by making the rotation of the motor 21 a closed loop. The power generation FET 30 is also driven by a PWM signal output from the microcomputer 20 similarly to the drive FET 28. The switching is performed through the circuit 29, and the power generation FET 3
In the case of 0, dynamic braking is applied by switching.

Numeral 31 denotes an abnormality detecting means provided in the microcomputer 20 as means for judging.
1. There is a signal from the accelerator 12, that is, a predetermined time, despite the operation of the accelerator 12,
If there is no signal from the rotation speed detection circuit 27, it is determined that the signal line from the rotation speed detection circuit 27 is broken, and that an abnormality is detected.

Numeral 32 is a state detecting means provided in the microcomputer 20 for detecting a running state when the abnormality detecting means 31 judges an abnormality. The state detecting means 32 is preset in the microcomputer 20. If the current value of the motor 21 is large despite the output at the predetermined driving force, it is determined that the vehicle is traveling on an uphill, and the motor 21 is output at the predetermined driving force. If the current value of the motor 21 is small, it is determined that the vehicle is traveling on a downhill. The above-mentioned predetermined driving force is a PWM signal output with a certain magnitude when the abnormality detecting means 31 determines that there is an abnormality.

Next, the control of the microcomputer 20 will be described.
Each signal output is shown in a time chart and will be described in detail with reference to FIG.

In FIG. 4, the elapsed time is shown on the horizontal axis, and an accelerator signal which is output from the top when the accelerator 12 is operated, and then the rotation speed which is output when the motor 21 is rotating. A motor rotation number pulse signal from the detection circuit 27, a motor drive PWM signal output as a drive signal from the drive circuit 29, and a motor power braking P output as a brake signal from the drive circuit 29 at the bottom.
The WM signal is shown.

First, when the accelerator 12 is operated in a normal state, a motor drive PWM signal for driving the motor 21 is output. A power generation braking PWM signal is also output separately from the PWM signal for driving the motor 21, and the motor power generation braking PWM
The M signal is output to a portion where the drive signal is not output. These drive PWM signals and dynamic braking PWM
The M signal is output from the drive circuit 29. The drive PWM signal is output while changing the duty of the PWM signal so that the rotation speed of the motor 21, that is, the traveling speed matches the speed specified by the accelerator 12.

Next, the state at the time of detecting an abnormality will be described.
When the output from the rotation speed detection circuit 27 is lost even though the operation signal of No. 2 is input, it is determined that the signal line of the rotation speed detection circuit 27 is broken, and it is determined that there is an abnormality.
At this time, the drive PWM signal and the dynamic braking PWM signal continue to be output.

Then, after it is determined that there is an abnormality,
When the two operations are performed, a PWM signal which is more limited than a predetermined normal output is output as c shown in FIG. 4, for example, a PWM signal having a constant pulse width of 25%. Output in PWM of width. At this time, the power-generation braking PWM signal outputs the pulse width of c as a pause period. When the operation of the accelerator 12 is stopped, the drive PW
Although the output of the M signal is stopped, the state in which the dynamic braking PWM signal is output is maintained.

In the present invention, control is performed so as not to output the dynamic braking PWM signal when the accelerator is not operated in an abnormal state. However, the present invention is not particularly limited to this, and there is no need to output the dynamic braking PWM signal. It does not matter.

Next, the control of the microcomputer 20 in the second embodiment will be described in detail with reference to FIGS.

FIGS. 5 and 6 show, in addition to the items of the time chart shown in FIG. 4, the state of the traveling road on which the main body is traveling, for example, a flat ground, an uphill or a downhill, and the motor at that time. The state of the current flowing through 21 is also shown.

First, when the vehicle starts running, the motor current gradually increases, and when the speed reaches the command speed of the accelerator 12, the motor current becomes constant. At this time, the drive PWM signal is controlled while changing the duty so that the operation amount of the accelerator 12 becomes equal to the traveling speed as described above.

Next, when the state in which the signal from the rotation speed detecting circuit 27 is not input despite the input of the accelerator 12 signal continues for the period b, the rotation speed detecting circuit 27
It is determined that the signal line is broken, and that the signal line is abnormal. At this time,
In the predetermined period b, the drive PWM signal is output, and the drive PWM signal is output.
In the portion where the M signal is not output, the dynamic braking PWM signal is output.

Then, after it is determined that there is an abnormality, the accelerator 1
When the operation 2 is performed, the duty is output by setting the pulse width to c such as 25%, and the drive PWM signal is controlled so as to be output in a limited manner. At this time, the dynamic braking PWM signal is output with the period of the pulse width c of the drive PWM signal as a pause period, and the dynamic braking PWM signal is output even when the accelerator 12 is not operated.

At this time, the current flowing through the motor 21 is monitored by the state detection circuit 32. When a constant PWM signal having a pulse width c is being output, the motor current is continuously maintained during the period e. When the value increases and the predetermined value d becomes abnormal, it is determined that there is a load in the traveling state, and it is determined that the vehicle is traveling uphill. Then, the driving signal having the pulse width c does not have sufficient driving force and adverse effects such as backward movement and stoppage occur. Therefore, it is determined that traveling is impossible, and the traveling is continued with the duty increased slightly. At this time, the power generation braking PWM signal performs the power generation braking with the pulse width of the drive PWM signal being a pause. Then, during traveling at the time of abnormality, the motor current is set to a predetermined value d.
When the value becomes below, the pulse width is returned to the original value and output.

As shown in FIG. 6, when the motor current continuously becomes smaller than the predetermined value d during the period e after the abnormality is detected, it is determined that the vehicle is traveling on a downhill, Pulse width smaller than the duty at the time of abnormality, for example, 1
The output is changed to e such as 5%. As a result, the traveling speed on the downhill does not become more than necessary, and the vehicle can travel safely. Then, during running at the time of abnormality, when the value exceeds the predetermined value d, the pulse width c is returned to the original value and output.

In this embodiment, when there is no output from the rotation speed detecting circuit 27 even though the accelerator is operated,
That is, when an abnormality such as disconnection of the rotation speed detection circuit 27 occurs, the drive PW
Although a predetermined PWM signal was output by limiting the M signal,
The control may be performed such that the speed is limited by a predetermined ratio in a normal state in accordance with the operation amount of the accelerator 12 and fluctuates in a state limited in accordance with the operation amount of the accelerator 12.

As described above, when an abnormality of the rotation speed detecting circuit 27 is detected, the drive PWM signal to the motor 21 is controlled so as to be limited and output. The vehicle can be stopped and stuck, and can be moved to the repair place at a safe speed even if the actual traveling speed is unknown.

Further, when the abnormality detecting means 31 detects an abnormality, a signal for braking is output when the accelerator 12 is not operated, so that the traveling speed does not increase and safety is ensured. Since it can be moved at a speed, it can be moved to a repair place without getting stuck in an abnormal situation.

Further, since a signal for braking is output during the period of judging the abnormality, the traveling speed does not increase even during the detection of the abnormality, and the vehicle can run at a safe speed.

Further, when an uphill or downhill is detected by the state detecting means 32, the drive PWM signal is increased or
Because of the decrease, it is possible to move to the repair place while maintaining a safe speed.

The state detecting means 32 detects the current flowing through the motor 21 at the time of a predetermined abnormal output, so that the state of the traveling road can be detected with a simple configuration.

Further, since the drive signal is a PWM signal, the drive signal can be easily controlled.

[0050]

According to the first aspect of the present invention, there is provided a main body on which a user can ride, a motor for rotating driving wheels provided on the main body, and an accelerator for instructing a driving force of the motor. Rotation speed detection means for detecting the rotation speed of the drive wheel; abnormality detection means for determining that an abnormality has occurred when a signal from the rotation speed detection means is not input despite the operation of the accelerator; and And a control unit that inputs a signal from the rotation speed detection unit and a signal from the rotation speed detection unit, and outputs a drive signal so that the rotation speed of the drive wheel matches the instruction of the accelerator. When an abnormality is detected by the abnormality detection means, the drive signal to the motor is limited and output, so that when the abnormality occurs, the traveling is not stopped and stuck, and the actual traveling is not performed. Even without knowing the speed of the effect of, or the like can be moved to a repair location at a safe speed.

According to the second aspect of the present invention,
The drive signal output by the control means includes a signal for driving the motor and a signal for braking, and the control means operates the accelerator when the abnormality detection means detects an abnormality. Since the signal for braking is output when the vehicle is not being driven, the traveling speed does not increase, and the vehicle can be moved at a safe speed, so that the vehicle can be moved to the repair place without getting stuck in an abnormal situation. It has effects such as being able to be performed.

According to the configuration of the third aspect of the present invention, the abnormality detecting means continues for a predetermined time while the signal from the rotation speed detecting means is not input even though the accelerator is operated. Sometimes judge as abnormal,
Since the control means outputs a signal for braking for the predetermined time, a signal for braking is output during a period in which abnormality is determined, so that the traveling speed may increase even during abnormality detection. There is an effect that the vehicle can run at a safe speed without any other factors.

According to the configuration of claim 4 of the present invention,
Providing state detection means for detecting the state of the traveling path,
The control means increases a drive signal to be output when the abnormality detection means detects an abnormality and the state detection means detects an uphill, and according to the configuration of claim 5 of the present invention, State detecting means for detecting the state of the traveling road, and the control means reduces the output drive signal when the abnormality detecting means detects an abnormality and the state detecting means detects a downhill. When the uphill or downhill is detected by the state detecting means, the drive signal increases or decreases, so while maintaining a safe speed,
There are effects such as being able to be moved to a repair place.

Further, according to the configuration of claim 6 of the present invention,
The control unit outputs a drive signal to the motor at a constant output regardless of an instruction of the accelerator when the abnormality is detected by the abnormality detection unit and the accelerator is operated, and the state detection unit includes: Since the current flowing to the motor at that time is detected, the current flowing to the motor having a predetermined output at the time of abnormality is detected, so that the state of the traveling road can be detected with a simple configuration.

According to the configuration of claim 7 of the present invention, since the drive signal is a PWM signal, it is possible to easily control the drive signal.

[Brief description of the drawings]

FIG. 1 is an overall perspective view of an electric tricycle showing an embodiment of the present invention.

FIG. 2 is a front view showing the handle, a display panel, and an accelerator lever.

FIG. 3 is a block diagram of the control circuit.

FIG. 4 is a time chart showing a first embodiment of the control circuit.

FIG. 5 is a time chart showing a second embodiment of the control circuit.

FIG. 6 is a time chart showing a second embodiment of the control circuit.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main body 2 Rear wheel (drive wheel) 21 Motor 12 Accelerator 27 Revolution detection circuit 31 Abnormality detection means 20 Microcomputer (control means) 32 State detection means

Continued on the front page F term (reference) 3D037 FA19 5H115 PA08 PC06 PG06 PG10 PI13 PU02 PV09 PV24 QE04 QE06 QN02 QN06 RB22 SE03 TB01 TO07 TR04 TR05 TR07 TU09 TU13 TZ09 TZ14 UI12 5H550 AA16 BB10 CC02 DD04 EE08 LL LL LL LL MM11 MM17 MM19

Claims (7)

[Claims] 1. A main body on which a user can ride, a motor provided on the main body for rotating drive wheels, an accelerator for instructing a driving force of the motor, and a rotational speed for detecting a rotational speed of the drive wheels. A detection unit, an abnormality detection unit that determines that an abnormality has occurred when a signal from the rotation speed detection unit is not input even though the accelerator is operated, and a signal from the accelerator and the rotation speed detection unit. And a control means for inputting a signal and outputting a drive signal so that the rotation speed of the drive wheel matches the instruction of the accelerator, wherein the control means is configured to detect when an abnormality is detected by the abnormality detection means. An electric vehicle wherein a drive signal to a motor is limited and output. 2. The driving signal output by the control means includes a signal for driving the motor and a signal for braking, and the control means is configured to output a signal when the abnormality detection means detects an abnormality. The electric vehicle according to claim 1, wherein a signal for braking is output when the accelerator is not operated. 3. The abnormality detecting means determines that an abnormality has occurred when a signal has not been input from the rotation speed detecting means for a predetermined period of time despite the operation of the accelerator, and the control means has The electric vehicle according to claim 1, wherein a signal for braking is output for the predetermined time. 4. A state detecting means for detecting a state of a traveling road on which the vehicle travels, wherein the control means outputs when the abnormality detecting means detects an abnormality and the state detecting means detects an uphill. The electric vehicle according to claim 1, wherein the drive signal is increased. 5. A state detecting means for detecting a state of a traveling road on which the vehicle travels, wherein the control means outputs when the abnormality detecting means detects an abnormality and the state detecting means detects a downhill. The electric vehicle according to claim 1, wherein the drive signal is reduced. 6. The control unit outputs a drive signal to the motor at a constant output regardless of an instruction of the accelerator, when the abnormality is detected by the abnormality detection unit and the accelerator is operated, The electric vehicle according to claim 4, wherein the state detection unit detects a current flowing through the motor at that time. 7. The electric vehicle according to claim 1, wherein the drive signal is a PWM signal.