JPH08175469A - Human power vehicle with auxiliary power - Google Patents

Abstract

PURPOSE: To inform a driver of a necessity of battery replacement without using special parts such as alarm lamp and alarm buzzer and without relying on the senses of sight and hearing in a human power vehicle with auxiliary power. CONSTITUTION: Auxiliary torque which corresponds to human power torque from a first drive source 100 is generated by a second drive source 200 to drive a vehicle due to resultant force of both torque. The second drive source 200 receivers power from a battery B operates, and remaining amount of the battery B is detected by a remaining amount detection means 500. The generation of auxiliary torque by the second drive source 200 is controlled by a controller 250. The controller 250 generates auxiliary torque which is proportional to human power torque when remaining amount of the battery B exceeds a predetermined value. However, it generates small auxiliary torque for large human power torque and large auxiliary torque for small human power torque when remaining amount drops below a predetermined value.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a human power with auxiliary power for generating an auxiliary torque corresponding to a torque given by human power by an electric drive system, and driving a vehicle by the combined torque of the auxiliary torque and the torque by human power. Regarding the vehicle.

[0002]

2. Description of the Related Art A manpowered vehicle with auxiliary power is known in which a pedaling force applied to a pedal is detected and an auxiliary torque commensurate with the pedaling force is generated by a motor. Since this type of human-powered vehicle with auxiliary power generates the above-mentioned auxiliary power based on electric power supplied from a battery mounted on the vehicle, the driver needs to pay attention to the remaining amount of the battery. For this reason, conventionally, a means for detecting the remaining amount of the battery and an alarm lamp or a buzzer for informing the driver that the remaining amount of the battery has fallen below a predetermined value are provided in the manpowered vehicle with auxiliary power. The driver was informed of the need for replacement.

[0003]

By the way, the above-mentioned conventional technique has the following problems. When an alarm lamp is used as a means to notify the necessity of battery replacement, the driver cannot know that the battery needs to be replaced unless the driver sees the alarm lamp. When an alarm buzzer is used as a means of notifying the necessity of battery replacement, there is a problem that this alarm sound disturbs the surroundings. Regardless of whether the alarm lamp or the alarm buzzer is used, it is necessary to attach these alarm components to a human-powered vehicle with auxiliary power, resulting in the cost of the components themselves and the manufacturing cost for attaching the components to the vehicle. I will end up. In addition, there are restrictions on the installation locations of these parts, and it is difficult to install these parts at locations that effectively inform the driver of the need for battery replacement. When the battery is low, the alarm lamp or the alarm buzzer consumes the battery power, which accelerates the battery consumption.

The present invention has been made in view of the above circumstances, and it is necessary for the driver to replace the battery without using special parts such as an alarm lamp and an alarm buzzer, and without relying on the visual sense and the auditory sense. It is an object of the present invention to provide a manpowered vehicle with auxiliary power that can notify the sex.

[0005]

The invention according to claim 1 is
Based on the electric power from the battery, the motor generates auxiliary torque according to the human torque given by the driver,
In a human-powered vehicle with auxiliary power configured to drive the vehicle by the resultant force of the human-powered torque and the auxiliary torque, a remaining amount detection unit that detects the remaining amount of the battery, and a unit that controls the magnitude of the auxiliary torque. And a control means for changing the relationship between the magnitude of the manual torque and the magnitude of the auxiliary torque depending on whether or not the remaining amount of the battery exceeds a predetermined value. The main point is a human powered vehicle.

In the invention according to claim 2, the control means: a) When the remaining amount of the battery exceeds a predetermined value, the auxiliary torque is multiplied by the magnitude of the human torque by a predetermined coefficient. B) When the remaining amount of the battery is less than or equal to a predetermined value, b1) When the human power torque is large, the auxiliary torque is set to a coefficient having a value smaller than the predetermined coefficient with respect to the magnitude of the human power torque. The magnitude multiplied by b2) When the human power torque is small, the auxiliary torque has a magnitude obtained by multiplying the magnitude of the human power torque by a coefficient having a value larger than the predetermined coefficient. The main point is a human powered vehicle with auxiliary power.

In the invention according to claim 3, the control means: a) When the remaining amount of the battery exceeds a predetermined value, the auxiliary torque is multiplied by the magnitude of the human torque by a predetermined coefficient. 2. When the remaining amount of the battery is less than or equal to a predetermined value, the auxiliary torque is set to a size according to an average value of the human power torque within a predetermined time in the past. The main point is a human powered vehicle with auxiliary power.

In the invention according to claim 4, the control means: a) When the remaining amount of the battery exceeds a predetermined value, the auxiliary torque is multiplied by the magnitude of the manual torque by a predetermined coefficient. B) When the remaining amount of the battery is less than or equal to a predetermined value,
2. The method according to claim 1, wherein the predetermined coefficient is reduced.
The gist is the manpowered vehicle with auxiliary power described in.

[0009]

According to the inventions according to claims 1 to 3, when the remaining amount of the battery becomes equal to or less than a predetermined value, an auxiliary torque having a magnitude different from that before is generated for the same human-powered torque. The person feels a sense of discomfort in operation. According to each of the above inventions, the need for battery replacement is notified by appealing to the driver's sense of operation.

Further, according to the second aspect of the invention, when the remaining amount of the battery becomes equal to or less than the predetermined value, the magnitude of the auxiliary torque generated when the manual torque is large is reduced, so that the auxiliary torque is generated. It consumes less power.

Further, according to the invention of claim 3, the magnitude of the auxiliary torque can be easily calculated when the remaining amount of the battery becomes less than or equal to a predetermined value, and the load for the calculation of the control means. Is light.

Further, according to the invention of claim 4, the assist ratio of the assist torque is reduced when the remaining amount of the battery becomes less than or equal to a predetermined value, so that an excessive current is generated when the remaining amount of the battery is small. It is possible to prevent damage to the battery due to flowing.

[0013]

Embodiments of the present invention will be described below with reference to the drawings. A. Configuration of Embodiments FIG. 1 shows a system configuration of a drive device for a human powered vehicle with auxiliary power according to an embodiment of the present invention. As shown in the figure,
This drive device includes a first drive source 1 that generates a manual torque.
00, a second drive source 200 for generating an auxiliary torque based on electric power, a first drive source 100 and a second drive source 200.
And a drive transmission mechanism 300 for adding the respective torques generated from the vehicle and transmitting it to the axle of the vehicle. In addition, this drive device operates by the electric power supplied from the battery B. The remaining amount detecting means 500 uses this battery B
When the remaining amount of the battery B is below a predetermined value, a remaining amount detection signal indicating that is output.

The first drive source has a pedal 101 which receives a pedaling force from a driver, and a torque detecting means 102 which detects a torque applied to the drive transmission mechanism 300 via the pedal 101, that is, a manual torque. ing. The second drive source 200 includes a motor 201 that generates torque based on the electric power supplied from the battery B, and a reduction mechanism 20 that transmits this torque to the drive transmission mechanism 300 as auxiliary torque.
2 and a current detection unit 203 that outputs a detection signal proportional to the current flowing through the motor 201. In addition, the second drive source 200 calculates an optimum auxiliary torque corresponding to the human power torque detected by the torque detecting means 102,
It has a control device 250 that controls the current of the motor 201 to obtain this auxiliary torque.

Next, the internal structure of the controller 250 will be described. First, the torque calculation means 252 uses the input I / F.
The magnitude of the manual torque is detected via the (interface) 251.

Next, the target current value computing means 253 computes the auxiliary torque based on the magnitude of the manual torque detected by the torque computing means 252, and the current of the motor 201 required to obtain this auxiliary torque. Calculate the target value of. Here, the calculation of the target current value differs depending on whether or not the remaining amount of the battery B exceeds a predetermined value. That is, the remaining amount of the battery B is sufficient, and the remaining amount detecting means 50
When the remaining amount detection signal is not output from 0, the magnitude of the target current value is obtained by multiplying the human power torque detected through the torque calculation means 252 by a predetermined coefficient called an auxiliary rate. On the other hand, when the remaining amount of the battery B is equal to or less than the predetermined value and the remaining amount detection signal is output from the remaining amount detecting means 500, when the human torque is large, a coefficient having a value smaller than the above assist rate is manually input. The assist torque is obtained by multiplying the torque, and when the manual torque is small, the assist torque is calculated by multiplying the manual torque by a coefficient having a larger value than the assist rate. Then, the target current value calculation means 253 calculates the target current value of the motor 201 required to obtain the auxiliary torque thus obtained.

The deviation calculating means 256 calculates the difference between the target current value and the current value of the motor 201. Control calculation means 25
7 is a control amount (for example, P
When the duty ratio of the current pulse flowing to the motor 201 is controlled by the WM control, a duty ratio correction amount or the like) is calculated. The output adjusting means 258 controls the current flowing through the motor 201 according to the control amount.

According to the above configuration, the driver can operate the pedal 10
The torque applied by stepping on 1 is detected by the torque calculation means 252 via the torque detection means 102. Then, the target current value calculation means 253 obtains the auxiliary torque and the target current value according to the above procedure, and the target current value is given to the deviation calculation means 256. And
Deviation calculation means 256, control amount calculation means 257, output adjustment means 258, current detection means 203 and input I / F 25
Feedback control of the current of the motor 201 is performed by the closed loop composed of 5, and the feedback control controls the motor 201.
Therefore, the current of is equal to the target current value.

B. Specific Circuit Configuration FIG. 2 shows a specific circuit configuration example of this embodiment. In this configuration example, the motor 201 is connected between the positive and negative electrodes of the battery B.
N-channel FET 206 for controlling energization to the motor 2 and the motor 2
01 and the shunt resistor 203a are connected in series. A flywheel diode 201a is connected in parallel with the motor 201 and the shunt resistor 203a in order to form a current path of the motor 201 when the FET 206 is in the OFF state.

A shunt resistor 203a and a differential amplifier 203
The b and the filter 203c play a role as the current detecting means 203 in FIG. First, the shunt resistor 203a is interposed between the motor 201 and the ground wire. The shunt resistor 203a includes a current flowing through the motor 201 through the FET 206 and a flywheel diode 201a when the FET 206 is in the OFF state. The sum of the currents flowing through the motor flows through the motor. This shunt resistor 20
The voltage across 3a is amplified by the differential amplifier 203b and smoothed by the filter 203c. In this way, the voltage signal corresponding to the average value of the current flowing through the motor 201 is obtained from the filter 203c, and
Input to the / D conversion port. In the present embodiment, as described above, since the shunt resistor 203a is arranged between the motor 201 and the ground line, the common-mode noise input to the differential amplifier 203b is reduced and the current value of the motor 201 is accurately reflected. The obtained signal is obtained from the filter 203c.

The CPU 250a plays a role as the control device 250 in FIG. 1, and by repeatedly executing a predetermined program, it comprises processing corresponding to each means indicated by reference numerals 251 to 258 in FIG. 1 above. The control cycle is repeated. More specifically, in each control cycle, the CPU 250a
Calculates an auxiliary torque according to the human torque while monitoring the remaining amount of the battery B, calculates a target current value required to obtain this auxiliary torque (means 251 to 253), and calculates the target current value and the filter. Motor 20 obtained via 203c
The difference from the current value of 1 is obtained (deviation calculation means), and the duty correction amount of the PWM pulse is calculated so as to reduce this difference to 0 (control amount calculation means). Then, a PWM pulse whose duty is adjusted based on the correction amount thus obtained is generated (output adjusting means 258), and the gate drive 2 is generated.
Output to 05.

The gate drive 205 and the bootstrap circuit 204 are connected to the PW provided by the CPU 250a.
Switching control of the ON / OFF state of the FET 206 is performed according to the M pulse. The reason for providing these circuits is as follows. That is, in this embodiment, since the shunt resistor 203a is provided on the low potential side when viewed from the motor 201, the switching FET 206 is interposed between the motor 201 and the positive electrode of the battery B. The FET 206 is an N-channel FET because it must have a large driving capability (low ON resistance) to withstand energization of the motor 201. However, as shown in FIG. 2, when the source of the FET 206 is connected to the motor 201 without being grounded, the FE
The source potential of T206 will be changed by the operation of the motor 201. In such a situation, the FET 206
In order to stabilize the ON resistance of
It is necessary to apply a constant gate-source bias voltage at all times regardless of the fluctuation of the source potential of the FET 206 when the N state is set. In order to achieve this purpose, in the configuration shown in FIG. 2, a gate drive 205 and a bootstrap circuit 204 are provided.

The bootstrap circuit 204 has a step-down circuit 204a for stepping down the DC voltage of 24V provided from the battery B and outputting a DC voltage of 12V, and an anode connected to the output terminal of the step-down circuit 204a. 204b with cathode connected to
And one end is connected to the cathode of the diode 204b,
Capacitor 2 whose other end is connected to the source of FET 206
04c and. According to this configuration, the capacitor 204c is charged by the step-down circuit 204a via the diode 204b. However, the capacitor 204c does not have a path for discharging the accumulated charge, and thus is constantly charged to a constant voltage. The Rukoto. The gate drive 205 receives the PWM pulse from the CPU 250a, so that the cathode voltage of the diode 204b (the voltage at one end of the capacitor 204c) is FE.
It is applied to the gate of T206. With such a configuration,
A constant voltage is always applied between the gate and the source of the FET 206, regardless of the source potential.

According to the configuration shown in FIG. 2, since the current is detected by the shunt resistor, the cost of the device can be reduced as compared with the configuration using CT (current detector) or the like. In addition, the control device 250 in FIG.
Since it is realized by the software process performed by the PU 250a, the cost of the device can be further reduced and various processes for improving the safety of the device can be incorporated into the processing content of the control device 250. For example,
When the CPU 250a performs a process equivalent to the deviation calculation means 256, if a program that outputs an error message when the difference between the target current value and the current value of the motor 201 exceeds the allowable value, the shunt resistor will malfunction. It is possible to detect an accident such as, and further improve the safety.

C. Operation of Embodiment Hereinafter, the operation of this embodiment will be described. First, the magnitude of the human-powered torque generated by the driver stepping on the pedal cyclically changes with time, as indicated by the curve P in FIG.

When the remaining amount of the battery B is sufficient, an auxiliary torque having a magnitude obtained by multiplying the magnitude of the human power torque by a predetermined assistance rate is generated, and the resultant force of the human power torque and the auxiliary torque. The vehicle is driven by. FIG. 4 shows the manpower torque P and the resultant force R of the manpower torque and the assist torque in this case in an overlapping manner. When the remaining amount of the battery B is sufficient, the target current value calculating means 253 calculates the assist torque by multiplying the assist torque by a constant assist rate irrespective of the magnitude of the assist torque, as shown in FIG. Large auxiliary torque Q for large human torque PA
A is generated, and a small auxiliary torque QB is generated for a small manpower torque PB.

On the other hand, when the remaining amount of the battery B becomes less than or equal to the predetermined value, the target current value calculating means 253 as described above.
When the human power torque is large, the human power torque is obtained by multiplying the human power torque by a coefficient having a smaller value than the above assist rate, and when the human power torque is small, the human power torque is multiplied by the coefficient having a larger value than the above assist rate to obtain the auxiliary torque. Ask. Therefore, as shown in FIG. 5, a small auxiliary torque QA 'is generated for a large human power torque PA, and a large auxiliary torque QB' is generated for a small human torque PB.

As described above, when the remaining amount of the battery B becomes equal to or less than the predetermined value, the auxiliary torque generated according to the pedal operation becomes different from that before. For this reason, the driver feels a sense of incongruity in operation, and perceives that the remaining amount of the battery B is low. Further, in the present embodiment, when the remaining amount of the battery B becomes low, the magnitude of the auxiliary torque generated when the manpower torque is large is suppressed to a small value, so the power consumed to generate the auxiliary torque is reduced. Can be lowered. Therefore,
It is possible to extend the time from when the driver is notified that the remaining amount of the battery B is low to when the battery B becomes completely unusable.

D. Other Embodiments The scope of application of the present invention is not limited to the above-mentioned embodiments, but can be realized as the following embodiments, for example.

(1) When the remaining amount of the battery B exceeds a predetermined value, the auxiliary torque is set to the magnitude of the human torque multiplied by a predetermined coefficient, as in the above embodiment. On the other hand, when the remaining amount of the battery B is less than or equal to the predetermined value, the auxiliary torque is set to a constant magnitude according to the average value of the human torque in the past predetermined time. 6 and 7 show the human power torque (curve P) and the resultant force (curve R) of the human power torque and the auxiliary torque B when such control is performed. When the vehicle is traveling on a flat ground or the like and the average value of the human power torque is low, a small auxiliary torque Q having a constant level is generated as shown in FIG. Further, when the vehicle is traveling on an uphill or the like and the manpower torque is high on average, a large auxiliary torque Q having a constant level is generated as shown in FIG. Also in the present embodiment, when the remaining amount of the battery B is low, the driver may feel a sense of discomfort and be informed of the necessity of battery replacement. Further, in the case of the present embodiment, since the auxiliary torque when the remaining amount of the battery B becomes low is only required to be a value proportional to the moving average value of the human torque, there is an advantage that the auxiliary torque can be easily calculated. is there.

(2) The conventional technique and the technique of the above embodiment may be used together. For example, when the remaining amount of the battery B becomes equal to or less than the first predetermined value, the notification according to the technique of the above embodiment is given
When the remaining amount of the battery B becomes less than or equal to a second predetermined value that is lower than the first predetermined value, a warning buzzer or the like is used for notification. By doing so, the driver can be more surely notified that the remaining amount of the battery B is low.

(3) When starting or climbing a hill, excessive auxiliary torque is required. Therefore, if the vehicle starts up or climbs when the remaining amount of the battery B is low, an excessive current flows to the battery B, the output voltage of the battery B is significantly reduced, and it becomes difficult to perform traveling control. . Further, if an excessive current is passed through the battery B when the remaining amount of the battery B is low, the battery B will also be damaged.
Therefore, as shown in FIG. 8, when the remaining amount of the battery B becomes low, the ratio of the assist torque to the human torque is reduced to the first ratio, and thereafter, the first ratio is reduced according to the traveling distance or time of the vehicle. Is gradually reduced to a second ratio lower than the ratio. Then, after gradually decreasing to the second ratio, it is kept constant for a while,
After that, the auxiliary torque is reduced to zero and the auxiliary torque is made zero.

Further, in order to visually inform the driver that the remaining amount of the battery B is low, the indicator is made to blink when decreasing to the first ratio and the indicator is turned on when the second gradual reduction is started. . By doing so, the driver can be surely notified that the remaining amount of the battery B is low, and the battery B can be made to last longer. Further, since the load on the driver gradually increases until the auxiliary torque is reduced to zero, the driver can drive safely.

[0034]

As described above, the above claims 1 to 3 are provided.
According to the invention of claim 1, when the remaining amount of the battery becomes less than or equal to a predetermined value, the generation mode of the auxiliary torque is changed, so that it is not necessary to use special parts such as an alarm lamp and an alarm buzzer, and The advantage is that the driver can be notified of the necessity of battery replacement without relying on hearing. According to the invention of claim 2,
Since the electric power consumed for generating the auxiliary torque can be reduced when the remaining amount of the battery becomes equal to or less than a predetermined value, the battery can be made to last longer. Further, according to the invention of claim 3, there is an advantage that the auxiliary torque can be easily calculated when the remaining amount of the battery becomes equal to or less than a predetermined value.

[Brief description of drawings]

FIG. 1 is a system function block diagram showing a configuration of a drive device of a human-powered vehicle with auxiliary power according to an embodiment of the present invention.

FIG. 2 is a circuit diagram illustrating a specific configuration of the same embodiment.

FIG. 3 is a diagram illustrating a temporal change in human torque.

FIG. 4 is a diagram showing an operation of the embodiment.

FIG. 5 is a diagram showing an operation of the example.

FIG. 6 is a diagram showing an operation of another embodiment of the present invention.

FIG. 7 is a diagram showing an operation of another embodiment of the present invention.

FIG. 8 is a diagram showing an operation of another embodiment of the present invention.

[Explanation of symbols]

100 ... First drive source, 200 ... Second drive source, 500
...... Remaining amount detecting means, B ...... Battery, 101 ...... Pedal, 102 ...... Torque detecting means, 201 ...... Motor, 2
03 ... current detection means, 250 ... control device, 252 ...
... torque calculating means, 253 ... target current value calculating means, 2
56 ... Deviation calculation means, 257 ... Control amount calculation means, 2
58: Output adjusting means.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shoichiro Miyata 2500 Shinkai, Iwata, Shizuoka Prefecture Yamaha Motor Co., Ltd.

Claims (4)

[Claims] 1. An auxiliary power configured to generate an auxiliary torque according to a human power torque given by a driver by a motor based on electric power from a battery, and to drive a vehicle by a resultant force of the human power torque and the auxiliary torque. In a human powered vehicle, a remaining amount detecting means for detecting the remaining amount of the battery, and a means for controlling the magnitude of the auxiliary torque, wherein the remaining amount of the battery is determined by whether the remaining amount of the battery exceeds a predetermined value. A human-powered vehicle with auxiliary power, comprising: control means for changing the relationship between the magnitude of human-power torque and the magnitude of the auxiliary torque. 2. The control means: a) when the remaining amount of the battery exceeds a predetermined value, the auxiliary torque is set to a value obtained by multiplying the magnitude of the human torque by a predetermined coefficient, and b). When the remaining amount of the battery is less than or equal to a predetermined value, b1) When the human power torque is large, the auxiliary torque is set to a magnitude obtained by multiplying the magnitude of the human power torque by a coefficient smaller than the predetermined coefficient, b2 2. A human-powered vehicle with auxiliary power according to claim 1, wherein when the human-power torque is small, the auxiliary torque is of a magnitude obtained by multiplying the magnitude of the human-power torque by a coefficient having a value larger than the predetermined coefficient. . 3. The control means a), when the remaining amount of the battery exceeds a predetermined value, the auxiliary torque is set to a value obtained by multiplying the magnitude of the human torque by a predetermined coefficient, and b). The human-powered vehicle with auxiliary power according to claim 1, wherein, when the remaining amount of the battery is less than or equal to a predetermined value, the auxiliary torque has a magnitude corresponding to an average value of the human-power torque within a predetermined time in the past. . 4. The control means: a) when the remaining amount of the battery exceeds a predetermined value, the auxiliary torque is set to a value obtained by multiplying the magnitude of the human torque by a predetermined coefficient, and b). When the remaining amount of the battery is below a predetermined value,
2. The method according to claim 1, wherein the predetermined coefficient is reduced.
A manpowered vehicle with auxiliary power as described in.