JP5931025B2 - Bicycle with electric motor - Google Patents

Description

  The present invention relates to a bicycle with an electric motor including a motor that generates an auxiliary driving force.

  A bicycle with an electric motor such as a so-called electric assist bicycle includes a motor that generates an auxiliary driving force and a battery for supplying electric power to the motor. Such a bicycle with an electric motor is known to be equipped with a regenerative braking system that obtains a braking force by operating a motor as a generator, converting kinetic energy during traveling into electric energy and collecting it as a regenerative current. .

  Patent Document 1 describes a bicycle with an electric motor that gently controls a regenerative current of a motor by a control means based on an output of human power torque and charges a battery with generated power generated by the motor.

  In Patent Literature 2, in an electric bicycle having a regenerative charging function for charging a battery with electricity generated from a motor during braking, the regenerative duty when either one of the brake levers is operated is set for both the brake levers. It is described that the shock at the start of regenerative charging is reduced by making it smaller than the regenerative duty when operated.

JP 2000-6878 A JP 2010-35376 A

  In the bicycle with an electric motor described in Patent Document 1, since the magnitude of the regenerative current, that is, the magnitude of the braking force is not linked to the brake operation, there is a high possibility that the feeling will be different from the feeling intended by the user. On the other hand, according to the bicycle with electric motor described in Patent Document 2, the regenerative duty when one brake lever is operated is smaller than the regenerative duty when both brake levers are operated. It is considered that a brake feeling close to the intended feeling can be obtained. However, according to the electric bicycle described in Patent Document 2, the regenerative duty when only one brake is operated is limited to a value smaller than the regenerative duty when both brake levers are operated. When one brake lever is operated, a sufficient braking force may not be obtained.

  The present invention has been made in view of the above points, and improves the feeling at the time of regenerative braking and allows the braking force by regenerative braking to be applied to the maximum regardless of the number of brake operations. The purpose is to provide.

According to the first aspect of the present invention, a motor that generates an auxiliary driving force, a first operating unit and a second operating unit that are operated when generating a braking force, and a regenerative current is recovered from the motor. regenerative means for generating the magnitude of the braking force corresponding to the current value of the regenerative current by the derivation means for deriving to follow the target value I _T of the regenerative current to the rotational speed of said motor, said first It causes over time to change toward the operating unit and the second operation unit of the current value I of the target value I _T of the regenerative current is the regeneration means according to an operation to at least one recovered from the motor, before the current value I reaches the target value I _T, the first operation unit and either one of said second operating part from the state of being operated the first operation unit and the second Change to the state where both of the operation units are operated. And when the first operation unit and the second operation unit are both operated, the state changes from the state where either the first operation unit or the second operation unit is operated. when, by controlling the current value I as time rate of change of the ratio between the target value I _T and the current value I is changed, and after the current value I reaches the target value I _T is Including a case where an operation on one of the first operation unit and the second operation unit is released from a state in which both the first operation unit and the second operation unit are operated. bicycles motor comprising a control means, the maintaining the current value I to the target value I _T is provided when the first operation unit and the operation to at least one of the second operation portion is continued .

According to the second aspect of the present invention, the motor that generates the auxiliary driving force, the first operating unit and the second operating unit that are operated when generating the braking force, and the regenerative current is recovered from the motor. regenerative means for generating the magnitude of the braking force corresponding to the current value of the regenerative current by the derivation means for deriving to follow the target value I _T of the regenerative current to the rotational speed of said motor, said first It causes over time to change toward the operating unit and the second operation unit of the current value I of the target value I _T of the regenerative current is the regeneration means according to an operation to at least one recovered from the motor, before the current value I reaches the target value I _T, the first operation unit and either one of said second operating part from the state of being operated the first operation unit and the second Change to the state where both of the operation units are operated. And when the first operation unit and the second operation unit are both operated, the state changes from the state where either the first operation unit or the second operation unit is operated. when, by controlling the current value I as the time rate of change of the ratio I / I _T between the said current value I target value I _T is changed, and the first operation unit and the second bicycles motor and a control means for changing only the direction of increasing the value of the ratio I / I _T is provided in the case of operation for at least one of the operation portion is continued.

According to a third aspect of the present invention, the control means includes the current value I and the target value I _T when one of the first operation unit and the second operation unit is operated. the time rate of change of the ratio I / I _T between, and smaller than the time rate of change of the ratio I / I _T when both the first operation unit and the second operation section is being operated An electric bicycle according to the first or second aspect is provided.

According to a fourth aspect of the present invention, the control means sets the ratio I / _IT value when one of the first operation unit and the second operation unit is operated. gradually changed toward 1, the immediately changing to 1 the value of the ratio I / I _T when both the first operation unit and the second operation portion is in a state of being operated An electric bicycle according to the third aspect is provided.

According to a fifth aspect of the present invention, the control means, before the ratio I / I _T reaches 1, the both of the first operation unit and the second operation section is being operated When the state changes from the state 1 to the second state in which one of the first operation unit and the second operation unit is operated, the first operation unit and the second operation unit as the length of the period from the operation for at least one is started until the ratio I / I _T reaches 1 becomes a predetermined length, time rate of change of the ratio I / I _T in the second state There is provided a bicycle with an electric motor according to a third aspect of adjusting the motor.

According to a sixth aspect of the present invention, the control means starts from the first state in which both the first operation unit and the second operation unit are operated, and the first operation unit and the first operation unit. when changes to a second state in which either one of the second operation portion is operated, the value of the ratio I / I _T between the target value I _T and the current value I, the first operation portion and the ratio at the time when the second state over the entire period up to the value of the ratio I / I _T reaches 1 is continued from the operation is started with respect to at least one of the second operating unit is reduced to a value of I / I _T, then the ratio first bicycles motor according viewpoint changing toward the value of I / I _T 1 is provided.

According to a seventh aspect of the present invention, the control means starts from the first state in which both the first operation unit and the second operation unit are operated, and the first operation unit and the first operation unit. when changes to a second state in which either one of the second operation portion is operated, the ratio I / I _T from the time of changing to the second state the length of time to reach 1 so that a predetermined length, a third aspect bicycles motor according to adjusting the time rate of change of the ratio I / I _T in the second state is provided.

  According to an eighth aspect of the present invention, the control means sets the current value I to zero when an operation on both the first operation unit and the second operation unit is released. A motor-equipped bicycle according to any one of the seventh to seventh aspects is provided.

According to a ninth aspect of the present invention, the target value I _T is first to eighth Bicycles electric motor according to any aspect of which corresponds to the maximum value of the recoverable regenerative current from the motor in the rotational speed Is provided.

  According to a tenth aspect of the present invention, there is provided the electric motor according to any one of the first to ninth aspects, further comprising: a battery that supplies power to the motor; and a charging unit that charges the battery with the regenerative current. A bicycle is provided.

  ADVANTAGE OF THE INVENTION According to this invention, while improving the feeling at the time of regenerative braking, it becomes possible to provide the bicycle with an electric motor which can make the braking force by regenerative braking act to the maximum irrespective of the number of brake operations.

It is a side view showing the composition of the bicycle with an electric motor concerning the embodiment of the present invention. It is a figure which shows the structure of the steering wheel vicinity of the bicycle with an electric motor which concerns on embodiment of this invention. It is a block diagram which shows the structure of the electric system of the bicycle with an electric motor which concerns on embodiment of this invention. It is a figure which shows the connection relation of the battery which concerns on embodiment to this invention, a motor drive circuit, and a motor in detail. It is a functional block diagram which shows the functional structure of the arithmetic processing unit 100 which concerns on embodiment of this invention. FIG. 6A is a diagram illustrating an example of the relationship between the on-duty of the transistor and the regenerative current in the PWM control performed in the motor drive circuit according to the embodiment of the present invention. FIG.6 (b) is a figure which shows an example of the relationship between the rotation speed of the motor which concerns on embodiment of this invention, and the maximum value of regenerative current. It is a figure which shows an example of the time change of the coefficient (alpha) which concerns on embodiment of this invention. FIG. 8A and FIG. 8B are diagrams showing an example of the time change of the coefficient α according to the embodiment of the present invention. It is a figure which shows an example of the time change of the coefficient (alpha) which concerns on embodiment of this invention. It is a flowchart which shows the flow of a process in the regenerative current control program which concerns on embodiment of this invention. FIG. 11A and FIG. 11B are diagrams illustrating an example of a time change of the coefficient α according to another embodiment of the present invention. 12 (a) and 12 (b) are diagrams showing an example of a time change of the coefficient α according to another embodiment of the present invention. It is a figure which shows an example of the time change of the coefficient (alpha) which concerns on other embodiment of this invention. It is a figure which shows an example of the time change of the coefficient (alpha) which concerns on other embodiment of this invention. It is a figure which shows an example of the time change of the coefficient (alpha) which concerns on other embodiment of this invention.

  Embodiments of the present invention will be described below with reference to the drawings. In the drawings, the same or equivalent components and parts are denoted by the same reference numerals.

  FIG. 1 is a side view showing a configuration of an electric bicycle 1 according to an embodiment of the present invention. The bicycle 1 with an electric motor has a frame including a front fork 11, a head pipe 12, a down tube 13, a seat tube 14, a seat stay 15, and a chain stay 16. The front wheel 21 is rotatably attached to the front fork 11, and the rear wheel 22 is rotatably attached to the intersection of the seat stay 15 and the chain stay 16.

  A handle stem 23 is rotatably inserted into the head pipe 12, and a handle 24 is attached to the upper end of the handle stem 23. On the other hand, a seat post 25 is fitted to the seat tube 14, and a saddle 26 is attached to the upper end of the seat post 25.

  The pedal 27 is connected to a sprocket (not shown) via a crank 28. When the user applies a pedaling force to the pedal 27, the sprocket rotates, and the driving force is transmitted to the rear wheel 22 via the chain 29 as the sprocket rotates.

  The motor 160 is mounted on the axle of the front wheel 21 and generates a driving force that rotates the front wheel 21. The rotation of the motor 160 is decelerated by a deceleration mechanism (not shown) and is transmitted to the front wheels 21. In this embodiment, a hub motor type bicycle with an electric motor in which a motor is incorporated in a wheel is illustrated, but the present invention can also be applied to a so-called center mount type electric bicycle.

  Electric power for driving the motor 160 is supplied from a battery 110 that is detachably provided along the seat tube 14. The battery 110 is composed of, for example, a lithium ion secondary battery, and can be repeatedly used by charging.

  A stay 31 for supporting the basket 30 is connected to the front end portion of the front fork 11. The light 170 is attached to a fastener (shown) for attaching the upper portion of the stay 31 to the lower surface of the cage 30. The light 170 is a lamp that emits light toward the front of the host vehicle. The light 170 is configured to include a light source such as an LED or an incandescent bulb that emits light when supplied with power from the battery 110. The light 170 may be provided at an appropriate position on the handle 24 or the front fork 11 so that the light projecting direction faces the front of the host vehicle.

  The handle 24 is provided with an operation / display unit 180. The operation / display unit 180 is a mode selection button (not shown) for receiving an input operation for selecting a setting (hereinafter also referred to as an assist mode) of a ratio of the auxiliary driving force to the pedaling force (hereinafter also referred to as an assist ratio). It has a light button (not shown) for receiving an input operation for turning on and off the light 170 and a display unit (not shown) for displaying the state of the host vehicle.

  FIG. 2 is a diagram showing a configuration in the vicinity of the handle 24 of the electric bicycle 1. In FIG. 2, the operation / display unit 180 is omitted. In the vicinity of the right grip 51 constituting the handle 24, a first brake lever 61 for operating a front wheel brake (not shown) having a mechanical brake mechanism such as a rim brake or a hub brake, A first brake sensor 220 that detects that the brake lever 61 has been operated is provided. Similarly, a second brake lever 62 for operating a rear wheel brake (not shown) having a mechanical brake mechanism such as a rim brake or a hub brake is provided in the vicinity of the left grip 52 constituting the handle 24. A second brake sensor 230 is provided for detecting that the second brake lever 62 has been operated.

  FIG. 3 is a block diagram showing the configuration of the electrical system of the electric bicycle 1 according to the embodiment of the present invention.

The torque sensor 200 detects the magnitude of the input torque by human power applied to the pedal 27, to generate a torque detection signal S _T that indicates the magnitude of the detected input torque. Torque detection signal S _T that is generated by the torque sensor 200 is supplied to the processing unit 100. As the torque sensor 200, for example, a known torque sensor using a magnetostriction effect that does not have a mechanical contact portion with respect to the crankshaft can be used.

Speed sensor 210 generates a rotational speed detection signal S _V indicating the rotational speed detected by detecting the rotational speed of the motor 160. Rotational speed detection signal generated by the speed sensor 210 S _V is supplied to the processing unit 100. The rotation speed sensor 210 can be constituted by, for example, a Hall element that detects the angular position of the rotor that constitutes the motor 160.

First brake sensor 220 detects that the first brake lever 61 is operated, and supplies the generated brake operation detection signal S _B to the processing unit 100. Similarly, the second brake sensor 230 detects that the second brake lever 62 is operated, and supplies the generated brake operation detection signal S _B to the processing unit 100.

  The operation / display unit 180 has a mode selection button (not shown) for receiving an input operation for selecting the assist ratio setting (assist mode) and a light button (not shown) for receiving an input operation for turning on and off the light 170. Not shown). When the mode selection button and the light button are operated, the operation / display unit 180 notifies the arithmetic processing device 100 that these buttons have been operated. Further, the operation / display unit 180 includes a display unit (not shown) for displaying the state of the host vehicle including the remaining battery level, the currently selected assist mode, and turning on / off the light. Information regarding the state of the host vehicle is supplied from the arithmetic processing unit 100.

  The arithmetic processing unit 100 includes, for example, an LSI (Large Scale Integration) in which a single semiconductor chip is integrated with a computer system including a CPU (arithmetic processing unit), a memory, an input / output circuit, a timer circuit, and the like. .

The arithmetic processing unit 100 takes out electric power from the battery 110, supplies it to the motor 160 and drives the motor 160 to drive the motor 160, and converts the kinetic energy of the motor 160 into electric energy for regeneration. Controls switching to the regenerative mode for collecting current. Processor 100, when the brake operation detection signal S _B is output at least one of the first brake sensor 220 and the second brake sensor 230, i.e., the first brake lever 61 and a second brake lever When at least one of them is operated, the mode is switched to the regeneration mode.

  In the regeneration mode, the electric bicycle 1 recovers the regenerative current from the motor 160 to decelerate the motor 160 and generate a braking force. That is, the bicycle with electric motor 1 shifts to the regeneration mode when at least one of the first brake lever 61 and the second brake lever 62 is operated during traveling, and operates in conjunction with the operation of the brake lever. In addition to the braking force by the front wheel brake and / or the rear wheel brake (not shown) of the formula, the vehicle is decelerated by the braking force by regenerative braking. The regenerative current collected from the motor 160 is supplied to the battery 110, whereby the battery 110 is charged (regenerative charging). Note that the kinetic energy of the motor 160 may be consumed as thermal energy by flowing the regenerative current through the resistance element without supplying it to the battery 110.

Processor 100, torque sensor 200, speed sensor 210, based on various detection signals supplied from the first brake sensor 220 and the second brake sensor 230, a motor drive command value C ₁ is the power running mode produced, the regenerative mode to generate regenerative current command value C _2. Arithmetic processing device 100 controls the operation of motor drive circuit 120 by supplying motor drive command value C ₁ or regenerative current command value C ₂ to motor drive circuit 120.

The motor drive circuit 120, in the power running mode, the driving power corresponding to the assist amount indicated by the motor drive command value C ₁ is supplied (torque target value) from the processing unit 100 to the motor 160 is taken out from the battery 110 Supply. On the other hand, the motor driving circuit 120, at the time of regenerative mode, the regenerative current of a value indicated by the regenerative current command value C ₂ is supplied from the processing unit 100 is recovered from the motor 160, the battery 110 by the recovered regenerative current Charge. The arithmetic processing unit 100, the motor drive circuit 120, the motor 160, the operation / display unit 180, the torque sensor 200, the rotation speed sensor 210, the first brake sensor 220, and the second brake sensor 230 are respectively connected to the battery 110. Operates with supplied power.

  FIG. 4 is a diagram showing in detail the connection relationship between battery 110, motor drive circuit 120, and motor 160. The motor drive circuit 120 includes an inverter circuit 121 including transistors T1 to T6, an inverter control circuit 122 that generates gate signals for individually turning on and off the transistors T1 to T6, a transistor T7 connected to the inverter circuit 121, Is included. The transistor T7 is also turned on / off according to the gate signal supplied from the inverter control circuit 122.

  Each of the transistors T1 to T6 includes an n-channel MOSFET having a diode having a cathode connected to the drain side and an anode connected to the source side. The transistors T1 to T6 can pass a current in the reverse direction via the diode even in the off state. On the other hand, the transistor T7 is configured by a p-channel MOSFET having a diode having an anode connected to the drain side and a cathode connected to the source side. The transistor T7 can pass a current in the reverse direction via the diode even in the off state.

  In the present embodiment, the motor 160 is an inner rotor type brushless motor, and includes a rotor including a permanent magnet, a stator having a motor winding L, and three Hall elements H for detecting the rotational position of the rotor. Is included. In the present embodiment, the Hall element H also serves as the rotation speed sensor 210 that detects the rotation speed of the motor 160.

  Connection points u, v, transistors T1, T3, T5 connected to the positive side (high side) of the battery 110 and transistors T2, T4, T6 connected to the negative side (low side) of the battery 110, w is connected to each of the three motor windings L constituting the motor 160.

Inverter control circuit 122 detects the angular position of the rotor based on the detection signals output from the three Hall elements H in the power running mode, and turns on transistors T1 to T6 in a predetermined order according to the detected angular position of the rotor. . As a result, the direction of the current flowing through the motor winding L is sequentially switched to rotate the rotor. Inverter control circuit 122, in the power running mode, adjusts the on-duty of the transistor T1~T6 as assist amount indicated by the motor drive command value C ₁ is supplied (torque target value) is obtained from the processing unit 100 To do. Further, the inverter control circuit 122 cuts off the current in the direction from the motor 160 toward the battery 110 by turning off the transistor T7 in the power running mode. Current in the direction from the battery 110 to the motor 160 flows through a diode associated with the transistor T7.

  On the other hand, the inverter control circuit 122 performs PWM control so as to turn on and off the low-side transistors T2, T4, and T6 at the same timing while maintaining all the high-side transistors T1, T3, and T5 in the off state in the regeneration mode. And the transistor T7 is turned on. In the PWM control, a short-circuit current flows through the motor winding L and energy is stored in the motor winding L during a period in which the low-side transistors T2, T4, and T6 are in an on state, thereby decelerating the motor 160. Thus, a braking force is generated by regenerative braking. Thereafter, when the low-side transistors T2, T4, and T6 are turned off, a voltage is induced in the motor winding L. When the induced voltage exceeds the battery voltage, a regenerative current flows toward the battery 110 via the diodes associated with the transistors and the transistor T7, and the energy stored in the motor winding L is released and the battery 110 is charged. Is done.

The braking force due to regenerative braking increases as the value of the regenerative current increases. The value of the regenerative current is controlled by the on-duty of the low-side transistors T2, T4, and T6 in the PWM control described above. Inverter control circuit 122, in the regenerative mode, the regenerative current command value C ₂ by the current value low side as regenerative current is obtained for I shown supplied from the arithmetic processing unit 100 transistor T2, the T4 and T6 Adjust the on-duty.

  FIG. 5 is a functional block diagram illustrating a functional configuration of the arithmetic processing device 100. The arithmetic processing apparatus 100 includes a storage unit 101, a drive command value deriving unit 102, a target value deriving unit 103, a coefficient deriving unit 104, a regenerative current command value deriving unit 105, and a selecting unit 106.

Drive command value derivation unit 102, in the power running mode, based on the rotation speed detection signal S _V fed from the torque detection signal S _T and the rotation speed sensor 210 is supplied from the torque sensor 200, suitable for driving situation assist the amount is derived (torque target value), and supplies the derived assist amount (torque target value) to the selection unit 106 as a motor driving command value C _1. For example, when the rotational speed of the motor 160 is low and the input torque (stepping force) is large, it is presumed that the vehicle is in a state immediately after starting or running on an uphill. deriving unit 102 derives a relatively large amount of assist (torque target value) as a motor drive command value C _1.

  The drive command value deriving unit 102 derives the assist amount (torque target value) corresponding to the assist mode selected by the input operation on the mode selection button (not shown) of the operation / display unit 180. In the present embodiment, three assist modes (eco, standard, and power) having different assist ratios are determined in advance, and one of these is pressed by pressing the mode selection button on the operation / display unit 180. It is possible to select by. The storage unit 101 stores a map showing the relationship between the input torque, the rotation number of the motor 160, and the assist amount for each assist mode. The drive command value deriving unit 102 derives an optimal assist amount (torque target value) according to the input torque and the rotation number of the motor 160 by referring to the map stored in the storage unit 101.

When the target value derivation unit 103, which at least one of the first brake sensor 220 and the second brake sensor 230 moves (i.e., regenerative mode when it determines that outputs a brake operation detection signal S _B ) derives the target value I _T of the regenerative current in accordance with the rotation speed of the motor 160.

  Here, FIG. 6A is a diagram illustrating an example of the relationship between the on-duty of the low-side transistors T2, T4, and T6 and the regenerative current in the PWM control performed in the motor drive circuit 120 in the regenerative mode. In FIG. 6A, the case where the rotation speed (vehicle speed) of the motor 160 is relatively high is indicated by a solid line, and the case where the rotation speed (vehicle speed) of the motor 160 is relatively low is indicated by a broken line. A case where the (vehicle speed) is medium is indicated by a one-dot chain line.

As shown in FIG. 6A, the regenerative current has a peak at a certain on-duty. This is because, in the regeneration mode, if the on-duty of the low-side transistors T2, T4 and T6 is too small, the energy stored in the inductor (motor winding L) of the motor 160 becomes small, whereas if the on-duty is too large, the motor This is because the time for releasing the energy stored in 160 inductors (motor windings) is insufficient. In addition, the maximum value of the regenerative current increases as the rotation speed of the motor 160 increases (the vehicle speed increases). In FIG. 6A, line A is a line connecting the peaks of the regenerative current at each rotation speed. The target value deriving unit 103 sequentially acquires the rotation speed of the motor 160 that changes every moment from the rotation speed sensor sensor 210 in the regeneration mode, and the maximum regenerative current that can be recovered from the motor 160 at the acquired rotation speed of the motor 160. value, derives as the target value I _T of the regenerative current.

FIG. 6B is a diagram illustrating an example of the relationship between the number of rotations of the motor 160 and the maximum value of the regenerative current that can be recovered. The characteristic curve shown in FIG. 6B is acquired based on actual measurement or simulation, and information indicating the characteristic curve is stored in the storage unit 101. The target value deriving unit 103 extracts and extracts the maximum value of the regenerative current corresponding to the rotation speed of the motor 160 acquired from the rotation speed sensor 210 by referring to the characteristic curve stored in the storage unit 101. deriving a value as the target value I _T of the regenerative current. Note that a relational expression indicating the relationship between the rotation speed of the motor 160 and the maximum value of the regenerative current that can be recovered is stored in the storage unit 101, and the target value deriving unit 103 acquires the relational expression from the rotation speed sensor 210. it may derive target value I _T by substituting the rotation speed of the motor 160.

Coefficient deriving unit 104, with an increase in the elapsed time t from the time when at least one of the first brake sensor 220 and the second brake sensor 230 determines that outputs a brake operation detection signal S _B, gradually The coefficient α that changes so as to approach 1 is derived every predetermined period (for example, 0.1 msec). Note that the value of the coefficient α is set within a range of 0 ≦ α ≦ 1.

The coefficient deriving unit 104, if either one of the brake operation detection signal S _B of the first brake sensor 220 and the second brake sensor 230 is determined to what is output (i.e., first brake lever 61 and when one is operated in the second brake lever 62), determines that the first brake sensor 220 and the second both from the brake operation detection signal of the brake sensor 230 S _B is output In this case (that is, when both the first brake lever 61 and the second brake lever 62 are operated), a coefficient α having a different time change is derived (see FIG. 7). The time change of the coefficient α will be described later.

  The storage unit 101 stores a relational expression between the elapsed time t and the coefficient α. The coefficient deriving unit 104 includes a timer circuit, measures the elapsed time t by the timer circuit, and substitutes the elapsed time t obtained by the measurement into the above relational expression stored in the storage unit 101 to obtain the coefficient α. To derive.

Regenerative current command value derivation unit 105, the current value of the regenerative current obtained by multiplying the coefficients derived by the target value I _T and a coefficient deriving unit 104 of the regenerative current derived by the target value derivation unit 103 alpha I (I = α × I _T ) is derived as a regenerative current command value C ₂ and supplied to the selection unit 106.

Selecting unit 106, when it is determined that at least one of the brake operation detection signal S _B of the first brake sensor 220 and the second brake sensor 230 is outputted, the process proceeds to the regeneration mode, regenerative current command value The regenerative current command value C ₂ supplied from the deriving unit 105 is selected and supplied to the motor drive circuit 120. On the other hand, the selection unit 106, when the brake operation detection signal S _B from either the first brake sensor 220 and the second brake sensor 230 is determined as not being output, the process proceeds to powering mode, the drive command The motor drive command value C ₁ supplied from the value deriving unit 102 is selected and supplied to the motor drive circuit 120. By thus selecting unit 106 selects either one of the motor drive command value C ₁ and the regenerative current command value C ₂ based on the presence or absence of the brake operation detection signal S _B, the switching between the power running mode and regeneration mode Made.

The motor drive circuit 120, when the motor driving command value C ₁ from the selector 106 is supplied to drive motor 160 as an assist amount of the auxiliary driving force indicated by the motor driving command value C ₁ is obtained . On the other hand, when the regenerative current command value C ₂ is supplied from the selection unit 106, the motor drive circuit 120 collects the regenerative current having the current value I indicated by the regenerative current command value C ₂ from the motor 160.

  The storage unit 101 is a map showing the relationship between the input torque referred to in the drive command value deriving unit 102 in the powering mode and the rotation number of the motor 160 and the assist amount, information showing the characteristic curve shown in FIG. This is a non-volatile storage area that stores a relational expression between the time t and the coefficient α, a regenerative current control program to be described later, and the like.

As described above, is output as a regenerative current command value C _2, the current value I of the regenerative current to be recovered from the motor 160, the target value of the regenerative current derived by the target value derivation unit 103 I _T and the coefficient deriving unit This is a value obtained by multiplying the coefficient α derived by 104 (I = α × I _T ). In other words, the coefficient alpha derived by the coefficient deriving unit 104, corresponds to the ratio I / I _T between the current value I of the regenerative current to be collected from the target value I _T and the motor 160 of the regenerative current (alpha = I / _IT ).

Here, FIG. 7 is a diagram illustrating an example of a time change of the coefficient α derived by the arithmetic processing device 100 functioning as the coefficient deriving unit 104. If the solid line which is both output brake operation detection signal S _B from the first brake sensor 220 and the second brake sensor 230 in FIG. 7 (i.e., both the first brake lever 61 and a second brake lever 62 corresponding to but when operated), the broken line, if either one of the brake operation detection signal S _B of the first brake sensor 220 and the second brake sensor 230 is output (i.e., first brake lever 61 and when one of the second brake levers 62 is operated).

Processor 100, the coefficient α (= I / I _T according to the elapsed time t from the time when at least one of the brake operation detection signal S _B of the first brake sensor 220 and the second brake sensor 230 is output ) Is gradually increased toward 1. In the example shown in FIG. 7, the case where the coefficient α increases at a constant rate of change (slope) with respect to the elapsed time t is shown. When the value of the coefficient α reaches 1, the current value I of the regenerative current recovered from the motor 160 coincides with the target value I _T (that is, the maximum value at that time), and the braking force due to regenerative braking is reduced. Maximum. By gradually approaching the coefficient α to 1, the braking force by regenerative braking gradually approaches the maximum value from the start of operation of the first brake lever 61 and / or the second brake lever 62. Therefore, it is possible to avoid the maximum braking force from being applied immediately after the first brake lever 61 and / or the second brake lever 62 is started, and to mitigate the shock when the brake is operated.

Further, the processing unit 100 is shown in solid lines, the time rate of change of the coefficient α when the first brake sensor 220 and the second both from the brake operation detection signal of the brake sensor 230 S _B is output (slope) but indicated by the dashed line, it becomes larger than the time rate of change of the coefficient α in the case where either one of the brake operation detection signal S _B of the first brake sensor 220 and the second brake sensor 230 is output (slope) The coefficient α is derived as follows. As a result, the time from when the brake operation is started until the braking force by regenerative braking reaches the maximum value is shorter when both brake levers are operated than when one brake lever is operated.

Further, the processing unit 100 is shown by a solid line, and when both the brake operation detection signal from the S _B of the first brake sensor 220 and the second brake sensor 230 is output, shown in broken lines, the first The coefficient α is increased to 1 both when the brake operation detection signal is output from either one of the brake sensor 220 and the second brake sensor 230. That is, the braking force by regenerative braking reaches a maximum value regardless of whether the number of brake levers to be operated is 1 or 2. Therefore, regardless of whether the number of operated brake levers is 1 or 2, the braking force by regenerative braking can be applied to the maximum.

  FIG. 8A shows a state in which an additional brake operation is performed from the state in which one brake lever is operated before the value of the coefficient α reaches 1, and the operation is performed on both brake levers. It is a figure which shows an example of the time change of the coefficient (alpha) at the time of changing. On the other hand, in FIG. 8B, before the value of the coefficient α reaches 1, the operation for one brake lever is released from the state in which the operation for both brake levers is performed, and only one brake lever is operated. It is a figure which shows an example of the time change of the coefficient (alpha) at the time of changing to the state which is carrying out.

  8 (a) and 8 (b), the solid line corresponds to the state where both the first brake lever 61 and the second brake lever 62 are operated, and the broken line represents the first brake lever 61 and the second brake lever 61. This corresponds to a state in which one of the two brake levers 62 is operated (the same applies to FIGS. 9 and 11 to 15). 8 (a) and 8 (b), the alternate long and short dash line indicates a state where both brake levers are operated over the entire period from when the brake operation is started until the value of the coefficient α reaches 1. The two-dot chain line indicates that only one brake lever is operated over the entire period from when the brake operation is started until the value of the coefficient α reaches 1. In the case (the same applies to FIGS. 9 and 11 to 15).

As shown in FIG. 8A, the arithmetic processing device 100 functioning as the coefficient deriving unit 104 has a period T ₂ from time t ₁ when the additional brake operation is performed to time t ₂ when the value of the coefficient α reaches 1. The time change rate (slope) of the coefficient α at is greater than the time change rate (slope) of the coefficient α in the period T ₁ from the start of the operation on one brake lever to the time t ₁ . That is, the arithmetic processing unit 100 increases the time change rate (slope) of the coefficient α at time t ₁ when the additional brake operation is performed. As a result, the period from when the brake operation is started to when the value of the coefficient α reaches 1 is shortened as compared with the case where the additional brake operation is not performed, which is indicated by a two-dot chain line. In the example shown in FIG. 8 (a), the time rate of change of the coefficient α in the period T ₂ (slope) is over the entire period from the start of the braking operation indicated by the chain line to the value of the coefficient α reaches 1 This is the same as the time change rate (slope) of the coefficient α when the state in which both brake levers are operated continues.

Further, as shown in FIG. 8B, the arithmetic processing unit 100 calculates the coefficient in the period T ₄ from the time t _{3 when the} operation on one brake lever is released to the time t ₄ when the value of the coefficient α reaches 1. The time change rate (slope) of α is set to be smaller than the time change rate (slope) of the coefficient α in the period T ₃ from the start of operation of both brake levers to the time t ₃ . That is, the processing unit 100 reduces the time rate of change of the coefficient alpha (slope) at time t ₃ when the operation on one of the brake lever is released. As a result, the period from when the brake operation is started to when the value of the coefficient α reaches 1 is longer than when the operation on one of the brake levers is not released, as indicated by the one-dot chain line. In the example shown in FIG. 8 (b), the time rate of change of the coefficient α in the period T ₄ are indicated by the two-dot chain lines, over the entire period from the start of brake operation until the value of the coefficient α reaches 1 one The coefficient α is the same as the rate of change over time when only the brake lever is operated.

  FIG. 9 changes from the state in which one brake lever is operated before the value of the coefficient α reaches 1 to the state in which an additional brake operation is performed and both brake levers are operated. It is a figure showing an example of a time change of coefficient alpha when operation to one brake lever is canceled after that, and it changes to the state where only one brake lever is operated after that.

The arithmetic processing unit 100 functioning as the coefficient deriving unit 104 has a rate of change over time of the coefficient α in a period T ₆ from time t ₅ when the additional brake operation is started to time t ₆ when the operation on one brake lever is released. (Slope) is set to be larger than the time change rate (slope) of the coefficient α in the period T ₅ from the disclosure of the brake operation to the time t ₅ . In addition, the arithmetic processing device 100 sets the time change rate (slope) of the coefficient α in the period T ₇ from time t ₆ to time t ₇ when the value of the coefficient α reaches 1 smaller than the slope of the coefficient α in the period T ₆ . And That is, processor 100 may include additional at time t ₅ that the brake operation is performed to increase the time rate of change of the coefficient alpha (slope), the time factor alpha at time t ₆ the operation on one of the brake lever is released Reduce the rate of change (slope). Further, the processing unit 100, the time rate of change of the coefficient α in the period T ₇ (slope) is the same as the time rate of change of the coefficient α in the period T ₅ (slope). The time change rate (slope) of the coefficient α in the period T ₇ and the period T ₅ is indicated by a two-dot chain line, and one brake is applied over the entire period from the start of the brake operation until the value of the coefficient α reaches 1. It is the same as the time change rate (coefficient α) of the coefficient α when the state in which only the lever is operated continues. On the other hand, the time change rate (slope) of the coefficient α in the period T ₆ is indicated by a one-dot chain line. Both brake levers are operated over the entire period from the start of the brake operation until the value of the coefficient α reaches 1. It is the same as the time change rate (coefficient α) of the coefficient α in the case where the current state continues.

  Thus, in this embodiment, until the coefficient α reaches 1, the time change rate of the coefficient α when the operation on one brake lever is performed is always constant. Further, until the coefficient α reaches 1, the time change rate of the coefficient α is always constant when the operation is performed on both brake levers, and the coefficient when the operation is performed on one brake lever. It is larger than the time change rate of α.

As described above, in the arithmetic processing unit 100, when the additional brake operation is performed before the value of the coefficient α (= I / I _T ) reaches 1, the operation on one of the brake levers is released. In this case, the time change rate of the coefficient α is changed. Thereby, since the time change of the braking force by regenerative braking is interlocked with the brake operation, it is possible to obtain a good brake feeling that matches the user's intention.

In the present embodiment, the arithmetic processing unit 100 determines the value of the coefficient α at time t ₃ (see FIG. 8B) and time t ₆ (see FIG. 9) when the operation on one brake lever is released. Do not decrease. In other words, the arithmetic processing unit 100 determines that the first brake lever 61 and the first brake lever 61 and the value of the coefficient α reach 1 after the operation on at least one of the first brake lever 61 and the second brake lever 62 is started. When the operation on at least one of the second brake levers 62 is continued, the value of the coefficient α is changed only in the increasing direction.

  In addition, after the value of the coefficient α reaches 1, the arithmetic processing unit 100 determines that the coefficient α is less than or equal to the coefficient α when the operation on at least one of the first brake lever 61 and the second brake lever 62 is continued. Keep the value at 1. That is, after the braking force by regenerative braking reaches the maximum value, the braking force by regenerative braking maintains the maximum value as long as at least one of the first brake lever 61 and the second brake lever 62 is operated. For example, even when the operation of one of the brake levers is canceled after the value of the coefficient α reaches 1 while both the first brake lever 61 and the second brake lever 62 are operated. The value of the coefficient α is maintained at 1.

On the other hand, when the operation on both the first brake lever 61 and the second brake lever 62 is released, the arithmetic processing device 100 immediately sets the value of the coefficient α to zero. Thereby, the current value I of the regenerative current becomes zero, and the braking force due to regenerative braking does not act. Incidentally, the processor 100 gently toward the coefficient α to zero from the time the brake operation detection signal S _B from either the first brake sensor 220 and the second brake sensor 230 is determined not to have the output It may be decreased.

FIG. 10 is a flowchart showing the flow of processing in the regenerative current control program executed by the arithmetic processing unit 100 in the regenerative mode. In the following description, in order to facilitate understanding, the coefficient α derived when one of the first brake lever 61 and the second brake lever 62 is operated is referred to as “coefficient α ₁ ”. The coefficient α derived when both the first brake lever 61 and the second brake lever 62 are operated is expressed as “coefficient α ₂ ”.

Processor 100, at step S1, a determination is made as to whether at least one of the brake operation detection signal S _B of the first brake sensor 220 and the second brake sensor 230 is outputted. Processor 100, when it is determined that at least one of the brake operation detection signal S _B of the first brake sensor 220 and the second brake sensor 230 is output, the process moves to step S2.

Processor 100, at step S2, and acquires the rotation speed detection signal _{S V} from the speed sensor 210. The arithmetic processing device 100 functions as the target value deriving unit 103 in step S3, and the maximum value of the regenerative current corresponding to the rotation speed of the motor 160 acquired in step S2 is stored in the storage unit 101 in FIG. extracted by referring to the characteristic curve shown in), to derive the extracted value as a target value I _T of the regenerative current.

Processor 100, at step S4, based on the presence or absence of the brake operation detection signal _{S B} from the first brake sensor 220 and the second brake sensor 230, a first brake lever 61 and a second brake lever 62 It is determined whether any one of these is operated or both are operated. If the arithmetic processing unit 100 determines in step S4 that one of the brake levers is operated, the processing proceeds to step S5, and if it is determined that both brake levers are operated. The process proceeds to step S7.

In step S5, the arithmetic processing unit 100 functions as the coefficient deriving unit 104, and the elapsed time from the time when the operation of the brake lever is detected in step S1, the elapsed time after the additional brake operation is performed, or one brake lever. The coefficient α ₁ corresponding to the elapsed time since the operation on is released is derived. The arithmetic processing device 100 acquires the elapsed time from each time point by measurement with a timer circuit built in itself, and the coefficient α ₁ corresponding to the acquired elapsed time from each time point is stored in the relational expression stored in the storage unit 101. Derived based on. As a result, the arithmetic processing device 100 derives a coefficient α ₁ that increases toward 1 over time.

Processor 100, at step S6, and functions as a regenerative current command value derivation unit 105, multiplies the coefficient alpha ₁ derived in the target value I _T and S5 of the regenerative current derived in step S3, thereby resulting The regenerative current value I (I = α ₁ × I _T ) is derived as the regenerative current command value C ₂ . The arithmetic processing unit 100 supplies the derived regenerative current command value C ₂ to the motor drive circuit 120.

On the other hand, the arithmetic processing unit 100 functions as the coefficient deriving unit 104 in step S7, and the elapsed time from the time point when the operation of the brake lever is detected in step S1, the elapsed time after the additional brake operation is performed, or one of them. release of the operation on the brake lever to derive the coefficients alpha ₂ in accordance with the elapsed time since been made. The arithmetic processing device 100 acquires the elapsed time from each time point by measurement with a timer circuit built in itself, and the coefficient α ₂ corresponding to the acquired elapsed time from each time point is stored in the relational expression stored in the storage unit 101. Derived based on. As a result, the arithmetic processing device 100 derives the coefficient α ₂ that increases toward 1 over time. Processor 100, the time rate of change of the coefficient alpha ₂ derives the coefficients alpha ₁ and the coefficient alpha ₂ so that larger than the time rate of change of the coefficients alpha _1.

Processor 100, at step S8, and functions as a regenerative current command value derivation unit 105, multiplies the coefficient alpha ₂ derived in the target value I _T and step S7 in regenerative current derived in step S3, thereby resulting The regenerative current value I (I = α ₂ × I _T ) is derived as the regenerative current command value C ₂ . The arithmetic processing unit 100 supplies the derived regenerative current command value C ₂ to the motor drive circuit 120.

Processor 100, at step S9, based on the brake operation detection signal _{S B} outputted from the first brake sensor 220 and the second brake sensor 230, a first brake lever 61 and a second brake lever 62 It is determined whether or not an operation for at least one of the above continues. If the arithmetic processing unit 100 determines in step S9 that the operation on at least one of the first brake lever 61 and the second brake lever 62 is continuing, the process returns to step S2, and step S2 To step S9 are repeatedly executed. On the other hand, if the arithmetic processing unit 100 determines in step S9 that the operation on both the first brake lever 61 and the second brake lever 62 has been released, the process proceeds to step S10.

Processor 100, the current value I of the regenerative current is set to zero in step S10, the routine ends the regenerative current command value C ₂ is supplied to the motor drive circuit 120 indicating that the current value I is zero Let When the current value I of the regenerative current becomes zero, the braking force due to regenerative braking becomes zero.

As is clear from the above description, in the electric bicycle 1 according to the present embodiment, when at least one of the first brake lever 61 and the second brake lever 62 is operated, the braking by the mechanical brake is performed. In addition to power, braking force by regenerative braking acts. The braking force by regenerative braking is controlled by the current value I of the regenerative current recovered from the motor 160. In addition, the arithmetic processing unit 100 acquires the maximum value of the regenerative current that can be recovered from the motor 160 by following the rotation speed of the motor 160, and the acquired maximum value of the regenerative current is the target value I of the regenerative current at the rotation speed. Derived as _T. Processor 100 is close to gently 1 coefficient α corresponding to the ratio I / I _T between the current value I and the target value I _T of the regenerative current to be recovered from the motor 160. As a result, it is possible to avoid the maximum braking force from being applied immediately after the first brake lever 61 and / or the second brake lever 62 starts to be operated, and to mitigate the shock when the brake is operated.

  In addition, the arithmetic processing unit 100 determines the time variation of the coefficient α when one of the first brake lever 61 and the second brake lever 62 is operated, and the first brake lever 61 and the second brake lever. The time variation of the coefficient α when both of 62 are operated is varied. Further, the arithmetic processing unit 100 changes the rate of time change of the coefficient α when an additional brake operation is performed before the value of the coefficient α reaches 1 and when an operation on one of the brake levers is released. Let Thereby, since the time change of the braking force of regenerative braking is interlocked with the brake operation, it is possible to obtain a good brake feeling that matches the user's intention.

  The arithmetic processing unit 100 operates both when the first brake lever 61 and the second brake lever 62 are operated, and when both the first brake lever 61 and the second brake lever 62 are operated. In both cases, the value of the coefficient α is increased to 1. That is, the braking force by regenerative braking reaches a maximum value regardless of whether the number of brake levers to be operated is 1 or 2. Therefore, regardless of whether the number of operated brake levers is 1 or 2, the braking force by regenerative braking can be applied to the maximum. Thus, according to the bicycle with an electric motor according to the present embodiment, the feeling during regenerative braking is improved and regenerative braking is performed both when one brake lever is operated and when both brake levers are operated. The braking force by braking can be applied to the maximum.

  In addition, after the value of the coefficient α reaches 1, the arithmetic processing unit 100 determines that the value of the coefficient α is in the case where the operation on at least one of the first brake lever 61 and the second brake lever 62 is continued. Is maintained at 1. That is, after the braking force by regenerative braking reaches the maximum value, the braking force by regenerative braking maintains the maximum value as long as the operation on at least one of the first brake lever 61 and the second brake lever 62 is continued. To do. Since the braking force due to regenerative braking decreases with a decrease in the number of revolutions of the motor 160, after the value of the coefficient α reaches 1 and the braking force becomes maximum, either one of the brake levers is operated. As long as the maximum braking force is obtained, it is preferable to maintain a state where the maximum braking force is obtained.

  Further, the arithmetic processing unit 100 changes the coefficient α over time when the value of the coefficient α changes from the state in which both brake levers are operated to the state in which one brake lever is operated before the value of the coefficient α reaches 1. Although the rate (slope) is decreased, the value of the coefficient α is not decreased at this time. In other words, the arithmetic processing unit 100 determines that the first brake lever 61 and the first brake lever 61 and the value of the coefficient α reach 1 after the operation on at least one of the first brake lever 61 and the second brake lever 62 is started. When the operation on at least one of the second brake levers 62 is continued, the value of the coefficient α is changed only in the increasing direction. As described above, the braking force due to regenerative braking decreases with a decrease in the number of revolutions of the motor 160. Therefore, even when the operation on one brake lever is released, the value of the coefficient α is always reduced toward 1. By changing in the increasing direction, the braking force by regenerative braking can be effectively applied.

In the above embodiments, processor 100 functioning as a target value derivation unit 103, although derived as the target value I _T the maximum recoverable regenerative current in the speed limitation It is not something. The arithmetic processing unit 100 functioning as the target value deriving unit 103 derives a value smaller than the maximum value of the regenerative current that can be recovered at the rotation speed (for example, a value corresponding to 90% of the maximum value) as the target value of the regenerative current. May be. From the viewpoint of preventing the charging current to the battery 110 becomes excessive, the processing unit 100 which functions as a target value derivation unit 103 may set the upper limit target value I _T of the regenerative current. For example, if the upper limit of the target value I _T is set to 6A, the processor 100 also maximum recoverable regenerative current in the speed a 7A, upper as the target value I _T The value 6A may be derived.

Further, in the above embodiment, the processing unit 100 which functions as a target value derivation unit 103 has been decided to derive the target value I _T of the regenerative current so as to follow the rotational speed of the motor 160, with the electric it may derive target value I _T of the regenerative current so as to follow the speed of the bicycle. In this case, a vehicle speed sensor that detects the vehicle speed of the electric bicycle 1 may be provided separately from the rotation speed sensor 210, or the vehicle speed may be detected by the Hall element H.

(Modification)
The arithmetic processing unit 100 functioning as the coefficient deriving unit 104 cancels the operation for one brake lever when an additional brake operation is performed before the value of the coefficient α reaches 1 after the brake operation is started. In such a case, the coefficient α may be changed in a manner as shown in FIGS.

  11 (a) and 11 (b) show that an additional brake operation is performed from the state where one brake lever is operated before the value of the coefficient α reaches 1, and an operation for both brake levers is performed. It is a figure which shows the modification of the time change of the coefficient (alpha) at the time of changing to the state by which it was made.

Processor 100 functioning as a coefficient deriving part 104, as shown in FIG. 11 (a), in a period until time t ₈ additional brake operation from the start operation for one of the brake lever is performed, increasing the value of the coefficient α with a constant time rate of change (slope), the value of the coefficient α may be immediately changed to 1 when detecting the additional brake operation at time t _8. Further, as shown in FIG. 11 (b), in a period until time t ₈ additional brake operation from the start operation for one of the brake lever is performed, the time variation of the coefficient α may be non-linear.

  12 (a) and 12 (b) show that either brake lever is released from the state where both brake levers are operated before the value of the coefficient α reaches 1, and one brake is released. It is a figure which shows the modification of the time change of coefficient (alpha) when it changes to the state in which only the lever is operated.

The arithmetic processing device 100 functioning as the coefficient deriving unit 104 has a time change rate of the coefficient α in a period T ₁₀ from time t _{9 when the} operation on one brake lever is released to time t ₁₀ when the value of the coefficient α reaches 1. (slope), and smaller than the time rate of change of the coefficient α in the period T ₉ from the brake operation is started to the time t ₉ (slope). At this time, the processing unit 100, as shown in FIG. 12 (a), the length of the total time to coefficient α reaches 1 (i.e. period combined and duration T ₉ and duration T ₁₀₎ is the period so as to become the same as the length of the T _0, for adjusting the time rate of change of the coefficient α in the period T _10. Here, in the period T ₀ , a state where only one brake lever is operated is continued over the entire period from the start of the brake operation until the value of the coefficient α reaches 1 as indicated by a two-dot chain line. This is the period until the coefficient α reaches 1. Thus, the time rate of change of the coefficient α in the period T ₁₀ (inclination) is smaller than the time rate of change of the coefficient α represented by the two-dot chain line (slope). As described above, in this embodiment, when the operation on one brake lever is released, the arithmetic processing device 100 has a predetermined length of a period from when the brake operation is started until the coefficient α reaches 1. The time change rate of the coefficient α after the release of the operation with respect to one of the brake levers is adjusted so that the length becomes. Further, the processing unit 100, as shown in FIG. 12 (b), in a period from the brake operation is started to the time t _9, the time change of the coefficient α may be non-linear.

  FIG. 13 changes from a state in which one brake lever is operated before the value of the coefficient α reaches 1 to a state in which an additional brake operation is performed and both brake levers are operated. It is a figure showing a modification of a time change of coefficient alpha when operation to one brake lever is canceled after that and it changes to the state where only one brake lever is operated.

Processor functions as a coefficient deriving unit 104 100, as shown in FIG. 13, to increase the time rate of change of the coefficient alpha (slope) at time t ₁₁ additional brake operation is performed, operation on one of the brake lever There reduces the time rate of change of the coefficient α at time t ₁₂ which is released (slope). At this time, as shown in FIG. 13, the arithmetic processing unit 100 determines that the length of the entire period until the coefficient α reaches 1 (that is, the period including the period T ₁₁ , the period T _12, and the period T ₁₃ ) is so as to become the same as the length of the period T _0, for adjusting the time rate of change of the coefficient α in the period T _13. Here, when the period T ₀ is indicated by a two-dot chain line, only one brake lever is operated over the entire period from when the brake operation is started until the value of the coefficient α reaches 1. The period until the coefficient α reaches 1. Thus, the time rate of change of the coefficient α in the period T ₁₃ (inclination) is smaller than the time rate of change of the coefficient α represented by the two-dot chain line. As described above, in this embodiment, when the operation on one brake lever is released, the arithmetic processing device 100 has a predetermined length of a period from when the brake operation is started until the coefficient α reaches 1. The time change rate of the coefficient α after the release of the operation with respect to one of the brake levers is adjusted so that the length becomes.

  FIG. 14 changes from a state in which one brake lever is operated before the value of the coefficient α reaches 1 to a state in which an additional brake operation is performed and both brake levers are operated. It is a figure showing a modification of a time change of coefficient alpha when operation to one brake lever is canceled after that and it changes to the state where only one brake lever is operated.

As shown in FIG. 14, the arithmetic processing unit 100 that functions as the coefficient deriving unit 104 increases the time change rate (slope) of the coefficient α at time t ₁₄ when the additional brake operation is performed, and operates the one brake lever. There reduces the time rate of change of the coefficient α at time t ₁₅ which is released (slope). In this embodiment, processor 100 decreases the value of the coefficient α at time t ₁₅ the operation on one of the brake lever is released. Specifically, the arithmetic processing unit 100 sets the value of the coefficient α at time t _{15 as} one side over the entire period indicated by a two-dot chain line until the value of the coefficient α reaches 1 after the brake operation is started. only the brake lever to match the value of the coefficient α at time t ₁₅ when the state has been operated continuously. Processor 100, the time rate of change of the coefficient α in the period _{T 16} from time _{t 15} to time _{t 16} the value of the coefficient α reaches 1, the period _{T 14} from the brake operation is started to the time _{t 14} Is the same as the rate of time change of the coefficient α. That is, in the period _{T 14} and the period _{T 15,} the coefficient alpha, takes a value on the two-dot chain line. Therefore, the length of the total time to coefficient α reaches 1 (i.e., period combined and duration T ₁₄ and the period T ₁₅ and the period T ₁₆₎ is consistent with the length of the period T _0. Here, when the period T ₀ is indicated by a two-dot chain line, only one brake lever is operated over the entire period from when the brake operation is started until the value of the coefficient α reaches 1. The period until the coefficient α reaches 1. Thus, by reducing the value of the coefficient α in conjunction with the release of the operation of the brake lever, it becomes possible to further improve the brake feeling.

  FIG. 15 changes from a state in which one brake lever is operated before the value of the coefficient α reaches 1 to a state in which an additional brake operation is performed and both brake levers are operated. It is a figure which shows the modification of the time change of the coefficient (alpha) when the operation with respect to one brake lever is cancelled | released after that, and it changes into the state to which only one brake lever is operated.

Processor 100 functioning as a coefficient deriving part 104, as shown in FIG. 15, to increase the time rate of change of the coefficient α at time t ₁₇ additional brake operation is performed, it is canceled operation on one of the brake levers reducing the time rate of change of the coefficient α at time t ₁₈ that. Further, processor 100 decreases the value of the coefficient α at time _{t 18.} Specifically, the arithmetic processing unit 100 determines the value of the coefficient α at time t ₁₈ as indicated by a two-dot chain line over the entire period from the start of the brake operation until the value of the coefficient α reaches 1. only the brake lever to match the value of the coefficient α at time t ₁₈ when the state has been operated continuously. Further, the processing unit 100, as the length of the period _{T 19} from time _{t 18} to time _{t 19} where the coefficient α reaches 1 becomes equal to the length of the period _{T 0,} the time of the coefficient α in the period _{T 19} Adjust the rate of change (slope). Here, when the period T ₀ is indicated by a two-dot chain line, only one brake lever is operated over the entire period from when the brake operation is started until the value of the coefficient α reaches 1. The period until the coefficient α reaches 1. That is, the time change rate of the coefficient α after the brake operation is released so that the length of the period until the coefficient α reaches 1 after the operation on one brake lever is released always coincides with the length of the period T _0. (Tilt) is adjusted. Thus, the time rate of change of the coefficient α in the period T ₁₉ is smaller than the time rate of change of the coefficient α represented by the two-dot chain line.

1 Bicycle 100 with Electric Motor Arithmetic Processing Device 101 Storage Unit 103 Target Value Deriving Unit 104 Coefficient Deriving Unit 105 Regenerative Current Command Value Deriving Unit 110 Battery 120 Motor Drive Circuit 160 Motor

Claims (10)

A motor for generating auxiliary driving force;
A first operating unit and a second operating unit that are operated when generating a braking force;
Regenerative means for collecting a regenerative current from the motor and generating a braking force having a magnitude corresponding to a current value of the regenerative current;
And deriving means for deriving to follow the target value I _T of the regenerative current to the rotational speed of the motor,
Over time varying toward the current value I of the regenerative current which the regenerating means is recovering from said motor in response to an operation on at least one of the first operation unit and the second operation unit to the target value I _T together is, the before current I reaches the target value I _T, the first operation unit and said first operation unit or from the state where one is operated in the second operating unit and the The first operation unit and the second operation unit are changed from a state where both the second operation unit are operated and a state where both the first operation unit and the second operation unit are operated. of when one of the operation portion is changed to a state of being operated, the specific time rate of change of the current value I and the target value I _T controls the current value I to vary, and the current value I reaches the target value I _T After that , when the operation on either the first operation unit or the second operation unit is released from the state where both the first operation unit and the second operation unit are operated. and control means for maintaining the current value I when the operation for at least one of which continues in the first operation unit and the second operation unit to the target value I _T including,
Including electric bicycle. A motor for generating auxiliary driving force;
A first operating unit and a second operating unit that are operated when generating a braking force;
Regenerative means for collecting a regenerative current from the motor and generating a braking force having a magnitude corresponding to a current value of the regenerative current;
And deriving means for deriving to follow the target value I _T of the regenerative current to the rotational speed of the motor,
Over time varying toward the current value I of the regenerative current which the regenerating means is recovering from said motor in response to an operation on at least one of the first operation unit and the second operation unit to the target value I _T together is, the before current I reaches the target value I _T, the first operation unit and said first operation unit or from the state where one is operated in the second operating unit and the The first operation unit and the second operation unit are changed from a state where both the second operation unit are operated and a state where both the first operation unit and the second operation unit are operated. of when one of the operation portion is changed to a state of being operated, the current value I as the time rate of change of the ratio I / I _T between the target value I _T and the current value I changes And controlling the first operation unit and the first When the operation for at least one of second operation portion is continued and a control means for changing only the direction of increasing the value of the ratio I / I _T,
Including electric bicycle. The control means, the time rate of change of the current value I and the ratio I / I _T between the target value I _T when either one of the first operation unit and the second operation section is being operated the bicycle with an electric motor according to claim 1 or 2, smaller than the time rate of change of the ratio I / I _T when both the first operation unit and the second operation section is being operated . The control means gradually changes the ratio I / _IT value toward 1 when one of the first operation unit and the second operation unit is being operated, 1 of the operation portion and bicycles motor of claim 3 immediately changing to 1 the value of the ratio I / I _T when both the second operation unit is in a state of being operated. Wherein, before said ratio I / I _T reaches 1, the first operation unit and the second from said first state in which both of the operating unit is operated first operating portion and When one of the second operation units is changed to a second state in which the operation unit is operated, the ratio is determined after an operation on at least one of the first operation unit and the second operation unit is started. I / I _T is such that the length of time to reach the 1 becomes a predetermined length, with the electric motor according to claim 3 for adjusting the time rate of change of the ratio I / I _T in the second state bicycle. In the control means, either the first operation unit or the second operation unit is operated from the first state where both the first operation unit and the second operation unit are operated. when changes to the second state is, the value of the ratio I / I _T between the current value I and the target value I _T, for at least one of the first operation unit and the second operation portion operation is reduced from the start until a value of the ratio I / I _T at that time when the value of the ratio I / I _T has continued the second state over the entire period to reach 1, bicycles electric motor according to claim 1 then said ratio is varied toward the value of I / I _T 1. In the control means, either the first operation unit or the second operation unit is operated from the first state where both the first operation unit and the second operation unit are operated. when changes to the second state and, as the length of the period from the time of changing to the second state until the ratio I / I _T reaches 1 becomes a predetermined length, the second bicycles electric motor according to claim 3 for adjusting the time rate of change of the ratio I / I _T in the state.   8. The control device according to claim 1, wherein the control unit sets the current value I to zero when an operation on both the first operation unit and the second operation unit is released. Bicycle with electric motor. The target value I _T is bicycles electric machine according to any one of claims 1 to 8 corresponding to the maximum value of the recoverable regenerative current from the motor in the rotational speed. A battery for supplying power to the motor;
Charging means for charging the battery with the regenerative current;
The electric bicycle according to any one of claims 1 to 9, further comprising:

Images