JPWO2019189285A1 - Motor control device and electrically power assisted vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a vehicle to move backward while riding on an electrically assisted vehicle. When the motor control device of the present invention detects (A) a drive unit for driving a motor of an electrically power assisted vehicle and (B) reverse rotation of a pedal satisfying the first condition, the electrically power assisted vehicle is retracted. It has a control unit that controls the drive unit. When the pedal rotation angle amount in a certain time satisfies the second condition, the first condition is determined by determining whether or not other conditions including the third condition for the reverse rotation pedal rotation speed are satisfied. It may be determined whether or not the condition of is satisfied. When the pedal rotation angle amount in a certain time satisfies the second condition, the first condition is determined by determining whether or not other conditions including the third condition for the reverse rotation pedal rotation speed are satisfied. It may be determined whether or not the condition is satisfied. [Selection diagram] Fig. 4

Description

The present invention relates to a control technique for a motor mounted on an electrically assisted vehicle.

An electrically assisted bicycle, which is an example of an electrically assisted vehicle, can move forward by driving a motor according to, for example, pedal input torque. However, if you try to return to the approach direction in a narrow passage where you cannot make a U-turn, you will have to get off the power-assisted bicycle and pull back to return. Also, if you try to pull out only your own bicycle while multiple bicycles are packed in a bicycle storage area, it may be difficult to pull back.

International Publication No. 2012/086458 Pamphlet

Therefore, an object of the present invention is to provide, as one aspect, a technique for allowing the vehicle to move backward while riding on the electrically power assisted vehicle.

The motor control device according to the present invention includes (A) a drive unit for driving a motor of an electrically power assisted vehicle and a drive unit.
(B) When the reverse rotation of the pedal satisfying the first condition is detected, the control unit controls the drive unit so as to move the electrically assisted vehicle backward.

According to one side, it will be possible to move backward while riding on an electrically power assisted vehicle.

FIG. 1 is a diagram showing the appearance of an electrically power assisted bicycle. FIG. 2 is a diagram for explaining the direction of pedal rotation. FIG. 3 is a diagram showing a configuration example of the motor drive control device. FIG. 4 is a diagram showing an example of a functional block configuration of the backward control unit. FIG. 5 is a diagram showing a main processing flow of backward control. FIG. 6 is a diagram showing a first example of the backward determination process. FIG. 7 is a diagram showing the relationship between | tire rotation speed | and output torque. FIG. 8 is a diagram showing a time change of the gain multiplied by the output torque. FIG. 9 is a diagram showing a processing flow of output torque setting processing. FIG. 10 is a diagram showing a second example of the backward determination process. FIG. 11 is a diagram showing a third example of the backward determination process. FIG. 12 is a diagram showing a part of the backward determination processing in the third and fourth examples. FIG. 13 is a diagram showing a fourth example of the backward determination process. FIG. 14 is a diagram showing an example of adjusting the output torque upper limit value according to the pedal reverse rotation speed. FIG. 15 is a diagram showing an example of adjusting the upper limit value of | tire rotation speed | according to the number of reverse pedal rotations. FIG. 16 is a diagram showing the relationship between | tire rotation speed | and output torque. FIG. 17 is a diagram showing the relationship between | tire rotation speed | and pedal reverse rotation speed. FIG. 18 is a diagram showing an example of confirmation processing. FIG. 19 is a diagram showing another relationship between | tire rotation speed | and pedal reverse rotation speed. FIG. 20 is a diagram showing another example of the confirmation process.

[Embodiment 1]
FIG. 1 is an external view showing an example of an electrically assisted bicycle, which is an example of an electrically assisted vehicle according to the present embodiment. In the present embodiment, as shown in FIG. 1, a three-wheeled electrically power assisted bicycle will be described, but the application target of the present embodiment is not limited to the three-wheeled electrically power assisted bicycle, and the electric power of four or more wheels is applied. Assisted bicycles and two-wheeled bicycles may be able to stand on their own when stopped by means of training wheels, rear cars, or other means. It should be noted that being able to become independent when the vehicle is stopped is mainly a request from the viewpoint of safety, and if safety can be ensured by some means, it may not be necessary to be able to become independent when the vehicle is stopped.

The electrically assisted bicycle 1 is equipped with a motor drive device. The motor drive device includes a battery pack 101, a motor drive control device 102, a torque sensor 103, a pedal rotation sensor 104, and a motor 105. In addition to the motor 105, a tire rotation sensor may be provided. Further, for safety and the like, a load sensor 108 may be provided.

The electrically power assisted bicycle 1 also has front wheels, rear wheels, headlights, freewheels, a transmission, and the like.

The battery pack 101 is, for example, a lithium ion secondary battery, but may be another type of battery, for example, a lithium ion polymer secondary battery, a nickel hydrogen storage battery, or the like. And
The battery pack 101 supplies electric power to the motor 105 via the motor drive control device 102, and at the time of regeneration, the battery pack 101 is also charged by the regenerative electric power from the motor 105 via the motor drive control device 102.

The torque sensor 103 is provided around the crankshaft, detects the pedal effort by the driver, and outputs the detection result to the motor drive control device 102. Further, the pedal rotation sensor 104 is provided around the crankshaft like the torque sensor 103, and outputs a signal corresponding to the rotation to the motor drive control device 102.

The motor 105 is, for example, a well-known three-phase DC brushless motor, and is mounted on, for example, the front wheels of the electrically power assisted bicycle 1. The motor 105 rotates the front wheels, and the rotor is connected to the front wheels so that the rotor rotates according to the rotation of the front wheels. Further, the motor 105 includes a rotation sensor such as a Hall element and outputs rotation information (that is, a Hall signal) of the rotor to the motor drive control device 102.

When the user is on the electrically power assisted bicycle 1, the motor drive control device 102 performs a predetermined calculation based on the signals from the rotation sensor, the torque sensor 103, the pedal rotation sensor 104, and the like of the motor 105, and performs a predetermined calculation to drive the motor. It controls the power running drive of the 105 and also controls the regenerative braking of the motor 105. Further, for example, while the vehicle is stopped, the pedal is rotated in the reverse direction while the user is riding on the electrically power assisted bicycle 1 (as shown in FIG. 2, the rotation direction for advancing is forward rotation, and the reverse rotation direction is reverse rotation. When it is called), the motor 105 is driven by force in the reverse direction.
The electrically assisted bicycle 1 is controlled to be retracted.

The load sensor 108 is provided, for example, under the saddle, and outputs a signal indicating whether or not the user is seated in the saddle or a signal indicating the measured weight to the motor drive control device 102.

Next, FIG. 3 shows a configuration related to the motor drive control device 102 according to the present embodiment.

The motor drive control device 102 includes a controller 1020 and a FET (Field Effect Transistor).
) With a bridge 1030. The FET bridge 1030 includes a high-side FET (Suh) and a low-side FET (Sul) that switch the U phase of the motor 105, and a high-side FET (Svh) and a low-side FET (Svl) that switch the V phase of the motor 105. ) And the high-side FE that switches the W phase of the motor 105.
Includes T (Swh) and low-side FET (Swl). The FET bridge 1030 functions as an inverter that drives or regeneratively brakes the motor 105 in the forward or reverse direction.

Further, the controller 1020 includes a calculation unit 1021, a load input unit 1022, a pedal rotation input unit 1023, a tire rotation input unit 1024, a variable delay circuit 1025, a motor drive timing generation unit 1026, and a torque input unit 1027. And AD (Analog-Digital) input unit 10
It has 29 and.

The calculation unit 1021 is an input from the pedal rotation input unit 1023 and a tire rotation input unit 1024.
Performs a predetermined calculation using the input from, the input from the torque input unit 1027, and the input from the AD input unit 1029, and outputs the output to the motor drive timing generation unit 1026 and the variable delay circuit 1025. The calculation unit 1021 may further use the input from the load input unit 1022. The calculation unit 1021 has a memory 10211, and the memory 10211
Stores various data used in the calculation, data in the middle of processing, and the like. Further, the calculation unit 102
1 may be realized by executing the program by the processor, and in this case, the program may be recorded in the memory 10211. Also, memory 10
The 211 may be provided separately from the calculation unit 1021.

The load input unit 1022 digitizes a signal indicating the presence or absence of seating or a signal indicating the measurement result of the load applied to the saddle from the load sensor 108 and outputs the signal to the calculation unit 1021.
The pedal rotation input unit 1023 digitizes the input related to the rotation of the pedal (that is, the rotation of the crankshaft) from the pedal rotation sensor 104 and outputs it to the calculation unit 1021. In addition, it should be noted.
The pedal rotation sensor 104 may be a sensor capable of detecting the rotation direction, or may not be able to detect the rotation direction.

The tire rotation input unit 1024 is a signal relating to the rotation of the motor 105 from the Hall signal output by the motor 105, that is, the rotation of the front wheels in the present embodiment (for example, a signal representing a rotation phase angle, but may also include a rotation direction). Is digitized and output to the arithmetic unit 1021. For example, the tire rotation input unit 1024 may calculate and output the speed of the electrically power assisted bicycle 1 (for example, a positive speed is a forward speed and a negative speed is a backward speed) from the tire rotation input. The torque input unit 1027 digitizes a signal corresponding to the pedaling force from the torque sensor 103 and outputs it to the calculation unit 1021. The AD input unit 1029 digitizes the output voltage from the secondary battery and outputs it to the calculation unit 1021.

The calculation unit 1021 outputs the advance angle value to the variable delay circuit 1025 as the calculation result. The variable delay circuit 1025 adjusts the phase of the Hall signal based on the advance angle value received from the calculation unit 1021 and outputs the phase to the motor drive timing generation unit 1026. The calculation unit 1021 outputs a PWM code corresponding to, for example, a duty ratio of PWM (Pulse Width Modulation) to the motor drive timing generation unit 1026 as a calculation result. Motor drive timing generator 102
Reference numeral 6 generates and outputs a switching signal for each FET included in the FET bridge 1030 based on the adjusted Hall signal from the variable delay circuit 1025 and the PWM code from the calculation unit 1021. Depending on the calculation result of the calculation unit 1021, the motor 105 may be driven by power running or may be regeneratively braked. Also, the direction of rotation may be the opposite direction or the forward direction. For basic operations such as driving the motor, see International Publication No. 20.
Since it is described in the pamphlet No. 12/086495 and is not the main part of the present embodiment, the description thereof will be omitted here.

Next, FIG. 4 shows an example of a functional block configuration related to the backward control unit 3000 in the calculation unit 1021. The backward control unit 3000 has a backward determination unit 3100 and a control unit 3200.

The retreat determination unit 3100 determines whether or not retreat may be performed based on the pedal rotation input, pedal input torque, tire rotation input, etc., and determines the determination result with the retreat permission flag (ON / OFF) in the control unit 3200. Output to. When the reverse movement permission flag indicates permission, the control unit 3200 has a motor drive timing generation unit 1026 and a variable delay circuit so that the motor 105 rotates in the opposite direction based on the pedal rotation input, the tire rotation input, and the like. The motor 105 is controlled via the 1025 and the FET bridge 1030. When the backward permission flag indicates prohibition, the control unit 3200 performs the conventional control.

In the backward control unit 3000, the pedal rotation speed ([rpm]) and the pedal rotation angular acceleration ([rpm]) and the pedal rotation angular acceleration (
[Rad / s ² ]), pedal rotation angle amount ([rad] or [deg]), etc. are used, so the backward control unit 3
000 calculates these values from the pedal rotation input. Similarly, the backward control unit 3000
Since the tire rotation speed ([km / h]) is used, the reverse control unit 3000 calculates this value from the tire rotation input. In the present embodiment, the tire rotation speed is substantially the same as the vehicle speed.

Next, the process of the backward control unit 3000 will be described with reference to FIGS. 5 to 9.

First, for example, when the power switch is turned on and the process is started, the backward determination unit 3100 sets the backward permission flag to off as the initial process (FIG. 5: step S1). In addition, it should be noted.
When the start of pedal rotation is detected based on the pedal rotation input, the measurement of the pedal rotation angle amount is started, and the measurement of the elapsed time from the start of pedal rotation may also be started. Further, regarding the processing flow of FIG. 5, the processing of steps S3 to S21 is repeated every unit time.

Then, the backward determination unit 3100 executes the backward determination process (step S3). Various modes can be adopted for this backward determination process, but here, the most easily understood mode (
The backward determination process A) will first be described with reference to FIG.

FIG. 6 shows a process when the pedal rotation sensor 104 is a sensor capable of detecting the rotation direction (reverse rotation or forward rotation) of the pedal.

The backward determination unit 3100 determines from the pedal rotation input whether or not the pedal is rotated in the reverse direction (FIG. 6: step S31). When the pedal is not rotated in the reverse direction, that is, is stopped or rotated in the forward direction, the backward determination unit 3100 sets the backward permission flag to OFF (OFF) (step S41). Then, the process returns to the process of the caller.

On the other hand, when the pedal is rotated in the reverse direction, the backward determination unit 3100 determines whether or not the pedal reverse rotation speed ([rpm]) is equal to or higher than the threshold value TH3 (for example, 30 rpm) (step S33). ). It is for determining whether or not the reverse rotation is performed at a high speed higher than a predetermined level.

If the reverse pedal rotation speed is equal to or higher than the threshold value TH3, the backward determination unit 3100 sets the backward permission flag to ON (ON) (step S35). Then, the process returns to the process of the caller. On the other hand, if the pedal reverse rotation speed is less than the threshold value TH3, the backward determination unit 3100 determines whether or not the pedal reverse rotation speed is smaller than the threshold value TH4 (<TH3, for example, 20 rpm) (step S37). If the reverse rotation speed of the pedal decreases after the conditions for reverse control are satisfied once, the reverse rotation speed of the pedal must decrease to the extent that it falls below the threshold value TH4, instead of immediately setting the backward permission flag to off. For example, in order to prevent chattering, the status quo is maintained (the backward permission flag is left on). Therefore, when the reverse pedal rotation speed is lower than the threshold value TH4, the backward determination unit 3100 sets the backward permission flag to off (step S39).
). Then, the process returns to the process of the caller. On the other hand, if the pedal reverse rotation speed is equal to or higher than the threshold value TH4, the process returns to the caller's process without doing anything.

By performing such a process, if the reverse rotation pedal rotation is performed at a speed of a certain level or higher, the backward control is performed.

Returning to the description of the process of FIG. 5, next, the backward determination unit 3100 may execute the backward control confirmation process in addition to the backward determination process (step S5). This process is optional. Here, it is assumed that nothing is performed and the process proceeds to the next process, but an example of the process when the process is executed will be described later.

Then, the control unit 3200 determines whether or not the backward permission flag is set to ON (step S7). When the retreat permission flag is set to off, the retreat control according to the present embodiment is not performed, so that the control unit 3200 sets the output torque according to the conventional method (step S11). Details will be omitted here. Then, the process proceeds to step S13.

On the other hand, when the backward permission flag is set to ON, the control unit 3200 executes the output torque setting process (step S9). For example, a fixed output torque may be set. Further, for example, the output torque may be set according to the tire rotation speed.

In the present embodiment, for example, the output torque as shown in FIG. 7 is set. The horizontal axis of FIG. 7 represents the absolute value (| tire rotation speed |) [km / h] of the tire rotation speed in reverse rotation, and the vertical axis represents the output torque [Nm]. It should be noted that the tire rotation speed of forward rotation is represented by a positive value, and the tire rotation speed of reverse rotation is represented by a negative value.

In the case of the curve a representing the first example, the output torque τ12 is obtained when | tire rotation speed | = 0, and the output torque τ12 is maintained until | tire rotation speed | = Sth12 (for example, 2 km / h). When | tire rotation speed | exceeds Sth12, the output torque decreases as | tire rotation speed | increases, and when | tire rotation speed | = Sth13 (for example, 2.5 km / h), the output torque becomes zero. .. Sth13 shall be referred to as the upper limit value of | tire rotation speed |.

Further, in the case of the curve b (dotted line) showing the second example, the output torque is τ11 when | tire rotation speed | = 0, and when | tire rotation speed | exceeds 0, | according to the increase in | tire rotation speed | When the output torque decreases and | tire rotation speed | reaches Sth11 (for example, 1 km / h),
The output torque is τ12. When | tire rotation speed | increases from this, it is the same as curve a here.

Curves a and b are merely examples, and other curves may be adopted. Further, in the example of FIG. 7, |
Three ranges are set for the tire rotation speed |, but the range is not limited to three.

Although it is an option, the output torque may be changed over time according to the tire rotation speed. For example, depending on the time elapsed since the backward permission flag was turned on.
Try to change the gain multiplied by the output torque. An example of this is shown in FIG. The horizontal axis of FIG. 8 represents time [s], and the vertical axis represents gain.

In the example of FIG. 8, the gain linearly increases to 1 from the time when the backward permission flag is turned on until the time TH21 (for example, 1 second) elapses, and then 1 is maintained. If you do this
Since the aircraft will gradually retreat, the impact on the passengers due to the retreat can be alleviated.

It should be noted that the increase may be made along some curve instead of linear.

FIG. 9 shows an output torque setting process for realizing the items shown in FIGS. 7 and 8.

In the control unit 3200, the tire rotation speed (negative value in the case of reverse rotation) has three predetermined ranges (first range (0 or less-Sth11 or more) and second range (less than -Sth11) in the example of FIG. -Sth12 or more) or the third range (-Sth12 or less-Sth13 or more)) to specify which predetermined range is included (FIG. 9: step S51).

Then, the control unit 3200 determines whether or not the tire rotation speed is within any predetermined range (step S53). If the tire rotation speed does not fall within any of the predetermined ranges, the control unit 3200 sets the output torque to 0 (step S57). Then, the process proceeds to step S59.

On the other hand, when the tire rotation speed falls within any of the predetermined ranges, the control unit 3200 sets the output torque according to the tire rotation speed in the predetermined range (step S55).
For example, in the case of curve b, when entering the first range, according to a predetermined function in which the output torque decreases as the | tire rotation speed | increases, when entering the second range, | tire rotation speed | When the third range is entered according to a predetermined function that outputs a constant output torque regardless of |, the output torque is set according to a predetermined function in which the output torque decreases as the | tire rotation speed | increases. Then, the process proceeds to step S59.

Further, the control unit 3200 sets the threshold value T for the elapsed time after setting the backward permission flag to ON.
It is determined whether or not it is less than H21 (step S59). If the elapsed time is equal to or greater than the threshold TH21, the process returns to the caller's process. On the other hand, the elapsed time is the threshold TH21.
If it is less than, the control unit 3200 changes the output torque to the gain G (which changes according to the elapsed time).
The output torque is corrected by multiplying by <1) (step S61). In the example of FIG. 9, the gain G that increases so as to approach 1 as the elapsed time becomes longer is multiplied.

By doing so, an appropriate output torque can be set. By setting the output torque according to the tire rotation speed as shown in FIG. 7, the electrically assisted bicycle 1 can be retracted while considering the psychology and safety of the occupant when reversing.

Further, if a relatively large output torque is set when the vehicle is stopped, it is possible to avoid a situation in which the vehicle cannot start on a slope or a step. Further, if the tire rotation speed becomes high, the output torque becomes zero, so that it is possible to prevent the tire from retreating too much.

Returning to the description of the process of FIG. 5, the control unit 3200 determines whether or not the backward permission flag is turned on (step S13). When the backward permission flag is off, the control unit 3200 sets the motor rotation direction to forward rotation (step S17). This is the same as before. Then, the process proceeds to step S19.

On the other hand, when the backward permission flag is turned on, the control unit 3200 sets the motor rotation direction to reverse rotation (step S15). Then, the process proceeds to step S19.

Then, the control unit 3200 controls the motor 105 according to the setting (step S19).
). If the backward permission flag is turned on, the motor drive timing generator 1026, the variable delay circuit 1025, and the FET bridge 1030 are controlled so that the set output torque is generated in the reverse rotation.

The process from step S3 to step S19 as described above is repeated every unit time until, for example, the power switch is turned off and the process is completed (step S21).

By performing the above-mentioned processing, it becomes possible to move backward while riding on the electrically power assisted vehicle.

[Embodiment 2]
In the present embodiment, an example of the backward determination process performed when the pedal rotation sensor 104 is a sensor that cannot detect the rotation direction is shown.

FIG. 10 shows the backward determination process B according to the present embodiment. Since the direction of rotation cannot be detected, the pedal rotation speed is always a positive value. Further, the torque sensor 103 does not detect the torque while the pedal is rotating in the reverse direction.

The retreat determination unit 3100 determines whether or not the tire rotation speed is equal to or less than the threshold value TH1 (for example, 1 km / h) (FIG. 10: step S71). The tire rotation speed shall be a positive value in the forward rotation and a negative value in the reverse rotation. This step roughly determines whether or not the electrically power assisted bicycle 1 is stopped, and may determine whether or not the tire rotation speed is included in a predetermined range including 0.

When the tire rotation speed is not equal to or less than the threshold value TH1, the retreat determination unit 3100 sets the retreat permission flag to off (step S83). Then, the process returns to the process of the caller.
On the other hand, when the tire rotation speed is the threshold value TH1 or less, the retreat determination unit 3100 determines whether or not the pedal input torque is the threshold value TH2 (for example, 10 Nm) or less (step S73).
.. This step also confirms that the torque is hardly input, that is, the pedal is not rotated in the forward direction. For the threshold value TH2, for example, a value that is equal to or greater than the torque for preventing false detection (for example, 5 Nm) and less than or equal to the drive permitted torque (for example, 15 Nm) in normal rotation is adopted. If the torque exceeds the threshold TH2, the process is step S83.
Move to.

On the other hand, when the pedal input torque is equal to or less than the threshold value TH2, the backward determination unit 3100 determines whether or not the pedal rotation speed is equal to or greater than the threshold value TH3 (for example, 30 rpm) (step S).
75). If the conditions of steps S71 and S73 are satisfied, it can be considered that the vehicle is stopped, and if the pedal rotation speed is equal to or higher than the threshold value TH3, the pedal is rotated in the reverse direction. It is judged that the intention of the passenger is to retreat.

When the pedal rotation speed is equal to or higher than the threshold value TH3, the backward determination unit 3100 sets the backward permission flag to ON (step S77). Then, the process returns to the process of the caller. On the other hand, when the pedal rotation speed is less than the threshold value TH3, the backward determination unit 3100 determines whether or not the pedal rotation speed is less than the threshold value TH4 (step S79). Pedal speed is threshold TH
If it is less than 4, the retreat determination unit 3100 sets the retreat permission flag to off (step S81). If there is not enough pedal rotation, turn off the backward permission flag.
Then, the process returns to the process of the caller. On the other hand, if the pedal rotation speed is the threshold TH4 or higher,
The process returns to the caller's process without doing anything. This is to maintain the status quo.

By performing the above processing, even if the pedal rotation sensor 104 cannot detect the rotation direction, it is possible to detect the state in which the pedal is rotated in the reverse direction while the vehicle is stopped.

[Embodiment 3]
In order to more reliably detect the occupant's intention to retreat, for example, the retreat determination process C as shown in FIGS. 11 and 12 may be executed. In the present embodiment, the pedal rotation sensor 1
It is assumed that 04 cannot detect the direction of rotation.

The backward determination unit 3100 determines whether or not the pedal rotation speed is less than the threshold value TH34 (for example, 20 rpm) (FIG. 11: step S91). When the pedal rotation speed is less than the threshold value TH34, the backward determination unit 3100 clears the pedal rotation angle amount (step S93).
The pedal rotation angle amount is the cumulative rotation angle amount after the pedal rotation is initially detected.
After that, it is the cumulative rotation angle amount of the pedal rotation detected after being cleared. Further, the backward determination unit 3100 sets the backward permission flag to off (step S95). Then, the process returns to the process of the caller.

On the other hand, when the pedal rotation speed is not less than the threshold value TH34, the backward determination unit 3100 determines whether or not the pedal rotation angular acceleration is equal to or more than the ^{threshold value TH36 (for example, 3.14 rad / s 2} = 180 ° / s ^2). (Step S97). If the pedal rotation angular acceleration is equal to or higher than the threshold value TH36, the process proceeds to step S93. When the pedal is pedaled stably at a constant speed, the pedal rotation angular acceleration becomes less than the threshold value TH36. On the other hand, if the pedal has been rotated for some reason, the pedal rotation angular acceleration will be the threshold value TH36 or higher because the speed will be faster or slower than a constant speed. That is, in steps S91 and S97, it is first determined whether or not the pedal is rotating stably at a constant speed or higher.

When the pedal rotation angular acceleration is less than the threshold value TH36, the backward determination unit 3100 determines whether or not the current pedal rotation angle amount is less than the threshold value TH35 (for example, 360 °) (step S99). In the present embodiment, it is determined that the occupant's intention to retreat is certain if the pedal is rotated by a predetermined angle (for example, one rotation (= 360 °)) or more stably at a constant speed or more. .. If the current pedal rotation angle amount is less than the threshold TH35, the process is step S.
Move to 95. On the other hand, if the pedal rotation angle amount is the threshold value TH35 or more, the processing shifts to the processing of FIG. 12 via the terminal A.

Moving on to the description of the process of FIG. 12, in the retreat determination unit 3100, the tire rotation speed is the threshold value TH3.
It is determined whether or not it exceeds 1 (for example, 1 km / h) (FIG. 12: step S101).
When the tire rotation speed exceeds the threshold value TH31, the process proceeds to step S95 in FIG. 11 via the terminal B. On the other hand, when the tire rotation speed is equal to or less than the threshold value TH31, the retreat determination unit 3100 determines whether or not the tire rotation speed is less than the threshold value TH32 (for example, −2.5 km / h) (step S103). If the tire rotation speed is less than the threshold value TH32, the process proceeds to step S95 in FIG. 11 via the terminal B.

If the tire rotation speed is equal to or higher than the threshold value TH32, the vehicle is almost in a stopped state, and the retreat determination unit 310
0 determines whether or not the pedal input torque is equal to or higher than the threshold value TH33 (for example, 10 Nm) (step S105). When the pedal input torque is equal to or higher than the threshold value TH33, the process proceeds to step S95 in FIG. 11 via the terminal B. When the pedal input torque is less than the threshold value TH33, there is almost no pedal input torque, and the backward determination unit 3100 determines whether or not the pedal rotation speed is less than the threshold value TH38 (for example, 30 rpm) (step). S
107). If the pedal rotation speed is less than the threshold TH38, the process returns to the caller's process via the terminal C.

On the other hand, if the pedal rotation speed is equal to or higher than the threshold value TH38, the backward determination unit 3100 sets the backward permission flag to ON (step S109). Then, the process returns to the process of the caller via the terminal C.

Step S107 is the same as the combination of steps S75 and S79 in FIG. 10 when combined with step S91. Steps S101 and S103 correspond to step S71 in FIG. Step S105 is the same as step S73. That is, FIG.
The part shown in 1 surely identifies the passenger's intention to retreat. Even when the pedal rotation sensor 104 capable of detecting the rotation direction is adopted, it is determined whether or not the pedal has been rotated at a constant speed or more and stably at a predetermined angle or more as shown in FIG. You may do so.

[Embodiment 4]
Similar to the third embodiment, in order to more reliably detect the retreat intention of the occupant, for example, the retreat determination process D as shown in FIG. 13 (and FIG. 12) may be executed. Also in this embodiment, it is assumed that the pedal rotation sensor 104 cannot detect the rotation direction.

The backward determination unit 3100 determines whether or not the pedal rotation angle amount is less than the threshold value TH35 (step S111). If the amount of pedal rotation angle is less than the threshold value TH35, the backward determination unit 31
00 further determines whether or not the elapsed time for measuring the pedal rotation angle amount has reached the threshold value TH37 (for example, 3 seconds) or more (step S113). If the elapsed time is less than the threshold TH37, the process proceeds to step S117.

On the other hand, if the elapsed time is the threshold value TH37 or more, the backward determination unit 3100 clears the pedal rotation angle amount (step S115). In this way, if the pedal has not rotated by a predetermined angle or more within a predetermined time, no other judgment is made. Then, the backward determination unit 3100 sets the backward permission flag to off (step S117). After that, the process returns to the caller's process.

On the other hand, when the pedal rotation angle amount is equal to or higher than the threshold value TH35, that is, when the pedal is rotated by a predetermined angle or more within a predetermined time, the backward determination unit 3100 has a pedal rotation speed of the threshold value TH3
It is determined whether or not it is less than 4 (step S119). When the pedal rotation speed is less than the threshold value TH34, the rotation speed is too slow, so that the backward determination unit 3100 clears the pedal rotation angle amount and the elapsed time for measuring the pedal rotation angle amount (step S121). Then, the process proceeds to step S117.

On the other hand, if the pedal rotation speed is the threshold value TH34 or higher, the backward determination unit 3100 determines whether or not the pedal rotation angular acceleration is the threshold value TH36 or higher (step S123). When the pedal rotation angular acceleration is equal to or higher than the threshold value TH36, the process proceeds to step S121. That is, if stable pedal rotation is not performed, the process proceeds to step S121. If the pedal rotation angular acceleration is less than the threshold TH36, the process shifts to the process of FIG. 12 via the terminal A.

The process of FIG. 12 is as described above, but when the process returns to the process of FIG. 13 via the terminal B, the process proceeds to step S121. Further, when the process returns to the process of FIG. 13 via the terminal C, the process returns to the caller's process as it is.

As described above, when the passenger's intention to retreat is represented by the pedal rotation angle within a predetermined time, it is rational to first determine by the pedal rotation angle amount in this way.

In addition, in FIG. 13, not only the amount of pedal rotation angle but also that the pedal is stably rotated at a constant speed or higher is defined as a requirement.

[Embodiment 5]
When the output torque is set according to the tire rotation speed as shown in FIG. 7, the upper limit value of the output torque and the upper limit value of the tire rotation speed that can affect the setting of the output torque are specified. .. Such an upper limit value may be fixed, but may be set according to, for example, the number of reverse pedal rotations.

FIG. 14 shows an example of setting the upper limit value of the output torque according to the reverse rotation pedal rotation speed. Figure 1
The vertical axis of 4 represents the upper limit value [Nm] of the output torque, and the horizontal axis represents the reverse rotation speed [rpm] of the pedal. Not only when the direction of pedal rotation can be detected, but even if the direction of pedal rotation cannot be detected, if the backward permission flag can be set to on, the pedal rotation speed at that time can be treated as the pedal reverse rotation speed. good.

In the example of FIG. 14, the upper limit of the output torque is 0 until the pedal reverse rotation speed reaches Pth1, and when the pedal reverse rotation speed exceeds Pth1, the upper limit output torque τmax is linearly increased according to the pedal reverse rotation speed. To increase. When the pedal reverse rotation speed exceeds Pth2, the upper limit output torque τmax is maintained.

It is not limited to the shape of the curve as shown in FIG. 14, and may be changed in the shape of another curve.

Further, as shown in FIG. 15, the upper limit value of the reverse rotation | tire rotation speed | according to the reverse rotation pedal rotation speed [
An example of setting [km / h] is shown. The vertical axis of FIG. 15 represents the upper limit of the reverse rotation | tire rotation speed |, and the horizontal axis represents the pedal reverse rotation speed [rpm].

In the example of FIG. 15, the upper limit of | tire rotation speed | is maintained at a predetermined value Sy until the pedal reverse rotation speed reaches Pth1, but when the pedal reverse rotation speed exceeds Pth1, the pedal reverse rotation speed is increased. It increases linearly up to the predetermined value Sx. When the reverse rotation speed of the pedal exceeds Pth2, it is maintained at a predetermined value Sx.

It is not limited to the shape of the curve as shown in FIG. 15, and may be changed in the shape of another curve.

For example, in the case of the curve a in FIG. 7, as shown in FIG. 16, the upper limit value (dotted line) of | tire rotation speed | varies in the X direction according to the reverse pedal rotation speed, and the upper limit value of the output torque (dotted line). Two-dot chain line)
Fluctuates in the Y direction.

[Embodiment 6]
In the embodiment described above, the input from the load sensor 108 is not used, but for example, the upper limit value of the output torque may be adjusted according to the weight measured by the load sensor 108.

For example, the control unit 3200 sets an upper limit value of the output torque according to the weight represented by the load input. For example, if the weight is 50 kg, the upper limit is set to about 15 Nm, or 1
If it is 00 kg, it may be set to about 30 Nm.

As a result, the retreat can be smoothly performed regardless of the passenger.

[Embodiment 7]
If you are not on board, it is not preferable to perform backward control. In the present embodiment, if the presence or absence of boarding can be confirmed by the load sensor 108, the reverse control is performed, and if it cannot be confirmed, the backward control is not performed. That is, when the control unit 3200 has not received a signal indicating that it is seated in the saddle, or the measured weight is less than a predetermined value (for example, 30).
If it is determined that the torque is less than kg), the retreat permission flag is turned off, or the output torque is set to zero regardless of whether the retreat permission flag is on or off. This makes it safer.

[Embodiment 8]
In the case of a general bicycle or an electrically assisted bicycle 1, if the electrically assisted bicycle 1 is pulled backward by hand without getting on the bicycle, the pedal will rotate in the reverse direction even if the bicycle is not rowed.

If the reverse rotation of the pedal is detected and the backward control is performed, the electrically assisted bicycle 1 will reverse in an unintended manner.

In order to prevent this, when the reverse rotation faster than the reverse rotation pedal rotation speed, which is caused by pulling the electrically assisted bicycle 1 by hand and retreating without getting on the bicycle, is detected, the present embodiment Make backward control.

That is, the case where the reverse control may be permitted and the case where the reverse control should be prohibited are separated from the relationship between the | tire rotation speed | and the reverse pedal rotation speed.

An example is shown in FIG. In FIG. 17, the horizontal axis represents | tire rotation speed | [km / h].
The vertical axis represents the pedal reverse rotation speed [rpm].

In FIG. 17, the dotted line c represents a line for which the following equation holds.
｜ Tire rotation speed ｜ ＝ Pedal reverse rotation speed × 60 × Gear ratio × Tire circumference length Pedal reverse rotation speed ＝ ｜ Tire rotation speed ｜ / 60 / Gear ratio / Tire circumference length

In the case of internal shifting, the gear ratio is the same as the gear ratio of the first gear even if the shifting is changed. On the other hand, in the case of external shifting, when the shifting is changed, the gear ratio at that shifting is obtained. Therefore, the gear ratio may be calculated as the maximum gear ratio.

In FIG. 17, if the pedal reverse rotation speed exceeding the pedal reverse rotation speed corresponding to | tire rotation speed | is detected in the above equation, it can be specified that the pedal is being pedaled in reverse rotation.

In the present embodiment, a margin is set, and if the reverse rotation speed of the pedal is detected in the permitted region above the solid straight line d that exceeds the dotted line c by the margin, it is confirmed that the pedal is pedaled in the reverse rotation. To do. On the other hand, if the reverse rotation speed of the pedal in the prohibited area equal to or less than the straight line d is detected, it is determined that the pedal is not on board.

Similarly, if | below | tire rotation speed | calculated from the pedal reverse rotation speed | is detected in the above equation, it can be specified that the pedal is being pedaled in reverse rotation. In this case as well, a margin may be set.

Therefore, in the present embodiment, the process shown in FIG. 18 is executed as the confirmation process (step S5).

That is, the backward determination unit 3100 determines whether or not the backward permission flag is set to ON (FIG. 18: step S131). If the backward permission flag is off, it returns to the caller's processing.

On the other hand, when the retreat permission flag is turned on, the retreat determination unit 3100 determines whether or not the pedal reverse rotation speed is equal to or less than the pedal reverse rotation speed + margin calculated from | tire rotation speed | ( Step S133). If this condition is not satisfied, it means that the area is in the permitted area, and the process returns to the process of the caller. The condition of step S133 may be based on the tire rotation speed instead of the pedal reverse rotation speed base. Further, the judgment may be made based on the index value obtained by modifying the above equation.

On the other hand, if this condition is satisfied, it is in the prohibited area, so that the retreat determination unit 3100
The backward permission flag is set to off (step S135). Then, it returns to the processing of the caller.

By doing so, it becomes possible to confirm that the passenger is pedaling in the reverse rotation without using the load sensor 108.

In the present embodiment, the description has been made on the premise that the electrically assisted bicycle 1 is not provided with the differential gear, but even if the differential gear is provided, the above processing works effectively.

[Embodiment 9]
Even if it is not as strict as in the eighth embodiment, the same determination may be made simply.
For example, in reverse rotation, the threshold value can be calculated by calculating the pedal reverse rotation speed by the above formula and adding a margin based on the upper limit value of | tire rotation speed | (for example, [5 km / h]).

For example, if the upper limit of | tire rotation speed | is 5 km / h, the gear ratio is 1.6, and the tire circumference is 2 m, the pedal reverse rotation speed is calculated to be 26 [rpm]. The threshold value Pth11 can be set by adding a margin to this value.

That is, as shown in FIG. 19, since the threshold Pth11 of the pedal reverse rotation speed is calculated based on the upper limit value Tth11 of | tire rotation speed |, the | tire rotation speed | is in the range from 0 to the upper limit value Tth11. , The area of Pth11 or higher is the permitted area, and the other area is the prohibited area.

Therefore, the confirmation process B as shown in FIG. 20 is executed.

That is, the backward determination unit 3100 determines whether or not the backward permission flag is set to ON (FIG. 20: step S141). If the backward permission flag is off, it returns to the caller's processing.

On the other hand, when the backward permission flag is turned on, the backward determination unit 3100 determines whether or not the reverse pedal rotation speed is smaller than the threshold value Pth11 set as described above (step S1).
43). If this condition is not satisfied, it means that the area is in the permitted area, and the process returns to the process of the caller. Since the threshold value may change depending on the gear ratio, the maximum gear ratio may be used as the gear ratio.

On the other hand, if this condition is satisfied, it is in the prohibited area, so that the retreat determination unit 3100
The backward permission flag is set to off (step S145). Then, it returns to the processing of the caller.

By doing so, it becomes possible to easily confirm that the passenger is pedaling in the reverse rotation without using the load sensor 108.

By adopting the same value as Pth11 for the threshold value TH34 in FIG. 11, for example,
The confirmation process B may be omitted.

Although the embodiments of the present invention have been described above, the present invention is not limited thereto. For example, depending on the purpose, any technical feature of the above-described embodiment may be combined, or any technical feature of the above-described embodiment may be deleted.

For example, the confirmation process and the backward determination process may be integrated without being separated. It is also possible to put a part of the confirmation process into the backward determination process, and conversely, put a part of the backward determination process into the confirmation process.

Further, the functional block diagram described above is an example, and one functional block may be divided into a plurality of functional blocks, or a plurality of functional blocks may be integrated into one functional block.
As for the processing flow, the order of the steps may be changed or a plurality of steps may be executed in parallel as long as the processing contents do not change.

Part or all of the arithmetic unit 1021 may be implemented by a dedicated circuit, or the functions described above may be realized by executing a program prepared in advance.

As for the type of sensor, the example described above is an example, and another sensor that can obtain the parameters described above may be used. The installation location may also be changed according to the purpose of the parameters measured by the sensor.

The above-described embodiments can be summarized as follows.

The motor control device according to the present embodiment causes the electrically assisted vehicle to move backward when it detects (A) a drive unit for driving the motor of the electrically assisted vehicle and (B) reverse rotation of the pedal satisfying the first condition. It has a control unit that controls the drive unit. In this way, it becomes possible to move backward while riding on the electrically power assisted vehicle.

The control unit described above detects the reverse rotation of the pedal that satisfies the first condition based on the pedal rotation direction and the pedal rotation speed, or the pedal rotation speed, the tire rotation speed, and the pedal input torque. You may do so. Regardless of whether the rotation direction of the pedal can be detected or not, the reverse rotation of the pedal that appropriately satisfies the first condition can be detected.

Further, the control unit described above is a pedal that satisfies the first condition based on the reverse rotation pedal rotation speed, the pedal rotation angle amount, the pedal rotation angular acceleration, the tire rotation speed, and the pedal input torque. Reverse rotation may be detected. By using such a parameter group, it becomes possible to reliably detect the reverse rotation of the pedal satisfying the first condition.

Further, the control unit described above has a second condition for the reverse rotation pedal rotation speed (for example, a pedal reverse rotation speed below the threshold value) and a third condition for the pedal rotation angle amount (for example, a pedal below the threshold value). Rotation angle amount), a fourth condition for pedal rotation angular acceleration (for example, pedal rotation angular velocity above the threshold), a fifth condition for tire rotation speed (for example, above threshold | tire rotation speed |), and a pedal. When at least one of the sixth condition (for example, pedal input torque equal to or higher than the threshold value) with respect to the input torque is satisfied, it may be determined that the first condition is not satisfied.

Further, the third condition, or the second condition and the fourth condition may be preferentially determined. This is for the efficiency of judgment.

Further, whether or not the control unit described above satisfies other conditions including the third condition for the reverse rotation pedal rotation speed when the pedal rotation angle amount in a certain time satisfies the second condition. May be determined to determine whether or not the first condition is satisfied. This is effective when the passenger's intention to retreat is expressed by the amount of pedal rotation angle.

In addition, the control unit described above includes a third condition regarding the amount of pedal rotation angle while the reverse rotation of the pedal is performed at a predetermined rotation speed or more and with stability satisfying the second condition. By determining whether or not the condition of the above condition is satisfied, it may be determined whether or not the first condition is satisfied. When it is important to pedal the pedal in the reverse rotation at a constant speed or higher and stably, such a determination may be performed.

Further, the control unit described above may determine the output torque of the motor based on the tire rotation speed. For example, in reverse rotation, the slower the | tire rotation speed |, the smoother the backward start by increasing the output torque, and the faster the | tire rotation speed |, the smaller the output torque, the safer the reverse rotation becomes possible.

The control unit described above may change the output torque according to the time.
This makes it possible to soften the impact at the time of starting backward, for example.

Further, the control unit described above may prohibit the control of reversing the electrically assisted vehicle when the riding on the electrically assisted vehicle is not detected. This is to make it safer.

Further, the control unit described above is a reverse rotation pedal calculated based on the relationship between the tire rotation speed calculated based on the reverse rotation pedal rotation speed and the current tire rotation speed, or the current tire rotation speed. Based on the relationship between the rotation speed and the current pedal rotation speed of the reverse rotation, the propriety of the control for reversing the electrically assisted vehicle may be determined. This makes it possible to determine whether or not the passenger intentionally rotates the pedal in the reverse direction.

Further, the control unit described above may adjust at least one of the upper limit value of the output torque of the motor and the upper limit value of the tire rotation speed based on the pedal rotation speed of the reverse rotation.
This is to retreat according to the intention of the passenger.

Further, the control unit described above may adjust the upper limit value of the output torque of the motor based on the weight of the passenger of the electrically assisted vehicle. For example, this is to enable smooth backward start regardless of the passenger.

3000 Retreat control unit 3100 Retreat judgment unit 3200 Control unit

Claims (14)

The drive unit that drives the motor of the electrically power assisted vehicle and
When the reverse rotation of the pedal satisfying the first condition is detected, the control unit that controls the drive unit so as to move the electrically assisted vehicle backward, and the control unit.
Motor control device with. The control unit
The rotation direction of the pedal and the number of rotations of the pedal, or the number of rotations of the pedal, the rotation speed of the tire
The motor control device according to claim 1, wherein the reverse rotation of the pedal that satisfies the first condition is detected based on the pedal input torque. The control unit
Claim 1 for detecting the reverse rotation of the pedal satisfying the first condition based on the reverse rotation pedal rotation speed, the pedal rotation angle amount, the pedal rotation angular acceleration, the tire rotation speed, and the pedal input torque. The motor control device described. The control unit
The second condition for the reverse rotation pedal rotation speed, the third condition for the pedal rotation angle amount, the fourth condition for the pedal rotation angular acceleration, the fifth condition for the tire rotation speed, and the pedal. The motor control device according to claim 1, wherein it is determined that the first condition is not satisfied when at least one of the sixth condition with respect to the input torque is satisfied. The motor control device according to claim 4, wherein the third condition, or the second condition and the fourth condition are preferentially determined. The control unit
When the pedal rotation angle amount in a certain time satisfies the second condition, it is determined whether or not other conditions including the third condition for the reverse rotation pedal rotation speed are satisfied, thereby determining whether or not the first condition is satisfied. The motor control device according to claim 1, wherein it determines whether or not the conditions are satisfied. The control unit
It is determined whether or not other conditions including the third condition for the amount of pedal rotation angle are satisfied while the reverse rotation of the pedal is performed at a predetermined rotation speed or more and with stability satisfying the second condition. The motor control device according to claim 1, wherein the motor control device determines whether or not the first condition is satisfied. The control unit
The motor control device according to any one of claims 1 to 7, wherein the output torque of the motor is determined based on the tire rotation speed. The control unit
The motor control device according to claim 8, wherein the output torque is changed according to time. The control unit
The motor control device according to any one of claims 1 to 9, which prohibits control of moving the electrically assisted vehicle backward when riding on the electrically assisted vehicle is not detected. The control unit
The relationship between the tire rotation speed calculated based on the reverse rotation pedal rotation speed and the current tire rotation speed, or the reverse rotation pedal rotation speed calculated based on the current tire rotation speed and the current reverse rotation pedal. The motor control device according to any one of claims 1 to 10, wherein the propriety of control for moving the electrically assisted vehicle backward is determined based on the relationship with the rotation speed. The control unit
The motor control device according to claim 9, wherein at least one of the upper limit value of the output torque of the motor and the upper limit value of the tire rotation speed is adjusted based on the pedal rotation speed of the reverse rotation. The control unit
The motor control device according to claim 9, wherein the upper limit value of the output torque of the motor is adjusted based on the weight of the passenger of the electrically assisted vehicle. An electrically assisted vehicle having the motor control device according to any one of claims 1 to 13.

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