JP2012066668A - Two-wheel electric vehicle with auxiliary wheel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a two-wheel electric vehicle with auxiliary wheels capable of safely traveling upon turning traveling without increasing a turning radius.SOLUTION: The vehicle includes: an operation amount detecting means for detecting the operation amount of a handle for steering a front wheel; a displacement amount detecting means for detecting the displacement amount of auxiliary wheels provided at both sides of a rear wheel so as be vertically movable or detecting the displacement amount of a displacement element that is displaced accompanied by the vertical movement of the auxiliary wheels; and a drive control means controlling a driving force on the front wheel on the basis of detection results by the operation amount detecting means and the displacement amount detecting means. The drive control means decreases the output of an electric motor that drives the front wheel according as at least one of the operation amount and the displacement amount is increased, and increases the output of the electric motor that drives the front wheel as at least one of the operation amount and the displacement amount is decreased.

Description

  The present invention relates to a two-wheeled electric vehicle including one front wheel and one rear wheel, and more particularly to a two-wheeled electric vehicle with auxiliary wheels that is configured such that the front wheels can be steered and auxiliary wheels are provided on both sides of the rear wheel.

  Conventionally, motorcycles and bicycles with a prime mover have been equipped with a gasoline engine as a prime mover for driving the front or rear wheels, but in recent years, problems such as air pollution due to exhaust gas and a decrease in the remaining amount of fossil fuel have been seen as problems. Instead of a gasoline engine, an electric motor mounted as a prime mover (hereinafter referred to as a two-wheeled electric vehicle) is being provided.

  There are two-wheeled electric vehicles in which only the front wheels are driven by an electric motor and in which the front wheels and the rear wheels are driven by independent electric motors. Such a two-wheeled electric vehicle is said to have excellent climbing performance because the entire vehicle body is pulled forward in the traveling direction by driving the front wheels.

  Also, this type of two-wheeled electric vehicle is provided with auxiliary wheels on both sides of the rear wheel (hereinafter referred to as a two-wheeled electric vehicle with auxiliary wheels) (see, for example, Patent Document 1). In such a two-wheeled electric vehicle with auxiliary wheels, the auxiliary wheels are provided so as to be movable up and down, and the auxiliary wheels are always in contact with the road surface by the urging force of a suspension device (suspension). As a result, the two-wheeled electric vehicle with auxiliary wheels can not only prevent the vehicle from falling when the vehicle stops, but also can prevent the vehicle from falling even during straight running or turning.

JP 2010-111332 A

  By the way, the two-wheeled electric vehicle with an auxiliary wheel configured as described above has a sufficient climbing ability by driving the front wheels, but when turning, if a large drive is applied to the front wheels, the turning radius tends to increase. It is in. That is, when the front wheels are driven, the ground frictional force of the front wheels loses the centrifugal force when turning, and the vehicle body tends to be on the outside of the curve, so-called understeer. There is a fear.

  Therefore, in view of such circumstances, the present invention provides an electric vehicle with an auxiliary wheel that can safely travel without increasing the turning radius when turning, even if the climbing ability is ensured by driving the front wheels. The task is to do.

  A two-wheeled electric vehicle with an auxiliary wheel according to the present invention includes a front wheel and a rear wheel, and a pair of auxiliary wheels provided on both sides of the rear wheel so as to be movable up and down. Among the front wheels and the rear wheels, at least the front wheels In an electric vehicle with an auxiliary wheel configured to be driven by an electric motor and configured to steer the front wheel by a steering operation, an operation amount detecting means for detecting an operation amount of the steering wheel, and a vertical displacement of the auxiliary wheel Displacement amount detecting means for detecting the amount or displacement amount of the displacement element that is displaced in accordance with the vertical movement of the auxiliary wheel, and drive control means for controlling the driving of the front wheel based on the detection results of the operation amount detecting means and the displacement amount detecting means. The drive control means decreases the output of the electric motor that drives the front wheels and reduces the amount of operation and the amount of displacement as at least one of the amount of operation and the amount of displacement increases. As Kutomo either decreases, characterized in that it is configured to increase the output of the electric motor that drives the front wheels. Here, the “displacement element” is a structure that is linked to the movement of the auxiliary wheel in the vertical direction. For example, when the auxiliary wheel is supported by a swing arm that can move up and down, it means a swing arm. When the wheel is directly supported by the suspension device, it means the suspension device. When the auxiliary wheel is supported by a swing arm that can move up and down, and when the swing arm is supported by the suspension device, It means at least one of an arm and a suspension device.

  According to the two-wheeled electric vehicle with auxiliary wheels having the above-described configuration, the front wheel and the rear wheel are configured such that at least the front wheel is driven by the electric motor, and therefore the climbing ability is superior to that of the rear wheel drive. It becomes.

  And the two-wheeled electric vehicle with an auxiliary wheel of the said structure does not become large in the turning radius at the time of turning driving | running | working, but stable driving | running | working is attained. Specifically, the turning of a two-wheeled vehicle is generally performed by the driver tilting the vehicle body while performing a steering wheel operation. In some cases, the vehicle is tilted with little steering operation. Thus, in a two-wheeled vehicle, when turning the vehicle while tilting the vehicle while operating the steering wheel, the combination of the amount of operation of the steering wheel and the tilt angle of the vehicle corresponds to the turning radius, and when the vehicle is turning only with the steering wheel, Corresponds to the turning radius, and when the vehicle is turned while the vehicle body is tilted, the inclination (angle) of the vehicle body corresponds to the turning radius.

  For this reason, when the two-wheeled electric vehicle with an auxiliary wheel configured as described above is turned only by a steering operation, the detection result by the operation amount detection unit does not vary from the detection result by the displacement amount detection unit. It changes to a value corresponding to the turning radius in the running.

  The two-wheeled electric vehicle with auxiliary wheels configured as described above has auxiliary wheels that can be moved up and down on both sides of the rear wheel. Therefore, when the vehicle is tilted and turned, the auxiliary wheel is displaced with a displacement corresponding to the inclination of the vehicle body. Further, the displacement element that is displaced with the movement of the auxiliary wheel is also displaced by a displacement amount corresponding to the inclination of the vehicle body. Therefore, in the two-wheeled electric vehicle with auxiliary wheels configured as described above, when the vehicle is turned while tilting the vehicle body, the detection result by the operation amount detection unit does not change from that during straight running, and the detection result by the displacement amount detection unit is the actual turning. It changes to a value corresponding to the turning radius in the running.

  On the other hand, in the two-wheeled electric vehicle with an auxiliary wheel configured as described above, when the vehicle body is tilted while turning the steering wheel, both the detection result of the operation amount detection means and the detection result of the displacement amount detection means are in line travel. And the combination thereof (the combined value of the detection result of the operation amount detection means and the detection result of the displacement amount detection means) becomes a value corresponding to the turning radius in the actual turning travel.

  And if the driving force of the front wheels is large when the turning radius is small, the ground frictional force of the front wheels tends to lose the centrifugal force and the vehicle body tends to be outside the curve, so-called understeer. In the two-wheeled electric vehicle with a wheel, as described above, the drive control means is based on the detection result of the operation amount detection means and the detection result of the displacement amount detection means. As at least one of the detection results (displacement amount) increases (turning radius decreases), the output of the electric motor that drives the front wheels is reduced, and the detection result (operation amount) of the operation amount detection means and the displacement amount detection As at least one of the detection results (displacement amount) of the means decreases (the turning radius increases and approaches a straight line), the output of the electric motor that drives the front wheels is increased. Because they are made, ground friction front wheel never loses the centrifugal force during cornering. Therefore, the two-wheeled electric vehicle with auxiliary wheels configured as described above can travel safely without increasing the turning radius during turning, even if the climbing ability is ensured by driving the front wheels.

  As one aspect of the present invention, a pair of independent suspension devices that support each auxiliary wheel is provided, and the displacement amount detecting means is configured to detect the amount of vertical expansion and contraction of the independent suspension device as the displacement amount of the displacement element. May be. In this way, it is possible to properly grasp the amount of displacement that serves as a reference for grasping the turning radius. And the independent suspension device is fixed at a substantially fixed position, and the other end side moves to expand and contract as a whole. Therefore, by detecting the expansion / contraction amount (movement amount on the other end side), the displacement The amount can be properly recognized. Therefore, by properly recognizing the amount of expansion and contraction of the independent suspension device, the actual turning radius can be properly grasped, and the front wheels can be driven with an output corresponding to the turning radius.

  As another aspect of the present invention, each of the front wheel and the rear wheel may be configured to be driven by an independent electric motor. If it does in this way, it can drive | work stably, without becoming ineffective at the time of a flat ground driving | running | working and an uphill driving. In addition, the two-wheeled electric vehicle with auxiliary wheels configured as described above has insufficient output during turning because the rear wheels are driven when the output of the electric motor that drives the front wheels is lowered according to the turning radius. You can drive comfortably.

  As described above, according to the two-wheeled electric vehicle with an auxiliary wheel of the present invention, even if the climbing ability is ensured by driving at least the front wheels, it is possible to travel safely without increasing the turning radius during turning. An excellent effect can be achieved.

The perspective view of the two-wheel electric vehicle with an auxiliary wheel which concerns on one Embodiment of this invention is shown. The side view of the two-wheeled electric vehicle with an auxiliary wheel which concerns on the embodiment is shown. The front view of the two-wheeled electric vehicle with an auxiliary wheel which concerns on the embodiment is shown. The schematic block diagram of the control system of the two-wheeled electric vehicle with an auxiliary wheel which concerns on the embodiment is shown.

  Hereinafter, a two-wheeled electric vehicle with auxiliary wheels according to an embodiment of the present invention will be described with reference to the accompanying drawings.

  Such a two-wheeled electric vehicle with auxiliary wheels (hereinafter simply referred to as a two-wheeled electric vehicle) includes a front wheel 2 and a rear wheel 3 as shown in FIGS. 1 and 2, and a pair that can move up and down on both sides of the rear wheel 3. Auxiliary wheels 4 and 4 are provided. The two-wheeled electric vehicle 1 is configured such that at least the front wheel 2 of the front wheel 2 and the rear wheel 3 is driven by an electric motor, and the front wheel 2 is steered by operating a handle (a handlebar 7 described later). It is configured.

  More specifically, the two-wheeled electric vehicle 1 according to the present embodiment includes a vehicle body frame 5 to which a seat portion 50 on which a driver is seated is attached, and an axis extending in the vertical direction with respect to the front portion of the vehicle body frame 5. A front fork 6 that is rotatably mounted around, a handle bar 7 connected to the upper end side of the front fork 6, and a direction perpendicular to the vertical direction with respect to the lower end portion of the front fork 6 (hereinafter referred to as a horizontal direction) A front wheel 2 rotatably attached around an axis extending in the direction), and a swing arm 8 attached so as to be swingable in the vertical direction with an axis extending laterally with respect to the rear portion of the vehicle body frame 5 as a fulcrum, A rear suspension 9 suspended from the vehicle body frame 5 and the swing arm 8 is attached to the swing arm 8 so as to be rotatable about an axis extending in a lateral direction with respect to the swing arm 8. And a rear wheel 3.

  The two-wheeled electric vehicle 1 according to this embodiment includes the pair of auxiliary wheels 4 and 4 as described above, and each auxiliary wheel 4 and 4 is attached to the swing arm 8 so as to be swingable in the vertical direction. The auxiliary arm 80 is supported. The auxiliary arm 80 is configured to be rotatable about a rotation axis substantially parallel to the rotation axis of the swing arm 8. The auxiliary wheels 4 and 4 are configured to be rotatable around an axis extending in the lateral direction with respect to the auxiliary arm 80.

  In the two-wheeled electric vehicle 1, an independent suspension device (hereinafter referred to as an auxiliary suspension) 81 is interposed between the auxiliary arm 80 and the swing arm 8 as shown in FIG. Each is pushed downward by the urging force of the auxiliary suspension 81 to come into contact with the road surface, and moves up and down according to the undulation of the road surface.

  As a result, the two-wheeled electric vehicle 1 according to the present embodiment is prevented from falling after being smoothly turned. In the two-wheeled electric vehicle 1 according to the present embodiment, the pair of auxiliary wheels 4 and 4 are arranged on both sides of the rear wheel 3 so that there are three rear wheels 3 (see FIG. 1). Here, the rear wheel 3 means a wheel that is driven, and the auxiliary wheels 4 and 4 that are rotatable are not included in the rear wheel 3.

  In the two-wheeled electric vehicle 1 according to the present embodiment, a battery box 10 that houses a battery is disposed above the rear wheel 3, and the front wheel 2 and the rear wheel 3 are driven above the front fork 6 (front wheel 2). A control box 11 containing a drive control means (control board) 14 for controlling the control is arranged. The battery box 10 is supported by the vehicle body frame 5, and the control box 11 is supported by the front fork 6.

  The two-wheeled electric vehicle 1 according to this embodiment includes in-wheel motors M1 and M2 as electric motors that are driven by receiving power supplied from a battery as shown in FIGS. That is, in-wheel motors M1 and M2 for rotating the front wheel 2 and the rear wheel 3 are incorporated at the center of rotation. The in-wheel motors M1 and M2 may be either direct current motors or alternating current motors as long as they can be controlled and driven by power supply from a battery (direct current power supply). If the output is taken into consideration, the motor efficiency is high and the output is high. It is preferable to employ a high output permanent magnet type synchronous motor.

  In the two-wheeled electric vehicle 1, brake means (for example, a drum brake) is incorporated in each of the front wheel 2 and the rear wheel 3, and a brake lever (not shown) attached to the handlebar 7 is pulled and operated. You can brake. The two-wheeled electric vehicle 1 is provided with a parking brake lever (not shown), and a brake means for the front wheel 2 or the rear wheel 3 (rear wheel 3 in the present embodiment) by operating the parking brake lever. Functions so that the rotation of the front wheel 2 or the rear wheel 3 (rear wheel 3 in the present embodiment) can be restricted during parking.

  In the two-wheeled electric vehicle 1 according to this embodiment, an accelerator device 12 is attached to the handlebar 7. The accelerator device 12 includes a throttle 13 attached to one end of the handle bar 7. The throttle 13 is configured to be rotatable in the circumferential direction around the axis line in the direction in which one end of the handle bar 7 extends. Further, the accelerator device 12 according to the present embodiment always transmits the rotation amount of the throttle 13 at a predetermined time interval.

  In the present embodiment, rotating the throttle 13 to one side in the circumferential direction (to the near side) for acceleration is referred to as opening the throttle 13, and turning the throttle 13 to the other side (to the back side). Is referred to as closing the throttle 13. In the present embodiment, the rotation amount of the throttle 13 is referred to as the opening degree of the throttle 13.

  The two-wheeled electric vehicle 1 according to the present embodiment includes drive control means 14 that sets the outputs of the electric motors M1 and M2 to a state corresponding to the opening of the throttle 13. The drive control means 14 according to the present embodiment sets the output of the electric motors M1 and M2 to a larger value as the opening degree of the throttle 13 is larger, and the electric motors M1 and M2 as the opening degree of the throttle 13 is smaller. The output is set to a small value.

  Further, the drive control means 14 is a displacement element that displaces the output of the electric motor M1 in accordance with the amount of operation of the handlebar 7, the amount of displacement of the auxiliary wheels 4 and 4 in the vertical direction, or the movement of the auxiliary wheels 4 and 4 up and down. The state is set according to the amount of displacement. That is, the drive control unit 14 according to the present embodiment sets the output of the electric motor M1 to a smaller value as at least one of the operation amount and the displacement amount increases (the turning radius decreases), and the operation amount The output of the electric motor M1 is set to a larger value as at least one of the displacement amount becomes smaller (the turning radius becomes larger and approaches a straight line).

  More specifically, as shown in FIG. 4, the drive control means 14 determines the drive states of the electric motors M1, M2 incorporated in the front wheels 2 and the rear wheels 3 according to the opening of the throttle 13 of the accelerator device 12. A driving force control circuit 140 for setting is provided. The drive control means 14 depends on the amount of operation of the handlebar 7 and the amount of displacement of the auxiliary wheels 4, 4 in the vertical direction or the amount of displacement of the displacement element displaced with the vertical movement of the auxiliary wheels 4, 4. And a turning drive limiting circuit 141 for setting the driving state (driving force) of the electric motor M1. Further, the drive control means 14 includes a motor rotation control circuit 142 which is a driver for driving the electric motors M1 and M2 in the driving state set by the driving force control circuit 140 and the turning driving force limiting circuit 141.

  Accordingly, the two-wheeled electric vehicle 1 according to this embodiment includes the operation amount detection means 15 for detecting the operation amount of the handlebar 7, the vertical displacement amount of the auxiliary wheels 4, 4 or the auxiliary wheels 4, 4. Displacement amount detection means 16 for detecting the displacement amount of the displacement element (auxiliary arm 80 or auxiliary suspension 81) that is displaced in accordance with the vertical movement of.

  The operation amount detection means 15 can employ sensors and switches, and in this embodiment, a displacement sensor is employed. Further, the operation amount detection means (displacement sensor) 15 in the present embodiment is fixed to the vehicle body frame 5, and the rotation amount of the front fork 6 that rotates in conjunction with the operation of the handlebar 7 (about the axis extending in the vertical direction). The amount of operation of the handle bar 7 is grasped by detecting the amount of rotation). Furthermore, the operation amount detection means 15 in the present embodiment transmits a signal related to the operation amount. Note that the operation amount in this embodiment is that the position of the front fork 6 in the state where the rotation axes of the front wheels 2 and the rear wheels 3 are in the same direction is the initial position, and the front fork 6 is in the circumferential direction from the initial position. It is the amount of displacement. In addition, since the signal related to the operation amount in this embodiment is a reference for changing the driving force set by the turning driving force limiting circuit 141, it is always transmitted from the operation amount detecting means 15.

  The displacement amount detection means 16 can also employ sensors and switches. In this embodiment, a displacement sensor is employed. Further, the displacement amount detection means (displacement sensor) 16 according to the present embodiment is attached to the auxiliary suspension 81 and detects the amount of expansion / contraction of the auxiliary suspension 81. Furthermore, the displacement amount detection means 16 according to this embodiment always transmits the displacement amount at a predetermined time interval. The amount of displacement according to the present embodiment is an amount by which the auxiliary suspension 81 is contracted from the most extended state. In addition, since the signal related to the displacement amount in the present embodiment is a reference for changing the driving force set by the turning driving force limiting circuit 141, it is always transmitted from the displacement amount detecting means 16.

  The two-wheeled electric vehicle 1 according to the present embodiment is as described above. Next, drive control of the two-wheeled electric vehicle 1 (control means 13) will be described.

  The two-wheeled electric vehicle 1 according to the present embodiment is accelerated (including starting), decelerated, and the like by opening and closing the throttle 13. The speed of the two-wheeled electric vehicle 1 according to the present embodiment is adjusted by opening and closing the throttle 13 during traveling. Specifically, in the two-wheeled electric vehicle 1 according to the present embodiment, when the throttle 13 is opened and closed, a signal related to the opening of the throttle 13 is transmitted to the driving force control circuit 140, and the driving force control circuit 140 The drive state according to the signal regarding the transmitted opening degree is set. The motor rotation control circuit 142 transmits the drive state, and the motor rotation control circuit 142 controls the electric motors M1 and M2 based on the transmitted drive state.

  In the two-wheeled electric vehicle 1 according to the present embodiment, the accelerator device 12 transmits the opening degree of the throttle 13 to the driving force control circuit 140 at predetermined time intervals. Therefore, when the throttle 13 is opened, the accelerator device 12 transmits a signal related to the opening that is larger than the signal related to the opening transmitted immediately before. Thereby, the drive means 14 enlarges the output of the electric motors M1 and M2 according to the opening degree. Therefore, the two-wheeled electric vehicle 1 according to this embodiment is accelerated by opening the throttle 13.

  In addition, when the throttle device 13 is closed, the accelerator device 12 in the present embodiment transmits a signal related to the opening degree smaller than the signal related to the opening degree transmitted immediately before to the driving unit 14. Thereby, the drive means 14 makes the output of electric motor M1, M2 small according to an opening degree. Therefore, the two-wheeled electric vehicle 1 according to this embodiment is decelerated by closing the throttle 13.

  Furthermore, when the accelerator device 12 in this embodiment is operated so as to keep the opening of the throttle 13 constant, the accelerator device 12 transmits to the drive means 14 a signal related to the opening that is the same magnitude as the signal related to the opening transmitted immediately before. Will do. Therefore, in the two-wheeled electric vehicle 1 according to the present embodiment, the output of the electric motors M1 and M2 for the throttle 13 to drive the front wheels 2 and the rear wheels 3 is maintained. Therefore, the two-wheeled electric vehicle 1 according to the present embodiment travels at a constant speed when operated so as to keep the opening of the throttle 13 constant.

  Further, the two-wheeled electric vehicle 1 according to the present embodiment includes a turning driving force limiting circuit 141 that turns the electric motor M1 into a driving state (appropriate output) suitable for turning when it recognizes that it is turning. . The turning driving force limiting circuit 141 recognizes that the vehicle is turning when the operation amount detection unit 15 or the displacement amount detection unit 16 receives a signal related to the operation amount or the displacement amount, and controls the driving force. The reference driving state (reference output) set by the circuit 140 is acquired. Then, the turning driving force limiting circuit 141 sets an appropriate output by correcting the reference output based on the sum of the signal related to the operation amount, the signal related to the displacement amount, the signal related to the operation amount and the signal related to the displacement amount, and the motor rotation An appropriate output is transmitted to the control circuit 142. Further, the turning driving force limiting circuit 141 transmits the driving state to the motor rotation control circuit 142 instead of the driving force control circuit 140 while the signal related to the operation amount or the signal related to the displacement amount exists. In other words, the driving force control circuit 140 does not transmit the driving state to the motor rotation control circuit 142 while the signal regarding the operation amount or the signal regarding the displacement amount exists.

  When the turning travel is performed only by the operation of the handlebar 7, the turning driving force limiting circuit 141 changes the value of the signal related to the operation amount transmitted from the operation amount detecting means 15 to change the two-wheeled electric vehicle. Recognize that 1 is turning. Then, the turning driving force limiting circuit 141 sets an appropriate output based on the signal related to the operation amount, and transmits the appropriate output to the motor rotation control circuit 142.

  In general, the smaller the turning radius during turning (the greater the amount of operation of the handle bar 7), the more easily understeer occurs. Therefore, the turning driving force control circuit 141 in this embodiment operates the handle bar 7. The appropriate output is set so that the output of the electric motor M1 that drives the front wheels decreases as the amount increases.

  Further, when the vehicle is turned only by tilting the vehicle body frame 5, the turning driving force limiting circuit 141 changes the displacement amount value transmitted from the displacement amount detection means 16 at predetermined time intervals. Recognizing that the two-wheeled electric vehicle 1 is turning. Then, the turning driving force limiting circuit 141 sets an appropriate output based on the amount of displacement, and transmits the appropriate output to the motor rotation control circuit 142.

  As described above, understeer is more likely to occur as the turning radius becomes smaller during turning, and the turning driving force control circuit 141 according to the present embodiment increases the tilt of the body frame 5 (the auxiliary suspension 81 contracts). Since the understeer is likely to occur, the turning driving force control circuit 141 in this embodiment sets an appropriate output so that the output of the electric motor M1 that drives the front wheels 2 decreases as the tilt of the vehicle body frame 5 increases. To do.

  In addition, when turning is performed by operating the handle bar 7 and tilting the vehicle body frame 5, the turning driving force limiting circuit 141 causes the two-wheeled electric vehicle 1 to turn by changing the value of the operation amount or the displacement amount. Recognize that Then, the turning driving force limiting circuit 141 sets an appropriate output based on the sum of the operation amount and the displacement amount, and transmits the appropriate output to the motor rotation control circuit 142.

  Furthermore, as described above, understeer is more likely to occur as the turning radius during turning is smaller, so the driving force control circuit 140 in the present embodiment drives the front wheels as the sum of the operation amount and the displacement amount increases. An appropriate output is set so that the output of the motor M1 becomes small.

  The motor rotation control circuit 142 to which the proper output is transmitted controls the output of the front wheels or the front wheels 2 and the rear wheels 3 based on the proper output. As described above, the two-wheeled electric vehicle 1 according to the present embodiment reduces the output of the electric motor M1 that drives the front wheels 2 during cornering, so that understeer is less likely to occur and the cornering is smoothly performed. be able to.

  Note that the two-wheeled electric vehicle 1 according to the present embodiment is configured such that the electric motor M1 cannot output an output exceeding an appropriate output even if the throttle 13 is opened during turning. However, the two-wheeled electric vehicle 1 according to the present embodiment is configured such that when the throttle 13 is closed during turning, the electric motor M1 has an output lower than the appropriate output.

  As described above, according to the two-wheeled electric vehicle 1 according to the present embodiment, the driving of the front wheel 2 is reduced in accordance with the amount of operation of the handlebar 7 and the amount of expansion / contraction of the auxiliary suspension 81 when making a turn. It is possible to prevent the ground frictional force 2 from losing the centrifugal force and causing the vehicle body frame 5 to face the outside of the curve, that is, so-called understeer. Therefore, according to the two-wheeled electric vehicle 1 according to the present embodiment, even if at least the front wheel 2 is driven and the climbing ability is ensured, it is possible to travel safely without increasing the turning radius during turning. An excellent effect can be achieved.

  The two-wheeled electric vehicle of the present invention is not limited to the above-described embodiment, and various modifications are of course made without departing from the scope of the present invention.

  In the above embodiment, the electric motors M1 and M2 are controlled by the single motor rotation control circuit 142, but the invention is not limited to this. For example, separate electric motors M1 and M2 connected to the electric motors M1 and M2, respectively. You may control by a motor rotation control circuit.

  In the above embodiment, the driving unit 14 directly transmits the appropriate output set by the turning driving force limiting circuit 141 to the motor rotation control circuit 142. However, the driving unit 14 is not limited to this. For example, the driving unit 14 Is a mitigation circuit for preventing the motor rotation control circuit 142 from rapidly changing the output of the electric motors M1 and M2 even if the appropriate output set by the turning driving force limiting circuit 141 is suddenly increased or decreased. You may prepare.

  In this way, even if an abrupt steering operation or tilting of the vehicle body frame is performed, the outputs of the electric motors M1 and M2 do not change abruptly, so it is possible to travel more safely. The mitigation circuit is provided between the operation amount detecting means 15 and the displacement amount detecting means 16 and the turning driving force limiting circuit 141, or between the turning driving force limiting circuit 141 and the motor rotation control circuit 142, or the motor rotation control circuit. 142 and the electric motors M1 and M2 may be provided.

  Moreover, in the said embodiment, although the turning drive force limiting circuit 141 was comprised so that only the drive state of the electric motor M1 could be set, for example, the drive state of the electric motor M2 is not limited to this. You may be comprised so that it can set. If it does in this way, it can prevent that front wheel 2 is locked by the output of only electric motor M1 falling rapidly. Furthermore, by setting the drive state so that the output of the electric motor M1 does not fall below the output of the electric motor M2, it is possible to travel without wasting the output of the electric motor M2.

DESCRIPTION OF SYMBOLS 1 ... Two-wheel electric vehicle (Two-wheel electric vehicle), 2 ... Front wheel, 3 ... Rear wheel, 4 ... Auxiliary wheel, 5 ... Body frame, 6 ... Front fork, 7 ... Handlebar, 8 ... Swing arm, 9 ... Rear suspension, DESCRIPTION OF SYMBOLS 10 ... Battery box, 11 ... Control box, 12 ... Accelerator apparatus, 13 ... Throttle, 14 ... Control means, 15 ... Operation amount detection means, 16 ... Displacement amount detection means, 50 ... Seat part, 80 ... Auxiliary arm, 81 ... Auxiliary suspension, M1, M2 ... In-wheel motor (electric motor)

Claims (3)

  A front wheel and a rear wheel are provided one by one, and a pair of auxiliary wheels are provided on both sides of the rear wheel so as to be movable up and down. At least the front wheel and the rear wheel are configured to be driven by an electric motor. In an electric vehicle with an auxiliary wheel configured to steer the front wheel by operation, an operation amount detecting means for detecting an operation amount of the steering wheel and a displacement amount in the vertical direction of the auxiliary wheel or a vertical movement of the auxiliary wheel Displacement amount detection means for detecting the displacement amount of the displacement element, and a drive control means for controlling the driving force for the front wheel based on the detection results of the operation amount detection means and the displacement amount detection means, the drive control means comprising the operation control means As at least one of the amount and the displacement amount increases, the output of the electric motor that drives the front wheels is reduced, and at least one of the operation amount and the displacement amount decreases. Accompanied by, configured auxiliary wheel with two-wheel motor vehicle, characterized by being so as to increase the output of the electric motor that drives the front wheels.   The pair of independent suspension devices that support each auxiliary wheel are provided, and the displacement amount detecting means is configured to detect the amount of vertical expansion and contraction of the independent suspension devices as the displacement amount of the displacement element. Two-wheeled electric vehicle with auxiliary wheels.   The two-wheeled electric vehicle with auxiliary wheels according to claim 1 or 2, wherein each of the front wheel and the rear wheel is configured to be driven by an independent electric motor.

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