JPS6046701A - Motor-driven vehicle - Google Patents

Abstract

PURPOSE:To prevent a vehicle from slipping in backward traveling at an ascent stopping time and at a descent stopping time by switching the type of a brake when a regenerative current or a generating current becomes the prescribed value or lower. CONSTITUTION:When a stopping point signal is received from a permanent magmet 24, a soft starting circuit 89 stops feeding a current to an armature 59 by a signal from a controller 74. Simultaneously, a low speed signal is applied to a speed set switching circuit 82, a shunt field becomes maximum, and a regenerative brake is applied to a drive motor 58. When the rotating speed of the motor 58 decreases to cause the regenerative current to stop, the controller 74 operates a generating brake circuit 66. When the generating brake current becomes the prescribed value or lower due to the decrease in the rotating speed, an electromagnetic brake 88 operates.

Description

DETAILED DESCRIPTION OF THE INVENTION (A) Field of Industrial Application The present invention relates to an electric vehicle that runs on a road surface or a monorail, and can be applied to a Corfu cart, for example.

(b) Prior art: Applying alternating current to a single guide wire buried in the road surface,
The alternating magnetic field generated by this is detected by two detection filters placed at equal intervals on the left and right sides of the center line of the electric vehicle body, located on both 4Ru of the guide wire, and generated in each detection field. First, the induced electromotive force is compared by a deviation detector via an amplifier, and the angle control motor of the front wheels (hereinafter referred to as casters) is controlled based on the difference in the induced electromotive force with respect to the electric vehicle body. A guide-type electric vehicle that changes the direction of the key star and guides the electric vehicle body along a guide line has already been proposed (Japanese Utility Model Publication No. 55-8005).

In this proposed device, in order to avoid stopping the electric vehicle, the regenerative brake, the electric brake, and the electric brake (11 lugi are activated sequentially, but each), the switching between the -key, and the Since this is done after an hour of time,
It has the following drawbacks. In other words, in the case of (υ1) on an uphill slope, when the regenerative brake or generation brake is activated, there is time for the traveling speed to reach zero and the electromagnetic brake to lock the electric vehicle body, and the 1E and 11F body backs up and comes to a stop. There is an inconvenience that, when stopping on a downhill slope,
Regeneration: Because the electromagnetic brake is activated before the rake and the electromagnetic brake have sufficiently decelerated, the electric vehicle body becomes slippery.

9 (c) Purpose of the Invention The present invention has been invented in view of the above points, and an object of the present invention is to provide an electric vehicle that eliminates the conventional disadvantages.

(2) Structure of the invention In order to achieve the above object, the electric LP according to the present invention has the following features:
Detects a brake signal on the road surface or while the Mole Rail is running and activates the regenerative brake, generation brake, and electromagnetic brake. It comprises a current detecting means for detecting the current, and a control circuit means for switching the type of brake based on the output of this means.

(E) Example Hereinafter, an example in which an electric induction vehicle according to the present invention is applied to a golf cart will be explained based on the drawings.

FIG. 1 is a perspective view of a golf cart. In this drawing, (1) is the cart body, with the main body frame (2) made of pipes as the main support, and drive wheels (rear wheels><3> (3)) are provided on both rear sides, and between these wheels Inside the cover (4), a drive motor that drives the wheels, a lead-acid battery as its power source, control circuit components, etc. are mounted.The main body frame (1) includes the Corfuhasog softening part (5) and the butter case. (6) etc., and the cart body (1)
A mounting stay (8) for the caster part (7) is provided in front of the caster part (7), and an angle control motor (10) attached to the cart body (1) of the cask (9) is installed on the underside of this stay. A caster frame (12) is attached to the shaft of the caster frame (12), which is attached to the morph shaft, and a second gouri (13) is attached to the shaft of the caster frame (12). The upper surface of the stay is angled by 1°, and the two booms are connected by a timing held (14).

The caster part (7) is rotatably mounted on the mounting bracket (8) and the car 1/main body (1), and is composed of a cask frame (12) and a cask (9) as main elements. be done. The caster frame (12) has a mounting stay (8).
) is attached to the supporting plate (15) protruding from the 01i end toward the O1I direction.On the left and right ends of this support plate, a first pair of detection coils (15a
>(16b) and the second pair of detection coils (17a) (1
7b) Several people are being kicked in place. This first
The first detection coils (16a) and (16b) detect the alternating magnetic field emitted from the guide wire (18) buried in the road surface, and the deviation of the detection output causes a change in the cart body (1). Caster (9〉' angle control motor (
10). The second pair of detection filters (17'a > (17b)) generates a traveling speed control signal for the cart body (1), and outputs an acceleration signal on a straight road and a deceleration signal on a curved road.

In Fig. 1, (19) is a control box, and (20) is a brake lever.

Next, Figure 2 is a partially enlarged sectional view of the front part of the Corfu Car 1.
21), and a magnet piece (22) is attached to the caster (9) to constitute a sensing means (23) for sensing the rotation speed of the caster (9). A detection sensor (25) that detects a permanent magnet (24) buried in the guide line is attached to the lower surface. Note that the sensing means (23) is not limited to one that utilizes magnetic changes, but may be constructed using, for example, optical changes. (26) is the road surface.

~ (27) is a distance sensor and includes a transmitter that emits ultrasonic waves and a receiver that receives reflected waves from obstacles.

FIG. 3 is a plan view of the control box. As is clear from this drawing, the sketch [Coalbo/Cus (19)]
has a selector knob (28) for mode switching, and this knob can be used to select high-speed and low-speed modes 1. -' to determine the operation mode of the golf car (・.
It has a Sue 17 display panel (29) that displays all the scores for each hole of the four players from Mr. A to Mr. 0, and also has a name field switching key (30) for the four players.
) and an input numeric keypad (31) for storing scores in memory.

(32) is a start switch key for each driving mode. In addition, a display means (33) for displaying the time and play time may be provided in an open position of the control box (19). As shown in Fig. 4, this display means (33) includes a display panel (34) for displaying the time and elapsed time, time adjustment keys (35) and <36), a start/stroke key (37) for elapsed time, and a recent key. (38).

FIG. 5 is a sectional view of the main part of the handle brake section. In this drawing, the handle (2) consists of a frame main body (2).
The brake lever 120), which is held by hand together with 39), is pivotally supported by a pin 40), and is in the illustrated position at the tension high level (41) and the helical lever 42).

In this state, the first portion <44) of the switch operation plate (43) installed on the brake lever (20>) turns on the first micro switch (45). The flake lever (20) operates in two stages depending on how hard it is gripped. In other words, when the brake lever (20) is squeezed weakly, the first part (4)
4) rotates in the counterclockwise direction -C, the first micro switch (45) changes from on to off, and the regeneration, power generation, and electromagnetic brakes are activated in sequence. Stop. When the brake lever (20) is squeezed firmly, the second part (46) of the swivel operating body (43)
The micro switch (47) is turned on, thereby simultaneously operating both the electric generation and electromagnetic brakes to bring the cart body (1) to a sudden stop.

Next, FIG. 6 is an electrical circuit diagram of the Corfu cart. In this drawing, the alternating magnetic field generated from the guide wire (18) is
It is detected by the first pair of detection coils (16a) (16b), and amplified by the amplifiers (48a>(48b), respectively.
■ Flow relevel conversion is performed. A differential comparison amplifier (49) performs a differential comparison between the outputs of each amplifier, and the difference output from the differential comparison amplifier (49) is inputted to a chopper circuit (50).

This Cho/ba circuit is composed of a pulse width modulation circuit, and Ii
The larger the i+ comparative deviation blade, the larger the output pulse width of the chomba circuit (50), the larger the output of the drive circuit <51), the larger the operating range of the angle control motor (1o),
The caster (9) is controlled in the direction along the guide line (18), that is, in the direction in which the comparative deviation output becomes smaller. In this way, when the comparative deviation output becomes smaller, the output pulse width of the chopper circuit (5o) also becomes smaller, and the output of the angle control motor (1o) also becomes smaller, and thus the caster (9) Figure 7 shows the trajectory characteristics for correcting the deviation from the guide line (18). Figure 8 shows the rotational force characteristics of the angle control motor. In these drawings, the solid line characteristic (52λ
(53) is based on the example, broken line characteristic <54) (55
) indicates a conventional device; the characteristics of this conventional device include angle control motor (10) or caster (
While the angle side control motor (lO) starts operating at the point or position when the play range (W) of 9) is exceeded, in the embodiment, the angle control motor (lO) is always operated at the output of the sloppy circuit (50). It operates based on the casters (9) and runs on the guide wire (18).
In the figure, the dashed-dotted line characteristics (56) and (57) are for the case where a play range (w) is provided.

Returning to Fig. 6, 1 and 58) are the drive motors that drive the drive wheels (3)<3), and the armature (59), series-wound field coil (60), and shunt-wound field coil (61). The series circuit of the armature (59) and the series field coil (60) is connected to the storage battery terminal (64) via the series drive circuit (62) and the electric/iC detection resistor (6). , the shunt field coil (61) is connected to the storage battery terminal (64) via the shunt drive circuit (65).Also, the shunt field coil (61) is connected to the storage battery terminal (64) via the shunt drive circuit (65). Electrical brake circuit (
66) is provided. The series drive circuit 62) includes a pulse width modulation circuit, and the shunt drive circuit (65) is controlled by a pulse width modulation circuit 67).
) can input signals as follows.

Attach the magnet piece (22) to the key (9).
The magnetic change from
('J magnetic sensor s)°-(21) detects, and sends this detection output to the F-V conversion circuit (68). The output characteristic of this conversion circuit (68) is shown in FIG. 9(A).

The output of the magnetic sensor (21) is such that the speed voltage increases as the running speed increases, as shown in characteristic (69), whereas the output of the converter circuit increases as the running speed increases, as shown in characteristic (70>). The characteristic (69) is inverted so that the speed voltage decreases as the speed increases.The output of this conversion circuit is a DC level voltage (Va) corresponding to the traveling speed.
, a speed change detection circuit (71), a differential amplifier (7
2) - is input to the power input terminal and one input terminal of the summing amplifier (73), respectively, and the output of the detection circuit (71) is
It is manually operated by a control circuit (74) having a controller. The output of the target speed setting circuit (75) is input to the other input terminal of the differential amplifier (72). The output of this setting circuit (75) has the characteristics (
As is clear from 76), the set voltage (Vb) corresponds to the target speed, and the difference between the voltage (Va) corresponding to the actual running speed of the conversion circuit (68) and the target speed voltage (Vb) is calculated by the differential amplifier ( 72), and if the gain of this amplifier 72) is changed, the output of the differential amplifier (72) is tX(Vb-
V2), and this output is input to the other input terminal of the summing amplifier (73), and the output of this amplifier is Va+c(
(Vb-Va) is obtained, and this output is used as a pulse width control signal for the pulse width modulation circuit (67), and is used as a pulse width control signal for the shunt drive circuit (67).
The shunt field is chopper controlled by the control in 5). The characteristics of the drive motor (5B) are shunt characteristics, and the on-duty of the shunt field and the running speed are inversely proportional, and the on-duty
As the value increases, the traveling speed decreases, and on-duty-1
For example, when the speed is 00%, the minimum speed is 3 Km/H.

FIG. 9(c) shows the running speed characteristic (77) and the shunt field on-tightness characteristic (78) for the input terminal of the pulse width modulation circuit (67).As is clear from the characteristic (78), Since the on-duty and the input terminal of the pulse width modulation circuit (67) are in a proportional relationship, the increase in this input voltage, that is, the output voltage of the summing amplifier (73), is due to the characteristic (7).
7) clearly shows that the running speed decreases. Currently, the speed setting target value is 5 km / compared to the old one.

If the traveling speed is 6 Km/H and the gain of the differential amplifier (72) is 2-8, the output of the F-V conversion circuit (68) is
Va) is 4■, and the set speed voltage (Vb) is 5V.
Therefore, the output of the summing amplifier <73) is Va+(x(
Vb-Va)-6V. Therefore, when the output of the summing amplifier (73) in FIG.
m/H increases, m/H increases to 5 Km/H to actual traveling speed 6
The field current of the t-turn field filter (61) is controlled so that

Therefore, the pulse width modulation circuit (67) includes an addition amplifier l1l.
In addition to the output of the SI device (73), the soft acceleration circuit 79)
σ) January power is input, and among these two power, 11 with high voltage
The pulse width modulation circuit (67) is activated by human power. Rough 1 to acceleration circuit 79) is the output of the control circuit (74) (
The high speed (vl) to be recovered from the actual speed (vO) immediately after sudden deceleration of the cart body (1)
In other words, instead of changing the on-duty of the shunt field to a value corresponding to the velocity (vl) and rapidly accelerating it, the on-duty is changed from the corresponding value of the velocity (vO) to the velocity (vl).
Gradually reduce the difference to the corresponding value of l), accelerate not suddenly but slowly, and reach the speed of (vl) by 4-
It is something that Specifically, permanent magnets (
Detection sensor (25) detects the low speed instruction signal from 24), amplifies it in amplifier (80), passes through waveform shaping circuit (81), inputs it to control circuit (74), and adjusts the cart speed. After deceleration, the control circuit (
A command is issued from 74) to the soft acceleration circuit (79).

With this command, the output of the soft acceleration circuit (79) changes from the voltage (VO) corresponding to low speed (■0) to high speed (vl).
), the voltage (Vl) gradually decreases by -15,
As a result, the on-state of the shunt field, which is the output of the Norms width modulation circuit (67), gradually decreases, and the running speed gradually increases toward a high speed (vl).

Next, the target speed setting circuit (75) receives signals of the following three elements, and the thicker the deceleration component of the l/) signal, the higher the priority is given to the input signal. These three elements are a curve size element, a distance element to an obstacle, and a high/low speed command element. The g factor due to the size of the hub is as follows:
This is because the speed needs to be reduced by 1, and the distance factor from the obstacle is such that the speed needs to be reduced as the distance between the obstacle and the cart body (1) becomes /J. In addition, the high/low speed command element freely sets the speed during high speed or low speed travel to a desired value within the output range of the drive motor (58), and switches the speed by a command from the control circuit (74). speed setting switching circuit (8
The output of step 2) can be input to the target speed setting circuit (75).

Now, the output of the element due to the thickening of the curve can be obtained as follows. That is, the second pair of detection coils (17a)<
17b) is a first pair of detection coils (16a) (16
b), and the center point (P) between the first pair of detection coils is directly above the lead 4 wire (18) even on a curved road, as shown in Fig. 10. . In contrast,
Since the center point (Q> between the second pair of detection coils (17a) and (17b) is located directly above the guide line (18) on a straight running road, these detection = 1 coil<17a ＞(
When the respective outputs of 17b) are amplified by amplifiers 83a and 83b, respectively, and the outputs are compared differentially by a differential amplifier (84), the deviation output is zero. However, on a curved road, as is clear from FIG. 10, one detection filter (17b) is separated from the guide wire (18) by a larger distance than the other detection coil (17a).
The output of one of the detection coils (17b) is /J\saku,
The deviation output of the differential amplifier (84) becomes large, and this deviation output can be input to the target speed setting circuit (75), thereby acting to reduce the target setting speed.

Next, the distance element from the obstacle is that the ultrasonic wave dispersed from the distance sensor (27) is reflected by the obstacle (85), the reflected wave is received by the distance sensor (27), and from this transmission to reception. The time interval is measured by -C in the measurement circuit (86), and the distance to the obstacle (85) is outputted as a voltage -C, which is manually input to the target speed setting circuit (75).
) output increases as the distance to the obstacle decreases,
When approaching a certain distance, stop No. 18 is input to the control circuit (74) via the judgment circuit (87).
) are activated at the same time to bring the cart body (1) to a sudden stop.

The t'-% low speed command element is set separately for the high speed and low traveling speed within the range that can be set by the shunt field of the drive motor (58). The speed change is determined by detecting the low speed signal from the permanent magnet (24) on the road surface with the detection sensor (25), and determining the waveform by binding the low speed signal at the road (81). is,
Control 311 circuit <74> The low speed command is sent to the speed setting switching circuit (82) 5. The switching circuit (82) inputs the speed command to the target speed setting 1j4 path (75).

The high speed command is issued after one hour of the speed command, as described in oII.

By the way, two types of power sensors appear from the permanent magnet (24) buried under the road surface, one of which is a low speed signal and the other is a stop signal, and one detection sensor (25) and a waveform shaping circuit (8).
1) can be detected. That is, as shown in Figure 11 (a).
When the N pole of the permanent magnet (24) is on the road surface side, the output of the detection sensor →)-(25) is as shown in the same figure (b), and as shown in the same figure (c), the permanent magnet (24) ) is on the road surface side, the output of the detection sensor (25) is as shown in (d) in the figure. In this way, when the output of the detection sensor (25) reaches the stop point signal, the regeneration, power generation, and electromagnetic brake circuits are activated in sequence, similar to when the brake lever <20) is squeezed weakly. ) to stop.

Therefore, when the cart body (1) starts, the controller 1
- Select a desired mode other than parking using the mode switching selector knob (28) of the roll box (19) and press the start switch key <32), the control circuit (74)
The soft start circuit <89
> is activated. This circuit output allows the series drive circuit (6
7) Adjust the duty of the pulse width modulation circuit from 0% to 10
The drive motor ( The torque of 58) has also increased to 44, and there is no shock at the time of starting, and smooth starting operation is performed.

? fE 42 r-: IX 1fiC14 Flows through the current detection resistor (63), '? It is monitored by the IE current detection circuit (90) and current change detection circuit (91).
Signals corresponding to people are sent to the control circuit (74), drive circuits (62) (65) and brake circuits (66) (88).
) etc. to control the running of the car 1 body (1).

The stop point signal from the permanent magnet (24) or the brake lever (20) shown in FIG.
- When the stop Shinso (92) is detected 1-, the control circuit (74)
The rough 1-start circuit (89) is turned off by a signal from the 1-start circuit (89), which turns off the series drive circuit (62). As a result, power is no longer supplied to the armature (59), but the car 1 main body (1) moves by inertia, and in order to weaken this inertia and stop it quickly, regeneration, power generation, and electromagnetic brakes are applied in that order. Operate. In this case, a low speed signal is applied from the control circuit (74) to the speed setting switching circuit (82), whereby the shunt field becomes maximum and regenerative braking is applied to the drive motor (58). Electric power generated by the rotation of this motor is supplied to the storage battery.

As the speed, that is, the rotational speed of the drive motor (58) decreases due to this regenerative braking, the generated rL voltage also decreases, and when the voltage falls below the storage battery voltage, the regenerative type 7fiC will no longer flow. The current detection circuit (90) detects the timing at which this regenerative current stops flowing, and then the regenerative type 711E end r signal (
93) is sent to the control circuit 74>, thereby operating the electromagnetic brake circuit (66) to apply the electromagnetic brake.

As the rotational speed decreases, the current flowing through this electrically generated brake' gradually decreases, and when it becomes below a certain value, this state can be resolved by
The detection circuit (90) detects the electromagnetic brake start signal (9
4) Output. Receiving this output -C control circuit (74)
operates the electromagnetic brake (88), and the drive motor (58)
). In the range (a) in Figure 12, each brake electric power/i is used when the brake is activated while driving on flat ground.
The waveforms of lt are shown as <95) (96) (97).

Furthermore, the maximum operating time of the regenerative brake and the generating brake is set within the control circuit (74), and if the regenerative braking current becomes zero within this maximum operating time or the generating brake current becomes less than a predetermined value. There are 71 stations each.
1 [If the brake is switched by the output of the detection circuit (90) and the brake current does not become zero or below the JF r fixed value within its maximum operation time, its maximum operation Bz
After a while, the brakes are switched. In FIG. 12, the maximum operating time of the regenerative brake is set to (T1), and the maximum operating time of the generating brake is set to (T2). Also, in the same figure, is the range (b) used for brake electricity during an emergency stop? The AE waveform is divided by (98) and (99), and for the range (c), the brake current waveform during downhill travel is changed to (10).
0) (101) (102). Period in the same figure (T3)
is the period in which the electromagnetic brake and the electromagnetic brake are activated simultaneously.

(f) Effects of the invention As described above, the electric vehicle according to Akira Motomoto is an electric vehicle that detects brake No. 8 while running on a road surface or a mole rail, and avoids operating a regenerative brake, a generating brake, and an electromagnetic brake. , comprises a current detection means for detecting that the regenerative current or generated current becomes less than a predetermined value, and a control circuit means for switching the type of brake based on the output of this means, so that the following effects can be achieved. have In other words, when stopping on an uphill slope, the electromagnetic brake is activated as soon as the traveling speed reaches zero due to regenerative braking or generation braking, so the electric vehicle can be locked and stopped at this point, which is not possible with conventional devices. There is no inconvenience of the electric vehicle body moving backwards. Furthermore, when stopping on a downhill slope, the electromagnetic brake is activated after the regenerative brake and the electric generation brake have sufficiently activated, which reduces the possibility of the electric vehicle body slipping.

Note that the present invention can also be applied to electric vehicles that run on mole rails.

[Brief explanation of the drawing]

Figures 1 to 12 show an embodiment of the present invention, with Figure 1 being a perspective view of the Rolf Cart, Figure 2 being a partially enlarged sectional view of the front part of the Rolf Cart, and Figure 3 being a plan view of the control box. , Fig. 4 is a plan view of the clock display part of the control box, Fig. 5 is a sectional view of the main part of the handle brake part, Fig. 6 is a diagram of the electric circuit 1 of the golf car-1, and Fig. 7 UyJ is the locus characteristic I of the caster. Figure 8 is a rotational force characteristic diagram of the angle control motor, Figure 9 (a) (LI> (c) is an output characteristic diagram of the F-V conversion circuit, an output characteristic diagram of the target speed setting circuit, and a running speed characteristic diagram) In the figure, Section 10 is an abbreviated section for explaining the operation of the Corfu Cart. FIGS. 11 (A) and (C) are diagrams explaining the relationship between the permanent magnet and the detection sensor.
FIG. 12 is a brake current characteristic diagram. (1) Electric vehicle body (cart body), (90), current detection means, (74>...control circuit means. PWM/V77 pressure (V) 11th (A) Mouth (J\) ★Poor 1 Diagram (b) → (d) Leaf

Claims (1)

[Scope of Claims] (1) An electric vehicle that detects a brake signal while traveling on a road surface or a monorail and operates a regenerative brake, a generating brake, and an electromagnetic brake, which operates a regenerative brake or a generated current. An electric vehicle comprising: a current detecting means for detecting a current falling below a predetermined value; and a control circuit means for switching the type of brake based on the output of the means. <2) The control circuit means described in +'+ii includes a timer means for regulating the operating time of the regenerative brake and the power generation brake, and the regenerative current or the generated current is within one hour of the timer means. When the value does not decrease below the predetermined value,
Claim 1, wherein the type of brake is switched by the control circuit means one hour after the timer described in +'+ii.
Electric vehicles listed in section. (3) 1°11 According to the type of the brake signal, the control circuit means has a first mode of switching the regenerative brake, the generating brake, and the 0/electromagnetic brake in this order, and a mode of operating only the generating brake and the electromagnetic brake at the same time. The electric vehicle according to claim 1, which has a second aspect.