JP5668036B2 - モータ駆動制御装置及び電動アシスト車 - Google Patents
モータ駆動制御装置及び電動アシスト車 Download PDFInfo
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/02—Dynamic electric resistor braking
- B60L7/08—Controlling the braking effect
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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
- B60L15/2009—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 for braking
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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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/20—Electric propulsion with power supplied within the vehicle using propulsion power generated by humans or animals
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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
- 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
- B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/12—Dynamic electric regenerative braking for vehicles propelled by dc motors
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
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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
- B60L2200/00—Type of vehicles
- B60L2200/12—Bikes
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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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
- B60L2250/00—Driver interactions
- B60L2250/24—Driver interactions by lever actuation
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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
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/145—Structure borne vibrations
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- 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
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- 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
Description
図1は、本実施の形態における電動アシスト車であるモータ付き自転車の一例を示す外観図である。このモータ付き自転車1は、モータ駆動装置を搭載している。モータ駆動装置は、二次電池101と、モータ駆動制御器102と、トルクセンサ103と、ブレーキセンサ104a及び104bと、モータ105と、操作パネル106とを有する。
第1の実施の形態では、両ブレーキ状態から片ブレーキ状態へ遷移した時点の現制御係数の値Cと変化点B2との平均値を再上昇点B3に設定していた。これは傾きγにもよるが、比較的大きな制御係数の値が再上昇点B3として設定される傾向がある。これは、乗員からすると、ブレーキを片方のみにしたのに減速が思ったほど減らない、ということになる。
第1の実施の形態でも第2の実施の形態でも再上昇点B3を演算で求めなければならない。しかしながら、図18に示すように、変化点B2をそのまま再上昇点B3に採用するようにしても良い。この他は第1の実施の形態と同様である。
1202 回生目標算出部
1203 乗算器
1204 PWMコード生成部
Claims (6)
- 2つのブレーキセンサの各々からブレーキがオンの状態を表す信号又はオフの状態を表す信号を受信する入力部と、
前記入力部から前記ブレーキのいずれか一方がオンの状態であることを表す第1の信号を受信すると、回生目標量に対する制御係数の値を第1の傾きで時間経過に応じて所定の上限値に向かって増加させ、前記入力部から前記ブレーキの両方がオンの状態であることを表す第2の信号を受信すると、前記制御係数の値を前記第1の傾きより大きい第2の傾きで時間経過に応じて前記所定の上限値に向かって増加させる制御係数算出部と、
前記制御係数算出部が算出した制御係数の値と前記回生目標量とから、モータの駆動を制御する制御部と、
を有するモータ駆動制御装置。 - 前記制御係数算出部が、
前記第2の信号を受信した後に前記第1の信号を受信すると、前記第2の信号を受信した際における制御係数の値以上で、かつ前記第2の制御信号を受信した後に前記第1の信号を受信した際における制御係数の値未満の値に前記制御係数の値を下げる
請求項1記載のモータ駆動制御装置。 - 前記第2の信号を受信した際における制御係数の値以上で、かつ前記第2の制御信号を受信した後に前記第1の信号を受信した際における制御係数の値未満の値が、
前記第2の信号を受信した際における制御係数の値と前記第2の制御信号を受信した後に前記第1の信号を受信した際における制御係数の値とから算出される
請求項2記載のモータ駆動制御装置。 - 前記第2の信号を受信した際における制御係数の値以上で、かつ前記第2の制御信号を受信した後に前記第1の信号を受信した際における制御係数の値未満の値が、
前記第2の信号を受信した際における制御係数の値から算出される
請求項2記載のモータ駆動制御装置。 - 前記第2の信号を受信した際における制御係数の値以上で、かつ前記第2の制御信号を受信した後に前記第1の信号を受信した際における制御係数の値未満の値が、
前記第2の信号を受信した際における制御係数の値から前記第1の傾きで増加させた場合の値である
請求項2記載のモータ駆動制御装置。 - 前記回生目標量が可変であることを特徴とする請求項1乃至5のいずれか1つ記載のモータ駆動制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012209128A JP5668036B2 (ja) | 2012-09-24 | 2012-09-24 | モータ駆動制御装置及び電動アシスト車 |
TW102127140A TWI519433B (zh) | 2012-09-24 | 2013-07-29 | 馬達驅動控制裝置 |
US13/972,644 US9136780B2 (en) | 2012-09-24 | 2013-08-21 | Controller for driving a motor and electric power-assisted vehicle |
EP13004482.9A EP2711231B1 (en) | 2012-09-24 | 2013-09-13 | Controller for driving a motor and electric power-assisted vehicle |
CN201310430195.9A CN103684126B (zh) | 2012-09-24 | 2013-09-18 | 电动机驱动控制装置及电动助力车 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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JP2012209128A JP5668036B2 (ja) | 2012-09-24 | 2012-09-24 | モータ駆動制御装置及び電動アシスト車 |
Publications (2)
Publication Number | Publication Date |
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JP2014064423A JP2014064423A (ja) | 2014-04-10 |
JP5668036B2 true JP5668036B2 (ja) | 2015-02-12 |
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JP2012209128A Active JP5668036B2 (ja) | 2012-09-24 | 2012-09-24 | モータ駆動制御装置及び電動アシスト車 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9136780B2 (ja) |
EP (1) | EP2711231B1 (ja) |
JP (1) | JP5668036B2 (ja) |
CN (1) | CN103684126B (ja) |
TW (1) | TWI519433B (ja) |
Cited By (1)
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JP5931025B2 (ja) * | 2013-08-23 | 2016-06-08 | ブリヂストンサイクル株式会社 | 電動機付自転車 |
TWI646014B (zh) * | 2014-08-20 | 2019-01-01 | 日商太陽誘電股份有限公司 | Control device and electric auxiliary vehicle |
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CN106476773A (zh) * | 2015-08-31 | 2017-03-08 | 罗伯特·博世有限公司 | 一种电子控制装置 |
JP2019182044A (ja) * | 2018-04-04 | 2019-10-24 | ブリヂストンサイクル株式会社 | 電動アシスト自転車 |
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TWI830236B (zh) * | 2022-05-25 | 2024-01-21 | 茂達電子股份有限公司 | 具啟動機制的馬達驅動器 |
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JP5337533B2 (ja) * | 2009-02-27 | 2013-11-06 | セミコンダクター・コンポーネンツ・インダストリーズ・リミテッド・ライアビリティ・カンパニー | モータ駆動回路 |
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2012
- 2012-09-24 JP JP2012209128A patent/JP5668036B2/ja active Active
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2013
- 2013-07-29 TW TW102127140A patent/TWI519433B/zh active
- 2013-08-21 US US13/972,644 patent/US9136780B2/en active Active
- 2013-09-13 EP EP13004482.9A patent/EP2711231B1/en active Active
- 2013-09-18 CN CN201310430195.9A patent/CN103684126B/zh active Active
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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TWI666143B (zh) * | 2016-12-28 | 2019-07-21 | 日商山葉發動機股份有限公司 | Electric auxiliary system and electric auxiliary vehicle |
US11440618B2 (en) | 2016-12-28 | 2022-09-13 | Yamaha Hatsudoki Kabushiki Kaisha | Electric assist system and electric assist vehicle |
Also Published As
Publication number | Publication date |
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CN103684126A (zh) | 2014-03-26 |
TWI519433B (zh) | 2016-02-01 |
EP2711231B1 (en) | 2018-05-02 |
US9136780B2 (en) | 2015-09-15 |
EP2711231A2 (en) | 2014-03-26 |
JP2014064423A (ja) | 2014-04-10 |
US20140084819A1 (en) | 2014-03-27 |
CN103684126B (zh) | 2017-01-18 |
EP2711231A3 (en) | 2015-06-17 |
TW201412581A (zh) | 2014-04-01 |
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