JP2005022631A - Drive control device of electric scooter - Google Patents

Drive control device of electric scooter Download PDF

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Publication number
JP2005022631A
JP2005022631A JP2003378768A JP2003378768A JP2005022631A JP 2005022631 A JP2005022631 A JP 2005022631A JP 2003378768 A JP2003378768 A JP 2003378768A JP 2003378768 A JP2003378768 A JP 2003378768A JP 2005022631 A JP2005022631 A JP 2005022631A
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Prior art keywords
command
scooter
driver
control device
acceleration
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Granted
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JP2003378768A
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Japanese (ja)
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JP2005022631A5 (en
JP4576825B2 (en
Inventor
Takashi Manba
崇 萬羽
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Yaskawa Electric Corp
株式会社安川電機
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Application filed by Yaskawa Electric Corp, 株式会社安川電機 filed Critical Yaskawa Electric Corp
Priority to JP2003378768A priority patent/JP4576825B2/en
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Publication of JP2005022631A5 publication Critical patent/JP2005022631A5/ja
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Application status is Expired - Fee Related legal-status Critical
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/72Electric energy management in electromobility
    • Y02T10/7258Optimisation of vehicle performance
    • Y02T10/7275Desired performance achievement

Abstract

<P>PROBLEM TO BE SOLVED: To provide a drive control device of an electric scooter allowing control without a change in the relationship of the control input with the acceleration and the turning radius of the scooter due to a difference in the weight of an operator or load or in the center-of-gravity position and eliminating the ride discomfort. <P>SOLUTION: The drive control device of an electric scooter has a command generation device 2 detecting the inclination angle of an operator by a biaxial inclination sensor 1 and generating an acceleration command and a turning radius command so that the direction of the resultant of a inertia force and a gravitational force in acceleration and deceleration and the direction of the resultant of a centrifugal force and a gravitational force in turn are the same as the direction of the inclination of the operator, and a control device 3 driving a plurality of motors 7 so that the scooter operates according the received acceleration command and the turning radius command. Since this device improves the ride comfort and facilitates the operation procedure, it is applicable to the drive control of a scooter as transportation or load carriage means or a scooter as a toy. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a drive control device for an electric scooter.

A conventional drive control device for an electric scooter is, for example, as shown in FIG. FIG. 6 is a block diagram showing a conventional drive control device for an electric scooter.
In FIG. 6, 31 is an accelerator, 32 is a control device, 33 is a motor drive circuit, 34 is a power source, and 35 is a motor. In such a configuration, the drive control device for the electric scooter is configured such that the operation amount of the accelerator 31 installed on the foot or the handle portion is input to the control device 32, and the control device 32 controls the motor drive circuit 33. The power supplied from the power supply 34 to the motor 35 is adjusted.
Also, as a kind of this type of electric scooter, there has been proposed a drive control device for a powered kickboard that uses a kickboard and can be used for both human power and electric power, and can be safely used and electric power can be used efficiently. Some of the devices are started by the driver pushing the kick board by human power first, and then the control device is activated to supply power to the motor (see, for example, Patent Document 1).
In addition, there is also an apparatus in which the operation of the inverted pendulum is applied to an electric scooter so as to return the driver's inclination to the original state, that is, to return to a vertical direction balanced with so-called gravity (for example, see Patent Document 2). ).
As described above, the conventional electric scooter drive control device detects the amount of operation of the accelerator to control the output of the scooter, or applies the operation of the inverted pendulum to the electric scooter to bring the upright state. I want to keep it.
Utility Model Registration No. 3080068 (3rd page, FIG. 2) Japanese translation of PCT publication No. 2003-502002 (page 43, FIG. 3)

However, the conventional drive control device for an electric scooter controls the output of the scooter by detecting the operation amount of the accelerator, but does not have a mechanism for detecting the forward / backward and left / right inclination of the driver. There is a problem that the body falls over if it is not balanced by tilting the body against the inertial force during acceleration / deceleration and the centrifugal force during turning.
In addition, when the driver cannot operate the scooter tilt, such as a four-wheeled vehicle, the inertial force during acceleration / deceleration is received in the front-rear direction and the centrifugal force during turning is received in the left-right direction. So there was also a problem that the ride was uncomfortable.
In addition, when the operation of the inverted pendulum is applied to an electric scooter, the device controls the driver so that the driver is always kept upright. Therefore, the driver returns the body inclination by the inverted pendulum. I was always subject to inertia. Further, since the control means is controlled based on the driver's inclination and not based on the driver's intention, the ride comfort is deteriorated.
In addition, in such control, the relationship between the operation amount and the acceleration / deceleration force of the output scooter changes depending on the driver, the weight of the load and the position of the center of gravity, and the driver operates differently than intended. There was a problem that.
The present invention has been made to solve the above-described problems, and can be operated without changing the relationship between the operation amount, the acceleration of the scooter, and the turning radius due to the difference in the weight of the driver and the load and the position of the center of gravity. Another object of the present invention is to provide a drive control device for the electric scooter that can eliminate the poor ride comfort.

In order to solve the above problem, the present invention is configured as follows.
The invention according to claim 1 is a vehicle body on which a driver is placed, a handle that is provided at a front end of the vehicle body and is inclined by hand, a motor that rotates a wheel provided on the vehicle body, a power source of the motor, Driving an electric scooter comprising a motor drive circuit for driving a motor, a control device for operating the motor drive circuit to control the rotational angular acceleration of the motor, and a speed sensor for detecting the travel speed of the vehicle body In the control device, the connecting portion that connects the vehicle body and the handle and is provided so as to be freely rotatable in the front-rear direction and the left-right direction so as to coincide with the direction in which the driver's body tilts with respect to the vehicle body. And a biaxial tilt sensor that is provided in the connecting portion and detects the body tilt in the front-rear and left-right directions of the driver, and the driver based on information from the biaxial tilt sensor and the speed sensor. A command generator for generating an acceleration command value and a turning radius command so that the direction of the resultant force of the gravity, the inertial force at the time of acceleration / deceleration in the longitudinal direction and the centrifugal force at the time of turning coincides with the inclination direction of the driver's body; The motor is controlled by the controller so that the scooter operates in accordance with the acceleration command and the turning radius command received from the command generation device.
According to a second aspect of the present invention, there is provided the electric scooter drive control device according to the first aspect, wherein the command generating device detects an acceleration command a, a gravitational acceleration g, and a driver that detects a biaxial tilt sensor. The acceleration command to the scooter is determined by a = g × tan θ, the turning radius command is r, and the driver's horizontal tilt angle detected by the biaxial tilt sensor is φ, speed The scooter travel speed detected by the sensor is set to v, and the turning radius command is determined by r = v 2 / (g × tan φ).
According to a third aspect of the present invention, there is provided the electric scooter drive control device according to the first or second aspect, wherein the biaxial tilt sensor is provided between the vehicle body and the handle provided at the connecting portion. And two angle sensors that respectively detect the tilt angles in the left-right direction.

According to the first and second aspects of the invention, the drive control device for the electric scooter includes a biaxial inclination sensor that detects the inclination of the body in the front-rear and left-right directions of the driver, the biaxial inclination sensor, and the speed sensor. Command that generates acceleration command value and turning radius command so that the direction of the resultant force of gravity, inertial force during acceleration / deceleration in the longitudinal direction and centrifugal force during turning coincides with the tilt direction of the driver's body based on the information And generating a scooter acceleration command and a turning radius command by detecting the tilt of the steering wheel of the electric scooter and using the tilt angle of the body in the front-rear and left-right directions of the driver as the operation amount. Thus, the scooter can be easily controlled so that the resultant force of the acceleration / deceleration inertial force, the turning centrifugal force, and the gravity is in the tilt direction of the driver's body, and the ride comfort can be improved.
According to the invention described in claim 3, the biaxial tilt sensor is composed of two angle sensors that respectively detect the front and rear and left and right tilt angles of the vehicle body and the handle provided in the connecting portion. In response to the steering operation of the vehicle, the driver inclines and decelerates and turns during the turning according to the driver's front and rear and left and right body inclination angles detected by the two angle sensors to balance the body. Operation and scooter operation can be performed simultaneously.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1 is a block diagram of an electric scooter drive control device showing an embodiment of the present invention, FIG. 2 is a side view of an electric scooter body showing an embodiment of the present invention, and FIG. 3 is an electric scooter showing an embodiment of the present invention. FIG.
1 to 3, 1 is a biaxial tilt sensor, 2 is a command generation device, 3 is a control device, 4 is a speed sensor, 5 is a power supply, 6 is a motor drive circuit, 7 is a motor, 8 is a connecting portion, 9 Is a handle, 10A is a front wheel, 10B is a rear wheel, 11 is a vehicle body, 12 is a longitudinal angle sensor, and 13 is a lateral angle sensor. 2 and 3, the biaxial tilt sensor 1 includes a front-rear direction angle sensor 12 and a left-right direction angle sensor 13, and uses a variable resistor or a rotary encoder. 2 and 3, the power source 5 uses a battery and the motor 7 uses a speed sensor.
1 and 2, the electric scooter is basically ridden in a standing manner, and the acceleration and turning radius of the scooter are set by the driver's hand at the front end of the vehicle body 11 on which the driver is placed. A handle 9 for control is provided. On the bottom surface of the vehicle body 11 of the scooter, there are provided a front wheel 10A that supports the vehicle body 11 and has no driving torque and freely rotates, and two rear wheels 10B. Further, the vehicle body 11 is provided with a motor 7 that rotates the rear wheel 10B, a power source 5, a motor drive circuit 6 that drives the motor 7, a command generation device 2, and a control device 3.

The present invention is different from the prior art as follows.
That is, the present invention connects the vehicle body 11 and the handle 9, and also connects the handle 9 with respect to the vehicle body 11 so that the driver body can be rotated in both the front-rear direction and the left-right direction. 8 includes a front-rear direction angle sensor 12 for detecting a front-rear direction inclination angle between the vehicle body 11 and the handle 9 provided in the connecting portion 8 and a left-right direction angle sensor 13 for detecting a left-right inclination angle. Based on information from the biaxial tilt sensor 1 and the speed sensor 4, the direction of the resultant force of the driver, gravity, inertia force during acceleration / deceleration, and centrifugal force during turning is determined based on information from the biaxial tilt sensor 1 and the speed sensor 4. The command generation device 2 for generating the acceleration command and the turning radius command so as to coincide with the inclination direction of the vehicle is provided.

Next, the operation of this embodiment will be described.
FIGS. 4 and 5 are a side view and a front view, respectively, for explaining the operation when the driver gets on the main body of the electric scooter according to the present embodiment. The driver gets on the vehicle body 11 in a standing position. It is assumed that the driver holds the handle 9 so as to be parallel to the direction of inclination of the body inclined on the line connecting his / her body and head. Thereby, the inclination direction of the steering wheel can be regarded as the inclination direction of the driver's body. The front-rear direction angle sensor 12 and the left-right direction angle sensor 13 respectively detect the front-rear and left-right angles of the handle from the direction perpendicular to the vehicle body 11. In this embodiment, the front-rear direction angle sensor 12 and the left-right direction angle sensor 13 serve as the biaxial tilt sensor 1. Based on the detected forward / backward and left / right tilt angles and the speed feedback value obtained from the motor 7 with the speed sensor, the direction of the resultant force of the gravity applied to the driver by the command generator 2 and the inertial force during acceleration / deceleration, and An acceleration command a and a turning radius command r are generated so that the direction of the resultant force of the centrifugal force and the gravity during turning is equal to the inclination direction of the driver's body.
The acceleration command a generated by the command generation device 2 is a = g × tan θ or an approximate expression a = g × tan ×, where g is the gravitational acceleration, and θ is the forward / backward tilt angle of the driver detected by the biaxial tilt sensor. Determined by θ. The turning radius command r is r = v 2 / (g × tan φ, where φ is the driver's left-right direction tilt angle detected by the biaxial tilt sensor 1, and v is the scooter travel speed detected by the speed sensor. ) Or its approximate expression r = v 2 / (g × φ).
The control device 3 converts the acceleration / deceleration command a and the turning radius command r generated by the command generation device 2 into a rotational angular acceleration command to the motor, and drives the two rear wheels 10B via the motor drive circuit 6. When an acceleration / deceleration command and a turning radius command are given, rotational angular acceleration commands to the two rear wheels 10B are given by equations (1) and (2) when turning left, and when turning right (3) And given by equation (4).

a 1 = (1−w / 2r) / R × a (1)
a r = (1 + w / 2r) / R × a (2)
a 1 = (1 + w / 2r) / R × a (3)
a r = (1−w / 2r) / R × a (4) where a is an acceleration command, r is a turning radius command, and a 1 is a rotational angular acceleration to the left rear wheel. Command, ar is a rotational angular acceleration command to the right rear wheel, w is a distance between the ground points of the two rear wheels, and R is a rear wheel radius.

  This scooter is accelerated forward by the driver tilting his / her body forward, and when the target speed is reached, the driver returns the tilt of the body to vertical so that the scooter runs at a constant speed. The scooter can turn to the right when the driver tilts the body to the right, the scooter can turn to the left by tilting the body to the left, and can be decelerated by tilting the body backward. Since the driver's body inclination is input, and the direction of the resultant force of acceleration / deceleration inertia force, turning centrifugal force and gravity matches the driver's body inclination, the driver operates the scooter. The balance can be maintained at the same time during acceleration / deceleration and turning, and the ride comfort is also good.

  By detecting the inclination of the driver's body and controlling the acceleration / deceleration and turning radius accordingly, the ride comfort of the driver can be improved and the operation method can be facilitated. The present invention can also be applied to the use of a scooter as a transporting means and a drive control of a scooter for sports or as a toy.

The block diagram of the drive control apparatus of the electric scooter which shows the Example of this invention The side view of the electric scooter main body which shows the Example of this invention The front view of the electric scooter main body which shows the Example of this invention Side view for explaining the operation when the driver gets on the main body of the electric scooter showing the embodiment Front view for explaining the operation when the driver gets on the main body of the electric scooter showing the embodiment The block diagram which shows the structure of the drive control apparatus of the conventional electric scooter

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 2 axis | shaft inclination sensor 2 Command generation apparatus 3 Control apparatus 4 Speed sensor 5 Power supply 6 Motor drive circuit 7 Motor 8 Connection part 9 Handle 10A Front wheel 10B Rear wheel 11 Car body 12 Front-rear direction angle sensor 13 Left-right direction angle sensor

Claims (3)

  1. A vehicle body that carries the driver,
    A handle provided at the front end of the vehicle body and tilted by hand;
    A motor for rotating wheels provided on the vehicle body;
    A power source of the motor;
    A motor drive circuit for driving the motor;
    A control device for operating the motor drive circuit to control the rotational angular acceleration of the motor;
    In the drive control device of the electric scooter provided with a speed sensor for detecting the traveling speed of the vehicle body,
    A connecting portion that connects the vehicle body and the handle, and is provided so as to be freely rotatable in the front-rear direction and the left-right direction so as to coincide with the direction in which the driver's body tilts with respect to the vehicle body;
    A biaxial tilt sensor that is provided in the connecting portion and detects the tilt of the driver in the front-rear and left-right directions;
    Based on information from the two-axis tilt sensor and the speed sensor, acceleration is performed so that the direction of the resultant force of gravity applied to the driver, inertia force during acceleration / deceleration in the longitudinal direction, and centrifugal force during turning coincides with the tilt direction of the driver's body A command generation device for generating a command value and a turning radius command,
    An electric scooter drive control device, wherein the motor is controlled by the control device so that the scooter operates in accordance with an acceleration command and a turning radius command received from the command generation device.
  2. The command generation device determines an acceleration command to the scooter by a = g × tan θ, where a is an acceleration command, g is a gravitational acceleration, and θ is a tilt angle of the driver's longitudinal direction detected by a biaxial tilt sensor. The turning radius command is r, and the horizontal inclination angle of the driver detected by the biaxial tilt sensor is φ, the scooter traveling speed detected by the speed sensor is v, and the turning radius command is r = v 2 / (g × 2. The drive control device for an electric scooter according to claim 1, wherein the drive control device is determined by tan φ).
  3. 3. The two-axis tilt sensor includes two angle sensors that respectively detect front and rear and left and right tilt angles of the vehicle body and the handle provided in the connecting portion. The drive control device of the electric scooter described in 1.
JP2003378768A 2003-06-10 2003-11-07 Electric scooter drive control device and electric scooter including the same Expired - Fee Related JP4576825B2 (en)

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JP2003378768A JP4576825B2 (en) 2003-06-10 2003-11-07 Electric scooter drive control device and electric scooter including the same

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Cited By (18)

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JP2008513055A (en) * 2004-09-13 2008-05-01 デカ・プロダクツ・リミテッド・パートナーシップ Control of personal transport equipment based on user location
US8014923B2 (en) 2006-11-15 2011-09-06 Toyota Jidosha Kabushiki Kaisha Travel device
JP2011178329A (en) * 2010-03-03 2011-09-15 Equos Research Co Ltd Vehicle and vehicle control program
JP2014113970A (en) * 2012-12-12 2014-06-26 Kawasaki Heavy Ind Ltd Standing ride type electric vehicle
JP2015126552A (en) * 2013-12-25 2015-07-06 株式会社クボタ Travelling vehicle
JP2015123751A (en) * 2013-12-25 2015-07-06 株式会社クボタ Travelling vehicle
JP2015188441A (en) * 2014-03-31 2015-11-02 株式会社クボタ lawn mower
CN105278409A (en) * 2015-10-26 2016-01-27 淮安品向工业设计有限公司 Electric forklift and control method thereof
US9545963B2 (en) 2002-07-12 2017-01-17 DEKA Products Limited Partnership LLP Control of a transporter based on attitude
WO2017071273A1 (en) * 2015-10-26 2017-05-04 周深根 Four-wheel motion sensing vehicle
US9731760B2 (en) 2013-12-25 2017-08-15 Kubota Corporation Traveling vehicle
WO2018030407A1 (en) * 2016-08-08 2018-02-15 大同メタル工業株式会社 Vehicle
CN108909924A (en) * 2016-07-04 2018-11-30 胡玥 A kind of Segway Human Transporter
US10144478B2 (en) 2016-11-25 2018-12-04 Hangzhou Chic Intelligent Technology Co., Ltd. Pressure control steering
US10220843B2 (en) 2016-02-23 2019-03-05 Deka Products Limited Partnership Mobility device control system
USD846452S1 (en) 2017-05-20 2019-04-23 Deka Products Limited Partnership Display housing
WO2019102998A1 (en) * 2017-11-21 2019-05-31 大同メタル工業株式会社 Vehicle
WO2019102997A1 (en) * 2017-11-21 2019-05-31 大同メタル工業株式会社 Vehicle

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US10370052B2 (en) 2004-09-13 2019-08-06 Deka Products Limited Partnership Control of a personal transporter based on user position
US8014923B2 (en) 2006-11-15 2011-09-06 Toyota Jidosha Kabushiki Kaisha Travel device
JP2011178329A (en) * 2010-03-03 2011-09-15 Equos Research Co Ltd Vehicle and vehicle control program
JP2014113970A (en) * 2012-12-12 2014-06-26 Kawasaki Heavy Ind Ltd Standing ride type electric vehicle
JP2015123751A (en) * 2013-12-25 2015-07-06 株式会社クボタ Travelling vehicle
JP2015126552A (en) * 2013-12-25 2015-07-06 株式会社クボタ Travelling vehicle
US9731760B2 (en) 2013-12-25 2017-08-15 Kubota Corporation Traveling vehicle
US10112645B2 (en) 2013-12-25 2018-10-30 Kubota Corporation Traveling vehicle
JP2015188441A (en) * 2014-03-31 2015-11-02 株式会社クボタ lawn mower
WO2017071273A1 (en) * 2015-10-26 2017-05-04 周深根 Four-wheel motion sensing vehicle
CN105278409A (en) * 2015-10-26 2016-01-27 淮安品向工业设计有限公司 Electric forklift and control method thereof
CN105278409B (en) * 2015-10-26 2018-03-09 上海米步智能科技有限公司 Electric scooter and control method
US10220843B2 (en) 2016-02-23 2019-03-05 Deka Products Limited Partnership Mobility device control system
CN108909924A (en) * 2016-07-04 2018-11-30 胡玥 A kind of Segway Human Transporter
WO2018030407A1 (en) * 2016-08-08 2018-02-15 大同メタル工業株式会社 Vehicle
US10144478B2 (en) 2016-11-25 2018-12-04 Hangzhou Chic Intelligent Technology Co., Ltd. Pressure control steering
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