JP3440729B2 - Electric bicycle - Google Patents
Electric bicycleInfo
- Publication number
- JP3440729B2 JP3440729B2 JP32638896A JP32638896A JP3440729B2 JP 3440729 B2 JP3440729 B2 JP 3440729B2 JP 32638896 A JP32638896 A JP 32638896A JP 32638896 A JP32638896 A JP 32638896A JP 3440729 B2 JP3440729 B2 JP 3440729B2
- Authority
- JP
- Japan
- Prior art keywords
- electric
- drive device
- pedal
- torque
- detector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Automatic Cycles, And Cycles In General (AREA)
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、ペダル負荷に対応
して電動駆動装置を作動させる電気自転車に係わり、と
くに前記ペダル負荷をペダルトルクにより検出するトル
ク検出器の異常に適切に対応できる電気自転車に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric bicycle which operates an electric drive device in response to a pedal load, and more particularly, an electric bicycle which can appropriately cope with an abnormality of a torque detector which detects the pedal load by pedal torque. Regarding
【０００２】[0002]
【従来の技術】近年、人力による駆動力を電動駆動装置
により補助する電気自転車について種々の提案がなされ
ている。2. Description of the Related Art In recent years, various proposals have been made for electric bicycles in which driving force by human power is assisted by an electric drive device.
【０００３】一般的に電気自転車は、ペダル負荷をペダ
ルトルクにより検出するトルク検出器と、車速を検出す
るためのペダル回転速度検出器と、駆動力を発生する電
動機と前記電動機の回転速度を減速する減速機とを有す
る電動駆動装置と、前記電動駆動装置を制御する制御回
路とを備え、前記制御回路は前記トルク検出器および前
記ペダル回転速度検出器からの情報に基づいて所定の規
定内で駆動力を補助するように前記電動駆動装置を制御
する。上記トルク検出器，ペダル回転速度検出器，制御
回路，電動駆動装置などは、電気自転車本体のメインパ
イプおよびシートパイプの周辺に組み込まれ、それらを
相互に接続する配線を含めて全体を樹脂カバーが覆って
いる。また、電気自転車を作動させるための電源スイッ
チはサドル下に設けた樹脂ケースの上面または側面に配
置されている。なお、前記電動駆動装置の電気エネルギ
ー源として充電式電池が使用されている。Generally, an electric bicycle has a torque detector for detecting a pedal load based on a pedal torque, a pedal rotation speed detector for detecting a vehicle speed, an electric motor for generating a driving force, and a rotational speed of the electric motor. And a control circuit for controlling the electric drive device, wherein the control circuit is within a predetermined regulation based on information from the torque detector and the pedal rotation speed detector. The electric drive device is controlled so as to assist the driving force. The torque detector, the pedal rotation speed detector, the control circuit, the electric drive device, etc. are installed around the main pipe and seat pipe of the electric bicycle body, and the entire resin cover including wiring for connecting them is provided with a resin cover. Covering. A power switch for operating the electric bicycle is arranged on the upper surface or side surface of the resin case provided under the saddle. A rechargeable battery is used as an electric energy source of the electric drive device.
【０００４】前記電動駆動装置による補助に関する規定
は、人力による駆動力に対する補助の割合を車速に対し
て定めたものであり、車速が０から１５km／h までは５
０％、１５から２４km／h までは車速に応じて漸次減少
せしめ、２４km／h において０％となるように補助する
ことを規定している。The regulation concerning the assistance by the electric drive device defines the ratio of the assistance to the driving force by the human power with respect to the vehicle speed, and it is 5 when the vehicle speed is from 0 to 15 km / h.
It is stipulated that 0%, from 15 to 24 km / h, should be gradually reduced according to the vehicle speed, and assistance should be made to reach 0% at 24 km / h.
【０００５】電気自転車に乗る前に、まず、電源スイッ
チ（一般にはメインスイッチと呼ばれている）をオンと
すると、前記制御回路に内蔵するマイクロコンピュータ
が回路全体を点検し、異常がなければスタンバイ状態に
なって運転可能となる。運転者がペダルを漕ぎ出すと、
前記トルク検出器および前記ペダル回転速度検出器の情
報に基づいて前記電動駆動装置の出力を決定し、前記電
動機を作動させる。このとき、ペダルトルクを正確に把
握することが不可欠であり、遊星ギヤの反力やトーショ
ンバーの捻れなどをポテンショメータの変位に変換し、
電気信号として取り出す手段が一般的に用いられる。こ
のペダルトルクの情報とペダル回転速度の情報とに基づ
いて前記マイクロコンピュータが前記電動機を駆動する
ためのＰＷＭ出力のデューティを決定する。Before riding an electric bicycle, first of all, a power switch (generally called a main switch) is turned on, and a microcomputer incorporated in the control circuit inspects the entire circuit, and if there is no abnormality, it stands by. It becomes a state and can be operated. When the driver pedals,
The output of the electric drive device is determined based on the information of the torque detector and the pedal rotation speed detector, and the electric motor is operated. At this time, it is indispensable to accurately grasp the pedal torque, and the reaction force of the planetary gear and the torsion of the torsion bar are converted into the displacement of the potentiometer,
A means for extracting as an electric signal is generally used. The microcomputer determines the duty of the PWM output for driving the electric motor based on the pedal torque information and the pedal rotation speed information.
【０００６】ペダルトルクには、その構造から１回転当
り２Hzのトルク変動がある。すなわち、ペダルトルクは
ペダルの上支点および下支点では最小になり、ほぼ真横
で最大となる。トルク検出器が故障したとき、ペダルト
ルクを高い値に継続して保持する場合があり、これに対
応してマイクロコンピュータはＰＷＭ出力を高い値に維
持するように制御するので、必要以上に駆動力を補助す
ることになり、電池の消耗を早める結果となる。この事
態を防止するため、トルク検出器の出力電圧の変動をモ
ニタリングして異常を判断する方法が提案されている。
たとえば、特開平５−３１０１７７号公報は、トルク検
出器の出力電圧が規定値以上で所定時間以上継続した場
合、電動駆動装置の出力を制限する手段を開示してい
る。これにより、ペダルトルクが高い点で維持された場
合、トルク検出器の故障や異物の噛み込みなどによる異
常を判断できるとしている。Due to its structure, the pedal torque has a torque fluctuation of 2 Hz per revolution. That is, the pedal torque is minimum at the upper fulcrum and the lower fulcrum of the pedal, and is maximum just beside. When the torque detector fails, the pedal torque may be continuously maintained at a high value, and in response to this, the microcomputer controls to maintain the PWM output at a high value. This results in faster battery consumption. In order to prevent this situation, a method has been proposed in which a change in the output voltage of the torque detector is monitored to determine an abnormality.
For example, Japanese Patent Laid-Open No. 5-310177 discloses means for limiting the output of the electric drive device when the output voltage of the torque detector is equal to or higher than a specified value and continues for a predetermined time or longer. As a result, if the pedal torque is maintained at a high point, it is possible to determine an abnormality due to a failure of the torque detector or a foreign substance being caught.
【０００７】[0007]
【発明が解決しようとする課題】このような従来の電気
自転車では、トルク検出器の出力の異常のみを判定し、
マイクロコンピュータや電動機の異常までは判断しない
ので、電動駆動装置の実際の出力が規定通りに出力され
ているか否かまでは判定できないと言う問題があった。In such a conventional electric bicycle, only the abnormality of the output of the torque detector is judged,
Since the abnormality of the microcomputer or the electric motor is not judged, there is a problem that it cannot be judged whether or not the actual output of the electric drive device is output as specified.
【０００８】本発明は上記の課題を解決するもので、電
動駆動装置の実際の出力の異常を含めてトルク検出器の
異常を判断し、安全に異常処置できる電気自転車を提供
することを目的とする。The present invention is intended to solve the above problems, and an object thereof is to provide an electric bicycle capable of safely determining an abnormality of a torque detector including an abnormality of an actual output of an electric drive device. To do.
【０００９】[0009]
【課題を解決するための手段】請求項１に係わる本発明
は、運転中の電動機電流をモニタリングし、前記電動機
電流の状態に基づいてトルク検出器の異常を判定するよ
うにした電気自転車である。The present invention according to claim 1 is an electric bicycle adapted to monitor an electric motor current during driving and to determine an abnormality of a torque detector based on a state of the electric motor current. .
【００１０】これにより、トルク検出器の異常のみなら
ず、制御回路自体の異常にも対応して電動駆動装置を停
止させる。As a result, the electric drive device is stopped in response to not only the abnormality of the torque detector but also the abnormality of the control circuit itself.
【００１１】請求項２に係わる本発明は、電動機電流の
最小値が１０Ａ以上で、かつ最大値と最小値との差が５
Ａ以内の場合、トルク検出器が異常であると判断して電
動駆動装置を作動させないようにした請求項１に係わる
電気自転車である。In the present invention according to claim 2, the minimum value of the electric motor current is 10 A or more, and the difference between the maximum value and the minimum value is 5 A.
The electric bicycle according to claim 1, wherein when the torque is within A, it is determined that the torque detector is abnormal and the electric drive device is not operated.
【００１２】これにより、駆動力補助に係わる規定に対
応して異常処置することができる。With this, it is possible to take an abnormal action in accordance with the regulation relating to the driving force assistance.
【００１３】[0013]
【発明の実施の形態】請求項１に係わる本発明におい
て、電動機電流を検出する電流検出器を設け、電動機電
流の最小値を検出するとともに、最大値と最小値との差
で与えられる変動幅を検出し、前記最小値が所定値以上
で、かつ前記変動幅が所定値以内の場合にのみ異常と判
定して電動駆動装置を停止させるようにする。DESCRIPTION OF THE PREFERRED EMBODIMENTS In the present invention according to claim 1, a current detector for detecting a motor current is provided to detect a minimum value of the motor current and a fluctuation width given by a difference between the maximum value and the minimum value. Is detected, and only when the minimum value is greater than or equal to a predetermined value and the fluctuation range is within a predetermined value, it is determined that the abnormality is abnormal and the electric drive device is stopped.
【００１４】上記の制御はマイクロコンピュータにより
実現でき、駆動補助に係わる計算に要する車輪サイズ，
減速比，電動機の特性などのデータは、たとえば、内蔵
するＲＯＭにあらかじめ書き込んだデータベースから読
み出せばよい。The above control can be realized by a microcomputer, and the wheel size required for the calculation relating to the drive assistance,
The data such as the reduction ratio and the characteristics of the electric motor may be read from a database written in advance in a built-in ROM, for example.
【００１５】請求項２に係わる本発明において、電動機
電流の最小値が１０Ａ以上で、かつ変動幅が５Ａ以内の
場合に異常と判定するようにする。In the present invention according to claim 2, when the minimum value of the electric motor current is 10 A or more and the fluctuation range is within 5 A, it is judged as abnormal.
【００１６】[0016]
【実施例】以下、本発明の電気自転車の一実施例につい
て図面を参照しながら説明する。図１は本実施例の構成
を示す外観図である。図において、車体フレームは一般
の自転車と基本構造は同一であり、１はメインパイプで
前輪と後輪とサドルとを一体に連結し、複数のパイプが
車体の中央のサドルパイプ２の下端で一体化し、電動駆
動装置３が車体フレーム下方外側中央部に、また、電源
スイッチ４が後輪５と電池ボックス６との間に組み込ま
れている。DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the electric bicycle of the present invention will be described below with reference to the drawings. FIG. 1 is an external view showing the configuration of this embodiment. In the figure, the body frame has the same basic structure as that of a general bicycle, and 1 is a main pipe that integrally connects a front wheel, a rear wheel, and a saddle, and a plurality of pipes are integrally formed at a lower end of a saddle pipe 2 in the center of the vehicle body. The electric drive device 3 is incorporated in the lower outer center portion of the vehicle body frame, and the power switch 4 is incorporated between the rear wheel 5 and the battery box 6.
【００１７】図２は本実施例における電動駆動装置を制
御する制御回路の構成を示すブロック図である。図にお
いて、７はペダル負荷をペダルトルクにより検出するト
ルク検出器、８はペダルの回転速度を検出するペダル回
転速度検出器、９はマイクロコンピュータ、１０は車輪
サイズ，電動機１１の特性、および減速比などのデータ
をあらかじめ記憶しているデータベース、１２は電動機
１１の電流を検出する電流検出器である。トルク検出器
７はペダルトルクを検出して０．３〜５．０ｖの直流電
圧をマイクロコンピュータ９に出力する。また、ペダル
回転速度検出器８はペダル回転速度を検出してパルス信
号によりマイクロコンピュータ９に入力する。マイクロ
コンピュータ９は、トルク検出器７からペダルトルクの
情報を入力するとともに、ペダル回転速度検出器８から
ペダル回転速度の情報を入力することにより運転者が電
気自転車を漕いでいる情報と、そのときの車速を計算す
るための情報とを得る。さらに、データベース１０から
電動駆動装置３の減速比，車輪サイズ、および電動機１
１の特性などの情報を得て、これらの情報に基づいて電
動機１１へのＰＷＭ出力を決定し、電動機１１を作動さ
せる。このとき、電流検出器１２により電動機１１の電
動機電流がペダルトルクの変動に同期して変動している
ことを常にモニタリングする。FIG. 2 is a block diagram showing the structure of a control circuit for controlling the electric drive system of this embodiment. In the figure, 7 is a torque detector that detects the pedal load by pedal torque, 8 is a pedal rotation speed detector that detects the rotation speed of the pedal, 9 is a microcomputer, 10 is the wheel size, the characteristics of the electric motor 11, and the reduction ratio. The data is stored in advance in the database, and 12 is a current detector for detecting the current of the electric motor 11. The torque detector 7 detects the pedal torque and outputs a DC voltage of 0.3 to 5.0 v to the microcomputer 9. The pedal rotation speed detector 8 detects the pedal rotation speed and inputs it to the microcomputer 9 by a pulse signal. The microcomputer 9 inputs information on the pedal torque from the torque detector 7 and information on the pedal rotation speed from the pedal rotation speed detector 8 to input information about the pedaling of the electric bicycle by the driver, and at that time. And get the information to calculate the vehicle speed. Furthermore, from the database 10, the reduction ratio of the electric drive device 3, the wheel size, and the electric motor 1
1 is obtained, the PWM output to the electric motor 11 is determined based on the information, and the electric motor 11 is operated. At this time, the current detector 12 constantly monitors that the electric motor current of the electric motor 11 is changing in synchronization with the change of the pedal torque.
【００１８】図３（ａ）は正常時におけるトルク電圧お
よび電動機電流を示す波形図、図３（ｂ）は異常時にお
けるトルク電圧および電動機電流を示す波形図である。
図に示したように、トルク検出器７が出力するトルク電
圧はペダルの１回転当り２Hzで周期的に変動し、電動機
電流の変動幅は前記トルク電圧の変動幅に連動する。こ
のとき、トルク検出器７に異常が発生すると、図３
（ｂ）に示したように、正常時に比較して変動幅が小さ
くなり、その結果、電動機電流の変動幅も小さくなる。
これにより、電動機１１の出力トルクの変動も小さくな
り、必要以上に補助することになる。したがって、この
電動機電流の変動をモニタリングすることで異常を判断
し、マイクロコンピュータ９は電動駆動装置３を停止さ
せることにより異常処置とする。この異常処置は電動機
電流の変動幅に対応して実行するので、トルク検出器７
の異常のみならず、たとえば制御回路１３自体に異常が
発生した場合にも電動駆動装置３を停止させることにな
る。FIG. 3A is a waveform diagram showing the torque voltage and the electric motor current in the normal state, and FIG. 3B is a waveform diagram showing the torque voltage and the electric motor current in the abnormal state.
As shown in the figure, the torque voltage output by the torque detector 7 periodically fluctuates at 2 Hz per revolution of the pedal, and the fluctuation width of the electric motor current is linked to the fluctuation width of the torque voltage. At this time, if an abnormality occurs in the torque detector 7,
As shown in (b), the fluctuation range is smaller than in the normal state, and as a result, the fluctuation range of the motor current is also reduced.
As a result, fluctuations in the output torque of the electric motor 11 are reduced, and the output is assisted more than necessary. Therefore, the abnormality is judged by monitoring the variation of the electric motor current, and the microcomputer 9 stops the electric drive device 3 to take an abnormal measure. Since this abnormality treatment is executed according to the fluctuation range of the electric motor current, the torque detector 7
The electric drive device 3 is stopped not only when the abnormality occurs in the control circuit 13 itself, but also when the abnormality occurs in the control circuit 13 itself.
【００１９】本実施例においては、駆動力補助に係わる
前記規定に対する種々の実験に基づいて、電動機電流の
最小値が、１０Ａ以上で、かつ変動幅が５Ａ以内であれ
ば、トルク検出器７または制御回路１３に異常があると
判断して、マイクロコンピュータ９は異常処置として電
動駆動装置３を停止させる。電流値を１０Ａ以上とした
理由は、電動機電流が小さい場合、車速によっては変動
幅が５Ａ以内でも正常な場合があって判断が難しいこ
と、また、電動駆動装置３の出力は小さく、安全上に大
きい問題がないと予想されるからである。In the present embodiment, the torque detector 7 or the torque detector 7 is determined if the minimum value of the electric motor current is 10 A or more and the fluctuation range is within 5 A, based on various experiments for the above-mentioned regulation concerning the driving force assistance. When it is determined that the control circuit 13 has an abnormality, the microcomputer 9 stops the electric drive device 3 as a countermeasure for the abnormality. The reason why the current value is set to 10 A or more is that if the electric motor current is small, it may be difficult to judge depending on the vehicle speed even if the fluctuation range is within 5 A, and it is difficult to judge. This is because it is expected that there will be no major problems.
【００２０】以上のように本実施例によれば、電動駆動
装置３の電動機電流を検出する電流検出器１２を備えて
前記電動機電流をモニタリングし、前記電動機電流が１
０Ａ以上であって、かつペダルの回転に連動して変動す
る変動幅が５Ａ以内であるときに電動駆動装置３を停止
させるようにしたことにより、トルク検出器７の故障の
みならず、制御回路１３自体の故障にも適切に対応して
安全に電動駆動装置３を停止させることができる。As described above, according to this embodiment, the current detector 12 for detecting the electric motor current of the electric drive device 3 is provided to monitor the electric motor current, and the electric motor current is 1
Since the electric drive device 3 is stopped when the fluctuation range of 0 A or more and the fluctuation range that is interlocked with the rotation of the pedal is within 5 A, not only the torque detector 7 fails but also the control circuit The electric drive device 3 can be stopped safely by appropriately responding to the failure of the device 13 itself.
【００２１】[0021]
【発明の効果】以上の説明から明らかなように、本発明
は、電動駆動装置の電動機電流を検出する電流検出器を
備えて前記電動機電流をモニタリングし、前記電動機電
流が所定値以上であって、かつペダルの回転に連動して
変動する変動幅が所定値以内であるときのみに電動駆動
装置を停止させるようにしたことにより、トルク検出器
の異常のみならず、電動駆動装置の制御回路の異常にも
対応して電動駆動装置を停止させて過剰補助を防止し、
電動駆動装置を適切に運転することができる。As is apparent from the above description, the present invention is provided with a current detector for detecting the electric motor current of the electric drive device to monitor the electric motor current, and the electric motor current is not less than a predetermined value. In addition, by stopping the electric drive device only when the fluctuation range that changes in association with the rotation of the pedal is within a predetermined value, not only the abnormality of the torque detector but also the control circuit of the electric drive device In response to abnormalities, stop the electric drive device to prevent excessive assistance,
The electric drive device can be operated appropriately.
【００２２】また、本発明の異常検出方法は、電動駆動
装置の制御回路に一般的に内蔵される過負荷検出用の電
動機電流モニタを電流検出器に流用することができ、コ
スト増を招かずに安全な電気自転車を提供することがで
きる。Further, according to the abnormality detecting method of the present invention, the motor current monitor for overload detection, which is generally built in the control circuit of the electric drive device, can be used for the current detector, without increasing the cost. Can provide a safe electric bicycle.
【図１】本発明の電気自転車の構成を示す外観図FIG. 1 is an external view showing the configuration of an electric bicycle of the present invention.
【図２】本発明の電気自転車における制御回路の構成を
示すブロック図FIG. 2 is a block diagram showing a configuration of a control circuit in the electric bicycle of the present invention.
【図３】本発明の電気自転車におけるトルク電圧および
電動機電流を示す波形図FIG. 3 is a waveform diagram showing torque voltage and electric motor current in the electric bicycle of the present invention.
１ メインパイプ ２ サドルパイプ ３ 電動駆動装置 ４ 電源スイッチ ５ 後輪 ６ 電池ボックス ７ トルク検出器 ８ ペダル回転速度検出器 ９ マイクロコンピュータ １０ データベース １１ 電動機 １２ 電流検出器 １３ 制御回路 1 main pipe 2 saddle pipe 3 Electric drive 4 power switch 5 rear wheels 6 battery box 7 Torque detector 8 pedal rotation speed detector 9 Microcomputer 10 database 11 electric motor 12 Current detector 13 Control circuit
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開 平９−175474（ＪＰ，Ａ) 特開 平５−310177（ＪＰ，Ａ) 特開 平７−33069（ＪＰ，Ａ) 特開 平８−230751（ＪＰ，Ａ) 特開 平８−58668（ＪＰ，Ａ) 特開 平８−275583（ＪＰ，Ａ) 特開 平９−109983（ＪＰ，Ａ) (58)調査した分野(Int.Cl.7，ＤＢ名) B62M 23/02 ─────────────────────────────────────────────────── --- Continuation of the front page (56) References JP-A-9-175474 (JP, A) JP-A-5-310177 (JP, A) JP-A-7-33069 (JP, A) JP-A-8- 230751 (JP, A) JP 8-58668 (JP, A) JP 8-275583 (JP, A) JP 9-109983 (JP, A) (58) Fields investigated (Int.Cl. 7 , DB name) B62M 23/02
Claims (2)
と、前記ペダル駆動装置の駆動力を補助する電動駆動装
置とを備えた電気自転車において、前記電動駆動装置の
電動機電流を検出する電流検出器を備え、前記電動機電
流をモニタリングし、前記電動機電流が所定値以上であ
ってかつペダルの回転に連動して変動する前記電動機電
流の変動幅が所定値以内であるときのみに電動駆動装置
を停止させるようにした電気自転車。1. An electric bicycle comprising a pedal drive device driven by human power and an electric drive device for assisting the drive force of the pedal drive device, wherein
A current detector for detecting a motor current is provided,
Current is monitored and the motor current is above a specified value.
And the electric motor / electricity that fluctuates in conjunction with the rotation of the pedal.
The electric drive device only when the fluctuation range of the flow is within the specified value.
Electric bicycle that was designed to stop .
最大値と最小値との差が５Ａ以内の場合、トルク検出器
が異常であると判断して電動駆動装置を作動させないよ
うにした請求項１記載の電気自転車。2. When the minimum value of the electric motor current is 10 A or more and the difference between the maximum value and the minimum value is within 5 A, it is determined that the torque detector is abnormal and the electric drive device is not operated. The electric bicycle according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP32638896A JP3440729B2 (en) | 1996-12-06 | 1996-12-06 | Electric bicycle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP32638896A JP3440729B2 (en) | 1996-12-06 | 1996-12-06 | Electric bicycle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH10167162A JPH10167162A (en) | 1998-06-23 |
| JP3440729B2 true JP3440729B2 (en) | 2003-08-25 |
Family
ID=18187250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP32638896A Expired - Fee Related JP3440729B2 (en) | 1996-12-06 | 1996-12-06 | Electric bicycle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3440729B2 (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6228442B2 (en) * | 2012-12-14 | 2017-11-08 | ヤマハ発動機株式会社 | Drive unit and battery-assisted bicycle |
| JP6415809B2 (en) * | 2012-12-17 | 2018-10-31 | ヤマハ発動機株式会社 | Drive unit and battery-assisted bicycle |
| ITAN20130222A1 (en) * | 2013-11-25 | 2015-05-26 | Focarini Valentina | ASSISTED RIDING BICYCLE. |
| JP5986150B2 (en) | 2014-07-17 | 2016-09-06 | 株式会社シマノ | Bicycle control device, electric assist bicycle including the bicycle control device, and motor control method for electric assist bicycle |
| CN104787219A (en) * | 2014-08-20 | 2015-07-22 | 成都宽和科技有限责任公司 | Voltage difference control power assisting bicycle system with input of gear signals and speed signals |
| CN104743045A (en) * | 2014-08-20 | 2015-07-01 | 成都宽和科技有限责任公司 | Voltage difference moped system with gear and speed signals input into distributor |
| CN104743046A (en) * | 2014-08-20 | 2015-07-01 | 成都宽和科技有限责任公司 | Voltage difference moped system requiring gear positions and speed signals to be added into processor |
| CN104743044A (en) * | 2014-08-20 | 2015-07-01 | 成都宽和科技有限责任公司 | Voltage difference moped system with gear and speed signals added into comparator |
| CN110466666A (en) * | 2019-08-26 | 2019-11-19 | 苏州哈工拓普传感控制技术有限公司 | A kind of brshless DC motor adaptive control system |
| EP4029769A4 (en) * | 2019-09-11 | 2022-11-16 | Honda Motor Co., Ltd. | Vehicle and method for monitoring abnormality in motive power transmission mechanism |
-
1996
- 1996-12-06 JP JP32638896A patent/JP3440729B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH10167162A (en) | 1998-06-23 |
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