JP6142202B2 - Motor control system - Google Patents

Description

  The present invention relates to a motor control system including a travel motor and an auxiliary motor, each of which is an electric motor, and a controller.

  2. Description of the Related Art Conventionally, a lawnmower vehicle including a lawn mower that is a working machine driven to perform a lawn mowing work is known. In such a lawn mower vehicle, the left and right wheels, which are main drive wheels, are each driven by a traveling motor which is a separate or common electric motor, and the lawn mower is driven by a lawn mower motor which is an electric motor and an auxiliary motor. It is also considered.

  Patent Document 1 describes a lawnmower vehicle including a traveling motor that is an electric motor that drives left and right wheels in common, a steered wheel, and a lawnmower motor. This lawnmower vehicle includes a drive controller connected to the traveling motor, and a lawnmower controller connected to the lawnmower motor and the drive controller. The drive controller stores instructions that can be executed by the computer, such as stopping the power supply to the lawn mower motor and reducing the vehicle speed when the battery voltage reaches a specific minimum voltage. It is to perform the process. As prior art documents related to the present invention, there are Patent Document 2 to Patent Document 6 in addition to Patent Document 1.

US Patent Application Publication No. 2009/0069964 A1 Specification US Pat. No. 5,502,957 US Patent No. 8055399 B2 specification US Patent Application Publication No. 2009/0065273 A1 US Patent Application Publication No. 2009/0201650 A1 US Patent Application Publication No. 2005/0126145 A1

  In a motor-driven vehicle including a travel motor that drives a drive wheel and an auxiliary motor that drives a work machine or the like, the travel motor and the auxiliary motor may be controlled by a controller. The controller is supplied with power from a battery that is a power storage unit. In this case, power supply from the battery to the controller and power supply interruption may be switched according to on / off of a key switch which is a manual switch operated by the driver. However, there is a possibility that the driver accidentally turns off the key switch while driving a vehicle or a device driven by a motor. In this case, if the controller is immediately turned off, the motor is not controlled during the rotation of at least one motor, which may cause an undesirable situation in terms of durability in the motor or a component such as an inverter connected to the motor. . Patent Documents 1 to 6 do not disclose means for solving such inconvenience.

  An object of the present invention is to prevent occurrence of an unfavorable situation in terms of component durability even when a manual switch is turned off during rotation of at least one of a travel motor and an auxiliary motor in a motor control system.

The motor control system of the present invention controls an electric motor that is a driving motor that drives wheels, a working machine drive motor that is an electric motor and drives a work machine, and controls the running motor and the work machine drive motor . And a controller that receives a signal indicating a driving state from the travel motor and the work machine drive motor , and a manual that is turned on or off in response to a manual operation by a user and that outputs a signal representing the on or off to the controller. A controller power supply switching unit connected between the switch and the power storage unit and the controller, wherein when the on command signal is input from the controller, the power is supplied from the power storage unit to the controller; Before the on command signal input from the controller is shut off. Be from power storage unit motor control system of the work machine with a vehicle controller feeding Ru and a switching unit for interrupting the supply of power to said controller, said controller, when said manual switch is turned off, the controller controls During the rotation of at least one of the travel motor and the work machine drive motor , the on command signal to the controller power supply switching unit is maintained and all of the travel motor and the work machine drive motor controlled by the controller are stopped. If it is, the on command signal to the controller power supply switching unit is cut off. In addition, the motor control system of the present invention controls the travel motor and the auxiliary motor, which are electric motors, respectively, and the drive motor and the auxiliary motor, and signals indicating the driving state are input from the travel motor and the auxiliary motor. A controller that is turned on or off in response to a manual operation by a user and that outputs a signal indicating on or off to the controller, and a controller power supply switching unit connected between the power storage unit and the controller. When the on command signal is input from the controller, power is supplied from the power storage unit to the controller, the manual switch is turned off, and the input of the on command signal from the controller is interrupted. Controller power supply switching for interrupting power supply from the power storage unit to the controller And when the manual switch is turned off, the controller outputs an on command signal to the controller power supply switching unit during rotation of at least one of the travel motor and the auxiliary motor controlled by the controller. A motor control system that maintains an ON command signal to the controller power supply switching unit when all of the travel motor and the auxiliary motor controlled by the controller are stopped, the controller power supply switching The unit is a DC / DC converter connected between the power storage unit and the controller and incorporating a control circuit, and the manual switch is connected between the power storage unit and the DC / DC converter, Outputs a signal indicating ON or OFF to the input signal terminal of the controller, and further controls A first rectifying element connected between the connection terminal of the road terminal and the output signal terminal of the controller and the manual switch; a connection part of the output voltage terminal of the DC / DC converter and the input voltage terminal of the controller; A second rectifying element and a resistor connected in series between the manual switch and a connection portion of the input signal terminal of the controller, and the DC / DC converter is configured to switch the manual switch from off to on. The control circuit terminal is activated by being energized, generates an on / off signal of the control circuit and supplies the controller with the power after voltage conversion of the power storage unit, and the controller after the voltage conversion of the power storage unit The on-off signal is output from the output signal terminal by the input of the voltage of the control circuit, the on-off signal of the control circuit is held, and the manual switch The output signal is detected only when a power supply stop condition is satisfied, which is a case where a signal passing through the resistor is detected when the power is switched from on to off and all of the travel motor and the auxiliary motor controlled by the controller are stopped. The on command signal from the terminal is cut off, the holding of the on / off signal of the control circuit is released, and the power supply from the power storage unit to the controller is cut off.

  According to the motor control system of the present invention, even when the manual switch is turned off, power supply from the power storage unit to the controller is maintained during rotation of at least one of the travel motor and the auxiliary motor controlled by the controller. Even when the manual switch is turned off during the rotation of at least one of the travel motor and the auxiliary motor, it is possible to prevent occurrence of an unfavorable situation in terms of durability of the parts.

It is a circuit diagram showing a schematic structure of a motor control system of a 1st embodiment of the present invention. It is a figure which shows the relationship between the switch input state (TI) and motor operation state (MS) which are acquired with ECU with the schematic structure of FIG. 1, and the output state (TO) with respect to an ECU electric power feeding switching part. It is a circuit diagram which shows the specific structure of the motor control system of FIG. FIG. 3 is a flowchart for explaining a method of controlling on and off of the ECU by the motor control system of FIG. 2. It is a circuit diagram which shows the motor control system of 2nd Embodiment of this invention.

[First Embodiment]
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following, a case where a motor-driven vehicle equipped with a motor control system is a lawnmower vehicle having a lawnmower that is a working machine driven by an auxiliary motor and performs ground work will be described. As long as the vehicle has wheels driven by an electric motor, a ground working vehicle having another working machine such as a tiller or excavator driven by an auxiliary motor, or a vehicle having another device such as a cleaning machine It is good. The auxiliary motor may be a motor different from the travel motor controlled by the controller. In the following description, similar elements are denoted by the same reference numerals in all drawings.

  1 to 4 are diagrams showing a first embodiment of the present invention. FIG. 1 is a circuit diagram showing a schematic configuration of the motor control system 12. First, the schematic configuration will be described, and then the specific configuration will be described. As shown in FIG. 1, the motor control system 12 is mounted on a lawnmower vehicle 10 that is a motor-driven vehicle. The lawnmower vehicle 10 is a non-engine-mounted riding-type ground working vehicle, and is supported on the left and right caster wheels (not shown) supported on the front side of the main frame (not shown) constituting the vehicle body and on the rear side of the main frame. The left and right wheels 13, the left and right two traveling motors 14, a lawn mower main body 17 constituting a lawn mower 16 as a working machine, and two left and right operation levers (not shown) are provided.

  In FIG. 1, only one wheel 13 and a traveling motor 14 are shown, but this is representative of the wheel 13 and the traveling motor 14 on the left side of the vehicle, and actually corresponds to the right side of the vehicle. There are wheels and traction motors to do. Each caster wheel is provided so as to be able to rotate 360 degrees or more around the vertical axis. The left and right wheels 13 are driven by travel motors 14 which are left and right electric motors described later provided on the corresponding sides.

  The lawnmower vehicle 10 can travel in either the forward or reverse direction by driving the left and right traveling motors 14, and can turn by generating a difference in rotational speed between the left and right traveling motors 14. Become. The left and right operation levers have functions of both a turning instruction tool and an acceleration instruction tool, and are provided separately on the left and right sides of the driver's seat on the main frame. Each operation lever is provided so as to be able to swing back and forth around a horizontal axis facing the left and right direction of the vehicle. The swing direction and swing angle of each operation lever are detected by left and right lever sensors (not shown), and the detection signals are transmitted to an ECU which is a controller described later.

  In a lawnmower vehicle, a steering operator that is a steering handle may be used as a turning indicator, and an accelerator pedal may be used as an acceleration indicator. In this case, the operation direction and the operation amount of the steering operator are detected by the steering sensor, the operation amount of the accelerator pedal is detected by the accelerator sensor, and each detection signal is transmitted to the ECU.

  Alternatively, the left and right wheels 13 may be front wheels and the caster wheels may be rear wheels. Further, only one caster wheel may be provided. A speed reduction mechanism may be provided between the wheel 13 and the traveling motor 14.

  The lawn mower body 17 is called a mower, and includes a plurality of lawn mowing blades 26 that are rotatably supported in a mower deck 22 around a rotary shaft 24 in the vertical direction. It can be harvested. The lawn mowing blade 26 is driven by a deck motor 28 which is an auxiliary motor described later.

  In addition to the lawn mowing blade type, the lawn mower 16 has a function of arranging, for example, a spiral blade on a cylinder having a rotation axis parallel to the ground surface, and pinching and mowing the lawn. A lawn mower reel type driven by a deck motor can also be used.

  The motor control system 12 is mounted on such a lawnmower vehicle 10. The motor control system 12 includes a left and right traveling motor 14 and a plurality of deck motors 28, a battery 18, a manual switch 29, an ECU 20 that is a host controller and main controller, and a traveling motor controller 32 and a deck that are lower controllers, respectively. The motor controller 34, the 1st rotation angle sensor 38, the 2nd rotation angle sensor 40, and ECU electric power feeding switching part 35 which is a controller electric power feeding switching part are provided.

  The travel motor 14 is, for example, a three-phase synchronous motor or an induction motor. The deck motor 28 is an auxiliary motor that is an electric motor, and one or more deck motors 28 are provided on the upper side of the mower deck 22 corresponding to the lawn mowing blade 26. The output shaft of the deck motor 28 is connected to the rotation shaft 24 of the lawn mowing blade 26, and the lawn mowing blade 26 is rotated by the rotation of the deck motor 28. The lawn mower 16 is constituted by the deck motor 28 and the lawn mower body 17. For this reason, the lawn mower 16 is driven by the deck motor 28.

  The battery 18 is a direct current power source, and is connected to each traveling motor 14 and each deck motor 28 and supplies electric power to each. The battery 18 can employ a lead storage battery, a nickel metal hydride battery, a lithium battery, or the like, and has a voltage of 48 V, for example. The battery 18 may be chargeable from an external commercial AC power source via a charger.

  The lawnmower vehicle 10 may be a so-called hybrid type equipped with an engine and a generator. In this case, the generator power is generated using the power of the engine, and the generated power can be supplied to the battery 18. Further, instead of the battery 18, another power storage unit such as a capacitor may be used.

  The ECU 20 includes a microcomputer having a CPU, a memory, and the like, and is connected to two traveling motor controllers 32 and deck motor controllers 34 respectively corresponding to the left and right traveling motors 14. Although only one traveling motor controller 32 and one deck motor controller 34 are illustrated in FIG. 1, they are provided according to the number of traveling motors 14 and deck motors 28, respectively. The ECU 20 calculates the target rotational speeds of the left and right traveling motors 14 according to the operation amounts and operating directions of the left and right operating levers (or the steering operator and the accelerator pedal), and sets the target rotational speeds corresponding to the traveling motor controllers 32. Output a signal that represents Each travel motor controller 32 has a travel inverter (not shown) that is a driver and a travel control circuit (not shown) that controls the travel inverter. The travel control circuit controls the travel inverter so as to drive the corresponding travel motor 14 according to the target rotational speed.

  When one or both of the left and right control levers are swung in this way, the ECU 20 rotates the corresponding traveling motor 14 at a rotation speed according to the swing direction and a rotation speed according to the swing angle from the upright position. The traveling motor 14 is controlled so that

  When the steering operator is used as a turning indicator and the accelerator pedal is used as an acceleration indicator, the ECU 20 turns the vehicle in a direction corresponding to the steering direction of the steering operator, and according to the operation amount of the accelerator pedal. Each traveling motor 14 is controlled so as to accelerate the vehicle at the determined speed.

  Further, the ECU 20 receives a signal indicating an on / off state from a deck switch (not shown), and transmits a signal indicating driving or stopping of the deck motor 28 to the deck motor controller 34 in response to this signal. The deck motor controller 34 includes a deck inverter (not shown) that is a driver and a deck control circuit (not shown) that controls the deck inverter. The deck control circuit controls the deck inverter so as to drive the corresponding deck motor 28 in accordance with a preset target rotational speed. In the present specification, “rotational speed” includes both the meaning of a general rotational speed and the number of rotations per unit time such as every minute.

  The first rotation angle sensor 38 is attached to each travel motor 14 and detects the rotation angle of the corresponding travel motor 14. The rotation angle detection signal is input to the ECU 20 directly or via the corresponding travel motor controller 32 as a signal representing the drive state of the travel motor 14.

  The second rotation angle sensor 40 is attached to each deck motor 28 and detects the rotation angle of the corresponding deck motor 28. This rotation angle detection signal is also input to the ECU 20 directly or via the corresponding deck motor controller 34 as a signal representing the driving state of the deck motor 28.

  The ECU 20 calculates the rotational speed of each traveling motor 14 and the rotational speed of each deck motor 28 from the input rotation angle detection signal. The first rotation angle sensor 38 and the second rotation angle sensor 40 are configured by a resolver or the like. A rotation speed sensor for detecting the rotation speed of the corresponding motor is attached to the motor instead of the rotation angle sensor, and a rotation speed detection signal is input to the ECU 20 as a signal indicating the driving state of the traveling motor 14 or the deck motor 28. May be.

  The manual switch 29 corresponds to a key switch 30 shown in FIGS. 3 and 5 described later, and is provided at a position where a driver who is a user on the driver's seat can operate. The manual switch 29 is turned on or off according to the driver's operation, and outputs a signal indicating on or off to the input signal terminal TI of the ECU. As long as the manual switch 29 is turned on or off in accordance with a user operation, various configurations can be adopted without being limited to the key switch.

  The ECU power supply switching unit 35 is connected between the battery 18 and the ECU 20. The ECU power supply switching unit 35 corresponds to an ECU power supply relay 36 or a DC / DC converter 60 with a built-in control circuit shown in FIGS. 3 and 5 described later. The ECU power supply switching unit 35 supplies power from the battery 18 to the ECU 20 when the manual switch 29 is turned on, that is, supplies power. Further, the ECU power supply switching unit 35 supplies power from the battery 18 to the ECU 20 when the ON command signal Si is input from the output signal terminal TO of the ECU 20. On the other hand, the ECU power supply switching unit 35 cuts off the power supply from the battery 18 to the ECU 20 when the manual switch 29 is turned off and the input of the on command signal Si from the output signal terminal TO of the ECU 20 is cut off. .

  The ECU 20 maintains the output of the ON command signal Si to the ECU power supply switching unit 35 while the manual switch 29 is turned off and at least one of the traveling motor 14 and the deck motor 28 controlled by the ECU 20 is rotating. On the other hand, when the manual switch 29 is turned off and all of the travel motor 14 and the deck motor 28 controlled by the ECU 20 are stopped, the ECU 20 outputs an on command signal Si to the ECU power supply switching unit 35. Cut off. The rotation state of the motors 14 and 28 is determined from the rotation speed based on the rotation angle obtained from the rotation angle sensors 38 and 40.

  A control method including the control method of the ECU 20 will be described with reference to FIG. FIG. 2 is a diagram showing the relationship between the switch input state (TI) and motor operating state (MS) acquired by the ECU 20 in the schematic configuration of FIG. 1 and the output state (TO) with respect to the ECU power supply switching unit 35. In the following, the same elements as those shown in FIG. The switch input state (TI) indicates the on / off state of the manual switch 29. The motor operating state (MS) indicates the rotational state of the motors 14 and 28, ON indicates that at least one of the traveling motor 14 and the deck motor 28 is rotating, and OFF indicates that the traveling motor 14 and the deck motor 28 are rotating. All of 28 show that the rotation is stopped. The output state (TO) indicates whether or not the ON command signal Si is output from the ECU 20 to the ECU power supply switching unit 35, and ON indicates the output of the ON command signal Si from the ECU 20 to the ECU power supply switching unit 35. The fact that OFF indicates that there is no output of the ON command signal Si from the ECU 20 to the ECU power supply switching unit 35.

  ECU20 determines the output state (TO) with respect to ECU electric power feeding switching part 35 corresponding to the switch input state (TI) and motor operation state (MS) which are acquired from the relationship shown in FIG. Therefore, the ECU only when the switch input state (TI) is OFF, that is, the manual switch 29 is OFF, and the motor operation state (MS) is OFF, that is, all of the travel motor 14 and the deck motor 28 are stopped. The output of the ON command signal Si to the power supply switching unit 35 is shut off. When the on command signal Si is cut off, the ECU power supply switching unit 35 stops power supply from the battery 18 to the ECU 20 on condition that the manual switch 29 is turned off. On the other hand, since the output of the on command signal Si is maintained except when the manual switch 29 is off and all of the travel motor 14 and the deck motor 28 are stopped, the ECU power supply switching unit 35 Even when the manual switch 29 is turned off, power is supplied from the battery 18 to the ECU 20. The ECU power supply switching unit 35 is not limited to the ECU power supply relay 36 described later and the DC / DC converter 60 with a built-in control circuit as long as it has the above-described configuration, and various configurations can be adopted. The ECU 20 can also have the relationship shown in FIG. 2 as a map.

  Next, FIG. 3 is a circuit diagram showing a specific configuration of the motor control system of FIG. In FIG. 3, a key switch 30 is used as the manual switch 29, and an ECU power supply relay (ECU Power Relay) 36 is used as the ECU power supply switching unit 35.

  The key switch 30 is turned on and off when the operation unit is operated, that is, the key is inserted into the operation unit and rotated. The key switch 30 is connected between the battery 18 and the ECU 20 via a DC / DC converter 42. The DC / DC converter 42 steps down the voltage of the battery 18 and outputs it to the key switch 30 side. For example, when the voltage of the battery 18 is 48V, the DC / DC converter 42 steps down to 12V and outputs it to the key switch 30 side. Note that the DC / DC converter 42 can be omitted by making the voltage of the battery 18 and the voltage of the ECU 20 the same. A fuse 44 is connected between the positive side of the battery 18 and the positive side of the input of the DC / DC converter 42.

  The ECU power supply relay 36 includes a switch body 46 connected in parallel with the key switch 30 between the battery 18 and the ECU 20, and a coil 48 that switches connection / disconnection of the switch body 46 according to the energized state. A diode 50, which is a rectifying element, is connected between the key switch 30 and the coil 48 of the ECU power supply relay 36. The input signal terminal TI of the ECU 20 is connected between the key switch 30 and the anode A side of the diode 50. The output signal terminal TO of the ECU 20 is connected between the cathode K side of the diode 50 and the coil 48 via a diode 51 for preventing backflow to the ECU 20. The ECU power supply relay 36 maintains the connection of the switch body 46 by energizing the coil 48 from the battery 18 via the diode 50 when the key switch 30 is turned on. Then, power is supplied from the battery 18 to the ECU 20 via the switch body 46. When the key switch 30 is turned on, the voltage signal of the battery 18 is simultaneously output to the input signal terminal TI of the ECU 20 as a key ON signal indicating that the key switch 30 is turned on.

  The ECU 20 determines that the key switch 30 has been switched from OFF to ON, and that the key switch 30 has been switched from OFF to ON by the input of the key ON signal to the input signal terminal TI, and the ON command signal is output from the output signal terminal TO. Is transmitted to the coil 48 of the ECU power supply relay 36. With this configuration, the connection of the switch body 46 of the ECU power supply relay 36 is maintained and the energized state is maintained. As a result, the power supply connection to the ECU 20 is self-maintained.

  On the other hand, after the key switch 30 is switched from ON to OFF, the coil from the output signal terminal TO is only applied when the “power supply stop condition” is satisfied, which is a case where all of the traveling motor 14 and the deck motor 28 controlled by the ECU 20 are stopped. The energization as an ON command signal output to 48 is cut off, that is, 0. Thereby, the energization of the coil 48 is cut off and the switch body 46 is cut off. Then, the power supply from the battery 18 to the ECU 20 is cut off, and the power connection to the ECU 20 is cut off. A signal transmitted from the ECU 20 to the ECU power supply relay 36 by the diode 50 is not transmitted to the key switch 30 side.

  FIG. 4 is a flowchart for explaining a method of controlling on and off of the ECU 20 by the control system shown in FIG. In step S10 (hereinafter, step S is simply referred to as S), when the key switch 30 is turned off, if the key switch 30 is switched from off to on in S12, the coil 48 of the ECU power supply relay 36 in S14. Is switched on from off to on. In this case, the ECU 20 is powered on in S16 and transmits a signal from the output signal terminal TO to the coil 48. Then, the connection of the switch body 46 of the ECU power supply relay 36 is maintained.

  On the other hand, if the key switch 30 is turned on in S10 and the key switch 30 is switched from on to off in S18, the power supply from the battery 18 to the ECU 20 via the key switch 30 is cut off. The battery 18 and the ECU 20 remain connected via the ECU power supply relay 36. Then, the ECU 20 determines whether or not all the traveling motors 14 and the deck motors 28 connected to the ECU 20 have stopped rotating in S20. If the ECU 20 determines that the rotation has stopped, the ECU power supply relay 36 is switched from ON to OFF in S22. Switch. For this reason, the power supply to the ECU 20 is interrupted in S24, and the ECU 20 is turned off. The ECU 20 can also execute such a control method with a program stored in advance.

  In the above description, the case where the ECU 20 is provided separately from the travel motor controller 32 and the deck motor controller 34 has been described. However, the ECU 20 and at least a part of each of the motor controllers 32 and 34 are integrated into the ECU 20. Some or all of the functions of the motor controllers 32 and 34 can be provided.

  According to such a motor control system 12, even when the key switch 30 is turned off, the power supply stop condition is not satisfied during rotation of at least one of the traveling motor 14 and the deck motor 28 controlled by the ECU 20, and the battery The power supply from 18 to the ECU 20 is maintained. For this reason, even when the key switch 30 is erroneously turned off during the rotation of at least one of the traveling motor 14 and the deck motor 28, it is possible to prevent occurrence of an unfavorable situation in terms of the durability of the parts.

  Further, a diode 50 is connected between the key switch 30 and the ECU power supply relay 36, the anode A side of the diode 50 is connected to the input signal terminal TI of the ECU 20, and the cathode K side is connected to the output signal terminal TO of the ECU 20. . For this reason, in order to achieve the effect of the present embodiment, a relay different from the ECU power supply relay 36 is connected between the battery 18 and the ECU 20, and an ON command signal is output from the output signal terminal TO of the ECU 20 to this relay. There is no need to adopt a configuration. Therefore, the cost can be reduced by reducing the number of parts.

[Second Embodiment]
FIG. 5 is a circuit diagram showing a motor control system according to the second embodiment of the present invention. Also in the case of the present embodiment, the schematic configuration is the same as in the case of FIGS. 1 and 2 of the first embodiment. In particular, in this embodiment, a DC / DC converter 60 with a built-in control circuit is used as the ECU power supply switching unit 35 shown in FIG. The motor control system 12 includes a battery 18, an ECU 20, a DC / DC converter 60, a key switch 30 corresponding to the manual switch 29 in FIG. 1, a first diode 62 that is a first rectifying element, and a second rectifying element. A second diode 64 and a resistor 66.

  The DC / DC converter 60 is connected between the battery 18 and the ECU 20. When the built-in ON / OFF control circuit (not shown) is turned on, the DC / DC converter 60 steps down the voltage of the battery 18 to a desired voltage as in the DC / DC converter 42 shown in FIG. The function to supply to. The on / off control circuit appropriately controls the on / off time of a switching element (not shown) provided in the DC / DC converter 60 in a state where the on command signal Si, which is a voltage signal, is input to the control circuit terminal TC. Is reduced to a desired voltage. When the on command signal Si to the control circuit terminal TC is cut off, the built-in switching element remains off.

  The key switch 30 is connected between the battery 18 and the DC / DC converter 60 and outputs a signal indicating ON or OFF to the input signal terminal TI of the ECU 20. The first diode 62 is connected between the control circuit terminal TC and the connection part P1 of the output signal terminal TO of the ECU 20 and one end of the key switch 30. Further, the second diode 64 and the resistor 66 are connected in series with each other, the connection portion P2 of the output voltage terminal VO of the DC / DC converter 60 and the input voltage terminal VI of the ECU 20, the one end of the key switch 30, and the input signal of the ECU 20. It is connected between the connection part P3 of the terminal TI.

  The DC / DC converter 60 is activated when the control circuit terminal TC is grounded and energized via the first diode 62 and the key switch 30 when the key switch 30 is switched from OFF to ON. By this activation, the DC / DC converter 60 generates an on / off signal for turning on / off the switching element of the on / off control circuit, and after voltage conversion of the input voltage input from the battery 18 to the ECU 20, that is, after step-down. Supply power.

  The ECU 20 outputs an on command signal Si from the output signal terminal TO when the voltage after the voltage of the battery 18 is stepped down, and holds the on / off signal of the on / off control circuit. With this configuration, the power supply connection to the ECU 20 is self-maintained. In this state, the input signal terminal TI is grounded via the key switch 30, so that the input signal becomes zero.

  When the key switch 30 is switched from on to off, the ECU 20 steps down the voltage between the DC / DC converter 60 and the ECU 20 by the resistor 66, and the voltage is input as a signal to the input signal terminal TI. Therefore, the ECU 20 detects a signal that has passed through the resistor 66. In this case, the ECU 20 cuts off the ON command signal Si from the output signal terminal TO only when the “power supply stop condition” is satisfied, which is a case where all of the traveling motor 14 and the deck motor 28 controlled by the ECU 20 are stopped. The on / off signal is no longer held, and power supply from the battery 18 to the ECU 20 is interrupted.

  In the case of the above configuration, as in the first embodiment, even when the key switch 30 is turned off, the power supply stop condition is satisfied during rotation of at least one of the traveling motor 14 and the deck motor 28 controlled by the ECU 20. Instead, power supply from the battery 18 to the ECU 20 is maintained. For this reason, even when the key switch 30 is erroneously turned off during the rotation of at least one of the traveling motor 14 and the deck motor 28, it is possible to prevent occurrence of an unfavorable situation in terms of the durability of the parts.

  Further, since the DC / DC converter 60 has a self-holding function with respect to the power supply connection, a relay having a self-holding function of the power supply connection with respect to the ECU 20, such as the ECU power supply relay 36 of the first embodiment shown in FIG. Can be omitted. For this reason, the cost can be further reduced by reducing the number of parts. Other configurations and operations are the same as those in the first embodiment.

  10 Lawn Mower Vehicle, 12 Motor Control System, 13 Wheels, 14 Travel Motor, 16 Lawn Mower, 17 Lawn Mower Main Body, 18 Battery, 20 ECU, 22 More Deck, 24 Rotating Shaft, 26 Lawn Mowing Blade, 28 Deck Motor, 29 Manual switch, 30 key switch, 32 travel motor controller, 34 deck motor controller, 35 ECU power supply switching unit, 36 ECU power supply relay, 38 first rotation angle sensor, 40 second rotation angle sensor, 42 DC / DC converter, 44 fuse , 46 switch body, 48 coils, 50, 51 diode, 60 DC / DC converter, 62 first diode, 64 second diode, 66 resistor.

Claims (4)

A traveling motor that is an electric motor and drives the wheels;
A work machine drive motor that is an electric motor and an auxiliary motor that drives the work machine;
It controls the traveling motor and the working machine drive motor, and a controller signal representing the driving state from the traction motor and the working machine drive motor is inputted,
A manual switch that is turned on or off in response to a manual operation by the user and outputs a signal representing the on or off to the controller;
A controller power supply switching unit connected between the power storage unit and the controller, and when the on command signal is input from the controller, power is supplied from the power storage unit to the controller, the manual switch is turned off, and a motor control system oN instruction signal the working machine with vehicle Ru and a controller power supply switching unit to cut off the power supply from the power storage unit to the controller when the input is blocked from the controller,
The controller is
When the manual switch is turned off, an on command signal to the controller power supply switching unit is maintained during rotation of at least one of the travel motor and the work machine drive motor controlled by the controller, and the controller An on command signal to the controller power supply switching unit is cut off when all of the travel motor to be controlled and the work machine drive motor are stopped. The motor control system according to claim 1,
The controller power supply switching unit includes a switch body connected in parallel with the manual switch between the power storage unit and the controller, and the switch body is energized from the power storage unit via a rectifier element. Controller power supply relay to be connected,
The controller connects the switch body when the manual switch is switched from off to on, and supplies power from the power storage unit to the controller via the switch body, while the manual switch is turned off, The on command signal to the coil is cut off and the switch body is cut off only when the power supply stop condition is satisfied, which is a case where all of the travel motor and the auxiliary motor controlled by the controller are stopped, and the controller is turned off from the power storage unit. Motor control system characterized by cutting off the power supply to the motor. The motor control system according to claim 2,
The controller power supply relay includes a coil that switches connection / disconnection of the switch body according to an energization state;
The input signal terminal of the controller is connected between the manual switch and the anode side of the rectifier element,
An output signal terminal of the controller is connected between a cathode side of the rectifying element and the coil. A traveling motor and an auxiliary motor, each being an electric motor,
A controller that controls the travel motor and the auxiliary motor, and that receives a signal representing a drive state from the travel motor and the auxiliary motor;
A manual switch that is turned on or off in response to a manual operation by the user and outputs a signal representing the on or off to the controller;
A controller power supply switching unit connected between the power storage unit and the controller, and when the on command signal is input from the controller, power is supplied from the power storage unit to the controller, the manual switch is turned off, And when the input of the ON command signal from the controller is cut off, comprising a controller power supply switching unit that cuts off the power supply from the power storage unit to the controller,
The controller is
When the manual switch is turned off, an ON command signal to the controller power supply switching unit is maintained and controlled by the controller during rotation of at least one of the traveling motor and the auxiliary motor controlled by the controller. When all of the travel motor and the auxiliary motor are stopped, a motor control system that cuts off an ON command signal to the controller power supply switching unit,
The controller power supply switching unit is a DC / DC converter that is connected between the power storage unit and the controller and includes a control circuit.
The manual switch is connected between the power storage unit and the DC / DC converter, and outputs a signal indicating ON or OFF to an input signal terminal of the controller.
Further, a first rectifier element connected between the control circuit terminal and the connection portion of the output signal terminal of the controller and the manual switch,
A second rectifier element and a resistor connected in series between a connection portion of the output voltage terminal of the DC / DC converter and the input voltage terminal of the controller and a connection portion of the manual switch and the input signal terminal of the controller; ,
The DC / DC converter is activated by energizing the control circuit terminal when the manual switch is switched from OFF to ON, generates an ON / OFF signal of the control circuit, and transmits the ON / OFF signal to the controller. Supply power after voltage conversion,
The controller outputs an on command signal from the output signal terminal by inputting a voltage after voltage conversion of the power storage unit and holds an on / off signal of the control circuit, and the manual switch is switched from on to off. When the power supply stop condition is satisfied, which is when the travel motor and the auxiliary motor controlled by the controller are all stopped, the signal from the output signal terminal is detected. A motor control system that shuts off and cancels the holding of the on / off signal of the control circuit to cut off the power supply from the power storage unit to the controller.

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