JP3446282B2 - Motor drive control device for electric vehicle - 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 drive control device for operating an electric vehicle such as an electric tricycle.

[0002]

2. Description of the Related Art FIG. 8 is an overall perspective view showing an electric tricycle. Below the main frame 900, one front wheel 902 as a steering wheel and two rear wheels 904 as driving wheels.
And are provided. The operation handle 90 is attached to the front wheel 902.
6 is connected, and a motor (not shown) is connected to the rear wheel 904. The motor is a storage box 91 under the driver's seat 908.
No. 0 is housed together with a battery (not shown).

FIG. 9 shows an operation handle 906 in FIG.
FIG. The operation handle 906 is provided with a grip bar 912, a maximum speed changeover switch 914, a forward / rearward movement changeover switch 916, an accelerator lever 918 and the like.
The fastest switching switch 914 is a toggle switch,
It can be set to a maximum speed of two or three steps. The forward / reverse switch 916 is a toggle switch including one movable contact, and can select forward or reverse. The accelerator lever 918 is changed within the set maximum speed by changing the degree of grasping or pushing.
It can be adjusted to a desired speed.

[0004]

An electric vehicle may travel a long distance at a relatively slow constant speed, for example, when traveling alongside a pedestrian. In this case, it is necessary to hold the accelerator lever 918 for a long time without grasping it (the operation amount is left halfway). However, it was difficult to maintain a constant speed due to a strong grip or a light grip due to unintentional grip.

Defects such as disconnection of the forward / reverse switching switch 916 generally progress gradually. However, with the conventional forward / reverse selector switch 916,
No abnormality could be detected.

[0006]

SUMMARY OF THE INVENTION Therefore, a first object of the motor drive control device according to the present invention is to improve the operability during traveling at a constant speed.

A second object of the motor drive control device according to the present invention is to detect a defect such as disconnection of the forward / reverse selector switch at an early stage.

[0008]

The present invention has been made to achieve the above object.

That is, a motor drive control device according to a first aspect of the present invention is an accelerator operating means for outputting an accelerator voltage that can be continuously changed according to an operation amount, and a maximum speed that can be continuously changed according to the operation amount. Maximum speed setting means for outputting a voltage, forward / backward selecting means capable of selecting either forward or reverse, and output from the maximum speed setting means when forward / backward is selected by the forward / backward selecting means. the maximum If reverse is selected by the forward-reverse selecting means and determines the speed at which the continuously corresponding to the output accelerator voltage from the accelerator operation means based on the maximum speed voltage
A speed for canceling the maximum speed voltage output from the speed setting means and determining a speed continuously corresponding to the accelerator voltage output from the accelerator operating means based on the preset maximum speed voltage. The determination means and the motor drive means for driving the motor based on the speed determined by the speed determination means are provided.

According to a second aspect of the present invention, there is provided a motor drive control apparatus according to the first aspect, wherein the forward / backward movement selecting means is provided with a plurality of changeover switches for simultaneously selecting either forward or reverse. If all of the plurality of change-over switches do not select forward or backward at the same time, an abnormality detecting means for braking the motor is additionally provided.

[0011]

The operation of the motor drive control device according to claim 1 is as follows. The maximum speed setting means allows the maximum speed to be continuously changed according to the operation amount. Therefore,
The desired maximum speed is set in advance. Then, by maximizing the operation amount of the accelerator operating means, the vehicle travels at the set maximum speed. It is extremely easy to maintain the maximum manipulated variable. In other words, if the amount of operation is determined by the degree to which it is gripped, the amount of operation cannot be increased even if it is squeezed more strongly once it is fully gripped. Speed is obtained. The same applies to a method of determining the operation amount by pushing or pulling.

The operation of the motor drive controller according to claim 2 is as follows. A plurality of changeover switches for simultaneously selecting either forward or reverse is provided in the forward / backward selecting means. The plurality of changeover switches change approximately uniformly. Therefore, the life of the entire changeover switch and the like can be detected early by first detecting the changeover switch in which the malfunction has occurred. In addition, it is not necessary to increase the wiring for detection.

[0013]

1 and 2 show an embodiment of a motor drive control device according to the present invention. FIG. 1 is a functional block diagram and FIG. 2 is a circuit diagram. Hereinafter, description will be given with reference to these drawings.

The motor drive control device outputs an accelerator operating means 10 that outputs an accelerator voltage V _ACC that can continuously change according to an operation amount, and a maximum speed voltage V _SPD that can continuously change according to an operation amount. Maximum speed setting means 12 for output
Based on the maximum speed voltage V _SPD output from the maximum speed setting means 12 when forward or reverse is selected by the forward or reverse selection means 14 and forward or reverse. The speed corresponding to the accelerator voltage V _ACC outputted from the accelerator operating means 10 is continuously determined, and when the reverse movement is selected by the forward / reverse movement selecting means 14, the maximum speed electric current outputted from the maximum speed setting means 12 is determined.
Release the pressure V _SPD and set the preset maximum speed voltage V
A speed determining means 16 for continuously determining a speed corresponding to the accelerator voltage V _ACC output from the accelerator operating means 10 based on _RSPD , and a motor driving means for driving a motor 18 based on the speed determined by the speed determining means 16. And 20.

The forward / backward movement selecting means 14 has two changeover switches 22 for simultaneously selecting either forward movement or backward movement.
24 are provided. Further, if both the changeover switches 22 and 24 do not select either forward or reverse at the same time, an abnormality detecting means 26 for braking the motor 18 is additionally provided.

The accelerator operating means 10 includes three resistors 101, 1 connected in series between a power supply voltage and ground.
02 and 103 are provided. The resistor 102 is provided with a sliding contact 104, and the voltage of the sliding contact 104 is output as an accelerator voltage V _ACC . The greater the accelerator voltage V _ACC , the greater the speed.

The maximum speed setting means 12 has three resistors 121, 1 connected in series between the power supply voltage and ground.
22 and 123 are provided. A sliding contact 124 is provided on the resistor 122, and the voltage of the sliding contact 124 is output as the maximum speed voltage V _SPD . The larger the maximum speed voltage V _SPD , the larger the maximum speed.

The forward / backward movement selecting means 14 has two resistors 141, 14 connected in series between the power supply voltage and the ground.
Two are provided. The connection point between the resistors 141 and 142 is the forward contact 22 of the changeover switches 22 and 24.
It is connected to f and 24f. Therefore, the contact 22
A constant voltage is applied to f and 24f. On the other hand, the reverse contacts 22r and 24r are grounded. The changeover switches 22 and 24 are double-pole double-throw switches, and the respective movable contacts 221 and 241 are interlocked with each other. The voltages of the movable contacts 221 and ₂₄₁ are output as changeover switch voltages V _FRS1 and V _FRS2 , respectively.

The abnormality detecting means 26 is composed of a microcomputer. Analog input port AD
1, AD2, AD3, AD4 have V _FRS1 , V respectively
_FRS2 , V _ACC and V _SPD are input. Output port P0,
P1 and P2 can output a three-state composed of "H (high)", "L (low)", and "high impedance".

The speed determining means 16 is composed of a microcomputer. The analog input port AD5 of the speed determining means 16 and the output port P of the abnormality detecting means 26
A sliding contact 104 is connected to 0 via a resistor 105. Therefore, if the output port P0 is “high impedance”, the accelerator voltage V _ACC is applied to the analog input port AD5, and if the output port P0 is “L”, the analog input port AD5 is “L”.
Is applied. Similarly, the sliding contact 124 is connected to the analog input port AD6 and the output port P1.
Are connected via a resistor 125. Therefore,
If the output port P1 is "high impedance", the maximum speed voltage V _SPD is applied to the analog input port AD6, and if the output port P1 is "L", "L" is applied to the analog input port AD6. It has become so. Maximum speed voltage V from analog output port DA1
An analog signal voltage V _ON having a speed based on the _SPD and the accelerator voltage V _ACC is output. Further, the forward signal “H” or the backward signal “L” is output from the output port P2 according to the changeover switch voltages V _FRS1 and V _FRS2 .

The motor driving means 20 is composed of, for example, a sawtooth wave generator 201, a comparator 202, an energization control circuit 203, etc., and controls the motor 18 by pulse width modulation. The energization control circuit 203 is composed of a plurality of transistors (not shown) for energizing the motor 18, and a base drive unit (not shown) of these transistors. A forward signal “H” or a backward signal “L” is input to the energization control circuit 203, and forward / reverse rotation is possible by switching the transistor to be turned on according to these signals. In the comparator 202, the larger the analog signal voltage V _ON , the longer the time (pulse width) for turning on the transistor. The motor 18 is a DC motor.

Next, the operation of the abnormality detecting means 26 will be described with reference to the flow charts of FIGS. The following operation is performed according to a program stored in the ROM, RAM, etc. of the microcomputer.

Here, in FIG. 2, the connection point 1 at which the accelerator voltage V _ACC is maximized by operating the sliding contact 104.
The voltage at 0a is 4.0 [V], and similarly, the voltage at the connection point 10b at which the accelerator voltage V _ACC is the minimum is 0.5 [V]. By operating the sliding contact 124, the voltage at the connection point 12a where the maximum speed voltage V _SPD is maximum is 4.0 [V], and similarly, the voltage at the connection point 12b where the maximum speed voltage V _SPD is minimum is 0.5 [V]. And The abnormal voltage of the changeover switch voltages V _FRS1 and V _FRS2 is set to 0.2 to 3.8 [V].

First, the accelerator voltage V _ACC is checked [step S1]. As a result, if 0.5 ≦ V _ACC <4.0 [step S2], an abnormality such as disconnection is considered. Therefore, the output port P0 is set to “L” (V _ACC = 0) [step S3] and an abnormality is displayed. [Step S4]. 0.5
If ≤V _ACC <4.0, the maximum speed voltage V _SPD is checked [step S5]. As a result, 0.5 ≤ V _ACC <4.
If it is not [Step S6], an abnormality such as disconnection may be considered. Therefore, the output port P0 is set to “L” (V _ACC = 0) [Step S7], and an abnormality is displayed [Step S].
4]. If 0.5 ≦ V _ACC <4.0, the changeover switch voltage V _FRS1 is checked [step S8]. V _{FRS1 ≤0.2
Unless} OR 3.8 ≦ V _FRS1 [step S9], an abnormality such as disconnection is considered, so output port P0 is set to “L” (V
_ACC = 0) is set [step S10], and an abnormality is displayed [step S4]. If V _{FRS1 ≤0.2} OR 3.8 _{≤V FRS1} , the changeover switch voltage V _FRS2 is checked [step S11]. V _FRS2 ≤ 0.2 OR 3.8 ≤ V _FRS2 [Step S12] _Unless there is a problem such as disconnection,
The output port P0 is set to "L" (V _ACC = 0) [step S13] and an abnormality is displayed [step S4]. V _FRS2
When ≦ 0.2 OR 3.8 ≦ V _FRS2 [step S12], it is not 3.8 ≦ V _FRS2 [step S14], and V
_{If FRS1} ≤ 0.2 [step S15], it is normal and reverse is selected, so the output port P1 is set to "L" (V _SPD = 0) to cancel the set maximum speed voltage [step 16]. On the other hand, V _FRS2 ≤
When 0.2 OR 3.8 ≦ V _FRS2 [step S12],
3.8 ≦ V _FRS2 [Step S14] and V _FRS1 ≦
0.2 If it is not [Step S15], an abnormality such as disconnection is considered, so output port P0 is set to “L” (V _ACC = 0)
Then, [Step S17] is displayed and an abnormality is displayed [Step S4]. 3.8 ≦ V _FRS2 [step S14], and
If 3.8 ≦ V _FRS1 [step S18] is not _satisfied , an abnormality such as disconnection is considered, so output port P0 is set to “L” (V
_ACC = 0) is set [step S19], and an abnormality is displayed [step S4]. If 3.8 ≦ V _FRS2 [step S14] and 3.8 ≦ V _FRS1 [step S18],
Normal and forward selected.

As described above, by checking the contact failure or the like of either of the changeover switches 22 and 24, the abnormality is detected early.

Next, an example of the operation of the speed determining means 16 will be described with reference to the flowchart of FIG. The following operation is performed according to a program stored in the ROM, RAM, etc. of the microcomputer.

First, the accelerator voltage V _ACC and the maximum speed voltage V _SPD are input [step S30]. V _SPD = 0
In the case of [Step S31], since the reverse drive is selected (Step S16 in FIG. 4), the output port P2 is set to "L" [Step S32]. Then, based on V _RSPD irrelevant to V _SPD , the operation amount θ (θ min ≦
The velocity v (θ) corresponding to θ ≦ θmax) is calculated from the following equation [step S33]. v (θ) = V _RSPD · V _ACC (θ)
/ V _ACC (θmax). On the other hand, V _SPD = 0 [step S3
If not 1], the forward drive is selected, so the output port P2 is set to "H" [step S34]. And V
Based on the _SPD , the speed v (θ) corresponding to the operation amount θ of the sliding contact 104 is calculated from the following equation [step S35]. v
(Θ) = V _SPD · V _ACC (θ) / V _ACC (θ max). Then, the analog signal voltage V _ON corresponding to v (θ) obtained in steps 33 and 35 is output [step 36], and the process returns to step 30 again.

FIG. 6 is a plan view showing an example of an operating handle equipped with the motor drive control device according to the present invention. Hereinafter, description will be given with reference to FIGS. 2 and 6. However, the same parts as those in FIG. 8 and FIG.

The rotary knob 126 is interlocked with the sliding contact 124 and can be rotated to continuously change the maximum speed voltage V _SPD . Accelerator lever 1
Reference numeral 06 is linked to the sliding contact 104, and the accelerator voltage V _ACC can be continuously changed by grasping. The toggle switch 30 has a movable contact 221,
It is interlocked with 241, and forward or reverse can be selected by tilting it up or down.

Next, FIG. 7 is a circuit diagram showing an example in which the abnormality detecting means is composed of individual parts. Hereinafter, description will be given based on this figure. However, the same parts as those in FIG.

The abnormality detecting means 32 includes exclusive OR gates EX1 and EX2 and exclusive OR gates EX1 and EX2.
Backflow prevention diode D1, connected to the output terminal of
D2, comparators CP1 and CP2 connected to the input terminals of the exclusive OR gates EX1 and EX2, pull-up resistors 320, 321, and 322, and voltage dividing resistors 323 and 324. There is.

Here, the voltage at the connection point 10a where the accelerator voltage V _ACC becomes maximum by operating the sliding contact 104 is
4.0 [V], similarly, the voltage at the connection point 10b where the accelerator voltage V _ACC becomes the minimum is 0.5 [V]. The connection point 12a at which the maximum speed voltage V _SPD is maximized by operating the sliding contact 124
Is 4.0 [V], and similarly, the voltage at the connection point 12b at which the maximum speed voltage V _SPD is minimum is 0.5 [V]. Further, the reference voltage obtained from the connection point 32a between the resistors 323 and 324 is set to 0.3 [V].

The changeover switches 22 and 24 are connected to the reverse contact 2
It is assumed that switching is made to 2r and 24r. Then, the contacts 22r,
As a result of the output of the maximum speed setting means 12 being pulled to the ground level of 24r, the maximum speed voltage V _SPD ≈0 [V], and the set maximum speed is released. Therefore, there is no possibility of moving backward at high speed. Changeover switch 22,
When 24 is switched to the forward contacts 22f and 24f,
The maximum speed voltage V _SPD is unaffected.

The comparators CP1 and CP2 also detect contact failure of the changeover switches 22 and 24. That is, the changeover switches 22 and 24 are moved to the forward contacts 22f and 2
Suppose you switched to 4f. At this time, it is assumed that there is a contact failure on the ground line or a contact failure on the changeover switches 22 and 24. Then, the + input of the comparator CP1 is 0 [V]
Not fully fall to 0.4 (V [V]), comparator CP1
Output remains "H". On the other hand, the reverse contact 22
r and 24r are released from the ground and have a voltage of 0.5 [V] or higher. Therefore, the output of the comparator CP2 is also "H", and the exclusive OR gate EX1 outputs "L" when the inputs match. Therefore, the output of the accelerator operating means 10 is pulled to the ground level by the exclusive OR gate EX1, and the accelerator voltage V
_ACC becomes almost 0 [V] and the electric vehicle does not move. Also,
In the changeover switches 22 and 24 which are double-pole double-throw switches, when the contact failure of only the changeover switch 22 or the contact failure or mechanical malfunction of any of the changeover switches 22 and 24 occurs, the exclusive OR gate EX2 Outputs "L" when the inputs match. Therefore, similarly, the electric vehicle does not move. In this way, the changeover switch 22,
By checking any of the contact defects of 24 or the like, an abnormality is detected early.

[0035]

According to the motor drive control device of the first aspect of the present invention, the maximum speed can be continuously changed and set, so that the maximum operation speed of the accelerator operation means can be set to the maximum value. You can drive in. Therefore, it is extremely easy to maintain the maximum manipulated variable,
The operability when traveling at a constant speed can be significantly improved. Shi
Even if you go backward, the maximum speed that was set is canceled
Because, you it is not to be backward at high speed.

According to the motor drive control device of the second aspect of the invention, since the plurality of changeover switches for simultaneously selecting one of the forward movement and the backward movement are provided in the forward / rearward movement selecting means, the changeover switch having the malfunction first occurs. By detecting
The life of the entire changeover switch can be detected early.

[Brief description of drawings]

FIG. 1 is a functional block diagram showing an embodiment of a motor drive control device according to the present invention.

FIG. 2 is a circuit diagram showing an embodiment of a motor drive control device according to the present invention.

FIG. 3 is a flowchart showing an operation of an abnormality detecting means in the motor drive control device of FIG.

4 is a flowchart showing an operation of an abnormality detecting means in the motor drive control device of FIG.

5 is a flowchart showing an operation of a speed determining means in the motor drive control device of FIG.

FIG. 6 is a plan view showing an example of an operation handle equipped with the motor drive control device of FIG.

7 is a circuit diagram showing an example in which the abnormality detection means in the motor drive control device of FIG. 1 is configured by individual parts.

FIG. 8 is an overall perspective view showing a conventional electric tricycle.

9 is a perspective view showing an operation handle in FIG.

[Explanation of symbols]

10 accelerator operating means 12 maximum speed setting means 14 forward / backward selecting means 16 speed determining means 18 motor 20 motor driving means 22, 24 changeover switch 26 abnormality detecting means V _ACC accelerator voltage V _SPD maximum speed voltage

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Claims (2)

(57) [Claims] 1. An actuator that can be continuously changed according to an operation amount.
An accelerator operating means for outputting a cell voltage, Outputs the maximum speed voltage that can be continuously changed according to the manipulated variable
Maximum speed setting means to Forward / backward selector that can select either forward or reverse
Dan, If forward movement is selected by the forward / backward movement selecting means,
Based on the maximum speed voltage output from the maximum speed setting means
Link to the accelerator voltage output from the accelerator operating means.
Determine the corresponding speed continuously,Forward / backward selection
If reverse is selected by meansThe maximum speed setting hand
Release the maximum speed voltage output from the stagePreset
From the accelerator operating means based on the maximum speed voltage
Determine the speed corresponding to the output accelerator voltage continuously
Speed determining means to Drive the motor based on the speed determined by this speed determining means.
Moving motor drive means, And a motor drive control device for an electric vehicle
Place 2. A plurality of changeover switches for simultaneously selecting either forward or reverse is provided in the forward / backward selecting means, and the plurality of changeover switches all select either forward or reverse at the same time. 2. The motor drive control device for an electric vehicle according to claim 1, further comprising an abnormality detection means for braking the motor if not.