JP7405501B2 - Control device - Google Patents

Description

The present invention relates to a control device.

BACKGROUND ART A control device that controls an electric motor installed in a human-powered vehicle is known. Conventional control devices perform torque control on electric motors in response to torque acting on a human power drive system. Patent Document 1 discloses an example of a conventional control device.

Japanese Patent Application Publication No. 9-123984

It is desirable to properly control electric motors.
An object of the present invention is to provide a control device that can suitably control an electric motor.

A control device according to a first aspect of the present invention includes a control unit that controls an electric motor, and the control unit is based on at least one of speed information regarding a motion speed of a predetermined element and torque information regarding a torque of the predetermined element. and switches between speed control of the electric motor and torque control of the electric motor.
According to the control device of the first aspect, since the speed control of the electric motor and the torque control of the electric motor are switched, the electric motor can be suitably controlled. Specifically, since the electric motor is controlled in a control manner according to at least one of speed information and torque information, the electric motor can be suitably controlled.

In the control device according to the second aspect according to the first aspect, the control unit switches from the speed control to the torque control when a first switching condition related to the speed information is satisfied.
According to the control device of the second aspect, the electric motor can be suitably controlled.

In the control device of the third aspect according to the second aspect, the first switching condition is defined based on the relationship between the motion speed and the first predetermined speed.
According to the control device of the third aspect, it is possible to switch from speed control of the electric motor to torque control of the electric motor at an appropriate timing.

In the control device according to the fourth aspect according to the third aspect, the control unit switches from the speed control to the torque control when the first switching condition is satisfied because the motion speed is equal to or higher than the first predetermined speed. Switch.
According to the control device of the fourth aspect, it is possible to switch from speed control of the electric motor to torque control of the electric motor at an appropriate timing. Further, since the electric motor is speed-controlled when the movement speed is less than the first predetermined speed, and torque-controlled when the movement speed is greater than or equal to the first predetermined speed, the electric motor can be suitably controlled.

In the control device according to the fifth aspect according to the fourth aspect, when the first switching condition is satisfied, the control unit sets a first command value as the torque command value used for the torque control, and sets the first command value as the torque command value used for the torque control. gradually approaches a second command value different from the first command value.
According to the control device of the fifth aspect, the torque command value is set so that the torque command value does not change suddenly, so that the electric motor can be suitably controlled.

In the control device according to the sixth aspect according to the fifth aspect, the control unit gradually brings the first command value closer to the second command value by inputting the first command value to a first filter.
According to the control device of the sixth aspect, the electric motor can be suitably controlled.

In the control device according to the seventh aspect according to the fifth or sixth aspect, when the absolute value of the difference between the first command value and the second command value becomes equal to or less than a first predetermined difference, The second command value is set as the torque command value.
According to the control device of the seventh aspect, since the torque command value changes smoothly when the second command value is set as the torque command value, the electric motor can be suitably controlled.

In the control device of the eighth aspect according to the seventh aspect, the first predetermined difference is zero.
According to the control device of the eighth aspect, the electric motor can be suitably controlled.

In the control device according to the ninth aspect according to any one of the fifth to eighth aspects, the control section sets the second command value based on human power driving force.
According to the control device of the ninth aspect, when the second command value is set as the torque command value, the electric motor is torque-controlled according to the human power driving force, so that the electric motor can be suitably torque-controlled.

In the control device according to the tenth aspect according to any one of the fifth to ninth aspects, the control section calculates the first command value based on the speed command value used for the speed control.
According to the control device of the tenth aspect, the first command value can be appropriately calculated.

In the control device according to the eleventh aspect according to the tenth aspect, the control unit sets a third command value that is preset as the speed command value.
According to the control device of the eleventh aspect, since the speed command value is stabilized, the first command value can be appropriately calculated.

In the control device according to the twelfth aspect according to any one of the first to eleventh aspects, the control unit switches from the torque control to the speed control when a second switching condition related to the speed information is satisfied. .
According to the control device of the twelfth aspect, the electric motor can be suitably controlled.

In the control device according to the thirteenth aspect according to the twelfth aspect, the second switching condition is defined based on the relationship between the motion speed and the second predetermined speed.
According to the control device of the thirteenth aspect, it is possible to switch from torque control of the electric motor to speed control of the electric motor at an appropriate timing.

In the control device according to the fourteenth aspect according to the thirteenth aspect, when the second switching condition is satisfied because the motion speed is less than the second predetermined speed, the control unit switches from the torque control to the speed control. Switch.
According to the control device of the fourteenth aspect, it is possible to switch from torque control of the electric motor to speed control of the electric motor at an appropriate timing. Further, since the electric motor is torque-controlled when the movement speed is equal to or higher than the first predetermined speed, and the electric motor is speed-controlled when the movement speed is less than the second predetermined speed, the electric motor can be suitably controlled.

In the control device of the fifteenth aspect according to any one of the fourth to eleventh aspects, the control unit performs the second switching when the motion speed is less than a second predetermined speed that is lower than the first predetermined speed. If the conditions are met, the torque control is switched to the speed control.
According to the control device of the fifteenth aspect, it is possible to switch from torque control of the electric motor to speed control of the electric motor at an appropriate timing. Furthermore, since the second predetermined speed is lower than the first predetermined speed, it is possible to reduce the frequency of switching between speed control of the electric motor and torque control of the electric motor.

In the control device according to the sixteenth aspect according to any one of the twelfth to fifteenth aspects, the control unit may set a fourth command value as the speed command value used for the speed control when the second switching condition is satisfied. and gradually bring the fourth command value closer to a fifth command value different from the fourth command value.
According to the control device of the sixteenth aspect, the speed command value is set so that the speed command value does not change suddenly, so that the electric motor can be suitably controlled.

In the control device according to the seventeenth aspect according to the sixteenth aspect, the control unit gradually brings the fourth command value closer to the fifth command value by inputting the fifth command value to a second filter.
According to the control device of the seventeenth aspect, the electric motor can be suitably controlled.

In the control device according to the eighteenth aspect according to the sixteenth or seventeenth aspect, when the absolute value of the difference between the fourth command value and the fifth command value becomes equal to or less than a second predetermined difference, The fifth command value is set as the speed command value.
According to the control device of the eighteenth aspect, when the fifth command value is set as the speed command value, the speed command value changes smoothly, so that the electric motor can be suitably controlled.

In the control device according to the nineteenth aspect according to the eighteenth aspect, the second predetermined difference is zero.
According to the control device of the nineteenth aspect, the electric motor can be suitably controlled.

In the control device according to the 20th aspect according to any one of the 16th to 19th aspects, the control section sets a sixth command value that is preset as the fifth command value.
According to the control device of the twentieth aspect, when the fifth command value is set as the speed command value, the speed of the electric motor is controlled according to the sixth command value that is set in advance. Speed can be controlled.

In the control device according to the twenty-first aspect according to any one of the sixteenth to twentieth aspects, the control unit sets the fourth command value as an initial value of the speed command value.
According to the control device of the twenty-first aspect, the electric motor can be suitably controlled.

In the control device according to the twenty-second aspect according to any one of the sixteenth to twenty-first aspects, the control unit calculates the fourth command value based on the rotational speed of the electric motor.
According to the control device of the twenty-second aspect, the fourth command value can be appropriately calculated.

In the control device according to the twenty-third aspect according to any one of the first to twenty-second aspects, the predetermined element is included in a power transmission system of a human-powered vehicle.
According to the control device of the twenty-third aspect, the electric motor can be suitably controlled.

In the control device according to the twenty-fourth aspect according to the twenty-third aspect, the predetermined element includes at least one of the electric motor, reduction gear, crank, chain, and wheel.
According to the control device of the twenty-fourth aspect, the electric motor can be suitably controlled.

According to the control device of the present invention, an electric motor can be suitably controlled.

FIG. 1 is a side view of a human-powered vehicle including a control device according to an embodiment. FIG. 2 is a block diagram showing a specific configuration of the control device in FIG. 1. FIG. 2 is a map showing the relationship between speed control and torque control regarding the electric motor of FIG. 1. FIG. 2 is a flowchart showing an example of control executed by the control device in FIG. 1. FIG. 2 is a flowchart showing an example of control executed by the control device in FIG. 1. FIG.

(Embodiment)
Referring to FIG. 1, a human-powered vehicle A including a control device 10 will be described.
Here, the term "human-powered vehicle" refers to a vehicle that uses human power at least in part as a motive force for driving, and includes vehicles that use electric power to assist human power. Vehicles that use only a motive force other than human power are not included in human-powered vehicles. In particular, vehicles that use only an internal combustion engine as a motive force are not included in human-powered vehicles. Normally, human-powered vehicles are assumed to be small, light vehicles, and vehicles that do not require a license to drive on public roads. The illustrated human-powered vehicle A is a bicycle (e-bike) that includes an electric auxiliary unit E that assists the propulsion of the human-powered vehicle A using electrical energy. Specifically, the illustrated human-powered vehicle A is a trekking bike. The human-powered vehicle A further includes a frame A1, a front fork A2, a handle H, and a power transmission system PS. The power transmission system PS includes various elements that transmit power for driving the human-powered vehicle A, for example. In this embodiment, the power transmission system PS includes a drive train B, an electric auxiliary unit E, and wheels W. Wheels W include a front wheel WF and a rear wheel WR.

Drive train B is configured as a chain drive type. Drive train B includes a crank C, a front sprocket D1, a rear sprocket D2, and a chain D3. The crank C includes a crank shaft C1 rotatably supported by a frame A1, and a pair of crank arms C2 provided at each end of the crank shaft C1. A pedal PD is rotatably attached to the tip of each crank arm C2. Note that the drive train B can be selected from any type, and may be a belt drive type or a shaft drive type.

The front sprocket D1 is provided on the crank C so as to rotate together with the crankshaft C1. The rear sprocket D2 is provided on the hub HR of the rear wheel WR. Chain D3 is wound around front sprocket D1 and rear sprocket D2. The human power driving force applied to the pedal PD by the user riding the human power vehicle A is transmitted to the rear wheel WR via the front sprocket D1, the chain D3, and the rear sprocket D2.

Human-powered vehicle A further includes a plurality of components CO. The multiple components CO include a brake device BD, a transmission T, a suspension SU, an adjustable seat post ASP, and an electric auxiliary unit E. The braking device BD, transmission T, suspension SU, and adjustable seat post ASP may be mechanically driven according to the operation of the corresponding operating device, or electrically driven according to the operation of the corresponding operating device. may be done. The electrically driven elements of the plurality of components CO may be powered by, for example, electric power supplied from a battery BT mounted on the human-powered vehicle A, or a dedicated power source (not shown) mounted on each component CO. It operates using electricity supplied from

The brake device BD includes brake devices BD corresponding to the number of wheels. In this embodiment, the human-powered vehicle A is provided with a brake device BD corresponding to the front wheel WF and a brake device BD corresponding to the rear wheel WR. The two brake devices BD have the same configuration. The braking device BD is, for example, a rim braking device that brakes the rim R of the human-powered vehicle A. In one example, in response to the operation of the brake lever BL (operating device), the corresponding braking device BD is mechanically or electrically driven. Note that the braking device BD may be a disc brake device that brakes a disc brake rotor (not shown) mounted on the human-powered vehicle A.

Transmission T includes at least one of a front derailleur TF and a rear derailleur TR. The front derailleur TF is provided near the front sprocket D1. As the front derailleur TF is driven, the front sprocket D1 around which the chain D3 is wound is changed, and the gear ratio of the human-powered vehicle A is changed. The rear derailleur TR is provided at the rear end A3 of the frame A1. As the rear derailleur TR is driven, the rear sprocket D2 around which the chain D3 is wound is changed, and the gear ratio of the human-powered vehicle A is changed.

The suspension SU includes at least one of a front suspension SF and a rear suspension (not shown). The front suspension SF operates to reduce the impact that the front wheel WF receives from the ground. The rear suspension operates to reduce the impact that the rear wheel WR receives from the ground. The adjustable seat post ASP operates such that the height of the saddle S relative to the frame A1 is changed.

The electric auxiliary unit E operates so that the propulsive force of the human-powered vehicle A is assisted. The electric auxiliary unit E operates according to, for example, a human power driving force applied to the pedal PD. Electric auxiliary unit E includes an electric motor E1, a reduction gear E2, and a housing E3. Electric motor E1 and reduction gear E2 are housed within housing E3. The driving force of the electric motor E1 is transmitted to the drive train B via, for example, a reduction gear E2. In one example, the driving force of the electric motor E1 is transmitted to the crankshaft C1 or the front sprocket D1. The electric auxiliary unit E is driven according to the operation of a cycle computer SC mounted on the human-powered vehicle A, for example. Note that the electric auxiliary unit E may be configured to operate in accordance with the operation of an operating device (not shown) mounted on the human-powered vehicle A.

The configuration of the control device 10 will be described with reference to FIG. 2.
The control device 10 is housed in a housing E3 of the electric auxiliary unit E (see FIG. 1). Control device 10 includes a control section 12 that controls electric motor E1. The control unit 12 is a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The control unit 12 executes speed control and torque control of the electric motor E1. Note that the control unit 12 may control various electrically driven components CO in addition to the electric auxiliary unit E including the electric motor E1.

The control unit 12 switches between speed control of the electric motor E1 and torque control of the electric motor E1 based on at least one of speed information regarding the motion speed of the predetermined element GE and torque information regarding the torque of the predetermined element GE. The predetermined element GE is included in the power transmission system PS of the human-powered vehicle A. The predetermined element GE includes at least one of an electric motor E1, a reduction gear E2, a crank C, a chain D3, and a wheel W. In this embodiment, the predetermined element GE includes an electric motor E1. In one example, the motion speed is the rotational speed of electric motor E1. The human-powered vehicle A is equipped with a rotation speed sensor SS that detects the rotation speed of the electric motor E1, for example.

As shown in FIG. 3, the control unit 12 switches from speed control to torque control when the first switching condition related to speed control is satisfied. The first switching condition is defined based on the relationship between the motion speed and the first predetermined speed TS1. The first predetermined speed TS1 is set in advance according to the relationship between the motion speed and the vehicle speed of the human-powered vehicle A, for example. In one example, the value of the motion speed at which the vehicle speed of the human-powered vehicle A is 1 to 2 km/h is preset as the first predetermined speed TS1. The control unit 12 switches from speed control to torque control when the first switching condition is satisfied because the motion speed is equal to or higher than the first predetermined speed TS1. Specifically, the control unit 12 determines that the first switching condition is satisfied when the motion speed changes from a state below the first predetermined speed TS1 to a state above the first predetermined speed TS1, and switches from speed control to torque control. Switch to

As shown in FIG. 2, the control device 10 further includes a first filter 14, a second filter 16, a speed control system 20, a torque control system 30, and a bridge circuit 40. The speed control system 20 includes, for example, at least one of a first difference calculation section 22 and a speed regulator 24. The torque control system 30 includes, for example, at least one of a command switching section 32, a current command calculation section 34, a second difference calculation section 36, and a current regulator 38. In one example, the speed control system 20, the torque control system 30, and the bridge circuit 40 are included in the control unit 12.

The first filter 14 is provided, for example, between the speed control system 20 and the torque control system 30. In one example, first filter 14 is an active filter. In one example, first filter 14 is a low pass filter. In one example, first filter 14 is a smoothing filter. In one example, first filter 14 is a moving average filter. The first filter 14 may be a digital filter or an analog filter.

The second filter 16 is provided, for example, before the speed control system 20. In one example, second filter 16 is an active filter. In one example, second filter 16 is a low pass filter. In one example, second filter 16 is a smoothing filter. In one example, second filter 16 is a moving average filter. The second filter 16 may be a digital filter or an analog filter. Note that the control device 10 may omit at least one of the first filter 14 and the second filter 16.

When the first switching condition is satisfied, the control unit 12 sets the first command value V1 as the torque command value used for torque control, and sets the first command value V1 to a second command value V2 different from the first command value V1. gradually approach. In one example, the control unit 12 gradually approaches the first command value V1 to the second command value V2 by inputting the first command value V1 to the first filter 14. Specifically, when executing the process of bringing the first command value V1 closer to the second command value V2, the control unit 12 changes the first command value V1 to the second command value V2 through the first filter 14. Gradually approach. That is, the control unit 12 gradually brings the first command value V1 closer to the second command value V2 by performing filter processing on a signal including information regarding the first command value V1. Therefore, when switching from speed control to torque control, a sharp change in the torque command value can be alleviated.

The control unit 12 calculates the first command value V1 based on the speed command value used for speed control. The control unit 12 sets a third command value V3 that is preset as the speed command value. The third command value V3 is preset, for example, according to the rotational speed of the electric motor E1 at which the vehicle speed of the human-powered vehicle A reaches a predetermined vehicle speed. That is, the speed command value is a fixed value that is set in advance. In one example, the control unit 12 uses the first difference calculation unit 22 to calculate the difference between the third command value V3, which is the speed command value, and the rotational speed of the electric motor E1 detected by the rotational speed sensor SS. The first command value V1 is then calculated by converting the value based on the produced difference into the first command value V1, which is the torque command value, by the speed regulator 24. Note that the control unit 12 may calculate to generate the first command value V1 based on the speed command value. "Calculation" described below includes the meaning of "generation" as described above.

For example, the control unit 12 executes a process of bringing the rotational speed of the electric motor E1 closer to the third command value V3 until the first switching condition is satisfied. In one example, the control unit 12 presets the first command value V1 generated by the speed regulator 24 into the integral buffer of the speed regulator 24. The control unit 12 presets the rotational speed of the electric motor E1 in the integral buffer of the speed regulator 24 until the first command value V1 is generated by the speed regulator 24. The value preset in the integral buffer is used for general PI (Proportional Integral) control.

In order to suppress the shock that occurs when executing the process of bringing the rotational speed of the electric motor E1 closer to the third command value V3 in a state where the difference between the rotational speed of the electric motor E1 and the third command value V3 is large, the first difference Before the calculation unit 22 executes the difference calculation, processing via the second filter 16 is executed. Specifically, the control unit 12 sets the rotational speed of the electric motor E1 as an initial speed command value, and executes a process of bringing the initial speed command value closer to the third command value V3. Here, if the second filter 16 is not used, a process is executed to rapidly bring the rotational speed of the electric motor E1 close to the third command value V3, and a shock may occur. Therefore, by changing the third command value V3 to a value close to the rotational speed of the electric motor E1 through filtering, the rate of change in the rotational speed of the electric motor E1 can be made smaller than when the filtering is not performed. can. On the other hand, by performing filter processing on the third command value V3, it is possible to alleviate a steep change in the rotational speed of the electric motor E1. It may not be possible to reach V3. For this reason, filter processing is executed according to the rotational speed of the electric motor E1 until the rotational speed of the electric motor E1 reaches the third command value V3. Thereby, the rotational speed of the electric motor E1 can be gradually brought closer to the third command value V3, and a sharp change in the rotational speed of the electric motor E1 can be alleviated.

The control unit 12 controls the rotational speed of the electric motor E1 to approach the third command value V3 until, for example, the first switching condition is satisfied. Specifically, in order to bring the rotation speed of the electric motor E1 closer to the third command value V3 through the second filter 16, the control unit 12 sets the third command value V3 to a value through the second filter 16. The first difference calculation unit 22 calculates the difference between the rotational speed of the electric motor E1 and the speed controller 24 processes the value calculated by the first difference calculation unit 22, thereby obtaining the first torque command value. Generate command value V1. When the first switching condition is not satisfied, the control unit 12 causes the current command calculation unit 34 to generate a current value based on the first command value V1 of the torque control system 30. The control unit 12 calculates the difference between the current value generated based on the first command value V1 and the current value flowing through the bridge circuit 40 using the second difference calculation unit 36, and adjusts the current according to the calculated difference. A current command value is generated in the device 38. At this time, the control unit 12 presets the current value of the bridge circuit 40 in the integral buffer of the current regulator 38. In one example, the control unit 12 presets the output torque value of the electric motor E1 in the integral buffer of the current regulator 38 until the current command value is generated, and after the current command value is generated, the The command value is preset in the integral buffer of the current regulator 38.

The control unit 12 re-sets the rotational speed of the electric motor E1 to the initial speed command value in order to execute control using both the speed control system 20 and the torque control system 30 until the first switching condition is satisfied. The process of bringing the rotational speed of the electric motor E1 closer to the third command value V3 is repeated. When the first switching condition is satisfied, the control unit 12 performs control only by the torque control system 30 without executing control by the speed control system 20. In one example, when the first switching condition is satisfied, the control unit 12 causes the torque control system 30 to cause the first command value V1 generated by the speed control system 20 to approach the second command value V2.

In a state where the difference between the first command value V1 and the second command value V2 is large, a sharp change in torque occurs when switching between speed control and torque control, resulting in a shock. In order to suppress this shock, processing via the first filter 14 is executed when the torque control system 30 switches the first command value V1 to the second command value V2. Specifically, the control unit 12 sets the first command value V1 as the initial torque command value, performs filter processing on the initial torque command value, and gradually changes the initial torque command value to the second command value V2. Execute the process to bring it closer.

The control unit 12 sets the second command value V2 based on the human power driving force. In one example, the second command value V2 is a torque applied to the pedal PD. The control unit 12 sets the second command value V2 so that the output torque value of the electric motor E1 becomes a predetermined ratio to the human power driving force applied to the pedal PD. The predetermined ratio may be a preset ratio. It may be set so that a plurality of predetermined ratios can be arbitrarily selected.

When the first switching condition is satisfied, the control unit 12 controls the electric motor E1 using only the torque control system 30 without using the speed control system 20. By using the first filter 14 when executing the process of making the first command value V1 follow the second command value V2 in the torque control system 30, a sharp change from the first command value V1 to the second command value V2 can be realized. can be alleviated.

The first filter 14 alleviates sudden changes when executing a process of bringing the absolute value of the difference between the first command value V1 and the second command value V2 (hereinafter referred to as "first command value difference") closer together, It is used to gradually reduce the first command value difference to a first predetermined difference or less. Specifically, at a stage before the command switching unit 32 or at the command switching unit 32, the first command value V1 is set so that the first command value V1 gradually follows the second command value V2. A filter process is executed to gradually bring the first command value V1 closer to the second command value V2. The control unit 12 uses the current command calculation unit 34 to perform torque control on the electric motor E1 based on the first command value V1 that is output while gradually bringing the first command value V1 closer to the second command value V2. Therefore, at the timing when the first command value V1 gradually approaches the second command value V2 via the first filter 14, the output torque value of the electric motor E1 changes from the output torque value based on the first command value V1 to the second command value. The output torque value gradually changes to the value based on the value V2.

When the first command value V1 reaches the second command value V2, the control unit 12 causes the command switching unit 32 to switch the torque command value from the first command value V1 to the second command value V2. After setting the second command value V2 as the torque command value, the control unit 12 causes the current command calculation unit 34 to perform current command calculation on the second command value V2, and sets the second command value V2 to the seventh command value V7. Convert to . The control unit 12 uses the second difference calculation unit 36 to calculate the difference between the seventh command value V7 and the current value flowing through the bridge circuit 40, and calculates the difference between the seventh command value V7 and the current value based on the difference between the seventh command value V7 and the current value. By executing PI control with the current regulator 38, an eighth command value V8, which is a current command value or a voltage command value, is generated. When the current regulator 38 executes the PI control, the control unit 12 presets the eighth command value V8 into the integration buffer of the current regulator 38, if the eighth command value V8 has already been calculated. On the other hand, if the eighth command value V8 has not been calculated, the control unit 12 presets the current value flowing through the bridge circuit 40 into the integral buffer of the current regulator 38. Note that the bridge circuit 40 may be configured not to be included in the control section 12.

The control unit 12 presets the value of the current flowing through the bridge circuit 40 in the integral buffer as the value to be preset in the integral buffer of the current regulator 38 when the eighth command value V8 is not generated. The current regulator generates an eighth command value V8 based on the current value preset in the integral buffer and the difference between the seventh command value V7 and the current value calculated by the second difference calculating section 36. The control unit 12 presets the eighth command value V8 generated by the current regulator 38 into the integral buffer of the current regulator 38, so that when the current regulator 38 generates the eighth command value V8 from then on, generates a new eighth command value V8 by inputting the seventh command value V7 converted by the current command calculation unit 34 with the eighth command value V8 preset in the integral buffer.

The control unit 12 controls the electric motor E1 using both the torque control system 30 and the speed control system 20 when the second switching condition is satisfied. The control unit 12 sets the fourth command value V4 (rotational speed of the electric motor E) as the initial value of the speed command value. In one example, when the second switching condition is satisfied, the control unit 12 sets the fourth command value V4 as the initial speed command value to bring it closer to the fifth command value V5. In the process of bringing the fourth command value V4 closer to the fifth command value V5, the control unit 12 uses the first difference calculation unit 22 to calculate the difference between the fifth command value V5 and the fourth command value V4. At this time, by passing the second filter 16 through the second filter 16 at a stage before the first difference calculating section 22, a sharp change in the output can be alleviated.

The control unit 12 calculates the difference between the fourth command value V4 and the fifth command value V5 using the first difference calculation unit 22, and sends the first command value V1, which is a torque command value corresponding to the difference, to the speed regulator 24. and generate it. At this time, the control unit 12 presets the rotational speed of the electric motor E1 in the integral buffer of the speed regulator 24. The value preset in the integral buffer is preset by replacing the first command value V1 with the rotational speed of the electric motor E1 when the first command value V1 is generated, so if the first command value V1 has been generated in the past, A new first command value V1 is generated by the speed regulator 24 with the previously generated first command value V1 preset in the integral buffer.

Until the fourth command value V4 follows the fifth command value V5, it is not necessary to perform control in the torque control system 30 to make the first command value V1 follow the second command value V2. In this case, the control unit 12 converts the first command value V1 into the seventh command value V7, which is the current command value, using the current command calculation unit 34. The control unit 12 calculates the difference between the seventh command value V7 and the rotation speed of the electric motor E1 flowing through the bridge circuit 40 using the second difference calculation unit 36, and uses the current regulator 38 to calculate the difference between the seventh command value V7 and the rotational speed of the electric motor E1 flowing through the bridge circuit 40. Generate command value V8.

The control unit 12 outputs a current to the electric motor E1 based on the eighth command value V8. If there is a difference between the rotational speed of the electric motor E1 detected by the rotational speed sensor SS and the fifth command value V5, the control unit 12 sets the rotational speed of the electric motor E1 again as the speed command value, and controls the rotational speed of the electric motor E1. The process of bringing the rotation speed closer to the fifth command value V5 is repeated. The control unit 12 does not execute the process of causing the first command value V1 to follow the second command value V2 until the first switching condition is satisfied.

The control unit 12 executes processing so that the first command value V1 follows the second command value V2 when the first switching condition is satisfied. In one example, when the absolute value of the difference between the first command value V1 and the second command value V2 (first command value difference) is equal to or less than a first predetermined difference, the control unit 12 may set the second command value as the torque command value. Set value V2. Specifically, when the first command value difference is less than or equal to the first predetermined difference, the control unit 12 sets the second command value V2 as the torque command value. The first predetermined difference is zero. The first predetermined difference may include 0 and a value near 0. If the first switching condition is satisfied and it is determined that the first command value difference is equal to or less than the first predetermined difference before setting the first command value V1 as the torque command value, the control unit 12 sets the first command value as the torque command value. 2 command value V2 may be set.

As shown in FIG. 3, the control unit 12 switches from torque control to speed control when the second switching condition related to speed control is satisfied. The second switching condition is defined based on the relationship between the motion speed and the second predetermined speed TS2. The second predetermined speed TS2 is preset, for example, according to the relationship between the motion speed and the vehicle speed of the human-powered vehicle A. The second predetermined speed TS2 may be a predetermined rotational speed of the electric motor E1. In one example, the second predetermined speed TS2 is preset to a motion speed at which the vehicle speed of the human-powered vehicle A is lower than the vehicle speed corresponding to the first predetermined speed TS1. That is, the first predetermined speed TS1 and the second predetermined speed TS2 have hysteresis characteristics. The control unit 12 switches from torque control to speed control when the second switching condition is satisfied because the motion speed is less than the second predetermined speed TS2. In one example, the control unit 12 switches from torque control to speed control when the second switching condition is satisfied because the motion speed is less than the second predetermined speed TS2, which is lower than the first predetermined speed TS1. Specifically, the control unit 12 determines that the second switching condition is satisfied when the motion speed changes from a state equal to or higher than the second predetermined speed TS2 to a state lower than the second predetermined speed TS2, and switches from torque control to speed control. Switch to The second predetermined speed TS2 may be the same speed as the first predetermined speed TS1. Even if the motion speed is less than the second predetermined speed TS2, the second switching condition is not satisfied if torque control was not performed last time.

As shown in FIG. 2, when the second switching condition is satisfied, the control unit 12 sets the fourth command value V4 as the speed command value used for speed control, and sets the fourth command value V4 to the fourth command value V4. gradually approaches the fifth command value V5, which is different from the fifth command value V5. In one example, the control unit 12 gradually approaches the fourth command value V4 to the fifth command value V5 by inputting the fifth command value V5 to the second filter 16. Specifically, when executing the process of bringing the fourth command value V4 closer to the fifth command value V5, the control unit 12 changes the fourth command value V4 to the fifth command value V5 through the second filter 16. Gradually approach. That is, the control unit 12 gradually brings the fourth command value V4 closer to the fifth command value V5 by performing filter processing on the signal including information regarding the fourth command value V4. Therefore, when switching from torque control to speed control, a sharp change in the speed command value can be alleviated.

The control unit 12 calculates a fourth command value V4 based on the rotational speed of the electric motor E1. The fourth command value V4 may use the rotational speed of the electric motor E1 detected by the rotational speed sensor SS. In one example, the fourth command value V4 is the rotation speed of the electric motor E1. The control unit 12 sets a sixth command value V6 that is preset as the fifth command value V5. The sixth command value V6 is preset, for example, according to the rotational speed of the electric motor E1 at which the vehicle speed of the human-powered vehicle A reaches a predetermined vehicle speed. That is, the fifth command value V5 is a fixed value set in advance. In this embodiment, the sixth command value V6 is the same as the third command value V3. Note that the control unit 12 may set a fixed value different from the sixth command value V6 as the fifth command value V5.

When the second switching condition is satisfied, the control unit 12 detects the rotational speed of the electric motor E1 at the time when the second switching condition is satisfied, or calculates the rotational speed of the electric motor E1 based on the torque command value. Then, the rotational speed of the electric motor E1 is set as the fourth command value V4. In one example, the control unit 12 presets the fourth command value V4 into the integral buffer of the speed regulator 24. The control unit 12 inputs the fifth command value V5 to the speed regulator 24. In this process, the control unit 12 executes PI control of the speed command value.

When the absolute value of the difference between the fourth command value V4 and the fifth command value V5 (hereinafter referred to as "second command value difference") becomes equal to or less than the second predetermined difference, the control unit 12 sets the fifth command value as the speed command value. Set command value V5. The second predetermined difference is zero. The second predetermined difference may include 0 and a value near 0. Specifically, the control unit 12 controls the speed control system 20 and the torque control system 30 so that the second command value difference is equal to or less than the second predetermined difference. Then, the control unit 12 controls the speed of the electric motor E1 according to the speed command value. Note that, if the second switching condition is satisfied and the second command value difference is determined to be equal to or less than the second predetermined difference before setting the fourth command value V4 as the speed command value, the control unit 12 changes the speed command value. The fifth command value V5 may be set as the fifth command value V5.

Control device 10 further includes a storage unit (not shown) that stores information. The storage unit includes nonvolatile memory and volatile memory. The storage unit stores, for example, various programs for control, information set in advance, and the like. In one example, the storage unit stores information regarding various conditions for switching between speed control of electric motor E1 and torque control of electric motor E1.

An example of control executed by the control device 10 will be described with reference to FIGS. 4 and 5.
The control unit 12 executes the following control by, for example, driving the electric auxiliary unit E. In step S10, the control unit 12 determines whether the user riding in the human-powered vehicle A is pedaling. Specifically, the control unit 12 determines whether the crank C of the human-powered vehicle A is rotating. When the control unit 12 determines in step S10 that pedaling is in progress, the process proceeds to step S11.

In step S11, the control unit 12 determines whether the rotational speed of the electric motor E1 is less than a second predetermined speed TS2. When the control unit 12 determines in step S11 that the rotational speed of the electric motor E1 is equal to or higher than the second predetermined speed TS2, the process proceeds to step S12. In step S12, the control unit 12 determines whether the rotational speed of the electric motor E1 is equal to or higher than the first predetermined speed TS1. When the control unit 12 determines in step S12 that the rotational speed of the electric motor E1 is equal to or higher than the first predetermined speed TS1, the process proceeds to step S13. On the other hand, if the control unit 12 determines in step S12 that the rotational speed of the electric motor E1 is less than the first predetermined speed TS1, the process proceeds to step S14.

In step S13 and step S14, the control unit 12 determines whether or not the electric motor E1 was subjected to torque control last time. When the control unit 12 determines in step S13 that the electric motor E1 has not been subjected to torque control last time, the process proceeds to step S15. That is, when the control unit 12 determines that the speed of the electric motor E1 was controlled last time, the process proceeds to step S15. In step S15, the control unit 12 sets the first command value V1 as the initial value of the torque command value. When the control unit 12 determines in step S13 and step S14 that the electric motor E1 was previously torque-controlled, the process proceeds to step S16. That is, if the control section 12 is already under torque control, the control section 12 moves to the process of step S16. When the control unit 12 determines in step S14 that the electric motor E1 has not been subjected to torque control last time, the process proceeds to step S23.

In step S16, the control unit 12 determines whether the first command value difference is less than or equal to the first predetermined difference. When the control unit 12 determines in step S16 that the first command value difference is larger than the first predetermined difference, the process proceeds to step S17. The control unit 12 performs filter processing on the torque command value in step S17. Specifically, the control unit 12 inputs the first command value V1 to the first filter 14 so that the first command value V1 follows the second command value V2. After completing the process in step S17, the control unit 12 returns the process to step S16. If the control unit 12 determines in step S16 that the first command value difference is less than or equal to the first predetermined difference, the control unit 12 moves to step S18. The control unit 12 sets the second command value V2 as the torque command value in step S18. In step S19, the control unit 12 performs torque control on the electric motor E1 using only the torque control system 30.

When the control unit 12 determines in step S11 that the rotational speed of the electric motor E1 is less than the second predetermined speed TS2, the process proceeds to step S20. In step S20, the control unit 12 executes substantially the same process as steps S13 and S14. When the control unit 12 determines in step S20 that the electric motor E1 was subjected to torque control last time, the process proceeds to step S21. The control unit 12 presets the rotational speed of the electric motor E1 in the integral buffer of the speed regulator 24 in step S21. In step S22, the control unit 12 sets the fourth command value V4 as the initial value of the speed command value. When the control unit 12 determines in step S20 that the rotational speed of the electric motor E1 was not torque-controlled last time, the process proceeds to step S23.

In step S23, the control unit 12 determines whether the second command value difference is less than or equal to a second predetermined difference. When the control unit 12 determines in step S23 that the second command value difference is larger than the second predetermined difference, the process proceeds to step S24. The control unit 12 performs filter processing on the speed command value in step S24. Specifically, the control unit 12 inputs the fifth command value V5 to the second filter 16 so that the fourth command value V4 follows the fifth command value V5. After completing the process in step S24, the control unit 12 returns the process to step S23. When the control unit 12 determines in step S23 that the second command value difference is less than or equal to the second predetermined difference, the process proceeds to step S25. The control unit 12 sets the fifth command value V5 as the speed command value in step S25. The control unit 12 controls the speed of the electric motor E1 using both the speed control system 20 and the torque control system 30 in step S26. When the control unit 12 determines in step S10 that pedaling is not in progress, the process proceeds to step S27. The control unit 12 stops driving the electric motor E1 in step S27. That is, the control unit 12 stops the power supply to the electric motor E1.

As described above, the control unit 12 controls the electric motor E1 so that the speed of the electric motor E1 is controlled when the movement speed is relatively low, and the torque of the electric motor E1 is controlled when the movement speed is relatively high. The speed control of the electric motor E1 and the torque control of the electric motor E1 are switched. In one example, the control unit 12 switches from torque control to speed control when the rotational speed of the electric motor E1 decreases due to a decrease in human-powered driving force while the human-powered vehicle A travels uphill. Therefore, even when the human power driving force is reduced due to the influence of an uphill slope, the electric motor E1 can be suitably controlled, contributing to the ability of the human powered vehicle A to travel uphill without backing up.

(Modified example)
The above description of the embodiments is an example of the form that the control device according to the present invention can take, and is not intended to limit the form. The control device according to the present invention may take a form in which, for example, a modification of the above-described embodiment shown below or a combination of at least two mutually consistent modifications. In the following modified examples, the same parts as in the embodiment are given the same reference numerals as in the embodiment, and the explanation thereof will be omitted.

- The control content of the control unit 12 can be changed arbitrarily. In the first example, the control unit 12 executes control in which step S16 is omitted in the processing shown in FIGS. 4 and 5. In this case, the control unit 12 may execute the process of step S18 after the process of step S17, or may omit the process of step S17 and execute only the process of step S18. In the second example, the control unit 12 executes control in which the process shown in FIGS. 4 and 5 is omitted from step S23. In this case, the control unit 12 may execute the process of step S25 after the process of step S24, or may omit the process of step S24 and execute only the process of step S25. In the third example, the control unit 12 may determine the first command value difference in the next step after step S13 (step S16). That is, when the first command value difference is less than or equal to the first predetermined difference, the control unit 12 sets the second command value V2 as the initial torque command value. In the fourth example, the control unit 12 may determine the second command value difference in the next step after step S20 in controlling the speed control system after switching from torque control to speed control (step S23). . That is, when the second command difference is less than or equal to the second predetermined difference, the control unit 12 sets the fifth command value V5 as the initial speed command value.

In the fifth example, after the first switching condition is satisfied, the control unit 12 executes control to make the first command value V1 follow the second command value V2, and the rotational speed of the electric motor E1 reaches a predetermined rotational speed. In this case, if the number of rotations of the electric motor E1 reaches a predetermined number of rotations from the time when driving of the electric motor E1 is started or from the time when torque control is switched to speed control, the number of rotations of the electric motor E1 reaches a predetermined number of times after the first switching condition is satisfied. At least one of the following: if the wheel W of the human-powered vehicle A has rotated a predetermined number of times or more, if the crank C of the human-powered vehicle A has rotated a predetermined number of times or more, or if the human-powered vehicle A has traveled a predetermined distance. Accordingly, the speed control is switched to the torque control regardless of the magnitude of the first predetermined difference. That is, the control unit 12 may control the electric motor E1 using only the torque control system 30 without using the speed control system 20.

In the sixth example, when controlling the speed of the electric motor E1, if the wheels W of the human-powered vehicle A rotate by a predetermined angle or more, the control unit 12 causes the crank C of the human-powered vehicle A to rotate by a predetermined angle or more. The electric motor E1 is switched from speed control to torque control in response to at least one of the following: and when the electric motor E1 rotates by a predetermined angle or more.

In the seventh example, when the first command value difference is less than or equal to the first predetermined difference, the control unit 12 adjusts the first command value to the first command value without following or replacing the first command value V1 with the second command value V2. The electric motor E1 is controlled according to V1. That is, when the first command value difference is less than or equal to the first predetermined difference, the control unit 12 sets the first command value V1 as the torque command value, and controls the torque control system 30. In the eighth example, when the second command value difference is less than or equal to the second predetermined difference, the control unit 12 sets the fourth command value V4 to the fourth command value V4 without following or replacing the fifth command value V5. The electric motor E1 is controlled according to V4.

- The contents of the first switching condition can be changed arbitrarily. In one example, the first switching condition is defined based on the relationship between the torque of the predetermined element GE and the first predetermined torque. The control unit 12 switches from speed control to torque control when the first switching condition is satisfied because the torque of the predetermined element GE is greater than or equal to the first predetermined torque. Note that the control unit 12 may switch from torque control to speed control when the first switching condition is satisfied.

- The contents of the second switching condition can be changed arbitrarily. In one example, the second switching condition is defined based on the relationship between the torque of the predetermined element GE and the second predetermined torque. The control unit 12 switches from torque control to speed control when the second switching condition is satisfied because the torque of the predetermined element GE is less than the second predetermined torque. Note that the control unit 12 may switch from speed control to torque control when the second switching condition is satisfied.

- The type of human-powered vehicle A can be changed arbitrarily. In the first example, the human powered vehicle A is a road bike, a mountain bike, a cross bike, a city bike, a cargo bike, or a recumbent bike. In the second example, the human powered vehicle A is a kick skater.

DESCRIPTION OF SYMBOLS 10... Control device, 12... Control part, 14... First filter, 16... Second filter, A... Human powered vehicle, C... Crank, D3... Chain, E1... Electric motor, E2... Reducer, GE... Predetermined element , PS...power transmission system, TS1...first predetermined speed, TS2...second predetermined speed, V1...first command value, V2...second command value, V3...third command value, V4...fourth command value, V5 ...Fifth command value, V6...Sixth command value, W...Wheel.

Claims (5)

A control device used for a human-powered vehicle,
including a control unit that controls an electric motor;
The control unit includes:
Switching between speed control of the electric motor and torque control of the electric motor based on torque information regarding the torque of a predetermined element;
If a second switching condition related to the torque information is satisfied, switching from the torque control to the speed control;
The second switching condition related to the torque information is satisfied when the torque is less than a second predetermined torque . The control device according to claim 1, wherein the control unit switches from the speed control to the torque control when a first switching condition related to the torque information is satisfied. The control device according to claim 2, wherein the first switching condition related to the torque information is satisfied when the torque is greater than or equal to a first predetermined torque. The control device according to any one of claims 1 to 3 , wherein the predetermined element is included in a power transmission system of the human-powered vehicle. The control device according to claim 4 , wherein the predetermined element includes at least one of the electric motor, a speed reducer, a crank, a chain, and a wheel.