JP2002166873A - Controller for motor driven two-wheeler - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a controller for a motor driven two-wheeler, capable of saving electric power by controlling a motor so as to highly efficiently produce torque in response to the weight of a rider and the weight of loaded baggage, by efficiently turning on and off a headlamp without impairing safety, or adjusting the illuminance of the headlamp, and also capable of applying the most suitable braking by detecting a slip produced at an initial stage by monitoring the number of revolutions of the motor. SOLUTION: In one mode of the controller 314 of the motor driven two- wheeler 11, which is used in the motor driven two-wheeler 11 having a weight sensors 1121, 1122 to detect the load weight of seats 1111, 1112, the feature is that the output of a motor 123 is controlled within an operating range indicated by the number of revolutions of a motor-maximum torque characteristics, based on a detected result of the weight sensors 1121, 1122, and the opening of an accelerator.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling a motor so that a torque is developed with high efficiency in accordance with the weight of a passenger, the weight of a load, and the like. Electric motorcycle controller that can save power by turning on / off the headlights or adjusting the illuminance of the headlights, and monitoring the number of revolutions of the motor to detect the occurrence of slip at the initial stage In addition, the present invention relates to an electric motorcycle controller capable of performing optimal braking.

[0002]

2. Description of the Related Art (1) In an electric motorcycle, control is performed such that torque is reduced in response to an increase in a traveling speed, that is, a rotation speed of a motor. In an electric motorcycle, an operating area of (motor rotation speed-maximum torque) in which a torque with respect to a traveling speed (a torque with respect to a motor rotation speed) is expressed with high efficiency, assuming a weight load for one occupant having a standard weight. Is set. By the way, the load weight of the electric motorcycle varies depending on the weight of the driver, the presence or absence of the passenger in the auxiliary seat, or the weight of the load. If the load weight condition changes, that is, if the weight of the driver, the number of occupants, and the weight of the loaded luggage change, the torque required for the motor also changes. For this reason,
According to the conventional control technique, when the load weight conditions are different, the operation is performed in the operation range of the motor rotation speed-maximum torque with reduced efficiency.

(2) In an engine-driven motorcycle,
Even if the headlight is turned on, since the amount of energy that can be mounted is large, it does not matter that the traveling distance is reduced by turning on the headlight. In electric motorcycles,
The ratio of the energy consumed by turning on the headlight to the energy that can be mounted is overwhelmingly larger than that of an engine-driven motorcycle. For this reason, if the vehicle is driven with the headlights of the electric motorcycle constantly turned on as in the case of the engine-driven motorcycle, the travel distance per charge is significantly reduced.

(3) Similar to a normal engine-driven motorcycle, an electric motorcycle encounters a slippery road surface at the time of starting acceleration or running (particularly at the time of cornering), and the installation load of the drive wheels is reduced. In such a case, the tire may slip and easily fall. An object of the present invention is to provide a controller for an electric motorcycle that can save power by controlling a motor so that torque is expressed with high efficiency according to the weight of a passenger, the weight of a load, and the like. Is to do. An object of the present invention is to provide a controller for an electric motorcycle that can save power by controlling a motor so that torque is expressed with high efficiency according to the weight of a passenger, the weight of a load, and the like. It is to be.

Another object of the present invention is to reduce the power consumption by turning on and off the headlight without any loss of safety and adjusting the illuminance of the headlight without loss of safety. It is to provide a controller for use.

Still another object of the present invention is to prevent the vehicle from tipping over even when the vehicle encounters a slippery road surface at the time of starting acceleration or running, or slips because of a reduced load on the drive wheels. To provide a controller for an electric motorcycle.

[0007]

A controller for an electric motorcycle according to the first invention is applied to an electric motorcycle having at least one weight sensor for detecting a load weight of a seat and / or a load portion of a load. The output of the motor is controlled within an operation region indicated by the motor rotation speed-maximum torque characteristic based on the detection result by the sensor and the accelerator opening.

The output P during traveling is represented by the following equation. P = _{^{[γ · V 2 + W T ·}} (α + β) ] × V gamma: Air resistance coefficient V: speed (motor speed) W _T: Weight (body weight W ₀ + load weight W) alpha: Acceleration beta: rolling resistance Coefficient Therefore, the load P is detected and the output P is detected.
Is adjusted, the value of the acceleration can be made constant.
The gist of the first invention is that the maximum value of the output P is set in advance in accordance with the load weight W, and the output of the motor is controlled in accordance with the accelerator opening, in other words, the motor rotation speed−the maximum torque. This is to control the motor within the operating range indicated by the characteristics.

In the first invention, the weight sensor can be provided below the driver seat and / or the auxiliary seat. By providing the weight sensor on the seat, the weight of the driver or the passenger can be known almost accurately, and this can be used as the load weight. Further, the weight sensor can be provided on the front fork and / or the rear cushion unit. When the weight sensor is provided on both the front fork and the rear cushion unit, the load sensor can detect the load weight almost accurately.

In the electric motorcycle controller according to the first aspect of the invention, the storage device can store a plurality of maps representing motor speed-maximum torque characteristics in accordance with the magnitude of the load weight. In addition, it is possible to determine the operation region indicated by the motor rotation speed-maximum torque characteristic corresponding to the detection result by the weight sensor.

A controller for an electric motorcycle according to a second aspect of the present invention includes:
It is used for electric motorcycles having an illuminance sensor that detects the surrounding brightness.The output of the headlight adjustment circuit is used to change the illuminance of the headlight based on the detection result of the illuminance sensor and the vehicle speed. It is characterized by controlling.

In the second invention, the illuminance of the headlight is represented by a three-dimensional value in which the vehicle speed and the ambient brightness are independent variables, and the controller increases the illuminance and increases the vehicle speed. As the ambient brightness increases.

[0013] The third invention is made by paying attention to the responsiveness of motor control peculiar to an electric vehicle, which is not included in an engine-driven motorcycle. A third invention is a controller for an electric motorcycle that can monitor a rapid change in a motor rotation speed,
When the motor rotation speed increases rapidly, it is determined that a slip has occurred, and the motor rotation speed is reduced to a rotation speed before the slip occurrence or a rotation speed close to the rotation speed before the slip occurrence.

According to the third aspect of the invention, the controller can be provided with a storage device for recording the motor rotation speed or the traveling speed during traveling for a certain period. The controller can estimate the number of rotations before the occurrence of slip based on the motor rotation speed or the traveling speed recorded in the storage device.

In the third aspect of the invention, even if the electric motorcycle slips, the controller returns the increased rotation speed of the motor to the rotation speed before the occurrence of the slip or the rotation speed close to this at the initial stage, so Prevention is achieved. Also, the third
In the present invention, the occurrence of the slip can be determined as the time gradient of the motor rotation speed, with the sudden increase in the motor rotation speed being determined.The motor rotation speed at the time of the slip and the estimated value of the rotation speed before the occurrence of the slip can be determined. As the difference, the occurrence of the slip can be determined.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the first invention will be described with reference to FIGS. In FIG. 1, the electric motorcycle 11 is a scooter with a capacity of two, and weight sensors 1121 and 1122 are provided below the driver seat 1111 and the auxiliary seat 1112, respectively. In the electric motorcycle 11 of FIG. 1, acceleration is performed by the grip accelerator 1131 and deceleration is performed by the lever 1132. In FIG. 1, the driver 1141 puts his feet on step 1113 and
Reference numeral 2 denotes a state in which the person is seated on the step 1114.

FIG. 2 shows an electric system 12 of the electric motorcycle shown in FIG.
FIG. 2 is a block diagram showing a weight detection system 13 and an operation system 14.
2, the electric system 12 includes a battery 121, an inverter 122, a motor 123, a controller 124, and a map storage device 125. The weight detection system 13 includes weight sensors 131 and 132 and an A / D converter 133. ing. The operation system 14 includes an accelerator 141 and an A / D converter 142.

The battery 121 is connected to a motor 123 via an inverter 122 (comprising a rectifier circuit 1221 and a controller 1222). Inverter 122 drives motor 123 in a powering mode or a regenerative mode based on PWM control command I from controller 124.

The motor 123 is connected to the rear wheel 11 shown in FIG.
52. Although the vehicle speed can be detected by measuring the rotation speed of the wheels, in this embodiment, a rotation speed detector (Hall I
C) Detected using 1231.

The controller 124 controls the rotation speed detector 12
In addition to the input of the motor rotation speed N from the controller 31, the weight signals W1 and W2 are input from the weight sensors 131 and 132 via the A / D converter 133, and the load weight WL is calculated from these weight signals. When the driver 1141 is seated on the seat 1111 or when the passenger 1142
When sitting at 112, the foot is
Since the driver 1141 is put on the vehicle, the correct weight of the driver 1141 is not always detected by the weight sensor 1121. In addition, when the driver is seated or the like, the weight sensor 1121
Or 1122 may detect. Controller 124
Can calculate the load weight WL in consideration of such a change in the detected value.

For example, weight sensors 1121 and 1122
However, on a rough road or the like, the vertical movement of the vehicle body may be detected as a sudden increase or decrease of the load weight WL.
To avoid such detection, although not shown, signals from the sensors 1121 and 1122 can be filtered by hardware or software. A hardware filter is provided in the weight detection system 13 (for example, after the A / D converter 133), and a software filter (digital filter) is realized by the controller 124.

The map storage device 125 stores a plurality of motor speed-maximum torque characteristics F1, F as shown in FIG.
2,..., F5 map data MD (MD1, M
D2, MD3, MD4, MD5). These motor rotation speed-maximum torque characteristics are represented by a load weight WL.
Operation at high efficiency according to

Here, F1 is a load weight WL of 50 kg.
Less than F2, load weight WL is 50 kg or more and less than 70 kg, F3 is load weight WL is 70 kg or more and less than 90 kg,
F4 has a load weight WL of 90 kg or more and less than 110 kg, F
Reference numeral 5 denotes a motor rotation speed-maximum torque characteristic corresponding to a load weight WL of 110 kg or more.

The controller 124 can control the output by referring to the motor speed-maximum torque characteristics of F1 to F5 according to the detected value of the load weight WL.

The processing of the controller 124 will now be described with reference to FIG.
This will be described below. The controller 124 includes a motor 123
The detection data (rotational speed N) is acquired from the rotational speed detector 1231 provided in (1) (S110), and the motor rotational speed N is calculated from this (S120). Then, the weight sensor 112
The detection values W1, W2 of 1,1122 are acquired (S13
0), the load weight WL is calculated (S140).

Next, the accelerator opening AC of the accelerator grip 1131 is obtained (S150), and the map storage device 1 is obtained.
25 of map data MD (M
D1 to MD5), calculate the PWM control command I (S160), and output this to the inverter 122 (S170).

The motor speed-maximum torque characteristic F1
The selection function from F5 to F5 is turned off at the start of electric motorcycle operation, and when the posture of the driver or the fellow passenger is expected to be stable (for example, when a predetermined time has elapsed from the start of traveling), or the state shifts to a stable traveling state. It is preferable that the selection function be turned on when the operation is performed (for example, when the motor speed reaches a predetermined value).

FIG. 5 shows the configuration of another electric motorcycle. In FIG. 5, a weight sensor 15 for detecting sinking of a vehicle body is provided in a rear cushion unit 1512 of the electric motorcycle 15.
22 are provided. The electric motorcycle 15 shown in FIG.
5 is different from the electric motorcycle 11 in that only one weight sensor is provided in FIG. 5, and the controller (indicated by reference numeral 124 in FIG. 2) uses the detection value of the weight sensor 1522 as the load weight WL, and The only point is that the map data corresponding to is loaded.

The other operations can be understood by those skilled in the art by referring to the description of FIGS. 1 to 4, and a detailed description thereof will be omitted. Although the weight sensor 1522 in FIG. 5 is provided on the rear cushion unit 1512, it may be provided on the front fork 1511. In this case, in an electric motorcycle having a structure in which the front fork is inclined as the vehicle body sinks, the weight can be measured by detecting the inclination.

Next, an embodiment of the second invention will be described with reference to FIGS.
This will be described below. FIG. 6 is a block diagram showing an electric system 21, an illuminance detection system 22, and a headlight adjustment system 23 of the electric motorcycle. 6, the electric system 21 includes a battery 211, an inverter 212, a motor 213, a controller 214, and an illuminance map storage device 215. Also,
The illuminance detection system 22 includes an illuminance sensor 221 and an A / D converter 222, and the headlight adjustment system 23 includes a headlight adjustment circuit 231 and a headlight 232.

The battery 211 is connected to a motor 213 via an inverter 212 (comprising a rectifier circuit 2121 and a control device 2122). The inverter 212 controls the motor 213 based on a PWM control command I from a controller 214. Drive in powering mode or regenerative mode.

The controller 214 includes an illuminance sensor 221
Captures the detected ambient brightness via the A / D converter 222, and detects the vehicle speed using a rotation speed detector (Hall IC) 2131 provided on the rotor of the motor 213. In addition, the controller 214 refers to the illuminance map storage device 215 and changes the illuminance of the headlight 232 based on the detection result of the illuminance sensor 221 and the detection result of the vehicle speed by the rotation speed detector 2131. The output of the illumination adjustment circuit 231 can be controlled.

FIG. 7 shows an illuminance map storage device 215.
Such a wheel speed V_WAnd ambient brightness K_CAnd independent transformation
A three-dimensional function F (V_W, K_C) Is stored
You. This function F (V_W, K_C) Is the illuminance (headlight voltage value)
F), the wheel speed V _WThe illumination increases as
The surrounding brightness (detected value of the illuminance sensor 221)
K_CThe illuminance decreases as the value increases.

The processing of the controller 214 will now be described with reference to FIG.
This will be described below. The controller 214 includes a motor 213
The detection data (the number of revolutions N) is obtained from the rotation detector 2131 provided at (S210), and the wheel speed V _W (the number of revolutions N of the motor 213) is calculated from this (S220).

Next, the detected value K _C of the illuminance sensor 221 is obtained (S 230), and the headlight voltage value corresponding to the wheel speed V _W and the detected value K _C is stored in the illuminance map storage device 215 in FIG. (S2) with reference to the illuminance map data of
40). Thereafter, the setting data of the headlight voltage value is output to the headlight adjustment circuit 231 (S250).

An embodiment of the third invention will be described with reference to FIGS. FIG. 9 is a block diagram showing an electric system 31 and a speed adjustment system 32 of the electric motorcycle. In FIG.
The electric system 31 includes a battery 311, an inverter 312, a motor 313, a controller 314, and a speed map storage device 31.
5, and the speed adjustment system 32 includes an accelerator 321
And an A / D converter 322.

The battery 311 is connected to a motor 313 via an inverter 312 (consisting of a rectifier circuit 3121 and a control device 3122). The inverter 312 controls the motor 313 based on the PWM control command I from the controller 314. Drive in mode or regenerative mode.

The motor 313 is connected to the rear wheels of the electric motorcycle. The vehicle speed can be detected by measuring the number of rotations of the wheels.
Rotational speed detector (Hall IC) 31 provided on 13 rotors
31.

The controller 314 includes the rotation speed detector 31
The rotation acceleration can be obtained by inputting the motor rotation speed N from 31 and the value of the acceleration can be compared with a predetermined threshold value. Further, the controller 314
Can input motor rotation speed data from a speed map storage device 315 described below, and can output a PWM control command I corresponding to the rotation speed to the inverter 312.

The speed map storage device 315 records the motor rotation speed N for a certain period immediately before. During this period,
If the speed is too large or too small, the speed is greatly different from the speed immediately before the occurrence of slip. Therefore, for example, it is preferable to set it to 0.1 seconds before or 3.0 seconds before.

FIG. 10A is a graph showing a time-motor speed characteristic when the slip is not monitored at the time of starting acceleration. A case is shown in which the motor rotation speed N sharply increases due to the slip, the gradient (ie, the motor rotation acceleration) exceeds a predetermined threshold value (for example, 0.6 G), and the acceleration is further continued.

FIG. 10B is a graph showing the time-motor speed characteristic when the controller 314 of this embodiment monitors the slip at the time of starting acceleration.
Even if the motor rotation speed starts accelerating due to the slip and the motor rotation acceleration exceeds a predetermined threshold value (for example, 0.6 G), rapid acceleration of the motor rotation speed N is suppressed and converges to the acceleration before the slip. Is shown.

FIG. 11A is a graph showing the time-motor speed characteristic when the slip is not monitored during cornering. As in the case of the starting acceleration shown in FIG. 10A, the motor speed is accelerated due to the slip, the gradient (that is, the motor rotation acceleration) exceeds a predetermined threshold value (for example, 0.6 G), and the acceleration is further continued. Is shown.

FIG. 11B is a graph showing the time-motor speed characteristic when the controller 314 of this embodiment monitors slippage during cornering. As in the case of the starting acceleration in FIG. 10A, even if the motor rotation speed starts to accelerate due to slip and the motor rotation acceleration exceeds a predetermined threshold value (for example, 0.6 G),
The case where the rapid acceleration of the motor rotation speed N is suppressed and converged to the acceleration before the slip is shown.

The processing of the controller 314 will now be described with reference to FIG.
2 will be described. First, the controller 314 acquires detection data from the rotation speed detector 3131 provided in the motor 313 (S310), and calculates the wheel speed V _W (equivalent to the motor rotation speed N) from this (S320). The wheel speeds are sequentially stored in the speed map storage device 315.

Next, the controller 314 calculates the wheel acceleration A _W (equivalent to the time gradient of the motor speed N) (S 330), and refers to the data immediately before in the speed map storage device 315 to calculate the estimated vehicle speed V. Calculate _V (S34)
0). Then, a signal from the accelerator 321 is fetched via an A / D converter (S350), and a sudden increase in the motor speed N is determined as a time gradient of the motor speed to determine whether or not a slip has occurred. That is, the wheel acceleration A _W
Is greater than or equal to a threshold value α _S (whether or not A _W ≧ α _S ) (slip determination: S360).

If the wheel acceleration A _W exceeds the threshold value α _S , it is determined that a slip has occurred, and a process for reducing the PWM control command I is performed (S380). For example, a new PWM control instruction I 'is, I' = _{[1- (V W -V V) ÷} V V × c ] × I c: is a coefficient (function of such V _V).

By the control in step S360, even if the wheel acceleration A _W becomes smaller than the threshold value α _S , the wheel speed V _W
Is larger than the estimated vehicle speed V _V, it means that the vehicle is still slipping. Therefore, the slip determination (step S370), when the slip ratio (a value of difference between the wheel velocity V _W and the estimated vehicle speed V _V is divided by the estimated vehicle speed V _V) exceeds the threshold value K, the wheel acceleration Even if A _W is smaller than the threshold value α _S , it is determined that the slip is still large, and a process of further reducing the PWM command value I is performed (S38).
0). If the slip ratio has become smaller than the threshold value K, the process ends (S390).

[0049]

According to the first aspect of the present invention, the motor is controlled in accordance with the weight of the occupant, the weight of the loaded luggage, and the like so that the torque is expressed with high efficiency, so that power can be saved.
Therefore, the distance that can be traveled by one charge can be extended.

According to the second aspect of the invention, since the headlight is turned on and off without waste and the illuminance of the headlight is adjusted without sacrificing safety, power saving can be achieved. The distance that can be traveled can be extended by recharging each time.

According to the third aspect of the present invention, it is possible to prevent the vehicle from tipping over even when the vehicle encounters a slippery road surface at the time of starting acceleration or traveling, or when the installation load of the drive wheels becomes light and slips.

[Brief description of the drawings]

FIG. 1 is a view showing an electric motorcycle according to an embodiment of a first invention.

FIG. 2 is a block diagram showing an electric system, a weight detection system, and an operation system of the electric motorcycle of FIG.

FIG. 3 is a diagram showing the contents of map data representing a plurality of motor rotation speed-maximum torque characteristics.

FIG. 4 is a diagram showing a processing flow of a controller in the first embodiment.

FIG. 5 is a view showing an electric motorcycle according to another embodiment of the first invention.

FIG. 6 is a block diagram showing an electric system, an illuminance detection system, and a headlight adjustment system of the electric motorcycle according to the second embodiment of the present invention.

FIG. 7 shows the vehicle speed V _V stored in the illumination map storage device.
Three-dimensional function F with the variables and the ambient brightness K _C as independent variables
It is a figure which shows (V _V , K _C ).

FIG. 8 is a diagram showing a processing flow of a controller in the second invention.

FIG. 9 is a block diagram showing an electric system of the electric motorcycle according to the third invention.

FIG. 10A is a graph showing time-motor speed characteristics when the slip is not monitored during the start acceleration, and FIG. 10B is a graph when the slip is monitored by the controller during the start acceleration. 4 is a graph showing time-motor speed characteristics.

FIG. 11A is a graph showing a time-motor speed characteristic when the slip is not monitored at the time of cornering, and FIG. 11B is a graph showing the slip monitoring at the time of cornering by the controller of the embodiment. If you go,
4 is a graph showing time-motor speed characteristics.

FIG. 12 is a diagram showing a flow of processing of a controller in the third embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Electric motorcycle 12 Electric system 13 Weight detection system 14 Operation system 15 Electric motorcycle 21 Electric system 22 Illuminance detection system 23 Headlight adjustment system 31 Electric system 32 Speed adjustment system 121 Battery 122 Inverter 123 Motor 124 Controller 125 Map storage device 131, 132 Weight Sensor 133 A / D Converter 141 Accelerator 142 A / D Converter 211 Battery 212 Inverter 213 Motor 214 Controller 215 Illumination Map Storage 221 Illuminance Sensor 222 A / D Converter 231 Headlight Adjustment Circuit 232 Headlight 311 Battery 312 Inverter 313 Motor 314 Controller 315 Speed map storage device 321 Accelerator 322 A / D converter 1111.1112 Sheet 1113,1114 Step 1121,112 Weight sensor 1131 Grip accelerator 1132 Lever 1141 Driver 1142 Passenger 1152 Rear wheel 1221 Rectifier circuit 1222 Controller 1231 Revolution detector 1512 Rear cushion unit 1522 Weight sensor 1511 Front fork 2121 Rectifier circuit 2122 Controller 2131 Revolution detector 3121 Rectification Circuit 3122 Controller 3131 Rotation speed detector

Claims (10)

[Claims] 1. A controller for use in an electric motorcycle having at least one weight sensor for detecting a load weight of a seat and / or a load portion of a load, the controller being based on a detection result by the weight sensor and an accelerator opening. A controller for an electric motorcycle, wherein the controller controls the output of the motor within an operation region indicated by a motor speed-maximum torque characteristic. 2. The controller according to claim 1, wherein the weight sensor is a controller used for an electric motorcycle provided below a driver seat and / or an auxiliary seat, and determines the load weight based on a value detected by the weight sensor. The controller for an electric motorcycle according to claim 1, wherein: 3. The controller according to claim 1, wherein the weight sensor is a controller used for an electric motorcycle provided on a front fork and / or a rear cushion unit. The controller determines the load weight based on a value detected by the weight sensor. The electric motorcycle controller according to claim 1, wherein 4. A controller used for an electric motorcycle provided with a storage device storing a plurality of maps representing motor speed-maximum torque characteristics according to the magnitude of the load weight, the controller comprising: The controller for an electric motorcycle according to any one of claims 1 to 3, wherein an operation region indicated by a motor rotation speed-maximum torque characteristic corresponding to a detection result by the weight sensor is determined. 5. A controller for use in an electric motorcycle having an illuminance sensor for detecting ambient brightness, wherein the illuminance of a headlight is changed based on a detection result by the illuminance sensor and a vehicle speed. A controller for an electric motorcycle, wherein the controller controls an output of a headlight adjustment circuit. 6. The illuminance is represented by a three-dimensional value having vehicle speed and ambient brightness as independent variables, and the illuminance increases as the vehicle speed increases and decreases as the ambient brightness increases. The controller for an electric motorcycle according to claim 5, wherein 7. A controller for an electric motorcycle capable of monitoring a rapid change in a motor speed, wherein when the motor speed rapidly increases, it is determined that a slip has occurred, and the motor speed is determined before the occurrence of the slip. A controller for an electric motorcycle, wherein the motor is controlled to reduce the rotation speed or the rotation speed close to the rotation speed before the occurrence of slip. 8. A storage device for recording a motor rotation speed or a running speed during running for a certain period of time is attached, and based on the motor rotation speed or the running speed recorded in the storage means, a slip before occurrence of a slip. The controller for an electric motorcycle according to claim 7, wherein the motor rotation speed is estimated. 9. The electric motorcycle controller according to claim 7, wherein the occurrence of the slip is determined by using a rapid increase in the motor rotation speed as a time gradient of the motor rotation speed. 10. The occurrence of the slip is determined by using a sudden increase in the motor speed as a difference between the motor speed at the time of slip and an estimated value of the motor speed before the occurrence of the slip. Item 9. The electric motorcycle controller according to item 7 or 8.