JP2022044606A - Motor drive controller and power-assisted vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable easy reflection of a user's intention when automatic regeneration is performed.

SOLUTION: A motor drive controller of the present invention comprises a drive part (A) that drives a motor of a power-assisted vehicle, and a control part (B) that controls the drive part so as to perform the continuous stop or suppression of automatic regeneration when a first predetermined operation performed during driving by a driver of the power-assisted vehicle or a first predetermined traveling state is detected, in a state in which the automatic regeneration to be automatically performed functions.

SELECTED DRAWING: Figure 4

COPYRIGHT: (C)2022,JPO&INPIT

Description

The present invention relates to a regenerative control technique for an electrically assisted vehicle.

By using regenerative control for an electrically power assisted bicycle, which is an example of an electrically power assisted bicycle, the power generated by the motor while driving is stored in the battery, so it is possible to extend the distance that can be traveled with one full charge. can. Further, when the regenerative control is performed, a braking force is generated in the motor, so that the vehicle can be decelerated by a method other than the mechanical brake on a downhill or the like.

There are various methods for when to perform regenerative control. For example, there is a method of operating according to a user's operation and a method of automatically operating according to a running state. As the latter method, a method using acceleration is known (for example, Patent Document 1).

According to the latter method, regeneration starts automatically without any operation by the user, so it is expected that regeneration will be performed and the amount of regeneration will increase even in a running state where regeneration has not been performed so far. .. On the other hand, regeneration may start automatically when the user does not intend to decelerate, which may make the user feel uncomfortable. Similarly, even if regeneration is automatically performed according to the user's deceleration intention at the beginning, it may be contrary to the intention thereafter.

Japanese Patent No. 5655989

Therefore, an object of the present invention is, on the one hand, to provide a technique for easily reflecting a user's intention when performing automatic regeneration.

The motor drive control device according to the present invention is an electrically assisted vehicle in a state where (A) a drive unit for driving the motor of the electrically assisted vehicle and (B) automatic regeneration, which is automatically executed regeneration, are functioning. It has a control unit that controls a drive unit so as to continuously stop or suppress automatic regeneration when the driver detects a first predetermined operation or a first predetermined running state performed during operation.

According to one aspect, the user's intention can be easily reflected when performing automatic regeneration.

FIG. 1 is a diagram showing the appearance of an electrically power assisted bicycle. FIG. 2 is a diagram showing a configuration example of a motor drive control device. FIG. 3 is a diagram showing a configuration example of the regeneration control unit. FIG. 4 is a diagram showing a processing flow according to the first embodiment. FIG. 5 is a diagram showing a processing flow (first example) of condition determination regarding pedal rotation. FIG. 6 is a diagram showing a processing flow (second example) of condition determination regarding pedal rotation. FIG. 7 is a diagram showing a time chart showing an operation example of the first embodiment. FIG. 8 is a diagram showing a processing flow in the second embodiment. FIG. 9 is a diagram showing a processing flow in the second embodiment. FIG. 10 is a diagram showing a time chart showing an operation example (an example using torque) of the second embodiment. FIG. 11 is a diagram showing a time chart showing an operation example (an example using stop detection) of the second embodiment. FIG. 12 is a diagram showing a time chart showing an operation example (an example using negative acceleration) of the second embodiment. FIG. 13 is a diagram showing a processing flow according to the third embodiment. FIG. 14 is a diagram showing a time chart showing an operation example of the third embodiment. FIG. 15 is a diagram showing a time chart showing another operation example of the third embodiment. FIG. 16 is a diagram showing a processing flow according to the fourth embodiment. FIG. 17 is a diagram for explaining the adjustment of the regeneration coefficient according to the pedal rotation angle. FIG. 18 is a diagram showing a processing flow according to the fourth embodiment. FIG. 19 is a diagram showing a time chart showing an operation example of the fourth embodiment. FIG. 20 is a diagram for explaining another example of adjusting the regeneration coefficient by the pedal rotation angle. FIG. 21 is a diagram for showing another example of adjusting the regeneration coefficient by rotating the pedal. FIG. 22 is a diagram showing an example of adjusting the regeneration coefficient by pedal rotation and wheel rotation.

Hereinafter, embodiments of the present invention will be described with reference to an example of an electrically assisted bicycle, which is an example of an electrically assisted vehicle. However, the embodiment of the present invention is not limited to the electric assisted bicycle, but is applied to a motor that assists the movement of a moving body (for example, a trolley, a wheelchair, an elevator, etc.) that moves according to human power. It is also applicable to motor drive control devices.

[Embodiment 1]
FIG. 1 is an external view showing an example of an electrically assisted bicycle, which is an example of an electrically assisted vehicle according to the present embodiment. The electrically assisted bicycle 1 is equipped with a motor drive device. The motor drive device includes a battery pack 101, a motor drive control device 102, a torque sensor 103, a pedal rotation sensor 104, a motor 105, an operation panel 106, and a brake sensor 107.

The electrically power assisted bicycle 1 also has front wheels, rear wheels, headlights, freewheels, a transmission, and the like.

The battery pack 101 is, for example, a lithium ion secondary battery, but may be another type of battery, for example, a lithium ion polymer secondary battery, a nickel hydrogen storage battery, or the like. Then, the battery pack 101 supplies electric power to the motor 105 via the motor drive control device 102, and at the time of regeneration, the battery pack 101 is also charged by the regenerated electric power from the motor 105 via the motor drive control device 102.

The torque sensor 103 is provided around the crank shaft, detects the pedaling force of the pedal by the driver, and outputs the detection result to the motor drive control device 102. Further, the pedal rotation sensor 104 is provided around the crank shaft like the torque sensor 103, and outputs a signal corresponding to the rotation to the motor drive control device 102.

The motor 105 is, for example, a well-known three-phase DC brushless motor, and is mounted on the front wheel of, for example, the electrically power assisted bicycle 1. The motor 105 rotates the front wheels, and the rotor is connected to the front wheels so that the rotor rotates according to the rotation of the front wheels. Further, the motor 105 includes a rotation sensor such as a Hall element and outputs rotation information (that is, a Hall signal) of the rotor to the motor drive control device 102.

The motor drive control device 102 controls the drive of the motor 105 by performing a predetermined calculation based on the signals from the rotation sensor, the brake sensor 107, the torque sensor 103, the pedal rotation sensor 104, and the like of the motor 105, and regenerates by the motor 105. It also controls.

The operation panel 106 receives, for example, an instruction input regarding the presence / absence of assist (that is, on / off of the power switch), an input such as a desired assist ratio in the case of assist, and the instruction input or the like is a motor drive control device. Output to 102. Further, the operation panel 106 may have a function of displaying data such as a mileage, a mileage, a calorie consumption, and a regenerative electric energy, which are the results calculated by the motor drive control device 102. Further, the operation panel 106 may have a display unit such as an LED (Light Emitting Diode). As a result, for example, the charge level of the battery pack 101, the on / off state, the mode corresponding to the desired assist ratio, and the like are presented to the driver.

The brake sensor 107 detects the driver's brake operation and outputs a signal related to the brake operation (for example, a signal indicating the presence or absence of a brake) to the motor drive control device 102. Specifically, it is a sensor using a magnet and a reed switch.

FIG. 2 shows a configuration related to the motor drive control device 102 according to the present embodiment. The motor drive control device 102 includes a controller 1020 and a FET (Field Effect Transistor) bridge 1030. The FET bridge 1030 includes a high-side FET (Suh) and a low-side FET (Sul) that switch the U phase of the motor 105, and a high-side FET (Svh) and a low-side FET (Svl) that switch the V phase of the motor 105. ), And a high-side FET (Swh) and a low-side FET (Swl) for switching the W phase of the motor 105. The FET bridge 1030 constitutes a part of a complementary type switching amplifier.

Further, the controller 1020 includes a calculation unit 1021, a pedal rotation input unit 1022, a motor rotation input unit 1024, a variable delay circuit 1025, a motor drive timing generation unit 1026, a torque input unit 1027, and a brake input unit 1028. And an AD (Analog-Digital) input unit 1029.

The calculation unit 1021 is an input from the operation panel 106 (for example, assist on / off, etc.), an input from the pedal rotation input unit 1022, an input from the motor rotation input unit 1024, an input from the torque input unit 1027, and a brake input unit. A predetermined calculation is performed using the input from 1028 and the input from the AD input unit 1029, and output is performed to the motor drive timing generation unit 1026 and the variable delay circuit 1025. The calculation unit 1021 has a memory 10211, and the memory 10211 stores various data used for the calculation, data in the middle of processing, and the like. Further, the arithmetic unit 1021 may be realized by the processor executing the program, and in this case, the program may be recorded in the memory 10211. Further, the memory 10211 may be provided separately from the calculation unit 1021.

The pedal rotation input unit 1022 digitizes the pedal rotation phase angle (also referred to as a crank rotation phase angle; may include a signal indicating the rotation direction) from the pedal rotation sensor 104 and outputs it to the calculation unit 1021. .. The motor rotation input unit 1024 digitizes a signal (for example, rotation phase angle, rotation direction, etc.) related to the rotation of the motor 105 (rotation of the front wheels in this embodiment) from the hall signal output by the motor 105, and the calculation unit 1021. Output to. The torque input unit 1027 digitizes a signal corresponding to the pedaling force from the torque sensor 103 and outputs it to the calculation unit 1021. The brake input unit 1028 digitizes a signal from the brake sensor 107 indicating whether or not there is a brake, and outputs the signal to the calculation unit 1021.
The AD input unit 1029 digitizes the output voltage from the secondary battery and outputs it to the calculation unit 1021.

The calculation unit 1021 outputs the advance angle value to the variable delay circuit 1025 as the calculation result. The variable delay circuit 1025 adjusts the phase of the hall signal based on the advance angle value received from the calculation unit 1021 and outputs the phase to the motor drive timing generation unit 1026. The calculation unit 1021 outputs a PWM code corresponding to, for example, a duty ratio of PWM (Pulse Width Modulation) to the motor drive timing generation unit 1026 as a calculation result. The motor drive timing generation unit 1026 generates and outputs a switching signal for each FET included in the FET bridge 1030 based on the adjusted Hall signal from the variable delay circuit 1025 and the PWM code from the calculation unit 1021. Depending on the calculation result of the calculation unit 1021, the motor 105 may be driven by power running or may be regeneratively driven. The basic operation of the motor drive is described in the pamphlet of International Publication No. WO2012 / 086459, etc., and is not the main part of the present embodiment. Therefore, the description thereof is omitted here.

Next, FIG. 3 shows an example of a functional block configuration (a part according to the present embodiment) for the regeneration control unit 3000 in the calculation unit 1021. The regeneration control unit 3000 includes a regeneration suppression processing unit 3100, an automatic regeneration processing unit 3200, and a control unit 3300.

The automatic regeneration processing unit 3200 executes a process for determining whether or not automatic regeneration can be performed based on the input for automatic regeneration. For example, when determining whether or not automatic regeneration can be performed based on the acceleration (time change amount of speed) of the electrically power assisted bicycle 1, for example, the input from the motor rotation input unit 1024 is the input for automatic regeneration, and the vehicle speed is obtained from the input. And calculate the acceleration from the amount of time change of the vehicle speed.

In addition, when determining whether or not automatic regeneration can be performed based on the relationship between pedal rotation and wheel rotation, more specifically, vehicle speed or wheel rotation speed and pedal rotation conversion speed (pedal rotation is converted to vehicle speed based on gear ratio, etc.) When determining whether or not automatic regeneration can be performed based on the difference or ratio with the speed) or the number of revolutions of the pedal, the input from the motor rotation input unit 1024 and the input from the pedal rotation input unit 1022 are for automatic regeneration. It becomes an input. Then, the vehicle speed or the wheel rotation speed is calculated based on the input from the motor rotation input unit 1024, and the pedal rotation conversion speed or the pedal rotation number is calculated based on the input from the pedal rotation input unit 1022. When determining whether or not automatic regeneration is possible based on a policy other than this, the input used according to that policy is the input for automatic regeneration.

It should be noted that the automatic regeneration is not performed when the electrically power assisted bicycle 1 is stopped, and the automatic regeneration is not performed even when the torque equal to or higher than the threshold value is detected by the input from the torque input unit 1027. In such a case, it is determined whether or not the vehicle speed is stopped below the threshold value by the input from the motor rotation input unit 1024. Further, it is determined whether or not the torque equal to or higher than the threshold value is detected by the input from the torque input unit 1027.

Although various cases have been described, whether or not automatic regeneration may be performed may be determined in the same manner as in the prior art.

The output of the automatic regeneration processing unit 3200 is represented by the automatic regeneration flag. That is, if the automatic regeneration flag is set to on, it is indicated that automatic regeneration is performed, and if the automatic regeneration flag is set to off, it is indicated that automatic regeneration is not performed.

The regeneration suppression processing unit 3100 continuously stops (or suppresses) automatic regeneration based on the first predetermined operation or the first predetermined running state performed by the driver (also referred to as a user) of the electrically power assisted bicycle 1 while driving. The process for identifying the first event to be performed is executed. The first predetermined operation or the first predetermined running state is specified from the regeneration suppression input. For example, when the first event is specified based on the pedal rotation angle or the pedal rotation conversion speed, the regeneration suppression input is an input from the pedal rotation input unit 1022, and the pedal rotation angle or the pedal rotation conversion speed is input from the input. Etc. are specified. Further, the input for suppressing regeneration may be the same as the input for automatic regeneration.

Further, the regeneration suppression processing unit 3100 cancels the continuous stop (or suppression) of the automatic regeneration based on the second predetermined operation or the second predetermined running state performed by the driver of the electrically power assisted bicycle 1 while driving. The process for identifying the second event to be performed is executed. The second predetermined operation or the second predetermined running state is specified from the suppression cancel input. For example, when the second event is specified based on the brake operation, the input from the brake input unit 1028 is the suppression cancel input, and the presence or absence of the brake operation is specified from the input.

The output of the regeneration suppression processing unit 3100 is represented by the regeneration suppression mode flag. That is, if the regeneration suppression mode flag is set to on, it indicates that the mode is a regeneration suppression mode that continuously stops (or suppresses) automatic regeneration, and if the regeneration suppression mode flag is set to off, it is automatic. It indicates that the mode is not a regeneration suppression mode in which regeneration is continuously stopped (or suppressed).

The control unit 3300 calculates and outputs the presence / absence of regeneration and the amount of regeneration based on the output from the regeneration suppression processing unit 3100 and the automatic regeneration processing unit 3200 and the input for regeneration. In this embodiment, for example, an example is shown in which a predetermined regeneration target amount according to a vehicle speed is specified from the current vehicle speed, and the regeneration amount is calculated by multiplying the regeneration target amount by a regeneration coefficient. In such a case, the regeneration input is an input from the motor rotation input unit 1024, and the vehicle speed is calculated from the input.

The control unit 3300 determines the regeneration coefficient based on the automatic regeneration flag and the regeneration suppression mode flag. Specifically, when the automatic regeneration flag is turned on, the regeneration coefficient is gradually increased in order to gradually increase the amount of regeneration, and when the upper limit is reached, the upper limit is maintained. Then, when the regeneration suppression mode flag is turned on, the regeneration coefficient is set to zero in the present embodiment. After that, when the regeneration suppression mode flag is turned off, if the automatic regeneration flag remains on, the regeneration coefficient is gradually increased in order to gradually increase the regeneration amount again, and when the upper limit value is reached, the upper limit value is maintained. If the automatic regeneration flag is turned off when the regeneration suppression mode flag is turned off, the regeneration coefficient remains zero.

When regeneration is not performed, the calculation unit 1021 drives the motor 105 via the FET bridge 1030 so as to perform the conventional power running drive. On the other hand, when performing regeneration, the calculation unit 1021 regenerates and drives the motor 105 via the FET bridge 1030 so as to realize the regeneration amount output by the control unit 3300.

According to the present embodiment, for example, when going down a downhill, even if the automatic regeneration flag is turned on and regeneration starts, there is a sense of discomfort in deceleration due to regenerative braking, for example, when the driver pedals. If a pedal rotation angle greater than or equal to the angle is detected, the regeneration suppression mode flag is set to on, and continuous stop (or suppression) of automatic regeneration is started. That is, regenerative braking disappears and deceleration disappears (or is suppressed). After that, when the slope of the downhill becomes steep and the driver requests deceleration, the brake operation is performed, so that the regeneration suppression mode flag is set to off and automatic regeneration is restarted. Then, since regenerative braking is restarted, automatic deceleration will be performed, and charging by regenerative braking will also be performed.

By doing so, the battery can be charged for a longer period of time by performing automatic regeneration except in situations contrary to the intention of the user. That is, it becomes possible to extend the mileage by minimizing the charging by the commercial power source.

Next, the processing contents of the regenerative control unit 3000 shown in FIG. 3 will be described with reference to FIGS. 4 to 7. The process of FIG. 4 is a process of executing steps S1 to S21 every unit time.

First, the regeneration control unit 3000 acquires various inputs such as an automatic regeneration input, a regeneration suppression input, a suppression cancellation input, and a regeneration input (FIG. 4: step S1). In response to this, the automatic regeneration processing unit 3200 determines whether or not automatic regeneration is possible based on the automatic regeneration input, and sets the automatic regeneration flag on or off.

Then, the control unit 3300 determines whether the automatic regeneration flag, which is the output of the automatic regeneration processing unit 3200, is turned on (step S3). If the automatic regeneration flag is off, the control unit 3300 sets the regeneration coefficient to zero (step S4). Then, the process proceeds to step S7. On the other hand, if the automatic regeneration flag is turned on, the control unit 3300 sets the regeneration coefficient according to a predetermined rule (step S5). For example, the predetermined rule may be a rule that increases the regeneration coefficient by a predetermined value every unit time from the timing when it is detected that the automatic regeneration flag is turned on, or may be predetermined. The rule may be such that the regeneration coefficient is gradually increased to the upper limit along the curve. In some cases, it may be increased to the upper limit immediately. Therefore, from the timing when it is detected that the automatic regeneration flag is turned on, the current regeneration coefficient specified according to a predetermined rule is set in this step. It is assumed that the regeneration coefficient is initially 0.

After that, the regeneration suppression processing unit 3100 determines whether the pedal rotation satisfies the condition as an example of the first event based on the regeneration suppression input (step S7). For example, it is determined whether or not the pedal rotation of a predetermined angle or more is detected within a predetermined time. Further, it may be determined whether or not the pedal rotation angle becomes the second threshold value or more within a predetermined time after the pedal rotation angle becomes the first threshold value or more.

Whether or not the former condition is satisfied is determined by, for example, a process as shown in FIG. The process of FIG. 5 is executed every unit time, but is executed separately from the process of FIG.

The regeneration suppression processing unit 3100 acquires the pedal rotation angle within a unit time based on the regeneration suppression input (FIG. 5: step S201).

Further, the regeneration suppression processing unit 3100 accumulates the pedal rotation angles and calculates the cumulative pedal rotation angle (step S205). If the rotation direction of the pedal can be detected, for example, it is determined whether or not the pedal is continuously rotating in the positive direction (traveling direction), and the pedal is rotated in the negative direction (retracting direction). If it is determined that there is, the process may proceed to step S217.

Further, the regeneration suppression processing unit 3100 determines whether or not the time is already being measured (step S207). If the time is not being measured yet, the regeneration suppression processing unit 3100 starts the time measurement (step S209). Then, the process proceeds to step S219.

On the other hand, when the time is already being measured, the regeneration suppression processing unit 3100 determines whether or not the measurement time is equal to or less than the threshold value (step S211). That is, it is determined whether or not the measurement time is within a predetermined time after the pedal rotation angle starts to be accumulated.

If the measurement time exceeds the threshold value, it means that the cumulative pedal rotation angle does not exceed the threshold value within the predetermined time, so the process proceeds to step S217. On the other hand, when the measurement time is equal to or less than the threshold value, the automatic regeneration processing unit 3200 determines whether or not the cumulative pedal rotation angle is equal to or greater than the threshold value (step S213). If the cumulative pedal rotation angle is less than the threshold value, the process proceeds to step S219. On the other hand, when the cumulative pedal rotation angle is equal to or greater than the threshold value, the condition for pedal rotation is satisfied, and the regeneration suppression processing unit 3100 sets the condition satisfaction (step S215). As a result, it can be determined that the condition is satisfied in step S7 of FIG. Regarding the setting of condition satisfaction, it is preferable to cancel the setting when the regeneration suppression mode flag is set to off.

Then, the regeneration suppression processing unit 3100 stops the time measurement and performs initialization such as setting the cumulative pedal rotation angle to zero (step S217). When the cumulative pedal rotation angle is used even after the condition is satisfied, it may not be necessary to initialize the cumulative pedal rotation angle in this step. After that, the regeneration suppression processing unit 3100 determines whether or not the processing end is instructed by turning off the power or the like (step S219). If the process is not completed, the process returns to step S201. When the processing is completed, the processing is terminated.

Further, whether or not the latter condition described above is satisfied is determined by, for example, the process shown in FIG. The process of FIG. 6 is also executed every unit time, and is executed separately from the process of FIG.

The regeneration suppression processing unit 3100 acquires the pedal rotation angle within a unit time based on the regeneration suppression input (FIG. 6: step S251).

Further, the regeneration suppression processing unit 3100 accumulates the pedal rotation angles and calculates the cumulative pedal rotation angle (step S255). If the rotation direction of the pedal can be detected, for example, it is determined whether or not the pedal is continuously rotating in the positive direction (traveling direction), and the pedal is rotated in the negative direction (retracting direction). If it is determined that there is, the process may proceed to step S269.

Then, the regeneration suppression processing unit 3100 determines whether or not the cumulative pedal rotation angle is equal to or greater than the first threshold value (for example, 45 °) (step S257). If the cumulative pedal rotation angle is less than the first threshold, the process proceeds to step S271. On the other hand, when the cumulative pedal rotation angle becomes equal to or higher than the first threshold value, the regeneration suppression processing unit 3100 determines whether or not the time is already being measured (step S259). If the time is not being measured yet, the regeneration suppression processing unit 3100 starts the time measurement (step S261). Then, the process proceeds to step S271.

On the other hand, when the time is already being measured, the regeneration suppression processing unit 3100 determines whether or not the measurement time is equal to or less than the threshold value (step S263). That is, after the cumulative pedal rotation angle becomes equal to or higher than the first threshold value, it is determined whether or not the measurement time is within a predetermined time.

If the measurement time exceeds the threshold value, it means that the cumulative pedal rotation angle does not exceed the second threshold value within the predetermined time, so the process proceeds to step S269. On the other hand, when the measurement time is equal to or less than the threshold value, the automatic regeneration processing unit 3200 determines whether or not the cumulative pedal rotation angle is equal to or greater than the second threshold value (for example, 90 °) (step S265). If the cumulative pedal rotation angle is less than the second threshold, the process proceeds to step S271. On the other hand, when the cumulative pedal rotation angle is equal to or larger than the second threshold value, the condition for pedal rotation is satisfied, and the regeneration suppression processing unit 3100 sets the condition satisfaction (step S267). As a result, it can be determined that the condition is satisfied in step S7 of FIG.
Regarding the setting of condition satisfaction, it is preferable to cancel the setting when the regeneration suppression mode flag is set to off.

Then, the regeneration suppression processing unit 3100 stops the time measurement and performs initialization such as setting the cumulative pedal rotation angle to zero (step S269). This is the same as step S217. After that, the regeneration suppression processing unit 3100 determines whether or not the processing end is instructed by turning off the power or the like (step S271). If the process is not completed, the process returns to step S251. When the processing is completed, the processing is terminated.

Returning to the description of the process of FIG. 4, if the pedal rotation does not satisfy the condition, the process proceeds to step S11. On the other hand, when the pedal rotation satisfies the condition, the regeneration suppression processing unit 3100 sets the regeneration suppression mode flag to ON (step S9). It is assumed that the regeneration suppression mode flag is initially set to off.

Further, the regeneration suppression processing unit 3100 determines whether or not the input from the brake input unit 1028 indicates that there is a brake operation as an example of the second event based on the suppression cancellation input (step S11). If the brake operation is not detected, the process proceeds to step S15. On the other hand, when the brake operation is detected, the regeneration suppression processing unit 3100 sets the regeneration suppression mode flag to off (step S13).

After that, the control unit 3300 determines whether or not the two flags, the automatic regeneration flag and the regeneration suppression mode flag, are turned on (step S15). When the automatic regeneration flag and the regeneration suppression mode flag are turned on, the control unit 3300 sets the regeneration coefficient to 0 (step S17). That is, in this embodiment, regeneration is not performed. Then, the process proceeds to step S21.

On the other hand, when the automatic regeneration flag is off or when the automatic regeneration flag is on but the regeneration suppression mode flag is off, the control unit 3300 corresponds to the regeneration coefficient already set. The regeneration amount is calculated, and the regeneration control is performed so as to realize the regeneration amount (step S19). If the automatic regeneration flag is off, the regeneration coefficient is set to zero in step S4 regardless of whether the regeneration suppression mode flag is on or off, so that regeneration is not performed.

Such processing is repeated until the processing is completed by turning off the power or the like (step S21).

By performing such processing, once the regeneration suppression mode flag is turned on, the regeneration suppression mode continues until it detects that there is a brake operation. That is, once the operation such as turning on the regeneration suppression mode flag is performed, it is not necessary to continue the operation such as pedal rotation after that, so that the time and effort of the driver is reduced. In addition, since the intention of deceleration can be detected in a situation where a brake operation is performed, the regeneration suppression mode is automatically terminated in order to restore regeneration. Even in such a situation, the amount of charge can be increased by performing automatic regeneration without putting extra effort on the driver.

An operation example of the process of FIG. 4 will be described with reference to FIG. 7. FIG. 7A shows the time change of the regeneration coefficient, (b) shows the time change of the automatic regeneration flag, (c) shows the time change of the regeneration suppression mode flag, and (d) shows the pedal rotation angle. (E) represents a time change, and (e) represents a time change (time change of the state (ON / OFF) of the brake sensor 107) with or without brake operation.

In this example, when the automatic regeneration flag is turned on, the regeneration coefficient gradually increases to reach 100%, then the pedal starts to rotate, and at time t1, the cumulative pedal rotation angle reaches the first threshold value of 45 °. , Time measurement is started. In this example, at time t2 after a predetermined time Tth (for example, 1 second) from time t1, the cumulative pedal rotation angle reaches the second threshold value of 90 °, so that the regeneration suppression mode flag is set to on and regeneration suppression is performed. The mode is started. Then, the regeneration coefficient is set to 0 and maintained. In this example, the occurrence of the first event is determined by the second condition.

On the other hand, since the brake operation is detected at time t3, the regeneration suppression mode flag is set to off, and the regeneration suppression mode ends. Then, the regeneration coefficient gradually increases to reach 100%. There are scenes where the pedal rotation angle exceeds the first threshold value of 45 ° about twice, but since the cumulative pedal rotation angle has not reached the second threshold value of 90 ° within the predetermined time Tth, these operations are performed. Ignored. Although the brake operation is completed at time t4, this operation is also ignored in the present embodiment.

After that, the pedal starts to rotate, and at time t5, the cumulative pedal rotation angle reaches the first threshold value of 45 °, so that time measurement is started. In this example, since the cumulative pedal rotation angle reaches the second threshold value of 90 ° at the time t6 after the predetermined time Tth from the time t5, the regeneration suppression mode flag is set to ON and the regeneration suppression mode is started. .. Then, the regeneration coefficient is set to 0 and maintained.

However, since the automatic regeneration flag is set to off at time t7 during the regeneration suppression mode, the regeneration suppression mode is substantially disabled. After that, since the brake operation is detected again at time t8, the regeneration suppression mode ends at time t8.

In this example, the brake operation ends at time t9 thereafter, but this operation is ignored in the present embodiment. After that, when the automatic regeneration flag is set to on again at time t10, the automatic regeneration flag is set to on and the regeneration coefficient is gradually increased to the upper limit value.

As mentioned above, in the state where automatic regeneration is functioning, if deceleration by regenerative braking is not preferable for the driver, the driver tries to accelerate by pedaling, so that the regeneration suppression mode starts. It will be like. This eliminates regenerative braking and prevents deceleration. The regeneration suppression mode is maintained while the regeneration suppression mode is preferable, but when deceleration is required and the braking operation is performed, it is preferable to restore the automatic regeneration and perform regenerative braking. Therefore, the regeneration suppression mode is terminated and automatic regeneration is restarted. As a result, deceleration by regenerative braking works, and the battery is also charged.

Overall, automatic regeneration can be enabled as much as possible and the battery can be charged for a longer period of time as long as it does not go against the driver's intention.

The first event for setting the regeneration suppression mode flag to ON is detected when the condition that the pedal rotation conversion speed or the pedal rotation speed is equal to or higher than the threshold value is satisfied, not the condition regarding the pedal rotation angle. You may do so.

Further, when it is detected that the difference between the vehicle speed and the pedal rotation conversion speed is equal to or less than the predetermined value, and when it is detected that the ratio of the pedal rotation conversion speed to the vehicle speed is equal to or more than the predetermined value, the wheel rotation speed and the pedal are detected. When it is detected that the difference from the rotation speed is less than or equal to a predetermined value, or when it is detected that the ratio of the pedal rotation to the wheel rotation speed is more than a predetermined value, the first event is detected. good. That is, the first event is detected when the pedal operation is performed so that the pedal rotation conversion speed approaches the vehicle speed, and when the pedal operation is performed so that the pedal rotation speed approaches the wheel rotation speed. You may try to do it.

[Embodiment 2]
In the first embodiment, the occurrence of the second event of ending the regeneration suppression mode and restarting the automatic regeneration is determined based on the presence or absence of the brake operation, but is not limited thereto.

In the present embodiment, as events for ending the regeneration suppression mode, detection of torque above the threshold value (also referred to as pedal torque), detection of stoppage of the electrically power assisted bicycle 1 (sometimes referred to as a vehicle), and negative below the threshold value are performed. Further adopts the detection of acceleration of. Such an event indicates a change in the running state, and if it is preferable to end the regeneration suppression mode and perform automatic regeneration, regeneration is performed as much as possible to charge the battery. It is a thing.

The processing flow in this embodiment will be described with reference to FIGS. 8 to 12. The processes of FIGS. 8 and 9 are processes in which steps S1 to S21 are executed every unit time. Since steps S1 to S13 in FIG. 8 are the same as steps S1 to S13 in FIG. 4, they will be briefly described.

First, the regeneration control unit 3000 acquires various inputs such as an automatic regeneration input, a regeneration suppression input, a suppression cancellation input, and a regeneration input (FIG. 8: step S1). In response to this, the automatic regeneration processing unit 3200 determines whether or not automatic regeneration is possible based on the automatic regeneration input, and sets the automatic regeneration flag on or off.

Then, the control unit 3300 determines whether the automatic regeneration flag, which is the output of the automatic regeneration processing unit 3200, is turned on (step S3). If the automatic regeneration flag is off, the control unit 3300 sets the regeneration coefficient to zero (step S4). On the other hand, if the automatic regeneration flag is turned on, the control unit 3300 sets the regeneration coefficient according to a predetermined rule (step S5).

After that, the regeneration suppression processing unit 3100 determines whether the pedal rotation satisfies the condition as an example of the first event based on the regeneration suppression input (step S7). If the pedal rotation does not satisfy the condition, the process proceeds to step S11. On the other hand, when the pedal rotation satisfies the condition, the regeneration suppression processing unit 3100 sets the regeneration suppression mode flag to ON (step S9).

Further, the regeneration suppression processing unit 3100 determines whether or not the input from the brake input unit 1028 indicates that there is a brake operation as an example of the second event based on the suppression cancellation input (step S11). If the brake operation is not detected, the process proceeds to the process of FIG. 9 via the terminal A. On the other hand, when the brake operation is detected, the regeneration suppression processing unit 3100 sets the regeneration suppression mode flag to off (step S13). Then, the processing shifts to the processing of FIG. 9 via the terminal A.

Moving on to the description of the processing of FIG. 9, in the regeneration suppression processing unit 3100, based on the input from the torque input unit 1027 as the suppression cancellation input, whether the torque input by pedaling is equal to or higher than a predetermined threshold value. It is determined whether or not (step S31). Since the driver intends to accelerate when the torque exceeding the threshold value is detected, the regeneration suppression mode is terminated on the assumption that the traveling state has changed.

If the input torque is less than a predetermined threshold value, the process proceeds to step S35. On the other hand, when the input torque is equal to or higher than a predetermined threshold value, the regeneration suppression processing unit 3100 sets the regeneration suppression mode flag to off (step S33). Then, the process proceeds to step S35.

Further, the regeneration suppression processing unit 3100 determines whether or not the vehicle has stopped based on the input from the motor rotation input unit 1024 as the suppression cancellation input (step S35). For example, a state in which the vehicle speed is equal to or lower than the threshold value is determined to be a stopped state. The stopped state is also recognized as a change in the running state, and the regeneration suppression mode is terminated.

If the vehicle is not stopped, the process proceeds to step S39. On the other hand, when it is determined that the vehicle is stopped, the regeneration suppression processing unit 3100 sets the regeneration suppression mode flag to off (step S37). Then, the process proceeds to step S39.

Further, the regeneration suppression processing unit 3100 determines whether or not the negative acceleration is equal to or less than the threshold value based on the input from the motor rotation input unit 1024 as the suppression cancellation input (step S39). For example, the vehicle speed is calculated from the motor rotation input unit 1024, and the acceleration is further calculated as a time change of the vehicle speed to determine whether or not the absolute value of the negative acceleration is equal to or more than a predetermined value. Negative acceleration is generated, for example, by braking. That is, it can be detected even when the brake sensor 107 is not provided. In order to detect the braking operation by acceleration, it may be assumed that the negative acceleration is detected when the negative acceleration below the threshold value continues for a predetermined time or longer.

If the negative acceleration exceeds the threshold value, the process proceeds to step S15. On the other hand, if the negative acceleration is equal to or less than the threshold value, the regeneration suppression processing unit 3100 sets the regeneration suppression mode flag to off (step S41). Then, the process proceeds to step S15.

Then, the control unit 3300 determines whether or not the two flags, the automatic regeneration flag and the regeneration suppression mode flag, are turned on (step S15). When the automatic regeneration flag and the regeneration suppression mode flag are turned on, the control unit 3300 sets the regeneration coefficient to 0 (step S17). That is, in this embodiment, regeneration is not performed. Then, the process proceeds to step S21.

On the other hand, when the automatic regeneration flag is off or when the automatic regeneration flag is on but the regeneration suppression mode flag is off, the control unit 3300 corresponds to the regeneration coefficient already set. The regeneration amount is calculated, and the regeneration control is performed so as to realize the regeneration amount (step S19). If the automatic regeneration flag is off, the regeneration coefficient is set to zero in step S4 regardless of whether the regeneration suppression mode flag is on or off, so that regeneration is not performed.

Such processing is repeated until the processing is completed by turning off the power or the like (step S21). That is, if the processing is not completed, the processing returns to step S1 in FIG. 8 via the terminal B.

By doing so, it becomes possible to end the regeneration suppression mode and increase the chance of regeneration according to the change in the traveling state or the intention of the driver.

An example of terminating the regeneration suppression mode by detecting a torque equal to or higher than the threshold value will be described with reference to FIG. 10.

FIG. 10 (a) shows the time change of the regeneration coefficient, (b) shows the time change of the automatic regeneration flag, (c) shows the time change of the regeneration suppression mode flag, and (d) shows the pedal rotation angle. (E) represents a time change, and (e) represents a time change of torque.

In this example as well, when the automatic regeneration flag is turned on, the regeneration coefficient gradually increases and reaches 100%, then the pedal starts to rotate, and at time t11, the cumulative pedal rotation angle reaches the first threshold value of 45 °. , Time measurement is started. Also in this example, since the cumulative pedal rotation angle reaches the second threshold value of 90 ° at the time t12 after the predetermined time Tth from the time t11, the regeneration suppression mode flag is set to ON and the regeneration suppression mode is started. .. Then, the regeneration coefficient is set to 0 and maintained. In this example as well, the occurrence of the first event is determined by the second condition.

On the other hand, at time t13, the torque starts to increase, so the automatic regeneration flag is set to off. After that, when the torque further increases and the time t14 is reached, the threshold value TrqA is reached, so that the regeneration suppression mode flag is set to off and the regeneration suppression mode ends. After that, the torque increases, but it turns to decrease and becomes zero at time t15. Then, if the condition is met, the automatic regeneration flag will be set to on.

In this way, from a state in which regeneration is continuously stopped in the regeneration suppression mode to a running state in which torque is generated by pedaling to accelerate, the regeneration suppression mode is continued. Is inappropriate, so the regeneration suppression mode is terminated.

Next, an example of terminating the regeneration suppression mode by detecting a stop will be described with reference to FIG. 11.

11 (a) shows the time change of the regeneration coefficient, (b) shows the time change of the automatic regeneration flag, (c) shows the time change of the regeneration suppression mode flag, and (d) shows the pedal rotation angle. (E) represents a time change, and (e) represents a time change of stop detection.

Also in this example, when the automatic regeneration flag is turned on, the regeneration coefficient gradually increases and reaches 100%, then the pedal starts to rotate, and at time t21, the cumulative pedal rotation angle reaches the first threshold value of 45 °. , Time measurement is started. Also in this example, since the cumulative pedal rotation angle reaches the second threshold value of 90 ° at the time t22 after the predetermined time Tth from the time t21, the regeneration suppression mode flag is set to ON and the regeneration suppression mode is started. .. Then, the regeneration coefficient is set to 0 and maintained. In this example as well, the occurrence of the first event is determined by the second condition.

On the other hand, at time t23, the vehicle speed decreases and a stop is detected. Then, the automatic regeneration flag is also set to off, the regeneration suppression mode flag is also set to off, and the regeneration suppression mode ends. After that, at time t24, the electrically power assisted bicycle 1 starts to move and the stop detection ends. Therefore, if the condition is satisfied, the automatic regeneration flag is set to ON.

In this way, it is unclear what kind of driving state will be changed if the vehicle transitions from a state in which regeneration is continuously stopped in the regeneration suppression mode to a stopped state. It is preferable to finish.

Further, with reference to FIG. 12, an example of terminating the regeneration suppression mode by detecting a negative acceleration below the threshold value will be described.

In FIG. 12, (a) shows the time change of the regeneration coefficient, (b) shows the time change of the automatic regeneration flag, (c) shows the time change of the regeneration suppression mode flag, and (d) shows the pedal rotation angle. (E) represents a time change, and (e) represents a time change of negative acceleration detection below the threshold value.

Also in this example, when the automatic regeneration flag is turned on, the regeneration coefficient gradually increases and reaches 100%, then the pedal starts to rotate, and at time t31, the cumulative pedal rotation angle reaches the first threshold value of 45 °. , Time measurement is started. Also in this example, since the cumulative pedal rotation angle reaches the second threshold value of 90 ° at the time t32 after the predetermined time Tth from the time t31, the regeneration suppression mode flag is set to ON and the regeneration suppression mode is started. .. Then, the regeneration coefficient is set to 0 and maintained. In this example as well, the occurrence of the first event is determined by the second condition.

On the other hand, at time t33, negative acceleration below the threshold value is detected. Then, the regeneration suppression mode flag is set to off, and the regeneration suppression mode ends. In this example, the automatic regeneration flag is still set to on, so when the regeneration suppression mode ends, the regeneration coefficient gradually increases to reach 100%, and 100% is maintained. At time t34, the detection of negative acceleration below the threshold is lost, but this event is irrelevant in this example.

As described above, when another phenomenon corresponding to the brake operation is detected, it is determined that deceleration is required in the same manner as the detection of the brake operation, and the regeneration suppression mode is terminated.

In this way, there are various events that are appropriate for ending the regeneration suppression mode, and the regeneration suppression mode responds to other events for detecting an event similar to the braking operation or detecting a change in the running state. You may want to set the flag off. Further, the types of events that terminate the regeneration suppression mode may be narrowed down to a smaller number. That is, any one event may be selected, or any combination may be used.

[Embodiment 3]
In the first and second embodiments, the regeneration coefficient is set to zero in the regeneration suppression mode, and regeneration is not performed at all. However, the same effect may be obtained from the driver's sense even if the regeneration is not stopped but is suppressed to a certain value or less. In addition, by suppressing regeneration, the battery may be charged by continuing regeneration even at a small level, leading to an extension of the mileage.

Therefore, in the present embodiment, the processing flow as shown in FIG. 13 is carried out. The form of the processing flow is almost the same as that of FIG. 4 for the first embodiment.

First, the regeneration control unit 3000 acquires various inputs such as an automatic regeneration input, a regeneration suppression input, a suppression cancellation input, and a regeneration input (FIG. 13: step S1). In response to this, the automatic regeneration processing unit 3200 determines whether or not automatic regeneration is possible based on the automatic regeneration input, and sets the automatic regeneration flag on or off.

Then, the control unit 3300 determines whether the automatic regeneration flag, which is the output of the automatic regeneration processing unit 3200, is turned on (step S3). If the automatic regeneration flag is off, the control unit 3300 sets the regeneration coefficient to zero (step S4). Then, the process proceeds to step S7. On the other hand, if the automatic regeneration flag is turned on, the control unit 3300 sets the regeneration coefficient according to a predetermined rule (step S5).

After that, the regeneration suppression processing unit 3100 determines whether the pedal rotation satisfies the condition as an example of the first event based on the regeneration suppression input (step S7). If the pedal rotation does not satisfy the condition, the process proceeds to step S11. On the other hand, when the pedal rotation satisfies the condition, the regeneration suppression processing unit 3100 sets the regeneration suppression mode flag to ON (step S9).

Further, the regeneration suppression processing unit 3100 determines whether or not the input from the brake input unit 1028 indicates that there is a brake operation as an example of the second event based on the suppression cancellation input (step S11). If the brake operation is not detected, the process proceeds to step S15. On the other hand, when the brake operation is detected, the regeneration suppression processing unit 3100 sets the regeneration suppression mode flag to off (step S13). Then, the process proceeds to step S15.

Then, the control unit 3300 determines whether or not the two flags, the automatic regeneration flag and the regeneration suppression mode flag, are turned on (step S15). When the automatic regeneration flag and the regeneration suppression mode flag are turned on, the control unit 3300 sets the regeneration coefficient to a predetermined value (for example, 10%) and calculates the regeneration amount according to the regeneration coefficient. , The regeneration control is performed so as to realize the regeneration amount (step S51). The predetermined value is set between the upper limit value (however, if it is before reaching the upper limit value, it may be the value immediately before) and the lower limit value according to the purpose. If the predetermined value is about 10%, for example, power generation to the extent that the headlight can be turned on is generated, and some drivers may feel that there is no regeneration. Further, there is a secondary effect that noise due to backlash of the motor 105 can be suppressed. If a larger value is adopted, the amount of charge to the battery can be increased, but the driver feels uncomfortable, so it is preferable to make adjustments based on these trade-offs. Then, the process proceeds to step S21.

On the other hand, when the automatic regeneration flag is off or when the automatic regeneration flag is on but the regeneration suppression mode flag is off, the control unit 3300 corresponds to the regeneration coefficient already set. The regeneration amount is calculated, and the regeneration control is performed so as to realize the regeneration amount (step S19). If the automatic regeneration flag is off, the regeneration coefficient is set to zero in step S4 regardless of whether the regeneration suppression mode flag is on or off, so that regeneration is not performed.

Such processing is repeated until the processing is completed by turning off the power or the like (step S21).

By doing so, the battery can be charged even in the regeneration suppression mode. In addition, noise due to backlash of the motor 105 can be suppressed.

Next, with reference to FIG. 14, an operation example by the processing of the present embodiment is shown.

14 (a) shows the time change of the regeneration coefficient, (b) shows the time change of the automatic regeneration flag, (c) shows the time change of the regeneration suppression mode flag, and (d) shows the pedal rotation angle. (E) represents a time change, and (e) represents a time change with or without a brake operation.

Also in this example, when the automatic regeneration flag is turned on, the regeneration coefficient gradually increases and reaches 100%, then the pedal starts to rotate, and at time t41, the cumulative pedal rotation angle reaches the first threshold value of 45 °. , Time measurement is started. Also in this example, since the cumulative pedal rotation angle reaches the second threshold value of 90 ° at the time t42 after the predetermined time Tth from the time t41, the regeneration suppression mode flag is set to ON and the regeneration suppression mode is started. .. Then, the regeneration coefficient is set to, for example, 10% and maintained. 10% is an example, and any value smaller than the upper limit value and larger than the lower limit value may be adopted. However, if a too large value is adopted, the driver feels uncomfortable, and if it is too small, the noise suppression effect due to backlash cannot be obtained. In this example as well, the occurrence of the first event is determined by the second condition.

On the other hand, since the brake operation is detected at time t43, the regeneration suppression mode flag is set to off, and the regeneration suppression mode ends. In this example, the automatic regeneration flag is still set to on, so when the regeneration suppression mode ends, the regeneration coefficient gradually increases to reach 100%, and 100% is maintained. There are scenes where the pedal rotation angle exceeds the first threshold value of 45 ° about twice, but since the cumulative pedal rotation angle has not reached the second threshold value of 90 ° within the predetermined time Tth, these operations are performed. Ignored. Although the brake operation ends at time t44, this operation is also ignored in the present embodiment.

After that, the pedal starts to rotate, and at time t45, the cumulative pedal rotation angle reaches the first threshold value of 45 °, so that time measurement is started. In this example, since the cumulative pedal rotation angle reaches the second threshold value of 90 ° at the time t46 after the predetermined time Tth from the time t45, the regeneration suppression mode flag is set to ON and the regeneration suppression mode is started. .. Then, the regeneration coefficient is set to, for example, 10% and maintained.

However, since the automatic regeneration flag is set to off at time t47, the regeneration coefficient is also set to zero. After that, at time t49, the presence or absence of the brake operation is detected, so that the regeneration suppression mode flag is set to off, and the regeneration suppression mode ends. In this example, the automatic regeneration flag is already set to off and the regeneration coefficient is also set to zero, so that the regeneration coefficient does not change. After that, the brake operation ends at time t50, but this example has no effect.

By doing so, the regeneration coefficient does not become zero in the regeneration suppression mode, and the regeneration is maintained to some extent, so that the charge to the battery is maintained to some extent and the noise due to the backlash of the motor 105 is also suppressed.

In the example of FIG. 14, the regeneration coefficient is set to a predetermined value as soon as the regeneration suppression mode flag is set, but as shown in FIG. 15, the regeneration coefficient is gradually reduced and then maintained at the predetermined value. May be.

FIG. 15 is almost the same as FIG. 14, but the regeneration coefficient does not immediately decrease to 10% at time t42, but gradually decreases from 100% to 10%, and changes to maintain 10%. It is designed to do. By doing so, it is possible to soften the change in acceleration due to the elimination of regenerative braking. In addition to the example of linearly changing the regeneration coefficient, a curvilinear change such as a quadratic function may be performed. You may want to make changes as represented by other functions. When such a function of time is used, the regeneration coefficient is changed and set every unit time in step S51.

In FIG. 13, the regeneration suppression mode flag is set to off when the presence of the brake operation is detected as in the first embodiment, but the regeneration is performed in another event as in the second embodiment. The suppression mode flag may be set to off.

[Embodiment 4]
In the third embodiment, when the regeneration suppression mode flag is set to on, the regeneration coefficient is automatically changed, but some drivers may want to control the degree of regeneration suppression. In this embodiment, a case where the degree of suppression of regeneration is controlled will be described.

The processing flow according to this embodiment will be described with reference to FIGS. 16 to 22. The same step numbers are assigned to the same parts as those in the first embodiment.

First, the regeneration control unit 3000 acquires various inputs such as an automatic regeneration input, a regeneration suppression input, a suppression cancellation input, and a regeneration input (FIG. 16: step S1). In response to this, the automatic regeneration processing unit 3200 determines whether or not automatic regeneration is possible based on the automatic regeneration input, and sets the automatic regeneration flag on or off.

Then, the control unit 3300 determines whether the automatic regeneration flag, which is the output of the automatic regeneration processing unit 3200, is turned on (step S3). If the automatic regeneration flag is off, the control unit 3300 sets the regeneration coefficient to zero (step S4). Further, in the present embodiment, when the regeneration suppression processing unit 3100 detects the automatic regeneration flag “off” by the automatic regeneration processing unit 3200, the regeneration suppression mode flag is set to off (step S6). In the first to third embodiments, the regeneration suppression mode flag may be set to off at such a timing. Then, the process proceeds to step S7.

On the other hand, if the automatic regeneration flag is turned on, the control unit 3300 sets the regeneration coefficient according to a predetermined rule (step S5). Step S5 is as described in the first embodiment.

After that, the regeneration suppression processing unit 3100 determines whether the pedal rotation satisfies the condition as an example of the first event based on the regeneration suppression input (step S7). If the pedal rotation does not satisfy the condition, the process proceeds to the process of FIG. 18 via the terminal C.

On the other hand, when the pedal rotation satisfies the condition, the regeneration suppression processing unit 3100 determines whether or not the regeneration suppression mode flag is set to off (step S101). If the regeneration suppression mode flag is still off, the regeneration suppression processing unit 3100 sets the regeneration suppression mode flag on (step S103). When the regeneration suppression mode flag is set to ON in this way, the control unit 3300 sets an initial value as a determination reference value of the control index for setting the regeneration coefficient (step S105).

In the present embodiment, as the most obvious example, an example in which the pedal rotation angle is adopted as a control index of the regeneration coefficient will be described first.

That is, after satisfying the condition that the regeneration suppression mode flag is turned on as in the first embodiment, the degree of suppression of the regeneration coefficient can be adjusted according to the degree by further rotating the pedal. do.

For example, the regeneration coefficient is adjusted as shown in FIG. The vertical axis of FIG. 17 represents the regeneration coefficient, and the horizontal axis represents the pedal rotation angle [deg]. In the example of FIG. 17, the regeneration coefficient remains 100% because the regeneration suppression mode flag remains off until the pedal rotation angle is 90 °. In some cases, the regeneration coefficient has not reached 100% when the regeneration suppression mode flag is turned on. In that case, the vertical axis in FIG. 17 is treated as the degree of adjustment, and the regeneration coefficient at that time × the degree of adjustment. = The regeneration coefficient to be set may be set.

In the example of FIG. 17, the regeneration coefficient linearly decreases from 100% to 0% from 90 ° to 270 °. That is, when rotated by 180 °, the regeneration coefficient becomes 50%. Even if it exceeds 270 °, the regeneration coefficient remains 0%.

Returning to the description of the process of FIG. 16, in step S105, when the pedal rotation angle is used as the control index of the regeneration coefficient, the regeneration suppression mode flag is turned on as the determination reference value of the control index for setting the regeneration coefficient. Set the pedal rotation angle (90 ° in the above example) at the time when becomes.

Then, the control unit 3300 sets the regeneration coefficient corresponding to the determination reference value (step S111). In this step, for example, based on the relationship between the control index and the regeneration coefficient as shown in FIG. 17, the regeneration coefficient corresponding to the determination reference value of the control index is specified and set. In the example as shown in FIG. 17, when the regeneration suppression mode flag is turned on, the determination reference value is set to 90 ° and the regeneration coefficient is set to 100%. Then, the processing shifts to the processing of FIG. 18 via the terminal C.

On the other hand, if it is determined in step S101 that the regeneration suppression mode flag is already turned on, the control unit 3300 determines whether or not the predetermined determination condition is satisfied (step S107). The predetermined determination condition is that when the control index is the pedal rotation angle, the current pedal rotation angle (cumulative pedal rotation angle in the examples of FIGS. 5 and 6) exceeds the determination reference value. Become. That is, it is determined whether or not there is an intention to rotate the pedal more. It should be noted that the condition that the torque is less than a predetermined value may be added. This condition may be an on / off determination criterion for the automatic regeneration flag, and in that case, it is not determined in step S107.

If the predetermined determination condition is not satisfied, the control unit 3300 shifts the processing to the processing of FIG. 18 via the terminal C. On the other hand, when a predetermined condition is satisfied, the control unit 3300 updates the determination reference value (step S109). For example, if the pedal rotation angle is 135 °, 135 ° is set as the determination reference value. Then, the process proceeds to step S111. That is, when the step S111 is reached via the step S109, the regeneration coefficient corresponding to the determination reference value at that time is set. If the determination reference value is 135 °, the regeneration coefficient “75%” will be set in the example of FIG.

Moving on to the description of FIG. 18 after the terminal C, does the regeneration suppression processing unit 3100 indicate that the brake operation is performed as an example of the second event based on the suppression cancellation input? It is determined whether or not (step S11). If the brake operation is not detected, the process proceeds to step S113. On the other hand, when the brake operation is detected, the regeneration suppression processing unit 3100 sets the regeneration suppression mode flag to off (step S13). The second event may be modified as described in the second embodiment. Then, the process proceeds to step S113.

Then, the control unit 3300 calculates the regeneration amount according to the regeneration coefficient that has already been set, and implements the regeneration control so as to realize the regeneration amount (step S113).

Such processing is repeated until the processing is completed by turning off the power or the like (step S21). That is, if the process is not completed, the process returns to step S1 in FIG. 16 via the terminal D.

By executing such a process, the user can intentionally adjust the degree of suppression of the regeneration coefficient in the regeneration suppression mode.

Next, with reference to FIG. 19, an operation example by the processing of the present embodiment is shown.

19A shows the time change of the regeneration coefficient, (b) shows the time change of the automatic regeneration flag, (c) shows the time change of the regeneration suppression mode flag, and (d) shows the pedal rotation angle. (E) represents a time change, and (e) represents a time change with or without a brake operation.

In this example as well, when the automatic regeneration flag is turned on, the regeneration coefficient gradually increases and reaches 100%, then the pedal starts to rotate, and at time t51, the cumulative pedal rotation angle reaches the first threshold value of 45 °. , Time measurement is started. Also in this example, since the cumulative pedal rotation angle reaches the second threshold value of 90 ° at the time t52 after the predetermined time Tth from the time t51, the regeneration suppression mode flag is set to ON and the regeneration suppression mode is started. ..

In the present embodiment, the user further continues the pedal rotation at the same pace to rotate the pedal to 180 ° by time t53. Accordingly, as shown in FIG. 17, the regeneration coefficient is reduced to 50%. Since the pedal rotation angle is maintained at 180 ° from the time t53 to the time t54, the regeneration coefficient is also maintained at 50%.

After that, since the brake operation is detected at time t54, the regeneration suppression mode flag is set to off, and the regeneration suppression mode ends. In this example, the automatic regeneration flag is still set to on, so when the regeneration suppression mode ends, the regeneration coefficient gradually increases from 50% and reaches 100%, and 100% is maintained. There are scenes where the pedal rotation angle exceeds the first threshold value of 45 ° about twice, but since the cumulative pedal rotation angle has not reached the second threshold value of 90 ° within the predetermined time Tth, these operations are performed. Ignored. Although the brake operation ends at time t55, this operation is also ignored in the present embodiment.

In the present embodiment, the degree of suppression in the regeneration suppression mode can be set as intended by the user.

Note that FIG. 17 is an example, and the regeneration coefficient may be changed not only linearly as shown in FIG. 17 but also according to another curve.

FIG. 20 shows another example in which the control index is the pedal rotation angle. In FIG. 20, the vertical axis represents the regeneration coefficient and the horizontal axis represents the pedal rotation angle.

The dotted straight line a is the same as the straight line in FIG. The solid line b represents a curve like a parabola, and the regeneration coefficient does not change much in the portion immediately beyond 90 °, but the degree of change increases as the distance from 90 ° is increased. That is, after the regeneration suppression mode is set, the regeneration coefficient does not change much with a small pedal rotation, but the regeneration coefficient changes rapidly with a large rotation. For example, the regeneration coefficient does not change even if the pedal is unintentionally rotated by about 90 °, but if it greatly exceeds 90 °, it is judged that the user has a clear intention and the regeneration coefficient is significantly changed. be. It should be noted that instead of a smooth curve as in the solid line b, a plurality of straight lines may be combined to obtain a similar effect.

Further, the solid line c represents a curve such as a cubic function, and enables control of the first stage from 180 ° to 270 ° and control of the second stage from 180 ° to 270 °, for example. .. That is, in the control of the first stage, in the regeneration suppression mode, the regeneration coefficient sharply decreases according to the pedal rotation, but it hardly changes when the pedal rotation angle approaches 180 °. On the other hand, the control of the second stage has the same form as the solid line b. In this case, after entering the regeneration suppression mode, the regeneration coefficient is relatively easily reduced to nearly 50% without significantly rotating the pedal, so that the user can easily experience the decrease in regenerative braking. On the other hand, a user who wants a further reduction in regenerative braking can control the degree of reduction in regenerative braking by further rotating the pedal. Also in this example, a similar effect may be obtained by combining a plurality of straight lines.

The numerical values in FIGS. 17 and 20 are merely examples, and other values may be adopted. Also, the shape of the curve can be set in various ways.

Further, the pedal rotation conversion speed (or the pedal rotation speed) may be adopted as the control index. In this case, the predetermined determination condition in step S107 is that the current pedal rotation conversion speed exceeds the determination reference value. That is, it is determined whether the pedal is rotated faster.

In such a case, the relationship between the pedal rotation conversion speed [km / h], which is a control index, and the regeneration coefficient [%], as shown in FIG. 21, may be adopted.

The vertical axis of FIG. 21 represents the regeneration coefficient, and the horizontal axis represents the pedal rotation conversion speed. In the example of FIG. 21, as the initial value set in step S105, the pedal rotation conversion speed when the regeneration suppression mode flag is turned on is set as the determination reference value, and the regeneration coefficient is set when the determination reference value is the initial value. Is 100%. If the pedal rotation conversion speed increases after the regeneration suppression mode flag is turned on, the regeneration coefficient decreases according to the increase. In the example of FIG. 21, the straight line d shows an example in which the regeneration coefficient linearly decreases from 100% to 50% until the pedal rotation conversion speed reaches the threshold value Vth, and the straight line e shows the regeneration coefficient from 100%. An example of linearly decreasing to 0% is shown.
The regeneration coefficient may be reduced by an arbitrary curve instead of a straight line.

Further, ΔV = wheel rotation speed-pedal rotation speed [rpm] may be adopted as the control index. In this case, the predetermined determination condition in step S107 is that the current ΔV is less than the determination reference value. That is, the pedal rotation speed is increased to determine whether the wheel rotation speed is closer.

In such a case, the relationship between the control index ΔV [rpm] and the regeneration coefficient [%] as shown in FIG. 22 may be adopted.

The vertical axis of FIG. 22 represents the regeneration coefficient, and the horizontal axis represents ΔV. In the example of FIG. 22, as the initial value set in step S105, ΔV when the regeneration suppression mode flag is turned on is set as the judgment reference value, and when the judgment reference value is the initial value, the regeneration coefficient is set to 100%. And. If ΔV decreases after the regeneration suppression mode flag is turned on, the regeneration coefficient decreases according to the decrease. In the example of FIG. 22, the straight line f shows an example in which the regeneration coefficient linearly decreases from 100% to 50% until ΔV reaches the threshold value ΔVth, and the straight line g shows the regeneration coefficient from 100% to 0%. An example of linear decrease is shown. The regeneration coefficient may be reduced by an arbitrary curve instead of a straight line.

In the first embodiment, the index based on the relationship between the wheel rotation and the pedal rotation is described as a condition for detecting the first event, but these can be used as the control index in the present embodiment. An index for determining whether or not to turn on the regeneration suppression mode flag and an index of a different type may be adopted as the control index.

Although the embodiments of the present invention have been described above, the present invention is not limited thereto. For example, depending on the purpose, any technical feature described in each of the above embodiments may be deleted, or any technical feature described in another embodiment may be added. Is also good.

Further, the functional block diagram described above is an example, and one functional block may be divided into a plurality of functional blocks, or a plurality of functional blocks may be integrated into one functional block.
As for the processing flow, the order of the steps may be changed or a plurality of steps may be executed in parallel as long as the processing contents do not change.

Part or all of the arithmetic unit 1021 may be implemented by a dedicated circuit, or the functions described above may be realized by executing a program prepared in advance.

As for the type of sensor, the example described above is an example, and another sensor that can obtain the parameters described above may be used.

The embodiments described above can be summarized as follows.

The motor drive control device according to the present embodiment is electrically driven in a state where (A) a drive unit for driving a motor of an electrically power assisted vehicle and (B) automatic regeneration, which is automatically executed regeneration, are functioning. It has a control unit that controls the drive unit so as to continuously stop or suppress automatic regeneration when the driver of the assist vehicle detects the first predetermined operation or the first predetermined running state during driving. ..

This makes it possible to easily reflect the user's intention when performing automatic regeneration. More specifically, when the automatic regeneration is functioning, the regenerative braking is automatically generated, but since the driver may not need the regenerative braking, the first predetermined operation or the first predetermined running Depending on the state, the intention of continuous stop or suppression of automatic regeneration is detected, and control is performed according to the intention.

Further, when the control unit described above detects a second predetermined operation or a second predetermined running state performed by the driver during operation in a state where automatic regeneration is continuously stopped or suppressed, the control unit described above detects. The continuous stop or suppression of automatic regeneration may be canceled.

Even if the automatic regeneration is continuously stopped or suppressed once, by detecting the event that the automatic regeneration should be performed again in the second predetermined operation or the second predetermined running state, the driver can be more. It allows you to reflect your intentions.

The control unit described above may specify a state in which automatic regeneration functions when a third predetermined operation or a third predetermined running state is detected. The state in which automatic regeneration works can be specified from various operations and running states. For example, the third predetermined operation may be a regeneration instruction by the user. Further, the third predetermined running state may be determined by the same type of index as the first predetermined running state, or may be determined based on acceleration or the like.

In addition, the continuous suppression of automatic regeneration described above is (b1) regeneration at the level immediately before continuous suppression or at a level lower than the maximum level of automatic regeneration, and (b2) immediately before continuous suppression. It may either be regenerated by tapering from the maximum level of automatic regeneration or the maximum level of automatic regeneration. Various modes are possible when not only stopping the automatic regeneration but also suppressing it. If the degree of suppression is lowered, the regeneration will continue by that amount, so that the amount of charge will increase. Further, if the regeneration is performed at a predetermined level or higher, there is also an effect of suppressing noise due to the backlash of the motor. Further, the mode of tapering is also defined for any curve.

Further, the continuous suppression of the automatic regeneration described above is an index value representing the amount of the fourth predetermined operation or the fourth predetermined running state from the level immediately before the continuous suppression or the maximum level of the automatic regeneration. It may be reduced and regenerated according to the function of the index value to be represented. In this way, the degree of suppression can be set according to the driver's intention. It should be noted that the conditions for stopping or suppressing automatic regeneration and the control of the regeneration level may be performed based on different indexes.

Further, the function may have a range of index values in which the output value of the function does not change or fluctuates slightly according to the change in the index value. This makes it possible, for example, to provide play for operations not intended by the driver.

Further, the first predetermined operation or the first predetermined running state described above includes pedal rotation of a predetermined angle or more, pedal rotation conversion speed of a predetermined speed or more, pedal rotation number of a predetermined number or more, and wheel rotation. The relationship with the pedal rotation may be one of the predetermined states. The predetermined state is, for example, that the pedal rotation approaches the wheel rotation, and there are various indexes for determining the pedal rotation.

Further, the second predetermined operation or the second predetermined running state described above is either a braking operation, running at a predetermined speed or less, a negative acceleration, or an input torque of a predetermined value or more. It may be. In such a case, since it is clear that the traveling state has changed, it is preferable to cancel the stop or suppression of the automatic regeneration.

Such a configuration is not limited to the matters described in the embodiment, and may be implemented by another configuration having substantially the same effect.

3000 Regenerative control unit 3100 Regenerative suppression processing unit 3200 Automatic regeneration processing unit 3300 Control unit

Claims (4)

The drive unit that operates the motor of the electrically power assisted vehicle and
While the condition for executing automatic regeneration is satisfied and the automatic regeneration is being executed, the first predetermined operation or the first predetermined running state performed by the driver of the electrically power assisted vehicle while driving is detected even once. If the flag that turns on when the flag is turned on remains on, the control unit that controls the drive unit to suppress or stop the automatic regeneration even if the condition for executing the automatic regeneration is satisfied, and the control unit.
Motor drive control unit with. The flag is turned on when the first predetermined operation or the first predetermined running state is detected even once, and the second predetermined operation or the first predetermined operation different from the first predetermined operation. The motor drive control device according to claim 1, which is a flag that is kept on until a second predetermined running state different from the running state is detected. The motor drive control device according to claim 1 or 2, wherein the control unit continues to suppress or stop the automatic regeneration while the condition for executing the automatic regeneration is satisfied and the flag is kept on. .. An electrically assisted vehicle having the motor drive control device according to any one of claims 1 to 3.

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