JPH09249185A - Control device for motor assisted bicycle - Google Patents

Control device for motor assisted bicycle

Info

Publication number
JPH09249185A
JPH09249185A JP8087479A JP8747996A JPH09249185A JP H09249185 A JPH09249185 A JP H09249185A JP 8087479 A JP8087479 A JP 8087479A JP 8747996 A JP8747996 A JP 8747996A JP H09249185 A JPH09249185 A JP H09249185A
Authority
JP
Japan
Prior art keywords
motor
transmission shaft
pedal
rotation speed
rotation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP8087479A
Other languages
Japanese (ja)
Inventor
Yoshitaka Ijima
淑隆 井島
Original Assignee
Suzuki Motor Corp
スズキ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzuki Motor Corp, スズキ株式会社 filed Critical Suzuki Motor Corp
Priority to JP8087479A priority Critical patent/JPH09249185A/en
Publication of JPH09249185A publication Critical patent/JPH09249185A/en
Granted legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62MRIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40Rider propelled cycles with auxiliary electric motor
    • B62M6/45Control or actuating devices therefor
    • B62M6/50Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62MRIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M11/00Transmissions characterised by the use of interengaging toothed wheels or frictionally-engaging wheels
    • B62M11/04Transmissions characterised by the use of interengaging toothed wheels or frictionally-engaging wheels of changeable ratio
    • B62M11/10Transmissions characterised by the use of interengaging toothed wheels or frictionally-engaging wheels of changeable ratio with bevel gear wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62MRIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40Rider propelled cycles with auxiliary electric motor
    • B62M6/60Rider propelled cycles with auxiliary electric motor power-driven at axle parts

Abstract

PROBLEM TO BE SOLVED: To reduce the load of a driver at the time of a slope ascent having large travel resistance or at the time of a start having large acceleration resistance. SOLUTION: This control device 10 is provided with a pedal side rotation sensor 58 detecting the revolving speed St of a pedal side transmission shaft 44, a motor side rotation sensor 60 detecting the revolving speed Sm of a motor side transmission shaft 48, and a control means 14 controlling a motor 46 based on the revolving speed St and the revolving speed Sm. The control means 14 detects the wheel speed (v) of a motorized bicycle 12 based on the revolving speeds St, Sm and controls the motor 46 so that the revolving speed Sm is made lower than the revolving speed St in the low region of the wheel speed (v).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for controlling an electric motor mounted on an electric bicycle that can run while supplementarily using a motor.

[0002]

2. Description of the Related Art FIG. 5 is a left side view showing the appearance of an electric bicycle. Hereinafter, description will be given with reference to this drawing.

The electric bicycle 30 is equipped with a battery 32, a power unit 34, and the like, in addition to the structure of an ordinary bicycle. Also, just like a normal bicycle, the crankshaft 3
A crank 38 is fixed to both ends of 6 vertically to the crankshaft 36, and a pedal 40 is rotatably attached to the tip of the crank 38. The rotation of the crankshaft 36 caused by stepping on the pedal 40 is transmitted to the power unit 34 by the chain mechanism 42. The power unit 34 contains a control device, a motor, a speed reduction mechanism, a differential gear mechanism, etc., which will be described later. Such an electric bicycle 30 is described in, for example, Japanese Patent Laid-Open No. 7-267173.

FIG. 6 is a block diagram showing the configuration of an electric bicycle and a conventional control device. Hereinafter, description will be given with reference to FIGS. 5 and 6.

In the electric bicycle 30, the pedal-side transmission shaft 44 that is rotated by the pedal 40 and the motor-side transmission shaft 48 that is rotated by the motor 46 are coupled to each other via the differential gear mechanism 50, so that the pedal 40 and the motor 46 are connected to each other. The driving force is transmitted to the rear wheel 52 as a combined force. A chain mechanism 42 is inserted between the pedal 40 and the pedal-side transmission shaft 44, and the motor 46 and the motor-side transmission shaft 4 are inserted.
A speed reduction mechanism 54 is interposed between the speed reduction mechanism 8 and the control device 8.

The controller 56 includes a pedal side rotation sensor 58 for detecting the rotation speed of the pedal side transmission shaft 44 and a motor side rotation sensor 6 for detecting the rotation speed of the motor side transmission shaft 48.
0 and the rotation speed S detected by the pedal side rotation sensor 58
The rotation speed Sm detected by the motor side rotation sensor 60 at t
And a control means 62 for controlling the motor 46 so that they coincide with each other.

FIG. 7 is a cross-sectional view showing the internal structure of the power unit 34 mounted on the electric bicycle 30. Hereinafter, description will be given with reference to FIGS.

In the power unit 34, a motor 46, a speed reduction mechanism 54, a motor side transmission shaft 48, a motor side rotation sensor 60, a differential gear mechanism 50, a petal side rotation sensor 58, a pedal side transmission shaft 44, and a chain mechanism 42. , Etc. are built in.

The chain mechanism 42 includes a pedal side transmission shaft 44.
Sprocket 421 fixed to the
It is composed of a chain 422 that is stretched around 1. The chain 422 is also stretched around a sprocket (not shown) fixedly mounted on the crankshaft 36, and transmits the rotation of the crankshaft 36 to the pedal-side transmission shaft 44. The reduction mechanism 54 includes a worm gear 541 fixed to the output shaft 461 of the motor 46 and a wheel gear 542 fixed to the motor-side transmission shaft 48, and transmits the rotation of the motor 46 to the motor-side transmission shaft 48. To do.

Pedal-side transmission shaft 44 and motor-side transmission shaft 4
8 are rotatably fixed to brackets 64 (see also FIG. 5) via bearings 66, and face each other on the axis of the rear wheel 52 with the differential gear mechanism 50 interposed therebetween.

The differential gear mechanism 50 has bearings 50 on the bracket 64, the pedal-side transmission shaft 44 and the motor-side transmission shaft 48.
Case 503 rotatably fixed via 1,502
And meshes with the pedal-side bevel gear 504 and the motor-side bevel gear 505, which are fixedly installed at the respective tips of the pedal-side transmission shaft 44 and the motor-side transmission shaft 48, and to mesh with the pedal-side bevel gear 504 and the motor-side bevel gear 505. The case side bevel gears 507 and 508 are rotatably fixed to the case 503 by a case shaft 506. Case 503
The spokes 521 of the rear wheel 52 are fixedly provided on the outer peripheral surface of the.

The case 503 has a pedal-side transmission shaft 44 and a motor-side bevel gear 505 through which the pedal-side transmission shaft 44 is mounted.
And the transmission shaft 48 on the motor side. As a result, the rear wheel 52 is moved to the case 503 through the spokes 521.
Rotates with. The case-side bevel gears 507 and 508 are
If the pedal-side transmission shaft 44 and the motor-side transmission shaft 48 rotate at the same speed, they will not rotate, but if the pedal-side transmission shaft 44 and the motor-side transmission shaft 48 rotate at different speeds, they will rotate. Therefore, even if the rotation of the motor-side transmission shaft 48 stops due to a failure of the motor 46 or the like, the case-side bevel gear 507,
By rotating 508, the rear wheel 52 can be rotated by the pedal-side transmission shaft 44.

[0013]

The conventional control device 56 is as follows.
Is the rotational speed St of the pedal-side transmission shaft 44, as described above.
The motor 46 is feedback-controlled so that the rotation speed Sm of the motor-side transmission shaft 48 coincides with. However, in such control, the driver's burden is large because the pedaling force needs to be increased even when assisted by the motor driving force when climbing uphill with a large running resistance or starting with a large acceleration resistance. was there.

[0014]

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a control device for an electric bicycle which can reduce the burden on the driver when climbing uphill with large running resistance or starting with large acceleration resistance.

[0015]

The present inventor has found that in order to reduce the burden on the driver in such a case, it is sufficient to add a function such as the conventional transmission gear of a bicycle to an electric bicycle. The present invention has been made based on this finding.

The control device according to the present invention drives the pedal and the motor by connecting the pedal-side transmission shaft rotated by the pedal and the motor-side transmission shaft rotated by the motor through a differential gear mechanism. It is used for electric bicycles that combine forces and transmit them to the rear wheels. A pedal-side rotation sensor that detects the rotation speed of the pedal-side transmission shaft, a motor-side rotation sensor that detects the rotation speed of the motor-side transmission shaft, a rotation speed detected by the pedal-side rotation sensor, and the motor. And a control means for controlling the motor based on the rotation speed detected by the side rotation sensor. The control means detects the wheel speed of the electric bicycle based on an average value of the rotation speed detected by the pedal side rotation sensor and the rotation speed detected by the motor side rotation sensor, and the wheel speed region is low. The motor is controlled so that the rotation speed of the motor-side transmission shaft is lower than the rotation speed of the pedal-side transmission shaft.

Due to the characteristics of the differential gear mechanism, the wheel speed is proportional to the sum of the rotation speed of the pedal-side transmission shaft and the rotation speed of the motor-side transmission shaft. Therefore, if the motor is controlled so that the rotation speed of the motor-side transmission shaft is lower than the rotation speed of the pedal-side transmission shaft, the wheel speed becomes lower than the rotation speed of the same pedal-side transmission shaft. On the other hand, the running resistance at the time of climbing up and the acceleration resistance at the time of taking off become larger as the wheel speed becomes higher. Therefore, it is necessary to control the motor so that the rotation speed of the motor-side transmission shaft is lower than the rotation speed of the pedal-side transmission shaft. Will reduce the acceleration resistance. Therefore, the burden on the driver is reduced.

[0018]

FIG. 1 is a block diagram showing the configuration of an embodiment of a control device according to the present invention. Hereinafter, FIG.
A description will be given based on FIG. However, in FIG.
The same parts as in FIG.

The controller 10 connects the pedal-side transmission shaft 44, which is rotated by the pedal 40, and the motor-side transmission shaft 48, which is rotated by the motor 46, via the differential gear mechanism 50, so that the pedal 40 and the motor are connected. It is used for the electric bicycle 12 that combines the driving force with the rear wheel 46 and transmits it to the rear wheel 52. That is, the control device 10 controls the pedal-side rotation sensor 58 that detects the rotation speed St of the pedal-side transmission shaft 44, the motor-side rotation sensor 60 that detects the rotation speed Sm of the motor-side transmission shaft 48, and the pedal-side rotation sensor 58. The control means 14 controls the motor 46 on the basis of the rotation speed St detected by (4) and the rotation speed Sm detected by the motor side rotation sensor 60. Then, the control means 14 detects the wheel speed v of the electric bicycle 12 based on the rotation speeds St and Sm, and in the region where the wheel speed v is low, the rotation speed S.
It has a function of controlling the motor 46 so that the rotation speed Sm becomes lower than t.

Due to the characteristics of the differential gear mechanism 50, the wheel speed v is proportional to the sum of the rotation speeds St and Sm. That is, the wheel speed v
Is calculated by v = K · (St + Sm) / 2 [where K is a proportional coefficient].

Next, each of the above components will be illustrated more concretely.

The pedal-side rotation sensor 58 and the motor-side rotation sensor 60 are rotary encoders, and output one pulse signal each time the pedal-side transmission shaft 44 and the motor-side transmission shaft 48 move a predetermined rotation angle. is there. Since the cycle of this pulse signal corresponds to a predetermined rotation angle,
The rotation speed is calculated by (predetermined rotation angle) / (cycle). The unit of the rotation speed is (rotation angle / hour) or (rotation number / hour).

Although not shown, the control means 14 comprises a control circuit and a drive circuit. Control circuit is CP
A U, a ROM, a RAM, an input / output interface circuit, and the like, and various functions are realized by a computer program. The drive circuit is composed of a switching transistor circuit that energizes the motor 46 and a PWM circuit that controls the energization amount with a pulse width. The motor 46 is a DC brush motor, and the battery 32 (FIG. 5) is a lead oxide battery.

FIG. 2 is a graph showing a first example of the relationship between the rotation speeds St and Sm, which is stored in the control means 14 as a conversion table. Hereinafter, description will be given with reference to this drawing.

The region where the wheel speed v is low is 0≤St.
It is an area of ≤ Sta or 0 ≤ Sm ≤ Sma. In this region, as shown by the curve A, there is a relationship of Sm <St. On the other hand, a region where the wheel speed v is high, that is, Sta <St or Sma <
In Sm, as shown by the straight line B, there is a relationship of Sm = St. The straight line C is the relationship between St and Sm (Sm = St) in the related art.

FIG. 3 is a flowchart showing the processing procedure of the control means 14 in an example of the operation of the control device 10. Hereinafter, the operation of the control device 10 will be described with reference to FIGS. 1 to 3.

First, the rotation speed St of the pedal-side transmission shaft 44 is detected based on the cycle of the pulse signal output from the pedal-side rotation sensor 58 (step 101), and the rotation speed St is determined from the conversion table shown in FIG. Rotation speed Sm
Is searched (step 102), and the rotation speed Sm is set as the target rotation speed Sm1 (step 103). Subsequently, the actual rotation speed Sm2 of the motor-side transmission shaft 48 is detected based on the cycle of the pulse signal output from the motor-side rotation sensor 60 (step 104), and the difference between the target rotation speed Sm1 and the rotation speed Sm2 ( The motor control duty Dm is determined based on Sm1-Sm2) (step 105). Finally, the motor 46 is controlled by the motor control duty Dm (step 106). The operation from the start to the end shown in FIG. 3 is repeated in a predetermined control cycle.

FIG. 4 is a graph showing a second example of the relationship between the rotation speeds St and Sm, which is stored as a conversion table by the control means 14. Hereinafter, description will be given with reference to this drawing.

The region where the wheel speed v is low is a region where 0≤St≤St, as in the first example shown in FIG. In this region, there is a relationship of Sm <St, although there is a difference between acceleration and deceleration. During acceleration, Sm / S when 0 ≦ St <Stc
If t = 0.7 and Stc ≦ St ≦ St, then Sm / St =
0.85, and when Sta <St, Sm / St = 1.
On the other hand, during deceleration, when 0 ≦ St <Std, Sm / St =
0.7, and when Std ≦ St ≦ Stb, Sm / St = 0.85
And when Stb <St, Sm / St = 1. Here, since Std <Stc and Stb <St, the rotational speed Sm
Has a hysteresis with respect to the rotation speed St. Therefore, even if the rotation speed St is unstable, the rotation speed Sm
Is stable, the riding comfort of the electric bicycle 12 is good.

The present invention is not limited to the above embodiment. Other embodiments will be exemplified below.

The rotation speed St periodically fluctuates according to the rotation angle of the crank 38 even when the electric bicycle 12 is traveling at a constant speed. Therefore, the wheel speed v may be calculated based on the rotation speeds St and Sm (preferably an average value) when the rotation angle of the crank 38 is 180 ° or 360 ° (vertical direction in FIG. 5). In this case, since the rotation speed St is stable and the obtained wheel speed v is also stable, the controlled rotation speed Sm does not vary much. The rotation angle of the crank 38 is 180 ° or 360 °
When, the rotational speed St becomes minimum, and can be easily detected by the pedal side rotation sensor 58.

[0032]

According to the control device of the present invention, the motor is controlled so that the rotation speed of the motor-side transmission shaft is lower than the rotation speed of the pedal-side transmission shaft in a region where the wheel speed is low. This makes it possible to reduce the wheel speed with respect to the rotation speed of the pedal-side transmission shaft, as compared with the related art. Therefore, the running resistance at the time of climbing up and the acceleration resistance at the time of starting can be reduced, so that the burden on the driver can be reduced. Also,
By reducing the rotation speed of the motor-side transmission shaft in a region where the wheel speed is low, the power consumption can be reduced, and therefore the traveling distance per charge can be extended.

According to the control device of the second aspect, the motor is controlled so that the rotation speed of the motor-side transmission shaft continuously changes according to the rotation speed of the pedal-side transmission shaft. It is possible to eliminate such an uncomfortable feeling when shifting.

According to the control device of the third aspect, the motor is controlled so that the rotation speed of the motor-side transmission shaft changes discontinuously according to the rotation speed of the pedal-side transmission shaft and has hysteresis. Therefore, it is possible to reduce the uncomfortable feeling at the time of shifting, which occurs in the conventional bicycle.

According to the control device of the fourth aspect, the wheel speed is based on the average value of the rotation speed detected by the pedal-side rotation sensor and the rotation speed detected by the motor-side rotation sensor in the section where the crank rotation angle is constant. Since the obtained wheel speed can be stabilized by detecting, the fluctuation of the rotation speed of the controlled motor-side transmission shaft can be reduced.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an embodiment of a control device according to the present invention.

FIG. 2 is a graph showing a first example of the relationship between rotation speeds St and Sm stored in the control device as a conversion table in the control device of FIG.

FIG. 3 is a flowchart showing a processing procedure of a control unit in an example of the operation of the control device of FIG.

FIG. 4 is a graph showing a second example of the relationship between rotation speeds St and Sm, which is stored as a conversion table by the control means in the control device of FIG. 1.

FIG. 5 is a left side view showing the outer appearance of the electric bicycle.

6 is a block diagram showing a configuration of the electric bicycle of FIG. 5 and a conventional control device.

7 is a cross-sectional view showing the internal structure of a power unit mounted on the electric bicycle of FIG.

[Explanation of symbols]

 10 Control Device 12 Electric Bicycle 14 Control Means 40 Pedal 44 Pedal Side Transmission Shaft 46 Motor 48 Motor Side Transmission Shaft 50 Differential Gear Mechanism 52 Rear Wheel 58 Pedal Side Rotation Sensor 60 Motor Side Rotation Sensor St Rotation Speed of Pedal Side Transmission Shaft Sm Motor side transmission shaft rotation speed v Electric bicycle wheel speed

Claims (4)

[Claims]
1. A pedal-side transmission shaft that is rotated by a pedal and a motor-side transmission shaft that is rotated by a motor are coupled via a differential gear mechanism to combine the driving forces of the pedal and the motor. Used in an electric bicycle that transmits to wheels, a pedal-side rotation sensor that detects the rotation speed of the pedal-side transmission shaft, a motor-side rotation sensor that detects the rotation speed of the motor-side transmission shaft, and the pedal-side rotation sensor In a control device for an electric bicycle, comprising: a detected rotation speed and a control means for controlling the motor based on the rotation speed detected by the motor-side rotation sensor, wherein the control means detects the pedal-side rotation sensor. The wheel speed of the electric bicycle is detected based on the detected rotation speed and the rotation speed detected by the motor-side rotation sensor, and the wheel speed range is low. , The rotational speed of the motor-side transmission shaft than the rotational speed of the pedal-side transmission shaft and controlling said motor to be lower, the electric bicycle control device.
2. The control means detects the wheel speed of the electric bicycle based on the rotation speed detected by the pedal side rotation sensor and the rotation speed detected by the motor side rotation sensor, In the low region, the rotation speed of the motor-side transmission shaft is lower than the rotation speed of the pedal-side transmission shaft, and the rotation speed of the motor-side transmission shaft is continuous according to the rotation speed of the pedal-side transmission shaft. The control device for the electric bicycle according to claim 1, wherein the motor is controlled so as to change to.
3. The control means detects the wheel speed of the electric bicycle based on the rotation speed detected by the pedal side rotation sensor and the rotation speed detected by the motor side rotation sensor, In the low region, the rotation speed of the motor-side transmission shaft is lower than the rotation speed of the pedal-side transmission shaft, and the rotation speed of the motor-side transmission shaft is different depending on the rotation speed of the pedal-side transmission shaft. The control device for the electric bicycle according to claim 1, wherein the motor is controlled so as to continuously change and have a hysteresis.
4. The electric bicycle based on an average value of a rotation speed detected by the pedal side rotation sensor and a rotation speed detected by the motor side rotation sensor in a section in which a crank rotation angle is constant. 2. The electric motor according to claim 1, wherein the motor speed is detected, and the motor is controlled so that the rotation speed of the motor-side transmission shaft is lower than the rotation speed of the pedal-side transmission shaft in the low wheel speed region. Bicycle control device.
JP8087479A 1996-03-15 1996-03-15 Control device for motor assisted bicycle Granted JPH09249185A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP8087479A JPH09249185A (en) 1996-03-15 1996-03-15 Control device for motor assisted bicycle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP8087479A JPH09249185A (en) 1996-03-15 1996-03-15 Control device for motor assisted bicycle

Publications (1)

Publication Number Publication Date
JPH09249185A true JPH09249185A (en) 1997-09-22

Family

ID=13916077

Family Applications (1)

Application Number Title Priority Date Filing Date
JP8087479A Granted JPH09249185A (en) 1996-03-15 1996-03-15 Control device for motor assisted bicycle

Country Status (1)

Country Link
JP (1) JPH09249185A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2873601A1 (en) * 2013-11-15 2015-05-20 Mando Corporation Electric bicycle and control method thereof

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2873601A1 (en) * 2013-11-15 2015-05-20 Mando Corporation Electric bicycle and control method thereof
US9346516B2 (en) 2013-11-15 2016-05-24 Mando Corporation Electric bicycle and control method thereof

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Effective date: 20030603