JP2010013027A - アシスト力付き車両 - Google Patents
アシスト力付き車両 Download PDFInfo
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- JP2010013027A JP2010013027A JP2008176297A JP2008176297A JP2010013027A JP 2010013027 A JP2010013027 A JP 2010013027A JP 2008176297 A JP2008176297 A JP 2008176297A JP 2008176297 A JP2008176297 A JP 2008176297A JP 2010013027 A JP2010013027 A JP 2010013027A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2054—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed by controlling transmissions or clutches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/20—Electric propulsion with power supplied within the vehicle using propulsion power generated by humans or animals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/66—Arrangements of batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/12—Bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/48—Drive Train control parameters related to transmissions
- B60L2240/486—Operating parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Control Of Transmission Device (AREA)
Abstract
【解決手段】
現在変速段ペダル踏力(i) を基準変速段と現在の変速段との変速比率によって補正して基準変速段相当ペダル負荷(ii)を求めるとともに、該基準変速段相当ペダル負荷(ii)に応じた基準アシスト力(iii)を基準変速段アシスト力制御特性Hmapに基づいて求め、さらに該基準アシスト力(iii)を前記変速比率によって補正して現在変速段アシスト力(iv)を求める。
【選択図】 図5
Description
請求項3の発明によれば、前記変速機構,変速操作を行う変速操作器又は該変速操作を変速機構に伝達する伝達機構から変速段を直接検知するようにしたので、変速段を正確に検知できる。
14 アシスト力駆動系(アシスト力供給装置)
22 変速機構
25 変速段検知センサ
26 トルクセンサ(踏力検知センサ)
24 変速操作器
31 アシスト力演算部(アシスト力演算装置)
34,35 車速センサ
(i) 現在変速段ペダル踏力
(ii) 基準変速段相当ペダル負荷
(iii) 基準変速段相当アシスト力
(iv) 現在変速段アシスト力
Hmap 基準変速段アシスト力制御特性(基準マップ)
Claims (4)
- ペダル踏力を検知する踏力検知センサと、
ペダル踏力に応じたアシスト力を駆動輪に供給するアシスト力供給装置と、
運転者の操作により変速する変速機構と
を備えたアシスト力付き車両であって、
現在の変速段を検知する変速段検知センサと、
基準変速段におけるペダル踏力に応じたアシスト力を求めるための基準変速段アシスト力制御特性と、
該基準変速段アシスト力制御特性に基づいて各変速段におけるアシスト力を求めるアシスト力演算装置をさらに備え、
該アシスト力演算装置は、現在の変速段における現在変速段ペダル踏力を基準変速段の変速比と現在変速段の変速比とによって補正して基準変速段相当ペダル負荷を求めるとともに、該基準変速段相当ペダル負荷に応じた基準変速段相当アシスト力を前記基準変速段アシスト力制御特性に基づいて求め、さらに該基準変速段相当アシスト力を前記基準変速段の変速比と現在変速段の変速比とによって補正して現在変速段アシスト力を求める
ことを特徴とするアシスト力付き車両。 - 請求項1に記載のアシスト力付き車両において、
前記アシスト力演算装置は、
基準変速段相当ペダル負荷=現在変速段ペダル踏力÷(基準変速段減速比/現在変速段減速比)
により基準変速段相当ペダル負荷を求めるとともに、
現在変速段アシスト力=基準変速段相当アシスト力×(基準変速段減速比/現在変速段減速比)
により現在変速段アシスト力を求める
ことを特徴とするアシスト力付き車両。 - 請求項1又2に記載のアシスト力付き車両において、
前記変速段検知センサは、前記変速機構,変速操作を行う変速操作器又は該変速操作を変速機構に伝達する伝達機構から変速段を直接検知するように構成されていることを特徴とするアシスト力付き車両。 - 請求項1又は2に記載のアシスト力付き車両において、
前記変速段検知センサは、実際の車速とモータ回転数とに基づいて変速段を計算により推定するように構成されていることを特徴とするアシスト力付き車両。
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102464085A (zh) * | 2010-10-29 | 2012-05-23 | 株式会社岛野 | 自行车用电机控制系统 |
EP2829466A1 (en) * | 2013-07-26 | 2015-01-28 | Samsung Electro-Mechanics Co., Ltd. | Motor control system of electric bike and method for controlling the same |
JP2017226296A (ja) * | 2016-06-21 | 2017-12-28 | ヤマハ発動機株式会社 | 電動補助車両および補助出力制御システム |
JP2020142605A (ja) * | 2019-03-05 | 2020-09-10 | 株式会社シマノ | 人力駆動車用の制御装置 |
US11097806B2 (en) | 2016-05-30 | 2021-08-24 | Robert Bosch Gmbh | Control method and devices for controlling the electric motor of an electric bicycle |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH0733070A (ja) * | 1993-07-23 | 1995-02-03 | Yamaha Motor Co Ltd | 電動モータ付き乗り物 |
JPH11245876A (ja) * | 1998-03-06 | 1999-09-14 | Sanyo Electric Co Ltd | 補助動力付人力走行車 |
JPH11278360A (ja) * | 1998-03-26 | 1999-10-12 | Matsushita Electric Ind Co Ltd | 補助動力装置付き車輌の制御方法 |
JP2000118481A (ja) * | 1998-10-13 | 2000-04-25 | Sanyo Electric Co Ltd | 電動アシスト自転車 |
JP2002240772A (ja) * | 2001-02-14 | 2002-08-28 | Yamaha Motor Co Ltd | 電動補助車両の補助動力制御装置 |
JP2004243920A (ja) * | 2003-02-14 | 2004-09-02 | Yamaha Motor Co Ltd | 電動補助車両の補助力制御装置 |
-
2008
- 2008-07-04 JP JP2008176297A patent/JP5255347B2/ja active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH0733070A (ja) * | 1993-07-23 | 1995-02-03 | Yamaha Motor Co Ltd | 電動モータ付き乗り物 |
JP3190491B2 (ja) * | 1993-07-23 | 2001-07-23 | ヤマハ発動機株式会社 | 電動モータ付き乗り物 |
JPH11245876A (ja) * | 1998-03-06 | 1999-09-14 | Sanyo Electric Co Ltd | 補助動力付人力走行車 |
JPH11278360A (ja) * | 1998-03-26 | 1999-10-12 | Matsushita Electric Ind Co Ltd | 補助動力装置付き車輌の制御方法 |
JP2000118481A (ja) * | 1998-10-13 | 2000-04-25 | Sanyo Electric Co Ltd | 電動アシスト自転車 |
JP2002240772A (ja) * | 2001-02-14 | 2002-08-28 | Yamaha Motor Co Ltd | 電動補助車両の補助動力制御装置 |
JP2004243920A (ja) * | 2003-02-14 | 2004-09-02 | Yamaha Motor Co Ltd | 電動補助車両の補助力制御装置 |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102464085A (zh) * | 2010-10-29 | 2012-05-23 | 株式会社岛野 | 自行车用电机控制系统 |
JP2012096614A (ja) * | 2010-10-29 | 2012-05-24 | Shimano Inc | 自転車用モータ制御システム |
US8660728B2 (en) | 2010-10-29 | 2014-02-25 | Shimano Inc. | Bicycle motor-assist control system |
CN102464085B (zh) * | 2010-10-29 | 2014-10-29 | 株式会社岛野 | 自行车用电机控制系统 |
EP2829466A1 (en) * | 2013-07-26 | 2015-01-28 | Samsung Electro-Mechanics Co., Ltd. | Motor control system of electric bike and method for controlling the same |
CN104340326A (zh) * | 2013-07-26 | 2015-02-11 | 三星电机株式会社 | 电动自行车的电机控制系统和控制该电动自行车的方法 |
US11097806B2 (en) | 2016-05-30 | 2021-08-24 | Robert Bosch Gmbh | Control method and devices for controlling the electric motor of an electric bicycle |
JP2017226296A (ja) * | 2016-06-21 | 2017-12-28 | ヤマハ発動機株式会社 | 電動補助車両および補助出力制御システム |
JP2020142605A (ja) * | 2019-03-05 | 2020-09-10 | 株式会社シマノ | 人力駆動車用の制御装置 |
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