JP3138014B2 - Motor control device for electric motorcycle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control device for an electric motorcycle .

[0002]

2. Description of the Related Art Conventionally, there is an electric motorcycle disclosed in, for example, Japanese Utility Model Publication No. 41-16665.

According to this, an electric motor for driving wheels, a battery as a power supply for the electric motor, and an acceleration operation signal based on the operation amount of an accelerator grip as acceleration operation means are inputted, and the signal is output from the battery by this signal. Control means for determining a drive current input to the motor,
A desired vehicle speed can be obtained according to the operation of the acceleration operation means.

[0004]

By the way, the acceleration of the vehicle is performed by accelerating the electric motor, and the deceleration is performed by
Normally, it is obtained by actuation of mechanical braking means by depressing a braking operation means such as a brake pedal.During traveling, if acceleration by the electric motor and deceleration by the mechanical braking means are alternately performed, especially from acceleration to deceleration There is an inconvenience that the running speed changes discontinuously at the time of shifting to, that is, smooth running cannot be obtained.

[0005]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned circumstances, and enables a smooth running to be obtained even when acceleration and deceleration are alternately performed during running by an electric motorcycle . Further, even in such a case, the electric motor
An object of the present invention is to make it possible to smoothly handle a wheel .

[0006]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention is characterized in that a motor 3 for driving wheels 2 and a battery 4 as a power source for the motor 3 are provided.
A control means 10 for inputting an acceleration operation signal based on an operation amount of an accelerator grip ( acceleration operation means ) 5 and determining a drive current inputted from the battery 4 to the electric motor 3 by the signal; and a brake pedal ( brake operation means) 2) an electric motorcycle including mechanical braking means 6 for braking the wheels 2 by the operation of 7 ;

[0007] A braking operation signal based on the operation amount of the brake pedal ( braking operation means ) 7 and a vehicle speed signal based on the vehicle speed are input to the control means 10 , and a signal corresponding to the braking operation signal and the vehicle speed signal is input. , So as to reduce the driving current ,

The brake pedal (braking operation means) 7
The operation amount and the vehicle speed are each reduced from 0 to a predetermined size.
Until the brake operation signal and the vehicle speed signal are not output
That's the point.

[0009]

[Operation] The operation of the above configuration is as follows.

[0010] To accelerate the electric two-wheeled vehicle 1, basically, the accelerator grip (accelerator operation means) 5 is rotated, and
An acceleration operation signal based on the rotation amount (operation amount) is input to the control means 10, and a drive current I ₀ input from the battery 4 to the electric motor 3 is determined by the signal to accelerate the electric motor 3, thereby obtaining a desired vehicle speed. I'm trying to get When the vehicle is decelerated, the braking means 6 is operated by operating a brake pedal (braking operation means) 7, thereby braking the wheels 2 to obtain the above-described deceleration.

In the above configuration, a braking operation signal based on the amount of depression (operation amount) of a brake pedal (braking operation means) 7 and a vehicle speed signal based on the vehicle speed are input to the control means 10 and the braking operation is performed. min corresponding to the signal and the vehicle speed signal, it is so reduce the driving current I _0.

[0012] Thus, for example, an electric two-wheeled vehicle 1 in an attempt to decelerate from a high-speed running state, while reducing the amount of rotation of the accelerator grip (accelerator operation means) 5, the depression of the brake pedal (brake operating unit) 7, When the depression amount is increased, the drive current I ₀ is reduced by the decrease in the rotation amount of the accelerator grip (acceleration operation means) 5, while the brake pedal (brake operation means) 7 is depressed. The drive current I ₀ is reduced by the amount of increase and the high speed, and the drive current I ₀ is reduced in this way, and the value of the drive current I ₀ changes from positive to negative, whereby the wheels 2 are braked, and the electric current is reduced. so that the two-wheeled vehicle 1 is decelerated.

[0013] That is, in this case, the electric two-wheeled vehicle 1 shifts from high-speed running state to the deceleration state, in addition to the mechanical braking by the braking means 6, obtained by electrical change that the driving current I ₀ is reduced It will be. Therefore, conventionally, the speed is reduced only by the braking by the mechanical braking means 6,
The running becomes smoother than when the running at the transition from acceleration to deceleration was discontinuous.

On the other hand, for example, when the amount of rotation of the accelerator grip (acceleration operation means) 5 is reduced during traveling on a long downhill, the drive current I ₀ decreases accordingly, and on the other hand, high speed , The drive current I ₀ is reduced. Therefore, in this case as well, the drive current I ₀ is reduced in the same manner as described above, and the value of the drive current I ₀ changes from positive to negative, so that the electric motor 3 acts to brake the wheels 2 and when the vehicle descends downhill. The acceleration is suppressed without using the braking means 6 a lot for the natural acceleration.

The brake pedal (braking operation hand)
Step 7) The operation amount and the vehicle speed of
Outputs braking operation signal and vehicle speed signal until the size is reached
I try not to let it.

Here, when the electric motorcycle 1 is handled,
The brake pedal (braking operation means) 7 is in a non-operation state.
And the vehicle speed is low,
The operation signal and the vehicle speed signal are not output.

Therefore, when the electric motorcycle 1 is handled,
The driving current input to the electric motor 3 is the braking operation signal
Is reduced according to the vehicle speed signal
Thus, the braking of the wheels 2 by the electric motor 3 is prevented.

[0018]

Embodiments of the present invention will be described below with reference to the drawings.

[0019] In FIG. 1, reference numeral 1 is conductive kinematic motorcycles, 2 wheels, 3 an electric motor for driving the wheels 2, which is a DC motor, or an AC synchronous motor. A battery 4 is provided as a power source for the electric motor 3.

Reference numeral 5 denotes an accelerator grip as acceleration operation means. Numeral 6 denotes a mechanical braking means 6 for making the wheels 2 brakeable, which is a drum brake or a disc brake. Further, a brake pedal 7 as a braking operation means for operating the braking means 6 is provided. Further, there is provided a vehicle speed sensor 8 for detecting the rotation speed of the electric motor 3 and indirectly detecting the traveling speed of the electric motorcycle 1.

In the above configuration, the accelerator grip 5,
Brake pedal 7, vehicle speed sensor 8, and electric motor 3
And control means 10 for connecting the two to each other.

The control means 10 includes a first potentiometer 11 which is interlocked with a turning operation of the accelerator grip 5,
The output side of the first potentiometer 11 is a differential amplifier 1
2 negative input 12a. And FIG.
As shown by, the amount of rotation (operation amount) of the accelerator grip 5
Is increased, the output voltage v ₁ of the first potentiometer 11 is increased.

A second potentiometer 13 is provided in conjunction with the depression operation of the brake pedal 7, and the second potentiometer 13
The input side of the potentiometer 13 has the vehicle speed sensor 8
The output side of the second potentiometer 13 is connected to the negative input side 18a of the second inverting amplifier 18 via the first inverting amplifier 16 and the diode 17 as described above. .

As shown in FIG. 3, as the depression amount of the brake pedal 7 increases, the voltage v ₂ ′ input to the negative input side 18a of the second inverting amplifier 18 increases, and
As the vehicle speed increases, the voltage v ₂ ″ input to the negative input side 18a increases, and the sum of these (voltage v ₂ ′ + voltage v ₂ ″) = voltage v ₂ is negative as above. Is the actual voltage input to the input side 18a.

It should be noted, the amount of depression of the brake pedal 7, until and vehicle speed increases to a certain degree, respectively,
Due to the characteristics of the diode 17, no signal is output from the diode 17, which is in the range indicated by the symbol a in FIG.

On the output side of the differential amplifier 12, a limiter 25, a current control device 26, a gate drive 27, and an inverter 28 are sequentially connected.
Connects the battery 4 to the electric motor 3.

In order to run the electric motorcycle 1, the accelerator grip 5 is rotated, and the amount of rotation (the amount of operation) is made.
, Ie, the output voltage v ₁ of the first potentiometer 11 is applied to the negative input 12
a.

Here, if the voltage v ₃ input to the positive input side 12b of the differential amplifier 12 is 0, the drive current I ₀ input from the battery 4 to the motor 3 is ₁ , the limiter 25 and the current control device 2
6, the gate drive 27, and is determined via the inverter 28, thereby, so that the vehicle speed commensurate with the voltage v ₁ is obtained.

When the electric motorcycle 1 is decelerated, the braking means 6 is operated by depressing the brake pedal 7.
Is operated to brake the wheels 2, the above-described deceleration can be obtained.

As shown in FIG. 3, the voltage v ₂ input to the negative input side 18a of the second inverting amplifier 18 is
Is determined by the amount of depression of the brake pedal 7 and the vehicle speed detected by the vehicle speed sensor 8 as described above.
Voltage v _{6 at} the positive input side 18b of the second inverting amplifier 18
Is 0 because of grounding.
8 the voltage v ₂ is output from the voltage v ₂ becomes to be input to the positive input side 12b of the differential amplifier 12 as the voltage v _3. Then, from the differential amplifier 12 (voltage v ₃ - Voltage v ₁₎ = voltage v ₇ is output, so that the actual driving current I based on this value is determined.

When the output voltage v ₇ from the differential amplifier 12 exceeds a value (for example, 10 V) set by the limiter 25, a voltage having the same value as the set value is output from the limiter 25.

According to the above arrangement, for example, when the amount of rotation of the accelerator grip 5 is reduced while the amount of depression of the brake pedal 7 is increased in order to decelerate the electric motorcycle 1 from a high-speed running state. The drive current I ₀ is reduced by the reduced amount of rotation of the accelerator grip 5.
Decreases, while the amount of depression of the brake pedal 7 is increased, and, correspondingly is fast, the drive current I ₀ is subtracted, thus drive current I ₀ is subtracted, that value By changing from positive to negative, the wheels 2 are braked and the electric motorcycle 1 is decelerated. At the same time, the kinetic energy of the electric motor 3 is converted into electric power and the battery 4 is charged, whereby the electric motor 3 regeneratively brakes the wheels 2 with a large force.

That is, in this case, the transition of the electric motorcycle 1 from the high-speed running state to the decelerating state is obtained not only by mechanical braking by the braking means 6 but also by a smooth electric change in which the driving current I ₀ is reduced. Therefore, even when acceleration and deceleration are alternately performed, smooth running can be obtained.

By the way, the operator pushes the electric motorcycle 1
During handling of advancing while walking, the brake pedal 7 is not operated state, and the vehicle speed is very slow. Therefore, in this case, the symbol a in FIG.
As shown, the negative input 18 of the second inverting amplifier 18
The input voltage v _{2 to a} is 0, that is, the differential amplifier 1
Input voltage to the second positive input side 12b v ₃ is zero. Therefore, the braking of the wheels 2 by the electric motor 3 is prevented, and the above-mentioned maneuvering work can be performed smoothly. When the vehicle is moved backward in the maneuvering operation, the second
The reverse detection switch 19 connected to the inverting amplifier 18
And N, since the above voltage v ₃ is 0, and that the case also handling work can be smoothly.

On the other hand, for example, when the amount of rotation of the accelerator grip 5 is reduced during traveling on a long downhill, the drive current I ₀ decreases accordingly, and on the other hand,
Fast and is divided, the voltage v ₃ greater input to the positive input side 12b of the differential amplifier 12. Therefore, the drive current I ₀ is reduced accordingly. In this case, the differential amplifier 12
The voltage v ₁ input to the positive input side 12b of the differential amplifier 12 is higher than the voltage v ₁ input to the negative input side 12a of
_{When 3} increases, the value of (voltage v ₃ −voltage v ₁ ) = voltage v ₇ becomes a positive value. Then, the value of the drive current I ₀ becomes a negative value, and in this case also, the electric motor 3 acts to brake the wheels 2 in the same manner as described above, and the braking means against natural acceleration when descending downhill. 6, the acceleration can be suppressed without using much. At the same it is <br/> upper Symbol electrostatic motivation 3 simultaneously regenerative braking with greater force the wheel 2. That is, the same operation as that of the engine brake in the engine-driven vehicle can be obtained.

FIG. 4 shows another embodiment.

According to this, the feedback resistor 12c of the differential amplifier 12 in the first embodiment is made up of two resistors 12c ₁ and 12c ₂ connected in series.
Analog switch 12d are connected in parallel to constitute a part of the thermal protection circuit 31 to 2c _2.

Further, the overheat protection circuit 31 includes a motor 3
Actual drive current a current detecting sensor 33 which detects the I outputs a detection voltage v ₈ and the integrating circuit 34 to is provided, they are connected in series. The actual drive current I to the electric motor 3 is always detected by the current detection sensor 33.

For example, when the amount of rotation of the accelerator grip 5 is kept large on a long uphill, the detection voltage v ₈ of the current detection sensor 33 is
Exceeds the reference voltage v ₉ at 4, and this is followed by a long period of time the output voltage v ₁₀ of the integration circuit 34 when it becomes a predetermined value, the analog switch 12d is turned ON the resistor 12c ₂ are shorted By the voltage
the output value of v ₇ is made to be less.

Therefore, the voltage v ₇ decreases,
The actual drive current I input to the motor 3 is reduced. Therefore, although the acceleration force is reduced to some extent, the electric motor 3
Will be protected from overheating.

The other constructions and operations are the same as in the above embodiment.

FIG. 5 shows still another embodiment.

This is basically the same as the above-described other embodiment except that the current detection sensor 33 is replaced with a temperature sensor 36 for detecting the temperature of the electric motor 3.

According to this configuration, when the temperature of the electric motor 3 becomes high to some extent, the actual drive current I to the electric motor 3 is reduced. For this reason, although the acceleration force is reduced to some extent, the electric motor 3 is protected from overheating.

Other configurations and operations are the same as those of the other embodiments described above .

[0046]

According to the present invention, an acceleration operation signal based on the operation amount of the acceleration operation means is input to the control means, and the drive current input from the battery to the electric motor is determined by this signal. In a case where the braking means is operated by the operation to brake the wheels, a braking operation signal based on the operation amount of the braking operation means and a vehicle speed signal based on the speed of the electric vehicle are input to the control means, The drive current is reduced by an amount corresponding to the braking operation signal and the vehicle speed signal .

For this reason, for example, when the operation amount of the acceleration operation means is reduced while the operation amount of the braking operation means is increased in order to decelerate the electric motorcycle from the high-speed running state, when the operation amount of the braking operation means is increased. As the amount of operation decreases,
The drive current decreases, while the amount of operation of the braking operation means increases and the speed is high, the drive current is reduced, and the drive current is reduced in this way, and the value becomes positive. By turning negative, the wheels are braked,
The electric motorcycle will be decelerated.

That is, in this case, the change of the electric motorcycle from the high-speed running state to the decelerating state can be obtained not only by the mechanical braking by the braking means but also by an electrical change of reducing the driving current. Therefore, in comparison with the conventional method in which deceleration was merely performed by simply braking with mechanical braking means,
Even when acceleration and deceleration are performed alternately, a smooth running can be obtained.

On the other hand, for example, when the operation amount of the acceleration operation means is reduced during traveling on a long downhill, the drive current is reduced accordingly, and at the same time, the speed is high .
Min, the drive current is reduced. For this reason, also in this case, the drive current is reduced and its value changes from positive to negative, so that the electric motor acts to brake the wheels in the same manner as described above. Natural acceleration on the slope is suppressed. That is, according to the present invention, there is an advantage that an operation similar to that of an engine brake in an engine-driven vehicle can be obtained.

The amount of operation of the braking operation means, and
Until the vehicle speeds reach from 0 to the specified level,
Do not output the dynamic operation signal and the vehicle speed signal.
You.

Here, when the electric motorcycle is handled,
The braking operation means is not operated and the vehicle speed is low.
Therefore, the braking operation signal and the vehicle speed signal are output.
Never be.

Therefore, when the electric motorcycle is handled,
The drive current input to the motor is
It will not be reduced in proportion to the speed signal.
Thus, the braking of the wheels by the electric motor is prevented.

As a result, as described above, acceleration and deceleration
When running alternately, smooth running was enabled
Even in this case, the above-mentioned electric motorcycle
it can.

[Brief description of the drawings]

FIG. 1 is an overall electric circuit diagram.

FIG. 2 is a graph.

FIG. 3 is a graph.

FIG. 4 is a partial electric circuit diagram in another embodiment.

FIG. 5 is a partial electric circuit diagram according to still another embodiment.

[EXPLANATION OF SYMBOLS] 1 electric motorcycle (electric vehicle) 2 wheels 3 motor 4 battery 5 accelerator grip (accelerator operation means) 6 brakeman stage 7 the brake pedal (brake operating unit) 8 speed sensor 10 controller v ₁ voltage v ₂ Voltage v ₃ voltage I ₀ the drive current I actual drive current

Claims (1)

(57) [Claims] An electric motor for driving wheels, a battery as a power supply for the electric motor, and an acceleration operation signal based on an operation amount of an acceleration operation means, and a driving current inputted from the battery to the electric motor based on the signal. and control means for determining the, in the electric motorcycle which includes a mechanical braking means for braking the wheels by operating the brake operation means, and the braking operation signal based on the operation amount of the brake operating means, the car
And a vehicle speed signal based on the speed by inputting to the control means, minutes corresponding to the above brake operation signal and the vehicle speed signal, so as to reduce the driving current, the operation amount of the brake operating means, and vehicle speed, respectively 0
The braking operation signal and the vehicle speed signal
A motor control device for an electric motorcycle that does not output a signal .