JPWO2020017445A1 - Motor control device and method, and electrically power assisted vehicle - Google Patents

Abstract

The motor control device of the present invention has (A) a drive unit that drives the motor, and (B) a pedal rotation and a motor in response to detecting a predetermined running or pedal operation state that is presumed to have no intention of accelerating. It has a control unit that specifies the speed of the moving vehicle according to at least one of the rotations of the vehicle, determines the amount of regeneration based on the specified speed, and controls the drive unit according to the amount of regeneration. The predetermined running or pedal operation state is, for example, a state in which pedal torque input below the first threshold value is continued for a certain period of time or longer, pedal torque input below the second threshold value, and pedal rotation angle below the third threshold value. Is continued for a certain period of time or longer, or the first value and the second value are at a predetermined level from the degree of coincidence or deviation between the first value according to the wheel rotation and the second value according to the pedal rotation. It is in a state where it is judged that the above is different.

Description

The present invention relates to a regenerative control technique for an electrically power assisted vehicle.

There are various methods for when to perform regenerative control. For example, there is a method of automatically operating according to acceleration (for example, Patent Document 1).

According to this method, regeneration is automatically started without any operation by the user, so that it is expected that regeneration will be performed and the amount of regeneration will increase even in a running state where regeneration has not been performed so far. On the other hand, when the user does not intend to decelerate, the regeneration starts automatically, which may make the user feel uncomfortable.

Further, in other documents (for example, Patent Document 2), when (a) a detection unit for detecting a start instruction or a stop instruction for regenerative control by a passenger and (b) a detection unit for detecting a start instruction for regenerative control are detected. If the current vehicle speed is faster than the first vehicle speed until the first vehicle speed at the time of detection is specified, a predetermined value is set for the control coefficient for the regeneration target amount, and the detection unit detects the stop instruction of the regeneration control. A control coefficient calculation unit that increases the value of the control coefficient and decreases the value of the control coefficient when the current vehicle speed is slower than the first vehicle speed, and (c) the value of the control coefficient and the regenerative target amount from the control coefficient calculation unit. Therefore, a motor drive control device including a control unit for controlling the drive of the motor is disclosed. In this document, the regenerative control start instruction is a reverse rotation of the pedal over a predetermined phase angle, the instruction switch for the regenerative control start instruction is turned on, or the brake switch is continuously turned on within a predetermined time. Is supposed to be detected by.

According to the technology of this document, the regenerative braking force is applied in consideration of the intention of the passenger, and the regenerative control is performed so that the first vehicle speed is maintained as much as possible, but the first vehicle speed is adjusted. It is assumed that the passenger remembers the operation for instructing the start of the regeneration control with the intention of specifying it. Further, although the vehicle speed at the time of the instruction to start the regenerative control is maintained, the vehicle speed preferable for the passenger is not necessarily the vehicle speed at the time of the instruction to start the regeneration control. Furthermore, when using the instruction switch, the intention of the passenger is clear, but it costs a lot to install the instruction switch and it is an operation that is not normally performed, so it is troublesome to press the instruction switch while driving. Is hung. Further, even when the brake switch is provided, the cost for providing the brake switch is high, and the regenerative control depends on the brake operation, and the energy obtained by the regeneration is not sufficient. In addition, when reverse rotation of the pedal over a predetermined phase angle is adopted, a sensor capable of detecting reverse rotation is used, which increases the cost and reverse rotation of the pedal with the intention of specifying the first vehicle speed. If you try to do so, the pedal operation may become complicated because the reverse rotation is suddenly performed during the forward rotation.

European Patent Application Publication No. 2868562 U.S. Patent Application Publication No. 2014/0121877

Therefore, an object of the present invention is to provide, as one aspect, a new technique for performing regenerative control according to a presumed user's intention.

The motor control device of the present invention has (A) a drive unit that drives the motor, and (B) a pedal rotation and a motor in response to detecting a predetermined running or pedal operation state that is presumed to have no intention of accelerating. It has a control unit that specifies the speed of the moving vehicle according to at least one of the rotations of the vehicle, determines the amount of regeneration based on the specified speed, and controls the drive unit according to the amount of regeneration.

FIG. 1 is a diagram showing the appearance of an electrically power assisted bicycle. FIG. 2 is a diagram showing a configuration example of a motor control device. FIG. 3 is a diagram showing a configuration example of the regeneration control unit. FIG. 4 is a diagram showing a processing flow in the embodiment. FIG. 5 is a diagram showing a processing flow of the reference speed setting process A. FIG. 6 is a diagram showing a processing flow of confirmation processing. FIG. 7 is a diagram showing a processing flow of the regeneration amount determination process. FIG. 8 is a diagram showing an example of the correspondence between ΔV and the regeneration coefficient. FIG. 9 is a diagram for explaining a control example according to the embodiment. FIG. 10 is a diagram showing a processing flow of the reference speed setting process B. FIG. 11 is a diagram showing a processing flow of the reference speed setting process C. FIG. 12 is a diagram showing a processing flow of the regeneration amount determination processing B. FIG. 13 is a diagram showing a processing flow of the reference speed adjusting process A. FIG. 14 is a diagram for explaining a specific example of reference speed adjustment. FIG. 15 is a diagram showing a processing flow of the reference speed adjusting process B. FIG. 16 is a diagram showing a processing flow of the reference speed adjusting process C.

Hereinafter, embodiments of the present invention will be described with reference to an example of an electrically assisted bicycle, which is an example of an electrically assisted vehicle. However, the embodiment of the present invention is not limited to the electric assisted bicycle, but is applied to a motor that assists the movement of a moving body (for example, a trolley, a wheelchair, an elevator, etc.) that moves according to human power. It can also be applied to motor control devices and the like.

[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. The electrically assisted bicycle 1 is equipped with a motor drive device. The motor drive device includes a battery pack 101, a motor control device 102, a torque sensor 103, a pedal rotation sensor 104, a motor 105, and an operation panel 106. The electrically power assisted bicycle 1 may have a brake sensor 107, but it is not used in the present embodiment.

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. Then, the battery pack 101 supplies electric power to the motor 105 via the motor control device 102, and at the time of regeneration, the battery pack 101 is also charged by the regenerated electric power from the motor 105 via the motor 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 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 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 control device 102.

The motor control device 102 performs a predetermined calculation based on signals from the rotation sensor, the torque sensor 103, the pedal rotation sensor 104, and the like of the motor 105 to control the drive of the motor 105, and also controls the regeneration by the motor 105.

The operation panel 106 receives, for example, input from the user regarding the presence / absence of assist (that is, on / off of the power switch), and if there is assist, an input such as a desired assist ratio, and the instruction input or the like is received from the motor control device 102. Output to. Further, the operation panel 106 may have a function of displaying data such as a mileage, a mileage, a calorie consumption, and a regenerative electric energy, which are the results calculated by the motor control device 102. Further, the operation panel 106 may have a display unit such as an LED (Light Emitting Diode). As a result, for example, the charge level of the battery pack 101, the on / off state, the mode corresponding to the desired assist ratio, and the like are presented to the driver.

FIG. 2 shows a configuration related to the motor control device 102 according to the present embodiment. The motor control device 102 includes a controller 1020 and a FET (Field Effect Transistor) 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 a high-side FET (Swh) and a low-side FET (Swl) that switch the W phase of the motor 105. The FET bridge 1030 is a drive unit of the motor 105 and constitutes a part of a complementary type switching amplifier.

Further, the controller 1020 includes a calculation unit 1021, a pedal rotation input unit 1022, a motor rotation input unit 1024, a variable delay circuit 1025, a motor drive timing generation unit 1026, a torque input unit 1027, and AD (Analog-Analog-. It has a Digital) input unit 1029.

The calculation unit 1021 is an input from the operation panel 106 (for example, assist on / off, etc.), an input from the pedal rotation input unit 1022, an input from the motor rotation input unit 1024, an input from the torque input unit 1027, and an AD input unit. A predetermined calculation is performed using the input from 1029, and an output is performed to the motor drive timing generation unit 1026 and the variable delay circuit 1025. The calculation unit 1021 has a memory 10211, and the memory 10211 stores various data used for the calculation, data in the middle of processing, and the like. Further, the arithmetic unit 1021 may be realized by executing the program by the processor, and in this case, the program may be recorded in the memory 10211. Further, the memory 10211 may be provided separately from the calculation unit 1021.

The pedal rotation input unit 1022 digitizes the pedal rotation phase angle (also simply referred to as a pedal rotation angle or a crank rotation phase angle; may include a signal indicating the rotation direction) from the pedal rotation sensor 104. Is output to the calculation unit 1021. The motor rotation input unit 1024 digitizes a signal (for example, rotation phase angle, rotation direction, etc.) related to the rotation of the motor 105 (rotation of the front wheels in the present embodiment) from the hall signal output by the motor 105, and calculates the unit 1021. Output to. 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. The motor drive timing generation unit 1026 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. The basic operation of the motor is described in the pamphlet of International Publication No. 2012/086495 and the like, and is not the main part of the present embodiment. Therefore, the description thereof will be omitted here.

Next, FIG. 3 shows an example of a functional block configuration (a part according to the present embodiment) related to the regeneration control unit 3000 in the calculation unit 1021. The regeneration control unit 3000 includes a regeneration target calculation unit 3100, a reference speed setting unit 3200, and a control unit 3300. In addition, the calculation unit 1021 may perform the rotation speed of the motor 105 (rotational speed of the front wheels), the speed (= vehicle speed), the acceleration (time change amount of the speed), etc. of the motor 105 from the motor rotation input from the motor rotation input unit 1024. It has a motor rotation processing unit 2000 for calculating.

The regeneration target calculation unit 3100 specifies and outputs a predetermined regeneration target amount according to the speed or acceleration or the like from the current speed or acceleration or the like. The reference speed setting unit 3200 sets a reference speed, which is a reference speed for performing regenerative control. The parameters used by the reference speed setting unit 3200 to set the reference speed are various, but the pedal torque input may be used, or the pedal torque input and the pedal rotation input may be used. Further, the rotation speed or vehicle speed of the front wheels and the rotation speed of the rear wheels converted based on the pedal rotation (the rotation speed obtained by converting the pedal rotation into the rotation speed of the rear wheels based on the gear ratio or the like, and also called the pedal conversion rotation speed). ) Or the vehicle speed of the rear wheels (also called the pedal rotation speed (the speed obtained by converting the pedal rotation to the vehicle speed based on the gear ratio or the like)). In each case, those parameters are used to detect that the user has no intention of accelerating.

The control unit 3300 includes a reference speed and a regenerative flag from the reference speed setting unit 3200, a speed from the motor rotation processing unit 2000, a regenerative target amount from the regenerative target calculation unit 3100, and a pedal rotation input unit 1022. Based on the pedal rotation input and the pedal torque input from the torque input unit 1027, the regeneration amount is calculated and the regeneration control is performed according to the regeneration amount. In the present embodiment, the control unit 3300 calculates the regeneration amount by determining the regeneration coefficient from the obtained data and multiplying the regeneration coefficient by the regeneration target amount. The control unit 3300 may perform not only the regenerative control according to the present embodiment but also the regenerative control based on another viewpoint. For example, automatic regeneration control based on acceleration or velocity may be performed.

When regeneration is not performed, the calculation unit 1021 drives the motor 105 via the motor drive timing generation unit 1026, the variable delay circuit 1025, and the FET bridge 1030 so as to perform the conventional power running drive. On the other hand, when regenerating, the calculation unit 1021 regenerates the motor 105 via the motor drive timing generation unit 1026, the variable delay circuit 1025, and the FET bridge 1030 so as to realize the regeneration amount output by the control unit 3300. Control.

In the present embodiment, for example, since the user does not need to accelerate anymore, the timing at which the pedal torque input is almost eliminated by lowering or stopping the pedal rotation speed, the timing at which the pedal torque input and the pedal rotation are almost eliminated, and the timing Similarly, the current vehicle speed is set as the reference speed (that is, the upper limit speed) at the timing when a predetermined relationship between the motor rotation and the pedal rotation is detected, which is presumed to have no intention of accelerating. After that, when it is detected that the current speed exceeds the reference speed by entering a downhill or the like, the regeneration control according to the present embodiment is started to suppress the speed increase. For example, regenerative braking is activated by setting a regeneration coefficient based on the difference between the reference speed and the current speed. As a result, the regenerative braking starts to work at an early stage, so that the amount of charge to the battery is increased, the speed increase is suppressed even if the user does not operate the brake, the user's labor is reduced, and the safety is improved. ..

Further, since the amount of regeneration is controlled so as to realize a running state according to the user's intention, more comfortable running can be performed.

Next, the processing contents of the regenerative control unit 3000 shown in FIG. 3 will be described with reference to FIGS. 4 to 9. The process of FIG. 4 is executed every unit time.

First, the regeneration control unit 3000 measures various data (FIG. 4: step S1). In this embodiment, the pedal torque, the vehicle speed, the pedal rotation angle, and the like are measured. In other embodiments, additional parameters may be measured.

Next, the reference speed setting unit 3200 determines whether or not the regenerative flag is ON (step S3). If the regenerative flag is ON, the process proceeds to step S7. On the other hand, if the regenerative flag is OFF, the reference speed setting unit 3200 executes the reference speed setting process (step S5). The reference speed setting process according to the present embodiment will be described later with reference to FIG.

After that, the control unit 3300 executes a confirmation process for confirming whether or not the regeneration control according to the present embodiment may be performed (step S7). The confirmation process will be described later with reference to FIG.

After that, the control unit 3300 executes the regeneration amount determination process based on the processing result of the confirmation process (step S9). The regenerative amount determination process will be described later with reference to FIG. 7. In this regeneration amount determination process, when the regeneration control according to the present embodiment is executed, the regeneration coefficient is determined based on the reference speed, and regeneration is performed from the regeneration target amount and the regeneration coefficient calculated by the regeneration target calculation unit 3100. The amount is determined, and the motor 105 is made to perform regenerative braking via the FET bridge 1030 or the like in order to realize the regenerative amount.

Then, the regenerative control unit 3000 determines whether or not to end the process based on an instruction such as turning off the power (step S11). If the process is not completed, the process returns to step S1. On the other hand, if the process should be terminated, the process is terminated here.

In the present embodiment, when it is detected that the user has no intention of accelerating, a regenerative flag is set in advance, a reference speed is set at that timing, and when a speed increase from the reference speed is detected, the speed increase is performed. The amount of regeneration is determined so as to suppress it, and regenerative braking is executed.

Next, the reference speed setting process A according to the present embodiment will be described with reference to FIG. The regenerative flag and the time flag are initially set to OFF.

The reference speed setting unit 3200 determines whether or not the pedal torque is equal to or less than a predetermined threshold value TH11 (FIG. 5: step S21). The threshold value TH11 is a threshold value for determining that there is almost no pedal torque input. When the pedal torque exceeds the threshold value TH11, it is determined that the user has an intention to accelerate, so the process proceeds to step S35.

On the other hand, when the pedal torque is equal to or less than the threshold value TH11, it is determined that the user has no intention of accelerating. Therefore, the reference speed setting unit 3200 has the time flag indicating whether or not the time is being measured turned on. It is determined whether or not (step S23). If the time flag is not ON, the reference speed setting unit 3200 sets the time flag to ON (step S25). Further, the reference speed setting unit 3200 starts the time measurement (step S27). Then, the process returns to the caller's process.

On the other hand, when the time flag is set to ON, that is, when the pedal torque is continuously equal to or less than the threshold value TH11, has the reference speed setting unit 3200 passed a certain time from step S27? It is determined whether or not (step S29). If the measurement time has not elapsed for a certain period of time, the process returns to the caller's process.

On the other hand, when the measurement time from step S27 elapses, the state in which the pedal torque is equal to or less than the threshold value TH11 continues for a certain period of time or longer. Therefore, is the reference speed setting unit 3200 in a regenerative state? The regenerative flag indicating whether or not to use is set to ON (step S31). Further, the reference speed setting unit 3200 sets the reference speed V0 to the current speed from the motor rotation processing unit 2000 (step S33). As a result, the regenerative state is detected and the reference speed V0 is set. The regenerative flag and the reference speed V0 are output to the control unit 3300.

After that, the reference speed setting unit 3200 sets the time flag to OFF and clears the measurement time (step S35). This enables proper processing the next time the time is measured. Then, the process returns to the caller's process.

As described above, according to the reference speed setting process A according to the present embodiment, if the state in which there is almost no pedal torque input continues for a certain period of time or longer, it is estimated that the user has no intention of accelerating, and the reference speed V0. Is set and the regenerative enable flag is set to prepare for regenerative control.

Next, the processing content of the confirmation process according to the present embodiment will be described with reference to FIG.

First, the control unit 3300 determines whether or not the pedal rotation angle is less than the threshold value TH2 (FIG. 6: step S41). This is because when the pedal rotation angle is set to a certain degree (threshold value TH2) or more, it is presumed that the user is trying to accelerate by pedaling, so that it is not preferable to perform regeneration. Therefore, when the pedal rotation angle is equal to or higher than the threshold value TH2, the control unit 3300 sets the regenerative flag to OFF (step S47). Then, the process returns to the caller's process.

On the other hand, when the pedal rotation angle is less than the threshold value TH2, the control unit 3300 determines whether or not the pedal torque is less than the threshold value TH3 (step S43). The threshold value TH3 may be the same as the threshold value TH11, but may be a value larger than the threshold value TH11. If the threshold value TH3> the threshold value TH11, it is possible to suppress fluctuations in which the regenerative flag is turned ON or OFF due to a measurement error or the like. If the pedal torque is equal to or higher than the threshold value TH3, the process proceeds to step S47.

On the other hand, when the pedal torque is less than the threshold value TH3, the control unit 3300 determines whether or not the current speed from the motor rotation processing unit 2000 exceeds the threshold value TH4 (step S45). This is because it is inappropriate to perform this regeneration control when the speed does not reach a certain level. If the current speed is less than or equal to the threshold TH4, the process proceeds to step S47. On the other hand, when the current speed exceeds the threshold value TH4, the regenerative flag is not set to OFF, and the process returns to the process of the caller.

In this way, when it is detected that the running state changes after the regenerative flag is set to ON and the regenerative control according to the present embodiment is in an inappropriate state, the regenerative state is possible. Set the flag to OFF.

Next, the regeneration amount determination process according to the present embodiment will be described with reference to FIG. 7.

First, the control unit 3300 determines whether or not the regenerative flag is ON (FIG. 7: step S51). When the regenerative flag is OFF, it is inappropriate to perform the regenerative control according to the present embodiment. Therefore, the control unit 3300 determines the regenerative amount (may be 0) under other conditions. , The FET bridge 1030 or the like is made to perform regenerative braking of the motor 105 according to the regenerative amount (step S59). Then, the process returns to the caller's process.

On the other hand, when the regenerative flag is ON, the control unit 3300 determines whether or not the current speed from the motor rotation processing unit 2000 exceeds the reference speed V0 (step S53). In the present embodiment, when the current speed exceeds the reference speed V0, the speed is suppressed by regenerative braking. Therefore, if the current speed is the reference speed V0 or less, the present embodiment is adopted. Such regeneration control is not performed. However, control may be performed so as to use a regeneration coefficient smaller than the current regeneration coefficient.

In the present embodiment, if the current speed is the reference speed V0 or less, the process proceeds to step S59. On the other hand, when the current speed exceeds the reference speed V0, the control unit 3300 sets the regeneration coefficient based on ΔV (= current speed −V0) (step S55). For example, the correspondence between ΔV and the regeneration coefficient [%] is determined in advance. An example of this correspondence is shown in FIG. In the example of FIG. 8, the vertical axis represents the regeneration coefficient [%], and the horizontal axis represents ΔV [km / h]. For example, the regeneration coefficient when ΔV = 0 is R _MIN (may be 0 or may be a value exceeding 0), and the regeneration coefficient when ΔV = v1 (predetermined value) is R _MAX. It may be a correspondence relationship represented by a straight line a which is (may be 100 or may be a value less than 100). Further, the regeneration coefficient when ΔV = 0 is R _MIN (may be 0 or may be a value exceeding 0), and the regeneration coefficient when ΔV = v1 is R _MAX (100). It may be a relation represented by the curve b of the exponential function which is (may be a value less than 100). It may be a curve represented by another function. Further, the regeneration coefficient may be determined based on another index value calculated by an equation including the (current velocity −V0) term instead of the simple ΔV.

If the determined regenerative coefficient is adopted as it is, a shock due to a large change in acceleration will be given to the user. Therefore, the regenerative coefficient is gradually increased from the time when the brake is detected to be turned off. It also controls.

The control unit 3300 determines the regenerative amount by multiplying the regenerative target amount according to the current acceleration or the like output from the regenerative target calculation unit 3100 by the regenerative coefficient, and determines the regenerative amount via the FET bridge 1030 or the like according to the regenerative amount. The motor 105 is made to perform regenerative braking (step S57). Then, the process returns to the caller's process.

By executing the above processing, it is set at the timing when the state in which the pedal torque is hardly detected continues for a certain period of time or longer, which is the first example in which it is presumed that the user has no intention of accelerating. Regeneration control will be performed based on the reference speed V0.

Here, an operation example is shown in FIG. Here, as shown in the uppermost part of FIG. 9, the operation when the road surface changes from a flat ground to a downhill while the electrically power assisted bicycle 1 is running will be described. For comparison, the case where regeneration is performed according to the brake operation will be described first. At time t1, the user is pedaling and no regeneration is taking place. After that, when the user stops pedaling and the state in which the pedal torque is equal to or less than the threshold value TH11 continues for a certain period of time at time t2, the signal indicating pedal torque off is turned on in FIG. 9B. After that, at time t3, the electrically power assisted bicycle 1 enters the downhill, and the speed starts to increase as shown by the dotted line c in FIG. 9 (d). Then, when the speed at which the user feels danger is reached, the user performs a braking operation at time t4 (FIG. 9A). At this time t4, the regenerative operation state is set as shown by the dotted line f in FIG. 9 (e). For convenience, the regenerative flag is also turned on at time t4, as shown by the dotted line b in FIG. 9 (c). After time t4 (for example, time t5), the vehicle travels downhill, but as shown by the dotted line c in FIG. 9D, the speed increase is suppressed by regenerative braking.

On the other hand, in the case of the electrically power assisted bicycle 1 according to the present embodiment, when the user stops pedaling and the state in which the pedal torque is equal to or less than the threshold value TH11 continues for a certain period of time at time t2, FIG. 9B shows. At the same time that the signal indicating pedal torque off is turned on, the regenerative flag is turned on at time t2 as shown by the solid line a in FIG. 9 (c). However, regeneration does not work yet. The speed at time t2 is set to the reference speed V0.

After that, when the vehicle enters the downhill at time t3 and the speed starts to increase, the regenerative flag is already turned on, so that the regenerative operation state is set as shown by the solid line e in FIG. 9 (e). That is, if a vehicle speed exceeding the reference speed V0 is detected, the regenerative operation state is set, and regenerative braking is performed so that the reference speed V0 is maintained as represented by the solid line d in FIG. 9D. This also applies at time t5 when going downhill.

In this way, when the regenerative control is performed according to the brake operation, the regenerative operation state is set at time t4, but in the present embodiment, the regenerative operation state is set at time t3. As a result, since the reference speed V0 is maintained without the user performing the braking operation, safe driving is possible without performing the braking operation, and further, the regeneration is executed ahead of schedule to regenerate according to the braking operation. The amount of charge will also increase as compared to the case of performing.

[Embodiment 2]
In this embodiment, a second example in which it is presumed that the user has no intention of accelerating will be described. Therefore, in the present embodiment, the reference speed setting process B is executed instead of the reference speed setting process A.

FIG. 10 shows a processing flow of the reference speed setting processing B. The same reference numerals are given to the same parts as the reference speed setting process A. That is, the difference between FIGS. 5 and 10 is only the portion where step S61 is added at the beginning.

Specifically, the reference speed setting unit 3200 determines whether or not the pedal rotation angle is equal to or less than the threshold value TH12 (step S61). When the pedal rotation angle exceeds the threshold value TH12, the process proceeds to step S35. On the other hand, if the pedal rotation angle is equal to or less than the threshold value TH12, the process proceeds to step S21. The threshold value TH12 may be the same as the threshold value TH2 or may be smaller than the threshold value TH2. If TH12> TH2, it is possible to suppress fluctuations in which the regenerative flag is turned ON or OFF due to a measurement error or a slight pedal rotation.

In the present embodiment, by checking the pedal rotation angle in addition to the pedal torque in the first embodiment, it is surely confirmed that the user has no intention of accelerating.

[Embodiment 3]
In this embodiment, a third example in which it is presumed that the user has no intention of accelerating will be described. Therefore, in the present embodiment, the reference speed setting process C is executed instead of the reference speed setting processes A and B.

FIG. 11 shows a processing flow of the reference speed setting processing C. The same reference numerals are given to the same parts as the reference speed setting process A. That is, the difference between FIGS. 5 and 11 is the portion where steps S71 and S73 are provided instead of step S21 at the beginning.

That is, the reference speed setting unit 3200 calculates the rotation difference according to the present embodiment (FIG. 11: step S71). In the present embodiment, it is determined that the user has no intention of accelerating the state in which the pedal rotation is not so much as compared with the rotation of the front wheels driven by the motor 105. Therefore, the rotation difference according to the present embodiment is, for example, the difference between the rotation speed of the front wheels and the rotation speed of the rear wheels converted based on the pedal rotation (for example, the rotation speed of the front wheels-the rotation speed of the rear wheels). ). Further, the difference between the vehicle speed for the front wheels and the vehicle speed for the rear wheels converted based on the pedal rotation (for example, vehicle speed for the front wheels-vehicle speed for the rear wheels) may be used. It should be noted that, instead of the difference, the ratio (for example, the number of revolutions of the front wheels / the number of revolutions of the rear wheels, the vehicle speed of the front wheels / the vehicle speed of the rear wheels) is used to determine whether or not the deviation is equal to or higher than a predetermined level. You may decide. The number of rotations of the front wheels is the first index value according to the rotation of the wheels, and the number of rotations of the rear wheels is the second index value according to the rotation of the pedals. Then, based on this, it may be determined whether or not the first index value and the second index value deviate from each other by a predetermined level or more.

Then, the reference speed setting unit 3200 determines whether or not the rotation difference is equal to or greater than the threshold value TH13 (step S73). When the rotation difference is equal to or greater than the threshold value TH13, it is estimated that the user has no intention of accelerating, and the process proceeds to step S23. On the other hand, when the rotation difference is less than the threshold value TH13, the process proceeds to step S35.

In the present embodiment, since the motor 105 is provided on the front wheels, the rotation of the front wheels is focused on. However, in the present embodiment, the rotation of the wheels of the electrically power assisted bicycle 1 is detected or the vehicle speed is measured. It should be done.

In this way, if it is possible to detect an event in which the user has no intention of accelerating and the regenerative state continues for a certain period of time or longer and a reference speed is set, the speed increase from the reference speed is defined as the first embodiment. It will be possible to suppress it as well.

[Embodiment 4]
In the first to third embodiments, the reference speed V0 is not changed unless the regenerative flag is turned OFF. However, even if the regenerative flag remains ON, the reference speed V0 is a reference if instructed by the user. The speed V0 may be changed. For example, when going down a slope and feeling that the regenerative braking is too effective, it is conceivable that the reference speed V0 is increased by explicitly instructing the vehicle.

Therefore, in the present embodiment, the first example of changing the reference speed V0 on the way will be described. In this embodiment, since the reference speed V0 is adjusted based on the pedal rotation angle, step S41 of the confirmation process (FIG. 6) is not executed, but the basic process flow is the same as that of the first embodiment. The same is true, and the only change is the regeneration amount determination process.

The regeneration amount determination process B according to the present embodiment will be described with reference to FIG. The same reference numerals are given to the same parts as those in the regeneration amount determination process shown in FIG. 7. That is, the difference between the regeneration amount determination process and the regeneration amount determination process B in FIG. 7 is that a process (step S81) in which the reference speed setting unit 3200 executes the reference speed adjustment process is added between steps S51 and S53. It is the part that is. That is, if the regenerative flag is set to ON, the reference speed adjustment process is executed.

In this embodiment, the reference speed adjustment process A shown in FIG. 13 is executed. In this embodiment, the pedal rotation sensor 104 that can distinguish between the forward rotation of the pedal and the reverse rotation of the pedal is used.

First, the reference speed setting unit 3200 determines from the pedal rotation input whether or not the pedal is rotating in the forward direction (step S91). When the pedal is rotating in the forward direction, the reference speed setting unit 3200 determines whether or not the pedal rotation angle is equal to or greater than the threshold value TH21 (step S93). For example, it is determined whether or not the rotation is 360 ° or more. For example, the cumulative pedal rotation angle after the regenerative flag is set to ON may be measured, and the cumulative pedal rotation angle may be returned to zero each time the reference speed V0 is adjusted. If the pedal rotation angle is less than the threshold TH21, the process returns to the caller's process.

On the other hand, when the pedal rotation angle is equal to or higher than the threshold value TH21, the reference speed setting unit 3200 increases the reference speed V0 by dV (step S95). The dV is, for example, 1 km / h. Then, the process returns to the caller's process.

If the pedal is not rotating in the forward direction, the reference speed setting unit 3200 determines whether or not the pedal is rotating in the reverse direction (step S97). If the pedal is not rotating in the reverse direction, that is, if the pedal rotation is stopped, the process returns to the caller's process.

On the other hand, when the pedal is rotating in the reverse direction, the reference speed setting unit 3200 determines whether or not the reverse rotation angle of the pedal is equal to or greater than the threshold value TH21 (step S99). If the pedal reverse rotation angle is less than the threshold TH21, the process returns to the caller's process.

On the other hand, when the pedal reverse rotation angle is equal to or higher than the threshold value TH21, the reference speed setting unit 3200 reduces the reference speed V0 by dV (step S101). Then, the process returns to the caller's process. The dV when decreasing may be different from the dV when increasing.

When performing such a process, for example, the reference speed V0 is adjusted as schematically shown in FIG. The upper part of FIG. 14 shows the change in the pedal rotation angle. The lower part of FIG. 14 shows the change in the reference speed V0 (the horizontal axis represents the pedal rotation angle, and the vertical axis represents the reference speed).

When the process described above is executed, the reference speed remains V0 if the pedal rotation angle is from 0 ° to less than 360 °, but if it is rotated 1 forward, that is, 360 ° forward, it is V0 + 1 km. It changes to / h. If it is 360 ° or more and less than 720 °, it does not change. If it is rotated 2 forward, that is, 720 ° forward, it changes to V0 + 2 km / h. In FIG. 14, the upper limit value of the adjustment amount is set, and the reference speed V0 does not change even if the pedal is rotated forward more than that, but it may be changed. Although it is not changed beyond + 2 km / h, an upper limit value may be set for the adjusted reference speed V0 so that the reference speed V0 does not become higher than that.

On the other hand, if one reverse rotation, that is, 360 ° reverse rotation is performed, the speed changes to V0-1 km / h. Hereinafter, it is the same as the forward rotation, and may be changed by -1 km / h each time the reverse rotation is performed by 360 °. Further, a lower limit value may be set for the negative adjustment amount as in the case of forward rotation.

In this way, the reference speed V0 can be increased or decreased based on the explicit instruction of the user. If the speed feels too fast or too slow, the user will be able to rotate and adjust the pedals.

By setting the upper limit value or the lower limit value of the adjustment amount, even if the user rotates the pedal too much, it is possible to prevent the ride quality from suddenly changing.

It should be noted that such adjustment of the reference speed may be performed only when the pedal torque is less than the threshold value. This is because when the pedal torque is measured to a certain extent or more, it is presumed that the user has an intention to accelerate, and it is presumed that the adjustment of the reference speed is unnecessary.

Further, in the present embodiment, the reference speed V0 is changed every 360 °, but the reference speed V0 may be changed every other angle. Further, the reference speed V0 may be changed linearly or exponentially according to the rotation angle. Further, the reference speed V0 may be changed according to the pedal rotation angle along a curve defined separately.

Further, the reference speed V0 may be decreased rather than increased in the forward rotation, and the reference speed V0 may be increased instead of decreased in the reverse rotation.

[Embodiment 5]
In the fourth embodiment, the pedal rotation sensor 104 that can distinguish between the forward rotation of the pedal and the reverse rotation of the pedal is used, but the pedal rotation sensor 104 that cannot distinguish between the forward rotation and the reverse rotation of the pedal may be used. In that case, the reference speed adjustment process B (FIG. 15) may be executed.

That is, the reference speed setting unit 3200 determines whether or not the pedal rotation angle is equal to or greater than the threshold value TH21 (step S111). For example, it is determined whether or not the rotation is 360 ° or more. For example, the cumulative pedal rotation angle after the regenerative flag is set to ON may be measured, and the cumulative pedal rotation angle may be returned to zero each time the reference speed V0 is adjusted. If the pedal rotation angle is less than the threshold TH21, the process returns to the caller's process.

On the other hand, when the pedal rotation angle is equal to or higher than the threshold value TH21, the reference speed setting unit 3200 increases the reference speed V0 by dV or decreases the reference speed V0 by dV (step S113). The dV is, for example, 1 km / h. Then, the process returns to the caller's process. The dV when decreasing may be different from the dV when increasing.

In the present embodiment, since the pedal rotation direction is unknown, the reference speed V0 is increased or decreased according to the rotation angle.

The method of increasing or decreasing may be gradually increased or decreased every one rotation, that is, every 360 °, as in the fourth embodiment, or may be increased or decreased linearly or along an arbitrary curve. It may be increased or decreased.

The limitation of adjustment by the pedal torque may be the same as in the fourth embodiment. Further, the upper limit value or the lower limit value of the adjustment amount may be the same as in the fourth embodiment.

[Embodiment 6]
The reference speed V0 may be adjusted in a manner different from that of the fourth and fifth embodiments. For example, the reference speed adjustment process C (FIG. 16) may be executed.

The reference speed setting unit 3200 determines whether or not the pedal rotation speed obtained from the pedal rotation input is in the first speed band (for example, 0.5 rotation / s or more) (FIG. 16: step S121). For example, it is determined whether or not the rotation is performed at a relatively high speed. When the pedal rotation speed is in the first speed band, the reference speed setting unit 3200 increases the reference speed V0 by dV (step S123). Then, the process returns to the caller's process.

On the other hand, when the pedal rotation speed is not in the first speed band, the reference speed setting unit 3200 determines that the pedal rotation speed is 0.25 rotations exceeding the second speed band (for example, 0 rotation / s). It is determined whether or not it is in (/ s or less) (step S125). When the pedal rotation speed is in the second speed band, the reference speed setting unit 3200 reduces the reference speed V0 by dV (step S127). Then, the process returns to the caller's process. Further, even if the pedal rotation speed is not in the second speed band, the processing returns to the processing of the caller. The dV when decreasing may be different from the dV when increasing.

In this way, the user can arbitrarily adjust the reference speed V0 by changing the pedal rotation speed.

It should be noted that only the first speed band is used, only the second speed band is used, the reference speed V0 is reduced corresponding to the first speed band, and the second speed band is supported. The reference speed V0 may be increased.

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 described in each of the above embodiments may be deleted, or any technical feature described in other embodiments may be added. Is also good.

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 above-described embodiments can be summarized as follows.

The motor control device according to the present embodiment has a pedal in response to (A) a drive unit for driving the motor and (B) a state of predetermined running or pedal operation presumed to have no intention of accelerating. It has a control unit that specifies the speed of a moving vehicle according to at least one of rotation and rotation of a motor, determines a regeneration amount based on the specified speed, and controls a drive unit according to the regeneration amount.

If a state of predetermined running or pedal operation (for example, forward or forward pedal operation) presumed to have no intention of acceleration is detected in this way, the speed will be higher than the speed at which the state was detected. Is not expected. Therefore, if the amount of regeneration is determined based on the speed at the time of such state detection, the regeneration control will be performed according to the intention of the user. In addition, if the speed increase is appropriately suppressed, the safety will be improved.

A predetermined running or pedaling state, which is presumed to have no intention of accelerating, may be detected regardless of the braking operation. Since it is not necessary to provide a brake sensor, the cost can be reduced. Further, it can be said that the predetermined running or pedal operation state in which it is presumed that there is no intention of acceleration is a state in which the pedal operation for acceleration is not detected after the pedal operation for acceleration by the user is detected.

It should be noted that the predetermined running or pedal operation states described above are (1) a state in which pedal torque input below the first threshold value is continued for a certain period of time or longer, (2) pedal torque input below the second threshold value, and A state in which the pedal rotation angle less than the third threshold value is continued for a certain period of time or longer, or (3) the degree of coincidence or deviation between the first value according to the wheel rotation and the second value according to the pedal rotation is the third. In some cases, it is determined that the value of 1 and the value of 2 are different by a predetermined level or more. Such a state is typically a state in which it is presumed that there is no intention of acceleration, and is a state in which the user performs or occurs unintentionally. When a state alternative to these is detected, the regeneration control as described above may be performed. Further, by preparing for the regenerative control by these, the regenerative braking may be started at an early stage, and in such a case, the energy recovered to the battery may be increased.

The first value is the vehicle speed (m / s) or the wheel rotation speed (rpm) converted from the wheel rotation, and the second value is the vehicle speed or the wheel rotation speed converted from the pedal rotation. There may be.

The control unit described above may change the speed specified above according to the pedal rotation angle or the pedal rotation speed after detecting a predetermined running or pedal operation state. The reference speed may be arbitrarily changed according to the explicit instruction of the user. It should be noted that it is possible to set an upper limit on the amount to be changed, allow only an increase, or allow only a decrease.

Further, when the pedal torque is less than the threshold value, the control unit described above sets the speed specified above according to the pedal rotation angle or the pedal rotation speed after detecting a predetermined running or pedal operation state. You may change it. This is because when a pedal torque equal to or higher than the threshold value is detected, the acceleration intention is estimated, and it is not necessary to change the reference speed.

Further, when the speed of the vehicle at the time of processing exceeds the specified speed, the control unit described above determines the amount of regeneration according to the difference between the speed of the vehicle at the time of processing and the specified speed. You may decide. This makes it possible to effectively suppress the speed increase.

Such a configuration is not limited to the matters described in the embodiment, and may be implemented by another configuration having substantially the same effect.

Claims (10)

The drive unit that drives the motor and
In response to detecting a predetermined running or pedaling state that is presumed to have no intention of accelerating, the speed of the vehicle moving according to at least one of the rotation of the pedal and the rotation of the motor is specified, and the specification is made. A control unit that determines the amount of regeneration based on the speed, and controls the drive unit according to the amount of regeneration.
Motor control device with. The state of the predetermined running or pedal operation is
A state in which pedal torque input below the first threshold value is continued for a certain period of time or longer.
A state in which the pedal torque input below the second threshold value and the pedal rotation angle below the third threshold value are continued for a certain period of time or longer, or a first value according to the wheel rotation and a second value according to the pedal rotation. The motor control device according to claim 1, wherein it is determined that the first value and the second value differ from each other by a predetermined level or more based on the degree of coincidence or the degree of deviation. The control unit
The motor control device according to claim 1 or 2, wherein the specified speed is changed according to a pedal rotation angle or a pedal rotation speed after detecting the predetermined running or pedal operation state. The control unit
The first or second claim, wherein when the pedal torque is less than the threshold value, the specified speed is changed according to the pedal rotation angle or the pedal rotation speed after detecting the predetermined running or pedal operation state. Motor control device. The control unit
Claims 1 to 4 for determining the amount of regeneration according to the difference between the speed of the vehicle and the specified speed at the time of processing when the speed of the vehicle exceeds the specified speed at the time of processing. The motor control device according to any one of the above. The motor control device according to any one of claims 1 to 5, wherein the predetermined running or pedal operation state is detected regardless of the brake operation. The first value is the vehicle speed or the number of wheel rotations converted from the wheel rotation.
The motor control device according to claim 2, wherein the second value is a vehicle speed or a wheel rotation speed converted from pedal rotation. The state of the predetermined running or pedal operation is
The motor control device according to claim 1, wherein the pedal operation for acceleration is not detected after the pedal operation for acceleration by the user is detected. An electrically assisted vehicle having the motor control device according to any one of claims 1 to 8. A step of identifying the speed of a vehicle moving in response to at least one of pedal rotation and motor rotation in response to detecting a predetermined running or pedaling state presumed to be unintentional to accelerate.
A step of determining the amount of regeneration based on the specified speed and controlling the driving unit according to the amount of regeneration, and
Motor control methods performed by the processor, including.

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