JP2009213810A - Traveling control system of electromagnetic induction type golf cart - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a traveling control system of an electromagnetic induction type golf cart which stably travels and which not causes a golfer on the cart to feel uneasy so as to extend battery life. <P>SOLUTION: When starting, the cart travels in a predetermined period with a large level of powering torque. If a runway is flat or an accelerator pedal is pressed, the cart travels with a small level mode of powering torque. If the runway is an upward slope, the cart travels with a middle level mode of powering torque. If the runway is downward slope and traveling speed is equal or lower than a target speed, the cart travels with middle level mode of regenerative torque. If the runway is a steep downward slope, the cart travels with a large level mode of regenerative torque. If the runway is a downward slope, the traveling speed is more than the target speed and a battery voltage is more than a prescribed value, the cart travels with a specially large level mode of regenerative torque after a drum brake is operated. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a travel control system for an electromagnetic induction golf cart that travels while performing automatic steering along a guide line laid along a travel path.

  An electromagnetic induction type golf cart is used as an automatic traveling vehicle such as a golf cart that travels on a predetermined track along a guide line (FIG. 5). In addition, since the battery-type riding golf cart as shown in FIG. 5 does not emit noise or exhaust gas and is characterized by being environmentally friendly, demand is increasing in Japan.

  An induction wire is laid in the ground of the traveling path of the electromagnetic induction golf cart so as to form one loop (not shown). In these electromagnetic induction type golf carts, a magnetic field generated by passing a low-frequency alternating current through a guide wire is detected by induction sensors 16a and 16b using coils or the like installed in the vehicle. Then, the steering mechanism 25 is operated by moving the steering motor 12, and the front wheels 6c, d are moved to guide the battery-powered riding golf cart along the travel path. It is called (Fig. 5). In a place where there is no guide line, for example, in a golf course, manual driving using the steering handle 7 is also possible.

  The traveling speed of the riding golf cart is measured by a vehicle speed sensor 20 installed on the vehicle body, and the controller 2 controls the number of revolutions of the drive motor 4 so as to reach a target speed. That is, the controller 2 takes the difference between the traveling speed of the riding golf cart and the target speed, and controls the drive motor driver 3 so as to reduce the difference. Then, the drive motor 4 is rotated by a control signal from the drive motor driver 3, and the rotation of the drive motor 4 is transmitted to the rear wheels 6a, b via the transmission 5.

  Note that the golf course cart running path has a variety of flat roads, steep uphills, downhills, and sharp curves. Therefore, in order to ensure safety in the automatic travel mode, a method of setting and controlling the target speed using a permanent magnet as needed according to the cart travel path is used. In this method, a plurality of permanent magnets are embedded in the traveling path in advance, and the pattern of whether the embedded permanent magnets are facing the north or south pole on the ground surface is detected. It is a method that performs fine automatic speed control such as accelerating or decelerating the vehicle.

  That is, when the riding golf cart passes above a plurality of permanent magnets embedded in the traveling path, a magnet using a coil or the like in which the N pole or S pole pattern signal of the embedded permanent magnet is attached to the riding golf cart Detected by sensor 17. Then, the target speed of the riding golf cart is changed by the embedded pattern signal to decelerate or accelerate.

  Conventionally, starting and stopping of the riding golf cart are performed by operating the operation panel 24 attached to the vehicle body or by remote operation using a remote controller (not shown). In addition, even during automatic driving, the riding golf cart can be stopped at any time by stepping on the brake pedal 9 for risk prevention and other reasons.

  On the other hand, in a place where there is no guide line, the driver can operate the steering wheel 7 to operate the front wheels 6c, d after switching the automatic / manual mode selection switch 27 to the manual travel mode. As shown in FIG. 4, in the manual travel mode, the depression amount of the accelerator pedal 8 is detected by the accelerator depression amount measuring device 44 using a potentiometer or the like. Then, the controller 2 rotates the drive motor 4 via the drive motor driver 3 so that the travel speed according to the depression amount is obtained. By rotating the drive motor 4, the rear wheels 6a and 6b can be driven via the transmission 5 to drive the vehicle at a speed desired by the driver.

  In these riding golf carts, as the drive motor 4, a DC shunt motor that can easily control the rotation speed, torque, and forward / reverse rotation is generally used. An electromagnetic induction golf cart that appropriately selects and controls the armature current and the field current supplied to the DC shunt motor in accordance with a golf course with severe undulations or a golf course that requires high-speed driving. A traveling control system is disclosed (for example, see Patent Document 1). In addition, a method is also disclosed in which the battery 1 is charged with a regenerative current from a DC shunt motor that is the drive motor 4 and regenerative braking is applied (for example, see Patent Document 2).

Japanese Patent No. 3743367 Japanese Patent No. 3596389

  However, in the conventionally used traveling control methods as described above, it is safe and sufficient depending on whether the traveling path is uphill or downhill, the depression amount of the accelerator pedal 8, the current traveling speed, and the like. There was a problem that difficult speed control was difficult. For example, if the speed is too high on the downhill, or if the driver depresses the accelerator pedal 8 on the uphill, the speed of the vehicle does not increase, giving the golfer a sense of anxiety or giving an unpleasant image There was a problem.

  Furthermore, when the speed is too high on the downhill, there is a problem that a large regenerative current flows into the battery 1, charging cannot catch up, and the electrolytic solution is decomposed, resulting in shortening the life of the battery 1. .

  The present invention has been made in view of the above-described problems, and appropriately sets the armature current and the field current in accordance with the gradient of the traveling path, the amount of depression of the accelerator pedal 8, the current traveling speed, and the like. Select and run control.

  In the traveling control system for an electromagnetic induction golf cart according to the present invention, the armature of a DC shunt motor used as a drive motor according to the gradient of the traveling path, the amount of depression of the accelerator pedal 8, the current traveling speed, etc. Driving control is performed by appropriately selecting the current and field current. Furthermore, when the speed on the downhill is high and a large regenerative current flows into the battery, braking with a drum brake is also used to reduce the burden on the battery due to excessive charging current, and its long life I tried to make it.

That is, the invention of claim 1 is a travel control system for an electromagnetic induction golf cart that uses a DC shunt motor for driving.
When starting the electromagnetic induction golf cart, the power running torque is at a high level and travels for a certain period of time.
When the road is flat or the accelerator pedal is depressed, the power running torque runs in a mode with a low level,
When the traveling path is uphill, the vehicle is characterized by traveling in a mode in which the power running torque is at a medium level.

The invention of claim 2 is a travel control system for an electromagnetic induction golf cart that uses a DC shunt motor for driving.
When starting the electromagnetic induction golf cart, the power running torque is at a high level and travels for a certain period of time.
When the travel path is downhill and the travel speed does not exceed the target speed, the regenerative torque travels in the medium level mode,
When the travel speed does not exceed the target speed and the travel path is a steep downhill, the regenerative torque travels in a large level mode.

The invention of claim 3 is a travel control system for an electromagnetic induction golf cart that uses a DC shunt motor for driving.
When starting the electromagnetic induction golf cart, the power running torque is at a high level and travels for a certain period of time.
When the travel path is downhill, the travel speed exceeds the target speed, and the battery voltage does not exceed the specified value, the regenerative torque travels in an extra large mode,
When the travel path is downhill, the travel speed exceeds the target speed, and the battery voltage exceeds the specified value, the regenerative torque travels in the extra large mode after the drum brake is activated. It is characterized by that.

  Use of the traveling control system according to the present invention has excellent traveling stability, and there is no problem such as giving an uneasy feeling or an unpleasant feeling to a riding golfer, thereby extending the life of the battery to be used. It is excellent because it can.

  Below, the case where an embodiment of the present invention is used for a battery type riding golf cart will be described based on the drawings (FIGS. 1 to 5).

1. Configuration of Battery Type Riding Golf Cart The riding golf cart shown in FIG. 5 moves the drive motor 4 by the battery 1 and rotates the rear wheels 6 a and b via the transmission 5 to move forward or backward. Note that the power supplied to the controller 2, the steering motor driver 11, the brake motor driver 13, and the like shown in FIG.

  During manual operation, the steering wheel 7 for steering the front wheels 6c, d, the accelerator pedal 8 for adjusting the vehicle speed, and the brake pedal 9 for braking the vehicle are operated.

  In this riding golf cart, an operation panel 24 is attached in front of the driver's seat. The operation panel 24 includes an automatic / manual mode selection switch 27, a start switch, a stop switch, a forward switch, a reverse switch, and a display unit for displaying a failure and a buzzer for sounding an alarm when there is any failure (not shown). ) Is installed.

  The vehicle speed is detected by a vehicle speed sensor 20 attached to the transmission 5, and a pulse voltage corresponding to the speed is output from the vehicle speed sensor 20 to the controller 2. The controller 2 controls the vehicle speed so as to reach the target speed by PID control using a feedback method.

  On the other hand, as a vehicle braking device, three types of brakes were used: an electromagnetic clutch brake 15, drum brakes 10a to 10d, and a regenerative brake by the drive motor 4. During running of the golf cart, the electromagnetic clutch brake 15 is released by energizing the electromagnetic clutch brake 15 attached to the rotating shaft of the drive motor 4.

2. Autonomous driving A golf course cart that allows automatic driving has a guide wire embedded in advance, and an alternating current magnetic field is formed in the vicinity thereof by passing an alternating current of 1,500 Hz through the guide wire. . This riding golf cart has a substantially T-shaped arm 34 that moves substantially horizontally in the horizontal direction at the front end of the vehicle. Inductive sensors 16a and 16b are arranged at two positions on the left and right of the arm 34. The signal is output to the controller 2.

  For example, the induction sensors 16a and 16b use coils, detect the electromotive force generated in the induction sensors 16a and 16b by the alternating magnetic field, determine the position of the induction line, and It is guided along the cart travel path. That is, the controller 2 performs processing based on the signals from the induction sensors 16a and 16b, and sends a drive current corresponding to the steering instruction signal to the steering motor 12 via the steering motor driver 11. The rotation speed of the steering motor 12 is reduced by a certain amount through the steering gear unit 19, and then the steering shaft 35 is rotated. Then, by rotating the steering shaft 35, the front wheels 6c and d are steered via the steering mechanism 25, and travel control is performed so that the vehicle does not deviate from the guide line.

  During automatic traveling, the steering handle 7 is separated from the steering shaft 35 by the steering gear unit 19 and fixed for safety reasons, and the manual operation is disabled. In addition, in order to detect the presence or absence of a failure of the steering motor 12, the drive current is output to the controller 2 and constantly monitored.

  The magnet sensor 17 uses a coil, for example, and is attached to a predetermined position below the vehicle so as to face the ground. On the other hand, a plurality of permanent magnets are embedded in the course of the golf course with a predetermined interval with the north pole or south pole facing the ground surface (not shown). An induced electromotive force is generated in the magnet sensor 17 when a vehicle equipped with the magnet sensor 17 passes above the embedded permanent magnets. Then, by detecting the magnetic pole arrangement pattern of each permanent magnet by the magnet sensor 17, traveling control such as changing or stopping the target speed of the vehicle is performed.

  The vehicle is also provided with an inclination sensor 18 and outputs to the controller 2 the gradient state of the travel path on which the vehicle is traveling. For example, the controller 2 makes a judgment by adding a sign of zero for the flat ground, plus for the uphill, and minus for the downhill, and calculates a larger value as the inclination gradient is larger and performs each control described later.

  When the golf cart is stopped, regenerative braking is applied to the drive motor 4, and at the same time, the hydraulic drum brakes 10a to 10d attached to the front and rear wheels 6a to 6d are operated. The drum brakes 10a to 10d adjust the pressure in the hydraulic cylinder 22 by the rotation of the brake motor 14, and apply appropriate braking to the front and rear wheels 6a to 6d. After that, when braking is applied to the golf cart, when the speed detected by the vehicle speed sensor 20 that detects the rotation speed of the drive motor 4 becomes zero, the current flowing to the electromagnetic clutch brake 15 is cut off from the controller 2, The electromagnetic clutch brake 15 is closed and the rear wheels 6a, b are locked.

  In addition, when a golf player or the like enters immediately before the vehicle during automatic driving, it is detected by the obstacle detection sensor 36, and the vehicle body is braked via the controller 2 to prevent danger. It is said. Note that the collision prevention method using the obstacle detection sensor 36 according to the present invention will be described in detail in an embodiment described later.

3. Manual operation This battery-powered riding golf cart can also be manually driven by a normal manual operation. In this case, the automatic / manual mode selection switch 27 on the operation panel 24 is switched to the manual travel mode. In this state, after the connection between the steering mechanism 25 and the steering motor 12 is released by the steering gear unit 19, the steering mechanism 25 and the steering handle 7 are connected. Therefore, in this state, manual steering can be performed by operating the steering handle 7 by the driver.

  During manual travel, the driver depresses the accelerator pedal 8 to release the electromagnetic clutch brake 15 and accelerate the vehicle body. Then, when the driver removes his / her foot from the accelerator pedal 8, the vehicle body is subjected to regenerative braking to decelerate.

  Further, when the driver depresses the brake pedal 9, the vehicle body can be braked by the drum brakes 10a to 10d. When the controller 2 confirms that the accelerator pedal is not depressed and the vehicle speed detected by the vehicle speed sensor 20 is zero, the current flowing through the electromagnetic clutch brake 15 is cut off, and the electromagnetic clutch brake 15 is closed. The wheels 6a and b are locked and the vehicle is parked.

4). Travel Control System for Electromagnetic Induction Golf Cart According to the Present Invention Hereinafter, a travel control system for an electromagnetic induction golf cart according to the present invention will be described in detail with reference to FIGS.
(1) Outline of Travel Control Device According to the Present Invention FIG. 3 is a block diagram of a speed control device according to the present invention, and FIG. 4 is a schematic diagram around an accelerator pedal 8.

  As shown in FIG. 3, the controller 2 includes the above-described travel control data from the magnet sensor 17, whether the travel path from the tilt sensor 18 is an uphill or a downhill and its angle data, manual The data on the depression state of the accelerator pedal 8 and the data on the traveling speed from the vehicle speed sensor 20 are respectively input.

  The controller 2 outputs a speed command and a mode command to be described later to the drive motor driver 3 so as to achieve the target speed (FIG. 3). The drive motor driver 3 determines the current supplied to the armature 51 of the drive motor 4 and the current supplied to the field coil 52. The travel speed data measured by the vehicle speed sensor 20 is fed back to the controller 2 and PID control is performed so as to match the target speed.

  That is, the drive motor driver 3 selects an optimum mode from the four types described in the mode table described later by the speed command and the mode command from the controller 2, and determines the current supplied to the armature 51. The current supplied to the field coil 52 is determined (FIG. 2). Since the total current value (A) that can be supplied to the drive motor 4 is limited due to the discharge capacity (Ah) of the battery 1 or the like, the armature 51 and the field coil depend on the conditions such as the travel path and travel speed. This is to distribute the current value optimally to 52.

  As will be described later, when the speed increases on the downhill and a large regenerative current flows from the drive motor 4 to the battery 1, in order to protect the battery 1, the drum brakes 10 to d are added to the regenerative braking. The brakes are applied together. This is to prevent degradation of the battery 1 due to decomposition of the electrolytic solution due to charging with a large regenerative current and temperature rise during charging. In such a case, in addition to regenerative braking, the controller 2 activates the drum brakes 10 to d via the brake driver 13, the brake motor 14, and the hydraulic cylinder 22 to superimpose the braking ( FIG. 3).

On the other hand, when a driver such as a caddy riding on the vehicle wants to accelerate, the vehicle can be accelerated by depressing the accelerator pedal 8. Here, as shown in FIG. 4, the depression amount of the accelerator pedal 8 is measured by the accelerator depression amount measuring device 44 using a potentiometer and is output to the controller 2. Further, whether or not the accelerator pedal 8 is depressed is detected by the accelerator pedal depression detection switch 44 and output to the controller 2 (FIG. 4).
(2) Contents of mode table (Fig. 2)
As described above, the current value flowing from the battery 1 to the armature 51 of the drive motor 4 and the current value flowing to the field coil 52 are controlled by the drive motor driver 3. The drive motor driver 3 has four types of mode tables (mode 1 to mode 4) as shown in FIG. ) Can be selected from. Each mode is particularly characterized by the magnitude of the regenerative torque and power running torque (FIG. 2 (a)). That is, it is possible to perform the traveling control by switching these four types of modes according to the inclination of the traveling path of the golf course and the traveling speed.

  Here, in the drive motor driver 3, in the mode 1 of FIG. 2B, when the current flowing through the armature 51 is Ia1, the current flowing through the field coil 52 is set to If1, respectively. To control the current value. The region where the armature current is negative indicates the operation in the regenerative region such as downhill (regenerative operation), and the region where the armature current is positive is the operation in the powering region such as flat land or uphill ( Power running). On the other hand, the regenerative torque and the power running torque can be increased as the field current increases.

  Mode 1 is a mode when high-speed driving is required although the powering torque of the drive motor 4 is not so much required as when driving on a flat ground or when the accelerator pedal 8 is depressed by the driver. . In this case, the value of the current flowing through the field coil 52 is reduced, and the value of the current flowing through the armature can be increased in order to increase the rotational speed of the drive motor 4. Therefore, in mode 1, both the power running torque and the regenerative torque are set to 1 (small level) (FIGS. 2A and 2B).

  Mode 2 is a mode in which a large power running torque and regenerative torque are required as compared to mode 1, such as traveling on an uphill or traveling on a relatively gentle downhill. Therefore, in mode 2, the value of the current flowing through the field coil 52 is controlled to be larger than that in mode 1, and the power running torque and the regenerative torque are set to 2 (medium level) (FIGS. 2A and 2B).

  Mode 3 is a mode in which a larger torque than that in mode 2 is required, such as when starting, traveling on a steep uphill, or traveling on a steep downhill. Therefore, in mode 3, the value of the current flowing through the field coil 52 is controlled to be larger than in mode 2, the power running torque is set to 4 (extra large level), and the regenerative torque is set to 3 (large level) (FIG. 2A). (B)).

Mode 4 is traveling on a downhill and requires a larger regenerative braking force than that of mode 3 such as excessive speed (overspeed) compared to the target speed, that is, a large regenerative torque. This mode is required when Therefore, in mode 4, the regenerative torque is set to a large level, for example, 4 (extra large level). In such a case, the power running torque is set to 3 (large level) because it is unlikely to occur on an uphill (FIGS. 2A and 2B).
(3) Travel Control System According to the Present Invention An embodiment of a travel control system for an electromagnetic induction golf cart according to the present invention will be described in detail with reference to FIGS. As described above, there are four types of power running torque and regenerative torque for each mode, but the portions relating to the present invention will be described in detail below.

Step 1 (S1)
When the traveling control program starts, the loop is continued as it is until the start switch is turned on. When the start switch is turned on, the process proceeds to the next step 2.

Step 2 (S2)
In step 2, first, mode 3 is selected to start traveling and proceed to step 3. That is, the driving is started in a state in which the power running torque of the drive motor 4 is at a large level, for example, in a state of 4 (extra large level) as shown in FIGS. For example, even if the travel path at the start of travel is a steep uphill, the vehicle is prevented from returning.

Step 3 (S3)
In Step 3, after traveling in Mode 3 for a certain period of time, for example, about 1 second, Step 4 is followed. This is to prevent speed from being required at the start of traveling of the electromagnetic induction golf cart and to prevent the golfer who is riding from feeling uneasy due to a rapid speed change.

Step 4 (S4)
In step 4, it is determined by the inclination sensor 18 whether the traveling road is flat or uphill (that is, not downhill). Then, when the traveling road is flat or uphill, the process goes to step 5, and when the traveling path is downhill, the process goes to step 8.

Step 5 (S5)
In step 5, it is determined by the inclination sensor 18 whether the vehicle is flat or the accelerator pedal 8 is depressed. Then, when the flat ground or the accelerator pedal 8 is depressed, the process goes to Step 6; otherwise, the process goes to Step 7.

Step 6 (S6)
In step 6, mode 1 is selected and the process returns to step 4. As described above, mode 1 is a mode in which the value of the current flowing through the field coil 52 is reduced and the power running torque is low, but the value of the current flowing through the armature is increased and high speed running is possible. That is, as shown in the state where the power running torque is at a low level, for example, (FIGS. 2 (a) and 2 (b)), the vehicle travels in the mode of 1 (small level).

Step 7 (S7)
In step 7, mode 2 is selected and the process returns to step 4. As described above, mode 2 is a mode in which a large power running torque is required as compared with mode 1 as in traveling on an uphill. Therefore, the vehicle is driven in a state where the power running torque is at a medium level, for example, a mode 2 (medium level) as shown in FIGS. 2 (a) and 2 (b).

Step 8 (S8)
Step 8 is a case where the traveling road is a downhill, and it is determined whether or not the speed exceeds the target speed. The traveling speed of the vehicle is measured by the vehicle speed sensor 20. In step 8, when it is determined that the speed exceeds the target speed, the process goes to step 12, and when it is determined that the speed is not excessive, the process goes to step 9.

Step 9 (S9)
In step 9, it is determined whether or not the travel path measured by the inclination sensor 18 is a steep downhill, for example, a downhill exceeding 10 degrees. In the case of a steep downhill exceeding 10 degrees, the procedure goes to Step 10; otherwise, the procedure goes to Step 11.

Step 10 (S10)
In step 10, mode 3 is selected and the process returns to step 4. As described above, mode 3 is a mode in which a larger regenerative torque than mode 2 is required, such as traveling on a steep downhill exceeding 10 degrees. In other words, the regenerative torque is in a large level, for example, as shown in FIGS. 2 (a) and 2 (b), the vehicle is driven in the 3 (large level) mode.

Step 11 (S11)
In step 11, mode 2 is selected and the process returns to step 4. As described above, mode 2 in this case is a mode in which a large regenerative torque is required as compared to mode 1 as in comparatively gentle downhill traveling. That is, the vehicle is driven in the mode of 2 (medium level) as shown in the state where the regenerative torque is at a medium level, for example, (FIGS. 2A and 2B).

Step 12 (S12)
The case of coming to step 12 is a case of downhill and exceeding the target speed. Here, in step 12, it is determined whether or not the voltage of the battery 1 exceeds a specified value (for example, 2.5 V / cell in the case of a lead storage battery). This is to prevent the battery 1 from being deteriorated in life as will be described later. If the voltage of the battery does not exceed the specified value, the process goes to step 14 as it is. If the voltage of the battery 1 exceeds the specified value, the process goes to step 13.

Step 13 (S13)
In step 13, the drum brakes 10a to 10d are operated, and then the process goes to step 14. This corresponds to a case where the battery 1 is nearly fully charged, in a high voltage state, and exceeds the target speed. Therefore, in addition to the regenerative braking, braking by the drum brakes 10a to 10d is also used. In such a case, as described above, this is to prevent the battery life from being adversely affected by charging with a large regenerative current. Therefore, it is possible to smoothly decelerate without causing anxiety to the golfer who is on board.

Step 14 (S14)
In step 14, mode 4 is selected and the process returns to step 4. As described above, mode 4 is a mode in which a braking force is required more than mode 3 and a large regenerative torque is required to decelerate the vehicle. That is, as shown in the state where the regenerative torque is particularly large, for example, (FIGS. 2A and 2B), the vehicle is driven in a mode where the regenerative torque is 4 (extra large level).
(4) Features of Travel Control System According to the Present Invention and its Effects In the travel control system according to the present invention, after starting for a certain period of time in a state where the power running torque is at a large level (S2, S3),
If the travel path is flat or the accelerator pedal is depressed, the power running torque travels in a mode with a low level (S4, S5, S6),
When the travel path is uphill, the vehicle travels in a mode where the power running torque is at a medium level (S4, S5, S7).

Further, at the time of starting, after traveling for a certain time with the power running torque being at a high level (S2, S3),
The travel path is a downhill, the travel speed does not exceed the target speed (S4, S8),
When the travel path is a gentle downhill, the regenerative torque travels in a medium level mode (S9, S11),
When the travel path is a steep downhill, the regenerative torque travels in a mode with a large level (S9, S10).

Furthermore, at the time of starting, after running for a certain time with the power running torque at a large level (S2, S3),
The travel path is downhill, the travel speed exceeds the target speed (S8),
When the voltage of the battery does not exceed the specified value, the regenerative torque travels in the extra large level mode (S12, S14),
If the battery voltage exceeds the specified value, after the drum brake is activated (S103), the regenerative torque travels in the extra large mode (S12, S14).

  As described above, when the driving control system according to the present invention is used, the running battery has a long life without any problems such as excellent driving stability, anxiety and unpleasant feeling for the riding golfer. It is excellent because it can be

  The traveling control system for an electromagnetic induction golf cart according to the present invention can be used in an automatic traveling vehicle that automatically travels along a guiding line.

It is a flowchart of the traveling control system concerning this invention. It is a mode table concerning the present invention. It is a block diagram of the speed control apparatus concerning this invention. It is the schematic around an accelerator pedal. 1 is a schematic view of an electromagnetic induction type riding golf cart.

Explanation of symbols

1: battery, 2: controller, 3: drive motor driver, 4: drive motor,
5: Transmission, 6a, b: Rear wheel, 6c, d: Front wheel,
7: Steering handle, 8: Accelerator pedal, 9: Brake pedal,
10a to d: drum brake, 11: steering motor driver, 12: steering motor,
13: Brake motor driver, 14: Brake motor, 15: Electromagnetic clutch brake,
16a, b: induction sensor, 17: magnet sensor, 18: tilt sensor,
19: Steering gear unit, 20: Vehicle speed sensor, 21: Gear, 22: Hydraulic cylinder,
23: Brake motor driver switch, 24: Operation panel, 25: Steering mechanism,
27: Automatic / manual mode selection switch, 34: Arm, 35: Steering shaft,
36: Obstacle detection sensor, 41: Accelerator device, 42: Accelerator depression amount measuring device,
43: return spring, 44: accelerator depression detection switch, 51: armature, 52: field coil

Claims (3)

In the driving control system of an electromagnetic induction golf cart using a DC shunt motor for driving,
When starting the electromagnetic induction golf cart, the power running torque is at a high level and travels for a certain period of time.
When the road is flat or the accelerator pedal is depressed, the power running torque runs in a mode with a low level,
A traveling control system for an electromagnetic induction golf cart, wherein when the traveling path is uphill, the vehicle travels in a mode in which the power running torque is at a medium level. In the driving control system of an electromagnetic induction golf cart using a DC shunt motor for driving,
When starting the electromagnetic induction golf cart, the power running torque is at a high level and travels for a certain period of time.
When the travel path is downhill and the travel speed does not exceed the target speed, the regenerative torque travels in the medium level mode,
A traveling control system for an electromagnetic induction golf cart characterized in that when the traveling speed does not exceed the target speed and the traveling path is a steep downhill, the regenerative torque travels in a large level mode. In the driving control system of an electromagnetic induction golf cart using a DC shunt motor for driving,
When starting the electromagnetic induction golf cart, the power running torque is at a high level and travels for a certain period of time.
When the travel path is downhill, the travel speed exceeds the target speed, and the battery voltage does not exceed the specified value, the regenerative torque travels in an extra large mode,
When the travel path is downhill, the travel speed exceeds the target speed, and the battery voltage exceeds the specified value, the regenerative torque travels in the extra large mode after the drum brake is activated. A traveling control system for an electromagnetic induction golf cart.

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