JPS59103501A - Regenerative brake controller for electric motor car or the like - Google Patents

Abstract

PURPOSE:To prove the certainty of the operation of an erroneous operation protecting device by providing a preliminary exciter in parallel with a series circuit of a starting solenoid switch and an armature winding, and conducting the exciter during the delay period from the excitation starting time of the switch to the closure of the contact of the switch. CONSTITUTION:When a forward/reverse changeover switch F-R-SW is operated, an exciting coil MF or MR is excited to close its contact mf or mr. Thus, a transistor TR is conducted, and a chopper CH and an erroneous operation detecting protector TI becomes operating state. A status discriminator SD discriminates the status according to the amplitude of an armature voltage or an armature current at this time, excites the exciting coil of a starting solenoid switch mg in the prescribed state and continues the conducting state of the transistor TR until the switch mg is closed.

Description

[Detailed Description of the Invention] The present invention provides a J3 regenerative braking control system for electric vehicles such as electric forklifts and electric vehicles, and in particular provides reliable and stable operation. Right; shi (fh
This kind of regenerative braking state (,:, Gate J
Ru.

Conventionally, the DC electric upper panel V supplied from the on-board battery drives the DC electric motor, inserts the fork under the load, and lowers the load by 7i', d5 or 11Q.
In case of J3, the electromagnetic switch for starting is connected to the opening N where the regenerative braking state changes from the regenerative braking state to the power state. contact point m
Let g be “(shi people, but this 11.1, the above i” [f4k
Not only does it vary greatly, but it is also inevitable that there will be some variation from product to product even if the model is the same. Therefore, in a device that detects malfunction of the chopper circuit by detecting that the length of time that the terminal voltage of the chopper circuit is zero has reached a specified value or more, this malfunction detection device is more effective in detecting false detection. The result was that I ended up doing this. In other words, no matter how roughly the circumstances in this point are d3, the time from when current flows through each excitation coil and excitation starts until each contact is closed is usually 1QI113. The number of chopping operations, In, is very long compared to S.
ll], and furthermore, this approximate time not only fluctuates greatly depending on the power supply voltage and temperature, but also the auxiliary contact It is difficult to do so without special measures such as providing a special method, especially for the electromagnetic switch for starting.
Considering the circuit configuration and the operating conditions of the starting electromagnetic l7fl closure, this is approximately Therefore, it was necessary to avoid stopping the detection operation of the malfunction detection device even though the chopper circuit C11 was chopping, so a regenerative braking control type was proposed.
For example, JP-A-56-1'48102, JP-A-56-1'48102,
-157202 and Japanese Patent Application Laid-Open No. 57-6502, but even with these A3, the above problems still exist to some extent.1 and d3 are still not satisfactory. I couldn't say that.

So, what about this invention? p? of the malfunction detection device of the chopper circuit in the regenerative braking control 311 method of B-Kisha Kasa. The purpose of this invention is to solve the above problems by providing a novel technical means for preventing tL'TJ detection, and in particular for regenerative braking. The pre-excitation control circuit is made conductive for a predetermined period of time after the start-up electromagnetic switch is energized, and voltage is applied to the chopper circuit until the contact closes. It is characterized by the following.

In FIG. 1, which is a circuit diagram of an embodiment of the regenerative braking control device of the present invention, A is a DC motor (armature winding) for driving an electric vehicle, and F is a field winding of the motor. MF and IVI R are respective excitation coils of a pair of forward and reverse electromagnetic switches in the electromagnetic switch for switching the direction of travel of the vehicle, CH is a chopper circuit made of a Zyristor or a transistor, etc., which is known per se. l1lr are the respective contacts in front of each other, MG is turned on at the time of rowing, and the electric motor 1
Iku and the chopper circuit CH are connected to the DC power supply B, and the contacts of the electromagnetic switch for starting are opened during regenerative braking to block reverse current from the power supply. DF, DP, and DG are diodes, T
R is a pre-excitation control 1 resistor, R(] is a pre-excitation current limiting resistor, and TI is a conduction state in an uncontrollable state such as commutation failure in chopper circuit CI-1 when the voltage across the chopper circuit CH becomes zero. The contact m of the electromagnetic switch for forward/reverse switching is detected based on the length of time that the
F, mr were opened and the main circuit was left open. In the detection/reading circuit TI, if the chopper circuit CI-1 remains in the A state and the state continues, the potential at the 0 point remains at the ground potential O for a long time. has the ability to function as a kind of timer, so it is determined that the chopper circuit is abnormal, and the left side of it is set to A, therefore, the 1-transistor Trl is set to A, and the excitation coil M',
Deenergize M R and restore its contacts ml and mr.
The current is cut off to the L, mellow, buoyotsuba circuit C1-1 and the motor, thereby ensuring that they are laid down.

The following Figure 2 shows the operation timing of the main components of the brake control system shown in Figure 1.
1-, (a) shows the operation timing at the power start 115, and (b) shows the regeneration system 1FI 111.
5 shows the operation timing of I3.

- The operation of the device shown in Figure 1 will be described in detail using the timing chart A7 in Figure 2. To explain how to start power running before restarting in the direction, at time t□ in FIG. 2(a), a key switch not shown in FIG. - For example, when the SW is activated in the forward direction and the accelerator is operated, the forward excitation coil MF, which moves the contact point m to the right, is excited. In other words, the coil current flows with a time constant determined by the self-inductance, and 11
．． At one time t2, a predetermined value is reached, contact Ill[ is closed, and transistor TR becomes conductive. This contact mf
The positive potential of the chopper circuit CH or the pair of forward and reverse excitation coils MF indicate that the current is closed.

Each contact mf of the electromagnetic switch for switching the direction of movement that moves the MR to the right
Although the detection circuit is not shown in the figure, it is detected by the common terminal voltage of Smr. ), the malfunction detection protection device TI and the chopper circuit CH are put into operation, and the transistor T + <(7);
Maintain y oil condition at fixed time [l to 13 3
, (Shi, this '' 1 to t3 d side, the motor's electric current I or electric current Jl or electric current 1; (state discrimination circuit Sl for the magnitude of the secondary current) This is, for example, a current such as a magnetoresistive element. 1-・Renri IS/!: A known current detection circuit or voltage detection circuit can be applied.1ii: ) is used to detect and determine whether or not a regenerative braking state is present. In other words, even though the contact point is A,
If it is detected that a predetermined current flows through the brake system, it is determined that the regenerative braking state is present.

If it is determined that the power running state is in the power running state at t+;Ir time L2, when the excitation coil MG (not shown in the figure) of the starting electromagnetic switch on the right side of the contact +11 () is turned on, the voltage is 1.1. To,
1- Avoid making the transistor TR conductive again from the predetermined time t2 to [5]. Then, at time t4 within the predetermined 11 intervals, the excitation current of the starting electromagnetic switch sufficiently rises, and the connection Jmg is turned on (closed, and the electric motor is powered up by the chopping operation of the chopper circuit C8. ?j
Driven by state. This 111, =+! 11J operation detection protection device TI monitors the terminal voltage of the chopper circuit CH, but when the L transistor TR becomes conductive, the chopper circuit C is forcibly paralyzed from time t1 to t5.
I-11,: Since the voltage is applied, even during the period (from [1 to t4) when the contact mg of the starting electromagnetic switch is not closed,
Malfunction 1' [Detection and protection device TI can be operated reliably.

Next, the operation during regenerative braking will be explained with reference to FIG. 2(b). Now, when the vehicle is running in the forward direction and is switched to the reverse side using the forward/reverse selector switch F-R-3w, the contact m[ of the forward electromagnetic switch in the electromagnetic switch for switching the moving direction is turned off, and the time At tO, the exciting coil MR of the electromagnetic switch for access is similarly excited, and its contact 111r becomes A at time t1. Thus, the transistor T
Due to the preliminary excitation of the field winding F based on the conduction of R, a starting force is generated in the electric IK1 slave winding FAA. When it is determined that the regenerative braking is in the state, the excitation coil MG of the starting electromagnetic switch is not excited,
Therefore) & Sada m (1 continues the state of A) ()
Ru. In such a state -C, bubbly circuit CI-1
By continuing the sub-A-F switching operation 1'1, the regenerative braking is controlled as desired. Then, at time t2', the vehicle speed decreases to 1ζ, and the regenerative braking force is no longer able to bring the predetermined braking force to 1, so the regenerative braking is terminated at this point by the output of the state discrimination circuit SD. In order to shift to blacking braking, the electromagnetic switch for starting is activated (drum-C1 at time t4, its contact mg@ is closed in A3, and the chopper circuit CLl is in the A state, and chopping operation of chopper circuit CLl is started. Yotsu-C
BRATSU: 1-ng braking condition, then powering in the opposite direction (reverse side). At this time, from the start of excitation of the excitation coil MG of the starting electromagnetic switch to the time point 5 when the contact mq is closed, that is, from 1'j time [2' to t4,
In order to stabilize the chopping operation in the next blacking state, it is necessary to reduce the chopping debug factor. For this reason, the electromotive force to the electric coil winding suddenly disappears, and the input voltage of the malfunction detection protection device TI becomes zero.
TI malfunctions during this time, that is, chopper circuit CI
Judging that -1 commutation failure, proceed? :' There is a risk that the contact m" or m" of the J direction switching type magnetic closure may be opened and the operation of all Rii// may be stopped (2).Therefore,
In order to prevent such a small state from occurring, the present invention provides a starting electromagnetic switch by keeping the i-transistor TR in a conductive state for at least a period from time 12' to time 14. delay in closing of contact mg (from time t2' [
Up to 4) π; Motion detection protection installation i'ffTl
This makes it possible to prevent false detections.

In the embodiment shown in FIG. 1 above, in order to simplify the explanation of the operation, the first operation of the transistor TR was set to start from time t1, and the explanation was given as follows. It goes without saying that this can be done from to.The first time the conduction state is maintained is until it is possible to reliably determine whether it is the regeneration state or the 7j row state, and the second time: It shall be at least the closing delay period (t2'-・t4j:) of contact mg of the electromagnetic switch for starting.
Furthermore, even if a controlled rectifying element such as a turn A resistor is applied to the transistor T1,
In addition, the series circuit of the chopper circuit C1-1, the contact mg of the starting electromagnetic switch, the electric motor mine 1; Of course.

As has become clear from the above detailed description, the present invention is applicable to the regeneration control fJJ control system of conventionally known electric vehicles, etc., by connecting the contacts of the starting electromagnetic switch and the electric 171 child winding. A pre-excitation control circuit including a 1-transistor is provided in parallel with the series circuit, and a delay in the closing of 1 is prevented at least from the time of starting the excitation of the electromagnetic switch for starting.
In the meantime, all the problems of the prior art described above can be solved by applying a very simple technical means of keeping this pre-excitation control circuit in a conductive state (p4). This brings about the remarkable effect of being able to use a malfunction detection and protection device.

[Brief explanation of the drawing]

FIG. 1 is an electric circuit diagram showing the configuration of a typical embodiment of the present invention, and FIG. 2 shows the main 414 components for explaining the operation of the embodiment of FIG. A time chart clarifying the operation timing, (a)
(b)
indicates the operation timing during regenerative braking. In Figure 1, B...DC power supply (battery), A
... Armature winding of a DC motor, F ... Field winding of the same, mg ... Contact of a starting electromagnetic switch having an excitation coil MG, K-8w ... Key switch, F -R-3w...forward/forward changeover switch, MF and mf
...respectively, the excitation coil and contact of the forward electromagnetic 17tl switch in the electromagnetic switch for switching the direction of travel, M l'< and mr...the main electromagnetic switch excitation for the l"2 I! that goes down in the same direction. Coil and contacts, CI-1...Jopping circuit, TI...Error 1' detection hidden device, OF, DP and DG...Respectively, diode, TR
...Transistor for manual excitation control, Ro...Resistor for pre-excitation current limiting, Is...For example, Karen 1 to Sen 1, for detecting the electron current or voltage of the electric machine winding F. , SD... state determination circuit, Tr + , 1-1' 2... what transistor, respectively. EC-...Electronic control circuit agent Asamura Kakugai 4 people': jp2 Figure (Q) Power running start (b) Regenerative stripping operation procedure amendment (method) April 15, 1980 To the Commissioner of the Japan Patent Office 1. Indication of the case Patent Application No. 210737 of 1982 3. Person making the amendment Relationship with the case Special; '1 Applicant address 4 Agent 5 Date of amendment order March 29, 1988 6 , the number of inventions increases due to the correction 7, the target figure of the correction 1fiib i%:! ) (No meal KfU) (i
2 11208, Contents of amendment As shown in the attached sheet, Fang 2 (0) (b)

Claims (1)

[Claims] Free-current power source, contacts of a starting electromagnetic switch, type winding and field winding of a DC motor, a pair of types for switching direction of movement (each contact of a 6-open υ1 switch, and a chopper circuit) are connected in series to form a main circuit, and a first diode DG is connected in antiparallel to the series circuit consisting of the real child winding, the field winding and the chopper circuit, and the starting electromagnetic Connect a second diode DI in anti-parallel to the series circuit of the child winding to the contact point of the I!I circuit, and further detect the uncontrolled conduction state by the terminal voltage of the chopper circuit. and a malfunction detection protection device that interrupts the main circuit; conducts for a predetermined period of time at each startup to a running state or a regenerative braking state to cause the chopper circuit to perform a chopping operation. A pre-excitation control circuit (11 to 11) including transistors (11 to 11) for supplying preliminary excitation (DC) to the field winding is stored, and at least :
111 that the preliminary excitation control circuit was maintained in a conductive state during the time between the 1 point 7J1 t,'>te-'s] sword 8 entrance 1. Regenerative braking control device for electric cars, etc.