JP2006341773A - Battery-assisted bicycle - Google Patents

Battery-assisted bicycle Download PDF

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JP2006341773A
JP2006341773A JP2005170232A JP2005170232A JP2006341773A JP 2006341773 A JP2006341773 A JP 2006341773A JP 2005170232 A JP2005170232 A JP 2005170232A JP 2005170232 A JP2005170232 A JP 2005170232A JP 2006341773 A JP2006341773 A JP 2006341773A
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speed
advance angle
electric motor
lead angle
advance
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JP4738066B2 (en
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Satoshi Yasumi
聡 安見
Masamitsu Edatsune
真光 枝常
Akira Matsuo
亮 松尾
Takemi Ueda
雄美 上田
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Panasonic Holdings Corp
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Matsushita Electric Industrial Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a battery-assisted bicycle capable of preventing a poor riding comfort or preventing any burden against a rider's feet while controlling a lead angle against an electric motor. <P>SOLUTION: This battery-assisted bicycle of the present invention comprises an electric motor 7 for generating an auxiliary drive force, a position detection means 21 for detecting a position of the rotor in the electric motor 7, a lead angle value setting part 24 for setting the lead angle for advancing a phase of a position detection signal, a number-of-rotation calculating part 23 for detecting a running speed, and a motor output control part 25 for decreasing the lead angle set at said lead angle value setting part 24 when a running speed of the bicycle is less than a predetermined speed. Since such an arrangement as above causes a lead angle for use in controlling the lead angle to be reduced and controlling for the lead angle to be restricted at the time of starting of a battery-assisted bicycle or its low speed, it is possible to restrict occurrence of unnatural vibration caused by performing the lead angle controlling operation or the like and further it is also possible to restrict some disadvantages such as uncomfortable ride or burdening load against a rider's feet to a minimum degree. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は電動自転車、特に電動モータを備えた電動自転車に関する。   The present invention relates to an electric bicycle, and more particularly to an electric bicycle equipped with an electric motor.

ブラシレスの電動モータとして、従来から用いられている、ロータの表面部に永久磁石を配置した表面磁石形モータ（ＳＰＭモータと称す）に代えて、このＳＰＭモータよりも出力特性（高トルク特性（高加速性））および効率（トルク変換効率）が良い長所を有する内部磁石形モータ（ＩＰＭモータと称す）が空気調和機の圧縮機や工作機械などにおいて用いられつつある。   As a brushless electric motor, instead of a conventional surface magnet motor (referred to as an SPM motor) in which permanent magnets are arranged on the surface of a rotor, output characteristics (high torque characteristics (high torque characteristics) An internal magnet type motor (referred to as an IPM motor) having advantages such as acceleration performance) and efficiency (torque conversion efficiency) is being used in compressors and machine tools of air conditioners.

このＩＰＭモータは、ロータの内部に永久磁石を埋め込む配置としたもので、マグネットトルクに加えて、リラクタンストルクを発生できる性質を有することにより、上記長所を発揮可能である。そして、特許文献１等にも開示されているように、モータのロータの位置および回転数を検出して、回転数検出信号のレベルに応じて、前記位置検出信号の位相を進角させた、いわゆる進角制御を行うことで、前記長所を良好に引き出すことができる。   This IPM motor has a configuration in which a permanent magnet is embedded in the rotor, and can exhibit the above advantages by having a property of generating reluctance torque in addition to magnet torque. Then, as disclosed in Patent Document 1 and the like, the position and the rotational speed of the rotor of the motor are detected, and the phase of the position detection signal is advanced according to the level of the rotational speed detection signal. By performing so-called advance angle control, the above advantages can be satisfactorily extracted.

ところで、ペダルからの人の踏力による人力駆動力に、電動モータの補助駆動力を加えることで、坂道などでも楽に走行できるように構成した電動自転車は既に知られている。なお、電動モータを内蔵したモータ駆動ユニットは、ペダルからの踏力を、モータ駆動ユニット内部に設けられたトルクセンサにより検出し、この踏力に応じて補助駆動力を出力し、これらの人力駆動力と補助駆動力とを合わせてチェーンなどを介して後輪側に伝達するように構成している。   By the way, an electric bicycle configured to be able to travel easily on a slope or the like by adding an auxiliary driving force of an electric motor to a human driving force by a pedaling force of a person from a pedal is already known. The motor drive unit incorporating the electric motor detects the pedaling force from the pedal by a torque sensor provided in the motor driving unit, and outputs an auxiliary driving force according to the pedaling force. The auxiliary driving force is combined and transmitted to the rear wheel side via a chain or the like.

この電動自転車の電動モータとして、従来から用いられているＳＰＭモータに代えて、上述したＩＰＭモータを用いるとともに進角制御を行うことで、電動自転車の電動モータとして、出力特性や効率を向上させることが考えられる。
特開２００２−２７２１６５号公報 As the electric motor of this electric bicycle, instead of the conventionally used SPM motor, the above-mentioned IPM motor is used and advance angle control is performed, so that the output characteristics and efficiency of the electric motor of the electric bicycle are improved. Can be considered.
JP 2002-272165 A

しかしながら、電動自転車は、その発進時や低速時にふらつき易くて速度の変動も大きな不安定な状態となる自転車としての特性を有し、また、ペダルへの踏力も大きく変動する場合が多いので、電動自転車の電動モータとしてＩＰＭモータを採用して常に進角制御を行う構成とすると、自転車の発進時や低速時に、速度の変動に伴って電動モータの回転数が急激に変動する場合が多く、進角制御における予測が困難であることも影響して、実際の走行状態に適した制御を行い難かった。そして、このような電動自転車の発進時や低速時には、進角制御による効率の向上効果や出力特性の向上効果を得られないだけでなく、電動モータの共振や異常信号の発生などにより電動モータの回転が安定せずに不自然な状態で振動することがあり、この場合には、電動自転車の乗り心地が悪くなったり、搭乗者の足に負担をかけたりする不具合を生じていた。   However, electric bicycles have characteristics as bicycles that tend to be unstable at the time of starting or at low speeds, and in which the speed fluctuations are largely unstable, and the pedaling force on the pedals often fluctuates greatly. If an IPM motor is used as the electric motor for the bicycle and the advance angle control is always carried out, the rotational speed of the electric motor often changes rapidly with the fluctuation of the speed when the bicycle starts or at low speed. Due to the fact that prediction in angle control is difficult, it is difficult to perform control suitable for the actual running state. When such an electric bicycle starts or at a low speed, not only the efficiency improvement effect and output characteristic improvement effect by the advance angle control can be obtained, but also the electric motor resonance or abnormal signal generation can The rotation may not be stable and may vibrate in an unnatural state. In this case, the riding comfort of the electric bicycle is deteriorated, and a problem that a burden is applied to the rider's foot has occurred.

本発明は上記不具合を改善するもので、電動モータに対して進角制御を行いながら、乗り心地が悪くなったり、搭乗者の足に負担をかけたりすることを防止できる電動自転車を提供することを目的とするものである。   The present invention improves the above problems, and provides an electric bicycle capable of preventing the ride comfort from being deteriorated and placing a burden on a passenger's foot while performing advance angle control on the electric motor. It is intended.

上記不具合を解消するために本発明の電動自転車は、人力駆動力に加える補助駆動力を発生する電動モータと、電動モータのロータの位置を検出する位置検出手段と、前記位置検出手段で検出した位置検出信号の位相を進角させる進み角度を設定する進角値設定部と、走行速度を検出する速度検出手段と、走行速度が所定速度以下の場合に前記進角値設定部で設定した進み角度を減少させる進角値変更手段とを備えたことを特徴とする。なお、電動モータとしてはＩＰＭモータが望ましいが、これ以外の電動モータでも、進角制御を行うことで出力特性や効率を向上させることができるものであればよい。   In order to solve the above problems, the electric bicycle of the present invention is detected by the electric motor that generates the auxiliary driving force to be added to the human driving force, the position detecting unit that detects the position of the rotor of the electric motor, and the position detecting unit. An advance value setting unit for setting an advance angle for advancing the phase of the position detection signal, a speed detection means for detecting a travel speed, and an advance set by the advance value setting unit when the travel speed is equal to or less than a predetermined speed An advance value changing means for reducing the angle is provided. An IPM motor is desirable as the electric motor, but other electric motors may be used as long as they can improve output characteristics and efficiency by performing advance angle control.

この構成により、走行速度が小さい場合、すなわち電動自転車の発進時や低速時には、進角制御の進み角度が減少されて進角制御が抑制されるため、進角制御を行うことに起因する不自然な振動の発生などを抑制することができて、これにより、乗り心地が悪くなったり、搭乗者の足に負担をかけたりする不具合を最小限に抑えたり、不具合が生じないようにしたりすることができる。一方、所定の速度に達すると、進角制御の進み角度を減少させることによる抑制制御が解除されるため、電動モータの出力特性や効率を向上させることができる。   With this configuration, when the traveling speed is low, that is, when the electric bicycle starts or at a low speed, the advance angle of the advance angle control is reduced and the advance angle control is suppressed. The occurrence of excessive vibrations, etc., and thereby minimizing malfunctions that cause poor ride comfort and strain on passengers' feet, or prevent malfunctions. Can do. On the other hand, when the predetermined speed is reached, the suppression control by reducing the advance angle of the advance angle control is released, so that the output characteristics and efficiency of the electric motor can be improved.

また、本発明の進角値変更手段は、発進時から第１の設定速度に達するまでは、進角制御の進み角度を減少させ、減速走行時には、第１の設定速度よりも遅い第２の設定速度に達するまでは、進角制御を継続して行わせ、第２の設定速度まで減速されると、進角制御の進み角度を減少させることを特徴とする。   Further, the advance value changing means of the present invention decreases the advance angle of the advance angle control from the start until the first set speed is reached, and the second angle slower than the first set speed during deceleration traveling. The advance angle control is continuously performed until the set speed is reached, and the advance angle of the advance angle control is decreased when the speed is decelerated to the second set speed.

この構成により、進角制御の進み角度の減少制御を断続的に行うことによるチャタリングなどの不具合を防止できて、これによっても、チャタリングに伴う乗り心地の低下などを防止することができる。   With this configuration, it is possible to prevent problems such as chattering due to intermittent control of the advance angle reduction of the advance angle control, and it is also possible to prevent a decrease in riding comfort associated with chattering.

以上のように本発明によれば、発進時や低速時において、乗り心地が悪くなったり、搭乗者の足に負担をかけたりする不具合を最小限に抑えることができて、搭乗者に対して良好な乗り心地で、違和感を与えない状態で良好に補助駆動力を付加してアシストすることができ、また、振動に起因して搭乗者の足に負担を与えるようなこともなくなる。さらに、より安定した出力を得られるので、電動自転車のふらつきを防止することもできる。また、速度が上昇して、電動自転車の姿勢も安定した状態では、進角制御が良好に行われるので、同じモータ負荷トルクで、より高速なモータ出力を得ることができて高速化することができ、良好なモータ特性を得たり、同じ速度である場合でも、モータ電流を少なくできて、走行距離を伸ばすことができたり、電動モータの発熱量も低減したりすることができる。   As described above, according to the present invention, when starting or at low speed, it is possible to minimize the problems of poor ride comfort and a burden on the rider's feet. It is possible to assist by adding a good auxiliary driving force with good riding comfort and in a state that does not give a sense of incongruity, and there is no burden on the passenger's foot due to vibration. Furthermore, since a more stable output can be obtained, it is possible to prevent the electric bicycle from wobbling. In addition, when the speed is increased and the posture of the electric bicycle is stable, the advance angle control is satisfactorily performed. Therefore, a higher motor output can be obtained with the same motor load torque, and the speed can be increased. Thus, even when good motor characteristics are obtained, even when the speed is the same, the motor current can be reduced, the travel distance can be extended, and the amount of heat generated by the electric motor can also be reduced.

以下、本発明の実施の形態に係る電動自転車について、図面を参照しながら説明する。
図１に示すように、電動自転車は、前輪１および後輪２がそれぞれ回転自在に取り付けられた車体３と、人力駆動力（踏力）が加えられるペダル４がクランク５を介して取り付けられたクランク軸６と、このクランク軸６を回転自在に支持するとともに、補助駆動力を発生するＩＰＭモータ（内部磁石形モータ）からなる電動モータ７や減速機構（図示せず）、補助駆動力を出力する駆動スプロケット９などが設けられたモータ駆動ユニット１０と、モータ駆動ユニット１０に給電するバッテリユニット１１と、クランク軸６に連結されたクランクスプロケット１２や後輪２の中央軸部分に組み付けられた後輪スプロケット１３や、クランクスプロケット１２からの人力駆動力および駆動スプロケット９からの補助駆動力を後輪スプロケット１３に伝達するチェーン１５からなる駆動力伝達機構などとを備えている。 Hereinafter, an electric bicycle according to an embodiment of the present invention will be described with reference to the drawings.
As shown in FIG. 1, an electric bicycle includes a vehicle body 3 on which front wheels 1 and a rear wheel 2 are rotatably attached, and a crank on which a pedal 4 to which human driving force (stepping force) is applied is attached via a crank 5. The shaft 6 and the crankshaft 6 are rotatably supported, and an electric motor 7 including an IPM motor (internal magnet type motor) that generates auxiliary driving force, a speed reduction mechanism (not shown), and outputs auxiliary driving force. A motor drive unit 10 provided with a drive sprocket 9 and the like, a battery unit 11 for supplying power to the motor drive unit 10, a crank sprocket 12 connected to the crankshaft 6, and a rear wheel assembled to the central shaft portion of the rear wheel 2 The rear wheel sprocket uses the manual driving force from the sprocket 13 and the crank sprocket 12 and the auxiliary driving force from the drive sprocket 9. And a like driving force transmitting mechanism comprising a chain 15 which transmits to 3.

また、モータ駆動ユニット１０内には、図２に簡略的に示すように、各種制御動作を行うプリント基板などからなる制御部２０や、電動モータ７を駆動させるインバータ回路などを含むモータ駆動回路部１６や、ペダル４からクランク軸６に伝達された踏力に基づくトルクを検出するトルクセンサ８、電動モータ７の電流量を検知する電流検知センサ１７などが設けられている。モータ駆動ユニット１０は、ペダル４からの踏力をトルクセンサ８により検出し、この踏力に応じて補助駆動力を駆動スプロケット９から出力し、これらの人力駆動力と補助駆動力とを合わせてチェーン１５を介して後輪２側に伝達するように動作し、これにより搭乗者が坂道などでも楽に走行できるようになっている。なお、制御部２０やモータ駆動回路部１６を、モータ駆動ユニット１０以外の箇所に配設しても差し支えない。   The motor drive unit 10 includes a motor drive circuit unit including a control unit 20 made of a printed circuit board for performing various control operations, an inverter circuit for driving the electric motor 7, and the like, as schematically shown in FIG. 16, a torque sensor 8 that detects torque based on the pedaling force transmitted from the pedal 4 to the crankshaft 6, a current detection sensor 17 that detects the current amount of the electric motor 7, and the like. The motor drive unit 10 detects the pedaling force from the pedal 4 with the torque sensor 8, outputs an auxiliary driving force from the driving sprocket 9 according to the pedaling force, and combines the human driving force and the auxiliary driving force with the chain 15. So that the occupant can travel easily on a slope or the like. Note that the control unit 20 and the motor drive circuit unit 16 may be disposed in places other than the motor drive unit 10.

図２に簡略的に示すように、電動モータ７にはホール素子などからなる複数（図２においては簡略的に１つだけを示しているが、例えば、３箇所に配設される）の回転位置検出センサ２１が内蔵され、電動モータ７のロータ部の位置（姿勢）が検出されるようになっている。また、制御部２０には、前記回転位置検出センサ２１からの信号を入力して、電動モータ７のロータ部の位置（位相）を検出して判定する回転位置検出部２２と、この回転位置検出部２２で検出した回転位置データから電動モータ７の回転数を算出する回転数演算部２３と、回転数演算部２３を介して位置検出部２２からの位置データの信号を入力するとともに、この回転数演算部２３で算出した電動モータ７の回転数データなどに基づいて、電動自転車の走行速度を算出し、走行速度に応じて進角値を設定する進角値設定部２４と、電動モータ７の電流量データ、回転位置データ、回転数データおよび進角値データに基づいて、電動モータ７のＰＷＭ制御の出力パターン（デューティ比）を算出して、これに対応するＰＷＭパルス等を出力する進角値変更手段としても機能するモータ出力制御部２５とが設けられている。   As shown in FIG. 2, the electric motor 7 has a plurality of rotations composed of hall elements or the like (only one is shown in FIG. 2, but is arranged at, for example, three locations). A position detection sensor 21 is built in, and the position (posture) of the rotor part of the electric motor 7 is detected. In addition, the control unit 20 receives a signal from the rotational position detection sensor 21 and detects and determines the position (phase) of the rotor part of the electric motor 7, and the rotational position detection. The rotational speed calculation unit 23 that calculates the rotational speed of the electric motor 7 from the rotational position data detected by the unit 22, and the position data signal from the position detection unit 22 are input via the rotational speed calculation unit 23, and this rotation Based on the rotational speed data of the electric motor 7 calculated by the number calculation unit 23, the traveling speed of the electric bicycle is calculated, and an advance value setting unit 24 that sets an advance value according to the traveling speed, and the electric motor 7 The output pattern (duty ratio) of the PWM control of the electric motor 7 is calculated based on the current amount data, rotational position data, rotational speed data, and advance angle value data, and the corresponding PWM pulse is output. And motor output control unit 25 that functions are provided as that advance value changing means.

ここで、進角値設定部２４には記憶部が設けられており、この記憶部には、予め、走行速度に対応する各回転数（回転数×ギア比（減速機構および後輪と後輪スプロケットとの比を含んだギア比）から走行速度と回転数を対応させている）と、電動モータ７の負荷状態に対応する電動モータ７の各駆動電流量との２つのパラメータに対して、それぞれ適した進角値が記録されている進角値テーブルが記憶されている。また、前記記憶部には、加速時に進角制御を開始する第１の設定速度に対応する第１の設定回転数である進角ＯＮ回転数と、減速時または速度維持時に進角制御を停止する第２の設定速度に対応する第２の設定回転数である進角ＯＦＦ回転数とが記憶されている。ここで、進角ＯＮ回転数は、例えば、５００ｒｐｍ（走行速度５ｋｍ／ｈに対応）とされ、進角ＯＦＦ回転数は進角ＯＮ回転数よりも低い回転数、例えば、２５０ｒｐｍ（走行速度２．５ｋｍ／ｈに対応）とされている。   Here, the advance value setting unit 24 is provided with a storage unit, and each of the rotation speeds corresponding to the traveling speed (revolution speed × gear ratio (deceleration mechanism and rear wheels and rear wheels) is stored in the storage section. (The gear ratio including the ratio with the sprocket)), the traveling speed and the rotational speed are associated with each other), and the respective drive current amounts of the electric motor 7 corresponding to the load state of the electric motor 7 are An advance value table in which appropriate advance values are recorded is stored. Further, the storage unit stops the advance angle control at the time of deceleration or when maintaining the speed, and the advance angle ON speed which is the first set speed corresponding to the first set speed at which the advance angle control is started at the time of acceleration. The advance angle OFF rotation speed which is the second set rotation speed corresponding to the second set speed is stored. Here, the advance angle ON rotation speed is, for example, 500 rpm (corresponding to a traveling speed of 5 km / h), and the advance angle OFF rotation speed is lower than the advance angle ON rotation speed, for example, 250 rpm (travel speed of 2. km / h). 5 km / h).

制御部２０は、図３に示すような制御動作を行う。
すなわち、まず、ステップＳ１、Ｓ２で、走行速度に対応するモータ回転数を検出するとともに、電動モータ７の負荷状態に対応するモータ電流値を検出する。なお、この際の回転数の検出データや電流値の検出データとして、移動平均値を用いてもよい。また、ステップＳ３で、電動モータ７の回転数と電流とに基づいて進角値テーブルに基づいて、進角値を設定（または算出するように構成してもよい）する。 The control unit 20 performs a control operation as shown in FIG.
That is, first, in steps S1 and S2, the motor rotational speed corresponding to the traveling speed is detected, and the motor current value corresponding to the load state of the electric motor 7 is detected. In this case, a moving average value may be used as detection data for the rotation speed and detection data for the current value. In step S3, an advance value may be set (or calculated) based on the advance value table based on the rotation speed and current of the electric motor 7.

次に、ステップＳ４で、現在の回転数と以前の回転数とに基づいて電動自転車が加速中であるか、そうでない（減速中または速度変化０）かを判定し、加速中である場合には、ステップＳ５に進んで、現在の電動モータ７の回転数が、進角ＯＮ回転数に達しているかどうかを判定する。そして、ステップＳ５において、電動モータ７の回転数が、進角ＯＮ回転数に達している場合には、ステップＳ６に進んで、前記設定進角値で進角制御を行う。一方、ステップＳ５において、電動モータ７の回転数が、進角ＯＮ回転数にまだ達していない場合には、ステップＳ７に進んで、進角値を０に設定して、進角制御を行わない。これにより、加速中において、進角ＯＮ回転数に達していない場合（すなわち、例えば、走行速度が５ｋｍ／ｈに達していない場合）には、進角制御が行われない。   Next, in step S4, it is determined whether the electric bicycle is accelerating based on the current rotational speed and the previous rotational speed, or not (decelerating or speed change is 0). Advances to step S5 to determine whether or not the current rotational speed of the electric motor 7 has reached the advance angle ON rotational speed. In step S5, if the rotation speed of the electric motor 7 has reached the advance angle ON rotation speed, the process proceeds to step S6, and the advance angle control is performed with the set advance value. On the other hand, if the rotation speed of the electric motor 7 has not yet reached the advance angle ON rotation speed in step S5, the process proceeds to step S7, the advance value is set to 0, and the advance angle control is not performed. . Thereby, during acceleration, advance angle control is not performed when the advance angle ON rotation speed has not been reached (that is, when the traveling speed has not reached 5 km / h, for example).

また、ステップＳ４で、加速中でない状態、すなわち、速度を維持した状態、または減速中である状態であると判定された場合には、ステップＳ８に進んで、現在の電動モータ７の回転数が、進角ＯＦＦ回転数以下となったかどうかを判定する。そして、ステップＳ８において、電動モータ７の回転数が、まだ、進角ＯＦＦ回転数よりも大きい場合には、ステップＳ９に進んで、前記設定進角値で継続して進角制御を行う一方、ステップＳ８において、電動モータ７の回転数が、進角ＯＦＦ回転数以下となった場合には、ステップＳ１０に進んで、進角値を０に設定して、進角制御を停止する。これにより、減速中において、進角ＯＦＦ回転数に達した場合、すなわち、例えば、走行速度が２．５ｋｍ／ｈに減速された場合には、進角制御が停止される。   If it is determined in step S4 that the vehicle is not accelerating, that is, the vehicle is in a state where the speed is maintained or is being decelerated, the process proceeds to step S8, where the current rotational speed of the electric motor 7 is determined. Then, it is determined whether or not the advance angle OFF rotation speed or less. In step S8, if the rotation speed of the electric motor 7 is still larger than the advance angle OFF rotation speed, the process proceeds to step S9, and the advance angle control is continuously performed with the set advance angle value. In step S8, when the rotation speed of the electric motor 7 becomes equal to or less than the advance angle OFF rotation speed, the process proceeds to step S10, the advance value is set to 0, and the advance angle control is stopped. Accordingly, when the advance angle OFF rotational speed is reached during deceleration, that is, for example, when the traveling speed is reduced to 2.5 km / h, the advance angle control is stopped.

この制御動作により、走行速度が小さい場合、すなわち電動自転車の発進時や低速時では、電動モータ７の進角制御の進み角度が０に減少されて進角制御が行われないため、進角制御を行うことに起因する不自然な振動の発生などが生じない。したがって、進角制御を行うことに起因して、電動モータ７から不自然な振動が発生し、電動自転車の乗り心地が悪くなったり、搭乗者の足に負担をかけたりする不具合は、生じなくなる。   By this control operation, when the traveling speed is low, that is, when the electric bicycle starts or at a low speed, the advance angle of the advance control of the electric motor 7 is reduced to 0 and the advance control is not performed. There is no occurrence of unnatural vibration caused by performing the operation. Therefore, due to the advance angle control, an unnatural vibration is generated from the electric motor 7, and there is no problem that the riding comfort of the electric bicycle is deteriorated or the rider's foot is burdened. .

一方、進角ＯＮ回転数に対応する第１の設定速度に達すると、進角制御の進み角度を０とする抑制制御が解除されるため、電動モータ７の出力特性や効率を向上させることができる。ここで、図４は、進角制御を行った場合と、進角制御を行わない場合との、回転数とモータ負荷トルクの関係を表す。図４に示すように、進角制御を行うことにより、同じモータ負荷トルクで、より高速なモータ出力を得ることができて高速化することができ、良好なモータ特性を得ることができる。また、進角制御を行うことにより、同じ回転数である場合でも、モータ負荷トルクすなわち、モータ電流を少なくできて、良好な効率となり、その分だけ、同じバッテリユニット１１での走行距離を伸ばすことができる。また、モータ駆動ユニット１０内での電動モータ７の発熱量も低減することができるため、モータ駆動ユニット１０の発熱に関する信頼性も向上する。   On the other hand, when the first set speed corresponding to the advance angle ON rotational speed is reached, the suppression control that sets the advance angle of the advance angle control to 0 is released, so that the output characteristics and efficiency of the electric motor 7 can be improved. it can. Here, FIG. 4 shows the relationship between the rotational speed and the motor load torque when the advance angle control is performed and when the advance angle control is not performed. As shown in FIG. 4, by performing advance angle control, a higher motor output can be obtained with the same motor load torque, and the motor speed can be increased, and good motor characteristics can be obtained. Further, by performing the advance angle control, even when the rotation speed is the same, the motor load torque, that is, the motor current can be reduced, and the efficiency is improved, and the travel distance of the same battery unit 11 is increased accordingly. Can do. In addition, since the amount of heat generated by the electric motor 7 in the motor drive unit 10 can be reduced, the reliability of the heat generated by the motor drive unit 10 is also improved.

さらに、図５に示すように、いわゆるヒステリシスを設けて、第１の設定速度に達した直後に、少し減速した場合でも、第２の設定速度まで減速されない場合には、引き続いて進角制御が行われるため、前記良好なモータ特性や効率を得られる状態を、長く維持できるとともに、進角制御を断続的にＯＮ・ＯＦＦするチャタリングなどの不具合を防止できて、これにより、進角制御の頻繁な切換動作に伴う乗り心地の低下などを防止することができる。つまり、電動自転車を含む自転車では、発進時よりも、減速時のほうが一般的に安定した姿勢を維持できているが、このような状態での進角制御を引き続いて行うことで、上記利点がより継続して得られる。   Further, as shown in FIG. 5, when so-called hysteresis is provided and the first set speed is reached, even if it is decelerated slightly, if it is not decelerated to the second set speed, the advance angle control is continued. As a result, it is possible to maintain a state in which the good motor characteristics and efficiency can be obtained for a long time, and to prevent problems such as chattering in which the advance angle control is intermittently turned ON / OFF. It is possible to prevent a decrease in riding comfort associated with a simple switching operation. In other words, bicycles including electric bicycles generally maintain a more stable posture when decelerating than when starting, but the above-mentioned advantages can be obtained by continuing the advance angle control in such a state. It is obtained more continuously.

なお、上記の実施の形態では、第１の設定速度や第２の設定速度以下の場合には、進角制御を全く行わないように制御した場合を述べたが、これに限るものではなく、例えば、ロータ部の角度の検知時から、ロータ部の角度を計算する回路遅れの補正を行うための進角角度などに対応する比較的小さな進角角度に減少するように制御したり、低い速度ほど、小さい係数を掛けて進角制御の進み角度を減少させるように制御したりしてもよい。   In the above embodiment, the case where the advance angle control is not performed at all when the first set speed or the second set speed or less is described, but the present invention is not limited to this. For example, it can be controlled to decrease to a relatively small advance angle corresponding to the advance angle for correcting the circuit delay for calculating the rotor angle from the detection of the rotor angle, or at a low speed The smaller the coefficient, the smaller the advance angle of the advance angle control may be controlled.

なお、本実施の形態では、電動モータ７の回転数から電動自転車の速度を算出した場合を述べ、例えば、後輪スプロケット１３は後輪２のハブに対して後退方向に対しては回転が伝わらないように、フリー機構（一方向クラッチ機構）が内蔵され、また、同様に、クランクスプロケット１２とクランク軸６との間や、駆動スプロケット９と減速機構との間などにもフリー機構が内蔵されているため、ペダル４を漕ぐのを止めたときなどは、電動モータ７が回転せず、この際には、電動モータ７も駆動されないため（この際には、チェーン１５自体が止まるとともにペダル４への踏力も０となるので、これによっても電動モータ７も駆動されない）、当然ながら進角制御も行われない。これにより、電動モータ７が駆動されていないにもかかわらず、無駄に、進角制御の設定処理や算出処理が行われることを防止している。しかし、これに限るものではなく、後輪２や前輪１の回転数などから、実際の走行速度に従った速度を検出して進角制御を切り替えることも可能である。   In the present embodiment, the case where the speed of the electric bicycle is calculated from the number of rotations of the electric motor 7 is described. For example, the rear wheel sprocket 13 is transmitted to the hub of the rear wheel 2 in the backward direction. In order to prevent this, a free mechanism (one-way clutch mechanism) is built in. Similarly, a free mechanism is built in between the crank sprocket 12 and the crankshaft 6 or between the drive sprocket 9 and the speed reduction mechanism. Therefore, when the pedal 4 is stopped, the electric motor 7 does not rotate, and the electric motor 7 is not driven at this time (in this case, the chain 15 itself stops and the pedal 4 is stopped). Therefore, the electric motor 7 is not driven by this, and naturally the advance angle control is not performed. Thereby, although the electric motor 7 is not driven, the advance angle control setting process and the calculation process are prevented from being performed unnecessarily. However, the present invention is not limited to this, and it is also possible to switch the advance angle control by detecting the speed according to the actual traveling speed from the rotational speed of the rear wheel 2 or the front wheel 1.

また、電動モータ７としてはＩＰＭモータが望ましいが、これ以外の電動モータ７でも、進角制御を行うことで出力特性や効率を向上させることができるものであれば差し支えない。   The electric motor 7 is preferably an IPM motor, but other electric motors 7 may be used as long as they can improve output characteristics and efficiency by performing advance angle control.

本発明は、ペダルからの人の踏力による人力駆動力に、電動モータの補助駆動力を加えることが可能な電動自転車全般に適用できる。   INDUSTRIAL APPLICABILITY The present invention can be applied to all electric bicycles that can add an auxiliary driving force of an electric motor to a human driving force generated by a person's stepping force from a pedal.

本発明の実施の形態に係る電動自転車の全体図Overall view of an electric bicycle according to an embodiment of the present invention 同電動自転車の制御部などを示すブロック図Block diagram showing the control unit of the electric bicycle 同電動自転車の進角制御に関する制御動作を示すフローチャートThe flowchart which shows the control action regarding the advance angle control of the same electric bicycle 同電動自転車の進角制御を行う場合と行わない場合とにおけるトルクと速度との関係を示す図The figure which shows the relationship between the torque and speed in the case where the advance angle control of the electric bicycle is performed and not performed 同電動自転車の速度に対する進角制御の変更状態を示す図The figure which shows the change state of advance angle control with respect to the speed of the same electric bicycle

符号の説明Explanation of symbols

１ 前輪
２ 後輪
３ 車体
４ ペダル
５ クランク
６ クランク軸
７ 電動モータ（ＩＰＭモータ）
８ トルクセンサ
９ 駆動スプロケット
１０ モータ駆動ユニット
１１ バッテリユニット
１３ 後輪スプロケット
１５ チェーン
１６ モータ駆動回路部
１７ 電流検知センサ
２０ 制御部
２１ 回転位置検出センサ
２２ 回転位置検出部
２３ 回転数演算部
２４ 進角値設定部
２５ モータ出力制御部（進角値変更手段） DESCRIPTION OF SYMBOLS 1 Front wheel 2 Rear wheel 3 Car body 4 Pedal 5 Crank 6 Crankshaft 7 Electric motor (IPM motor)
8 Torque sensor 9 Drive sprocket 10 Motor drive unit 11 Battery unit 13 Rear wheel sprocket 15 Chain 16 Motor drive circuit unit 17 Current detection sensor 20 Control unit 21 Rotation position detection sensor 22 Rotation position detection unit 23 Rotation speed calculation unit 24 Advance angle value Setting unit 25 Motor output control unit (advance value changing means)

Claims (5)

人力駆動力に加える補助駆動力を発生する電動モータと、電動モータのロータの位置を検出する位置検出手段と、前記位置検出手段で検出した位置検出信号の位相を進角させる進み角度を設定する進角値設定部と、走行速度を検出する速度検出手段と、走行速度が所定速度以下の場合に前記進角値設定部で設定した進み角度を減少させる進角値変更手段とを備えた電動自転車。 An electric motor that generates an auxiliary driving force to be added to the human driving force, a position detection unit that detects the position of the rotor of the electric motor, and a lead angle that advances the phase of the position detection signal detected by the position detection unit are set. An electric motor comprising an advance value setting unit, a speed detection unit for detecting a travel speed, and an advance value change unit for reducing the advance angle set by the advance value setting unit when the travel speed is equal to or lower than a predetermined speed. bicycle. 進角値変更手段は、走行速度が所定速度以下の場合に、進角制御の進み角度を０として進角制御を行わせないように制御する請求項１に記載の電動自転車。 2. The electric bicycle according to claim 1, wherein the advance angle value changing unit controls the advance angle of the advance angle control to 0 so that the advance angle control is not performed when the traveling speed is equal to or less than a predetermined speed. 進角値変更手段は、発進時から第１の設定速度に達するまでは、進角制御の進み角度を減少させ、減速走行時には、第１の設定速度よりも遅い第２の設定速度に達するまでは、進角制御を継続して行わせ、第２の設定速度まで減速されると、進角制御の進み角度を減少させる請求項１または２に記載の電動自転車。 The advance angle value changing means decreases the advance angle of the advance angle control from the start until the first set speed is reached, and until the second set speed that is slower than the first set speed is reached during deceleration traveling. The electric bicycle according to claim 1, wherein the advance angle control is continuously performed and the advance angle of the advance angle control is decreased when the vehicle is decelerated to the second set speed. 電動モータがＩＰＭモータである請求項１〜３の何れか１項に記載の電動自転車。 The electric bicycle according to any one of claims 1 to 3, wherein the electric motor is an IPM motor. 速度検出手段は、電動モータの回転数に基づいて走行速度を検出する１〜４の何れか１項に記載の電動自転車。 5. The electric bicycle according to any one of 1 to 4, wherein the speed detection means detects a traveling speed based on the number of rotations of the electric motor.
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JP2012005219A (en) * 2010-06-16 2012-01-05 Canon Inc Motor control device and control method
JP2012210059A (en) * 2011-03-29 2012-10-25 Fujitsu General Ltd Motor control device
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JP2021046688A (en) * 2019-09-17 2021-03-25 アイシン精機株式会社 Vehicular opening/closing body control device
JP7276033B2 (en) 2019-09-17 2023-05-18 株式会社アイシン Vehicle opening/closing body control device

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