JPH11351947A - Moving unit with auxiliary power source, method for detecting mass of vehicle with the unit and method for controlling the unit - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect an overall mass of a vehicle having a moving unit from detected information of its motion in the unit having an auxiliary power source. SOLUTION: The moving unit 1 has an auxiliary power source SS for a main power source MS, and moves together with a drive subject of the power source MS. An acceleration 'at' of a vehicle (moving object having the unit 1 and the subject) of the case of driving the power source SS by a predetermined force 'Fa' and an acceleration 'αn' of the vehicle of the case of driving the power source SS by a force 'Fa'' different from the force 'Fa' are detected. An overall mass 'M' of the vehicle is calculated as a value of a ratio of dividing a difference 'Fa-Fa'' of the force by the power source SS by difference information 'αt-αn' of the accelerations, an auxiliary power value is obtained from this, and the power source SS is controlled.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique for detecting the mass of a moving object including a moving device having an auxiliary power source and calculating an auxiliary power value.

[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.

When calculating the auxiliary power value from the detection information of the moving speed and acceleration of the bicycle, the mass of the vehicle body, the weight of the driver, or the total mass of the moving object including the luggage loaded on the bed is grasped. For example, a method is known in which the mass of the vehicle body is known, and the mass of the driver or the like is notified to the device by key operation input, and the total mass is obtained by addition calculation.

[0004]

However, in the above-described method, the input operation required for calculating the total mass including the vehicle body and the driver is troublesome, and the accuracy of the mass is lacking. There is a risk of doing so.

[0005] That is, in a mobile device such as an assisted bicycle used by an unspecified driver, if the weight of the driver is input one by one, the usability is deteriorated.

However, if a dedicated sensor for detecting the weight is attached to the device, the weight of the vehicle body increases and the cost increases.

SUMMARY OF THE INVENTION It is an object of the present invention to detect the total mass of a moving object including a moving device from detection information of its motion state in a moving device provided with an auxiliary power source.

[0008]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides an auxiliary power source having a predetermined force "F".
a), the acceleration “αt” of the moving body (moving object including the moving device and the driving subject) and the auxiliary power source are driven by a force “Fa ′” different from the force “Fa” (Fa). ′
= 0. ), Acceleration detecting means for detecting the acceleration “αn” of the moving object, and acceleration difference information “αt−α
By dividing the difference "Fa-Fa '" of the force applied to the auxiliary power source by "n", the total mass "M" of the moving body is calculated, the auxiliary power value is obtained from this, and the control signal is sent to the auxiliary power source. Control means.

Therefore, according to the present invention, the total mass of the moving body can be calculated from the difference in acceleration when the driving force of the auxiliary power source is changed and the difference in acceleration.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a diagram illustrating the principle of mass detection according to the present invention.

The moving device 1 has an auxiliary power source SS for assisting a part of the main power required for the movement. For example,
In the case of (electric) assisted bicycles, the motor is the auxiliary power source for the leg power, which is the main power. In the case of a wheelchair or bogie with an auxiliary motor, the motor is the power for the arm power, which is the main power. The motor is the auxiliary power source.

Note that the sum of the mass of the moving device 1 and the mass of the driving entity of the main power source (eg, driver, animal, robot device, etc.), that is, the total mass is "M".

FIG. 1A shows a moving device 1 and a main power source M.
FIG. 6 conceptually shows a motion state in a case where the auxiliary power source SS is not used in the driving body of S, and the force “Fp”
Indicates the thrust (advancing) force by the main power source MS, and “αn” indicates the acceleration at that time. For example, in the case of an assisted bicycle, the main power source MS is the driver's leg and “F
“p” is the thrust by human power, and “αn” is the acceleration by human power.

FIG. 1B conceptually shows a motion state when the auxiliary power source SS is used in the moving body, wherein a force "Fa" indicates a thrust by the auxiliary power source SS, “Αt” indicates the acceleration due to the resultant thrust “Fp + Fa”.

The equations of motion for the states shown in FIGS. 1A and 1B are as follows.

[0016]

(Equation 1)

Focusing on the fact that the thrust Fp can be considered to be substantially constant when the on / off control of the driving of the auxiliary power source SS is repeated within a short time, the above equation (1) is used. By eliminating Fp from the first and second equations, and solving the simultaneous equations for the total mass M, the following equation is obtained.

[0018]

(Equation 2)

Therefore, the total mass M is represented by Fa and “αt−αn”.
Can be obtained from That is, the total mass M can be calculated based on Fa which can be known at the time of controlling the auxiliary power source SS, and acceleration information obtained by the motion state detecting means including the moving device 1. In addition, thrust F
As for a, it is necessary to determine in advance a range in which “αt−αn” can be sufficiently detected.

In the above description, "Fa = 0" (no power assist) for convenience of explanation in FIG. 1A, but the value of Fa is set to a value different from Fp, "Fa '". From the comparison between the motion state in the case and the motion state in FIG. 1B, it is also possible to calculate the total mass M by also eliminating “Fp” from the equation of motion while keeping “Fp” constant. That is, in this case, the first expression in the above [Equation 1] is “Fp +
Fa ′ = M · an ”, and the result of solving the simultaneous equations for M is as follows.

[0021]

(Equation 3)

Accordingly, the total mass M can be obtained from the ratio of “Fa−Fa ′” to “αt−αn” (that is,
The equation in which Fa '= 0 in Equation 3 is the same as Equation 2. ).

The auxiliary power source is operated for a short time with a force "F".
When the acceleration information αt and αn when driving alternately with “a” and “Fa ′” are detected, the above-mentioned temporal fluctuation of the force Fp can be almost ignored, and the force Fp is constant in a short time. Therefore, it is effective to increase the accuracy of mass detection. Also, as can be seen from the derivation process of the above [Equation 3], "Fp = 0" (where Fa, Fa '
(0), but to avoid the problem caused by the situation where only the auxiliary power acts on the moving body without applying the main power, the auxiliary power moves only at “Fp ≠ 0”. It is preferable to perform control so as to act on the body.

FIG. 2 is an explanatory view showing the basic structure of the moving device according to the present invention. The moving device 1 has an auxiliary power source 2 and
It moves together with the driving entity of the main power source.

The moving device 1 is provided with speed detecting means 3 for detecting the speed, and acceleration detecting means 4 for detecting the acceleration of the moving device 1. 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 information and sending the acceleration to the control means 6 is advantageous in terms of simplification of the configuration, cost reduction, and the like.

In detecting the total mass "M" of the moving object including the driving device of the moving device 1 and the main power 7, the acceleration detecting means 4 detects the following acceleration.

(I) The auxiliary power source is set to a predetermined force "F
acceleration of the moving object when driven by "a" (ii) (ii) when the auxiliary power source is driven by "Fa '" (@Fa) (including the case where Fa' = 0) Acceleration “αn”.

The control means 6 obtains the acceleration difference information "αt-αn" and divides the acceleration difference information "Fa-Fa '" according to the above equation (3). Equation), and calculate the total mass “M” of the moving object,
An auxiliary power value required for assisting the main power 7 is calculated based on the mass “M”, and a control signal for obtaining the value is sent to the auxiliary power source 2. The mass detecting (or calculating) means for detecting the total mass “M” of the moving object is included in the control means 6 in this case, but the mass detecting means may be provided separately from the control means 6. The good thing is, of course.

In detecting the total mass "M", for example, the following method can be used.

(I) Method of detecting during acceleration of moving object (II) Method of detecting during deceleration of moving object

First, the method (I) will be described with reference to FIG. Note that FIG. 3 shows an example of the motion with the time “t” on the horizontal axis and the speed “v” of the moving body on the vertical axis.

A point P1 in the figure indicates a point at which the speed at time t = t1 is set to v = v1, and indicates a time point at which the movement distance "s1" has been moved from the starting point of the position at t = 0. . In addition, the speed of the point P2 at time t = t2 (> t1) is v =
v2 (> v1), and indicates a point in time when the position has moved by a movement distance "s2" from the starting point of the position at t = 0.

When an equation of motion is established for each of the two points P1 and P2, the following equation is obtained.

[0034]

(Equation 4)

In the above equation, the variable "αi" (i = 1,
2), “Fi” (i = 1, 2) and the like are as follows.

Αi = (acceleration at point Pi (i = 1, 2)) Fi = (force at point Pi (i = 1, 2)) M = (total mass of moving body) R = (frictional resistance or Running resistance).

In the above equation [Equation 4], the force Fi is expressed as “Fi =
Fhi + Fmi ”(where“ Fhi ”is the point Pi (i = 1, 2)
At the point Pi (i =
1 and 2). ) And Δ
In the period of t = t2−t1, assuming that Fh1 and Fh2 are substantially equal, the total mass M is as follows.

[0038]

(Equation 5)

Here, the period of 0 ≦ t <t1 or the time t1 ≦ t <t
If the motion is smooth in the period of 2 and can be regarded as a uniform acceleration linear motion, a period (T1) of 0 ≦ t <t1
For “α1 = [(v1) ＾ 2] / (2 · s1)”
(However, “X ＾ 2” means the square of X.) A relational expression of “α2 = [(v2) ＾ 2− (t2) is satisfied for a period (T2) where t1 ≦ t <t2. v1) ＾ 2] / [2 ·
(S2−s1)] ”, the following equation is obtained by substituting these into the equation (5).

[0040]

(Equation 6)

Accordingly, the total mass M can be obtained by measuring the speed v1 at the time of the movement distance s1, and then measuring the speed v2 at the time of the distance s2 after changing the force.
The forces “Fm1, Fm2” can be known from the control value of the auxiliary power source 2 by the control means 6.

As described above, when the moving body is accelerated, the moving distance "s1" and the speed "v1" of the moving body when the auxiliary power source 2 is driven by the force "Fm1" are detected. The moving distance “s2” and the speed “v2” of the moving body when the source 2 is driven by the force “Fm2 (≠ Fm1)” are detected, and acceleration difference information is calculated from these information. By dividing the difference “Fm1−Fm2”, the total mass “M” of the moving object can be easily calculated.

Next, the method (II) will be described with reference to FIG. Note that FIG. 4 shows an example of the movement with time “t” on the horizontal axis and speed “v” of the moving body on the vertical axis.

A point P0 shown in the figure indicates a point in time when t = t0 and v = v0, and a point P1 when t = t1 (> t0) and v = v0.
1 (<v0).

As shown in the drawing, after the acceleration movement in the period "0≤t <t0", the vehicle is decelerated in the period "t0≤t <t1" (mass detection is performed here), and thereafter, t≥t1. Then the moving object is accelerated again.

If Δt = t1−t0, and Δt is a minute time, the deceleration movement in the period “t0 ≦ t <t1” can be regarded as a constant acceleration linear movement, and the acceleration at that time is referred to as “acceleration linear movement”. a ", the following equation is established.

[0047]

(Equation 7)

For the equation of motion “F = M · a”, “F
= Fm−Fr ”(where“ Fm ”is the force from the auxiliary power source 2,“ Fr ”is the frictional resistance during the period t0 ≦ t <t1, that is, the friction coefficient is“ μ ”, and the gravitational acceleration is“ g ”. In this case, “Fr = μ · M · g” is respectively assigned.) To obtain a, and this is substituted into the above equation [Equation 7] to perform the equation transformation on “M”. It looks like an expression.

[0049]

(Equation 8)

That is, the mass M can be obtained from the above equation by measuring the speeds v0 and v1 with Δt being the measurement target time and g being a known value.

The value of μ can be obtained from the following equation obtained as “Fm = 0” (ie, when power assist is not performed during deceleration) in the above equation (8).

[0052]

(Equation 9)

As described above, when the moving body is decelerated, the speed "v0" at the deceleration start time "t0" when the auxiliary power source 2 is driven by the force "Fm" and the speed "v0" at the deceleration end time "t1" The speed "v1" is detected, speed difference information "v1-v0" is calculated from the information, and the acceleration (Fr / M) of the frictional force or running resistance is multiplied by the time difference "t1-t0". In addition to the speed difference information, the force "Fm"
By dividing the product of the time difference "t1-t0" and the time difference "t1-t0", the total mass "M" of the moving object can be easily calculated.

At this time, the force “Fm” of the auxiliary power source 2
Since the friction coefficient “μ” can be calculated from the speed difference information “v1−v0” and the measurement time “t1−t0” when “0” is zero, the moving device 1 and the traveling path can be calculated. Can cope with changes in frictional force.

Since the traveling path of the moving device 1 is not always flat, it is necessary to provide an inclination detecting means 5 for detecting the inclination of the moving device 1 or the traveling path as shown in FIG. Is preferred. The inclination detection includes 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 moving body to maintain the current speed (hereinafter, referred to as "Pv") is calculated, and The speed detecting means 3 and the acceleration detecting means 4
After calculating the power required for accelerating the moving body (hereinafter, referred to as “Pa”) based on the detection information from, the sum of both powers “Pv + Pa” is a coefficient value less than “1” ( Hereinafter, this is multiplied by “β” (0 <β <1) to obtain an auxiliary power value (PL = β · (Pv + Pa)).

For example, as shown in FIG. 5, a model in which a moving body MB having a mass “M” is traveling on a slope S having a slope angle “θ” will be described. g "
Component “M · g · sinθ” and component component “M · g · cos
The frictional force is obtained by multiplying the drag “n” in the opposite direction equal to “θ” by the friction coefficient “μ”. In other words, as shown by the arrow A in FIG. 3, when the moving body MB goes uphill, the magnitude (F) of the balancing force required to maintain the current speed is “M”.
G · (sin θ + μ · cos θ) ”, and the moving object M
Assuming that the speed of B is “v”, the power Pv in this case is as follows.

[0058]

(Equation 10)

As described above, the control means 6 includes the inclination detecting means 5
Is calculated based on the total mass M of the moving body, and the calculated result is multiplied by the speed v of the moving body. , Calculate the power Pv required for the moving body to maintain the current speed.

Further, if the acceleration is “α”, the power Pa required for accelerating the moving body is as follows.

[0061]

[Equation 11]

Accordingly, the auxiliary power value PL is obtained as shown in the following equation.

[0063]

(Equation 12)

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

According to the equations [10] to [12], the auxiliary power value PL is an amount proportional to the speed v and increases as the speed v increases. From the point when the speed v exceeds a certain value, the auxiliary power value PL
It is also possible to control to gradually reduce. In other words, in this case, the auxiliary power value increases linearly or curvedly as the speed of the moving object increases until the speed of the moving object reaches a predetermined threshold value. When the speed exceeds the threshold value, the driving control of the auxiliary power source 2 is performed by the control means 6 so that the auxiliary power value decreases linearly or in a curve as the speed of the moving body increases. Is eventually limited to a plateau (that is, no extra power assistance is provided).

FIG. 6A 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. The solid line graph line G0 indicates the 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.

[0068]

(Equation 13)

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 set to "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.

[0071]

[Equation 14]

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.

6 (A) and 6 (B), when their horizontal axes are compared, the moving speed v and the rotating 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 both Pm and Pm have the dimension of power, FIG.
By taking the vertical and horizontal axes of (A) and FIG. 6 (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 auxiliary power source 2 is plotted on the vertical axis. (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. 6C is a graph line G of FIG.
0, G1 and a 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 them. A point Pi (i = 1 to 4) is represented by a graph line G.
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 13] or [Equation 14] 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 can be briefly summarized as the following procedures (1) to (4).

(1) Detection of the mass of the moving body MB (2) Detection of the running state, running posture, or inclination state of the running path of the moving body MB (3) Calculation of the auxiliary power value (4) Calculation of the operating point and according to this Drive control of auxiliary power source 2.

That is, the mass detection in (1) is as described above.

In (2), the speed v and acceleration a of the moving body MB and the inclination state θ of the moving device or the traveling path are detected.

In (3), the power Pv required for the moving body MB to maintain the current speed is calculated based on the mass M, the speed v, and the inclination information θ, and the mass M, the speed v, After calculating the power Pa required for acceleration of the moving body MB based on the acceleration a, the auxiliary power value PL is obtained by multiplying the sum of the two powers by a coefficient value β less than “1” (Equation 10). Equation, Equation [11]).

Further, regarding the auxiliary power value PL, the moving body M
Until the speed v of B reaches a predetermined threshold, the auxiliary power value increases as the speed of the moving body increases,
When the speed v of the moving object MB exceeds the threshold, control is performed so that the auxiliary power value decreases as the speed of the moving object increases (see Expression 13).

Thereafter, in (4), 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, the control parameter (E) is determined so that the power of the auxiliary power source 2 corresponding to the operating point is obtained, and the driving control of the auxiliary power source is performed.

It is needless to say that the procedure (1) may be performed in parallel with the procedure (2).

In the above description, the control parameter (E) is the motor drive voltage. However, the present invention is not limited to this, and a method of controlling the motor torque T (or force) may be used. In this case, the relational expression that the motor current “i” is proportional to the torque T and the balancing force “F = M · g · (sin θ + μ · cos θ)” for the running resistance and the like are the basic formulas. Form a feedback loop. Thereby, for example, as shown in FIG. 7, when the speed v is plotted on the horizontal axis and the torque T is plotted on the vertical axis, as shown in the graph lines I0 and I1, T is within the range of 0 ≦ v <va. Is constant, and T is within the range of “va ≦ v ≦ vb”.
Decreases linearly and becomes 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).

[0087]

8 to 16 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 relative 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. 8, 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 rotation of the crank, 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. 8 has one of them
Only 7 'is shown. ) Is provided.

The gradient detecting sensor 15 (corresponding to the above-mentioned tilt detecting means 5) is provided for detecting the gradient of the road surface from the tilting 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 is
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 a 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. 9 is a block diagram showing an example of the circuit configuration. The above-described gradient detection sensor 15, crank rotation detection sensor 16, brake operation detection sensor 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 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 3 for obtaining the acceleration by the time differentiation of the detection information by the computer 20 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 procedure for detecting the total mass including the assist bicycle 8 and the driver (processing procedure in the mass detection mode) will be described.

Regarding the method of performing mass detection during acceleration of the assist bicycle 8, the basic equations are as shown in equations [4] to [6]. In this case, for the frictional resistance “R = μ · M · g” in the equation (4), “μ” is a rolling friction coefficient, and “Fhi” (i = 1, 2) is an operation. The pedaling force “Fmi” (i = 1, 2) of the driver is the force of the motor 10.

FIG. 10 is a flowchart showing an example of the procedure for detecting the mass. The exercise state of the assist bicycle 8 is as shown in FIG. In FIG. 3, the period T1 is a period of “0 ≦ t <t1”, and the period T2 is a period of “t1 ≦ t <t2”.
And the period T3 is a period of “t ≧ t2”.

First, in step S1, the mass of the vehicle body in the period T1 or a value obtained by adding a provisional mass obtained by adding the standard weight of the driver to the mass is provisionally set as the mass M, and the above is set. Thus, the drive control of the motor 10 is performed by calculating the auxiliary power value.

In the next step S2, it is determined whether or not the moving distance "s" has reached the above-mentioned "s1". The detection of the moving distance "s" can be calculated from the diameter of the wheel and the number of rotations of the wheel (or the motor 10).

Then, when "s = s1",
In the next step S3, time measurement and speed measurement for t = t1 are performed to obtain "v1". This speed can be calculated from the diameter of the wheel and the rotation speed of the wheel (or the motor 10).

In the next step S4, the auxiliary power value by the motor 10 is reduced in the period T2, or the power assistance by the motor 10 is not performed at all, and then the process proceeds to step S5.

In step S5, it is determined whether or not the movement distance "s" has reached the above-mentioned "s2". If "s = s2", the flow advances to the next step S6, where t = t2 Time measurement and speed measurement are performed to obtain “v2”.

In the next step S7, the mass M is calculated from the above equation [Equation 6].

Then, in the subsequent period T3, as shown in step S8, the auxiliary power value by the motor 10 is calculated based on the calculated mass M, and the normal power auxiliary control (that is, the power control based on the correct mass) is performed. ) Is performed.

The brake operation detecting sensors 17, 1
After the stop of the assist bicycle 8 is detected based on the information from the rotation detector 7a and the rotation detector 10a of the motor 10, when the bicycle is taken out again, there is no guarantee that the previous mass is the same as the current mass. Therefore, it is preferable that mass detection be performed again (for example, when an object is loaded on the carrier).

According to the above method, the frictional resistance R is eliminated when the mass is obtained from the equation of motion as shown in the above [Equation 4] and [Equation 5]. There is an advantage that the mass measurement is performed in the first row when the bicycle starts and the assist control based on the correct mass value can be performed from the second row.

Next, a method of performing mass detection during deceleration of the assist bicycle 8 will be described. In this case, the basic expressions are as shown in Expressions 7 to 9. still,
“Μ” in “Fr = μ · M · g” according to [Equation 7]
Is the rolling friction coefficient. [Equation 8], when the shaft torque of the motor 10 is “T” and the radius of the wheel is “r”, the following expression is obtained (∵T = Fm ·
r).

[0112]

(Equation 15)

FIG. 11 is a flowchart showing an example of the mass detection procedure. The exercise state of the assist bicycle 8 is as shown in FIG.

FIG. 12 shows the exercise state of the assist bicycle 8 with the horizontal axis representing time “t” and the vertical axis representing the moving speed “v”. 10
("ON" indicates a state with assist, "OFF" indicates a state without assist, and "CONST" indicates a state with a constant assist amount).

As shown, during the period of “t1 ≦ t <t2”, “t3 ≦ t <t4” and “t ≧ t5”, the motor 1
0 (the driver applies a force to the rear wheel by stepping on the pedal and the power assist by the motor 10 is effective), and during the period of “t2 ≦ t <t3”, no assist by the motor 10 is provided. Is not performed, and “t4 ≦ t <t
In the period “5”, the assist amount is set to a constant value. FIG.
When FIG. 12 is compared with FIG. 12, “t0 ≦ t <
The period of “t1” corresponds to the period of “t2 ≦ t <t3” or “t4 ≦ t <t5” in FIG.

First, in step S1 of FIG. 11, during the period "t1≤t <t2", the mass of the vehicle body or a value obtained by adding a provisional mass of the standard weight of the driver to the mass is provisionally set as the mass M. Then, the drive power of the motor 10 is controlled by calculating the auxiliary power value as described above.

In the next step S2, it is determined based on the detection information from the crank rotation detecting sensor 16 whether the driver is depressing the pedal and applying a pedaling force to the crank.

When the driver stops applying force to the crank (t = t2), the process proceeds to step S3. After measuring the time t2 and the speed v2 at that time, the process proceeds to step S3.
Proceed to 4.

In step S4, the period “t2 ≦ t <t
The assist amount of the motor 10 in "3" is set to zero.

Then, in the next step S5, it is determined whether or not the driver has depressed the pedal and exerted a pedaling force on the crank based on the detection information from the crank rotation detecting sensor 16.

Then, when the driver starts applying force to the crank (t = t3), the process proceeds to step S6, and the time t
After measuring 3 and the speed v3 at that time, the process proceeds to step S7.

In step S7, the period “t3 ≦ t <t
In step 4, similarly to the previous step S <b> 1, an auxiliary power value based on the provisional mass value is calculated, and the power is assisted by the motor 10.

In the next step S8, a rolling friction coefficient "μ" is calculated. That is, in the above equation (9),
The value μ is calculated as “v0” as “v2”, “v1” and “v3”, and “Δt = t3−t2”.

In step S9, it is determined whether or not the driver has depressed the pedal to apply a pedaling force to the crank, based on the detection information from the crank rotation detecting sensor 16.

When the driver stops applying force to the crank (t = t4), the process proceeds to step S10. After measuring the time t4 and the speed v4 at that time, the process proceeds to step S11, where the period "t4 ≦ During t <t5, a small and constant output is generated by the motor 10 (see the torque T in Expression 15), and the assist amount is controlled to be a predetermined constant value.

In the next step S12, it is determined whether or not the driver depresses the pedal and applies a pedaling force to the crank based on the detection information from the crank rotation detecting sensor 16.

Then, when the driver starts applying force to the crank (t = t5), the process proceeds to step S13, and the time t5 and the speed v5 at that time are measured.

In the next step S14, the mass M is calculated based on the above equation (15). That is, in the equation (15), “v0” is set to “v4”, “v1” and “v5” are set, and “Δt = t5−t4”, and the total mass M is calculated using the μ value obtained in the previous step S8. calculate.

In the subsequent period “t ≧ t5”, as shown in step S15, an auxiliary power value by the motor 10 is calculated based on the mass M calculated in the previous step, and normal power auxiliary control is performed.

This method has the advantage that the time interval of measurement is relatively long, and that accurate mass measurement can be performed in consideration of the measured value of the friction coefficient μ.

Next, a description will be given of a formula for calculating the auxiliary power required for the calculation processing in the computer 20 in step S8 in FIG. 10 and step S15 in FIG.

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

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

[0134]

(Equation 16)

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

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

[0137]

[Equation 17]

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.

[0140]

(Equation 18)

Note that “N0”, “Ts”, etc. are as described above, and the above equations (2) and (3) express the first equation by T or E
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 expressed by the following equation.

[0143]

[Equation 19]

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

Therefore, in consideration of the above-mentioned regulations on 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.

[0146]

(Equation 20)

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

The first equation of the above equation and [Equation 16] to [Equation 1]
9] When “E” is obtained from the equation, the following equation is obtained.

[0149]

(Equation 21)

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 [21] is as shown in the first equation of the following equation [22].
When the angle term A in one speed range is separately shown, the following expression is obtained.

[0152]

(Equation 22)

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 22, when θ is constant, 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.

[0155]

(Equation 23)

The acceleration term C in the above equation (21) is as shown in the first equation of the following equation (24), and the acceleration terms in the above three speed ranges are as follows.

[0157]

(Equation 24)

It should be noted that, 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. 13 to 16 are visualized as graphs by applying specific numerical values to the above formulas.

FIG. 13 shows the velocity v (unit: km / h) on the horizontal axis.
And the vertical axis represents the power PL (unit: W),
[Mathematical formula-see original document] The above [Equation 20] is graphed, and the solid line in the figure shows the case where [theta] = 0 ([deg.]).
The graph line indicated by the dashed line indicates the case where θ = 3.5 (°).

If 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 (experimentally confirmed that the acceleration is sufficient for practical use), From the above [Equation 16] and [Equation 17] and the like, it can be understood that this is equivalent to climbing a slope having a gradient of 3.5 degrees.

FIG. 14 is a graph illustrating the output characteristics of the motor 10, in which the horizontal axis represents the number of rotations N (unit: × 10 rp).
m) and the vertical axis represents the power Pm (unit: W).

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

FIG. 15 shows the unit of speed (km / h) on the horizontal axis of FIGS. 13 and 14 (the wheel radius is set to “r”).
As (m), a relationship of “v = 2 · π · r · N” (m / s) and conversion to an hourly speed (km / h) are performed. ), The graph lines of PL and Pm are shown together,
As described above, the operating point is determined from the intersection of these graph lines.

In FIG. 16, the horizontal axis represents the voltage E (unit: V), and the vertical axis represents the power Pm (unit: W). This is a graph obtained by substituting 2 equations), and the number of rotations N (unit: r)
pm) as a parameter.

Note that the graph line shown by the broken line in the figure is N = 15.
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.

[0167]

As is apparent from the above description, according to the first and second aspects of the present invention, the difference between the force when the driving force of the auxiliary power source is changed and the difference between the acceleration Since the total mass of the moving body can be calculated from, the input operation for the total mass including the vehicle body and the driver is unnecessary, and the mass detection of the moving body can be accurately performed.

According to the third aspect of the present invention, by driving the auxiliary power source alternately with the forces "Fa" and "Fa '" for a short period of time, the main power during this period is regarded as substantially constant. Can be.

According to the fourth to sixth aspects of the present invention, it is possible to quickly detect the total mass of the moving body during acceleration in starting or restarting the moving apparatus.

According to the seventh to ninth aspects of the present invention, by detecting the total mass of the moving body during the deceleration of the moving device, it is possible to prevent an adverse effect on the acceleration control.

According to the tenth and fourteenth aspects, the provision of the means for detecting the speed, acceleration and inclination information of the moving device eliminates the need for a heavy mechanical torque sensor. 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 eleventh and fifteenth aspects, the intersection of the graph line indicating the auxiliary power value-speed characteristic and the graph line group indicating the operating speed-speed characteristic of the auxiliary power source is determined, thereby obtaining the auxiliary power value. An operating point (control point) that defines the operating state of the source can be easily calculated.

According to the twelfth and thirteenth aspects, the total mass of the moving body is detected, and the power required to maintain the current speed of the moving body and the moving power of the moving body are determined based on the mass value based on a proportional calculation. The power required for acceleration can be easily obtained.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating the principle of detecting the mass of a moving object according to the present invention.

FIG. 2 is an explanatory diagram of a basic configuration of a mobile device according to the present invention.

FIG. 3 is a graph for explaining mass detection during acceleration.

FIG. 4 is a graph for explaining mass detection during deceleration.

FIG. 5 is an explanatory diagram modeling and showing a situation in which a moving body MB having a mass M climbs a slope having a slope angle θ.

FIG. 6 is a schematic graph for explaining a control method.

FIG. 7 is a schematic graph showing an example of torque control.

8 shows an embodiment in which the present invention is applied to an assisted bicycle together with FIGS. 9 to 16, and FIG. 8 is a side view schematically showing the assisted bicycle.

FIG. 9 is a block diagram illustrating an example of a circuit configuration.

FIG. 10 is a diagram for explaining mass detection during acceleration together with FIG. 3, and FIG. 10 is a flowchart showing an example of a detection procedure.

11 is a diagram for explaining mass detection at the time of deceleration together with FIG. 12, and FIG. 11 is a flowchart illustrating an example of a detection procedure.

FIG. 12 is a graph showing an example of the exercise state of the assist bicycle.

FIG. 13 is a graph showing a control example together with FIGS. 14 to 16; FIG. 13 is a graph showing a power assisting amount (PL) -speed (v) characteristic;

FIG. 14 is a diagram showing a power (Pm) -rotational speed (N) characteristic of a motor.

FIG. 15 is a diagram showing both graphs together with the vertical and horizontal axes of FIGS. 13 and 14 being the same unit.

FIG. 16 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

 ────────────────────────────────────────────────── ─── 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 Tanana 6-7-35 Kita Shinagawa, Shinagawa-ku, Tokyo Inside Sony Corporation

Claims (15)

[Claims] 1. A moving apparatus which moves together with a driving body of a main power source necessary for the movement and has an auxiliary power source for assisting a part of the main power, wherein the auxiliary power source is predetermined. When the acceleration “αt” of the moving body including the moving device and the driving subject when driven by the force “Fa”, and when the auxiliary power source is driven by a force “Fa ′” different from the force “Fa” (Fa) ′ = 0) and acceleration detection means for detecting the acceleration “αn” of the moving object, and acceleration difference information “αt obtained from the acceleration detection means”
−αn ”, by dividing the difference“ Fa−Fa ′ ”of the force related to the auxiliary power source to calculate the total mass“ M ”of the moving body, and calculate the auxiliary power value based on the mass“ M ”. And a control means for calculating and sending a control signal to the auxiliary power source. 2. A moving apparatus which moves together with a driving body of a main power source necessary for the movement and has an auxiliary power source for assisting a part of the main power, including the moving apparatus and the driving body. In the method of detecting the mass of a moving body including a moving device for detecting the total mass “M” of the body, the moving device and the driving subject when the auxiliary power source is driven by a predetermined force “Fa” The acceleration of the moving body when the auxiliary power source is driven by a force “Fa ′” different from the force “Fa” (including the case where Fa ′ = 0) After detecting “αn”, the total mass “M” of the moving body is obtained by dividing the difference “Fa−Fa ′” of the force applied to the auxiliary power source by the acceleration difference information “αt−αn”. A mass detection method for a moving body including a moving device, wherein the mass is calculated. 3. The method for detecting mass of a moving object including the moving device according to claim 2, wherein the auxiliary power source is alternately driven with the forces "Fa" and "Fa '" for a short time. A mass detection method for a moving object including a moving device. 4. The moving device provided with the auxiliary power source according to claim 1, wherein the moving distance "s1" and the speed of the moving body when the auxiliary power source is driven by the force "Fm1" when the moving body is accelerated. In addition to detecting “v1”, the moving distance “s2” and the speed “v2” of the moving body when the auxiliary power source is driven by the force “Fm2” are detected. The difference information is calculated, and the control means calculates the total mass "M" of the moving body by dividing the difference "Fm1-Fm2" by the difference information. apparatus. 5. The method for detecting the mass of a moving object including the moving device according to claim 2, wherein the moving distance of the moving object when the auxiliary power source is driven by the force “Fm1” during acceleration of the moving object is “s1”. And the speed "v1", and thereafter, the moving distance "s2" and the speed "v2" of the moving body when the auxiliary power source is driven by the force "Fm2" are detected, and the acceleration difference information is obtained from these information. Is calculated,
A method for detecting the mass of a moving object including a moving device, wherein the total mass "M" of the moving object is calculated by dividing the difference "Fm1-Fm2" between the forces. 6. The moving body mass detection method according to claim 3, wherein the moving distance of the moving body when the auxiliary power source is driven by the force “Fm1” during acceleration of the moving body is “s1”. And the speed "v1", and thereafter, the moving distance "s2" and the speed "v2" of the moving body when the auxiliary power source is driven by the force "Fm2" are detected, and the acceleration difference information is obtained from these information. Is calculated,
A method for detecting the mass of a moving object including a moving device, wherein the total mass "M" of the moving object is calculated by dividing the difference "Fm1-Fm2" between the forces. 7. The moving device provided with the auxiliary power source according to claim 1, wherein at the time of deceleration of the moving body, when the auxiliary power source is driven by the force “Fm”, the speed at the deceleration start time point “t0” v0 "and the speed" v1 "at the end of the deceleration" t1 ", the acceleration detecting means calculates speed difference information" v1-v0 "from these information, and calculates the frictional force or the acceleration of the running resistance force. A value obtained by multiplying the time difference “t1−t0” is added to the speed difference information.
The control means calculates the total mass "M" of the moving body by dividing the product of the force "Fm" and the time difference "t1-t0". apparatus. 8. The method for detecting the mass of a moving object including the moving device according to claim 2, wherein at the time of deceleration of the moving object, the auxiliary power source is driven at a force "Fm" at a deceleration start time point "t0". The speed "v0" and the speed "v1" at the end point "t1" of the deceleration are detected, speed difference information "v1-v0" is calculated from these information, and a time difference " t1−t0 ”is added to the speed difference information.
A mass detection method for a moving object including a moving device, wherein a total mass “M” of the moving object is calculated by dividing a product of “m” and a time difference “t1−t0”. 9. The method for detecting the mass of a moving object including the moving device according to claim 3, wherein at the time of deceleration of the moving object, the auxiliary power source is driven at a force "Fm" at a deceleration start time point "t0". The speed "v0" and the speed "v1" at the end point "t1" of the deceleration are detected, speed difference information "v1-v0" is calculated from these information, and a time difference " t1−t0 ”is added to the speed difference information.
A mass detection method for a moving object including a moving device, wherein a total mass “M” of the moving object is calculated by dividing a product of “m” and a time difference “t1−t0”. 10. A moving device provided with the auxiliary power source according to claim 1, wherein: (a) speed detecting means for detecting a speed of the moving body;
(B) the speed detecting means, the acceleration detecting means, and the inclination detecting means for detecting an acceleration state of the moving object and an inclination state of the moving object or the traveling road; A control means for calculating an auxiliary power value based on information detected by the detection means and controlling the auxiliary power source; (c) the control means comprises a total mass "M" of a moving body and the speed detection means; Based on the detection information from the detection means, the power “P” required for the moving body to maintain the current speed is
v) and the power "Pa" required for acceleration of the moving body based on the total mass "M" of the moving body and the detection information from the speed detecting means and the acceleration detecting means. Determining an auxiliary power value by multiplying the sum of the rates "Pv + Pa" by a coefficient value "β" of less than "1"; 11. A moving apparatus comprising the auxiliary power source according to claim 10, wherein a vertical axis represents the auxiliary power value and a horizontal axis represents a speed, and a graph line showing a change in the auxiliary power value with respect to the speed; When the output (power) of the auxiliary power source is plotted on the vertical axis and the operating speed of the auxiliary power source is plotted on the horizontal axis, the graph is superimposed with a graph line group showing the characteristics of the auxiliary power source according to changes in control parameters. 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 and obtains the power of the auxiliary power source corresponding to the operating point. A moving device with an auxiliary power source. 12. A moving device provided with an auxiliary power source according to claim 10, wherein the inclination detecting means detects a gradient angle of the traveling path, and the control means controls a traveling resistance and a frictional resistance according to the gradient angle. Is calculated based on the total mass "M" of the moving object and multiplied by the speed of the moving object, the control means determines the power "Pv" required for the moving object to maintain the current speed. And calculating the power "Pa" required for acceleration of the moving body by multiplying the total mass "M" of the moving body by the acceleration and speed of the moving body. Mobile device with source. 13. A moving device provided with an auxiliary power source according to claim 11, wherein the inclination detecting means detects a gradient angle of the traveling path, and the control means controls a traveling resistance and a frictional resistance according to the gradient angle. Is calculated based on the total mass "M" of the moving object and multiplied by the speed of the moving object, the control means determines the power "Pv" required for the moving object to maintain the current speed. And calculating the power "Pa" required for acceleration of the moving body by multiplying the total mass "M" of the moving body by the acceleration and speed of the moving body. Mobile device with source. 14. A control method for a moving device which moves together with a driving subject of a main power source necessary for the movement and has an auxiliary power source for assisting a part of the main power, wherein: When the source is driven by a predetermined force “Fa”, the acceleration “αt” of the moving body including the moving device and the driving subject and the auxiliary power source are set to a force “Fa ′” different from the force “Fa”. (Including Fa '= 0), and after detecting the acceleration "αn" of the moving body, the acceleration difference information "αt-αn" is used to detect the force of the auxiliary power source. After calculating the total mass "M" of the moving body by dividing the difference "Fa-Fa '", (b) detecting the speed, acceleration, inclination of the moving device or the traveling path of the moving body, (C) The total mass "M" of the moving object calculated in (b) and (b)
The power "Pv" required for the moving body to maintain the current speed is calculated based on the speed and the inclination information detected in (1), and the total mass "M" of the moving body calculated in (A) and ( After calculating the power “Pa” required for accelerating the moving body based on the speed and acceleration information detected in b), a coefficient value “β” less than “1” is added to the sum “Pv + Pa” of the two powers. A method for controlling a mobile device having an auxiliary power source, wherein an auxiliary power value is obtained by multiplying the value. 15. A control method for a mobile device provided with an auxiliary power source according to claim 14, wherein the auxiliary power value is plotted on the vertical axis and the horizontal axis is plotted to show the change of the auxiliary power value with respect to the speed. The line is superimposed on the vertical axis, which is the output (power) of the auxiliary power source, and the horizontal axis is the operating speed of the auxiliary power source, and the graph line group showing the characteristics of the auxiliary power source according to the change of the control parameter. Determining an operating point defined as the intersection of the graph lines when combined, and controlling the auxiliary power source so as to obtain the power of the auxiliary power source corresponding to the operating point; Control method of mobile device provided.