JPH10114292A - Bicycle with electric assist power unit - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve comfortableness by meeting vehicle speed and smoothing assist power. SOLUTION: In a bicycle A provided with an electric assist power unit, which runs by receiving assist power from a motor 40, the leg power of a pedal is detected through a crank shaft, and a moving mean value is stored, which is obtained by calculating the respective detected leg powers being calculated from leg power stored in a storage means 210 based on the number of different samples by a calculating means 220, and it is judged whether the progress of the leg power is in an increasing course or not by an increase judging means 260. When it is in an increasing course, the output of the motor 40 is controlled according to the moving mean value calculated based on the lest number of samples to assist the power. It is thus possible to improve the response of power assist for pedaling operation and smooth assist power for improvement of comfortableness.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bicycle with an electric auxiliary power device that travels with the assistance of power from an electric auxiliary power device during manual driving.

[0002]

2. Description of the Related Art An electric auxiliary power unit including a motor and a speed reduction mechanism is provided on a bicycle, and power is supplied from the electric auxiliary power unit during traveling on an uphill or the like to enable easy traveling. Bicycles with equipment are widely known.
The method of assisting power during traveling is performed by detecting a torque transmitted to a crankshaft during traveling, that is, a magnitude of a pedaling force value (hereinafter referred to as a pedaling force) generated by depressing a pedal, using torque detecting means. The output of the motor is controlled to increase or decrease in accordance with the output of the detecting means, that is, the magnitude of the pedaling force, so that the power corresponding to the pedaling force is assisted to enable easy traveling.

On the other hand, the depressing force of the pedal transmitted to the crankshaft during traveling is always fluctuating because the depressing force is not constant even when the pedal is depressed. Since the torque detecting means detects and outputs this fluctuating treading force, directly controlling the motor based on this detection output can assist the power in response to the fluctuating treading force. There is an advantage that power can be assisted with good response to the pedaling force at the time. However, as described above, the pedaling force applied to the pedal during traveling is always fluctuating, and the pedaling force is compared with the detection period of the pedaling force (the time interval from the detection at one point to the detection of the next pedaling force). Since the fluctuation period (the time interval during which the pedal force fluctuates when the pedal is depressed) is extremely long, if the control is performed to increase or decrease the assisting power by controlling the motor using the pedal force detected in the short detection period as it is, When the pedal is depressed, the pedal becomes intermittently heavy or light because the smoothness of the assisted power is impaired. The taste is not good. This means that the pedaling force is relatively stable when the vehicle speed is high, so the assisted power is also stable, that is, the state becomes smooth, and the uncomfortable feeling is reduced. The phenomenon that the smoothness of the generated power is impaired and the riding quality is not good is remarkable.

[0004] As described above, the conventional bicycle with an electric auxiliary power device has a problem that the smoothness of the assisted power is impaired during low-speed running, and the ride is not good.

[0005] Therefore, in order to smooth the running when assisting the power during the running, measures have been taken to reduce the fluctuation range of the auxiliary power. One of the methods is to read the pedaling force applied to the pedal which fluctuates during traveling by the torque detecting means by a control device such as a microcomputer at a constant period and at a predetermined time interval within this period. The treading force read every time is sequentially stored in the storage means, and a predetermined number of the stored treading forces is taken out as a sample number, averaged to calculate a moving average value of the treading force, and determined in accordance with the moving average value. It is conceivable that the motor is controlled so as to assist power of a different magnitude to obtain smoothness of the auxiliary power. That is, since the moving tread force calculated based on a predetermined number of samples extracted from these treading forces has a property of being averaged compared to the actual treading force, the fluctuating treading force is detected at predetermined time intervals. By controlling the motor using the average value, the auxiliary power to be supplied is smoothed during low-speed running such as at the time of starting, and the riding quality is improved.

[0006] The smoothness of the auxiliary power can be further improved by increasing the number of samples for obtaining the moving average value.

FIG. 10A shows this. This diagram shows the relationship between the pedaling force and the moving average value of the pedaling force at that time when the bicycle A is accelerated substantially linearly, and the curve A in the figure indicates the case where the pedal is depressed. Curve B shows the transition of the moving average value when the number of samples taken out from the pedaling force is three, and curve C shows the variation of the pedaling force. It is a diagram showing a transition of a moving average value of the pedaling force when the number is five.

As can be seen from the curves in FIG. 1, it can be seen that the smoother, that is, the curve becomes smoother as the number of samples for obtaining the moving average value increases. This indicates that if the power is assisted according to the moving average value, the assisted power is smoothed. Also, as the number of samples increases, the phase (phase in the X-axis direction) delays with respect to the pedaling force and the phase difference increases. Therefore, when the number of samples increases, the responsiveness of power assist to the pedaling force is impaired. Therefore, the number of samples needs to be determined in consideration of this point.

[0009]

As described above, in a conventional bicycle with an electric auxiliary power unit, when assisting power in accordance with the pedaling force of the pedal, the responsiveness is good but smooth auxiliary power cannot be supplied. Therefore, there is a problem that the depression of the pedal is not smooth and a smooth feeling cannot be obtained. Therefore, by using a moving average value based on a large number of samples to assist the power in accordance with this moving average value, smoothness can be obtained, but responsiveness is impaired. When it is increasing, that is, on the upward trend, it is not possible to obtain power assistance immediately corresponding to the depression.

[0010]

SUMMARY OF THE INVENTION According to the present invention, there is provided a bicycle with an electric auxiliary power unit which satisfies both the smoothness and the responsiveness of power assisted in view of the above circumstances. In a bicycle with an electric assist power device that travels with the assistance of power from a motor, detects the pedaling force of a pedal, stores each detected pedaling force in storage means, and selects a different number of samples from the stored pedaling force. The moving average value calculated by the calculating means is stored on the basis of the moving average value, and whether the transition of the pedaling force is in the ascending process is judged by the ascending judging device. This is a bicycle with an electric auxiliary power device that assists power by controlling the output of the motor according to the average value.

According to a second aspect of the present invention, there is provided a detecting means for detecting a pedaling force value of a pedal, a pedaling force storage means for reading the pedaling force value at predetermined time intervals by the detecting means and storing the pedaling force values, respectively, A motor that receives power supply and supplies auxiliary power, a motor control circuit that drives and controls the motor, a determination unit that determines whether the transition of the pedaling force value is in a rising process, and a storage unit that is stored in the storage unit. Calculating means for calculating a moving average based on a different number of samples including the latest treading force of the treading force, average value storing means for storing the calculated moving average value, and transition of treading force from the average value storing means When it is determined that the determination means is in the ascending process, by a moving average value based on a small number of samples,
A driving force determining means for determining a driving force of the motor based on a moving average value based on a large number of samples when it is determined that the stepping force is not in the ascending process; When the vehicle is in the ascending process, it is a bicycle with an electric power assist device that controls the motor so as to output the driving force determined according to the moving average value calculated based on the small number of samples and assists the power. is there.

According to the first and second aspects of the present invention, when the pedaling force applied to the pedal during traveling is in the process of ascending, it is based on the moving average value calculated based on a small number of samples. By controlling the motor to assist the power, it is possible to improve the response to the depression by reducing the phase delay of the transition of the moving average value with respect to the transition of the pedal force, and to control directly according to the pedal force. This has the effect that the auxiliary power can be smoothed.

According to a third aspect of the present invention, there is provided a detecting means for detecting a pedaling force value, a pedaling force storage means for reading the pedaling force value at predetermined time intervals by the detecting means, and storing the pedaling force values, respectively. A motor that receives power supply and supplies auxiliary power, a motor control circuit that drives and controls the motor, a determination unit that determines whether the transition of the pedaling force value is in a rising process, and a storage unit that is stored in the storage unit. Calculating means for calculating a moving average value including the latest treading force from the treading force, average value storing means for storing the calculated moving average value, and when the transition of the treading force is determined to be in an ascending process by the determining means A driving force determining means for determining a driving force of the motor according to the latest pedaling force stored in the storage means when the vehicle is not in the ascending process by the moving average value of the average value storage means; The determination unit determines whether the transition of the pedaling force is a rising process or not, and outputs a driving force determined according to a moving average value when the vehicle is in the rising process and according to the latest pedaling force when the vehicle is not in the rising process. This is a bicycle with an electric assist power device that controls the motor and assists the power.

According to the third aspect of the present invention, in the process of increasing the pedaling force, the motor is controlled in accordance with the pedaling force to assist the power, so that the responsiveness to the depression is good. It has the effect of assisting the power and, when not in the ascending process, controlling the motor based on the moving average value, thereby enabling smoothed power assistance.

According to a fourth aspect of the present invention, there is provided a detecting means for detecting a pedaling force value of a pedal, a pedaling force storage means for reading the pedaling force value at predetermined time intervals by the detecting means and storing the pedaling force values, respectively, A motor that receives power supply and supplies auxiliary power, a motor control circuit that drives and controls this motor, and includes the latest pedaling force based on two different numbers of samples from the pedaling force stored in the storage means. A calculating means for calculating two calculated moving average values, an average value storing means for storing these two moving average values, and a comparison between the two moving average values stored in the average value storing means. Comparing means for determining a driving force of the motor based on a moving average value which is larger as a result of comparison by the comparing means, and comparing the two moving average values with each other. It is obtained by an electric auxiliary power unit Bicycles for assisting power controls the motor to output a driving force determined based on the moving average value.

According to the fourth aspect of the present invention, when the pedaling force is large, responsive power assist can be performed with good response, and when the pedaling force is small, smooth power assist can be performed. .

According to a fifth aspect of the present invention, there is provided a detecting means for detecting a pedaling force value of a pedal, a pedaling force storage means for reading the pedaling force value at predetermined time intervals by the detecting means and storing the pedaling force values, respectively, A motor for supplying auxiliary power by receiving power, a motor control circuit for driving and controlling the motor, and a latest pedaling force based on a predetermined number of samples including the latest pedaling force from the pedaling force stored in the storage means. Calculating means for calculating a moving average value calculated by including the following; an average value storing means for storing the calculated moving average value; a moving average value stored in the average value storing means; Comparing means for comparing the magnitude with the stored latest pedaling force; and determining means for determining a driving force of the motor based on a larger value as a result of the comparison by the comparing means. It is obtained by a value and an electric auxiliary power unit Bicycles for assisting power controls the motor to output a driving force determined based on the larger value of the pedaling force.

The invention as claimed in claim 5 has such an effect that when the pedaling force is large, responsive power assist can be performed with good response, and when the pedaling force is small, smoothed power assistance can be performed. .

According to a sixth aspect of the present invention, in accordance with the first to fifth aspects of the present invention, a vehicle speed detecting means and a sample table storing a smaller number of sample determinations as the vehicle speed increases are provided. A bicycle with an electric assistive power unit that calculates a moving average value based on a smaller number of samples as the size increases and determines a driving force based on the vehicle speed from the vehicle speed detecting means and the calculated moving average value. .

According to the sixth aspect of the present invention, in addition to the effects of the first and second aspects of the present invention, even if the vehicle speed increases, the delay of the phase with respect to the transition of the pedal effort is reduced. Since it can be performed, it has an effect that it is possible to perform power assist with good responsiveness to depression.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of the present invention will be described with reference to FIGS. As shown in the figure,
A bicycle with an auxiliary power unit (hereinafter simply referred to as a bicycle) A is
The vehicle body B includes an auxiliary power unit (hereinafter simply referred to as a power unit) C attached to the vehicle body B. The vehicle body B has a vertical pipe 2 and a lower pipe 3 having one end fixed to a hanger lug 1, a head pipe 4 fixed to the other end of the lower pipe 3, and one end fixed to a head pipe 4. A frame 6 comprising an upper pipe 5 fixed to a lower portion of the upright pipe 2; a chain stay 7 having one end fixed to the hanger lug 1; a front fork 8 attached to the head pipe 4; , A front wheel 10 attached to the lower end of the front fork 8, one end is fixed to the upper part of the standing pipe 2 and the other end is not shown as the other end of the chain stay 7. A back fork 11 fixed via a rear pawl, a rear wheel 12 attached to the other end of the chain stay 7, a saddle 13 attached above the upright pipe 2, and an upper part of the rear wheel And a digit receiving platform 14 or the like.

The hanger lug 1 is provided with a crankshaft 80 described later so as to be rotatable.
A left crank 81 and a right crank 82 provided with pedals 81a and 82a, respectively, are attached to both ends. A battery case 14a containing a battery 14b as a power supply is attached to an upper portion of the loading tray 14. The battery 14b is supplied with electric power via a lead 16 to a motor 40 and the like described later. Further, a sprocket 17 for transmitting a rotational force during traveling and a sprocket 1 (not shown) of the rear wheel 12 are provided.
A chain 18 is hung on 7.

Next, the structure of the power unit C will be described with reference to FIGS. As shown in FIG.
Is a case 2 composed of a case body 23 and a lid case 25.
0, the motor 40 attached to the case 20;
The case 20 is constituted by a speed reduction mechanism 50.
Is provided with a hollow shaft 70 which is mounted via a bearing and to which rotational force is transmitted from the speed reduction mechanism 50, and a crankshaft 80 penetrating through the hollow shaft 70. In the case 20, a microcomputer, a ROM,
The control device 200 including a RAM and the like is housed.

The case body 23 houses the speed reduction mechanism 50, the control device 200, and the like. The reduction mechanism 50 includes a gear 51 attached to a tip end of an output shaft 41 of the motor 40, a large-diameter gear 52 meshing with the gear 51, a small-diameter gear 53 provided integrally with the gear 52, A gear 54 composed of a large-diameter gear 54b and a bevel gear 54c meshing with the gear 53, a bevel gear 55 meshing with the bevel gear 54c, and a shaft 55a mounted on the same shaft as the shaft on which the bevel gear 55 is mounted. The gear 55b includes a drive gear 56 that meshes with the gear 55b.

The gear 55b is mounted on the shaft 55a via a one-way clutch 55f.
The one-way clutch 55f rotates the gear 55b so as to transmit the torque of the motor 40 to the drive gear 56 so that the bicycle travels normally, that is, travels in the forward direction, but idles in the opposite direction. It works like that. In other words, the one-way clutch 55f functions so as to idle when the cranks 81, 82 to which the pedals 81a, 82a are attached rotate in the traveling direction during manual driving described below.

A shaft hole 56a is formed at the center of the driving gear 56, and the shaft hole 56a
2c are formed on the side surface of the drive gear 56 on the side of the lid case 25 and concentrically arranged on the outer periphery of the shaft hole 56a as shown in FIGS. 2 and 3 (three in the embodiment, FIG. 2). , FIG.
(Only one is shown in the figure), and the projection 57 is formed in the direction of the arrow shown in FIG.
As shown in the drawing, an inclined surface 57a that gradually rises upward along the direction in which the vehicle rotates during traveling is formed. On the side surface of the drive gear 56 on the side of the lid case 25, as shown in FIG. 3, a plurality (3 in this embodiment) disposed concentrically with the shaft hole 56a between the adjacent protrusions 57. An L-shaped regulating member 58 that regulates one end of a compression spring 60 described later (only one is shown in FIG. 3) is formed.

The hollow shaft 70 for transmitting the power of the motor 40, that is, the rotational force transmitted through the reduction mechanism 50, to the sprocket 17, is fitted into a shaft hole 56a formed in the drive gear 56. The hollow shaft 70 is rotatably provided on the hanger lug 1 and has a through hole 7 therein.
1 and at one end thereof, a concave / convex ridge 72 is formed to engage with the concave / convex ridge 56c formed in the shaft hole 56a. The shaft 70 is prevented from rotating in the direction, so that the hollow shaft 70 rotates integrally with the drive gear 56. Also,
A mounting member 17a to which the sprocket 17 is mounted is mounted on the other end of the hollow shaft 70.
The hollow shaft 70 is press-fitted into the inner race of the ball bearing 77 in the vicinity of the area where the concave and convex strips 72 are formed. Is attached to the case body 23.

A crankshaft 80 is rotatably provided through the through-hole 71 of the hollow shaft 70, and mounting portions 83 and 84 are formed at both ends of the crankshaft 80, respectively.

A one-way clutch 85 is attached to the crankshaft 80 at a position close to the drive gear 56 attached to the hollow shaft 70, and is connected to the crankshaft 80 via the one-way clutch 85. Has a drive plate 90 attached. The one-way clutch 85
Are pedals 81a, 82 when the crankshaft 80 is running manually.
a is rotated in the traveling direction by the attached cranks 81 and 82, the drive plate 90 is rotated,
On the contrary, when the crankshaft 80 rotates, it idles,
It functions so as not to rotate the driving plate 90. A disk-shaped flange portion 91 is formed on the cover case 25 side of the drive plate 90 at a predetermined distance so as to form a space between the drive plate 56 and the side surface of the drive gear 56. As shown in FIG. 3, a compression portion 92 is formed on the surface of the portion 91 on the side of the drive gear 56 to abut on the other end of the compression spring 60 to compress. The compression spring 60 is disposed between the L-shaped regulating member 58 and the compression section 92.

The magnitude of the urging force of the compression spring 60 is adjusted so that the compression spring 60 is compressed in accordance with the rotational force applied to the drive plate 90 via the crankshaft 80 and the one-way clutch 85 during manual driving. Is set. That is, in the case of manual running, the driving gear 56 is set so as to move relative to the driving gear 56 in accordance with the rotational force of the driving plate 90 which rotates together with the one-way clutch 85 with the rotation of the crankshaft 80. It is.

Further, the flange portion 91 of the driving plate 90
As shown in FIGS. 2 and 4, three through holes 93 (only one is shown in FIGS. 2 and 5) are formed at portions corresponding to the protrusions 57 formed on the side surface of the drive gear 56.

An offset plate 95 made of an annular plate is provided so as to be able to contact and separate from the flange portion 91, and the offset plate 95 is provided with the through holes 9 respectively.
A slide shaft 96 is provided at a position corresponding to 3 and integrally fixed so as to penetrate an end on one end side into the through hole 93. A spherical projection 96a is formed at the other end of the slide shaft 96. The spherical projection 96a is formed on the inclined surface 57a of the projection 57 formed on the drive gear 56.
The coil spring 97 is biased so as to be pressed against the deflection plate 95. That is, the eccentric plate 95 allows the slide shaft 96 fixed to the eccentric plate 95 to pass through the through hole 93 of the flange portion 91 and is urged by the coil spring 97 so that the spherical projection 96a is formed on the inclined surface 57a. It is arranged between the drive gear 56 and the drive plate 90 so as to be able to move in the axial direction of the crankshaft 80 in a state of being pressed.

When the pedaling force of the pedals 81a, 82a is applied to the crankshaft 80 via the cranks 81, 82, the rotational force is transmitted to the drive plate 90 via a one-way clutch 85 attached to the crankshaft 80. When the driving plate 90 is rotated, and the vehicle is in an accelerated state such as traveling on an uphill during traveling, the pedals 81a and 82a are depressed more strongly than before, so that this pedal 8
Relative movement according to the treading force between a drive plate 90 attached via a one-way clutch 85 to a crankshaft 80 rotated by a treading force of 1a, 82a and a driving gear 56 rotating integrally with the hollow shaft 70. Will occur. In other words, by strongly depressing the pedals 81a and 82a to accelerate the bicycle A and increasing the stepping force, the driving plate 90
The compression spring 60 provided between the drive gear 56 and the drive gear 56 is compressed, and the drive plate 90 rotates ahead of the drive gear 56 by an amount corresponding to the pedaling force. Spherical projection 96a of the slide shaft 96
Moves upward along the inclined surface 57a of the projection 57 provided on the drive gear 56, and along with this movement, the coil spring 97 is compressed, and the deflection plate 95 moves in a direction away from the drive gear 56, that is, the deflection plate 95 moves. Will be ranked.

Then, the deflection plate 95 is connected to the drive gear 56.
When the deflection plate 95 is displaced in a direction away from the
The operating rod 140 of the torque sensor 100 as a rotational force detecting means described later operates according to the amount of deviation of the torque, and the torque sensor 100 outputs an electric output according to the pedaling force. The control device 200 is converted into a digital value by a D (analog / digital) converter.
To be sent to

A start switch 15 is provided on the lid case 25 of the power unit C as shown in FIG.
The start switch 15 is provided with a key insertion hole 15a, and a key (not shown) is inserted into the key insertion hole 15a to perform a closing / opening operation.
4b supplies and stops electric power to the motor 40 and the like. When the start switch 15 is closed, the vehicle can travel easily with the assistance of the rotational force from the power unit C. When the start switch 15 is opened, the vehicle travels manually using only human power.

Next, the structure of the torque sensor 100 will be described with reference to FIGS. As shown in FIG. 5, the torque sensor 100 includes a case main body 101 including a lower case 110 and an upper case 120 attached to the lower case 110, a strain gauge 130 as a sensor disposed in the case main body 101, Actuating rod 140 which receives the pedaling force of the detected torque, that is, the acting force of the rotational torque of crankshaft 80, and operating rod 140
And a coil spring 150 for transmitting the acting force received to the strain gauge 130.

The upper case 120 has a bottom wall 1.
21 is formed with a cylindrical portion 125 protruding inward and outward, respectively. The cylindrical portion 125 is formed with a guide hole 126 at a portion from the outer end portion to a substantially intermediate portion, and is formed from the intermediate portion to the inner side. Guide hole 1 at the end
A hole 127 larger in diameter than 26 is formed.

Then, the sensor, that is, the strain gauge 1
Reference numeral 30 denotes four thin-film resistors R1 formed on a surface of a strain body 131 made of, for example, aluminum through an insulating film.
To R4 (not shown in FIG. 5) by sticking or so-called semiconductor technology, and these four resistors R1 to R4 are connected by conductors to form a bridge W as shown in FIG. It is configured.
The connection point between the resistors R1 and R3 and the connection point between the resistors R4 and R2 of the bridge W are connected to the lead wire 132a.
And 132b are connected to a power supply, and the connection point between the resistors R1 and R4 and the connection point between the resistors R2 and R3 are output ends. A corresponding electrical output is output, and the electrical output is sent to the control device 200 via the lead wires 133a and 133b via an A / D converter (not shown).

The free end 131a of the strain body 131 fixed between the lower case 110 and the upper case 120 with the fixed end sandwiched therebetween is located below the inner end of the cylindrical portion 125 and has a guide hole 126. , And a pin 134 having an axis coinciding with the axis of the guide hole 126 is attached to the distal end.

The operating rod 140 is connected to the guide hole 1.
A shaft 141 which is guided by 26 and slidably fits in the axial direction, and a large diameter formed at one end of the shaft 141 and rotatably fitted with a steel ball 142a to reduce friction. The coil spring 150 is disposed between the operating rod 140 and the pin 134 in a state where the coil spring 150 is compressed by a predetermined amount.
The operation of the torque sensor 100 is based on the same principle as that of a conventionally known torque sensor using a strain gauge. That is, the pedaling force of the pedals 81 a and 82 a is transmitted to the crankshaft 80, and the bending force corresponding to the amount of deflection of the deflection plate 95 that changes according to the magnitude of the rotation force of the crankshaft 80 is applied to the flexure element 131. The bridge W outputs an electrical output corresponding to a change in the resistance value of the resistors R1 to R4. In this embodiment, the maximum bending force is applied to the strain body 131 when the deflection plate 95 is not deflected.

As shown in FIG. 3, a speed sensor 160 as a vehicle speed detecting means for detecting the speed of the bicycle A is provided inside the case 20, and a known magnetic sensor is used as the speed sensor 160. And
A detection unit (not shown) of the speed sensor 160 is disposed close to the teeth of the drive gear 56, and is generated each time each tooth of the drive gear 56 approaches the detection unit by the rotation of the drive gear 56. The vehicle speed is detected based on the number of pulses per unit time of the pulse signal.

Next, the rear wheel 1 of the driving force of the motor 40
2 will be described.

The pedals 81a and 82 are set so that the bicycle A is accelerated as in the case of running uphill or the like in manual driving.
a, the pedals 81a, 82a
The driving force increases to exceed a predetermined value, and the driving plate 90 rotates ahead of the driving gear 56 to cause relative movement of the driving plate 56 and the driving gear 56 by an amount corresponding to the pressing force. Is a protrusion 5 provided on the drive gear 56.
7 is moved upward, and the deflection plate 95 is shifted in a direction away from the driving gear 56 by a deflection amount corresponding to the magnitude of the pedaling force. As a result, the maximum bending force applied to the flexure element 131 via the operating rod 140 and the coil spring 150 decreases, and the flexure element 131 is restored. With this restoration, the resistance values of the resistors R1 to R4 of the bridge W are restored. Is changed, and an electrical output corresponding to the change is sent to the control device 200. Then, the control device 200 drives the motor 40 as described later, and the power of the motor 40 is transmitted from the gear 42 provided on the output shaft 41 to the drive gear 56 via the speed reduction mechanism 50, and the drive gear 56 And transmitted to the rear wheel 12 via the sprocket 17 and the chain 18 attached to the hollow shaft 70. That is, the pedals 81a, 8
By stepping on 2a, the bicycle travels by adding or assisting the rotational force of the motor 40, that is, the power, to the rotational force of the human power transmitted to the crankshaft 80 by being depressed.

Next, control for assisting power according to the stepping force of the bicycle A in the first embodiment will be described with reference to a control block diagram shown in FIG. This embodiment corresponds to the first and second aspects of the present invention.

As shown in the figure, the control device 200 includes a storage means 210 including a memory, a calculation means 220 for calculating a moving average value, and a sample table 23 including a memory.
0, a motor control circuit 240 and control means (not shown) are provided.

The storage means 210 has a plurality of storage areas 211 (1) to 211 (n).
As described above, the torque sensor 100 is connected to the torque sensor 100 via an A / D converter (not shown), and is provided at a predetermined cycle and at predetermined time intervals within this cycle.
The pedal effort detected at 00 is stored in the storage area 211.
The data is stored or stored in 211 (n) sequentially from (1). This storage is performed by reading / writing means (not shown) controlled by the control means (not shown).

The storage means 210 is connected to the above-described calculating means 220 for calculating the moving average value of the pedaling force, and the calculating means 220 is connected to a sample table 230. The two sample determination numbers for determining the number of samples, one for calculating the moving average value of the predetermined treading force and the other for storing the predetermined number, are stored or set. The calculating means 220 includes a not-shown treading force reading means which is controlled by the not-shown controlling means and reads out the treading force from the storage means 210, and a sample reading means which reads out the determined number of samples from the sample table 230.

The calculation means 220 is stored in each of the storage areas 211 (1) to 211 (n) of the storage means 210 based on the two sample determination numbers stored in the sample table 230. From the latest treading force among the treading forces, that is, the latest treading force stored in the storage areas 211 (1) to 211 (n) of the storage means 210, the retrospective treading force is read out by the number of the two determined samples, and the treading force of these treading forces is read out. The moving average is calculated by dividing the total value by the number of determined samples. The calculating means 220 has two storage areas 225a and 225b.
Is connected, and the two moving average values calculated by the calculation means 220 are stored, that is, stored. Then, the storage area 225a
Stores a moving average value calculated based on a large number of samples, and a storage area 225b stores a moving average value calculated based on a small number of samples. .

The average value storage means 225 is connected to a driving force determining means 250 for determining the driving force of the motor, and the driving force determining means 250 is connected to a motor control circuit 240 for controlling the output of the motor 40. ing. The battery 14b is connected to the motor control circuit 240, and the motor control circuit 240
By controlling the current supplied from the battery 14b to the motor 40 based on the output of the
Is to control the output.

The storage means 210 is connected to an ascending determination means 260, which is also connected to the driving force determining means 250. And
The ascending determination means 260 compares the treading force sequentially stored or read in the storage areas 211 (1) and 211 (2) of the storage means 210, so that the treading force increases (in a direction in which the magnitude of the treading force increases). ), That is, the treading force previously read and stored in the storage area 211 (2), and then the tread force read and stored in the storage area 21 (2).
1 (1) is compared with the treading force stored in the storage area 21
The storage area 211 is greater than the treading force stored in 1 (2).
When it is determined that the pedaling force stored in (1) is large, the pedaling force is in the ascending process, and when it is determined that the pedaling force is small, it is determined that the pedaling is in the descending process. Then, this determination result is output to the driving force determination means 250. It should be noted that whether or not the vehicle is in the ascending process may be determined by comparing a plurality of pedaling forces including the latest pedaling force. If a plurality of pedaling forces are used in this way, noise or the like may be used. There is an advantage that erroneous determination can be prevented.

When the output from the rise determination means 260 is in the process of rising, the driving force determination means 250 calculates the moving average value calculated from the small number of samples stored in the storage area 225a of the average value storage means 225. The driving force of the motor 40 is determined based on the moving average value calculated from the large number of samples stored in the average value storage means 225b in the case of a descending process. Is determined and the result is referred to as the motor control circuit 24
Output to 0. The motor control circuit 240 controls the motor 40 based on the output from the driving force determination means 250 based on the rotational force to be output from the motor 40, that is, the output for determining the power to be assisted.

Thus, when the pedaling force applied to the pedal during traveling is in the ascending process, based on the moving average value calculated with a small number of samples, and in the descending process, based on the moving average value calculated with the large number of samples, respectively. The power is assisted by the motor 40.

Next, control for assisting the power from the motor 40, that is, the rotational force, will be described with reference to the control block diagram of FIG.

First, when the bicycle A is depressed and the pedals 81a and 82a are depressed to start running, the pedal 8
The pedaling forces 1a and 82a are transmitted to the crankshaft 80, and the torque of the crankshaft 80 is detected by the torque sensor 100, and the output of the torque sensor 100 is read at regular intervals and at regular time intervals within this cycle. Thus, each of the storage areas 211 (1) to 211 (2) of the storage means 210
11 (n).

The average value calculating means 220 sets different numbers of sample determinations (5 and 3 in this embodiment) based on the number of sample determinations set in the sample table 230. ), The storage areas 211 (1) to 211 (2)
From (n), the pedaling force read back from the latest pedaling force by the number of sample determinations is read, and the sum of these treading forces is divided by the number of sample determinations to calculate a moving average value. The moving average value calculated based on the larger number of samples (five in this embodiment) of the two calculated moving average values is stored in the storage area 225a of the average value storage unit 225, and the smaller number of samples is calculated. The moving average calculated on the basis of (three in this embodiment) is stored in the storage area 22 of the average storage 225.
5b.

The ascending determination means 260 compares the two pedaling forces stored in the storage means 210 as described above to determine whether the pedaling force applied to the pedal is in the ascending or descending process, and determines the driving force. Output to the determination means 250. The driving force determination means 250 is based on the output from the rise determination means 260, that is, when the determination is a rising process, the moving average value calculated from the small number of samples stored in the storage area 225b of the average value storage means 225. Is read to determine the driving force of the motor, and when the descent process is in progress, the moving average value calculated from the large number of samples stored in the storage area 225a of the average value storage means 225 is read to drive the motor. The force 40 is determined and output to the motor control circuit 240, and the motor control circuit 240 controls the motor 40 based on the output.

Thus, when the pedaling force applied to the pedal during the traveling is in the process of increasing, that is, when the pedal is strongly depressed and accelerated, such as at the start of traveling or traveling uphill, the moving average calculated with a small number of samples is used. The power is assisted by the motor 40 based on the above, so in the state where the pedal is strongly depressed and accelerated, it responds quickly to the depression, that is, the response is good, and since the number of samples is small, it is based on the moving average value. Since the smoothed power assist is provided, a feeling of power is obtained for the driver, and a comfortable running without a sense of incongruity can be achieved. Also,
When the pedal effort is in the process of descending, that is, when the pedal does not require strong depression, that is, when traveling on a flat road with a high vehicle speed, etc., the moving average calculated using a large number of samples is used. Since the power is assisted from the motor 40 based on this, the smoothed power assist is performed, so that the driver can travel with a good ride without feeling uncomfortable. In this case, the number of samples is set such that the delay in the phase of the transition of the moving average value with respect to the transition of the pedaling force due to the depression of the pedal does not impair the responsiveness in the high-speed region.

FIG. 8 shows the relationship between the pedal depression force and the transition of the moving average value when the number of samples is changed by the above control. FIG. 8 shows a state in which the pedal A is depressed and the bicycle A is linearly accelerated, and a state where the pedaling force changes at this time, that is, a transition, and a case where the pedaling force is in the ascending process, a small number, that is, the number of three samples. 6 is a graph showing the transition of the moving average value calculated based on the moving average value calculated based on the moving average value calculated based on the number of samples, that is, the number of samples in a descending process, that is, a large number, that is, five samples.

In the graph, a curve D shown by a broken line shows a transition of the pedaling force, and a curve E shown by a solid line shows a transition of the moving average value. A portion of the curve D that is inclined upward is a step in which the pedaling force is increasing, that is, an increasing process, and a portion that is inclined downward is a step in which the pedaling force is descending, that is, a process of decreasing. The curve E
The upwardly sloping part shows the transition of the moving average value based on the number of three samples in which the pedaling force is rising, and the downwardly sloping part shows that the pedaling force is in the process of descending and five samples. It is a transition of the moving average value based on the number.

As can be seen from the graph of FIG. 8, when the pedaling force is in the process of rising, the transition of the moving average value based on the small number of samples, that is, the delay of the phase of the curve E1 with respect to the curve D, that is, the transition of the pedaling force, is small. This indicates that the response of the power supply to the depression is improved. Further, in the portion where the pedaling force is in the process of descending, the transition of the moving average value, that is, the transition of the pedaling force of the curve E2, that is, the phase lag with respect to the curve D, is the moving average value based on a large number of samples. Although it is larger than the case of the moving average value, it is smoothed so that it can be seen from the curved portion inclined downward. This indicates that the response of the power supply to the depression is slower than in the case of three steps, but the smoothed power assist is performed.

That is, as described above, when the pedaling force applied to the pedal during traveling is in the process of increasing, the power is assisted by the motor 40 based on the moving average value calculated with a small number of samples. In the state of stepping acceleration, the driver immediately responds to the stepping, that is, the responsiveness is smooth and the power assist is smoothed, so that the driver can obtain a feeling of power and a comfortable ride without discomfort, and When the pedaling force is in the process of descending, that is, when the pedal does not need to be strongly depressed, the power is assisted by the motor 40 based on the moving average value calculated based on a large number of samples. As a result, the driver can drive with a good ride without feeling uncomfortable.

Next, a second embodiment of the present invention will be described. This embodiment corresponds to the third aspect of the present invention, in which power assist is performed by controlling the output of the motor in accordance with the pedaling force in the process of increasing the pedaling force and in accordance with the moving average value of the pedaling force in the process of decreasing the pedaling force. It is like that.
The configuration and the like of the bicycle A are the same as those of the first embodiment, so that the description thereof will be omitted, and only the control-related parts will be described with reference to the control block diagram shown in FIG.
The same components as those in the control block diagram of the first embodiment shown in FIG. 7 are denoted by the same reference numerals, and description thereof is omitted.

As shown in FIG. 9, a calculating means 220 is connected to the storage means 210, and the calculating means 220 stores each of the storage areas 221 of the storing means 210 based on the number of determined samples stored in the sample table 230. (1) or 2
11 (n), the latest treading force from the treading forces stored in 11 (n), that is, storage areas 211 (1) through 211 (2) of storage means 210.
From the newest treading force stored in 11 (n), the retrospective treading forces are read out by the number of determined samples, and the total value of these treading forces is divided by the determined number of samples to calculate a moving average value. The calculating means 220 includes an average value storing means 2
The average value storage means 226 stores the moving average value calculated by the calculation means 220. A driving force determining means 250 is connected to the average value storing means 226.
The rise determination means 260 is connected to 50 and is connected to the storage means 210.

Next, control for assisting power, that is, rotational force by the motor 40 of this embodiment will be described with reference to a control block diagram of FIG.

First, when the bicycle A is depressed and the pedals 81a and 82a are depressed from the stopped state and the bicycle a is accelerated linearly, the pedaling force of the pedals 81a and 82a is transmitted to the crankshaft 80. The torque of the torque sensor 80 is detected by the torque sensor 100, and the output of the torque sensor 100 is read at regular intervals and at predetermined time intervals within this cycle, and is stored in each of the storage areas 211 (1) to 211 (2) of the storage means 210. (N).

The calculating means 220 calculates the number of determined samples set in the sample table 230 based on the number of determined samples.
1 (n), read the treading force retroactive by the number of sample determinations from the latest treading force, divide the total of these treading forces by the number of sample determinations to calculate a moving average value, and calculate the moving average value as an average value. It is stored in the storage means 226.

The ascending determination means 260 compares the two pedaling forces stored in the storage means 210 as described above to determine whether the pedaling force applied to the pedal is in a rising process or a descending process, and determines the driving force. Output to the determination means 250. Driving force determination means 250 When the determination result of the ascending determination means 260 is an ascending process, the latest pedaling force is read from the storage means 210, and the driving force of the motor 40 is determined according to the pedaling force. If it is, the moving average value stored in the average value storage means 226 is read, the driving force of the motor 40 is determined and output to the motor control circuit 240, and based on this output, the motor control circuit 240 Control.

When the pedaling force applied to the pedal during traveling is in the process of increasing the pedaling force, the motor control circuit 240 controls the motor 40 to output the driving force determined according to the pedaling force. To assist the power. Therefore, in the state where the pedal is strongly depressed and accelerated, the power assist which responds immediately to the depression, that is, the responsive power assist is performed, so that the driver can travel with a feeling of power. Further, when the pedal effort is in the process of falling, the motor 40 is controlled so as to output a driving force determined according to the moving average value. Therefore, the state where it is not necessary to depress the pedal strongly is based on the moving average value.
Since the power is assisted from 0, the smoothed power assist is performed, so that the driver can travel with a good ride without feeling uncomfortable.

FIG. 10 shows the relationship between the pedal effort and the transition of the pedal effort and the moving average value used to determine the driving force in the process of increasing and decreasing the pedal effort by the above control. (B). This figure 1
0 (B) is a running state in which the pedal A is depressed and the bicycle A is linearly accelerated, and a state in which the pedaling force changes, that is, a transition, a latest transition of the pedaling force when the pedaling force is in the ascending process, and a descending process. 7 is a graph showing a transition of a moving average value calculated based on the number of five samples in the case of FIG.

In the graph, the pedaling force applied to the curve A pedal and the curve F represent the latest pedaling force in the process of increasing the pedaling force (upward slope portion of the curve A) and the case where the pedaling force is in the process of decreasing (curve A in the downward direction). (Slope portion) shows the transition of the moving average value based on the number of five samples.

As can be seen from the graph in this figure, when the treading force is in the process of ascending, there is no phase difference between the treading force and the latest transition of the treading force used for power assist, that is, there is no phase difference between the treading force and the power supply to the treading Indicates that the response is extremely good. In the part where the pedaling force is in the process of descending, since the moving average value is based on the number of five samples,
The phase difference between the transition of the moving average value and the transition of the pedaling force, that is, the phase of the transition of the moving average value with respect to the transition of the pedaling force is delayed, but smooth power assist is performed.

That is, as described above, when the pedaling force applied to the pedal during traveling is in the process of increasing the pedaling force, the power is assisted by the motor 40 based on the latest pedaling force.
When the pedal is strongly depressed and accelerated, the driver responds immediately to the depression, that is, it has good responsiveness, and smooth power assist is provided, so that the driver can get a feeling of power and can ride comfortably without a sense of discomfort. When the pedal effort is in the process of descending, that is, when the pedal does not need to be strongly depressed, the power is assisted by the motor 40 based on the moving average value calculated from the number of five samples. Since the assisted power is provided, the driver can drive comfortably without feeling uncomfortable.

F1 in FIG. 10B is a curve showing the transition of the moving average value when the number of samples is one in the ascending process and three in the descending process.

Next, a third embodiment of the present invention will be described. This embodiment corresponds to the invention described in claim 4, wherein two moving average values are calculated based on different numbers of samples, and the calculated two moving average values are compared to obtain a larger moving average value. The output of the motor is controlled so as to assist the motive power according to the motive power, thereby assisting the motive power. Since the configuration of the bicycle A is the same as that of the first embodiment, a description thereof will be omitted, and only a portion related to control will be described based on the control block diagram shown in FIG. The same components as those in the control block diagram of the first embodiment shown in FIG. 7 are denoted by the same reference numerals, and description thereof is omitted.

As shown in FIG. 11, the storage means 210 is connected to a calculating means 220, and the calculating means 220 has a sample table 23 in which two different sample determination numbers are set.
An average value storage means 225 for storing or storing 0 and two moving average values is connected. The average value storage means 225 stores the two moving average values calculated by the calculation means 220, respectively.
And 225b, and the moving area calculated based on the large number of samples is stored in the storage area 225a, and the moving average calculated based on the small number of samples is stored in the storage area 225b. The average value is stored.

The average value storage means 225 is connected to a comparison means 270 for comparing the magnitudes of the moving average values stored in the storage areas 225a and 225b. The comparison means 270 compares the two moving average values. The large moving average is output to the driving force determining means 250, and the driving force determining means 250 determines the driving force of the motor 40 based on the output. The motor control circuit 240 controls the output of the motor 40 by controlling the current supplied to the motor 40 according to the determined driving force.

Next, control for assisting power, that is, rotational force by the motor 40 of this embodiment will be described with reference to the control block diagram of FIG.

First, when the bicycle A is depressed and the pedals 81a and 82a are depressed and the bicycle A is linearly accelerated from the stopped state, the pedaling force of the pedals 81a and 82a is transmitted to the crankshaft 80. The torque is detected by the torque sensor 100, and the output of the torque sensor 100 is read at regular intervals and at predetermined time intervals within this cycle, and is stored in each of the storage areas 211 (1) to 211 (n) of the storage means 210. ) Are sequentially stored.

Further, the calculating means 220 determines the storage area 211 of the storage means 210 based on two different sample determination numbers set in the sample table 230.
From (1) to 211 (n), read the treading forces retroactive by the number of sample determinations from the latest treading force, and divide the treading force by the number of sample determinations to calculate a moving average value. Storage area 2 of average value storage means 225
25a and 225b.

The comparing means 270 compares the moving average values stored in the average value storing means 225 and outputs a larger moving average value to the driving force determining means 250. The driving force determining means 250 determines the driving force of the motor 40 based on the comparison result of the comparing means 270, that is, the large moving average value, and outputs the determined driving force to the motor control circuit 240. Based on the output, the motor control circuit 240 40 is controlled.

FIG. 1 shows the relationship between the pedal depression force in the case of this control and the moving average value that determines the driving force in the process of increasing and decreasing the depression force.
2 is a graph. In the graph of FIG.
Represents the transition of the pedal effort, and curve H represents the transition of the moving average value. The upward slope of the curve G, that is, the portion H1 corresponding to the rising process, of the curve H is a transition of the moving average value calculated based on a small number of samples (two in the embodiment), that is, a curve. The portion H2 corresponding to the downward slope, that is, the descending process, is a transition or a curve of the moving average value calculated based on a large number (five in the embodiment) of the number of samples. It is a curve obtained by synthesizing the transition of the moving average value of two sample numbers. Then, the motor 40 is controlled based on the moving average value of a small number of samples in the upward slope portion of the curve G, that is, in the ascending process, and based on the moving average value of the large number of samples in the downward slope, in the descending process. You. The reason why the curve H is a combination of the moving average values of two different numbers of samples is that the transition of the moving average value based on the small number of samples and the transition of the moving average value based on the large number of samples correspond to the changes of the pedaling force. This is because the phase delay is larger in the latter than in the former. In other words, since the phase delay of the latter is larger than the former, the moving average value based on the former, that is, the smaller number of samples, is larger than the moving average value based on the latter, that is, the larger number of samples in the process of increasing the pedaling force on the same time axis. Also, in the process of lowering the pedaling force, the latter is larger than the former.

As described above, when the pedaling force applied to the pedal during traveling is in the process of increasing the pedaling force, the power is assisted by the motor 40 based on the moving average value calculated from a small number of samples. In the state of strongly stepping in acceleration, the driver responds immediately to the stepping, that is, responsive and smooth power assist is provided, so that the driver can obtain a feeling of power and a comfortable ride without discomfort, When the pedaling force is in the process of descending, that is, when the pedal does not need to be strongly depressed, the power is assisted by the motor 40 based on the moving average value calculated based on a large number of samples. As a result, the driver can drive with a good ride without feeling uncomfortable.

Although not used in this embodiment, the vehicle speed is detected by a speed sensor (not shown), and a smaller sample determination number is set in the sample table 230 as the vehicle speed increases, so that the vehicle speed increases. As a result, a moving average value is calculated based on the smaller number of samples, the moving average value is compared by the comparing means 270, the driving force determining means 250 determines the driving force, and the motor 40 may be controlled. In this case, the delay in the phase of the transition of the moving average value with respect to the transition of the pedaling force when the vehicle speed increases can be reduced, and the driving force can be assisted with good responsiveness to the depression.

Next, a fourth embodiment of the present invention will be described. This embodiment corresponds to the invention described in claim 5, and compares the treading force with a moving average value calculated based on a predetermined number of samples, and assists the motor so as to assist the power according to the larger value. The power is controlled by controlling the output. Since the configuration of the bicycle A is the same as that of the first embodiment, the description is omitted.
Only the part related to the control will be described based on the control block diagram shown in FIG. The same components as those in the control block diagram of the first embodiment shown in FIG. 7 are denoted by the same reference numerals, and description thereof is omitted.

As shown in FIG. 13, a calculating means 220 is connected to the storage means 210, and the calculating means 220 calculates the number of samples stored in the sample table 230 based on the number of determined samples.
From the treading forces stored in the storage areas 211 (1) to 211 (n) of the storage means 210, the latest treading force, that is, the most treading force stored in the storage areas 211 (1) to 211 (n) of the storage means 210. A retrogressive treading force is read out from the new treading force by the number of determined samples, and a moving average value is calculated by dividing the total value of these treading forces by the determined number of samples. The calculation means 220 includes an average value storage means 227
Is connected, and the average value storage means 227 stores the moving average value calculated by the calculation means 220. Further, a comparison means 275 is connected to the average value storage means 227, and this comparison means 275 is connected to a driving force determination means 250.
The motor control circuit 240 is connected to 0.

The comparing means 275 is connected to the storage means 210. The comparing means 275 stores the moving average value stored in the average value storage means 227 and the latest pedaling force stored in the storage means 210. Are compared, and the larger value of the two is output to the driving force determining means 250. The driving force determining means 250 determines the driving force of the motor 40 based on the output and outputs the determined driving force to the motor control circuit 240. Based on the output, the motor control circuit 240 controls the motor 40 to assist the power.

Although the transition of the pedaling force and the transition of the moving average value when controlled by this control block are not shown, the curve portion H shown in the graph of FIG. 12 in the third embodiment is shown.
The portion 1 has the same phase as that of the ascending process of the pedaling force curve G, and the phase of the descending process has a phase lag behind that of the pedaling force curve G similarly to the curve portion H2 in FIG. The delayed phase difference increases as the number of samples increases, and when the number of samples is five, the phase difference is theoretically the same as the curve portion H2 in FIG.

Therefore, in this embodiment, when the pedaling force is in the process of ascending, the power is assisted in accordance with the latest pedaling force stored in the storage means 210, so that the responsiveness to the stepping-in, that is, the responsiveness, Well assisted by power,
Further, when the pedaling force is in the process of descending, the auxiliary power is smoothed, so that the driver can travel with a good ride without feeling uncomfortable.

Next, a fifth embodiment of the present invention will be described. This embodiment corresponds to the invention described in claim 6, and the number of samples determined to determine the number of samples composed of different numbers used for calculating the moving average value of the pedaling force is set to a smaller number as the vehicle speed increases. When the vehicle speed increases, a moving average value is calculated based on the number of samples based on a small number of determined samples, and the driving force of the motor is determined based on the moving average value and the vehicle speed from the vehicle speed means to assist power. It is like that. The configuration and the like of the bicycle A are the same as those of the first embodiment, and the description thereof will be omitted. Only the control will be described based on the control block diagram shown in FIG. The same components as those in the control block diagram of the first embodiment shown in FIG. 7 are denoted by the same reference numerals, and description thereof is omitted.

As shown in FIG. 14, the storage means 210 is connected to the above-mentioned calculation means 220 for calculating the moving average value of the pedaling force.
Are connected to each other. In this sample table 230, one for calculating a moving average value of a predetermined treading force is set as one set of two for determining the number of samples composed of a large number and the other for a small number. A plurality of sample determination numbers are stored or set. Then, the two sample determination numbers constituting each set are set to be small when the vehicle speed increases.

The calculation means 220 is stored in each of the storage areas 211 (1) to 211 (n) of the storage means 210 based on the two sample determination numbers stored in the sample table 230. From the latest treading force among the treading forces, that is, the latest treading force stored in the storage areas 211 (1) to 211 (n) of the storage means 210, the retrospective treading force is read out by the number of the two determined samples, and the treading force of these treading forces is read out. The sum is divided by the number of sample determinations to calculate two moving averages. The calculating means 220 is connected to an average value storing means 225 having two storage areas 225a and 225b.
The moving average calculated based on the large number of samples out of the two moving averages calculated in step (1) is stored in the storage area 225.
In a, the moving average calculated based on the small number of samples is stored in the storage area 225b.

The average value storage means 225 is connected to a driving force determining means 250 for determining the driving force of the motor, and the driving force determining means 250 is connected to a motor control circuit 240 for controlling the output of the motor 40. The motor control circuit 240 is connected to the battery 14b. The motor control circuit 240 controls the current supplied from the battery 14b to the motor 40 based on the output of the power determination means 250, thereby controlling the motor 40b. Is to control the output.

The storage means 210 is connected to an ascending judging means 260, which is also connected to the driving force determining means 250. And
The ascending determination means 260 determines whether or not the pedaling force is in a rising process by comparing the pedaling force sequentially stored or read in the storage areas 211 (1) and 211 (2) of the storage means 210, and the determination result is as follows. The driving force determining means 250
Is output to

The driving force determining means 250 is connected to a vehicle speed detecting means 160.
Is connected to the calculating means 220. The calculating means 220 responds to the vehicle speed from the vehicle speed detecting means 160, that is, as the vehicle speed increases, the sample table 2
The moving average value is calculated based on the number of sample determinations of a small number of sets stored in the storage area 225 and the storage area 225 a
And 225b.

When the output from the rise determination means 260 is in the process of rising, the step driving force determination means 250 calculates the movement calculated based on the small number of samples stored in the storage area 225b of the average value storage means 225. The driving force of the motor 40 is determined based on the average value and the vehicle speed output from the vehicle speed detection means 160. On the other hand, when the vehicle is in a descending process, a large number of samples stored in the average value storage means 225 are stored. The driving force of the motor 40 is determined based on the moving average value calculated from the number and the vehicle speed output from the vehicle speed detecting means 160, and the result is referred to as the motor control circuit 2
Output to 40. The motor control circuit 240 controls the motor 40 based on the output from the driving force determination means 250 based on the rotational force to be output from the motor 40, that is, the output for determining the power to be assisted.

Thus, when the pedaling force applied to the pedal during traveling is in the ascending process, it is based on the moving average value calculated with a small number of samples, and in the descending process, based on the moving average value calculated with the large number of samples. By reducing the number of sample determinations for calculating the two moving average values as the vehicle speed increases, the phase lag of the transition of the moving average value with respect to the transition of the treading force can be reduced while assisting the power from the motor. Things.

FIG. 10 shows the state by this control.
It is a graph of (C). In this graph, curve A is 1
0 (A) is a curve showing the transition of the pedal effort as in 0 (A),
Curve I is a curve showing the transition of the moving average value. And
In the curve I, the moving average value from the start to the time T1 is one in which the number of determined samples is one in the ascending process, and five in the descending process, and the time T2 after the elapse of the time T1. In the above, the moving average value is such that the number of determined samples is one in the ascending process and the number of determined samples is three in the descending process. That is, one of the two different sample determination numbers when the vehicle speed is increased is reduced from five to three.

As can be seen from this figure, even when the vehicle speed increases, the delay of the curve A, ie, the transition of the pedaling force, to the curve I, ie, the transition of the moving average value, does not increase. This is apparent from comparison with the phase difference between the curve A and the curve C when the vehicle speed increases in FIG.

That is, as described above, when the pedaling force applied to the pedal during traveling is in the process of increasing, the power is supplied from the motor 40 based on the moving average value calculated from a small number of samples (one in this embodiment). When the pedal is strongly depressed and accelerated, the driver assists immediately (ie, responsively (smoothly)) the power in a state where the pedal is depressed strongly, so that the driver can feel a sense of power (as well as uncomfortable feeling). When the pedaling force is in the process of descending, that is, when the pedal does not need to be strongly depressed, the power is supplied from the motor 40 based on the moving average calculated from a large number of samples. Since the assistance is provided, the smoothed power assistance is provided, so that the driver can travel in a comfortable manner without feeling uncomfortable. In addition, by reducing the number of sample determinations for calculating the moving average value as the vehicle speed increases, the delay in the phase of the transition of the moving average value with respect to the transition of the pedaling force can be reduced. Can be done.

In this embodiment, the number of samples determined in the ascending process is one. However, if the smoothing of the auxiliary power is desired, it may be increased to an appropriate number. Also,
In this embodiment, the number of samples at time T1, that is, when the vehicle speed is low, is three, and the number of samples at time T2, that is, when the vehicle speed is high, is five. However, this can be set to an appropriate number. Alternatively, the number of samples may be reduced as the vehicle speed increases. In this case, the number of sample determinations may be set in the sample table 230 so as to decrease the number corresponding to the vehicle speed.

[0101]

According to the first and second aspects of the present invention, when the pedaling force applied to the pedal during traveling is in the process of rising, the moving average value calculated based on a small number of samples is obtained. By controlling the corresponding motor to assist the power, the delay of the phase of the moving average value with respect to the pedaling force can be reduced to improve the response to stepping on, and compared to the case of controlling directly according to the stepping force. Thus, the auxiliary power can be smoothed.

Further, in the invention according to the third aspect, in the process of increasing the pedaling force, the motor is controlled in accordance with the pedaling force to assist the power. When the vehicle is not in the ascending process, the motor is controlled on the basis of the moving average value, so that smoothed power assist can be achieved.

The invention described in claim 4 has the effect that when the pedaling force is large, responsive power assist can be performed with good responsiveness, and when the pedaling force is small, smoothed power assistance can be performed.

The fifth aspect of the invention has the effect that when the pedaling force is large, responsive power assist can be performed with good response, and when the pedaling force is small, smooth power assistance can be performed.

The invention according to claim 6 is based on claim 1,
In addition to the effects of the inventions described in claims 2 and 4, there is an effect that, even when the vehicle speed increases, the delay in phase with respect to the pedaling force can be reduced, so that power assist with good responsiveness to depression can be performed. It is.

[Brief description of the drawings]

FIG. 1 is an overall view of an embodiment of a bicycle with an auxiliary power device according to a first embodiment of the present invention.

FIG. 2 is a sectional view showing a configuration of the auxiliary power unit according to the embodiment.

FIG. 3 is a side view showing the auxiliary power unit of the embodiment.

FIG. 4 is a partial view showing the relationship between the depression force of the pedal and the operation of the torque detecting means in the embodiment.

FIG. 5 is a cross-sectional view of the torque detecting means (torque sensor) of the embodiment.

FIG. 6 is a circuit diagram of a torque detecting means (torque sensor) of the embodiment.

FIG. 7 is a control block diagram of the embodiment.

FIG. 8 is a graph showing the relationship between the pedaling force and the moving average value of the pedaling force according to the embodiment.

FIG. 9 is a control block diagram according to a second embodiment of the present invention.

FIG. 10 is a graph showing the relationship between the treading force and the moving average value of the treading force according to the present invention; FIG. 10A is a graph showing the relationship between the treading force and the moving average value of the treading force according to the second embodiment; Is a graph showing the relationship between the treading force and the moving average value of the treading force according to the fourth embodiment, and (C) is a graph showing the relationship between the treading force and the moving average value of the treading force according to the fifth embodiment.

FIG. 11 is a control block diagram according to a third embodiment of the present invention.

FIG. 12 is a graph showing a relationship between the moving average value and the pedaling force when the moving average value of the pedaling force according to the third embodiment is calculated with a fixed number of samples.

FIG. 13 is a control block diagram according to a fourth embodiment of the present invention.

FIG. 14 is a control block diagram according to a fifth embodiment of the present invention.

[Explanation of symbols]

 A Bicycle with electric auxiliary power unit. B Body C Auxiliary power unit 14b Battery (power supply) 80 Crankshaft 81a, 82a Pedal 100 Torque sensor (torque detecting means) 160 Speed sensor (vehicle speed detecting means) 200 Controller 210 Storage means 220 Calculation means 225 Average value storage means 226 Average Value storage means 227 Average value storage means 230 Sample table 240 Motor control circuit 250 Driving force determination means 260 Rise determination means 270 Comparison means 275 Comparison means

Claims (6)

[Claims] In a bicycle with an electric assist power device that travels with the assistance of power from a motor, the pedaling force of a pedal is detected, and each detected pedaling force is stored in storage means. The moving average value calculated by the calculating means based on the different number of samples is stored, and whether the transition of the treading force is in the ascending process is determined by the ascending determining device. A bicycle with an electric auxiliary power device, wherein the power is assisted by controlling the output of the motor in accordance with the obtained moving average value. A detecting means for detecting a pedaling force value of the pedal, a pedaling force storage means for reading the pedaling force value at predetermined time intervals by the detecting means and storing the pedaling force value, respectively; , A motor control circuit for driving and controlling the motor, a determination unit for determining whether or not the transition of the pedaling force value is in a rising process, and a difference including the latest pedaling force of the pedaling force stored in the storage unit. Calculating means for calculating a moving average value based on the number of sample numbers, average value storing means for storing the calculated moving average value,
The moving average value based on a small number of samples is used when the transition of the pedaling force is determined to be in the ascending process by the determining unit from the average value storage device. Driving force determining means for determining the driving force of the motor according to the value, the climbing determining means determines whether or not the transition of the pedaling force is a rising process, and when it is in the rising process, it is calculated based on a small number of samples. A bicycle with an electric auxiliary power device, wherein a bicycle is controlled by controlling a motor so as to output a driving force determined according to a moving average value. 3. A detecting means for detecting a pedaling force value of a pedal, a pedaling force storage means for reading the pedaling force value at predetermined time intervals by the detecting means and storing the pedaling force values, respectively, and an auxiliary power receiving power supplied from a power supply. , A motor control circuit for driving and controlling the motor, a determination unit for determining whether or not the transition of the pedaling force value is in a rising process, and a movement including the latest pedaling force based on the pedaling force stored in the storage unit. Calculating means for calculating an average value; average value storing means for storing the calculated moving average value; and moving of the average value storing means when the transition of the pedaling force is determined to be in the ascending process by the determining means. Driving force determining means for determining the driving force of the motor according to the latest pedaling force stored in the storage means when the vehicle is not in the ascending process, based on the average value. Determines whether or not the vehicle is in the ascending process. A bicycle with an electric auxiliary power unit characterized by assisting. 4. A detecting means for detecting a pedaling force value of a pedal, a pedaling force storage means for reading the pedaling force value at predetermined time intervals by the detecting means and storing the pedaling force values, respectively, and an auxiliary power receiving power supplied from a power supply. And a motor control circuit for controlling the driving of the motor, and two moving average values calculated from the treading force stored in the storage means based on two different numbers of samples and including the latest treading force. Calculating means, an average value storing means for storing these two moving average values, a comparing means for comparing the magnitudes of the two moving average values stored in the average value storing means, Driving force determining means for determining a driving force of the motor based on a large moving average value as a result of the comparison, wherein the two moving average values are compared to be determined based on the large moving average value. Bicycles electric auxiliary power unit, characterized in that the auxiliary power controls the motor to output a driving force. 5. A detecting means for detecting a pedaling force value of a pedal, a pedaling force storing means for reading the pedaling force value at predetermined time intervals by the detecting means and storing the pedaling force values, respectively, and an auxiliary power receiving power supplied from a power supply. And a motor control circuit for driving and controlling the motor, and a movement calculated from the treading force stored in the storage means based on a predetermined number of samples including the latest treading force and including the latest treading force. Calculating means for calculating an average value; average value storing means for storing the calculated moving average value; and a moving average value stored in the average value storing means and the latest pedaling force stored in the storing means. Comparison means for comparing the magnitudes; and determination means for determining the driving force of the motor based on a large value obtained by the comparison means. Bicycles electric auxiliary power unit, characterized in that the auxiliary power controls the motor to output a driving force that is determined are. 6. The invention according to claim 1, further comprising a vehicle speed detecting means, and a sample table storing a smaller number of sample determinations as the vehicle speed increases, based on a smaller sample number as the vehicle speed increases. A driving average is calculated based on the vehicle speed from the vehicle speed detecting means and the calculated moving average value.