JP2003128397A - Accelerator of electric vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an accelerator capable of improving operational feeling of an accelerator by facilitating the control for both crawling running and high speed running. SOLUTION: The output of a potentiometer is taken by a CPU (S1, S2), and when the detected value of the potentiometer is smaller than a designated maximum value (NO in S3) and larger than a designated minimum value (NO in S4), an accelerator lever is put in the neutral position by a neutral switch (YES in S8). When the detected value of the potentiometer is normal (YES in S9), a speed command value to the detected value of the potentiometer is computed to draw up a speed command value pattern changing like a curve (S10 to S12).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an accelerator for an electric vehicle mounted on a battery forklift, an electric vehicle or the like.

[0002]

2. Description of the Related Art Conventionally, an accelerator mounted on a reach type forklift, which is a battery forklift, is
A rotatably mounted accelerator lever is urged by a spring to hold it in the neutral position, a neutral switch detects that the accelerator lever is in the neutral position, and the potentiometer moves the accelerator lever from the neutral position to the forward or reverse direction. When the rotary operation is performed, the amount of the rotary operation is detected, and the control unit controls the output of the traveling motor to a speed command value corresponding to the detected value of the potentiometer.

At this time, when the accelerator lever is in the neutral position and the neutral switch detects that the accelerator lever is in the neutral position and is on, the position adjustment is performed so that the detected value of the potentiometer becomes zero. Done.
Specifically, the neutral switch and accelerator lever are aligned so that the neutral switch turns on when the accelerator lever is in the neutral position, and the neutral switch is in the neutral position without the accelerator lever being operated. While it is turned on, fix the potentiometer to the accelerator lever side with a screw etc. while keeping the detected value of the potentiometer at zero, but at that time, insert a shim at the screwed position to perform delicate positioning. There is.

Then, as shown in FIG. 6, the position of the accelerator lever when the neutral switch is turned on is set to the neutral position AC.
As a result, the detected value of the potentiometer is multiplied by a predetermined gain, and a speed command value pattern VC provided with a dead zone N of a predetermined width is set in a memory or the like with the detected value of the potentiometer at the neutral position AC as a reference center. The speed command value corresponding to the detected value of the potentiometer accompanying the rotation operation of the accelerator lever is read out and the output control of the traveling motor is performed.

[0005]

However, in the conventional forklift, as shown in FIG. 6, since the speed command value has only one inclination, when the driver rotates the accelerator lever from the neutral position. In addition, when the detected value of the potentiometer passes through the dead zone, the speed command value suddenly rises at B1 in FIG. 6, so it is very difficult to control the low speed running in which the rotational operation amount of the accelerator lever is kept small, and the operation feeling is greatly reduced. There was a problem that was not good.

Therefore, as shown by the broken line in FIG.
There are two types of inclination of the speed command value, that is, a small inclination (L1) and a large inclination (L2) according to the potentiometer detection value, and the rising of the speed instruction value when the detection value of the potentiometer goes out of the dead zone is suppressed to run at a low speed. In addition to facilitating control of the vehicle, high-speed traveling is also possible.

However, in this case, when the inclination of the speed command value switches from small (L1) to large (L2), that is, in FIG.
In B2, the rate of change in acceleration increases, so when the rotational operation amount of the accelerator lever is increased, the speed suddenly increases and it feels like popping out, making it difficult to operate and the operation feeling is poor. There was a point. Then, in the case of forming such two types of inclinations of the speed command values, it is very difficult to select the optimum value for each of the inclinations at the low speed traveling and the high speed traveling.

Further, since a cargo handling vehicle such as a forklift truck travels in a state of being loaded with cargo, there is a possibility that the cargo may collapse when the acceleration performance is significantly changed. In particular, in the case of a cargo handling vehicle in which a driver such as an order picking lift works at a high place, there is a problem that the driver may lose his posture.

Therefore, the present invention suppresses a rapid change in the speed command value, which is represented as a bent portion when the relationship between the detected value of the angle detection sensor and the speed command value is illustrated, and
The purpose of the present invention is to facilitate control of both low speed traveling and high speed traveling, and to improve the accelerator operation feeling.

[0010]

In order to achieve the above-mentioned object, the present invention detects the rotation operation angle of an accelerator operation member rotatably provided on a vehicle body by an angle detection sensor, and detects the rotation operation angle of the angle detection sensor. In an accelerator of an electric vehicle that controls a traveling motor so that the vehicle travels at a traveling speed according to a detected value, a predetermined calculation is performed using the detected value of the angle detection sensor, which has a non-linear relationship with the detected value of the angle detection sensor. It is characterized by comprising a control unit that derives a speed command value and controls the output of the traveling motor based on the speed command value.

According to this structure, since the relationship between the speed command value and the detection value of the angle detection sensor is non-linear, the change amount of the speed command value is small in a range where the rotational operation angle of the accelerator operating member is small. It is possible to easily control the slow speed running, and when the rotational operation angle of the accelerator operating member is increased, the change amount of the speed command value becomes large and the high speed running can be easily controlled.
It is possible to smoothly change the speed command value in accordance with the rotation of the accelerator operation member to improve the accelerator operation feeling.

Further, according to the present invention, the control unit sets the speed command value to zero when the detection value of the angle detection sensor is within a predetermined numerical range, and the detection value of the angle detection sensor is within the numerical range. If not, the power command is performed using the detection value of the angle detection sensor to derive the speed command value. At this time, the calculation by the control unit is performed when the detected value of the angle detection sensor shifts from a state within the numerical range to a state outside the numerical range,
It is preferable to set the speed command value so as to smoothly rise from zero.

According to this structure, the angle detection sensor detects when the accelerator lever is rotated from the neutral position, as in the case where the speed command value changes linearly with respect to the detection value of the angle detection sensor. It is possible to prevent the speed command value from suddenly rising when the value changes from being within the predetermined numerical value range to being not within the predetermined numerical value range, and in particular makes the accelerator operation feeling good at low speed running. be able to.

Further, according to the present invention, the control unit multiplies a detection value of the angle detection sensor and a value obtained by performing a predetermined exponentiation operation on the detection value of the angle detection sensor by a predetermined constant. The speed command value is derived by adding both multiplication results.

With such a configuration, the relationship between the speed command value and the detection value of the angle detection sensor can be made non-linear, and the exponent and constant of the power calculation can be appropriately selected to detect the angle of the speed command value. It is possible to variably set the non-linear relationship with respect to the detection value of the sensor, and thereby obtain a change curve of the speed command value according to the driver's preference.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment in which the present invention is applied to a reach type forklift which is an electric vehicle will be described with reference to FIGS. 1 to 5. However, FIG. 1 is a perspective view of the reach type forklift, FIG. 2 is a partial schematic view, FIG. 3 is a block diagram of a control system, FIG. 4 is an operation explanatory flowchart, and FIG. 5 is an operation explanatory diagram.

The reach type forklift according to the present embodiment is constructed, for example, as shown in FIG. That is,
The reach type forklift 1 has a straddle arm 3 projectingly fixed to both front ends of a vehicle body 2, and a mast 5 for guiding a fork 4 lifted and lowered by a lift cylinder (not shown) between the straddle arms 3.
Is erected so that it can be moved back and forth. A road wheel 6 is rotatably attached to both straddle arms 3, and a drive wheel 7 is attached to a lower rear portion of the vehicle body 2. The drive wheel 7 is rotationally driven by a traveling motor 26 described later, so that the reach type forklift 1 travels.

Further, as shown in FIG. 1, the vehicle body 2 is provided with various hydraulic operation levers 9 for operating the mast 5 and the forks 4, and for controlling the rotation of the traveling motor 26. An accelerator 10 is provided, and a steering handle 11 for steering is provided.

Further, as shown in FIG. 2, the accelerator 10 is connected to a rotating body 12 having a circular shape in a side view, and is provided with an accelerator lever 13 which is an accelerator operating member rotatably provided in a direction of a dashed arrow in the drawing, A spring 14 as a biasing means that is wound around the rotation axis of the rotating body 12 and is locked to the accelerator lever 13 in a state where both ends intersect and is biased to hold the accelerator lever 13 in the neutral position when not operated, and an accelerator. A neutral switch 15 that is turned on when the lever 13 is in the neutral position to output a neutral signal, and an angle detection that detects the rotational operation amount when the accelerator lever 13 is rotationally operated from the neutral position in the forward direction or the reverse direction. The potentiometer 16 as a sensor and a control device (not shown) described later are provided. In FIG. 2, 17a, 17b
Is an end member that defines the rotational operation limit of the accelerator lever 13 to the forward side and the reverse side.

By the way, the neutral switch 15 has a movable piece 18 which is biased and movable in the direction of the solid arrow in FIG.
The movable piece 18 is disposed below the rotating body 12 and the movable piece 18 is
When the movable piece 18 is fitted into the groove 19 formed on the peripheral surface of the rotating body 12 facing the mounting position of the accelerator lever 13, the neutral switch 15 is slid.
Is turned on to detect that the accelerator lever 13 is in the neutral position, and the above neutral signal is output.

Then, the traveling motor 26 is controlled to a motor output value corresponding to the detection value of the potentiometer 16 by a control device composed of a microcomputer or the like. This control device is configured as shown in FIG. Has been done. That is, as shown in FIG. 3, the detection signal from the potentiometer 16 and the neutral signal from the neutral switch 15 are analog / digital conversion means (hereinafter referred to as A / D) 2
CPU 22 which will be described later by being converted into a digital signal by
The control signal from the CPU 22 is transmitted to the motor driver 25 via the parallel output unit (hereinafter referred to as PO) 24, and the speed command value based on the control signal from the CPU 24 is transferred from the motor driver 25 to the traveling motor 26.
And the output of the traveling motor 26 is controlled according to the speed command value. Such control processing by the CPU 22 corresponds to a control unit.

Further, as shown in FIG. 3, a RAM 27 is provided, and when the neutral signal is output from the neutral switch 15 as the detection value of the potentiometer 16 corresponding to the neutral position of the accelerator lever 13, the RAM 27 is provided. The detection value (= 0) of the potentiometer 16 is held, the calculation data by the CPU 22 is temporarily stored and held, and the traveling motor 26 is controlled by the CPU 22 according to a predetermined control program stored in the ROM 28 in advance. Done.

By the way, the control process of the traveling motor 26 by the CPU 22 will be described in detail. The CPU 22 sets a dead zone in which the speed command value is zero in a predetermined numerical range in which the detected value of the potentiometer 16 is near zero, and the potentiometer 16 is provided. When the detected value of is shifted from the state within the numerical range to the state outside the numerical range, that is, the speed command value is nonlinearly raised from zero with the end of the dead zone as the origin, and the potentiometer 16 for the speed command value Set so that the relationship with the detected value is non-linear.

At this time, the CPU 22 controls the current detected value Po of the potentiometer 16 and a predetermined value Pn.
The absolute value of the current detected value Po of the potentiometer 16 is less than a predetermined value Pn (that is, -Pn <Po <
If it is Pn), the speed command value is set to zero and the dead zone is set.
On the other hand, the absolute value of the current detected value Po of the potentiometer 16 is a predetermined value Pn or more (that is, Po ≦ −Pn or Po.
≧ Pn), the speed command value is derived with the difference between the current detection value Po and the predetermined value Pn as the detection value Pr of the potentiometer 16. Incidentally, such a potentiometer 16
The dead zone setting process is to set the speed command value to zero by using the present detected value Po and the predetermined value Pn, or to perform the preparatory process for the subsequent calculation of the speed command value. Particularly, the difference between the current detection value Po and the predetermined value Pn is calculated as the detection value Pr.
The speed command value can be raised from the end of the dead zone by calculating the speed command value.

Then, following the dead zone setting process described above, the speed command value is calculated. That is, the CPU 22
Is a predetermined speed maximum value Vmax, a ratio (Pr / Pr) between the detection value Pr of the potentiometer 16 and the maximum detection value Pm.
Pm), the predetermined constants K1 and K2, and the exponent K3, the speed command value Vcom is Vcom = Vmax × (Pr / Pm) × {K1 + K2 × (Pr / Pm) ^K3 } / (K1 + K2 ) ... Derived by the operation of (1). In addition, in this equation (1), the constant K
It is also possible to introduce 1 ′ and K2 ′ and rewrite as Vcom = K1 ′ × Pr + K2 ′ × Pr ^K3 (2). However, the constant K1 ',
K2 ′ is represented by K1 ′ = K1 × Vmax / {(K1 + K2) × Pm} ... (3) K2 ′ = K2 × Vmax / {(K1 + K2) × Pm ^{K3 + 1} } ... (4) .

At this time, as shown in FIG. 5, if the position of the accelerator lever 13 when the neutral switch 15 is turned on is the neutral position AC, the CPU 22 causes the neutral position AC.
And the detection value of the potentiometer 16 at that time (= 0)
A speed command value pattern VC provided with a dead zone N of a predetermined width and a maximum value is created on the basis of, and stored in the RAM 27. From the speed command value pattern VC of the RAM 27, the potentiometer 16 associated with the rotation operation of the accelerator lever 13 is generated.
The speed command value corresponding to the detected value is read to control the output of the traveling motor 26.

Here, the constant K in the above equation
1 and K2 determine whether the relationship curve drawn when illustrating the relationship between the speed command value Vcom and the detection value Po of the potentiometer 16 is linear or curved. This will be described using the equation (2).

For example, when K2 = 0, K2 '= 0, and the speed command value Vcom is derived by the calculation of Vcom = K1' * Pr (5). However, this is that the relationship between the speed command value Vcom and the detected value Po of the potentiometer 16 is linear, which is represented by a thick solid line L in FIG. 5, as in the conventional case, and the speed command value rises from zero. The part bends. Therefore, in order to realize the nonlinear relationship and the smooth rising of the speed command value, which are the characteristics of the present invention, K2 ≠ 0 must be satisfied, and if the expression (2) is satisfied, the power calculation of the second term on the right side is performed. It is essential.

When K1 = 0, K1 '= 0, and the speed command value Vcom is derived by the calculation of Vcom = K2' * Pr ^K3 (6). At this time, as indicated by a broken line R in FIG. 5, the relationship between the speed command value Vcom and the detection value Po of the potentiometer 16 becomes a power curve. By the way, in the calculation of the equation (6), the relationship curve between the speed command value Vcom and the detection value Po of the potentiometer 16 may be bent too much. Therefore, the relationship between the speed command value Vcom and the detected value Po of the potentiometer 16 is calculated by K1 ≠ 0 and K2 ≠ 0 in the equation (1) or the equation (2), and the thin solid line in FIG. Represented by M,
It can be an intermediate curve between the straight line (thick solid line L) in the case of the calculation of the expression (5) and the power curve (broken line R) in the case of the calculation of the expression (6). When the value of K1 is larger than the value of K2, the curve is close to the straight line of the equation (5),
When the value of K1 is smaller than the value of K2, the curve is close to the power curve of the equation (6), and therefore it is necessary that the value of K1 is not too large as compared with the value of K2.

Further, the speed command value V is calculated by the exponent K3.
The shape of the relationship curve between the com and the detection value Po of the potentiometer 16 is determined. That is, when the exponent K3 is decreased, the slope of the relational curve becomes smaller and becomes a gentle curve, and when the power exponent K3 is increased, the slope of the relational curve becomes larger and the curve becomes steep. Therefore, in order to realize the smooth rising of the speed command value, which is a feature of the present invention, it is necessary that the power index K3 is not too large, and the value of the power index K3 is preferably 2 or 3. . By calculating the speed command value Vcom by one equation using the detection value Po of the potentiometer 16 as in the equation (1), the relational curve of the conventional problem as represented by B2 in FIG. 6 can be obtained. Bending on the way can be eliminated, and the arithmetic processing can be simplified.

Further, the CPU 22 uses the accelerator lever 13
When the detected value of the potentiometer 16 by the operation of is larger than the predetermined maximum value or smaller than the minimum value, as error processing, the speed command value of the traveling motor 26 is set to zero to forcibly stop, or the hydraulic operation of the vehicle body 2 is performed. It controls a display unit composed of an LCD provided near the lever 9 to display a warning, or drives an LED or a buzzer also provided near the hydraulic operation lever 9 to give an alarm.

Next, a series of operations will be described with reference to the flowchart of FIG.

As shown in FIG. 4, first, initial setting is performed (S1), the output of the potentiometer 16 is taken in by the CPU 22 (S2), and it is determined whether or not the detected value of the taken potentiometer 16 is larger than a predetermined maximum value. Is determined (S3), and if this determination is NO, it is determined whether or not the detection value of the potentiometer 16 is smaller than a predetermined minimum value (S4), and if this determination result is NO, step S7 described later will be described. Move to.

On the other hand, if the decision result in the step S4 is YES, along with the decision result in the step S3 being YES, the process proceeds to the step S5 and the error processing is executed (S5), and the speed command value for the traveling motor 26 is set. Is forcibly set to zero (S6), then step S1 described later.
Move to 3.

Then, in step S7, the output of the neutral switch 15 is fetched (S7), and the neutral switch 1
5 is on, that is, it is determined whether or not the neutral signal is output and the neutral position is detected (S8). If the determination result is NO, the process proceeds to step S10 described later,
If the determination result is YES, it is determined whether the detected value of the potentiometer 16 is within the normal range (S
9) If the determination result is NO, the process proceeds to step S10 described later, and if the determination result is YES, the process proceeds to step S5 described above.

Then, in step S10, the speed command value pattern V based on the neutral signal output from the neutral switch 15 and the detected value of the potentiometer 16 at that time.
C is created. First, for example, the forward side corresponding to the right half and the reverse side corresponding to the left half shown in FIG. 5 are determined (S10), and the detection value of the potentiometer 16 at the time when the neutral signal is output is set as a reference to a predetermined width. The dead zone N, and the saturation range near the maximum value are set, and the absolute value is taken (S11). This is because the speed command value pattern VC shown in FIG. 5 is symmetric with respect to the point where the detected value of the potentiometer 16 is zero, and thus the speed command value pattern on one side (for example, the forward side) is created. This is the necessary processing.

Subsequently, the speed command value is derived by the calculation of the above-mentioned equation (1) to create the speed command value pattern VC (see FIG. 5) (S12), which is stored in the RAM 27 and is then stored by the CPU 22. Potentiometer 1
The output control of the traveling motor 26 is performed with the speed command value corresponding to the detected value of 6 (S13), and then the above-described step S
Return to 2.

Therefore, according to the above-described embodiment, since the relationship between the speed command value Vcom and the detected value Po of the potentiometer 16 is made non-linear, the change amount of the speed command value is small in the range where the rotational operation amount of the accelerator lever 13 is small. When the accelerator lever 13 is reduced, the vehicle can be easily driven at a low speed, and when the rotational operation amount of the accelerator lever 13 is increased, the amount of change in the speed command value is increased and the vehicle can be easily driven at a high speed. The feeling can be improved.

Further, as shown in FIG. 5, after the detected value Po of the potentiometer 16 has passed through the dead zone N, the speed command value Vcom can be raised smoothly and gently, so that the vehicle can start smoothly. For example, it is possible to improve the operation feeling when the operation of immediately switching from the forward drive to the reverse drive is performed. Furthermore, since there is no switching (large acceleration change) from starting to slow speed running to high speed running, it is possible to accelerate smoothly. As a result, it is possible to eliminate the feeling that the vehicle suddenly jumps out, improve the operation feeling, and prevent the collapse of the load and the loss of the posture of the driver.

Further, the relationship of the speed command value with respect to the detected value of the potentiometer 16 can be made into a curved shape by the calculation of the equation (1), and the constant K in the equation (1) is used.
By appropriately selecting 1, K2 and the exponent K3, it is possible to variably set various nonlinear relationships between the speed command value and the detection value of the potentiometer 16. Therefore,
These constants K1, K2 and the exponent K3 can be selected so as to obtain a change curve of the speed command value according to the driver's preference.

In the above embodiment, the potentiometer 16 is used as the angle detecting sensor, but the angle detecting sensor is not limited to the potentiometer as long as it can detect the rotational operation amount of the accelerator lever 13. It goes without saying that this is not what is done. Further, in order to detect the rotational operation amount of the accelerator lever 13, the rotation amount of the accelerator lever 13 may be changed to a linear movement using a cam, and then the linear movement amount may be detected.

Further, in the above-described embodiment, when the detected value of the potentiometer 16 exceeds the predetermined maximum value or falls below the minimum value, error processing such as forcibly setting the speed command value to zero is performed. However, such error processing does not necessarily have to be performed.

Further, in the above embodiment, the spring 14 as shown in FIG. 2 is used as the biasing means in the accelerator 10 (see FIG. 2), but the biasing means has the spring 14 having such a shape. Is not limited to
In short, it is sufficient that the accelerator lever 13 can be biased to be held at the neutral position without being operated.

Further, in the above-described embodiment, the case where the accelerator lever 13 is used as the accelerator operating member has been described. However, the accelerator lever 13 is not limited to the accelerator lever, and an accelerator using an accelerator pedal, an accelerator grip or the like as an accelerator operating member is also used. The present invention can be applied. Further, the biasing means may be changed according to the form of the accelerator operating member, and the biasing means may be provided so as to hold the accelerator operating member in the non-operating position instead of the neutral position.

Further, in the above-described embodiment, the accelerator which can be operated forward and backward is described, but the present invention can be applied to an accelerator that merely adjusts the traveling speed of the vehicle, and is separate from the accelerator. The accelerator according to the present invention may be used together with the forward / reverse switching lever of FIG. In such a case, the neutral switch may be provided on the forward / reverse switch lever, or the forward switch and the reverse switch may be provided on the forward / reverse switch lever instead of the neutral switch.

Furthermore, in the above-described embodiment, the case where the CPU 22 or the like forming the control unit is provided in the accelerator 10 has been described, but it is not necessary to dispose the control unit together with the accelerator lever 13 or the like in one place. The control unit of the accelerator may be incorporated in the control device provided inside the vehicle body for controlling the device.

Further, in the above-described embodiment, the case where the present invention is provided to the reach type forklift which is an electric vehicle has been described. However, the present invention is not limited to the reach type forklift described above, and other types of forklifts, other electric vehicles, etc. It is needless to say that the present invention can be applied to a vehicle using an accelerator having an accelerator lever, such as an electric vehicle in general, and in this case, the same effect as that of the above-described embodiment can be obtained.

The present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the spirit of the present invention.

[0049]

As described above, according to the first aspect of the invention, the relationship between the speed command value and the detection value of the angle detection sensor is non-linear, so that the rotation operation angle of the accelerator operation member is small. , The change amount of the speed command value becomes small and the control of the slow speed running can be easily performed, and when the rotational operation angle of the accelerator operation member is increased, the change amount of the speed command value becomes large and The control can be easily performed, and the speed command value can be smoothly changed with the rotation of the accelerator operation member to improve the accelerator operation feeling.

According to the second and third aspects of the invention, the accelerator lever is rotated from the neutral position as in the case where the speed command value changes linearly with respect to the detection value of the angle detection sensor. At this time, when the detection value of the angle detection sensor shifts from the state of being within the predetermined numerical range to the state of not being within the predetermined numerical range, it is possible to prevent the speed command value from rising suddenly. The operation feeling can be improved.

According to the fourth aspect of the present invention, the relationship between the speed command value and the detection value of the angle detection sensor can be made non-linear, and the exponent and constant of the power calculation can be appropriately selected to obtain the speed. The non-linear relationship of the command value with respect to the detection value of the angle detection sensor can be variably set in various ways, which makes it possible to obtain a change curve of the speed command value according to the driver's preference.

[Brief description of drawings]

FIG. 1 is a perspective view of a reach type forklift according to an embodiment of the present invention.

FIG. 2 is a side view showing a part of the accelerator according to the embodiment of the present invention.

FIG. 3 is a block diagram of a control system according to an embodiment of the present invention.

FIG. 4 is a flowchart for explaining the operation of the embodiment of the present invention.

FIG. 5 is an operation explanatory diagram of the embodiment of the present invention.

FIG. 6 is an operation explanatory diagram of a conventional example.

[Explanation of symbols]

1 Reach type forklift 2 car body 10 Accelerator 13 Accelerator lever (accelerator operating member) 14 Spring (biasing means) 15 Neutral switch 16 potentiometer (angle detection sensor) 22 CPU (control unit) 26 traveling motor

Claims (4)

[Claims] 1. A rotation operation angle of an accelerator operation member rotatably provided on a vehicle body is detected by an angle detection sensor,
In an accelerator of an electric vehicle that controls a traveling motor so as to travel at a traveling speed according to a detection value of the angle detection sensor, a predetermined calculation is performed using a detection value of the angle detection sensor, and a detection value of the angle detection sensor An accelerator for an electric vehicle, comprising: a control unit that derives a speed command value having a non-linear relationship with and controls the output of the traveling motor based on the speed command value. 2. The control unit sets the speed command value to zero when the detection value of the angle detection sensor is within a predetermined numerical range, and when the detection value of the angle detection sensor is not within the numerical range. The accelerator for an electric vehicle according to claim 1, wherein the speed command value is derived by performing a power calculation using a detection value of the angle detection sensor. 3. The calculation by the control unit is such that the speed command value is smoothly changed from zero when the detected value of the angle detection sensor shifts from a state within the numerical range to a state outside the numerical range. The accelerator for an electric vehicle according to claim 2, wherein the accelerator is set to start up. 4. The control unit multiplies a detection value of the angle detection sensor and a value obtained by performing a predetermined power calculation on the detection value of the angle detection sensor by a predetermined constant,
The accelerator for an electric vehicle according to claim 1, wherein the speed command value is derived by adding both multiplication results.