JP2007223579A - Bicycle with electric motor and program for controlling it - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a bicycle with an electric motor and a control program capable of detecting human power torque without using a torque detection mechanism and specifically accomplishing the control of the electric motor according to the human power torque. <P>SOLUTION: A motor torque calculation function means 31 of an assist control processing part 3 successively designates application voltages V1, 2 to a motor control part 2 at each extremely short time if the determination of operation/stopping is operation, and calculates motor torque Tm1, 2 from respective measurement currents Im1, 2 at a motor current measurement part 6. A rotation speed calculation function means 32 varies the application voltage within an extremely short time after the designation of the respective application voltages V1, 2, and calculates rotation speeds Nx1, 2 from the application voltages Vxd1, 2 when the measurement current is approximately zero. An input torque calculation function means 33 calculates input torque from Tm1, 2 and Nx1, 2. An assist output determination function means 34 designates the application voltage for generating assistance torque corresponding to the human power torque to the motor control part 2 and instructs the repetition after a predetermined time is passed. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a bicycle with an electric motor that moves an electric motor in accordance with human energy applied from a pedal to reduce human energy, a control method thereof, and a storage medium, and more particularly, without using a torque detection mechanism that detects human energy. Furthermore, the present invention relates to a bicycle with an electric motor that controls an electric motor in accordance with human energy and a program that controls the bicycle.

  2. Description of the Related Art A bicycle with an electric motor is known that assists thrust by moving an electric motor according to human power torque applied from a pedal, that is, pedaling force. As a technology of a torque detection mechanism for detecting the pedaling force with the rear wheel, there are those described in Patent Documents 1 and 2. Since this torque detection mechanism is complicated in structure and heavy in weight, in Patent Document 3, without using the torque detection mechanism, based on the rotation angle of the wheel detected by the rotation angle sensor and the inverse function of the bicycle mechanism transfer function, Techniques for controlling the output torque of an electric motor that assists thrust have been proposed.

Japanese Patent Laid-Open No. 8-26173 JP-A-8-99685 JP-A-9-86476

However, in the technique of Patent Document 3, the output torque of the electric motor is controlled according to the human torque based on the rotation angle of the wheel and the inverse function Pn (s) ⁻¹ of the bicycle mechanism transfer function. A means for calculating the motor output and the human power torque is not shown, and the function Pn (s) ⁻¹ has no concreteness, and thus cannot be realized.

  The present invention has been made to solve the above problems, and it is concrete and easy to control an electric motor according to human energy without using a torque detection mechanism for detecting human energy. It is an object of the present invention to provide a bicycle with an electric motor and a program for controlling the bicycle.

  In order to solve the above-mentioned problems, a bicycle with an electric motor according to claim 1 according to the present invention, an electric motor that generates torque for assisting a thrust to the bicycle, and rotation of the electric motor at a specified applied voltage. A motor control unit for controlling, a motor current measuring unit for measuring the motor current of the electric motor, a driving / stopping judging unit for judging driving / stopping of the bicycle, and a predetermined applied voltage that operates when the judgment is in driving. The motor torque is calculated from the motor current value measured by the motor current measurement unit by specifying the motor control unit, and rotated from the motor current value measured by the motor current measurement unit by changing the designated applied voltage. Calculate the speed, calculate the torque by human power from the motor torque and the rotation speed, determine the motor torque to assist the torque by human power, and assist the After the applied voltage for generating a Tatoruku specified only the motor control unit predetermined time period, characterized in that it comprises, the assist control processing unit that instructs the repetition of the above processing.

  According to a second aspect of the present invention, in the bicycle with an electric motor according to the first aspect, the assist control processing unit sequentially designates two applied voltages V1 and V2 to the motor control unit in an extremely short time. At this time, a current value measured by the motor current measuring unit is obtained, motor torque calculation function means for calculating motor torques Tm1 and Tm2 generated by the applied voltages V1 and V2 from the current value, and each applied voltage V1 , V2 is specified while scanning the applied voltage to the motor control unit within a very short time, and the current value measured by the motor current measurement unit is obtained at this time. When this current value is zero or substantially zero, Rotational speed calculation function means for calculating the rotational speeds Nx1 and Nx2 of the electric motor from the applied voltage, and the calculated motor torques Tm1 and Tm2 and the rotational speeds Nx1 and Nx2. A manual torque calculation function means for calculating a torque Ta by force, a motor current value required for generating an auxiliary torque corresponding to the torque Ta by the human power, and a current value measured by the motor current measuring unit Provided with an assist output determination function means that designates an applied voltage to be a motor current value for a predetermined time in the motor control section and instructs the repetition of control from the motor torque calculation function means after the elapse of the predetermined time. It is characterized by.

  Alternatively, the bicycle with an electric motor according to claim 3 according to the present invention includes an electric motor that generates a torque for assisting the bicycle with thrust, and a motor control unit that controls the rotation of the electric motor with a specified applied voltage. A rotation speed detection unit that detects a rotation speed of the electric motor, a motor current measurement unit that measures a motor current of the electric motor, a driving / stop determination unit that determines driving / stopping of a bicycle, and the determination is driving The motor torque is calculated from the motor current value measured by the motor current measurement unit by specifying a predetermined applied voltage to the motor control unit and detecting the rotation speed using the rotation speed detection unit. Then, the human torque is calculated from the motor torque and the rotation speed, the motor torque assisting the human torque is determined, and the assisting motor torque is generated. After the applied voltage specified by the predetermined time period to the motor controller, characterized in that it and a assist control processor which instructs the repetition of the above processing.

  According to a fourth aspect of the present invention, in the bicycle with an electric motor according to the third aspect, the assist control processing unit sequentially designates two applied voltages V1 and V2 to the motor control unit in an extremely short time. At this time, a current value measured by the motor current measuring unit is obtained, motor torque calculation function means for calculating motor torques Tm1 and Tm2 generated by the applied voltages V1 and V2 from the current value, and each applied voltage V1 , V2 from the rotational speed detection function means for detecting the rotational speeds Nx1 and Nx2 of the electric motor using the rotational speed detector, and the calculated motor torques Tm1 and Tm2 and the detected rotational speeds Nx1 and Nx2. Human power torque calculation function means for calculating torque Ta due to human power, and a motor necessary for generating auxiliary torque according to the torque Ta due to human power The current value measured by the motor current measurement unit is calculated and the applied voltage at which the current value measured by the motor current measurement unit becomes the required motor current value is specified to the motor control unit for a predetermined time. Assist output determination function means for instructing repetition of control from the function means.

  According to a fifth aspect of the present invention, in the bicycle with an electric motor according to the third or fourth aspect, the rotational speed detection unit is a rotor magnet position detection element, a speed generator, an increment encoder, and its detection element. Is used.

Alternatively, the program for controlling a bicycle with an electric motor according to claim 6 of the present invention controls the rotation of the electric motor with a specified applied voltage and an electric motor that generates torque for assisting the bicycle with thrust. A program for controlling a bicycle with an electric motor, comprising: a motor control unit; and a motor current measurement unit that measures a motor current of the electric motor,
A motor that calculates a motor torque from a motor current value measured by the motor current measuring unit by designating a predetermined applied voltage to the motor control unit, and that is measured by the motor current measuring unit while changing the designated applied voltage. A first process for calculating a rotation speed from the current value; a second process for calculating a torque by human power from the motor torque and the rotation speed; and determining a motor torque for assisting the torque by human power, and the assisting motor. A program for causing a computer to execute a third process for instructing repetition of the above process after an applied voltage for generating a torque is specified in the motor control unit for a predetermined period of time.

  According to a seventh aspect of the present invention, in the program according to the sixth aspect, the first process sequentially designates the two applied voltages V1 and V2 to the motor control unit in an extremely short time. Sometimes, a current value measured by the motor current measuring unit is obtained, a motor torque calculation process for calculating motor torques Tm1 and Tm2 generated at the applied voltages V1 and V2 from the current value, and a process for calculating the applied voltages V1 and V2. After specifying, specify the motor control unit while scanning the applied voltage within a very short time, obtain the current value measured by the motor current measurement unit at this time, from the applied voltage when this current value is zero or almost zero The process comprises calculating the rotational speeds Nx1 and Nx2 of the electric motor, and the second process is performed manually from the calculated motor torques Tm1 and Tm2 and the rotational speeds Nx1 and Nx2. Comprising a process of calculating torque Ta, the third process calculates a motor current value necessary for generating an auxiliary torque according to the torque Ta by the human power, and the current value measured by the motor current measuring unit is the It is characterized in that it comprises a process of specifying an applied voltage as a necessary motor current value for a predetermined time in the motor control unit and instructing repetition from the first process after the elapse of the predetermined time.

Alternatively, the program for controlling a bicycle with an electric motor according to claim 8 of the present invention controls the rotation of the electric motor with an electric motor that generates torque for assisting the bicycle with thrust and a specified applied voltage. A program for controlling a bicycle with an electric motor, comprising: a motor control unit; a rotation speed detection unit that detects a rotation speed of the electric motor; and a motor current measurement unit that measures a motor current of the electric motor,
A first process of calculating a motor torque from a motor current value measured by the motor current measurement unit by designating a predetermined applied voltage to the motor control unit and detecting a rotation speed using the rotation speed detection unit; A second process for calculating a torque by human power from the motor torque and the rotation speed, a motor torque for assisting the torque by the human power is determined, and an applied voltage for generating the assisting motor torque is set to the motor control unit in advance. It is a program for causing a computer to execute the third process for instructing the repetition of the above process after designating only the period.

  According to a ninth aspect of the present invention, in the program according to the eighth aspect, the first process sequentially designates the two applied voltages V1 and V2 to the motor control unit in an extremely short time. Sometimes, a current value measured by the motor current measuring unit is obtained, motor torques Tm1 and Tm2 generated by the applied voltages V1 and V2 are calculated from the current values, and the rotation after the designation of the applied voltages V1 and V2 is performed. The process comprises detecting the rotational speeds Nx1 and Nx2 of the electric motor using a speed detector, and the second process is a manual torque based on the calculated motor torques Tm1 and Tm2 and the detected rotational speeds Nx1 and Nx2. And the third process calculates a motor current value necessary for generating an auxiliary torque corresponding to the torque Ta by the human power, and the third process. An applied voltage at which the current value measured by the current measuring unit becomes the required motor current value is specified to the motor control unit for a predetermined time, and after this predetermined time has elapsed, an instruction to repeat from the first process is instructed. It consists of processing.

  According to the configuration of the present invention, there is an effect that it is concretely and easily realizable to control the electric motor according to the human power energy without using a complicated torque detection mechanism for detecting the human power energy. . In particular, according to the configuration of the first aspect, since the rotational speed detection mechanism is not used, an effect that it can be realized with a simpler structure can be obtained.

  Embodiments of the present invention will be described below with reference to the drawings. The description will be made specifically using examples.

  FIG. 1 is a block diagram showing an electrical configuration of a bicycle with an electric motor according to a first embodiment of the present invention. In this embodiment, an example in which the torque detection mechanism and the rotation speed detection mechanism are not used will be described.

  The bicycle includes an electric motor 1 that generates torque for assisting thrust by human power. As the electric motor 1, a multiphase brushless motor or the like is suitable. The motor control unit 2 controls the rotation of the electric motor 1 with the applied voltage specified by the assist control processing unit 3. At this time, a rotor magnet position detector 4 is provided to control the reversal of the rotating magnetic field of the electric motor 1 and to determine whether the bicycle is operated or stopped. The determination of driving / stopping the bicycle is performed by the driving / stopping determination unit 5. The motor current measurement unit 6 sequentially measures the motor current and includes an A / D converter, and inputs the measured current value to the assist control processing unit 3 as a digital value. The assist control processing unit 3 calculates a generated torque and a rotation speed of the electric motor 1 based on a current value measured at a predetermined applied voltage, and calculates a human-powered torque from the calculated generated torque and the rotation speed. The torque calculation process and the assist process for designating the motor controller 2 with an applied voltage for generating a torque necessary for assisting the thrust according to the calculated human power torque are repeated.

  The motor control unit 2 causes the drive coil wound around the stator of the drive motor 1 to generate a rotating magnetic field with a designated applied voltage to rotate the rotor of the drive motor 1. At this time, the rotation timing of the rotating magnetic field is controlled by the detection signal of the rotor magnet position detector 4. The detection signal of the rotor magnet position detection unit 4 is naturally output if a voltage is applied to the drive motor 1 and rotates. However, even when no voltage is applied to the drive motor 1, the bicycle is traveling with inertia. Is output when the rotor rotates and is not output when traveling is stopped. Therefore, the operation / stop determination unit 5 determines the operation state if the detection signal of the rotor magnet position detection unit 4 is re-input within a predetermined time, and determines the stop state if it is not input again within the predetermined time. The driving / stopping determination signal is input to the assist control processing unit 3, and the assist control processing unit 3 executes human torque calculation processing and assist processing in the driving state, and performs these processing in the stopping state. Stop. This driving / stopping determination process can also be performed by the assist control processing unit 3, but it is preferable that the driving / stopping determination process is made independent in order to perform a safety process in driving.

  The assist control processing unit 3 includes a microcomputer and a memory for storing a program and data thereof, and the like, and includes a motor torque calculation function unit 31, a rotation speed calculation function unit 32, a human torque calculation function unit 33, and an assist output determination function unit. 34. These functional means are realized by a program, but a part or all of them may be configured by hardware.

  The motor torque calculation function means 31 sequentially designates the two applied voltages V1 and V2 to the motor control unit 2 in an extremely short time, and obtains current values Im1 and Im2 measured by the motor current measurement unit 6 at this time. Motor torques Tm1 and Tm2 generated by the applied voltages V1 and V2 are calculated from the values. That is, since the motor torque and the motor current are in a proportional relationship, if the proportional constant specific to the motor is Kt, the motor torques Tm1 and Tm2 are expressed by the following equation (1): Tm1 = Kt · Im1, Tm2 = Kt · Im2. It can be calculated. The designation of the applied voltage is performed in several tens to several hundreds msec. The applied voltages V1 and V2 are set to relatively small values so as not to pose a danger to the operation at the first time when the operation state is entered. Thereafter, it is set to a value in the vicinity of the applied voltage V determined in the assist process. For example, V1 may be 0.8 · V, V2 may be 1.2 · V, or vice versa.

  The rotation speed calculation function means 32 designates the motor controller 2 while scanning the applied voltage within an extremely short time after the applied voltage V1 is designated and after the designated voltage V2 is designated. The current value measured by the current measuring unit 6 is obtained, and the rotational speeds Nx1 and Nx2 of the electric motor 1 are derived from the basic formula of the motor from the applied voltages Vxd1 and Vxd2 when the current value is zero or substantially zero, Nx1 = Vxd1 / Ks, Nx2 = Vxd2 / Ks. However, Ks is a constant unique to the motor.

  The human torque calculation function means 33 calculates the torque Ta due to human power from the motor torques Tm1 and Tm2 and the rotational speeds Nx1 and Nx2, using the formula (3) of Ta = (Nx2 · Tm1−Nx1 · Tm2) / (Nx1−Nx2). ). The assist output determination function means 34 determines a motor torque (assist force) Tasi required for assisting the thrust according to the calculated torque Ta by human power by Tasi = f · Ta (f is an assist rate). The motor current Im required to generate the motor torque Tasi is calculated by Imasi = Tasi / Kt, and the applied voltage Vasi designated to the motor control unit 2 is determined so that the measured current of the motor current measuring unit 6 becomes Imasi. For a predetermined time (for example, several hundreds of milliseconds). When the predetermined time has elapsed, the motor torque calculation function means 31 is activated and a series of processing is repeated again.

  Next, the basis of the calculation formula (2) of the rotational speed of the motor will be shown. 2A and 2B are explanatory diagrams for this purpose. Assuming that the applied voltage is Vx, the back electromotive voltage of the motor M is Vr, the specific resistance of the motor M is Rm, the motor current is Im, the rotation speed of the motor is Nx [rpm], and Ks is a constant specific to the motor, Vx−Vr = Im · Rm, Vr = Ks · Nx (Ks is a constant). Note that Rs is a resistance for motor current detection and can be ignored with respect to the resistance Rm. Here, assuming that the motor current Im5 at the applied voltage Vx5 becomes 0 or ≈0 when the applied voltage Vx of the motor is changed to Vx1, Vx2,... Vx7 while scanning at high speed, Vx5 = Vr = Ks · Nx. That is, since the applied voltage Vx5 when the motor current Im is zero or substantially zero is known, the rotational speed Nx of the motor can be calculated. Therefore, the motor rotation speeds Nx1 and Nx2 when the applied voltage Vx is Vxd1 and Vxd2 when the motor current Im is zero or substantially zero are Nx1 = Vxd1 / Ks and Nx2 = Vxd2 / Ks. Here, the rotating shaft of the motor is connected to the bicycle axle directly or by a reduction gear or the like, and is also rotated by human torque or acceleration torque on a hill (in the case of a 10: 1 reduction gear) Therefore, the calculated rotational speeds Nx1 and Nx2 also represent the rotational speed of the bicycle.

Subsequently, the basis of the calculation formula (3) for the human power torque will be described. The acceleration time t [sec] from when the voltage is applied to the motor until the rotational speed N [rpm] in the steady state is reached is T = GD ² · N / 38. 2 · T is widely known. However, GD ² [Kg · m ² ] is an inertial load converted to the motor shaft. Therefore, T = (GD ² /38.2)·N/t, and the acceleration torque and the rotational speed in the steady state after the acceleration time t are in a proportional relationship (T = K · N: K is a constant). . Here, assuming that the acceleration torque T is human power torque Ta + motor torque Tm, when the applied voltage to the motor is changed to V1 and V2 in a very short time and the motor torque is changed to Tm1 and Tm2, human torque Since Ta can be regarded as the same value within a very short time of motor torque change, the relationship between human torque Ta + motor torques Tm1, Tm2 and rotational speeds Nx1, Nx2 in the steady state is Ta + Tm1 = K · Nx1, Ta + Tm2 = K · Nx2. If K is deleted from these two equations, Ta + Tm2 = (Ta + Tm1) · Nx2 / Nx1. From this formula, the formula (3) of Ta = (Nx2 · Tm1−Nx1 · Tm2) / (Nx1−Nx2) is derived as a formula for calculating the torque Ta by human power.

  An operation example with the above configuration will be described. FIG. 3 is a flowchart showing an operation example of this embodiment. FIG. 4 is a time chart showing an operation example of this embodiment. First, when it is determined that the vehicle is in a driving state in the driving / stop determination unit 5 (step 1), the motor torque calculation function unit 31 applies the motor control unit 2 to the motor control unit 2 for a very short time. The voltage V1 is specified, the current value Im1 measured by the motor current measuring unit 6 is obtained, and the motor torque Tm1 is calculated from this current value by Tm1 = Kt · Im1 (step 2). Next, the rotation speed calculation function means 32 scans the applied voltage at high speed, obtains the applied voltage Vxd1 when the current value measured by the motor current measuring unit 6 becomes zero or substantially zero, and rotates from this voltage value. The speed Nx1 is calculated by Nx1 = Vxd1 / Ks (step 3). Next, the motor torque calculation function means 31 designates the applied voltage V2 for only a very short time to the motor control unit 2, obtains the current value Im2 measured by the motor current measurement unit 6, and calculates the motor torque Tm2 from this current value to Tm2. = Kt · Im2 (Step 4). Next, the rotation speed calculation function means 32 scans the applied voltage at high speed, obtains the applied voltage Vxd2 when the current value measured by the motor current measuring unit 6 becomes zero or substantially zero, and rotates from this voltage value. The speed Nx2 is calculated by Nx2 = Vxd2 / Ks (step 5).

  Next, the human torque calculation function means 33 calculates the human torque Ta from the motor torques Tm1 and Tm2 calculated above and the rotational speeds Nx1 and Nx2, Ta = (Nx2 · Tm1−Nx1 · Tm2) / (Nx1−Nx2). ) (Step 6). Next, the assist output determination function means 34 generates a new applied voltage Vasi that generates a torque Tasi = f · Ta necessary for assisting thrust in accordance with the calculated human power torque Ta. The motor control unit 2 is designated so that the motor current value Im measured in step 1 becomes Im = Tasi / Kt = Imasi (step 7). Next, when a predetermined time has elapsed, the designated applied voltage is set to zero and the process returns to step 1 (step 8), and the subsequent processing is repeated. If it is determined in step 1 that the vehicle is in the stopped state, the processing by all the functional means is stopped to be in the initial state, and the operation is waited for (step 9).

  FIG. 5 is a block diagram showing an electrical configuration of a bicycle with an electric motor according to a second embodiment of the present invention. In this embodiment, the torque detection mechanism is not used, but an example in which the rotation speed detection mechanism is used will be described.

  In the present embodiment, elements similar to those in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and description thereof is omitted. This embodiment is different from the first embodiment in that a rotation speed detection mechanism is used. The rotation speed detection mechanism includes a rotation speed detection element and a rotation speed detection unit provided on an axle or a rotation shaft of a motor. Examples of the rotational speed detection element include a rotor magnet position detection element, a speed generator, or an increment encoder and its detection element. Here, a case where a rotor magnet position detection element is used is taken as an example. In this case, since the detection signal of the rotor magnet position detection unit 4 can be shared as an input to the rotation speed detection unit, a new rotation speed detection element is unnecessary. The rotation speed detection unit counts the detection signals from the rotor magnet position detection unit 4 with time-measurement pulses, and converts the counted value into a rotation speed. The processing of counting and conversion from the count value to the rotational speed is efficiently performed by the assist control processing unit 3 ′, but the processing means may be configured by hardware. In this embodiment, the processing is performed by the assist control processing unit 3 ′. When a speed generator is used, the speed detection voltage is A / D converted and input to the assist control processing unit 3 ′.

  The assist control processing unit 3 ′ calculates the generated torque of the electric motor 1 based on the current value measured at a predetermined applied voltage, and detects the rotational speed from the detection signal from the rotor magnet position detection unit 4, A motor torque calculation process for calculating a torque due to human power from the calculated generated torque and the detected rotational speed, and an applied voltage for generating a torque required to assist thrust according to the calculated human power torque The assist process designated as 2 is repeated. The assist control processing unit 3 ′ executes a manual torque calculation process and an assist process when the determination by the driving / stop determination unit 5 is in the driving state, and stops these processes when in the stopping state. The assist control processing unit 3 'includes a microcomputer and a memory for storing the program and data thereof, etc., and includes a motor torque calculation function means 31, a human torque calculation function means 33, an assist output determination function means 34, and a rotation speed detection function. Means 35 are provided. These functional means are realized by a program, but a part or all of them may be configured by hardware.

  Similarly to the first embodiment, the motor torque calculation function unit 31 sequentially designates two applied voltages V1 and V2 to the motor control unit 2 in an extremely short time, and the current value Im1 measured by the motor current measurement unit 6 at this time, Im2 is obtained, and motor torques Tm1 and Tm2 generated by the applied voltages V1 and V2 are calculated from the current value by the equation (1). The rotation speed detection function means 35 detects the interval between the detection signals from the rotor magnet position detection unit 4 at each timing after the application voltage V1 is designated by the motor torque calculation function means 31 and after the application voltage V2 is designated. Counting is performed with the clock pulse, and the count value is converted to detect the rotational speeds Nx1 and Nx2 when the voltages V1 and V2 are applied. Hereinafter, as in the first embodiment, the human-power torque calculating function means 33 calculates the torque Ta due to human power from the equation (3) from the motor torques Tm1, Tm2 and the rotational speeds Nx1, Nx2. The assist output determination function means 34 determines a motor torque (assist force) Tasi necessary to assist thrust according to the calculated torque Ta based on human power, and a motor current necessary to generate the motor torque Tasi. Imasi is calculated, and the applied voltage Vasi designated to the motor control unit 2 is determined so that the measured current of the motor current measuring unit 6 becomes Imasi, and is output for a predetermined time. When the predetermined time has elapsed, the motor torque calculation function means 31 is activated and a series of operations are repeated again.

  In the operation example with the above configuration, the basic processing flow is the same except that the rotational speeds Nx1 and Nx2 corresponding to the applied voltage are different as described above in FIG.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to the present embodiment, and the present invention can be changed even if there is a design change or the like without departing from the gist of the present invention. include. For example, in the above-described embodiment, the axle is directly rotated by the electric motor, but the present invention can be similarly applied to other assist types such as an assist type in which the electric motor rotates the pedal shaft. It is. In addition, since the determination of operation and stop is finally reflected in the rotation speed, it can be omitted.

  The present invention can be suitably used for any assist type electric assist bicycle.

1 is a block diagram illustrating an electrical configuration of a bicycle with an electric motor that is Embodiment 1 of the present invention. FIG. (A), (b) is explanatory drawing explaining the principle of the rotational speed detection method of the bicycle with the same electric motor. It is a flowchart which shows the operation example of the bicycle with the same electric motor. It is a time chart which shows the operation example of the bicycle with the same electric motor. It is a block diagram which shows the electrical structure of the bicycle with an electric motor which is Example 2 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Electric motor 2 ... Motor control part 3, 3 '... Assist control process part 31 ... Motor torque calculation function means 32 ... Rotation speed calculation function means 33 ... Human power torque calculation function means 34 ... Assist output determination function means 35 ... Rotation speed Detection function means 4 ... Rotor magnet position detection unit 5 ... Operation / stop determination unit 6 ... Motor current measurement unit

Claims (9)

  An electric motor that generates torque for assisting a bicycle with thrust, a motor control unit that controls rotation of the electric motor with a specified applied voltage, a motor current measurement unit that measures a motor current of the electric motor, A motor that calculates a motor torque from a motor current value measured by the motor current measuring unit by designating a predetermined applied voltage to the motor control unit, and that is measured by the motor current measuring unit while changing the designated applied voltage. Calculate the rotation speed from the current value, calculate the torque by human power from the motor torque and rotation speed, determine the motor torque to assist the torque by human power, and apply the applied voltage to generate the assist motor torque for a predetermined period An assist control processing unit for instructing repetition of the above processing after the motor control unit is designated. Bicycle with a dynamic motor.   The assist control processing unit sequentially designates two applied voltages V1 and V2 to the motor control unit in an extremely short time, obtains a current value measured by the motor current measurement unit at this time, and uses the current value to determine the applied voltage Motor torque calculation function means for calculating motor torques Tm1 and Tm2 generated by voltages V1 and V2, and designation of the applied voltage to the motor controller within a very short time after designation of the applied voltages V1 and V2. A rotation speed calculation function means for calculating a rotation speed Nx1, Nx2 of the electric motor from an applied voltage when the current value is zero or substantially zero; Human power torque calculation function means for calculating torque Ta by human power from the calculated motor torques Tm1, Tm2 and rotation speeds Nx1, Nx2, and torque Ta by human power The motor current value required for generating the corresponding auxiliary torque is calculated, and an applied voltage at which the current value measured by the motor current measurement unit becomes the necessary motor current value is specified to the motor control unit for a predetermined time. A bicycle with an electric motor, comprising: assist output determination function means for instructing repetition of control from the motor torque calculation function means after elapse of a predetermined time.   An electric motor that generates torque for assisting a bicycle with thrust, a motor control unit that controls rotation of the electric motor with a specified applied voltage, and a rotation speed detection unit that detects the rotation speed of the electric motor; A motor current measuring unit for measuring a motor current of the electric motor, a motor torque is calculated from a motor current value measured by the motor current measuring unit by designating a predetermined applied voltage to the motor control unit, and the rotation speed The rotation speed is detected using a detection unit, the torque due to human power is calculated from the motor torque and the rotation speed, the motor torque that assists the torque due to human power is determined, and the applied voltage that generates the assisting motor torque is An assist control processing unit that instructs the motor control unit to repeat the above process after a predetermined period of time is specified. Bicycle with a dynamic motor.   The assist control processing unit sequentially designates two applied voltages V1 and V2 to the motor control unit in an extremely short time, obtains a current value measured by the motor current measurement unit at this time, and uses the current value to determine the applied voltage Motor torque calculation function means for calculating motor torques Tm1 and Tm2 generated by the voltages V1 and V2, and the rotation speed detector after the designation of the applied voltages V1 and V2, the rotation speeds Nx1 and Nx2 of the electric motor are calculated. Rotation speed detection function means for detecting, human power torque calculation function means for calculating the torque Ta by human power from the calculated motor torques Tm1, Tm2 and the detected rotation speeds Nx1, Nx2, and assistance corresponding to the torque Ta by the human power The motor current value necessary for generating torque is calculated, and the current value measured by the motor current measuring unit becomes the necessary motor current value. An assist output determination function unit that designates an applied voltage for a predetermined time in the motor control unit and instructs the repetition of control from the motor torque calculation function unit after the elapse of the predetermined time. Item 5. A bicycle with an electric motor according to Item 3.   The bicycle with an electric motor according to claim 3 or 4, wherein the rotational speed detection unit uses a rotor magnet position detection element, a speed generator, or an increment encoder and the detection element. An electric motor that generates torque for assisting thrust in the bicycle; a motor control unit that controls rotation of the electric motor with a specified applied voltage; and a motor current measurement unit that measures a motor current of the electric motor. A program for controlling a bicycle with an electric motor,
A motor that calculates a motor torque from a motor current value measured by the motor current measuring unit by designating a predetermined applied voltage to the motor control unit, and that is measured by the motor current measuring unit while changing the designated applied voltage. A first process for calculating a rotation speed from the current value; a second process for calculating a torque by human power from the motor torque and the rotation speed; and determining a motor torque for assisting the torque by human power, and the assisting motor. A program for causing a computer to execute a third process for instructing repetition of the above process after an applied voltage for generating a torque is specified in the motor control unit for a predetermined period.   7. The program according to claim 6, wherein the first process sequentially designates two applied voltages V1 and V2 to the motor control unit in an extremely short time, and the current value measured by the motor current measurement unit at this time is designated. A motor torque calculation process for calculating motor torques Tm1 and Tm2 generated by the applied voltages V1 and V2 from the current values, and after the designation of the applied voltages V1 and V2, the motor control unit within a very short time. The application voltage is specified while scanning, the current value measured by the motor current measuring unit is obtained at this time, and the rotational speeds Nx1 and Nx2 of the electric motor are calculated from the applied voltage when the current value is zero or substantially zero. And the second process consists of a process of calculating the torque Ta by human power from the calculated motor torques Tm1 and Tm2 and the rotational speeds Nx1 and Nx2. A third process calculates a motor current value necessary for generating an auxiliary torque corresponding to the torque Ta by human power, and applies an applied voltage at which the current value measured by the motor current measurement unit becomes the necessary motor current value. A program for causing a computer to execute, comprising: a process for designating the motor control unit for a predetermined time and instructing a repetition from the first process after the elapse of the predetermined time. An electric motor that generates torque for assisting a bicycle with thrust, a motor control unit that controls rotation of the electric motor with a specified applied voltage, and a rotation speed detection unit that detects the rotation speed of the electric motor; A program for controlling a bicycle with an electric motor comprising a motor current measuring unit for measuring a motor current of the electric motor,
A first process of calculating a motor torque from a motor current value measured by the motor current measurement unit by designating a predetermined applied voltage to the motor control unit and detecting a rotation speed using the rotation speed detection unit; A second process for calculating a torque by human power from the motor torque and the rotation speed, a motor torque for assisting the torque by the human power is determined, and an applied voltage for generating the assisting motor torque is set to the motor control unit in advance. A program for causing a computer to execute a third process for instructing repetition of the above process after designating only a period.   9. The program according to claim 8, wherein the first process sequentially designates two applied voltages V1 and V2 to the motor control unit in an extremely short time, and the current value measured by the motor current measurement unit at this time is designated. The motor torques Tm1 and Tm2 generated by the applied voltages V1 and V2 are calculated from the current values, and the rotational speed of the electric motor is determined using the rotational speed detector after the application voltages V1 and V2 are specified. Nx1 and Nx2 are detected, and the second process is a process of calculating a manual torque Ta from the calculated motor torques Tm1 and Tm2 and the detected rotational speeds Nx1 and Nx2. The process calculates a motor current value necessary for generating the auxiliary torque according to the torque Ta by the human power, and the current value measured by the motor current measuring unit is the required value. An applied voltage to be a motor current value is designated to the motor control unit for a predetermined time, and after the elapse of the predetermined time, the computer comprises the process of instructing repetition from the first process. Program for.

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