JP3312814B2 - Reverse drive device for electric vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention detects a reverse vehicle speed, compares the detected reverse vehicle speed with a preset target reverse vehicle speed, and operates the motor so that the reverse vehicle speed becomes substantially equal to the target reverse vehicle speed. The present invention relates to a reverse control device for an electric vehicle that controls conditions.

[0002]

2. Description of the Related Art As for a reverse drive control device of an electric vehicle,
Japanese Patent Application Laid-Open No. 61-147710 discloses a vehicle in which the vehicle speed during reverse travel is reduced. In addition, the applicant has
1993 Patent Application No. 83030 filed on April 9, 1993, proposes a reverse drive control device for an electric vehicle in which the number of rotations of a motor during reverse drive is set to a predetermined value independent of the accelerator opening. are doing. According to these, the accelerator operation at the time of reversing can be facilitated or unnecessary.

[0003]

However, since the former requires an accelerator operation, further simplification is desired. On the other hand, the latter reverse control device of the electric vehicle is configured to supply a preset torque command value (fixed value) to the motor drive circuit during reverse drive. Because the torque command value (fixed value) is set so that the target reverse vehicle speed (for example, 4 km / h) can be obtained when the vehicle reverses on level ground with a standard load weight,
When the load weight changes, the target reverse vehicle speed may not be obtained. In addition, there is an inconvenience that the vehicle speed fluctuates when the vehicle moves backward on an uphill or downhill, and it is difficult to obtain a good riding feeling.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and a reverse drive of an electric vehicle capable of obtaining a substantially stable reverse drive speed irrespective of a change in running conditions such as a loaded weight of a vehicle and a slope. Providing a control device is the first
The purpose of. It is a second object of the present invention to provide a reverse control device for an electric vehicle in which the reverse vehicle speed does not significantly exceed the target vehicle speed even when the vehicle is traveling backward on a downhill.
It is a third object of the present invention to prevent the operating state of the motor from being suddenly changed from the forward driving state to the reverse driving state, and to prevent an excessive load from being applied to the motor and the rotary driving force transmission system. .

[0005]

According to a first aspect of the present invention, there is provided a reverse drive control device for an electric vehicle, which detects a reverse vehicle speed when the vehicle is traveling backward, and detects the detected reverse vehicle speed and a preset target speed. a motor driving control means for controlling the operating state of the motor as the vehicle speed at the time of backward based on a deviation between the reverse speed becomes the target backward vehicle speed, motor operation control means
Is the opening of the accelerator means for adjusting the forward drive output
Is in the fully closed state, and the reverse set
Reverse command to operate the switch and command reverse operation
When the switch is operated, reverse operation is performed.
It is characterized in that form.

A reverse control device for an electric vehicle according to a second aspect of the present invention includes a reverse vehicle speed detecting means for detecting a vehicle speed at the time of reverse travel, and a motor side when the detected reverse vehicle speed exceeds a preset target reverse vehicle speed. a motor driving control means for controlling the operating state of the motor to perform the brake control, the motor
The operation control means includes an access for adjusting the forward drive output.
When the opening of the control means is fully closed, set the reverse
The reverse set switch is operated and the reverse operation is commanded.
When the reverse command switch is operated, the reverse
Characterized by being configured to perform.

When the detected reverse vehicle speed exceeds the target vehicle speed, the motor operation control means calculates a regenerative torque based on the amount of the reverse vehicle speed and controls the motor operating state so as to generate the calculated regenerative torque. It is good also as a structure which performs.

If the reverse vehicle speed exceeds the target reverse vehicle speed even after performing the regenerative braking control by generating the regenerative torque, the motor operation control means calculates the forward torque based on the amount of the excess and calculates the calculated forward torque. The configuration may be such that the operating state of the motor is controlled so as to generate torque.

The motor operation control means may be configured to control the brake by holding the semiconductor switching element of a specific arm of the inverter formed by connecting the semiconductor power switching elements in a bridge manner in a conductive state.

[0010]

According to a first aspect of the present invention, a reverse drive control device for an electric vehicle is provided.
Since the operation state of the motor is controlled based on the deviation between the detected reverse vehicle speed and the target reverse vehicle speed, the reverse vehicle speed can be made to substantially match the target reverse vehicle speed regardless of the running conditions such as the load weight and the slope. .

[0011] reverse control apparatus for an electric vehicle according to claim 2, when the detected backward vehicle speed exceeds the target backward vehicle speed, since the configuration in which the brake control on the motor side,
The reverse vehicle speed can be prevented from significantly exceeding the target reverse vehicle speed.

When the detected reverse vehicle speed exceeds the target vehicle speed, the motor operation control means causes the motor to generate regenerative torque based on the amount of the excess.
The reverse vehicle speed can be made to substantially match the target reverse vehicle speed irrespective of the running conditions such as the load weight and the slope.

If the reverse vehicle speed exceeds the target reverse vehicle speed even when the regenerative braking control by generation of the regenerative torque is performed, the motor operation control means causes the motor to generate forward torque based on the excess amount. Therefore, even when the regenerative brake control is performed and the target reverse vehicle speed is exceeded, the reverse vehicle speed can be substantially set to the target reverse vehicle speed.

By controlling the brake by controlling the semiconductor switching element of the specific arm of the inverter in a conductive state, the regenerative braking force on the motor side can be increased.

The condition that the opening of the accelerator means for adjusting the forward drive output is in the fully closed state is a condition for shifting to the reverse operation, so that the motor is reversely driven from the forward drive rotation state to the reverse drive rotation state. There is no. Therefore, an excessive load is not applied to the motor and the rotational driving force transmission system. Since the reverse drive switch is set and then the reverse drive switch is operated, the motor is driven in reverse, so that it is possible to prevent the motor from inadvertently entering the reverse drive state.

[0016]

Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is an overall side view of an electric three-wheeled vehicle provided with a reverse control device according to the present invention, and FIG. The electric motor-driven three-wheeled vehicle V supports a front wheel Wf steered by a handlebar 2 on the front side of a front body frame 1 formed by steel pipe welding. A rear body bracket 5 is rotatable to the left and right via a swing shaft 4 disposed on a front body bracket 3 provided at a rear portion of the front body frame 1 so as to slightly rise forward in the vehicle longitudinal direction. I support it. The front end of the main rear body frame 6 is fixed to the rear body bracket 5. A power unit P containing a motor M for driving a pair of rear wheels Wr attached to the left and right ends of the axle 7 and a clutchless automatic transmission G (see FIG. 2).
Has a rear end mounted to be able to swing up and down via a cushion spring 8.

On the main rear body frame 6, a plurality of rechargeable batteries (not shown) are suspended and supported, and a control unit (not shown) including a later-described reverse control device 30 is mounted. These batteries and the control unit are covered with a battery / control unit storage box B made of synthetic resin having an open lower surface.

A front part of a synthetic resin body 9 covering the front body frame 1 is connected to a windshield 10 and a roof 11 for shielding a driver from wind, rain and direct sunlight, and a rear end of the roof 11 is a seat 12. And is supported by the upper end of a column 13 standing upright.

FIG . 3 is a perspective view of the handle portion, and FIG. 4 is an enlarged view of a switch portion for the reverse operation. As shown in FIG. 3, a main switch 2 is attached to a handlebar 2 of the motorcycle V.
1, parking lever 22, headlight dimmer switch 23, turn signal switch 24, horn switch 2
5 etc. are provided. In addition, a buzzer BZ that sounds when the tricycle V moves backward is provided below and to the left of the steering wheel 2.

The reverse set switch 26 for setting the reverse state, and, backward command switch 27 for providing a reverse drive command is provided in the vicinity of the accelerator grip 28, the driver has put his hand to the accelerator grip 28 The reverse operation can be performed as it is.

As shown in the front view of FIG. 4 (a) and the side view of FIG. 4 (b), the reverse set switch 26 is a switch in which the operation knob portion operates as a seesaw, and is set to the reverse state at the position of the operation knob. You can see what was done. It should be noted that a non-lock type switch may be used as the reverse set switch 26, and the reverse set state and the reverse reset (forward) state may be electrically alternately switched in accordance with the pressing operation of the switch. The reverse command switch 27 uses a non-locking type push button switch. Then, after the seesaw type reverse set switch 26 is locked to the reverse state, the reverse drive is performed while the push button type reverse command switch 27 is operated.

FIG . 5 is a block diagram of a main part of an electric vehicle provided with the reverse control device according to the present invention. The reverse control device 30 includes a reverse set switch 26, a reverse command switch 27, an accelerator operation unit 31, an accelerator operation amount detection unit 32, a motor operation control unit 33 configured using a microcomputer or the like, and an electric vehicle. A current detector 35 for detecting a current supplied from a traveling DC power supply (rechargeable battery) BAT to a motor M via an inverter (DC-AC converter) 34, and a rotational position of the motor M It comprises a position detector 36 for detection, an automatic transmission G for transmitting the rotation output of the motor M to the rear wheel Wr, and a power transmission mechanism (not shown).

The motor operation control means 33 includes forward / reverse determination means 41, motor operation condition setting means 42, motor drive signal generation means 43, target reverse vehicle speed setting means 44,
The vehicle includes a reverse vehicle speed detection unit 45 and a deviation calculation unit 46.

The accelerator operation means 31 provided in the accelerator grip 28 outputs an electric signal such as a voltage corresponding to the accelerator operation amount. For example, a variable resistor which is turned in response to the accelerator operation is provided with a variable resistor. It is configured to output the divided voltage as an accelerator operation amount signal 31a.

The accelerator operation amount detecting means 32 is constituted by using an A / D converter or the like, and is configured to convert the accelerator operation amount signal 31a into a corresponding digital signal 32a and supply it to the motor operation control means 33. I have.

The inverter 34 includes six semiconductor power switching elements (for example, field effect transistors) 34 a to 34 f connected in a three-phase bridge, and a gate drive circuit 34.
g. The gate drive circuit 34G is provided with energization command signals a to f (corresponding to the switching elements 34a to 34f) for each arm supplied from the motor operation control means 33.
, The corresponding switching elements 34a to 34f
Is configured to supply power (gate drive signal) required to drive the semiconductor device into a conductive state.

The motor M is constituted by, for example, a three-phase permanent magnet type synchronous motor capable of rotating forward and reverse. The rotation output of the motor M drives the rear wheel Wr via the automatic transmission G and a power transmission mechanism (not shown). Further, a position detector 36 for detecting the rotational position of the motor M is connected to the output shaft of the motor M.

[0028] The position detector 36 detects the position of each magnetic pole of the motor M, the magnetic pole position signal US, VS, an output outputs a WS, for example, a set of pulse signals PS of different phase per revolution It is configured to do.

The reverse speed detecting means 45 in the motor operation control means 33, a set of per unit time of the motor M based on the pulse number or the like of the period or within a predetermined time of the pulse signal PS output from the position detector 36 And outputs the data 45a relating to the reverse vehicle speed by multiplying the determined rotational speed by a preset coefficient or the like. Since the automatic transmission G is set to the first speed when the vehicle is moving backward, the reverse vehicle speed can be obtained by setting a coefficient corresponding to the speed ratio of the first speed.

Further, the backward vehicle speed detecting means 45, a pair of detecting the rotation direction of the motor M based on the phase difference of the pulse signals PS, data and motor M according to the detected rotation direction
Is supplied to the motor operation condition setting means 42.

The reverse vehicle speed detecting means 45 may determine the vehicle speed based on a wheel rotation speed detection signal supplied from a wheel rotation speed detector that generates an output signal for each predetermined rotation angle of the wheel.

The target reverse vehicle speed setting means 44 is, for example, an RO
The target reverse vehicle speed value data 44a is configured to be stored using preset M and the like, and to output the target reverse vehicle speed value data 44a.

The deviation calculating means 46 calculates a deviation between the target reverse vehicle speed value data 44a and the data 45a relating to the reverse vehicle speed, and supplies the data 46a relating to the deviation including the polarity of the deviation to the motor operating condition setting means 42. Make up.

When the reverse set switch 26 is not set to the reverse position, the forward / reverse determining means 41 determines that the vehicle is in the forward mode. If the signals of various brakes (not shown) are released, the accelerator is turned off. The forward drive request 41a according to the operation amount is supplied to the motor operation condition setting means 42.

The forward / reverse determining means 41 constantly monitors the output of the accelerator operation amount detecting means 32. When it is determined that the accelerator operating means 31 is at the fully closed position, the reverse set switch 26 is set to the reverse position. It is configured to check whether or not it has been performed. Reverse set switch 2
Even if 6 is set to the reverse position, if the accelerator opening deviates from the fully closed position, the reverse position setting state of the reverse set switch 26 is ignored, and the operation is not shifted to the reverse operation.

The forward / reverse determining means 41 determines that the accelerator means 31 is in the fully closed position and the reverse set switch 26
Is set to the reverse position and the reverse command switch 2
The reverse drive request 41b is supplied to the motor operating condition setting means 42 only when the driver 7 is operated.

The motor operating condition setting means 42 sets the operating conditions of the motor M based on the forward drive request 41a and the reverse drive request 41b supplied from the forward / reverse determining means 41, and sets torque command data including rotation direction information. 42a is supplied to the motor drive signal generation means 43.

[0038] In addition, the motor is running condition setting means 42
Is a current detector 35 via an A / D converter (not shown) or the like.
Of the detected current value 35a, and if the current value supplied to the motor M via the inverter 5 is excessive,
The torque command value is reduced so as to reduce the supply current, or the operation of the motor M is stopped as necessary.

When the forward drive request 41a is supplied from the stop state of the vehicle, the motor operating condition setting means 42
The speed change command 42b for instructing the speed is supplied to the automatic transmission G to set the gear ratio to the first speed, and the forward rotation torque is set and set based on the magnitude of the forward output request according to the accelerator opening. The torque command data 42a including the normal rotation torque data is supplied to the motor drive signal generation means 43.

The motor drive signal generating means 43 generates the output torque required in the required rotational direction based on the torque command data 42a and the magnetic pole position signals US, VS, WS supplied from the position detector 36. In order to obtain the power supply signals a-f, the control unit generates and outputs power supply command signals af for each arm.

When the inverter 34 operates based on the energization command signals a to f to drive the motor M and the vehicle enters a forward state, the motor operating condition setting means 42 determines the unit of the motor M supplied from the reverse vehicle speed detecting means 45. The data 45b relating to the number of revolutions per time is monitored, registered in advance, and by referring to a shift table or a shift function, an appropriate value is obtained from the relationship between the forward drive demand force set by the accelerator means 31 and the number of revolutions of the motor M Torque control data including the determined forward gear ratio, controlling the change ratio of the automatic gear ratio G so as to obtain an appropriate gear ratio, obtaining the forward rotation torque corresponding to the changed gear ratio, and including the determined forward rotation torque data. 42a is supplied to the motor drive signal generation means 43.

When the reverse drive request 41b is supplied, the motor operation state setting means 42 changes the speed command 4 for instructing the first speed.
2b is supplied to the automatic transmission G to set the gear ratio to the first speed, and the reverse drive torque command 42b including the preset standard reverse torque data is supplied to the motor drive means 43. Here, the standard reverse torque value is set to a value necessary for traveling on a flat ground with a standard load weight at a preset reverse vehicle speed (for example, 4 km per hour). Note that the reverse torque value may be set based on the data 46a relating to the deviation supplied from the deviation calculating means 46 without providing the standard reverse torque value.

In the reverse control device according to the first aspect, when the vehicle starts to reverse, the motor operating condition setting means 42 monitors the data 46a relating to the deviation, and when the reverse vehicle speed does not reach the target reverse vehicle speed, The reverse torque value is increased according to the insufficient vehicle speed, and the increased reverse torque value data 42b is output. As a result, the reverse rotation output of the motor M is increased, and it is possible to approach the target reverse vehicle speed. If the reverse vehicle speed exceeds the target reverse vehicle speed,
The motor operating condition setting means 42 reduces the reverse torque value according to the amount of the excess, so that the reverse vehicle speed can be made closer to the target reverse vehicle speed.

In the reverse control device according to the second aspect, when the reverse vehicle speed exceeds the target reverse vehicle speed, the motor operating condition setting means outputs the reverse torque value data a so as to perform the brake control on the motor side. Therefore, it is possible to prevent the reverse vehicle speed from exceeding the target reverse vehicle speed.

In the reverse control device according to the third aspect, when the reverse vehicle speed exceeds the target reverse vehicle speed, the motor operating condition setting means 42 calculates the regenerative torque according to the amount of the excess of the target reverse vehicle speed, Since the reverse torque value data 42a including the calculated regenerative torque value data is output, the reverse vehicle speed can be approximated to the target reverse vehicle speed.

In the reverse control device according to the fourth aspect, if the reverse vehicle speed exceeds the target reverse vehicle speed even after performing the regenerative brake control, the motor operating condition setting means 42 determines the forward torque according to the amount of the excess. Is output so as to generate the forward torque value data 42a. Therefore, the regenerative braking can prevent the reverse vehicle speed from becoming too high even when the braking force is insufficient.

In the reverse control device according to the fifth aspect, the motor operation condition setting means 42 outputs a forced conduction command 42c to hold the semiconductor power switching elements 34a to 34f corresponding to the specific arm in a conduction state. Since the regenerative braking force is increased by short-circuiting the phases of the three-phase motor M, it is possible to prevent the reverse vehicle speed from becoming excessive.

The motor operating condition setting means 42 first keeps the semiconductor power switching element (for example, 34d) constituting a specific one-phase arm in a conductive state.
If the reverse vehicle speed still exceeds the target reverse vehicle speed, a specific two-phase semiconductor power switching element (for example, reference numeral 34)
d and 34e) are kept in a conductive state, and when the regenerative braking force is insufficient, the semiconductor power switching elements of all phases (for example, 34d, 34e and 34e).
f) is configured to be kept conductive. The semiconductor power switching elements (reference numerals 34a to 34c) constituting the upper arm instead of the lower arm may be held in a conductive state.

FIG . 6 is a flow chart showing the operation of the reverse control device according to the first embodiment. The forward / reverse determination means 41 in the motor operation control means 33 shown in FIG.
At 1, it is checked whether the accelerator opening is fully closed. If the accelerator opening is not fully closed, the reverse flag is reset in step S2. The motor operating condition setting means 42 outputs a forward rotation torque command value according to the accelerator opening (S3).
Thereby, the motor drive signal generation means 43 generates and outputs the energization command signals a to f corresponding to the normal rotation torque command value,
Forward rotation of the motor M is performed according to the accelerator opening, and the vehicle enters a forward state.

If the accelerator opening is fully closed, the forward / reverse determining means 41 checks in step S4 whether the reverse set switch 26 has been operated. If the reverse set switch 26 has been operated, the reverse flag is set in step S5, and the state of the reverse flag is checked in step S6. If the reverse flag is set, step S7
To check whether the reverse command switch 27 is operated.

When the reverse command switch 27 is operated, the forward / reverse determining means 41 supplies a reverse drive request 41b to the motor operating condition setting means 42 in step S7. Thus, the motor operation condition setting means 42 controls the reverse operation of the motor M based on the deviation output 42a between the reverse vehicle speed and the target vehicle speed (S8).

FIG . 7 is a flowchart showing one specific example of the reverse drive control based on the deviation between the reverse vehicle speed and the target vehicle speed. When the vehicle enters the reverse operation state, the motor operation condition setting means 42
Determines whether the reverse vehicle speed is equal to or higher than the target reverse vehicle speed based on the polarity of the data 46a relating to the deviation (S1).
1). When the reverse vehicle speed is equal to or lower than the target reverse vehicle speed, the motor operation condition setting means 42 supplies a predetermined fixed reverse torque command value to the motor drive signal generation means 43 (S1).
2). When the reverse vehicle speed exceeds the target reverse vehicle speed, the motor operating condition setting means 42 calculates a reverse regenerative torque value by multiplying a deviation between the reverse vehicle speed and the target reverse vehicle speed by a preset constant K1. The value is supplied to the motor drive signal generation means 43 (S13).

FIG . 8 is a graph showing the relationship between the reverse vehicle speed and the reverse driving force when the reverse driving control shown in FIG. 7 is performed. By performing the control of steps S11 to S13 shown in FIG. 7, when the reverse vehicle speed is equal to or lower than the target vehicle speed, a predetermined constant reverse driving force is output from the motor M, and when the reverse vehicle speed exceeds the target reverse vehicle speed, The regenerative brake control is performed according to the exceeded amount. A predetermined hysteresis width is provided between the reverse vehicle speed at which the reverse regenerative torque control is started and the reverse vehicle speed at which the reverse regenerative torque control is stopped, so that the reverse drive state and the reverse regenerative brake state are not frequently switched. By performing such control, it is possible to reduce a change in the vehicle speed when the vehicle travels uphill and reverses, for example.

FIG . 9 is a flowchart showing another specific example of the reverse driving control based on the deviation between the reverse vehicle speed and the target vehicle speed. In the reverse control shown in FIG. 9, when the reverse vehicle speed is equal to or less than the target reverse vehicle speed, the reverse drive torque value is obtained by multiplying the deviation between the target reverse vehicle speed and the detected reverse vehicle speed by a preset constant K2. The drive torque value is supplied to the motor drive signal generation means 43 (step S22). If the reverse vehicle speed exceeds the target reverse vehicle speed, the vehicle travels backward by multiplying the deviation between the reverse vehicle speed and the target reverse vehicle speed by a preset constant K3. The regenerative torque value is obtained, and the obtained reverse regenerative torque value is supplied to the motor drive signal generation means 43 (S23).

FIG . 10 is a graph showing the relationship between the reverse vehicle speed and the reverse driving force when the reverse driving control shown in FIG. 9 is performed. By performing the control of steps S21 to S23 shown in FIG. 9, when the reverse vehicle speed is equal to or less than the target vehicle speed, the reverse driving force corresponding to the deviation is output from the motor M, and when the reverse vehicle speed exceeds the target reverse vehicle speed, The regenerative brake control is performed according to the exceeded amount. Since the reverse driving force is reduced using the predetermined constant K2 and the reverse driving force at the target reverse vehicle speed is close to zero, the shock at the time when the regenerative brake starts to be effective can be reduced.

FIG . 11 is a flowchart showing a third specific example of the reverse driving control based on the deviation between the reverse vehicle speed and the target vehicle speed. The reverse control shown in FIG. 11 corresponds to claim 4. Here, the reverse vehicle speed is classified into three stages and determined. If the reverse vehicle speed is equal to or lower than the first target reverse vehicle speed, the motor operating condition setting means 42 determines the deviation between the detected reverse vehicle speed and the first target reverse vehicle speed. Is multiplied by a preset constant K4 to obtain a reverse torque command value, and the calculated reverse torque command value is output (S32).

If it is determined in step S31 that the reverse vehicle speed is equal to or higher than the first target vehicle speed, the first vehicle speed is determined in step S33.
It is determined whether or not a second target reverse vehicle speed set to a value larger than the target reverse vehicle speed is exceeded. If the speed exceeds the first target reverse speed and is lower than the second target reverse speed, the motor operating condition setting means 42 multiplies the deviation between the detected reverse speed and the first target reverse speed by a preset constant K5 to regenerate. The torque command value is obtained, and the obtained regenerative torque command value is output (S34).

When the speed is equal to or higher than the second target reverse vehicle speed, the motor operating condition setting means 42 obtains a forward torque command value by multiplying a deviation between the detected reverse vehicle speed and the second target reverse vehicle speed by a preset constant K6. Then, the determined forward torque command value is output (S35). Therefore, if the reverse vehicle speed becomes higher than the second target reverse vehicle speed even after performing the regenerative brake control, the motor M is driven to rotate in the direction of driving the vehicle forward, thereby preventing the reverse vehicle speed from increasing.

FIG . 12 is a graph showing the relationship between the reverse vehicle speed and the reverse driving force when the reverse driving control shown in FIG. 11 is performed. By performing the control of steps S31 to S35 shown in FIG. 11, when the reverse vehicle speed is equal to or less than the first target vehicle speed,
A reverse driving force according to the deviation is output from the motor M. When the vehicle speed exceeds the first target reverse vehicle speed and is lower than the second target reverse vehicle speed, regenerative braking control according to the amount exceeding the first target reverse vehicle speed is performed. When the speed is equal to or higher than the second target vehicle speed, the motor M is driven in the forward direction, and a reverse braking force greater than the regenerative braking is applied to the vehicle.

When the vehicle travels backward on a heavy vehicle or on a steep downhill, the acceleration may be increased by the reverse drive, and the braking force may be insufficient with the regenerative braking. For this purpose, it is necessary to use a transmission capable of setting a large reduction ratio when the vehicle is traveling backward, or to use a large motor having a large output torque. Can be solved.

FIG . 13 is a flowchart showing a fourth specific example of the reverse drive control based on the deviation between the reverse vehicle speed and the target vehicle speed. The reverse control shown in FIG. 13 corresponds to claim 5. Here, the reverse vehicle speed is classified into four stages and determined. If the reverse vehicle speed is equal to or less than the first target reverse vehicle speed, the motor operating condition setting means 42 determines the deviation between the detected reverse vehicle speed and the first target reverse vehicle speed. Is multiplied by a preset constant K7 to obtain a reverse torque command value, and the calculated reverse torque command value is output (S42).

If it is determined in step S41 that the reverse vehicle speed is equal to or higher than the first target vehicle speed, the first vehicle speed is determined in step S43.
It is determined whether or not a second target reverse vehicle speed set to a value larger than the target reverse vehicle speed is exceeded. If the speed is greater than the first target reverse vehicle speed and less than the second target reverse vehicle speed, the motor operating condition setting means 42 multiplies the deviation between the detected reverse vehicle speed and the first target reverse vehicle speed by a preset constant K8 to regenerate. The torque command value is determined, and the determined regenerative torque command value is output (S44).

In steps S45 and S47, if the detected reverse vehicle speed is equal to or higher than the second target reverse vehicle speed,
It is determined whether the detected reverse vehicle speed is less than the third target reverse vehicle speed, less than the fourth target reverse vehicle speed but higher than the fourth target reverse vehicle speed, or higher than the fourth target reverse vehicle speed. When the vehicle speed exceeds the target reverse vehicle speed, first, for example, one side arm of the U-phase of the inverter 34 is controlled to a conductive state (S46).
If the third target reverse vehicle speed is exceeded, one of the U-phase and V-phase one-side arms is controlled to be conductive (S48). By controlling the conduction state (S49), the braking force is sequentially increased with the increase in the reverse vehicle speed, and the increase in the reverse vehicle speed is suppressed.

FIG . 14 is a graph showing the relationship between the reverse vehicle speed and the reverse driving force when the reverse driving control shown in FIG. 13 is performed. Since the configuration is such that the effect of the brake is increased by conducting between the phases of the motor M, without complicating the configuration,
It is possible to prevent the reverse vehicle speed from increasing.

[0065]

As described above, the reverse drive control device for an electric vehicle according to the first aspect controls the operation state of the motor based on the deviation between the detected reverse drive speed and the target reverse drive speed. The reverse vehicle speed can be made to substantially match the target reverse vehicle speed irrespective of running conditions such as weight and slope.

The reverse control device for an electric vehicle according to the second aspect is configured such that when the detected reverse speed exceeds the target reverse speed, the brake control is performed on the motor side.
The reverse vehicle speed can be prevented from significantly exceeding the target reverse vehicle speed.

According to a third aspect of the present invention, when the detected reverse vehicle speed exceeds the target vehicle speed, the electric vehicle generates the regenerative torque based on the amount of the detected reverse vehicle speed. The reverse vehicle speed can be made to substantially match the target reverse vehicle speed irrespective of running conditions such as weight and slope.

According to a fourth aspect of the present invention, when the reverse vehicle speed exceeds the target reverse vehicle speed even when regenerative braking control is performed, the reverse control device of the electric vehicle generates forward torque to the motor based on the amount of the excess. As a result, even when the regenerative braking force is not sufficient, the reverse vehicle speed can be substantially set to the target reverse vehicle speed.

[0069] reverse control apparatus for an electric vehicle according to claim 5, with a configuration for performing brake control allowed holding the semiconductor switching element of a particular arm of inverter conductive, increasing the regenerative braking force of the motor side be able to.

Further, in the reverse drive control device of the electric vehicle according to the present invention, the condition for shifting to the reverse operation is that the opening degree of the accelerator means for adjusting the forward drive output is in the fully closed state. There is no reverse drive from the rotation state to the reverse drive rotation state. Therefore, an excessive load is not applied to the motor and the rotational driving force transmission system. Since the reverse drive switch is set and then the reverse drive switch is operated, the motor is driven in reverse, so that it is possible to prevent the motor from inadvertently entering the reverse drive state.

[Brief description of the drawings]

FIG. 1 is an overall side view of an electric tricycle equipped with a reverse control device according to the present invention.

FIG. 2 is a cross-sectional view of the power unit (a cross-sectional view taken along line CC of FIG. 1).

FIG. 3 is a perspective view of a handle portion.

FIG. 4 is an enlarged view of a switch section related to reverse operation.

FIG. 5 is a block diagram of a main part of an electric vehicle equipped with a reverse control device according to the present invention.

FIG. 6 is a flowchart showing the operation of the reverse control device according to claim 1;

FIG. 7 is a flowchart illustrating a specific example of reverse driving control based on a deviation between a reverse vehicle speed and a target vehicle speed.

8 is a graph showing a relationship between a reverse vehicle speed and a reverse driving force when the reverse driving control shown in FIG. 7 is performed.

FIG. 9 is a flowchart showing another specific example of the reverse drive control based on the deviation between the reverse vehicle speed and the target vehicle speed.

10 is a graph showing a relationship between a reverse vehicle speed and a reverse driving force when the reverse driving control shown in FIG. 9 is performed.

FIG. 11 is a flowchart showing a third specific example of the reverse driving control based on the deviation between the reverse vehicle speed and the target vehicle speed.

12 is a graph showing a relationship between a reverse vehicle speed and a reverse driving force when the reverse driving control shown in FIG. 11 is performed.

FIG. 13 is a flowchart showing a fourth specific example of the reverse driving control based on the deviation between the reverse vehicle speed and the target vehicle speed.

14 is a graph showing a relationship between a reverse vehicle speed and a reverse driving force when the reverse driving control shown in FIG. 13 is performed.

[Explanation of symbols]

 Reference Signs List 26 reverse set switch 27 reverse command switch 30 reverse control device 31 accelerator operation means 33 motor operation control means 34 inverter 36 position detector 41 forward reverse determination means 42 motor operation condition setting means 43 motor drive signal generation means 44 target reverse vehicle speed setting means 45 Reverse vehicle speed detecting means 46 Deviation calculating means G Automatic transmission M Motor P Power unit V Electric tricycle

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-4-138001 (JP, A) JP-A-5-199617 (JP, A) JP-A-3-74113 (JP, A) JP-A-6-1994 296307 (JP, A) JP-A-6-133415 (JP, A) JP-A-58-108907 (JP, A) JP-A-52-20211 (JP, A) JP-A-5-95109 (JP, U) Actually Open Hei 1-1147602 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B60L 9/18 B60L 7/14 B60L 15/00

Claims (5)

(57) [Claims] 1. A reverse vehicle speed detecting means for detecting a vehicle speed at the time of reverse travel, and an operating state of the motor such that the vehicle speed at the time of reverse travel becomes the target reverse vehicle speed based on a deviation between the detected reverse vehicle speed and a preset target reverse vehicle speed. Motor operation control means for controlling the forward drive output.
The accelerator means is fully closed and the reverse
The reverse set switch to set is operated and the reverse
When the reverse command switch for commanding operation is operated,
A reverse drive control device for an electric vehicle, which is configured to perform reverse drive . 2. A reverse vehicle speed detecting means for detecting a vehicle speed at the time of reverse traveling, and controlling a motor operating state so as to perform brake control on the motor side when the detected reverse vehicle speed exceeds a preset target reverse vehicle speed. Motor operation control means for adjusting the forward drive output.
The accelerator means is fully closed and the reverse
The reverse set switch to set is operated and the reverse
When the reverse command switch for commanding operation is operated,
A reverse drive control device for an electric vehicle, which is configured to perform reverse drive . When the detected reverse vehicle speed exceeds the target reverse vehicle speed, the motor operation control means calculates a regenerative torque based on the amount of the detected reverse vehicle speed and generates the calculated regenerative torque. 3. The reverse control device for an electric vehicle according to claim 1, wherein the driving condition is controlled. 4. When the reverse vehicle speed exceeds the target reverse vehicle speed even after performing regenerative braking control by generating regenerative torque, the motor operation control means calculates forward torque based on the excess amount. 3. The reverse drive control device for an electric vehicle according to claim 1, wherein the operation state of the motor is controlled to generate the calculated forward torque. 5. The motor operation control means is configured to perform a brake control by holding a semiconductor switching element of a specific arm of an inverter formed by connecting semiconductor power switching elements in a bridge connection in a conductive state. The reverse drive control device for an electric vehicle according to claim 1.