JP3672658B2 - Auxiliary force control device for electric auxiliary vehicle - Google Patents

Auxiliary force control device for electric auxiliary vehicle Download PDF

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JP3672658B2
JP3672658B2 JP04914996A JP4914996A JP3672658B2 JP 3672658 B2 JP3672658 B2 JP 3672658B2 JP 04914996 A JP04914996 A JP 04914996A JP 4914996 A JP4914996 A JP 4914996A JP 3672658 B2 JP3672658 B2 JP 3672658B2
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auxiliary
force
pedal
throttle
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JPH09240561A (en
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延男 原
総一 塩澤
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Yamaha Motor Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/53—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells in combination with an external power supply, e.g. from overhead contact lines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/12—Bikes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Description

【０００１】
【発明の属する技術分野】
本発明は、人力駆動系と電力駆動系とを備えた電動補助車両の補助力制御装置に関する。
【０００２】
【従来の技術】
ペダル踏力を駆動輪に供給する人力駆動系と、電動モータからの補助力を駆動輪に供給する電力駆動系とを備えた電動補助車両（例えば電動補助自転車）が提案されている。この種の車両において、ハンドルグリップ近傍等にスロットルレバーを配設し、該スロットルレバーにより希望の補助力を外部から指示し、該指示値に応じた補助力が得られるように上記電動モータを制御することが考えられる。
【０００３】
上記電動モータの制御においては、モータへの供給電圧とモータの回転速度及び発生トルクとの間に一定の関係が成立することを利用することにより、スロットルレバーからの指示値に応じた補助力を発生させることが考えられる。即ち、モータの回転速度を検出し、この回転速度において上記指示値に見合った補助力を得るのに必要なモータへの供給電圧値を上記一定の関係に基づいて求め、該求めた電圧をＰＷＭデューティ比制御により上記モータに供給する。
【０００４】
【発明が解決しようとする課題】
ところで補助動力源たるモータは、ブラシの抵抗，電機子捲線の抵抗等によりその特性が左右され、同一機種・仕様のものであっても特性にばらつきが生じる。このため上記ＰＷＭデューティ比制御による電圧制御を採用した場合、一定の条件（車速，スロットル開度）下で各車両の補助力を比較した場合、各々のモータの特性に起因した補助力のばらつきが生じ易いという問題が懸念される。
【０００５】
本発明は、上記実情に鑑みてなされたもので、モータ特性とは無関係に外部指示値に正確に対応した補助力が得られる電動補助車両の補助力制御装置を提供することを課題としている。
【０００６】
【課題を解決するための手段】
請求項１の発明は、ペダル踏力を駆動輪に供給する人力駆動系と、電動モータからの補助力を駆動輪に供給する電力駆動系とを備えた電動補助車両の補助力制御装置において、補助力の大きさを外部から指示する補助力指示手段と、該補助力指示手段により指示されたスロットル補助力を得るのに必要なスロットル補助電流値を求めるスロットル補助電流値演算手段と、上記電動モータに供給する電流値が上記スロットル補助電流値となるように電流供給回路を制御する電流値制御手段と、ペダル踏力を検出する踏力検出手段と、該踏力検出手段からの踏力に基づいてペダル補助力を求めるペダル補助力演算手段と、該ペダル補助力を得るのに必要なペダル補助電流値を求めるペダル補助電流値演算手段とを備え、上記電流値制御手段が、上記電動モータに供給する電流値が上記スロットル補助電流値とペダル補助電流値とを重ね合わせた目標電流値となるように電流供給回路を制御することを特徴としている。
【０００８】
【発明の実施の形態】
以下、本発明の実施の形態を添付図面に基づいて説明する。
図１ないし図３は、本発明の一実施形態による電動補助自転車の補助力制御装置を説明するための図であり、図１は電動補助自転車の側面図、図２は補助力制御装置の機能構成図、図３は補助力制御装置の具体的構成を示すブロック構成図である。
【０００９】
図１において、１は電動補助自転車であり、該自転車１の車体フレーム１０はヘッドパイプ１２と、該ヘッドパイプ１２から車体後方斜め下方に延びるダウンチューブ１４と、該ダウンチューブ１４の後部から上方に起立するシートチューブ１６と、該ダウンチューブ１４の後端から後方に延びる左, 右一対のリヤアーム２０，２０と、該両リヤアーム２０，２０の後端部と上記シートチューブ１６の上端部とを結合する左, 右一対のシートステー２２，２２とを備えている。
【００１０】
上記ヘッドパイプ１２には、下端で前輪２８を軸支し、上端に操向ハンドル２６が固着された前フォーク２４が左右へ回動自在に軸支されている。また上記シートチューブ１６にはシートポスト３０ａが高さ調整可能に挿入されており、該シートポスト３０ａの上端にはサドル３０が装着されている。さらにまた、上記リヤアーム２０，２０の後端間には後輪３２が回転可能に装着されており、この後輪３２のハブ３４には内装式変速機が内蔵されている。
【００１１】
また、４０は本自転車１の動力源となる動力ユニット（電力駆動系）であり、この動力ユニット４０は、動力ケース４２と、この動力ケース４２に一体に接続され、後輪３２に駆動力を伝達する永久磁石式直流電動モータ４４と、該電動モータ４４に電流を供給するバッテリ６４と、上記電動モータ４４の駆動力を制御するコントローラ５４とを備えている。
【００１２】
上記動力ケース４２は上記ダウンチューブ１４の後部１４ａ下方に取付けられ、上記電動モータ４４は斜め前上方へ突出するように車体カバー４１内に配設されており、上記ダウンチューブ１４の後部１４ａと平行になっている。また上記コントローラ５４は上記ダウンチューブ１４の前部１４ｂ下方に位置するよう車体カバー４１内に取付けられている。
【００１３】
上記バッテリ６４は多数の電池セルを直列接続してケース内に内蔵してなるもので、上記シートチューブ１６と後輪３２の前縁との間の空間に配設された電池ケース６０内に着脱可能に収納されている。なお、上記電池ケース６０の上端開口部は上記左, 右のシートステー２２の間に位置しかつ上方に突出しており、上記バッテリ６４は左, 右シートステー２２，２２間を通って上下方向に取付け，取外し可能となっている。
【００１４】
上記動力ケース４２にはクランク軸４６が車幅方向に貫挿され、その両端にクランクアーム４８（一方のみ図示）が固定されており、この各クランクアーム４８にはクランクペダル５０が取付けられている。これによりクランクペダル５０に加えられた踏力をチェーン５２を介して後輪３２に伝達する人力駆動系７５が構成されている。
【００１５】
上記車体フレーム１０のヘッドパイプ１２への接続部近傍には、メインスイッチ５６と、走行モード切り替えスイッチ６３とが配設されており、切り替えスイッチ６３は車体カバー４１に形成された開口４１ａから外方に臨んでいる。また上記操向ハンドル２６のハンドルグリップ近傍にはスロットルレバー（補助力指示手段）６８が回動可能に配設されている。
【００１６】
図２に示すように、上記コントローラ５４は、スロットルセンサ１０１，踏力センサ１０２，車速センサ１０３からの入力に応じた補助力を得るのに必要な目標電流値を求める目標電流値演算手段１００と、モータ４４に供給される電流値が上記演算手段１００で求めた目標電流値となるように電流供給回路２１４を制御する電流値制御手段２００としての機能を備えている。
【００１７】
上記目標電流値演算手段１００は以下の構成となっている。上記スロットルレバー６８の開度（指示値）がスロットルセンサ１０１によってスロットル補助トルトとして検出されて入力インターフェース１１３を介して入力されると、スロットル補助電流値演算手段１１４により、車速センサ１０３から入力されたそのときの車速、つまりモータ回転速度において上記スロットル補助トルクを得るのに必要なスロットル補助電流値が求められる。なお、上記スロットル補助トルクは、例えばスロットル開度に比例した値に設定される。
【００１８】
一方、踏力センサ１０２で検出されたペダル踏力が入力インタ−フェース１１０を介して入力されると、ペダル補助トルク演算手段１１１により上記検出されたペダル踏力に応じたペダル補助トルクが演算され、ペダル補助電流値演算手段１１２により、車速センサ１０３から入力されたそのときの車速、つまりモータ回転速度において上記ペダル補助トルクを得るのに必要なペダル補助電流値が求められる。なお、上記ペダル補助トルクは、例えばペダル踏力に比例した大きさに設定される。
【００１９】
そして重ね合わせ手段１１５により上記スロットル指示値に基づくスロットル補助電流値と上記ペダル踏力に基づくペダル補助標電流値とが所定の演算式等に従って重ね合わされ、これにより目標電流値が求められる。なお、上記重ね合わせにおける演算式としては、例えばペダル補助電流値をスロットル開度が大きいほど小さい値に補正した後上記スロットル補助電流値に加算する等の演算式が採用される。
【００２０】
また上記電流値制御手段２００は以下のように構成されている。上記モータ４４に流れる電流値に対応した検出信号が電流検出手段２０１から入力インターフェース２１０を介して入力されると、電流値演算手段２１１により上記モータ４４に流れている電流値が演算され、該電流値と上記目標電流値との差分が偏差演算手段２１２により演算され、制御量演算手段２１３により上記差分を０にするために必要な制御量（例えばＰＷＭ制御におけるデューティ比の補正量）が演算される。そして上記演算された制御量に従って電流供給回路２１４がモータ４４に流す電流の制御を行う。
【００２１】
図３は、上記電流検出手段２０１，電流供給回路２１４の具体的構成を示す。同図において、上記電流検出手段２０１は、モータ４４とアースとの間にシャント抵抗２０１ａを介設し、該シャント抵抗２０１ａの両端電圧を差動増幅器２０１ｂで増幅し、フィルタ２０１ｃにより平滑してコントローラ５４に入力するように構成されている。
【００２２】
本実施形態では、モータ４４とアースとの間にシャント抵抗２０１ａを介設したので、差動増幅器２０１ｂに入力される同相雑音が少なくなり、モータ４４の電流値を正確に反映した信号がフィルタ２０１ｃから得られる。
【００２３】
上記電流供給回路２１４は、バッテリ６４の正極とモータ４４との間にＮチャンネルのＦＥＴ２１４ａを介設し、該ＦＥＴ２１４ａとＣＰＵ２５０との間に該ＦＥＴ２１４ａオン，オフするためのゲートドライブ２１４ｂを接続し、該ゲートドライブ２１４ｂにブートストラップ回路２１５を接続した構成となっている。なお、２１６はＦＥＴ２１４ａのオフ時にモータ電流経路となるフライホイールダイオードである。
【００２４】
上記ブートストラップ回路２１５は、ＦＥＴ２１４ａにこれのソース電位の変動に関わらず常に一定のゲート・ソース間電圧を印加するためのものである。なお、このブートストラップ回路２１５は、バッテリの２４Ｖを１２Ｖ直流電圧に降圧する降圧回路２１５ａと、逆流防止用ダイオード２１５ｂと、降圧回路２１５ａにより充電されるコンデンサ２１５ｃとを備えている。
【００２５】
本実施形態装置によれば、まずスロットルレバー６８の開度（指示値）に応じたスロットル補助トルクを得るのに必要なスロットル補助電流値が求められ、ペダル踏力に応じたペダル補助トルクを得るのに必要なペダル補助電流値が求められ、上記スロットル，ペダル補助電流値とが所定の方式に従って重ね合わされて目標電流値が求められる。そして次に上記モータ４４に流れる電流値が上記目標電流値となるように電流供給回路２１４がフィードバック制御により制御される。
【００２６】
このように本実施形態では、制御目標値として電流値を求め、モータ４４を流れる電流値が上記目標電流値となるように電流値を制御するようにしたので、必要な補助トルクを高い精度で発生させることができる。
【００２７】
また本実施形態では、目標電流値演算手段１００及び電流値制御手段２００をコントローラ５４のＣＰＵにおけるソフトウェア処理によって実現したので、装置コストを低減できるとともに、制御動作の確実性を高めるための各種の処理内容を付加することが可能である。例えば、上記偏差演算手段２１２の処理において、目標電流値とモータ電流値との差分が許容値を越えた場合にはフェールセイフ処理をするようなプログラムとすることにより、電流値検出手段２０１の故障等の事故時にも対応できる。
【００２８】
なお、上記実施形態では、スロット開度から求めたスロットル補助電流値とペダル踏力から求めたペダル補助電流値とを重ね合わせるようにしたが、モード切替スイッチ６３により、スロットル開度から求めたスロットル補助電流値をそのまま、又は一定の演算処理後に目標電流値とするスロットル入力モードとすることもできる。
【００２９】
また、モード切替スイッチ６３により、上記重ね合わせモード，スロットル入力モード，及びペダル踏力から求めたペダル補助電流値をそのまま、又は一定の演算処理後に目標電流値とするペダル入力モードの３段階に切替え可能とすることもできる。
【００３０】
【発明の効果】
以上のように本発明に係る電動補助車両の補助力制御装置によれば、外部から指示された指示値に基づいて補助力を制御する場合に、該補助力に対応した目標電流値を求め、電動モータに供給される電流値を目標電流値に一致するように制御したので、上記指示された補助力を高い精度で発生できる効果がある。
【００３１】
また、上記指示値に基づく補助力を得るためのスロットル補助電流値と、ペダル踏力に基づく補助力を得るためのペダル補助電流値とを重ね合わせて目標電流値を求め、電動モータに供給される電流値を目標電流値に一致するように制御したので、希望する補助力を高い精度で発生できるととにも、上記重ね合わせ方式を適宜選定することにより、補助力の供給変動を滑らかにすることができ、走行感を向上できる効果がある。
【図面の簡単な説明】
【図１】本発明の一実施形態による補助力制御装置を備えた電動補助自転車の側面図である。
【図２】上記補助力制御装置の機能構成図である。
【図３】上記補助力制御装置のブロック構成図である。
【符号の説明】
１ 電動補助自転車
４０ 電力駆動系
４４ 電動モータ
６８ スロットルレバー（補助力指示手段）
７５ 人力駆動系
１００ 目標電流値演算手段
１０２ 踏力センサ（踏力検出手段）
１１１ ペダル補助力演算手段
１１２ ペダル補助電流値演算手段
１１４ スロットル補助電流値演算手段
２００ 電流値制御手段
２１４ 電流供給回路[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an auxiliary force control device for an electric auxiliary vehicle including a human power driving system and an electric power driving system.
[0002]
[Prior art]
There has been proposed an electrically assisted vehicle (for example, an electrically assisted bicycle) including a human power drive system that supplies pedal depression force to drive wheels and an electric power drive system that supplies assist force from an electric motor to drive wheels. In this type of vehicle, a throttle lever is provided in the vicinity of the handle grip, etc., and the electric motor is controlled so that the auxiliary force is indicated from the outside by the throttle lever and the auxiliary force corresponding to the indicated value is obtained. It is possible to do.
[0003]
In the control of the electric motor, the auxiliary force corresponding to the instruction value from the throttle lever is applied by utilizing the fact that a certain relationship is established between the supply voltage to the motor and the rotational speed and generated torque of the motor. It can be generated. That is, the rotational speed of the motor is detected, and the supply voltage value to the motor necessary for obtaining the assisting force corresponding to the indicated value at this rotational speed is obtained based on the above-mentioned fixed relationship, and the obtained voltage is calculated by PWM. The motor is supplied to the motor by duty ratio control.
[0004]
[Problems to be solved by the invention]
By the way, the characteristics of the motor, which is an auxiliary power source, are affected by the resistance of the brush, the resistance of the armature winding, and the like. For this reason, when the voltage control based on the PWM duty ratio control is adopted, when the auxiliary force of each vehicle is compared under a certain condition (vehicle speed, throttle opening), the variation of the auxiliary force due to the characteristics of the respective motors. There is concern about the problem that it tends to occur.
[0005]
The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide an auxiliary force control device for an electrically assisted vehicle that can obtain an auxiliary force that accurately corresponds to an external instruction value regardless of motor characteristics.
[0006]
[Means for Solving the Problems]
According to a first aspect of the present invention, there is provided an auxiliary force control apparatus for an electrically assisted vehicle comprising a human power drive system for supplying pedal depression force to drive wheels and an electric power drive system for supplying auxiliary force from an electric motor to drive wheels. Auxiliary force instructing means for instructing the magnitude of force from the outside, a throttle auxiliary current value calculating means for obtaining a throttle auxiliary current value necessary for obtaining the throttle auxiliary force instructed by the auxiliary force instructing means, and the electric motor Current value control means for controlling the current supply circuit so that the current value to be supplied to the throttle auxiliary current value, pedal force detection means for detecting pedal depression force, and pedal assist force based on the pedal effort from the pedal force detection means Pedal assisting force calculating means for obtaining the pedal assisting current, and pedal assisting current value calculating means for obtaining the pedal assisting current value necessary for obtaining the pedal assisting force. Current value supplied to the electric motor is characterized by controlling the current supply circuit so that the target current value obtained by superimposing and the throttle assist current value and the pedal assist current value.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
1 to 3 are diagrams for explaining an assisting force control apparatus for a battery-assisted bicycle according to an embodiment of the present invention. FIG. 1 is a side view of the assisting bicycle, and FIG. 2 is a function of the assisting force control apparatus. FIG. 3 is a block diagram showing a specific configuration of the auxiliary force control device.
[0009]
In FIG. 1, reference numeral 1 denotes a battery-assisted bicycle. A body frame 10 of the bicycle 1 includes a head pipe 12, a down tube 14 extending obliquely rearward and downward from the head pipe 12, and a rear portion of the down tube 14 upward. The seat tube 16 standing up, a pair of left and right rear arms 20 and 20 extending rearward from the rear end of the down tube 14, the rear end portions of the rear arms 20 and 20, and the upper end portion of the seat tube 16 are combined. A pair of left and right seat stays 22 and 22 are provided.
[0010]
A front fork 24 having a front wheel 28 pivotally supported at the lower end and a steering handle 26 fixed to the upper end is pivotally supported on the head pipe 12 so as to be rotatable left and right. A seat post 30a is inserted into the seat tube 16 so as to be adjustable in height, and a saddle 30 is mounted on the upper end of the seat post 30a. Furthermore, a rear wheel 32 is rotatably mounted between the rear ends of the rear arms 20 and 20, and an internal transmission is incorporated in the hub 34 of the rear wheel 32.
[0011]
Reference numeral 40 denotes a power unit (electric power drive system) which is a power source of the bicycle 1, and this power unit 40 is connected to the power case 42 and the power case 42 so as to apply driving force to the rear wheel 32. A permanent magnet type DC electric motor 44 for transmission, a battery 64 for supplying current to the electric motor 44, and a controller 54 for controlling the driving force of the electric motor 44 are provided.
[0012]
The power case 42 is attached below the rear portion 14a of the down tube 14, and the electric motor 44 is disposed in the vehicle body cover 41 so as to protrude obliquely forward and upward, and is parallel to the rear portion 14a of the down tube 14. It has become. The controller 54 is mounted in the vehicle body cover 41 so as to be positioned below the front portion 14b of the down tube 14.
[0013]
The battery 64 has a large number of battery cells connected in series and is built in the case. The battery 64 is attached to and detached from the battery case 60 disposed in the space between the seat tube 16 and the front edge of the rear wheel 32. It is stored as possible. The upper end opening of the battery case 60 is located between the left and right seat stays 22 and protrudes upward, and the battery 64 passes between the left and right seat stays 22 and 22 in the vertical direction. Can be installed and removed.
[0014]
A crankshaft 46 is inserted through the power case 42 in the vehicle width direction, and crank arms 48 (only one is shown) are fixed to both ends thereof. A crank pedal 50 is attached to each crank arm 48. . As a result, a human power drive system 75 is configured to transmit the pedaling force applied to the crank pedal 50 to the rear wheel 32 via the chain 52.
[0015]
A main switch 56 and a travel mode changeover switch 63 are disposed in the vicinity of the connection portion of the vehicle body frame 10 to the head pipe 12, and the changeover switch 63 extends outwardly from an opening 41 a formed in the vehicle body cover 41. It faces. A throttle lever (auxiliary force instruction means) 68 is rotatably disposed in the vicinity of the handle grip of the steering handle 26.
[0016]
As shown in FIG. 2, the controller 54 includes a target current value calculation means 100 for obtaining a target current value necessary for obtaining an auxiliary force according to inputs from the throttle sensor 101, the pedal force sensor 102, and the vehicle speed sensor 103, A function as current value control means 200 for controlling the current supply circuit 214 is provided so that the current value supplied to the motor 44 becomes the target current value obtained by the calculation means 100.
[0017]
The target current value calculation means 100 has the following configuration. When the opening degree (indicated value) of the throttle lever 68 is detected as a throttle assist torque by the throttle sensor 101 and is input via the input interface 113, the throttle lever 68 is input from the vehicle speed sensor 103 by the throttle assist current value calculation means 114. The throttle auxiliary current value required to obtain the throttle auxiliary torque at the vehicle speed at that time, that is, the motor rotation speed is obtained. The throttle assist torque is set to a value proportional to the throttle opening, for example.
[0018]
On the other hand, when the pedal effort detected by the pedal effort sensor 102 is input via the input interface 110, the pedal assistance torque is calculated by the pedal assistance torque calculator 111 according to the detected pedal effort, and the pedal assistance is calculated. The current value calculation means 112 obtains the pedal auxiliary current value necessary for obtaining the pedal auxiliary torque at the current vehicle speed inputted from the vehicle speed sensor 103, that is, the motor rotational speed. The pedal assist torque is set to a magnitude proportional to the pedal effort, for example.
[0019]
Then, the superimposing means 115 superimposes the throttle auxiliary current value based on the throttle instruction value and the pedal auxiliary standard current value based on the pedal depression force according to a predetermined arithmetic expression or the like, thereby obtaining the target current value. As an arithmetic expression for the superposition, for example, an arithmetic expression such as correcting the pedal auxiliary current value to a smaller value as the throttle opening increases and then adding the corrected value to the throttle auxiliary current value is employed.
[0020]
The current value control means 200 is configured as follows. When a detection signal corresponding to the current value flowing through the motor 44 is input from the current detection unit 201 via the input interface 210, the current value flowing through the motor 44 is calculated by the current value calculation unit 211. The difference between the value and the target current value is calculated by the deviation calculation means 212, and the control amount calculation means 213 calculates the control amount (for example, the duty ratio correction amount in PWM control) necessary to make the difference zero. The The current supply circuit 214 controls the current flowing to the motor 44 in accordance with the calculated control amount.
[0021]
FIG. 3 shows a specific configuration of the current detection means 201 and the current supply circuit 214. In the figure, the current detecting means 201 has a shunt resistor 201a interposed between the motor 44 and the ground, a voltage across the shunt resistor 201a is amplified by a differential amplifier 201b, and smoothed by a filter 201c. 54 is input.
[0022]
In the present embodiment, since the shunt resistor 201a is interposed between the motor 44 and the ground, the common-mode noise input to the differential amplifier 201b is reduced, and a signal accurately reflecting the current value of the motor 44 is filtered 201c. Obtained from.
[0023]
The current supply circuit 214 has an N-channel FET 214a interposed between the positive electrode of the battery 64 and the motor 44, and a gate drive 214b for turning on and off the FET 214a between the FET 214a and the CPU 250. A bootstrap circuit 215 is connected to the gate drive 214b. Reference numeral 216 denotes a flywheel diode which becomes a motor current path when the FET 214a is turned off.
[0024]
The bootstrap circuit 215 is for applying a constant gate-source voltage to the FET 214a regardless of the variation of the source potential. The bootstrap circuit 215 includes a step-down circuit 215a that steps down the battery 24V to a 12V DC voltage, a backflow prevention diode 215b, and a capacitor 215c that is charged by the step-down circuit 215a.
[0025]
According to the present embodiment, first, a throttle assist current value necessary for obtaining a throttle assist torque corresponding to the opening degree (indicated value) of the throttle lever 68 is obtained, and a pedal assist torque corresponding to the pedal depression force is obtained. The pedal auxiliary current value required for the above is obtained, and the throttle and pedal auxiliary current values are superimposed according to a predetermined method to obtain the target current value. Then, the current supply circuit 214 is controlled by feedback control so that the current value flowing through the motor 44 becomes the target current value.
[0026]
Thus, in this embodiment, the current value is obtained as the control target value, and the current value is controlled so that the current value flowing through the motor 44 becomes the target current value. Can be generated.
[0027]
Further, in the present embodiment, since the target current value calculation means 100 and the current value control means 200 are realized by software processing in the CPU of the controller 54, various processes for reducing the apparatus cost and increasing the reliability of the control operation. It is possible to add content. For example, in the processing of the deviation calculating means 212, when the difference between the target current value and the motor current value exceeds the allowable value, a program that performs fail-safe processing is performed, so that the failure of the current value detecting means 201 occurs. It can respond to accidents such as.
[0028]
In the above embodiment, the throttle auxiliary current value obtained from the slot opening and the pedal auxiliary current value obtained from the pedal depression force are overlapped, but the throttle assist obtained from the throttle opening by the mode switch 63 is used. as a current value, or as possible out be a throttle input mode to a target current value after a predetermined arithmetic processing.
[0029]
In addition, the mode changeover switch 63 can switch the pedal auxiliary current value obtained from the overlay mode, the throttle input mode, and the pedal depression force as it is or to three steps of the pedal input mode in which the target current value is obtained after a certain calculation process. It can also be.
[0030]
【The invention's effect】
As described above, according to the auxiliary force control apparatus for an electrically assisted vehicle according to the present invention , when the auxiliary force is controlled based on an instruction value instructed from the outside, a target current value corresponding to the auxiliary force is obtained. Since the current value supplied to the electric motor is controlled so as to coincide with the target current value, the instructed auxiliary force can be generated with high accuracy.
[0031]
Further, a target current value is obtained by superimposing a throttle auxiliary current value for obtaining an assisting force based on the indicated value and a pedal assisting current value for obtaining an assisting force based on the pedal depression force, and is supplied to the electric motor. Since the current value is controlled to match the target current value, the desired auxiliary force can be generated with high accuracy, and the supply variation of the auxiliary force can be made smooth by selecting the above superposition method as appropriate. It is possible to improve driving feeling.
[Brief description of the drawings]
FIG. 1 is a side view of a battery-assisted bicycle equipped with an auxiliary force control device according to an embodiment of the present invention.
FIG. 2 is a functional configuration diagram of the auxiliary force control device.
FIG. 3 is a block diagram of the auxiliary force control device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Electric auxiliary bicycle 40 Electric power drive system 44 Electric motor 68 Throttle lever (Auxiliary force instruction means)
75 Human Power Drive System 100 Target Current Value Calculation Unit 102 Treading Force Sensor (Treading Force Detection Unit)
111 Pedal auxiliary force calculating means 112 Pedal auxiliary current value calculating means 114 Throttle auxiliary current value calculating means 200 Current value control means 214 Current supply circuit

Claims (1)

ペダル踏力を駆動輪に供給する人力駆動系と、電動モータからの補助力を駆動輪に供給する電力駆動系とを備えた電動補助車両の補助力制御装置において、補助力の大きさを外部から指示する補助力指示手段と、該補助力指示手段により指示されたスロットル補助力を得るのに必要なスロットル補助電流値を求めるスロットル補助電流値演算手段と、上記電動モータに供給する電流値が上記スロットル補助電流値となるように電流供給回路を制御する電流値制御手段と、ペダル踏力を検出する踏力検出手段と、該踏力検出手段からの踏力に基づいてペダル補助力を求めるペダル補助力演算手段と、該ペダル補助力を得るのに必要なペダル補助電流値を求めるペダル補助電流値演算手段とを備え、上記電流値制御手段が、上記電動モータに供給する電流値が上記スロットル補助電流値とペダル補助電流値とを重ね合わせた目標電流値となるように電流供給回路を制御することを特徴とする電動補助車両の補助力制御装置。In an auxiliary force control device for an electric auxiliary vehicle including a human power drive system that supplies pedal depression force to drive wheels and an electric power drive system that supplies auxiliary force from an electric motor to drive wheels, the magnitude of the auxiliary force is externally applied. Auxiliary force instruction means for instructing, throttle auxiliary current value calculating means for obtaining a throttle auxiliary current value necessary for obtaining the throttle auxiliary force instructed by the auxiliary force instruction means, and a current value supplied to the electric motor Current value control means for controlling the current supply circuit so as to obtain a throttle assist current value, pedal force detection means for detecting pedal depression force, and pedal assist force calculation means for obtaining pedal assist force based on the pedal force from the pedal force detection means And pedal auxiliary current value calculation means for obtaining a pedal auxiliary current value necessary for obtaining the pedal auxiliary force, wherein the current value control means is supplied to the electric motor. That the current value assist force control device for an electric auxiliary vehicle, characterized in that controlling the current supply circuit so that the target current value obtained by superimposing and the throttle assist current value and the pedal assist current value.
JP04914996A 1996-03-06 1996-03-06 Auxiliary force control device for electric auxiliary vehicle Expired - Fee Related JP3672658B2 (en)

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JP04914996A JP3672658B2 (en) 1996-03-06 1996-03-06 Auxiliary force control device for electric auxiliary vehicle

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Application Number Priority Date Filing Date Title
JP04914996A JP3672658B2 (en) 1996-03-06 1996-03-06 Auxiliary force control device for electric auxiliary vehicle

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JPH09240561A JPH09240561A (en) 1997-09-16
JP3672658B2 true JP3672658B2 (en) 2005-07-20

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