JP2018062221A - Saddle-riding type electric vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a saddle-riding type electric vehicle, having a rotary electrical machine at front and back, capable of controlling a posture of a vehicle at its acceleration and deceleration.SOLUTION: The saddle-riding type electric vehicle includes a first rotary electric machine 10, a second rotary electric machine 12, a detection unit 15 and a control unit 48. The first rotary electric machine 10 drives a front wheel 6. The second rotary electric machine 12 drives a rear wheel 8. The detection unit 15 detects at least states of acceleration and deceleration of a vehicle. The control unit 48 determines outputs or regenerative forces of the first rotary electric machine 10 and the second rotary electric machine 12 according to the states of acceleration and deceleration of an electrically-driven two-wheel vehicle 2 detected by the detection unit 15. In the electrically-driven two-wheel vehicle 2, the outputs or regenerative forces of the first rotary electric machine 10 and the second rotary electric machine 12 are determined according to the states of acceleration and deceleration of the vehicle.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle, in particular, a straddle-type electric vehicle in which front wheels and rear wheels are driven by a rotating electrical machine.

  A straddle-type vehicle that can be steered between a front wheel and a rear wheel and electrically drives a front wheel and a rear wheel is conventionally known. In a conventional saddle riding type vehicle, the driving force is distributed between the front wheels and the rear wheels by controlling a clutch provided between the front wheels and the rear wheels according to the vehicle speed.

Japanese Patent Laid-Open No. 9-290792

  In a conventional vertical vehicle that drives the front wheels and the rear wheels, the clutch is controlled according to the vehicle speed, so that control according to the acceleration state or deceleration state of the vehicle cannot be performed.

  The torque of the rotating electrical machine increases or decreases more rapidly than the torque of the internal combustion engine. For this reason, it is impossible to prevent the front wheel from being lifted during acceleration when the speed is low and the rear wheel from being lifted during deceleration.

  An object of the present invention is to prevent a front wheel from being lifted during acceleration and a rear wheel from being lifted during deceleration in a straddle-type electric vehicle.

  A straddle-type electric vehicle according to the present invention is a straddle-type electric vehicle that is operated across a seat between a front wheel and a rear wheel. The straddle-type electric vehicle includes a first rotating electrical machine, a second rotating electrical machine, a detection unit, and a control unit. The first rotating electrical machine drives the front wheels. The second rotating electrical machine drives the rear wheels. The detection unit detects at least an acceleration / deceleration state of the vehicle. The control unit controls at least one of the output and braking force of the first rotating electrical machine and the second rotating electrical machine according to the acceleration / deceleration state of the vehicle detected by the detection unit. In this vehicle, the output or braking force of the first rotating electrical machine and the second rotating electrical machine is determined according to the acceleration / deceleration state of the vehicle. Thereby, in this straddle-type electric vehicle, the output or braking force of the front wheels and the rear wheels changes according to the acceleration state of the vehicle, so that the load applied to the front wheels and the load applied to the rear wheels can be controlled. As a result, it is possible to prevent the front wheel from being lifted during acceleration or the rear wheel from being lifted during deceleration.

  The control unit may make the output of the first rotating electrical machine larger than the output of the second rotating electrical machine when a predetermined acceleration state is detected by the detection unit. According to this configuration, during acceleration, the output of the first rotating electrical machine is increased and the output of the second rotating electrical machine is increased, so that the front wheels can be prevented from being lifted.

  The control unit may make the braking force of the second rotating electrical machine larger than the braking force of the first rotating electrical machine when a predetermined deceleration state is detected by the detection unit. According to this configuration, the regenerative force of the second rotating electrical machine is made larger than that of the first rotating electrical machine during deceleration, so that the rear wheel can be prevented from lifting.

  The detection unit may include an accelerator opening detection unit that detects the accelerator opening. The control unit determines the outputs of the first rotating electrical machine and the second rotating electrical machine according to the amount of change in the accelerator opening, and when the amount of change in the accelerator opening exceeds a predetermined value, the output of the first rotating electrical machine May be larger than the output of the second rotating electrical machine. According to this configuration, even when the amount of change in the accelerator opening is equal to or greater than a predetermined value, the front wheels are difficult to lift. Thereby, the power transmission efficiency from a front wheel to a road surface does not fall. As a result, acceleration performance is improved.

  The detection unit may further include a brake stroke detection unit that detects a stroke amount of a brake lever of the vehicle. The control unit determines the braking force of the first rotating electrical machine and the second rotating electrical machine according to the amount of change in the brake stroke, and when the amount of change in the brake stroke exceeds a predetermined value, the braking force of the second rotating electrical machine is determined. You may make larger than the said 1st rotary electric machine. According to this configuration, the rear wheel is less likely to lift even when the amount of change in the brake stroke is equal to or greater than a predetermined value. Thereby, the power transmission efficiency from the rear wheel to the road surface does not decrease. As a result, the deceleration performance is improved.

  The detection unit may be an acceleration sensor that detects positive and negative accelerations of the vehicle. The control unit may determine the output or regenerative power of the front wheels and the rear wheels according to the acceleration. According to this configuration, it is possible to prevent the front wheel or the rear wheel from floating more accurately according to the value of the acceleration sensor.

  According to the present invention, it is possible to prevent the front and rear wheels of the saddle riding type electric vehicle from being lifted.

The right view of the saddle riding type electric vehicle by one Embodiment of this invention. The rear view of the handle | steering-wheel electric vehicle handle of this invention. The block diagram which shows the structure of a control apparatus. The flowchart at the time of acceleration / deceleration in 1st Embodiment of a saddle-ride type electric vehicle. The flowchart at the time of acceleration / deceleration in 2nd Embodiment of a saddle-ride type electric vehicle.

<First Embodiment>
Hereinafter, embodiments will be described with reference to the drawings. In the concept of direction, the vehicle length direction corresponds to the front-rear direction of the saddle riding type electric vehicle, and the vehicle width direction corresponds to the left and right direction of the saddle riding type electric vehicle.

  As shown in FIGS. 1, 2, and 3, the electric motorcycle 2 includes a body frame 4, a front wheel 6, a rear wheel 8, a first rotating electrical machine 10, a second rotating electrical machine 12, and a detection unit 14 ( 3), a control unit (see FIG. 3) 16, a front braking device 18a and a rear braking device 18b, and a power supply unit 20 (see FIG. 3).

  The body frame 4 has the same configuration as a bicycle frame with a rear suspension. The vehicle body frame 4 includes a frame body 22 and a swing arm 24. The frame body 22 includes a head pipe 22a, a top pipe 22b, a down pipe 22c, and a seat pipe 22d. A saddle 27 on which the user straddles is provided at the upper end of the seat pipe 22d.

  The swing arm 24 is connected to the frame body 22 so as to be swingable around the left and right axes at a pivot portion 22e provided at the lower end of the seat pipe 22d. The swing arm 24 is connected to the frame body 22 via the rear suspension 26, and the rear end is urged downward. The rear suspension 26 attenuates the force that the rear wheel 8 receives from the ground.

  The front wheel 6 is supported by a lower end portion of a front fork 28 that is rotatably supported by the head pipe 22 a at the front portion of the vehicle body frame 4. The front fork 28 extends upward from the lower end supporting the front wheel 6 while tilting backward with a caster angle. A handle 32 is connected to the upper end of the front fork 28 via a handle stem 30 so as to be integrally rotatable. The front fork 28 also serves as a front suspension device, and attenuates the force that the front wheel 6 receives from the ground. The rear wheel 8 is supported at the rear end of the swing arm 24.

  As shown in FIG. 2, the handle 32 is provided with an accelerator 38 and a first brake lever 40 on the right side when viewed from a state where the user is seated. A second brake lever 42 is provided on the left side.

  The accelerator 38 is held so as to be rotatable with respect to the handle 32. The accelerator 38 gives an output instruction to the first rotating electrical machine 10 and the second rotating electrical machine 12 through the control unit 16 by rotating. By this turning operation, the vehicle speed of the electric motorcycle 2 can be adjusted.

  One of the first brake lever 40 and the second brake lever 42 is provided for braking the front braking device 18a. The other of the first brake lever 40 and the second brake lever 42 is provided for braking the rear braking device 18b. In the first embodiment, the first brake lever 40 is provided so as to brake the front braking device 18a. The second brake lever 42 is provided to brake the rear braking device 18b. Further, the first brake lever 40 and the front wheel braking device 18a and the second brake lever 42 and the rear wheel braking device 18b are electrically connected by a drive-by-wire system. However, the first brake lever 40 and the front braking device 18a and the second brake lever 42 and the rear wheel braking device 18b may be connected by a brake cable or a hydraulic tube.

  The first brake lever 40 is provided so that it can be pulled in a direction facing the handle 32. By pulling the first brake lever 40 toward the handle 32, the first rotating electrical machine 10 can be regenerated via the control unit 16 or the front wheel braking device 18 a can be operated to brake the electric motorcycle 2.

  The second brake lever 42 is provided so that it can be pulled in a direction facing the handle 32. By pulling the second brake lever 42 toward the handle 32, the second rotating electrical machine 12 is regenerated through the control unit 16, or the rear wheel braking device 18b is operated to brake the electric motorcycle 2.

  In the center of the handle 32, a display unit 44 for displaying the speed and output state of the vehicle is provided. In the display unit 44, for example, a liquid crystal display 44a, a first switch 44b, a second switch 44c, a third switch 44d, and a fourth switch 44e are provided. The first switch 44 b is a power switch that turns on and off the power of the control unit 16. The second switch 44 c is provided for setting a balance between the outputs of the first rotating electrical machine 10 and the second rotating electrical machine 12. The third switch 44d is provided to set a balance between the regenerative force or the braking force of the first rotating electrical machine 10 and the second rotating electrical machine 12. The fourth switch 44e is a display changeover switch for switching the screen display.

  The balance of the outputs of the first rotating electrical machine 10 and the second rotating electrical machine 12 can be set between 0 and 100, and the balance of the outputs of the first rotating electrical machine 10 and the second rotating electrical machine 12 with respect to the turning operation of the accelerator 38. The speed of the electric motorcycle 2 to which the output is distributed to the first rotating electrical machine 10 and the second rotating electrical machine 12 is adjusted. For example, when the balance between the outputs of the first rotating electrical machine 10 and the second rotating electrical machine 12 is 0, the output from the first rotating electrical machine 10 is 0, and the speed of the electric motorcycle 2 can be adjusted only by the output from the second rotating electrical machine 12. It is.

  The balance of the regenerative power of the first rotating electrical machine 10 and the second rotating electrical machine 12 can be set between 0 and 100, and is set on the display unit when at least one of the first brake lever 40 and the second brake lever 42 is pulled. The electric motorcycle 2 is braked by generating a certain amount of regenerative force in the first rotating electric machine 10 and the second rotating electric machine 12 in accordance with the balance. For example, when the regenerative force balance between the first rotating electrical machine 10 and the second rotating electrical machine 12 is 100, the regenerative power from the second rotating electrical machine 12 becomes 0, and the electric motorcycle 2 is braked by the regenerative force of the first rotating electrical machine 10.

  The first rotating electrical machine 10 is an in-wheel motor having a brushless DC motor 34 provided on the shaft portion of the front wheel 6. The second rotating electrical machine 12 is an in-wheel motor having a brushless DC motor 36 provided on the shaft portion of the rear wheel 8.

  As shown in FIG. 3, the detection unit 14 detects at least a positive / negative acceleration state of the electric motorcycle 2. The detection unit 14 includes a G sensor 14a, an accelerator position sensor 14b, a front brake sensor 14c, a rear brake sensor 14d, a front wheel rotation sensor 14e, and a rear wheel rotation sensor 14f.

  The G sensor 14 a can detect gravitational acceleration and is provided on the frame body 22. The accelerator position sensor 14b includes a magnetic sensor such as a Hall element, which is attached to the inside of the accelerator 38. The accelerator position sensor 14b detects the operation position (accelerator opening) of the accelerator 38 with a magnetic sensor.

  The front brake sensor 14 c is provided on the first brake lever 40. The front brake sensor 14c has a magnetic sensor such as a hall element, and detects the pull-in amount (lever stroke) of the first brake lever 40 by the magnetic sensor. The front brake sensor 14c converts the amount of retracting the first brake lever 40 into an electrical signal, and converts the information on the amount of brake retracted into an electrical signal and transmits it to the control unit 48.

  The rear brake sensor 14d is provided on the second brake lever 42. The front brake sensor 14c has a magnetic sensor such as a Hall element, and detects the pull-in amount (lever stroke) of the second brake lever 42 by the magnetic sensor. The front brake sensor 14c converts the amount of retracting the first brake lever 40 into an electrical signal, and converts the information on the amount of brake retracted into an electrical signal and transmits it to the control unit 48.

  The front wheel rotation sensor 14 e is provided in the first rotating electrical machine 10 and detects the rotation speed of the front wheel 6. The rear wheel rotation sensor 14 f is provided in the second rotating electrical machine 12 and detects the rotation speed of the rear wheel 8. The front wheel rotation sensor 14e and the rear wheel rotation sensor 14f can detect the vehicle speed and the difference in speed between the front wheel 6 and the rear wheel 8. The accelerator position sensor 14b converts the amount of rotation of the accelerator 38 into an electric signal, and converts the information on the accelerator position into an electric signal and transmits it to the control unit 48.

  As shown in FIGS. 1 and 3, the control unit 16 is provided in the frame body 22. The control unit 16 includes a control unit 48, a front motor driver 50, and a rear motor driver 52. The control unit 48 is configured by a microcomputer including a CPU, RAM, ROM, and I / O interface, and controls each unit by software. The control unit 48 is electrically connected to the power supply unit 20, the detection unit 14, the display unit 44, the front motor driver 50, and the rear motor driver 52. The control unit 48 calculates appropriate rotation speeds of the first rotating electrical machine 10 and the second rotating electrical machine 12 based on the information transmitted from the detection unit 14 and converts them into control signals to convert the front motor driver 50 and the rear motor. Transmit to the driver 52.

  The front motor driver 50 and the rear motor driver 52 are electronic circuits including motor drive circuits such as transistors and chopper devices. The front motor driver 50 is electrically connected to the first rotating electrical machine 10 and the control unit 48. The front motor driver 50 drives the first rotating electrical machine 10 at a desired rotation speed based on a signal transmitted from the control unit 48. The rear motor driver 52 is electrically connected to the second rotating electrical machine 12 and the control unit 48. The rear motor driver 52 drives the second rotating electrical machine 12 at a desired rotational speed based on a signal transmitted from the control unit 48.

  The front braking device 18a includes a front brake disc 46a and a front brake caliper 46b. The front brake disc 46a is provided on one side surface of the first rotating electrical machine 10 so as to be integrally rotatable. The front brake caliper 46 b is provided on the front fork 28. The front brake disc 46a is sandwiched between the front brake calipers 46b and brakes the electric motorcycle 2 by braking the front wheels 6 by friction. The rear braking device 18b includes a rear brake disc 48a and a rear brake caliper 48b. The rear brake disk 48a is provided on one side surface of the second rotating electrical machine 12 so as to be integrally rotatable. The rear brake caliper 48 b is provided on the swing arm 24. The rear brake disc 48a is sandwiched between the rear brake calipers 48b and brakes the electric motorcycle 2 by braking the rear wheels 8 by friction.

  As shown in FIG. 1, the power supply unit 20 includes a battery 54 and a holder 56 for detachably attaching the battery 54 to the frame body 22. The battery 54 includes one or a plurality of battery cells (not shown). The battery 54 is a secondary battery such as a lithium ion battery. As shown in FIG. 3, the power supply unit 20 is electrically connected to the first rotating electrical machine 10 and the second rotating electrical machine 12 via the front motor driver 50 and the rear motor driver 52. Electric power is supplied to the rotating electrical machine 12. The power supply unit 20 supplies power to the control unit 48 and the detection unit 14. The power supply unit 20 is controlled by the control unit.

  Next, an example of a processing procedure of motor output control by the control unit 48 will be described with reference to FIG. The control unit 48 starts the main control when the first switch 44b (power switch) of the display unit 44 is pressed, and performs the main control when the first switch 44b (power switch) is pressed again. Exit.

  When the first switch 44b (power switch) is pressed, in step S11, initial settings such as setting the output balance of the front wheel output FT and the rear wheel output RT and the output balance of the front wheel regenerative force FB and the rear wheel regenerative force RB are performed. Do. Specifically, the control unit 48 performs initial setting of the output in accordance with the output balance of the front wheel output FT of the first rotating electrical machine 10 and the rear wheel output RT of the second rotating electrical machine 12 input to the display unit 44. . Further, the control unit 48 performs initial setting of the regenerative force in accordance with the regenerative force balance between the first rotating electrical machine 10 and the second rotating electrical machine 12 input to the display unit 44, and advances the process to step S12.

  In step S <b> 12, the control unit 48 determines whether or not it is in an acceleration state based on a signal from the detection unit 14. In step S <b> 13, the control unit 48 determines whether or not the vehicle is decelerating based on a signal from the detection unit 14. In the present embodiment, in step S12, when the change amount ΔP of the accelerator position per unit time detected by the accelerator position sensor 14b exceeds the predetermined value PS, the control unit 48 determines that the electric motorcycle 2 is in an acceleration state. To do. When control unit 48 determines that electric motorcycle 2 is in the accelerated state, the process proceeds from step S12 to step S14. In step S14, the control unit 48 determines whether or not the difference between the front wheel output FT and the rear wheel output RT is larger than a predetermined output difference Ts1. When the difference between the front wheel output FT and the rear wheel output RT exceeds the predetermined output difference Ts1, the control unit 48 advances the process from step S14 to step S13. When the difference between the front wheel output FT and the rear wheel output RT is equal to or smaller than the predetermined output difference Ts1, the control unit 48 advances the process from step S14 to step S15.

  In step S15, the control unit 48 increases the output FT of the first rotating electrical machine 10 and decreases the output RT of the second rotating electrical machine 12. Specifically, the control unit 48 outputs a signal for increasing the front wheel output FT by a predetermined amount to the front motor driver 50, and outputs a signal for decreasing the rear wheel output RT by a predetermined amount to the rear motor driver 52, step S13. Proceed with the process. Here, when the predetermined output difference Ts1 takes a negative value, more output is distributed to the second rotating electrical machine 12 than the first rotating electrical machine 10. When the output RT of the second rotating electrical machine 12 increases, the force with which the rear wheel 8 pushes the electric motorcycle 2 increases, causing the front wheel 6 of the electric motorcycle 2 to float. Therefore, in step S15, the control unit 48 increases the output of the first rotating electrical machine 10 so that at least the predetermined output difference between the front wheel output FT and the rear wheel output RT becomes a positive value, and the second rotating electrical machine 12 After the output is lowered, the process proceeds to step S13.

  In step S12, when the change amount ΔP is equal to or less than the predetermined value PS, the control unit 48 determines that the electric motorcycle 2 is not in an acceleration state, and proceeds from step S12 to step S13.

  In step S13, the control unit 48 determines whether or not the electric motorcycle 2 is in a decelerating state based on the amount of change ΔST per unit time of the pull-in amount of the brake lever (in this embodiment, the first brake lever 40) that brakes the front wheel 6. Judging. Specifically, it is determined whether or not the electric motorcycle 2 is in a decelerating state based on whether or not the change amount ΔST per unit time of the front brake sensor 14c is larger than a predetermined change amount STS. Specifically, in step S13, the control unit 48 calculates the amount of change ΔST of the pull-in amount per unit time detected by the front brake sensor 14c. If the change amount of the change amount ΔST is equal to or less than the predetermined change amount STS, the control unit 48 determines that it is not in the deceleration state, and proceeds to step S12. When the change amount ΔST exceeds the predetermined change amount STS, the control unit 48 determines that the electric motorcycle 2 is in a decelerating state, and proceeds from step S13 to step S16.

  In step S16, the control unit 48 calculates the rear wheel regenerative force RC and the front wheel regenerative force FC based on the balance value of the regenerative force of the first rotating electrical machine 10 and the second rotating electrical machine 12 performed in the initial setting of step S11. , It is determined whether the difference between RC and FC is greater than a predetermined value Ts2. The control unit 48 proceeds to step S17 when the difference between RC and FC is smaller than the predetermined value Ts2 at step S1, and proceeds to step S16 when the difference is equal to or smaller than the predetermined value Ts2.

  In step S <b> 17, the control unit 48 decreases the regenerative force of the first rotating electrical machine 10 and increases the regenerative force of the second rotating electrical machine 12. Here, when Ts2 is a positive value, the regenerative power of the first rotating electrical machine is increased. In other words, the braking force of the front wheel 6 becomes larger than the braking force of the rear wheel 8, causing the rear wheel 8 to float. Therefore, the control unit 48 lowers the regenerative power of the first rotating electrical machine so that at least the difference between FC and RC becomes a negative value, and after increasing the regenerative power of the second rotating electrical machine, proceeds to step S16. .

  In this way, the control unit 48 prevents the output of the second rotating electrical machine from becoming larger than that of the first rotating electrical machine in the acceleration state of the electric motorcycle 2, and suppresses the force with which the rear wheel 8 pushes out the electric motorcycle 2. The front wheel 6 is prevented from leaving the ground. In particular, when the maximum output is applied to the first rotating electrical machine and the second rotating electrical machine in a sudden acceleration state, the output is distributed to the front wheel 6 rather than the front wheel 6, so that the front wheel 6 is prevented from being lifted up while preventing the front wheel 6 from lifting. Not only the front wheel 6 but also the power transmission to the ground is efficiently performed, and the acceleration performance of the electric motorcycle 2 is improved.

  In addition, the control unit 48 prevents the regenerative force of the first rotating electrical machine from becoming larger than that of the second rotating electrical machine when the electric motorcycle 2 is decelerated, and suppresses the force with which the front wheels 6 brake the electric motorcycle 2. The rear wheel 8 is prevented from leaving the ground. In particular, when the maximum regenerative force is applied to the first rotating electrical machine and the second rotating electrical machine in a sudden deceleration state, the regenerative force is distributed to the rear wheel 8 rather than the front wheel 6, thereby preventing the rear wheel 8 from lifting. On the other hand, the braking force is efficiently transmitted not only from the front wheel 6 but also from the rear wheel 8 to the ground, and the speed reduction performance of the electric motorcycle 2 is improved.

Second Embodiment
Next, a second embodiment will be described with reference to FIG.

  In the first embodiment, the accelerator position sensor 14b and the front brake sensor 14c are used. In the second embodiment, as shown in FIG. 6, output control and regenerative control are executed in one loop using the G sensor 14a. it can.

  When the first switch 44b (power switch) is pressed, in step S21, initial settings such as setting the output balance between the front wheel output FT and the rear wheel output RT and the output balance between the front wheel regenerative force FB and the rear wheel regenerative force RB are performed. Do. Specifically, the control unit 48 performs initial setting of the output in accordance with the output balance of the front wheel output FT of the first rotating electrical machine 10 and the rear wheel output RT of the second rotating electrical machine 12 input to the display unit 44. . In addition, the control unit 48 performs initial setting of the regenerative force in accordance with the regenerative force balance of the first rotating electrical machine 10 and the second rotating electrical machine 12 input to the display unit 44, and advances the process to step S22.

  In step S22, the control unit 48 determines whether or not the vehicle is in an accelerated state based on a signal from the G sensor 14a. In step S23, the control unit 48 determines whether or not the vehicle is decelerating based on a signal from the G sensor 14a. When the acceleration G detected by the G sensor 14a exceeds the predetermined value Gs1, the control unit 48 determines that the electric motorcycle 2 is in an acceleration state. When control unit 48 determines that electric motorcycle 2 is in the accelerated state, the process proceeds from step S22 to step S24.

  In step S24, the control unit 48 determines whether or not the difference between the front wheel output FT and the rear wheel output RT is greater than a predetermined output difference Ts1. When the difference between the front wheel output FT and the rear wheel output RT exceeds the predetermined output difference Ts1, the control unit 48 advances the process from step S24 to step S23. When the control unit 48 determines that the difference between the front wheel output FT and the rear wheel output RT is equal to or less than the predetermined output difference Ts1, the control unit 48 advances the process from step S24 to step S25.

  In step S25, the control unit 48 increases the output FT of the first rotating electrical machine 10 and decreases the output RT of the second rotating electrical machine 12. Specifically, the control unit 48 outputs a signal for increasing the front wheel output FT by a predetermined amount to the front motor driver 50, and outputs a signal for decreasing the rear wheel output RT by a predetermined amount to the rear motor driver 52, step S23. Proceed with the process. Here, when the predetermined output difference Ts1 takes a negative value, more output is distributed to the second rotating electrical machine 12 than the first rotating electrical machine 10. When the output RT of the second rotating electrical machine 12 increases, the force with which the rear wheel 8 pushes the electric motorcycle 2 increases, causing the front wheel 6 of the electric motorcycle 2 to float. Therefore, in step S25, the control unit 48 increases the output of the first rotating electrical machine 10 so that at least the predetermined output difference between the front wheel output FT and the rear wheel output RT becomes a positive value, and the second rotating electrical machine 12 After the output is lowered, the process proceeds to step S23.

  In step S22, when the control unit 48 determines that the acceleration G is equal to or less than Gs1, the control unit 48 determines that the electric motorcycle 2 is not in an acceleration state, and proceeds from step S22 to step S23.

  In step S23, the control unit 48 determines whether or not the electric motorcycle 2 is in a decelerating state based on whether or not the acceleration G is Gs2 or less. More specifically, when the acceleration G exceeds the predetermined value Gs2, the control unit 48 determines that it is not in a deceleration state, and proceeds to step S22. When the control unit 48 determines that the acceleration G is equal to or less than the predetermined value Gs2, the control unit 48 determines that the electric motorcycle 2 is in a decelerating state, and proceeds from step S23 to step S26.

  In step S26, the control unit 48 calculates the rear wheel regenerative force RC and the front wheel regenerative force FC based on the balance value of the regenerative force of the first rotating electrical machine 10 and the second rotating electrical machine 12 performed in the initial setting of step S21. , It is determined whether the difference between RC and FC is greater than a predetermined value Ts2. If the control unit 48 determines that the difference between RC and FC is smaller than the predetermined value Ts2 in step S1, the control unit 48 proceeds to step S27. If it is equal to or smaller than the predetermined value Ts2, the control unit 48 proceeds to step S22.

  In step S <b> 27, the control unit 48 decreases the regenerative force of the first rotating electrical machine 10 and increases the regenerative force of the second rotating electrical machine 12. Here, when Ts2 is a positive value, the regenerative power of the first rotating electrical machine is increased. In other words, the braking force of the front wheel 6 becomes larger than the braking force of the rear wheel 8, causing the rear wheel 8 to float. Therefore, the control unit 48 lowers the regenerative force of the first rotating electrical machine so that at least the difference between FC and RC becomes a negative value, and after increasing the regenerative force of the second rotating electrical machine, proceeds to step S22. .

  Thus, control is simplified by detecting both acceleration and deceleration with one sensor by controlling using the value detected by the G sensor 14a by the control unit 48. Further, it is possible to increase the response speed of the control unit 48 by reducing the calculation load on the control unit 48. Thus, the front wheels 6 and the rear wheels 8 can be prevented from floating while improving the control response of the first rotating electrical machine 10 and the second rotating electrical machine 12 during acceleration or deceleration.

<Other embodiments>
(A) In the above-described embodiment, a frame structure using pipes is used.

  (B) In the above embodiment, the handle 32 is provided with the accelerator operation unit. However, a pedal-type or foot-type accelerator operation unit may be used.

  (C) In the above embodiment, the first rotating electric machine 10 and the second rotating electric machine 12 are the brushless DC motors 34 and 36, but may be a DC motor or an AC motor.

  (D) In the above embodiment, the accelerator position sensor, the brake sensor, and the G sensor 14a are used for the detection unit 14, but the acceleration / deceleration degree may be detected using the rotation sensors 14e and 15f.

  (E) In the above embodiment, a predetermined amount of regenerative force is applied to the first rotating electrical machine 10 and the second rotating electrical machine by operating the first brake lever and the second brake lever, but the present invention is not limited to this. . When the accelerator 38 is not turned, the electric motorcycle 2 may be braked by the regenerative force of the first rotating electrical machine 10 and the second rotating electrical machine 12 set in the initial setting.

  Further, the braking force of the front braking device 18a and the rear braking device 18b and the regeneration of the first rotating electrical machine 10 and the second rotating electrical machine 12 according to the pulling amount of at least one of the first brake lever 40 and the second brake lever 42. A cooperative regenerative vehicle that brakes the electric motorcycle 2 by coordinating the braking force by force may be used.

  (F) In the above embodiment, the present invention is applied to an example of an electric two-wheeled vehicle having one front wheel 6 and one rear wheel 8 as the saddle riding type electric vehicle. However, the present invention is not limited to this. For example, the present invention can be applied to an electric tricycle having two front wheels or rear wheels.

2 electric motorcycle 4 body frame 6 front wheel 8 rear wheel 10 first rotating electrical machine 12 second rotating electrical machine 14 detector
14a G sensor 14b Accelerator position sensor 14c Front brake sensor 38 Accelerator 40 First brake lever 48 Control unit

Claims (6)

A straddle-type electric vehicle operated across a seat between a front wheel and a rear wheel,
A first rotating electric machine that drives the front wheel;
A second rotating electrical machine that drives the rear wheel;
A detection unit for detecting at least positive and negative acceleration states of the vehicle;
A control unit for controlling the output or braking force of the first rotating electrical machine and the second rotating electrical machine according to the acceleration / deceleration state of the vehicle detected by the detection unit;
A straddle-type electric vehicle comprising:   The saddle type according to claim 1, wherein the control unit makes the output of the first rotating electrical machine larger than the output of the second rotating electrical machine when a predetermined acceleration state is detected by the detection unit. Electric vehicle.   3. The control unit according to claim 1, wherein the control unit makes the regenerative force of the second rotating electrical machine larger than the regenerative force of the first rotating electrical machine when a predetermined deceleration state is detected by the detection unit. The saddle type electric vehicle. The detection unit includes an acceleration sensor that detects positive and negative accelerations of the vehicle,
The straddle-type electric vehicle according to any one of claims 1 to 3, wherein the control unit determines outputs or regenerative power of the front wheels and the rear wheels according to the positive and negative accelerations. The detector includes an accelerator opening detector that detects an accelerator opening,
The control unit determines outputs of the first rotating electric machine and the second rotating electric machine according to a change amount of the accelerator opening, and when the change amount of the accelerator opening exceeds a predetermined value, The straddle-type electric vehicle according to any one of claims 1 to 4, wherein an output of the first rotating electrical machine is made larger than an output of the second rotating electrical machine. The detection unit further includes a brake stroke detection unit that detects a stroke amount of a brake lever of the vehicle,
The control unit determines a braking force of the first rotating electrical machine and the second rotating electrical machine according to the amount of change in the brake stroke, and the second amount when the amount of change in the brake stroke exceeds a predetermined value. The straddle-type electric vehicle according to any one of claims 1 to 5, wherein a braking force of the rotating electrical machine is larger than that of the first rotating electrical machine.