JPH11334677A - Moving device with auxiliary power source and control method for the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently control the auxiliary power without using a mechanical torque sensor and to reduce the weight of the moving device. SOLUTION: A moving device 1 with an auxiliary power source 2 is provided with a speed detection means 3 and an acceleration detection means 4 for detecting the speed and acceleration thereof, and a incline detection means 5 for detecting a inclination of the moving device 1 or the driving road. A control means 6 controls the auxiliary power source 2 by calculating the auxiliary power value based on the detected information by the detection means. The control means 6 calculates a necessary work rate for maintaining the current speed of the moving device 1 and a necessary work rate for accelerating the moving device 1, and then obtains the auxiliary power value by multiplying the sum of both work rates by a coefficient value which is less than 1. Further the control means 6 obtains an operating point as an intersecting point of graph lines based on the auxiliary power value-speed power value-speed characteristic drawing and the work rate-operation speed characteristic drawing of the auxiliary power source 2. Therefore the control means controls driving of the auxiliary power source 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique for calculating and controlling an auxiliary power value in a mobile device having an auxiliary power source.

[0002]

2. Description of the Related Art As a moving apparatus having an auxiliary power source for assisting a main power, for example, an assist bicycle (or electric bicycle) having a motor as an auxiliary power source is known. In other words, the main power in this case is the driver's leg force (treading force), and by detecting this, the motor generates auxiliary power according to the magnitude of the power, and compensates for the driver's insufficient leg force by manpower. It is configured to reduce the burden on the user.

For example, there is known a method of directly detecting a driver's treading force and generating an auxiliary torque equivalent to the treading force. As means for detecting treading force, a machine attached to a crankshaft, a chain wheel or a main shaft is known. A typical torque sensor is used.

[0004]

However, the above-described device has the following problems regarding the size and weight of the torque sensor.

(1) Since a torque sensor including a mechanical element is generally large, it is not easy to incorporate it into a device.
Further, its structure is complicated.

(2) Since the weight of the torque sensor is increased, a part of the driver's treading power or motor power is consumed, which causes a reduction in running efficiency.

Accordingly, an object of the present invention is to efficiently control auxiliary power without using a mechanical torque sensor and to reduce the weight of a moving device.

[0008]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides speed detecting means for detecting the speed of a moving device, acceleration detecting means for detecting the acceleration of the moving device, The vehicle includes an inclination detecting means for detecting an inclination state of the device or the traveling road, and a control means for calculating an auxiliary power value based on information detected by these detecting means and controlling the auxiliary power source. The control means calculates a power required to maintain the current speed of the mobile device based on the detection information from the speed detection means and the inclination detection means, and calculates the power detection means and the acceleration detection means. After calculating the power required for accelerating the mobile device based on the detection information from, the auxiliary power value is obtained by multiplying the sum of the two powers by a coefficient value less than “1”. The auxiliary power value is plotted on the vertical axis, the speed is plotted on the horizontal axis, and the graph shows the change of the auxiliary power value with respect to the speed. The output (power) of the auxiliary power source is plotted on the vertical axis, and the auxiliary power is plotted on the horizontal axis. The control means obtains the operating point defined as the intersection of the graph lines when the operating speed of the power source is taken and the graph line group indicating the characteristic of the auxiliary power source according to the change of the control parameter is superimposed. A control signal is sent from the control means to the auxiliary power source so that the power of the auxiliary power source corresponding to the above is obtained.

Therefore, according to the present invention, a means for detecting the speed, acceleration, and inclination information of the moving device is provided in place of the mechanical torque sensor, and a power value (auxiliary power) required for assisting the main power is obtained from the detected information. Power) and the intersection of a graph line expressing the power value on the graph as a function of speed and a graph line group expressing the output of the auxiliary power source on the graph as a function of the operating speed is obtained. Thus, the operating point (control point that defines the operating state of the auxiliary power source) can be calculated.

[0010]

FIG. 1 is an explanatory view of a basic structure according to the present invention. A moving apparatus 1 has an auxiliary power source 2 for assisting a part of main power required for movement. For example, in the case of an (electric) assist bicycle, a motor is an auxiliary power source for the leg power, which is the main power. In a wheelchair or a dolly with an auxiliary motor, for example, the motor is used for the arm power, which is the main power. On the other hand, the motor is the auxiliary power source.

The moving device 1 has a speed detecting means 3 for detecting the speed, an acceleration detecting means 4 for detecting the acceleration of the moving device 1, and a detecting device for detecting the inclination of the moving device 1 or the traveling road. And inclination detecting means 5. Sensors suitable for weight reduction can be used for these detection means, and the detection information is sent to the control means 6 at the subsequent stage.
The speed detecting means 3 and the acceleration detecting means 4 may be provided as independent means. However, as shown by a dashed line in FIG.
Adopting a method of calculating the acceleration by calculating the time derivative of the speed information sent to the control means 6 and sending it to the control means 6 is advantageous in terms of simplification of the configuration and cost reduction. As for the inclination detection, there are a method of detecting the inclination of the traveling path by detecting the inclination of the posture of the moving device 1 and a method of directly detecting the inclination of the traveling path itself.

The control means 6 calculates an auxiliary power value (hereinafter, referred to as "PL") based on information detected by the speed detection means 3, acceleration detection means 4, and inclination detection means 5, and generates an auxiliary power source. 2 to thereby assist the main power 7. That is, based on the detection information from the speed detecting means 3 and the inclination detecting means 5, the power required for the mobile device 1 to maintain the current speed (hereinafter, this is referred to as "Pv") is calculated and calculated. Speed detecting means 3 and acceleration detecting means 4
After calculating the power required for acceleration of the mobile device 1 based on the detection information from (hereinafter referred to as “Pa”),
An auxiliary power value is obtained by multiplying the sum of the two powers “Pv + Pa” by a coefficient value less than “1” (hereinafter referred to as “β” (0 <β <1)) (PL = β · ( Pv + P
a)).

For example, as shown in FIG. 2, a model assuming that the moving device 1 having a mass “M” is traveling on a slope S having a slope angle “θ” will be described. “M · g” (g is the gravitational acceleration)
.theta. "and a component" M.g.cos .theta. ", and a frictional force obtained by multiplying the drag" n "in the opposite direction by the friction coefficient" .mu. " That is, as shown by the arrow A in the figure, the magnitude (F) of the balancing force required to maintain the current speed when the moving device 1 climbs the uphill is “M · g · ( sin θ + μ
.Cos θ) ”, and assuming that the speed of the mobile device 1 is“ v ”, the power Pv in this case is as follows.

[0014]

(Equation 1)

As described above, the control means 6 includes the inclination detecting means 5
By multiplying the sum of the running resistance and the frictional resistance according to the slope angle of the running path detected by the above by the speed of the moving device 1, the power required for the moving device to maintain the current speed is calculated.

When the acceleration is "α", the power Pa required for the acceleration is as follows.

[0017]

(Equation 2)

Therefore, the auxiliary power value PL is obtained by the following equation.

[0019]

(Equation 3)

In the above equation, for example, β = 0.5 for an assisted bicycle.

According to equations [1] to [3],
The auxiliary power value PL is an amount proportional to the speed v and increases as the speed v increases, but is not limited to such control. The auxiliary power value PL gradually decreases from the time when the speed v exceeds a certain value. It is also possible to control this. In other words, in this case, until the speed of the mobile device 1 reaches a predetermined threshold, the auxiliary power value increases as the speed of the mobile device increases, and the speed of the mobile device decreases the threshold. If so, the control means 6 controls the auxiliary power source 2 so that the auxiliary power value decreases as the speed of the moving device increases.
Is controlled so that the moving speed eventually reaches a plateau (that is, unnecessary power assist is not performed).

FIG. 3A shows an example of the control in which the horizontal axis indicates the speed v and the vertical axis indicates the auxiliary power value PL. A solid line graph G0 indicates a gradient angle θ = 0 ( A flat line indicates a control line, and a dashed line graph line G1 indicates a control line at a gradient angle θ = θ1 (> 0).

Each of these control lines has a triangular shape, and the magnitude of the velocity when PL indicates its peak value is “va”, and the magnitude of the velocity at which PL = 0 when v> va is represented by “va”. When “vb” is used, it is expressed as the following equation.

[0024]

(Equation 4)

Note that "PK" in the above equation indicates the peak value of PL (that is, the value at v = va).

It is necessary to control the auxiliary power source 2 in consideration of its characteristics. For example, if a DC motor is taken as the auxiliary power source 2, its output (power) is expressed by "P".
m ”, the rotational speed is“ N ”(accurately, angular speed), and the torque is“ T ”. For example,“ Pm = NT ”, and for example, the TN characteristic of the motor is a linear function expression“ T = Ts · [E
/ E0−N / N0] ”(where Ts: starting torque, E: motor drive voltage, E0: reference voltage (measurement voltage of static characteristics),
N0: the number of revolutions at the time of no load), the following expression is obtained.

[0027]

(Equation 5)

The above Pm is a quadratic expression of N, as shown in FIG.
As shown in the graph, the horizontal axis indicates N and the vertical axis indicates Pm, and the graph curve Hi (i = 1, 2, 3) shows an upwardly convex parabolic shape. That is, as the E value which is a control parameter increases, the peak value of Pm increases, and the N value at the intersection with the N axis (that is, N = N0.E / E0) increases. In the drawing, the E value of the graph curve Hi is “Ei” (i = 1, 2, 3), and “E1 <E2 <
E3 ". As is apparent from the fact that the E value is a continuous amount, there are countless graph curves corresponding thereto, and the characteristics of the motor are represented by these curve groups.

3 (A) and 3 (B), when their horizontal axes are compared, the moving speed v and the rotational speed N are both amounts indicating speed, and there is a proportional relationship between them. So
Both can be adjusted to the same unit by an appropriate conversion ratio (wheel circumference, reduction ratio, etc.). And PL on the vertical axis
Since Pm and Pm both have a power dimension, FIG.
By taking the vertical and horizontal axes in (A) and FIG. 3 (B) in the same unit, both graphs can be superimposed, whereby the control operating point can be obtained.

That is, the auxiliary power value PL is plotted on the vertical axis, the speed is plotted on the horizontal axis, a graph line (PL-v characteristic) showing the change of the auxiliary power value PL with respect to the speed v, and the vertical axis indicates the auxiliary power source 2 (Power) Pm, the operating speed N of the auxiliary power source 2 is plotted on the horizontal axis, and a graph line group (Pm-N characteristic) showing the characteristics of the auxiliary power source 2 according to the control parameter E is superimposed. The control means 6 obtains an operating point defined as the intersection of the graph lines at the time of the adjustment, and determines the control parameter E so that the power of the auxiliary power source 2 corresponding to the operating point is obtained. A control signal is sent to auxiliary power source 2. In this case, a positive correlation is found between the operating speed of the auxiliary power source and the speed of the moving device (that is, the direction in which the operating speed of the auxiliary power source increases and the direction in which the speed of the moving device increases). Of course) is recognized.

FIG. 3C is a graph line G of FIG.
0, G1 and the graph line Hi (i = 1, 2,
3) is obtained by aligning the horizontal axis and the vertical axis in the same unit, and then superimposing the points.
1 shows an example of an operating point determined as an intersection of a graph line Hi (i = 1, 2, 3) and a point Qi (i = 1
To 3) are the graph line G0 and the graph line Hi (i = 1, 2,
An example of an operating point determined as an intersection with 3) is shown.

For example, the speed at the operating point P3 is v = v
and the auxiliary power value PL (v
It can be seen that a) can be obtained by setting the motor drive voltage to E = E3.

In this method of calculating the operating point, if a relatively simple mathematical expression as shown in the above [Equation 4] or [Equation 5] is possible, the problem of determining the intersection can be easily solved. Although it can be solved, when the characteristic of the auxiliary power source 2 is a complicated curve, each characteristic value when the control parameter is changed is prepared in advance as a data table, and the table reference and interpolation processing are performed. A method of determining the intersection using the method may be used.

The above-described control methods are briefly summarized as the following procedures (1) to (3).

(1) Detection of the traveling state, traveling posture, or inclination state of the traveling path of the moving device 1 (2) Calculation of the auxiliary power value (3) Calculation of the operating point and drive control of the auxiliary power source 2 according to this.

That is, in (1), the speed v and the acceleration a of the moving device 1 and the inclination state θ of the moving device or the traveling road are detected.

In (2), the velocity v and the inclination information θ
After calculating the power Pv required for maintaining the current speed of the mobile device 1 based on the speed v, and calculating the power Pa required for acceleration of the mobile device based on the speed v and the acceleration a, both powers are calculated. The auxiliary power value PL is obtained by multiplying the sum of the rates by a coefficient value β less than “1”.

For example, the vehicle is moved by detecting the gradient angle of the traveling road and multiplying the sum of the traveling resistance and the frictional resistance according to the gradient angle by the speed of the moving device 1 (see the equation (1)). The power Pv required to maintain the current speed of the device is calculated.

As for the auxiliary power value PL, the auxiliary power value increases as the speed of the moving device increases until the speed v of the moving device 1 reaches a predetermined threshold value. When the speed v exceeds the threshold value, the control is performed so that the auxiliary power value decreases as the speed of the moving device 1 increases (see Expression 4).

Thereafter, in (3), PL (auxiliary power value)
The same unit is used for the graph line showing the -v (speed) characteristic and the graph line group when the control parameter (E) is changed for the Pm (output of the auxiliary power source) -N (operating speed of the auxiliary power source) characteristic. The operating points defined as the intersections of the graph lines are obtained by superimposing with the system. Then, drive control of the auxiliary power source 2 is performed so that the power of the auxiliary power source 2 corresponding to the operating point is obtained.

In the above description, the control parameter (E)
Is the drive voltage of the motor, but the present invention is not limited to this, and a method of controlling the torque T (or force) of the motor may be used. In this case, the relational expression that the motor current “i” is proportional to the torque T and the balance force “F =
M · g · (sin θ + μ · cos θ) ”is a basic formula, and forms a current feedback loop in the motor control circuit. Thereby, as shown in FIG. 4, for example, as shown in the graph lines I0 and I1 when the speed v is plotted on the horizontal axis and the torque T is plotted on the vertical axis, T in the range of 0 ≦ v <va. Is constant, T decreases linearly in the range of “va ≦ v ≦ vb”, and T = 0 when v = vb, and “v> v
In "b", the motor control is performed so that T = 0.
Note that the graph line I0 shows control when the gradient angle θ = 0, and the graph line I1 shows control when the gradient angle θ = θ1 (> 0).

[0042]

5 to 10 show an embodiment in which the present invention is applied to an assisted bicycle.

According to Japanese laws and regulations relating to (electric) assist bicycles, assist control is performed with one-to-one power with respect to the driver's treading force until the vehicle speed reaches 15 km / h, and the vehicle speed is controlled. After the speed exceeds 15 km / h, the speed is gradually reduced, and at 24 km / h or more, the auxiliary power needs to be zero (that is, va = 15 (km / h), vb = 2
4 (km / h). ).

In the assisted bicycle 8 shown in FIG. 5, a motor 10 (corresponding to the auxiliary power source 2) is directly connected to the axle of the rear wheel 9 ', and the motor 10 is controlled by the control unit 11. You. The control unit 11 is fixed to a plate 13 attached to a frame 12, and batteries (such as lithium ion batteries) 14, 14, ..., which are power sources of the motor 10, are similarly fixed to the plate 13. ing.

The assist bicycle 8 has a sensor 15 for detecting the gradient of the road surface, a sensor 16 for detecting the crank rotation, and sensors 17 and 17 'for detecting the operation of the front wheel brake and the rear wheel brake in order to obtain basic information of power control. 5 has one of them
Only 7 'is shown. ) Is provided.

The gradient detecting sensor 15 (corresponding to the above-mentioned inclination detecting means 5) is provided for detecting the inclination of the road surface from the inclination state of the vehicle body. For example, a magnet attached to a pendulum and the magnet And a configuration in which the tilt angle of the pendulum is detected by a Hall element arranged opposite to the pendulum.

The crank rotation detecting sensor 16
It is provided to obtain rotation information (rotation angle, rotation speed, etc.) of the cranks 19, 19 which are rotated by depressing the pedals 18, 18, and is provided near the crank 19 to synchronize with the crank or its rotation. By detecting the rotation of the member to be rotated by a non-contact type sensor (for example, an optical or magnetic rotary encoder, etc.), it is possible to prevent the driver from being burdened with leg force.

Brake operation detection sensors 17, 17 '
Is provided to detect whether or not the driver has operated the brake lever. The sensor 17 is used to detect whether or not the front wheel 9 has been braked, and the sensor 17 'applies the brake to the rear wheel 9'. It is used to detect whether or not it has been applied.

As means for detecting the traveling speed, a motor 10
A rotation detection unit 10a for detecting the rotation state (including the rotation speed) of the motor 10 is provided in the motor 10.

FIG. 6 is a block diagram showing an example of the circuit configuration. The gradient detecting sensor 15, the crank rotation detecting sensor 16, the brake operation detecting sensors 17, 1
The detection signal obtained by 7 'is sent to a computer 20 having a built-in CPU (central processing unit).

The computer 20 includes the gradient detecting sensor 1
5 and the assist power amount (so-called assist amount) is calculated based on the detection signal from the rotation detection unit 10a of the motor 10, and a control signal corresponding to the control characteristic of the motor 10 is generated.
The signal is sent to the motor drive circuit 22 via the WM (pulse width modulation) signal generation logic circuit 21.

The computer 20, the PWM signal generation logic circuit 21, the motor drive circuit 22, and the like are housed in the control unit 11.

The rotation detector 10 provided in the motor 10
a includes a sensor 23 for detecting the rotor position and a sensor 24 for detecting the rotational speed, and the detection signals from these sensors are sent to the computer 20 as information relating to the detection of the rotation state of the motor 10. That is, the rotation speed detecting sensor 24 corresponds to the speed detecting means 3 and the sensor 24
The acceleration detecting means 4 for obtaining the acceleration by the time differentiation of the detection information is realized by software processing in the computer 20. The sensors 23 and 24 can be provided separately. Alternatively, only the detection signal of the rotor position detection sensor 23 is obtained and its time derivative (for example, the passage between two position information by the sensor 23) is obtained. A time detection signal can be obtained by measuring time.

Next, a description will be given of a formula for calculating the auxiliary power required for the calculation processing in the computer 20.

Assuming that the total power of the assist bicycle 8 is "P" (unit: W), the power required for maintaining the speed at the present time is "Pv" and the power required for acceleration is "Pa". (P = Pv + Pa).

For Pv, the mass “M” (= Mf + M)
h, where “Mf” is the mass of the vehicle body, “Mh” is the mass of the driver), the rolling friction coefficient “μ”, the efficiency of the motor drive system “η”, and the speed “v”, Is calculated.

[0057]

(Equation 6)

Note that the efficiency “η” is directly
1 for drives.

Next, for Pa, the initial speed is set to “v0”,
When the time required for acceleration is “t”, the following expression is obtained.

[0060]

(Equation 7)

The above equation is derived from the relationship between kinetic energy, power, and required time.

Regarding the characteristics of the motor 10, as described in the equation (5), T (torque) -N (rotational speed)
When the characteristic is linear, that is, when T decreases as a linear function as N increases, it is expressed by the following equation.

[0063]

(Equation 8)

Incidentally, "N0", "Ts" and the like are as described above.
Is nothing but the expression of each.

When the radius of the wheel is "r" and the power assisted by the motor 10 is "Pm", this is given by the following equation.

[0066]

(Equation 9)

The coefficient “g / 100” on the right side of the above equation
Is a conversion unit between torque units, “Kgf · cm” and “N · m (Newton meter)”.

Accordingly, in consideration of the above-mentioned laws and regulations regarding the auxiliary power, the speed range is divided into three as shown in the following equation, and the auxiliary power value PL is defined as in the following equation.

[0069]

(Equation 10)

In the above equation, “(1/2) · P (va)”
Is the peak value of Pm at v = va.

When “E” is obtained from the first equation of the above equation and the equations [6] to [9], the following equation is obtained.

[0072]

[Equation 11]

That is, “E” is composed of an angle term “A” including the gradient angle θ, a speed term “B” proportional to the speed v, and an acceleration term “C”.

The angle term “A” in the above equation (11) is as shown in the first equation of the following equation (12).
When the angle term A in one speed range is separately shown, the following expression is obtained.

[0075]

(Equation 12)

Note that "A '" is the speed range "15≤v <2".
4 "(unit: km / h).
“A ″” is the speed range “v ≧ 24” (unit: km / h)
Shows the angle term at. As can be seen from Expression 12, when θ is fixed, the angle term is 15 km / h.
Less than 15 km / h and 24 km / h
h, the speed decreases as the speed increases and the speed decreases to 24.
It becomes zero at km / h or more.

The speed term B is proportional to the speed v as shown in the following equation.

[0078]

(Equation 13)

The acceleration term C in the above equation (11) is as shown in the first equation of the following equation (14), and the acceleration terms in the above three speed ranges are as follows.

[0080]

[Equation 14]

In the second equation, "Δv =
v-v0 ", an approximation that ignores the higher-order term, that is, the second-order term" [(Δv) ^ 2] / v "is used. “C ′” is a speed range “15 ≦ v <24” (unit: k
m / h), and “C ″” indicates an acceleration term in a speed range “v ≧ 24” (unit: km / h).

FIGS. 7 to 10 are visualized as graphs by applying specific numerical values to the above formulas.

FIG. 7 is a graph obtained by plotting the above [Equation 10] by taking the speed v (unit: km / h) on the horizontal axis and the power PL (unit: W) on the vertical axis. In this figure, the solid line indicates the case where θ = 0 (°), and the one-dot chain line indicates the case where θ = 3.5 (°).

When the acceleration of the assist bicycle 8 is regarded as a constant acceleration movement from 0 km / h to 10.8 km / h in 5 seconds (it has been confirmed by experiments that the acceleration is practically sufficient), the power of From the above [Equation 6] and [Equation 7] and the like, it can be seen that this is equivalent to climbing a slope having a gradient of 3.5 degrees.

FIG. 8 is a graph illustrating the output characteristics of the motor 10, in which the horizontal axis represents the number of revolutions N (unit: × 10 rpm).
And the vertical axis represents the power Pm (unit: W).

The broken line in the figure shows the case where the motor drive voltage E is the maximum value (100% in percentage), and the two-dot chain line shows the case where the motor drive voltage E is in percentage. Shows the case of 80%.

FIG. 9 shows the speed unit (km / h) on the horizontal axis in FIGS. 7 and 8 (the wheel radius is set to “r” (m)).
The conversion to “v = 2 · π · r · N” (m / s) and the conversion to hourly speed (km / h) are performed. ) By P
The graphs of L and Pm are shown together, and the operating point is determined from the intersection of these graphs as described above.

In FIG. 10, the horizontal axis represents the voltage E (unit: V), and the vertical axis represents the power Pm (unit: W). Substituting 2 equations.)
And the number of rotations N (unit: rpm)
Is a graph line when is changed as a parameter.

Incidentally, the graph line shown by the broken line in FIG.
0 (rpm), and the solid line indicates the N =
The case of 100 (rpm) is shown, and the one-dot chain line shows the case of N = 80 (rpm). Since these are linear with respect to the voltage E, the control is easy.

[0090]

As apparent from the above description, according to the first and second aspects of the present invention, instead of a mechanical torque sensor, detection of speed, acceleration and inclination information of a moving device is performed. The provision of the means facilitates the incorporation of the detection means into the device. In addition, a part of the driver's treading power and the power of the auxiliary power source is not unnecessarily consumed due to the weight of these detecting means, so that it is possible to improve running efficiency and reduce the weight of the device.

According to the third and fourth aspects of the present invention,
By detecting the slope angle of the road and multiplying the sum of the running resistance and the frictional resistance by the speed of the moving device, the power required for the moving device to maintain the current speed can be easily determined. Can be calculated.

According to the fifth to eighth aspects of the present invention, when the speed of the moving device exceeds a certain threshold, control is performed such that the auxiliary power value decreases as the speed of the moving device increases. The speed of the device can be limited so as not to be too fast.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a basic configuration according to the present invention.

FIG. 2 is an explanatory diagram modeling and showing a situation in which a moving device having a mass M climbs a slope having a slope angle θ.

FIG. 3 is a schematic graph for explaining a control method.

FIG. 4 is a schematic graph showing an example of torque control.

5 shows an embodiment in which the present invention is applied to an assisted bicycle together with FIGS. 6 to 10, and FIG. 5 is a side view schematically showing the assisted bicycle.

FIG. 6 is a block diagram illustrating an example of a circuit configuration.

7 is a graph showing a control example together with FIG. 8 to FIG. 10, and this figure is a diagram showing a power assisting amount (PL) -speed (v) characteristic.

FIG. 8 is a diagram showing a power (Pm) -rotational speed (N) characteristic of a motor.

FIG. 9 is a diagram showing both graphs together with the vertical and horizontal axes of FIGS. 7 and 8 being the same unit.

FIG. 10 is a diagram showing a power (Pm) -drive voltage (E) characteristic of a motor.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Moving apparatus, 2 ... Auxiliary power source, 3 ... Speed detection means, 4
... acceleration detecting means, 5 ... inclination detecting means, 6 ... control means,
7 ... Main power

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Naomasa Sato 6-7-35 Kita-Shinagawa, Shinagawa-ku, Tokyo Inside Sony Corporation (72) Inventor Hiroki Sunaguchi 6-35, Kita-Shinagawa, Shinagawa-ku, Tokyo No. Sony Corporation (72) Inventor Shoji Tanina 6-7-3 Kita Shinagawa, Shinagawa-ku, Tokyo Inside Sony Corporation

Claims (8)

[Claims] 1. A moving device provided with an auxiliary power source for assisting a part of main power required for moving, (a) speed detecting means for detecting a speed of the moving device, and an acceleration of the moving device (B) detection by the speed detection means, acceleration detection means, and inclination detection means. A control means for calculating an auxiliary power value based on the information and controlling the auxiliary power source; (c) the control means controls the current state of the mobile device based on the detection information from the speed detection means and the inclination detection means. After calculating the power required to maintain the speed of the vehicle, and calculating the power required to accelerate the moving device based on the detection information from the speed detecting means and the acceleration detecting means, the sum of the two powers is calculated. " Determining the auxiliary power value by multiplying the auxiliary power value by a coefficient value less than 1 "; A graph line group showing the characteristics of the auxiliary power source according to the change of the control parameter by taking the output (power) of the auxiliary power source on the vertical axis and the operating speed of the auxiliary power source on the vertical axis. A control signal is sent from the control means to the auxiliary power source so that the control means obtains an operating point defined as the intersection of the graph lines when the control power is superimposed and the power of the auxiliary power source corresponding to the operating point is obtained. A mobile device with an auxiliary power source. 2. A method for controlling a moving device provided with an auxiliary power source for assisting a part of a main power required for movement, comprising: (a) a speed, an acceleration of the moving device, and an inclined state of the moving device or a traveling path; After detecting (b), the power required to maintain the current speed of the moving device is calculated based on the speed and inclination information detected in (b), and the moving device is calculated based on the speed and acceleration information. After calculating the power required for acceleration of the vehicle, an auxiliary power value is obtained by multiplying the sum of the two powers by a coefficient value less than “1”. The axis of abscissa represents the speed on the abscissa, the graph shows the change of the auxiliary power value with respect to the speed, the ordinate the output (power) of the auxiliary power source, and the abscissa the operating speed of the auxiliary power source. To show the characteristics of the auxiliary power source according to the change of the control parameter. Obtaining an operating point defined as the intersection of the graph lines when the rough line group is superimposed, and controlling the auxiliary power source so as to obtain the power of the auxiliary power source corresponding to the operating point; A method for controlling a moving device having an auxiliary power source. 3. The moving device provided with the auxiliary power source according to claim 1, wherein the inclination detecting means detects an inclination angle of the traveling path and calculates a sum of a traveling resistance and a friction resistance according to the inclination angle. A mobile device with an auxiliary power source, characterized in that the control means calculates the power required to maintain the current speed of the mobile device by multiplying the speed of the mobile device. 4. The method for controlling a moving device provided with an auxiliary power source according to claim 2, wherein a gradient angle of the traveling path is detected and the vehicle is moved to a sum of a traveling resistance and a frictional resistance according to the gradient angle. A method of controlling a mobile device with an auxiliary power source, wherein the power required to maintain the current speed of the mobile device is calculated by multiplying the speed of the device. 5. A mobile device with an auxiliary power source according to claim 1, wherein the auxiliary power value increases as the speed of the mobile device increases until the speed of the mobile device reaches a predetermined threshold. When the speed of the moving device exceeds the threshold value, the control of the auxiliary power source is performed such that the auxiliary power value decreases as the speed of the moving device increases. A moving device with an auxiliary power source. 6. A mobile device with an auxiliary power source according to claim 3, wherein the value of the auxiliary power increases as the speed of the mobile device increases until the speed of the mobile device reaches a predetermined threshold. When the speed of the moving device exceeds the threshold value, the control of the auxiliary power source is performed such that the auxiliary power value decreases as the speed of the moving device increases. A moving device with an auxiliary power source. 7. The control method for a mobile device provided with an auxiliary power source according to claim 2, wherein the auxiliary power value is equal to the speed of the mobile device until the speed of the mobile device reaches a predetermined threshold value. And an auxiliary power source characterized in that when the speed of the mobile device exceeds the threshold value, the auxiliary power value is controlled to decrease as the speed of the mobile device increases. Mobile device control method. 8. The control method for a mobile device provided with an auxiliary power source according to claim 4, wherein the auxiliary power value is equal to the speed of the mobile device until the speed of the mobile device reaches a predetermined threshold value. And an auxiliary power source characterized in that when the speed of the mobile device exceeds the threshold value, the auxiliary power value is controlled to decrease as the speed of the mobile device increases. Mobile device control method.