JPH02237402A - Travel controller of battery car - Google Patents

Abstract

PURPOSE:To provide good response property and to make travel feeling excellent by providing a timer means for measuring the time required for return ing from a chopper travel region again to a by-pass travel region through operation of an accelerator and a means for immediately switching to a by-pass drive, when a reset time is less than a reference time. CONSTITUTION:When the operating angle theta of an accelerator pedal is less than a reference operating angle thetaM, a timer 11 starts a timing motion and the motion of said timer 11 is stopped at the time of reset operation. When a reset time P is less than a reference time T, a chopper travel is stopped and a contactor relay 7a is immediately excited to close a by-pass contactor 7 to start a by-pass travel. When the reset time P exceeds the reference time T, a car is switched to said by-pass travel after the chopper travel according to a soft start mode. Thus, it is possible to indicate good responding properties and to make travel feeling excellent.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a travel control device for a battery vehicle.

[Prior art 1] Conventionally, the rotation of a running motor used in a battery-powered vehicle, such as a DC motor, has been controlled by chopper control, and as shown in Japanese Patent Application No. 63-83642, The duty ratio is determined according to the amount of operation of the accelerator pedal. That is, as shown in FIG. 4, the controller 22 calculates the pedal depression angle e based on the detection signal from the accelerator operation amount sensor 21 that detects the depression angle θ of the accelerator pedal (not shown), and calculates the pedal depression angle e in advance. Based on the data of the command duty ratio for the stepped-down angle e, the command duty ratio for the current stepped-down angle e is calculated. Then, the controller 22 controls the switching transistor 23 for power supply at this duty ratio.
The driving motor 24 is controlled at a rotational speed according to the depression angle θ by on/off control.

As shown in FIG. 5, the command duty ratio data for this pre-prepared depression angle e is generally divided into a low speed instruction area A, a medium speed instruction area B, and a high speed instruction area C. , the command duty ratio for the depression angle e is determined in each m range. When the depression angle e is the maximum depression angle 01 of the medium speed instruction region B, the duty ratio becomes 80%, and when the depression angle e enters a greater depression angle, that is, the high speed instruction region 1G, the duty ratio becomes 100%. %.

The duty ratio of the controller 22 is 80%.
Until this happens, the transistor 23 is turned on and off (chopper) at a set duty ratio, and when the duty ratio reaches 100%, the transistor 23 is turned off, and the transistor 23 is turned off in parallel with the transistor 23. The connected bypass contactor 25 is closed and the duty ratio is 10.
It is set to 0%.

Furthermore, when the accelerator pedal is depressed in the low speed instruction area IIl area A or the medium speed instruction area 1B, the controller 22 does not immediately control the duty ratio (target duty ratio) for the depression angle e, but keeps the duty ratio constant. (e.g. increase by 3% every 50ms)
It is equipped with a so-called soft start function that allows the target duty ratio to be reached.

[Problem to be solved by the invention] However, as shown in FIG.
During 00% bypass driving, the vehicle vibrates due to road surface irregularities, etc., and the accelerator pedal becomes loose, and the duty ratio becomes less than 80%, where the depression angle e is slightly lower than the depression angle e. After that, the duty ratio becomes 100 again.
% high-speed instruction area C may be reached.

In this case, it is difficult for the controller 22 equipped with the soft start function to immediately shift to bypass driving. That is, when the duty ratio reaches a depression angle of less than 80%, the controller 22 starts chopper control using the transistor 23, and executes the soft start mode until the duty ratio reaches 80%. When the duty ratio reaches 80%, the bypass contactor 25 is closed and the driving motor 2 is operated at 100% of the target duty ratio.
4 will control the rotation.

As a result, the fluctuation of the accelerator pedal, that is, the return time is a short time ΔP (=P2-Pi) from time P1 to P2.
However, the time ΔPD until the duty ratio reaches 80% based on the soft start function is added to the return time ΔP.
After a delay time PD (=ΔP+ΔPDI+ΔPD2), which is the sum of I (=P3-P2) and the time ΔPD2 (-P4-P3) required for the bypass contactor 25 to close, has elapsed, the vehicle returns to bypass running.

Therefore, even if the return of the accelerator pedal is for a short period of time during which fluctuations in vehicle speed do not decrease much, it takes a long PD time to return to bypass driving, which impairs the driving feeling. Further, since the transistor 23 is in operation while the soft start mode is in operation, heat loss has been a problem.

This invention was made in order to solve the above-mentioned problems, and its purpose is to provide good responsiveness to accelerator operation and provide an excellent driving feeling, as well as to reduce the burden on the switching elements. An object of the present invention is to provide a travel control device for a battery-powered vehicle that can reduce the impact and extend the service life.

[Means for Solving the Problems] In order to achieve the above-mentioned object, the present invention provides a chopper drive means for rotationally driving the motor by intermittently applying the N source voltage of a battery to the travel motor; a bypass drive means that continuously applies battery lllI voltage to the motor to rotate the motor; a detection means that detects the amount of operation of the accelerator; and a detection means that detects the amount of operation of the accelerator; When the operating amount exceeds a reference value, the chopper driving means is determined to be in a bypass driving region and the chopper driving means is controlled to be driven at a duty ratio relative to the accelerator operating amount, and when the operating amount exceeds a reference value, it is determined that the bypass driving region is present and the bypass driving means is driven and controlled. A battery vehicle comprising a drive control means and a duty ratio control means for reaching the target duty ratio while adding a predetermined duty ratio per unit time when shifting from the duty ratio before the accelerator operation to the target duty ratio after the operation. In the travel control device, when an operation is performed to change from the bypass travel area to the chopper travel area and return to the bypass travel area by operating the accelerator, a timer for timing the return time and a return time preset. When the reference time is less than the specified reference time, the chopper drive means is not driven and controlled by the duty ratio control means while the duty ratio is being controlled, and the chopper drive means is immediately switched to the bypass drive means to drive and control the traveling motor. The gist is that the device is equipped with a switching means.

The operation of the C action coaxel changes the chopper driving from the bypass driving area.
4 region, an operation is performed to return to the pie bus running region again, and the timer measures the return time. and,
When the return time is less than or equal to a preset reference time, the switching means causes the chopper drive means to control the drive while the duty ratio is not controlled by the duty ratio control means.
The chopper drive means is immediately switched to the bypass drive means to drive and control the travel motor.

U Embodiment An embodiment in which the present invention is embodied in a battery-powered forklift will be described below with reference to the drawings.

In FIG. 1, a DC traveling motor 2 connected to a battery 1 has an armature 3, forward and reverse contactors 4,
5 and a field coil 6 disposed between the two, and is drivingly connected to a traveling drive wheel (not shown). Then, in accordance with the forward or reverse operation of a forward/reverse lever (not shown), the forward contactors 4, 5 are appropriately closed, the seventh rotor 2 is rotated in forward and reverse directions, and the vehicle moves forward or backward. Furthermore, a parallel circuit consisting of a normally open bypass contactor 7 as a bypass drive means and a transistor 8 as a chopper drive means is connected to both contactors 4.5 of the traveling motor 2.

A controller 9 serving as a drive control means, a duty ratio control means, and a switching means is connected to the battery 1 via a constant voltage power supply circuit 10 when the key switch KSW is closed. The controller 9 has a built-in timer 11 as a time measurement means, and is connected to an accelerator operation amount sensor (hereinafter simply referred to as a sensor) 12 as a detection means consisting of a potentiometer. The sensor 12 detects the depression angle e of an accelerator pedal (not shown), and sends this detection signal to the controller 9.
Output to. The controller 9 calculates the depression angle θ of the accelerator pedal at that time based on this detection signal.

The controller 9 has in advance data on the duty ratio of the power supply voltage applied to the traveling motor 2 with respect to the depression angle θ as shown in FIG. 5, and calculates the duty ratio <<target duty ratio> 》 is calculated. Then, the controller 9 determines that the depression angle e is in the low speed instruction area A and the medium speed instruction area B (duty ratio is 0 to 80%).
Then, the transistor 8 is chopper-controlled at the corresponding duty ratio via the transistor drive circuit 8a to rotate the motor 2 til1wJ (hereinafter, for convenience, the vehicle running based on this control is referred to as chopper running). θ is high speed instruction area C (duty ratio is 1
00%), the transistor 8 is turned off, the contactor relay 7a is energized, the bypass contactor 7 is closed, and the rotation of the motor 2 is controlled (hereinafter, for convenience, the running of the vehicle based on this control is referred to as bypass running).

In addition, the controller 9 has a soft start function, so that when the accelerator pedal is depressed and the duty ratio increases while driving, the transistor 8 is not immediately controlled at the new duty ratio, but gradually increases to the new duty ratio. I'm trying to get it closer to. Thereby, the rotational speed of the driving motor 2 is slowly increased until it corresponds to the depression angle e of the accelerator pedal, thereby preventing a shock from being applied to the vehicle due to a sudden increase in vehicle speed.

The controller 9 also controls the controller 9 when the accelerator pedal depression angle e deviates from the high-speed instruction range [C] during bypass driving.
The timer 11 is activated when the depression angle eM becomes equal to or less than the maximum depression angle eM as a quasi-value of M in the medium speed instruction region B shown in the figure.

Then, when the accelerator pedal is depressed again to the high-speed instruction area C exceeding the maximum depression angle eM, the controller 9 stops the timer 11's timing operation and the high-speed instruction area [C
Measure the return time ΔP until it returns to . At this time, if the controller 9 returns after the return time ΔP exceeds a predetermined reference time Δt, the controller 9 executes bypass running after chopper running according to the soft 1 start mode,
Further, when the return time ΔP is less than the reference time ΔT, bypass running is immediately executed without performing chopper running in the soft start mode. In addition, this standard time does not affect the vehicle even if you immediately return from chopper driving to bypass driving. This is the time during which ill is not applied, and in this embodiment, it is a value determined theoretically or experimentally in advance.

Next, the operation of the speed control device configured as described above will be explained with reference to FIG.

Now, when the accelerator pedal is operated within the high speed instruction region C, the controller 9 determines that the pedal depression angle e is the reference value (hereinafter referred to as M semi-depression angle) eM.
(step 1, hereinafter simply referred to as step S), and continues running the bypass (S2).
. In this state, when the depression angle e of the accelerator pedal becomes equal to or less than the reference depression angle em due to, for example, vehicle vibration, the timer 11 starts timing operation at $3, and
At S4, the vehicle starts running at the duty ratio corresponding to the depression angle θ at that time. Further, in S5, it is determined whether the accelerator pedal has exceeded the reference depression angle eIVI and returned to the depressed state for bypass driving.

Then, when the accelerator pedal is operated to return, the operation of the timer 11 is stopped in S6, the return time ΔP is measured, and it is determined in S7 whether the return time ΔP exceeds the reference time Δt. If the return time ΔP is less than or equal to the reference time ΔT, S8. At S9, the chopper running that has been carried out up to now is stopped, and the contactor relay 7a is immediately energized, the bypass contactor 7 is closed, and the bypass running is started. Then, the bypass running indicated by 81.82 above is continued.

On the other hand, in S7, if the return time ΔP exceeds the reference time Δ, the SIO shifts to bypass running after chopper running in accordance with the soft start mode. 82
Return to

In this way, when the accelerator pedal depression angle e falls below the reference depression angle eH for some reason while the vehicle is running on the bypass, the mode shifts to chopper running only at that moment, but if the driver immediately depresses the accelerator pedal, the third As shown in the figure, the soft start mode can be omitted from Chompa driving to quickly return to bypass driving.

Therefore, until the duty ratio is increased to 80%, the vehicle speed is gradually increased and the vehicle performs unnecessary choppy driving, which results in wasted time and a corresponding decrease in driving feeling, which has been improved. Ru. In addition, transistor 8 is
Since the burden on transistor 8 is reduced, thermal damage to transistor 8 is prevented.

[Effects of the Invention] As detailed above, according to the present invention, it exhibits good responsiveness to accelerator operation, provides excellent driving feeling, and furthermore, reduces the load on the chopper drive means and extends its service life. It has an immersive effect that allows you to

[Brief explanation of drawings]

Figures 1 to 3 show the present invention; Figure 1 is an electric circuit diagram showing the electrical configuration of the travel control device, Figure 2 is a flowchart diagram showing the operation of the controller, and Figure 3 is a bypass diagram. A miniature diagram showing the fluctuation of the duty ratio when transitioning from running to instantaneous chopper running and returning to bypass running again. Figure 4 is an electric block circuit diagram to explain the conventional running control Il1 device. Figure 5 is an accelerator. FIG. 6 is a diagram showing the duty ratio with respect to the pedal depression angle, and is a microcosm showing the variation in the duty ratio when the vehicle shifts from conventional bypass running to instantaneous chopper running and then vaguely returns to bypass running again. A running motor 2, a bypass contactor 7 as a bypass drive means, a transistor 8 as a chopper drive means
, a controller 9 as a drive control means, a duty ratio control means and a switching means, a timer 11 as a time measurement means,
An accelerator operation amount sensor 12 as a detection means. Figure 1 Figure 8 Time

Claims (1)

[Scope of Claims] 1. Chopper driving means for rotating the motor by intermittently applying a battery power supply voltage to the travel motor; and a chopper drive means for continuously applying the battery power supply voltage to the travel motor. a bypass drive means for rotationally driving the motor; a detection means for detecting the amount of operation of the accelerator; and a detection means for detecting the amount of operation of the accelerator; and when the amount of operation is less than a preset reference value, it is determined that the chopper drive region is reached and the chopper drive means is rotated by the accelerator. a drive control means that controls the drive at a duty ratio relative to the operation amount, and when the operation amount exceeds a reference value, determines that it is a bypass driving region and controls the drive of the bypass drive means; In the driving control device for a battery-powered vehicle, the driving control device for a battery vehicle includes a duty ratio control means for reaching the target duty ratio while adding a predetermined duty ratio per unit time when shifting from the operation to the target duty ratio after operation. a clock means for timing the return time when an operation is performed to change from the travel region to the chopper travel region and return to the bypass travel region; and when the return time is less than or equal to a preset reference time, the chopper driving means A driving control device for a battery-powered vehicle, comprising a switching means for immediately switching from a chopper driving means to a bypass driving means to drive and control a driving motor while the duty ratio is controlled by the duty ratio controlling means, without the drive being controlled. .