TW201119907A - Motor drive device and electrically assisted vehicle provided therewith - Google Patents

Abstract

Provided are a motor drive device capable of an operation of charging a battery even when the power generation voltage of a motor is higher than the voltage of the battery, and an electrically assisted vehicle using the same. A voltage conversion circuit (400) is provided between a secondary battery (101) and a three-phase bridge inverter circuit (500) for driving a motor (105), and on the basis of an instruction from a main control circuit (300), the voltage conversion circuit (400) increases the output voltage of the secondary battery (101) and supplies power with the resultant voltage that is higher than the output voltage to the three-phase bridge inverter circuit (500), and when the motor (105) performs a power generation operation and the output voltage of the motor (105) is higher than the supply voltage of the secondary battery (101), decreases the output voltage of the motor (105) and supplies the resultant voltage that is lower than the output voltage of the motor (105) to the secondary battery (101), thereby charging the secondary battery (101). Further, by performing on/off control on a bypass circuit connected between input/output terminals of the voltage conversion circuit (400), the assist operation or the regeneration operation corresponding to the situation becomes possible.

Description

201119907 VI. TECHNOLOGICAL FIELD OF THE INVENTION The present invention relates to a motor driving device, and more particularly to a motor equipped with a human body required to reduce movement required by a moving body of a wheel that is manually moved by a human hand The drive device and the electric assisted vehicle having the same. [Prior Art] A power-assisted vehicle that uses an electric assisting force such as a power-assisted bicycle has a structure in which a sensor for detecting a human power such as a pedaling force (torque) sensor or the like is used, and the electric signal is electrically driven according to the detection signal. The assisting force is adjusted, that is, the assist control is performed (see Patent Documents 1 and 2).

The battery is charged (see Patent Document 3).

Permitted as an auxiliary object

Help bicycles

The standard speed for which the speed is allowed to travel to the speed of 24 V is used to apply a two-phase DC brushless motor 56 when 24 V is applied. And the rotation information, that is, the electric auxiliary, supplies the rotation information to 149,741. Doc 201119907 cpu (central proeessing unit) is a main control unit 53. The control circuit 53 inputs the above-described rotation information 'and inputs a detection value of the human sensor 54 that detects the torque generated by the manpower applied to the pedal, and detects the detection of the brake sensor 55 that causes the brake to be activated. Based on the information, the three-phase bridge inverter circuit 57 is operated to control the number of revolutions of the motor 56. The three-phase bridge inverter circuit 57 is a well-known circuit composed of a driving circuit 61 and six field effect transistors Q1 to Q6, and two field effect transistors Q11 to Q12 are connected in series in each phase. Q21 to Q22 and Q31 to Q32, the field-effect transistors qh to q32 are switched by the drive circuit 61, and the application time and non-application of the motor 56 by the battery voltage applied from the secondary battery 51 are adjusted. The supply of electric power to the motor 56 is changed by the ratio of time, thereby controlling the motor output (number of revolutions, torque). Further, when the bicycle is running in a state where the driving of the motor 56 is stopped, the motor 56 becomes a generator, and the secondary battery 51 is charged by the generated electric power. Further, when the traveling speed of the bicycle is faster than the speed of 24 km on the downhill road or the like, the generated electric power of the motor 56 is generated by the countercurrent of the parasitic diodes of the respective EMI transistors Q11 to Q32 of the three-phase bridge inverter circuit 57. The danger of damaging the secondary battery 51 requires some countermeasures. For example, it is necessary to insert a switch element such as an FET (Field Effect Transistor) between the battery 51 and the inverter circuit 57, and the switch is normally turned on in advance. When the voltage of the motor 56 is greater than the voltage of the secondary battery 51, the switching element is turned off, thereby protecting 149741. Doc 201119907 Battery. When the motor-assisted bicycle having such a motor driving device is used to start traveling as shown in Fig. 28, when the rider starts pedaling, the detected value of the human sensor 54 is increased. Then, as the speed of the bicycle trip increases slowly, the voltage applied to the motor 56 by the motor drive f path is also slowly increased to perform electric assistance. The electric assist is performed until the traveling speed reaches the maximum speed of the electric assist target at a speed of 24 km or when the electric power supplied to the motor 56 reaches the maximum electric power that can be supplied from the secondary battery 51. With this electric assistance, the manpower supply of the rider is alleviated. Further, when the brake is actuated and the brake sensor 55 is turned on, the electric assist operation is stopped and the supply of electric power to the motor 56 is stopped. At this time, the motor 56 becomes a generator, and the secondary battery 51 is charged by the electric power generated, and the load is increased with respect to the running load, thereby increasing the braking force and lowering the traveling speed. PRIOR ART DOCUMENT Patent Document Patent Document 1: Japanese Patent Laid-Open Publication No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. No. The problem is to increase the running distance of the motor drive device of the electric assist vehicle, which is to reduce the power consumption, that is, to improve the motor drive efficiency, and to recover the position energy and the exercise energy as an increase in the energy recovery rate. The efficiency deterioration during driving and regeneration is caused by the resistance of the motor and the drive circuit. Do, 201119907 and current induced losses (copper loss), efficiency improvement is related to reducing copper loss. With the efforts of the motor manufacturer or component manufacturer, the resistance value reduction of the motor or the reduction of the resistance value of the switching element used in the drive circuit is being continuously improved, but the improvement of the performance of the electric auxiliary vehicle is still not sufficient. 'Therefore, other efficiency improvement methods are required. In order to reduce the steel loss in the currently available motor, it is effective to increase the back electromotive force of the motor by means of gear ratio change or magnetic circuit change. The reason is that #, that is, when the same electric power is used to drive the motor and recover energy, the current can be reduced by increasing the voltage. However, since the motor voltage is related to the motor speed, that is, the driving speed of the electric assist bicycle, when the driving speed of the electric assist bicycle becomes faster and the motor voltage becomes higher than the battery voltage, in the previous motor driving circuit. The three-phase bridges the parasitic diodes of the high-side field effect transistor of the high-voltage side of the inverter circuit to short-circuit the voltage of the motor voltage and the voltage of the ice φ M 4 7 疋, so that the driving operation cannot be performed. Moreover, it is not conducive to controlling the regenerative action, so there is a problem that is substantially impossible to achieve. Means for Solving the Problems In order to solve the above problems, in the present invention, by providing a voltage conversion circuit that reduces the output voltage of the motor when the motor is powered up to a battery voltage or lower, the reproduction in the high speed region can be achieved. Furthermore, the present invention can also be performed by operating the voltage conversion circuit as a circuit for boosting the battery voltage, so that the applied voltage to the motor is higher than the battery voltage, and the motor voltage is higher than the battery voltage. Electric auxiliary drive. 149741. Doc 201119907 The switching loss and conduction loss occur in the inductor or field effect transistor of the voltage conversion circuit. Therefore, when the boosting operation is not performed, the voltage conversion circuit is stopped and the switching loss is reduced. In addition to this, the conduction loss can be reduced by providing a circuit that bypasses the components of the voltage conversion circuit. When the voltage conversion circuit is driven at a high speed, the operation of the motor is not performed, and the assistance of the motor is eliminated, thereby reducing power consumption. Further, in the regenerative operation at the time of high-speed deceleration, the electric dust switching circuit, that is, the step-down circuit is operated when the motor is viewed, and the valuable energy is completely recovered, thereby reducing the output from the battery and improving the recovery of electric power. break even. . Further, according to the present invention, the above operation is performed in accordance with the remaining battery power, whereby an operation that emphasizes the sense of assistance or an emphasis on energy saving can be performed, and the battery disconnection and the sense of assistance can be suppressed. That is, the above-described actions are adjusted in consideration of the remaining battery power information and the human sensor information, thereby simultaneously preventing the battery from being disconnected and ensuring the assistance of assistance. EFFECT OF THE INVENTION According to the present invention, the motor is electrically punctured at a high speed. When 3⁄4蜃, it is also activated and driven' to achieve efficient driving and regeneration. Further, according to the present invention, it is possible to maintain the sense of assistance and to further improve the energy balance, for example, without the need for a charger or a battery type 1, but it is also a problem according to the present invention. Lily selectively controls the emphasis on assisting or paying attention to the hunting. This suppresses the control of battery disconnection. [Embodiment] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 149741. Do, 201119907 Fig. 1 is a perspective view showing the electric assist bicycle according to the first embodiment of the present invention. The electric assist bicycle 1 is a conventional rear wheel drive type bicycle in which a crankshaft and a rear wheel are coupled via a chain, and includes a secondary battery 101 and a motor drive unit 102 that constitute a motor drive device, a human sensor 1〇3, and a sense of braking. The detector 104 and the motor 1〇5. As the secondary battery 101, a lithium ion secondary battery having a supply voltage (voltage at the time of full charge) of 24 V is used, but other types of secondary batteries can also be used. The motor drive unit 102 is housed in a casing fixed to the rear side of the saddle. A detailed description of the motor drive unit 102 will be described later. As described below, the human sensor 1 〇 3 is disposed on the member associated with the crankshaft, detects the pedaling force of the rider on the pedal, and transmits the detection result to the motor drive unit 102. The brake sensor 104 includes a magnet and a well-known reed switch. The magnet is attached to the brake wire connected to the handlebar in a frame through which the brake lever is fixed and the brake wire passes, and the reed switch is turned on when the handle is gripped. Further, the tongue switch is fixed in the above casing. The communication signal of the tongue switch is sent to the motor drive unit 1 〇2. The motor 105 includes a well-known three-phase brushless DC motor which is mounted on a power-assisted bicycle! The front wheel rotates the shaft to rotate the front wheel, and the rotor is coupled to the front wheel by the rotor according to the rotation of the front wheel. Further, the motor (8) is provided with a Hall element or the like to output a rotary (four) signal of the rotor to the motor drive unit 102. Further, in the present embodiment, the use of the characteristics of Fig. 8 is shown in Fig. 149741. Doc 201119907 Motor ι〇5 with a speed of 24 km/h when a voltage of 48 V is applied. The motor used in the previous example is such that the speed of 24 km per hour can be obtained when the voltage of 24 V is applied as shown by the characteristic M 。 . As in the present embodiment, the motor which is the maximum speed of the assist target is obtained by using a voltage higher than the supply voltage of the secondary battery 1〇1, whereby the copper loss of the motor 105 can be made 1/4 of the previous example. . That is, the motor output is the motor voltage, the motor current, and the motor loss (copper loss) is the motor resistance 马达 (motor current) 2 . Therefore, in the case of driving and regenerating with the same output, the efficiency of the motor voltage is higher. For example, when the motor of the previous example of Ml by 牯Μ ‘ ‘ ‘ ‘ 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 When the motor resistance is set to 100, the motor loss (copper loss) becomes 100 ηιΩχ(1〇A)2= when the motor is driven into the motor. l〇W. On the other hand, the motor ι 5 of the present embodiment having the motor characteristic (10) has a current required for the current speed of 12 amps and is 5 A. Therefore, the motor loss (copper loss) is obtained when the motor resistance is 100 ηηΩ. In the case of the motor characteristic Μ2, the motor voltage is half, so the motor current can be half, and the motor can be lost (the copper loss is up to 1: but in the previous example) The battery voltage (24V) can be driven to a circumference of 24 km / h, and this is the same as when using the motor ι〇5 in this embodiment. This results in a reduction in the range of the battery voltage (24 V) that can be driven to 12 km/h. This problem can be eliminated by the horse in the present embodiment; the configuration is eliminated by the configuration of the iaq motor drive unit 102. 149741. Doc 201119907 Here, only the main part of the human sensor 310 is described with reference to Figs. 2 to 7 . As shown in Fig. 2, the plate-shaped front toothed disc 15 is attached to the crank shaft 12 via a bearing. A key bar 17 is hung from the gear portion 15b formed on the outer peripheral portion of the spur 15 . The sprocket 15 rotates the chain only when the pedal 16 is stepped on and the clockwise rotation is produced via the drive wheel 22 described below. In the wheel portion 15a of the chainring 15, a projection 15c is formed on a circumference of a portion having a smaller diameter than a portion where the gear portion 151 is formed. A sensor 19' attached to a fixing plate (not shown) is provided at a position opposite to the projection 15c, and is detected when the sensor 19' is opposed to the projection 15c to generate a pulse. The plate-shaped drive wheel 22 having a smaller diameter than the portion in which the projections 15c are formed is fixed to the crankshaft 12 so as to rotate integrally with the crankshaft 12. On the outer peripheral side of the drive wheel 22, a projection 22c is formed in the same manner as the projection 丨5c. A sensor 24 attached to a fixing plate (not shown) is provided at a position opposed to one of the projections 15c, and is detected when the projection 22c is opposed to generate a pulse. The toothed disc 15 and the drive wheel 22 are screwed together by screws 27 and 28 via the elastic body 26 via the elastic body 26 as shown in Figs. 3 to 6 . When the pedal is depressed, the crankshaft 12 is rotated by the pedal crank 13, and the drive wheel 22 is also integrally rotated. However, the sprocket wheel 15 is loaded with the rear wheel and pulled and extended in the direction of the rear wheel side by the chain 17 so that the drive wheel 22 Delayed rotation. Therefore, the self-sensor 24 makes a sudden rise.  The detection signal pulse of the rising portion 22c and the detection signal pulse of the projection portion 〇5〇 emitted from the sensor 19 do not become pulses of the timing, and appear as pulses of the timing deviation. This state will be described with reference to the timing chart of FIG. In the picture, (C) and 149741. Doc 10·201119907 (D) is a diagram showing signals of the state in which no pedaling force is applied, (C1) and (D1) are diagrams showing signals of the state in which the pedaling force is applied, and (E) are diagrams showing (C1) and (D1). A diagram of the signal generated by the phase difference of the signal. Further, (c) is a detection signal pulse emitted from the sensor 24 of the projection 22c of the drive wheel 22. (D) is a detection signal pulse emitted from the sensor 19 of the projection i5c of the toothed disc 15 is detected. (C) and (D) are detection signals when the projection 22c and the protruding portion 15c are rotated without a phase difference when the pedal is not applied with the pedaling force. Next, the signal state when the pedal 16 is stepped on (the system is represented by (C1), but it does not change the h number. However, the signal state (d) changes as (D1). That is, (D1) The reason for the analogy to the clock is a delay of, for example, 5. The reason is as described above, but a pulse generating circuit for generating a new signal (E) with a time τ of such delay is provided. (Phase difference) pulse 'The drive of the motor 1 〇 5 is controlled by the motor drive unit 1 。 2. As a result, the motor can be driven while the rider steps on the pedal 16 to rotate the pedal crank 13 and rotate the crankshaft 12 1〇5, the auxiliary drive of the motor 105 corresponding to the pedaling force can be performed. Next, the motor drive device of the present embodiment will be described in detail. Fig. 9 is a view showing the electrical system circuit of the motor drive device according to the third embodiment of the present invention. In the figure, 101 is a secondary battery, 1〇2 is a motor driving part, 103 is a human power sensor, 104 is a brake sensor, and 1〇5 is a motor. The motor driving part 102 includes a voltage conversion action control Electricity 2〇〇, main control circuit 300, 400, three-phase bridge inverter circuit 5〇〇 voltage conversion circuit. Further, in the present invention, the drive control circuit includes a voltage converting operation control circuit 149,741. Doc 201119907 Circuit 200 and main control circuit 300, the Malian drive circuit includes a three-phase bridge inverter circuit 500. The voltage conversion operation control circuit 2 controls the driving of the voltage conversion circuit 4A based on the control signal input from the autonomous control circuit 3A. The main control circuit 300 is mainly composed of a CPU, and operates in accordance with a program set in advance for causing the CPU to operate. Further, the main control circuit 300 has a non-volatile memory in which the above-mentioned program and information required for motor driving are memorized. As the information required for the motor drive, the memory is calculated by α to determine the diameter of the wheel or the calculation of the travel speed required for the travel speed and the calculation formula of the travel speed, which is calculated based on the input signal from the human sensor. The calculation formula required for the pedaling force is a calculation formula for calculating the output voltage of the motor 105 based on the number of revolutions of the motor 105 when the motor 1〇5 operates as a generator. Further, when the main control circuit 3 is in the case of generating the input # of the human sensor 1〇3, the driving force for generating the motor 105 based on the input signal from the human sensor 1〇3 will be controlled. The signal is output to the drive circuit 501 of the three-phase bridge inverter circuit 500 to drive the motor 1〇5. On the other hand, 'in the case of performing the brake operation and inputting the brake b number to the main control circuit 3〇〇 from the brake sensor 1 〇4, the main control circuit 3 is based on the brake sensor 1 〇 4 The input signal outputs a control signal such as a pulse width that narrows the duty signal of the three-phase bridge inverter circuit 500. Further, the main control circuit 300 controls the output voltage of the three-phase bridge inverter circuit 5 to be equal to or less than the motor electromotive force to regenerate the electric power from the motor 1〇5, whereby the braking control force can be obtained. At this time, the main control circuit 3 is attached to the monitoring horse J 4974 丨. Doc 12 201119907 The voltage of the electromotive force is fixed at a voltage of the motor electromotive force, that is, when the battery voltage of the secondary battery 101 is below the threshold value, the field effect transistor Q1 is turned off and the field effect is applied. The mode in which the transistor Q2 is turned on is outputted to the voltage conversion operation control circuit 2A. Further, when the voltage of the motor electromotive force is the above-described fixed value, for example, when the battery voltage is equal to or higher than the threshold value, the main control circuit 300 outputs a signal to the voltage conversion operation control circuit 200 so that the voltage conversion circuit 400 operates. The main control circuit 300 is configured to cause the voltage conversion circuit 400 to perform the operation of raising the battery voltage when it is determined that the auxiliary drive is required based on the input from the human sensor i 3 and the brake sensor 104. The signal is output to the voltage conversion operation control circuit 2〇〇. The motor 105 is driven by the boosted power. Further, when the main control circuit 300 determines that regeneration is required based on the input from the human sensor 1〇3 and the brake sensor 104, the current flowing down the voltage of the motor electromotive force based on the voltage conversion circuit 400 flows twice. The battery 101 is charged and the control signal is output to the MN switching operation control circuit 200. The electric dust conversion circuit 400 includes driving circuit, turbulence (4), capacitor C1, field effect transistors Q1, Q2. One end of the choke u is connected to the positive electrode of the secondary battery 1〇1, and the other end is connected to the negative cell of the secondary battery via the field effect electric crystal terminal source. Further, the other end is also connected to the input terminal of the three-phase bridge inverter circuit via the gate and source of the field effect transistor Q2. X, three-phase bridge inverter circuit 5 (9) of the input system, via electricity 149741. Doc -13· 201119907 The container ci is connected to the negative electrode of the secondary battery 101. Further, the drive circuit 4〇 controls the gate voltages of the field effect transistors Q1 and Q2 based on the control signals from the voltage conversion operation control circuit 2〇〇. That is, the field effect transistors Q1 and Q2 perform a step-up power supply operation in which a synchronous rectification method in which Q1 is turned on when the conduction is turned on as shown in FIG. In the case where the circuit component is ideal, if the conduction ratio with respect to the chirp period is set to D, the supply is boosted by VdrV=Vbat/(1-D) with respect to the three-phase bridge inverter circuit 5〇〇. The voltage. Here, Vdrv# is applied to the voltage of the input terminal of the three-phase bridge inverter circuit 500, and Vbat is the output voltage of the secondary battery 101. The state in which the terminal voltage of Fig. 10 is switched between 卩1 and 〇2 is higher than the voltage Vbat of the secondary battery is expressed as VDS. Further, it also indicates the IL丨 state of the current flowing into the inductor L1. Also, the terminal voltage Vdrv of the electric grid device C1 at this time, that is, the voltage applied to the input terminal of the three-phase bridge inverter circuit 500 is also indicated. In the case where the three-phase bridge inverter circuit 500 performs the regenerative operation, the same equation is established. As shown in FIG. 扼, the current IL1 flowing into the choke coil L丨 is opposite in direction, but the same capacitor C1 can be maintained. The terminal voltage Vdrv. The two-phase bridge inverter circuit 5 is a well-known inverter circuit including a drive circuit 5〇1 and field effect transistors Q11 to Q32. Each phase of the three phases A, B, and c is connected in series with two field effect transistors Q11 to Q12, and 1 to Q22, Q31 to Q32' by the drive circuit 501 to enable each field effect transistor Q11 to Q3. 2 Switching action is performed. At this time, by applying the voltage applied from the secondary battery 1 〇 1 via the electro-ink conversion circuit 4 对 to the application time of the motor ι 5 with 149,741. Doc • 14· 201119907 The supply of electric power to the motor 1〇5 is changed by the ratio of non-applied time, thereby controlling the number of revolutions. The motor drive system of the three-phase bridge inverter circuit 500 is as shown in Figs. 12 and 13, so that the cycle is 36 〇. In the case of the period, the following actions are repeated, that is, at 120. During the period, the high-voltage side field effect transistors (1)1, Q Q3 1 and the low-voltage side of the % effect transistors q 12, Q22, Q32 inversion PWM (pUlSe width m〇dulati〇n, pulse width modulation) act under The high-voltage side and the low-voltage side are both turned off during a period of 60, and all of the field-effect transistors on the low-voltage side are set to be turned on in the next period of 120°. Set both the high pressure side and the low pressure side to open during the period. Moreover, A performs the above operation. The phase of the two phases of C is shifted by 1 20 respectively. In addition, the output voltage of the three-phase bridge inverter circuit 500 determined by the motor reverse voltage and the drive duty proportional to the rotational speed, that is, the duty ratio of the PWM of the field effect transistor on the high voltage side, In the relationship of the Vdrvx driving duty ratio, as shown in FIG. 12, if the output voltage of the three-phase bridge inverter circuit 5 is higher than the motor reverse voltage, the current flows into the motor driving direction to accelerate the motor. Alternatively, the force acts on the direction of maintaining the rotation, and if the output voltage of the two-phase bridge inverter circuit 500 is lower than the motor reverse voltage as shown in Fig. 13, the current flows into the motor regeneration direction to decelerate the rotation of the motor 1Q5. The effect has power. Furthermore, the current of each armature in Fig. 12 and Fig. 13 05, the current of 500. Medium, Im〇torA, B, C indicate the inflow motor Idrv indicates the flow into the three-phase bridge inverter circuit 149741. Doc -15-201119907 Therefore, in the running of the electric assist bicycle 1 including the motor driving device according to the first embodiment, as shown in FIG. 14, when the rider starts pedaling, the human hand senses when the rider starts pedaling The detected value of the device 1〇3 is instantaneously increased, the running speed is slowly increased, and the applied voltage of the motor driving unit i 〇2 to the motor i 〇5 is also slowly increased to perform electric assistance. The electric assist is performed until the traveling speed reaches the maximum speed of 24 minutes, which is the maximum speed of the electric assist target, or the electric power supplied to the motor reaches the maximum electric power that can be supplied by the voltage conversion circuit 4〇〇, even if the rider supplies the manpower Declining can also ensure sufficient speed. Further, when the brake is not steep, when the brake is actuated and the brake sensor 1〇4 is turned on, the electric assist operation is stopped, and the application of the voltage to the motor 105 is stopped. At this time, the motor 1〇5 becomes a generator, and when the output voltage from the motor 1〇5 is higher than the supply voltage of the secondary battery ι〇1, the voltage reduced by the voltage conversion circuit 4〇〇 is applied to the secondary battery. 101. As a result, the secondary battery 51 is charged, and at the same time, the braking force is increased with respect to the running load, and the traveling speed is continuously lowered. By continuing to include the cycle of the step-down operation, the secondary battery can be temporarily charged for a longer distance. As described above, according to the present embodiment, even when the motor voltage is larger than the battery voltage, the circuit of the voltage conversion circuit can be operated to charge by performing the braking operation, so that efficient reproduction can be performed. Next, a second embodiment of the present invention will be described. Fig. 15 is a block diagram showing an electric system circuit of a motor driving device according to a second embodiment of the present invention. In the second embodiment, the above-described third implementation is carried out 14974 丨. Doc •16- 201119907 The same components are denoted by the same symbols. Further, the second embodiment differs from the first embodiment in that a bypass circuit 7A and a bypass control circuit 600 are added, and a control command is issued to the bypass control circuit 600 by the main control circuit 3A. The bypass circuit 700 includes a field effect transistor q4 and a drive circuit 7A. Field effect The bottom of the transistor Q41. The source is connected to the input and output terminals of the voltage conversion circuit 4, that is, to the input terminals of the positive electrode of the secondary battery 101 and the three-phase bridge inverter circuit 500. Thereby, when the field effect transistor q41 is turned on, the positive electrode of the primary battery 101 and the input terminal of the three-phase bridge inverter circuit 5 are short-circuited. The gate voltage of the field effect transistor Q41 is controlled by the drive circuit 4〇1. The control signal issued to the drive circuit 401 outputs a control signal from the bypass control circuit 600 in accordance with the control command of the main control circuit 3〇〇. In the above configuration, the main control circuit 300 is configured to monitor the voltage of the motor electromotive force, and the voltage of the motor electromotive force is equal to or less than a fixed value. For example, when the battery voltage is a threshold value, when the value is equal to or lower than the value, the field effect transistor is used. Q41 is set to be on. The control command is output to the bypass control circuit 600. The main control circuit 3 is connected to the voltage of the motor electromotive force, and the voltage of the motor electromotive force is a fixed value or more, for example, when the battery voltage is used as a threshold. If the value is above this value, the control command is output to the bypass control circuit 600 in such a manner that the field effect transistor Q41 is turned off. Therefore, as shown in FIG. 16, when the voltage conversion circuit 4 is not required, the field effect transistor q41 of the bypass circuit 7 is turned on, and the input and output terminals of the voltage conversion circuit 400 are short-circuited, so that the cause can be reduced. Inductor of the choke L1 149741. Doc 17- 201119907 or the loss caused by field effect transistor Q2, etc. In the flowchart of Fig. 17, the operation of the main control circuit 3 of the motor drive device according to the second embodiment of the present invention shown in Fig. 1s will be described. 'The state of the battery 丨01 is set to be the initial step SS at 5 Hz, and the judgment of the step S1 is 0FF (disconnected) when determining whether the switch of the brake sensor (10) is present or not. In the case, the next step 82 becomes a step of receiving a signal from the human sensor i 03 to make a determination. If the determination in step S2 is (NO), then in this step, 3 is returned to the starting time point. If # is set to YES, the signal is sent to the next step S3. This step S3 is a step of determining the signal of the speed sensor mainly based on the Hall element mounted on the motor 1〇5. When the determination in step S3 is, for example, 24 km/h or more, the main control circuit 3 sends an instruction to the bypass control circuit 6 via the drive circuit 701 to cause the bypass circuit 7 to turn the switch OFF. Based on the control signal from the voltage conversion operation circuit 200, an instruction is issued via the drive circuit 401 to cause the voltage conversion circuit 4 to perform a boosting operation. In the next step S9, the inverter circuit is operated to drive the motor with a small current to assist the manpower. When the step § 9 ends, it returns to the starting time point. Next, when the determination in step S3 is less than, for example, 24 km/h, in step S11, the main control circuit 300 issues an instruction to the bypass control circuit 600 via the drive circuit 7〇1 to cause the bypass circuit 7 to pass. Turn the switch 〇N. Then, in step S12, a command is issued to the voltage conversion operation circuit 2 via the drive circuit 401 to stop the operation of the voltage conversion circuit 4?0. Since the next step S13 performs the same action as that of step S9, the common table 149741 is performed. Doc 201119907 7. That is, the inverter circuit 500 is operated to drive the motor with battery power to assist the manpower. In this step S13, since the current does not flow into the voltage conversion circuit 400, the loss of the voltage conversion circuit 4 can be avoided. Return to the starting time point at the end of all steps. Return to step 1 for the following instructions. In the step s, when the determination based on the signal of the brake sensor 104 is YES, that is, when the vehicle is braked, the determination is made in the next step S15. In step si5, the speed is calculated in the main control circuit 300 based on the signal of the speed sensor mounted in the motor. When the calculation result is, for example, 24 km/h or more, the main control circuit 300 in step S16 issues an instruction to the bypass control circuit 600 via the drive circuit 7〇1 to cause the bypass circuit 7 to turn the switch 〇FF. Then, in step S17, a signal command for controlling the voltage switching operation circuit 200 to cause the voltage conversion circuit 400 to perform a step-down operation is issued via the drive circuit 401. In the next step S18, the inverter circuit 5 is operated to perform a regenerative operation using the motor 105 as a generator. In this step SB, the voltage of the voltage conversion circuit 400 can be used to charge the secondary battery ι〇ι in a short period of time in the present invention. The above operation is repeated during the driving of the brake, whereby a longer distance can be traveled by temporarily charging the battery. According to the terrain of the break, no charging can be achieved. Return to the start at the point where the branching step is all over. Returning to step S15, when the signal from the speed sensor is less than, for example, 24 km/h, in step S20, the main control circuit 3 sends an instruction to the bypass control circuit 600 via the drive circuit 701 to make the side Road circuit 7 〇〇 149741. Doc •19- 201119907 Switch ON. Then, in step S21, an instruction is issued via the drive circuit 401 to stop the voltage conversion circuit 400 in accordance with the control signal of the voltage conversion operation circuit 200. As a result, similarly to step s1, in step S22, the inverter circuit is operated to perform the regenerative operation using the motor ι5 as a generator. In this step S22, the current does not flow into the voltage conversion. Circuit 400' thus avoids large losses in voltage conversion circuit 4〇0. At the same time, the motor 105 generates a voltage as a generator to charge the secondary battery 1 . Then, return to the beginning at the point in time when the branching step is all over. According to the second embodiment, the secondary battery 101 can be charged regardless of the speed of the electric assist bicycle during the braking operation, that is, when the power generation voltage is high or low, so that the electric assist bicycle can be extended. The role of driving distance. The above-described fine control can be realized by combining the voltage conversion circuit 400 and the bypass circuit 700, so that it is possible to manufacture a power-assisted bicycle capable of traveling at a long distance, and to take a step toward providing a non-rechargeable electric-assisted bicycle. In the circuit design of the second embodiment of the present invention, in the case of the electric assisted custom vehicle, it is necessary to select electronic components constituting the circuit which do not cause damage to the design. That is to say, because it is equipped with many ordinary bicycles = parts, it is not very beautiful electric-assisted bicycles, even if the propaganda distance is like ',' θ.  -Λ- _ (4) The robbers are also not good. In particular, in the motor drive of the present invention, the design of the voltage conversion circuit 4 should be focused on. Among the parts constituting the electric dust converting circuit 400, the larger part that greatly affects the shape is a difficult choice for the selection of the parts of the Shaoguan 1 14974丨. Doc 201119907. In general, if the loss of the current flowing efficiently is considered, the coil of the larger and thicker winding is selected. If so, the result will be poor appearance and compromise design. However, as in this embodiment, the bypass circuit 7 is provided, so that when the operation of the voltage conversion circuit is not required, the current can be bypassed by one to avoid the loss caused by the resistance of the coil of the voltage conversion circuit. It is possible to use a coil that emphasizes miniaturization. For example, a coil having a longitudinal X transverse direction of 20 mm square is a coil that is miniaturized to about 2/3 to 1/2, for example, about 13 mm square. Further, when the motor voltage is higher than the battery voltage (high-speed operation), if there is no voltage conversion circuit, the regenerative operation cannot be performed. 'At the time of deceleration, the kinetic energy can only be used as the braking force by the previous brake. The effect of recovering the exercise energy by adding a voltage conversion circuit is large. In addition, when the above-mentioned high-speed operation requires assistance, the above-described voltage conversion circuit can also be used for assistance. The size can be reduced as described above, so that the design of the bicycle is not impaired: the controller can be placed, for example, in the frame width of the front wheel of the electric assist bicycle. Further, if the following effects are obtained for the following embodiments, the description thereof will be omitted. Using Figure 18’. Only the different portions of the modification of the second embodiment, which is more energy efficient than the flowchart of Fig. 17, will be described. The reason for this is that in the case where the judgment of step (4) of the flowchart of Fig. 17 is qing, the return to the start is made in the modified example. The method of consideration is in step (4). If the abruptness of the fixed speed occurs, the assistance of the electric motor can be omitted without consuming the secondary battery. In the case where the determination in step S3 is N0, it is the same as the case of the flowchart of Fig. 17, and therefore the description thereof will be omitted. 149741. Doc -21 · 201119907 By setting as in the above-described modification of the second embodiment, the range in which the electric assist is performed is limited to a case where the rider steps on the pedal at a fixed speed or less, thereby minimizing the number of times Battery ι〇ι consumption. On the other hand, it is more realistic to manufacture a power-assisted bicycle that is not charged by performing a regenerative operation while braking. Such control can be achieved by combining the voltage conversion circuit 4 of the present invention with the bypass circuit 7A. Next, a third embodiment of the present invention will be described. The configuration of the motor drive device according to the third embodiment is substantially the same as that of the second embodiment. The third embodiment differs from the second embodiment in that, in the third embodiment, as shown in FIG. 19, the second embodiment is not performed. The boosting operation of the voltage conversion circuit 400 implemented in the form. Therefore, in the third embodiment, the voltage conversion circuit is stopped when the boosting operation is not performed, and the switching loss is reduced. In addition, a circuit that bypasses the components of the voltage conversion circuit is provided, thereby reducing voltage conversion. The conduction loss of the circuit "When the high-speed drive is performed, the voltage conversion circuit 4 is not operated", the power consumption of the motor 105 is eliminated, and the power consumption is reduced, and during the regenerative operation during the high-speed deceleration, the voltage conversion circuit 400 is lowered. The voltage circuit operates to completely recover valuable energy, thereby improving the balance of the output from the secondary battery 101 and the recovered power. The difference between the operation of the main control circuit 300 of the motor drive device according to the third embodiment of the present invention shown in Fig. 19 and the flow chart of Fig. π will be described with reference to the flowchart of Fig. 20. First, the state from which the voltage of the secondary battery 丨〇 1 is applied is set to the predetermined speed from the initial step SS to the step S3. Doc •22· 201119907 or more The same command is issued via the drive circuit 701 to cause the bypass circuit 7 to turn the switch OFF. However, the difference is that the drive circuit 401 issues an instruction from the control signal of the voltage conversion operation circuit 2 to cause the voltage conversion circuit 400 to perform the boosting operation. However, in this embodiment, the voltage conversion circuit 400 is turned off. Instructions. With this command, in the next step S10, the inverter circuit 500 is not operated, and the state in which the motor 105 is not driven is maintained. In the above-described steps S6 to S1, when the speed of the electric assisted bicycle is, for example, 24 km/h or more, it is assumed that the portion that becomes the switching loss is not used at all, and the power consumption is reduced. The other steps are the same as those of the above embodiment, and the description thereof is omitted. Return to the starting time point after all the branching steps have been completed. In the third embodiment, the second embodiment is completely identical to the second embodiment, and the secondary battery can be used regardless of the speed of the electric assist bicycle during the braking operation, that is, when the power generation voltage is high or low. Charging, which can play a role in extending the distance. Next, a fourth embodiment of the present invention will be described. Fig. 2 is a block diagram showing an electric system circuit of a motor driving device according to a fourth embodiment of the present invention. In Fig. +, the same components as in the second embodiment are denoted by the same reference numerals. Further, the fourth embodiment differs from the second embodiment in that: A voltage detecting circuit 8GG' for detecting the output voltage of the secondary battery 1 〇 1 is provided and the main control circuit is caused to change the auxiliary operation in accordance with the output voltage of the secondary battery 101. That is, when the amount of charge of the secondary battery 101 is 1/2 or less of the maximum charge amount, the assist at the time of acceleration is driven to the speed of Fig. 22 as shown in Fig. 22 tf. 149741. Doc -23- 201119907 That is, the voltage of the secondary battery 1 〇 1 can be reached at an assistable speed without performing the boosting operation of the voltage conversion circuit 400. Further, when the power consumption is suppressed and the vehicle is driven to regenerate, the voltage conversion circuit 4 is operated as a step-down circuit, and the kinetic energy is completely recovered at a high speed, thereby improving the energy balance and suppressing the decrease in the remaining battery power. And increase the remaining battery power. In addition, when the charge amount of the secondary battery 丨01 is higher than 1/2 of the maximum charge amount, as shown in FIG. 23, 'the auxiliary drive to the maximum travel speed V2 of the auxiliary object' is, for example, up to 24 km/h. The boosting operation of the voltage conversion circuit 400 is performed to ensure the assist feeling at high speed. Further, in the present embodiment, the amount of charge of the secondary battery 10 1 is set to a threshold value of 1/2 of the maximum charge amount. However, the present invention is not limited thereto, and of course, the threshold voltage may be changed as needed. Next, a fifth embodiment of the present invention will be described. Block diagrams of electrical system circuits are denoted by the same reference numerals.

When the amount of torque is large, the boosting operation of the battery house is performed for the auxiliary operation path 400. The main control is controlled by the motor drive device according to the fifth embodiment of the present invention. Further, in the fifth embodiment, the fifth embodiment can be used to convert the electric power of the secondary battery 1 to the auxiliary value of the detected value of the 1300.

149741.doc The auxiliary drive during acceleration is set to the speed of ν1. The voltage conversion circuit 400 performs the boosting operation, and the voltage is assisted by the voltage of 4, and the power consumption is suppressed and the brakes are driven to be cut off by "24.201119907". At the time of regeneration, the voltage conversion circuit 400 is used as a step-down circuit, and the motion energy is completely recovered from the idle speed.

In the hunger, this improved energy harvest Φ bearing you I ± I ^ ϊϊ» , I fork balance 'to reduce the remaining battery power, increase the remaining battery power. Fig. 25 is a machine diagram showing only the difference between the operation of the main control circuit of the motor drive device of the fifth embodiment of the present invention shown in Fig. 24 and the flowchart of Fig. P. First, the state in which the voltage of the secondary battery m is applied is set as the initial step until the predetermined speed is determined, and then the command is issued via the drive circuit 7〇1 to cause the bypass circuit 7 to turn the switch OFF. All the same. In the above-described embodiment, the torque amount of the manual force sensor, that is, the torque amount 'to be determined as the step s4 is equal to or less than the predetermined pedaling force value', returns to the determination state of the on and off of the human power sensor. Step S2. The determination in step S4 is to determine the stepping force value, for example, when 3 〇 g 乂, the determination step s 5 of entering the next battery voltage sensor. If the judgment of the slave is a predetermined voltage value, for example, less than 3 〇, and ί7 is less than 1 /2 of the maximum charge, the process returns to the step S2 of the determination state of the on and off of the human sensor. When the battery voltage detecting circuit and the battery voltage detecting device S5 are judged to be equal to or greater than a predetermined voltage value, that is, 1/2 or more of the maximum charging, the switch of the bypass circuit 7〇〇 of step S6 is first set to be off. In the open state, the voltage conversion circuit 4 of step 37 performs a boosting operation, and in step S9, the inverter circuit 5 is driven as a motor to start the assist of the electric assist bicycle 1. The operation below step S5 is exactly the same as the operation below step % of Fig. 17. The sensor according to the signal of the human sensor ι〇3 according to the embodiment of FIG. 24, 149741.doc •25·201119907, the pedaling force (torque) value, and the battery voltage detecting circuit as the battery voltage sensor The combination of the group and the voltage conversion circuit 4〇〇 and the bypass circuit 7〇〇 can finely eliminate waste, can finely recover the waste energy, and can exercise a longer distance by temporarily charging the battery. As described above, in the present embodiment, the auxiliary operation is adjusted in consideration of the remaining battery power information and the human sensor information, thereby simultaneously satisfying the sense of preventing the battery from being disconnected and ensuring the assistance necessary. Furthermore, in each of the above-described embodiments, the electric assist bicycle has been described as an example of the electric assist vehicle. Of course, the present invention can be applied to a mobile body having wheels and moving by human power such as a wheelchair or a cart. The same effect as above. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an external view of a power-assisted bicycle according to an embodiment of the present invention; FIG. 2 is a schematic cross-sectional view showing a portion of a human-powered sensor portion of an electric bicycle according to a third embodiment of the present invention. FIG. 3 is an enlarged cross-sectional view showing a portion in a state where no pedaling force is applied to a connecting portion between a toothed disc and a driving wheel in the human sensor portion shown in FIG. 2; FIG. 4 is a human feeling shown in FIG. An enlarged cross-sectional view of a portion in which the connection portion between the toothed disc and the driving wheel in the detector portion is applied with a stepping force; FIG. 5 is a side view of only the human sensor portion shown in FIG. 2 viewed from the side of the χ·χ line; 6 is a side view of only the human sensor portion shown in FIG. 2 viewed from the side of the χ-χ line; Η9741.d, -26-201119907 圏7 indicates the detection result in the human sensor portion of FIG. FIG. 8 is a view showing the electrical characteristics of the motor in the first embodiment of the present invention. FIG. 9 is a block diagram showing the electrical system circuit of the motor driving device according to the first embodiment of the present invention. Figure; Figure 1 FIG. 11 is a timing chart for explaining the operation of the voltage conversion circuit according to the first embodiment of the present invention. FIG. 12 is a timing chart for explaining the operation of the voltage conversion circuit according to the first embodiment of the present invention. FIG. FIG. 13 is a timing chart for explaining the operation of the three-phase bridge circuit according to the first embodiment of the present invention. FIG. 14 is a diagram showing a voltage conversion circuit according to the first embodiment of the present invention. FIG. 15 is a block diagram showing an electrical system circuit of a motor driving device according to a second embodiment of the present invention. FIG. 16 is a timing chart showing the operation of the motor driving device according to the second embodiment of the present invention. Figure 17 is a flow chart showing the state of the judgment process and control result of the main control circuit 3 of Figure 15; Figure 18 is a view showing the judgment process of the main control circuit 3 of Figure 15 shown in Figure 17 FIG. 19 is a timing chart for explaining the operation of the motor driving device according to the third embodiment of the present invention; FIG. 19 is a flowchart showing an example of a case where the state of the control result is slightly deformed; Fig. 2 is a flowchart showing the state of the determination process and the control result of the main control circuit 300 of Fig. 15 corresponding to Fig. 18; Fig. 21 is a view showing the electrical system circuit of the motor drive device according to the fourth embodiment of the present invention; Fig. 22 is a timing chart for explaining the operation of the motor driving device according to the fourth embodiment of the present invention. Fig. 23 is a timing chart for explaining the operation of the motor driving device according to the fourth embodiment of the present invention. Figure 25 is a block diagram showing the electrical system circuit of the motor driving device in the fifth embodiment of the present invention; and Figure 25 is a flow chart showing the state of the determination process and control result of the main control circuit 3 of Figure 24; A block diagram of an electrical system circuit of a motor drive device of the prior art; FIG. 27 is a view showing electrical characteristics of a motor used in the motor drive device of the prior art; and FIG. 28 is a timing chart showing the operation of the motor drive device of the prior art. Figure. [Main component symbol description] 12 13 15 Motor-assisted bicycle crankshaft pedal crank disk 149741.doc -28- 201119907 15a Wheel 15b Gear portion 15c Projection 16 Pedal 17 Chain 19 Sensor 22 Drive wheel 22c Projection 24 Detector 26 Elastomer 27 ' 28 Screw 51 Secondary battery 52 Capacitor 53 Control circuit 54 Human sensor 55 Brake sensor 56 Motor 57 Three-phase bridge inverter circuit 61 Drive circuit 101 Secondary battery 102 Motor drive unit 103 Human sensor 104 brake sensor 105 motor 149741.doc -29- 201119907 200 voltage conversion action control circuit 300 main control circuit 400 voltage conversion circuit 401 drive circuit 500 three-phase bridge inverter circuit 501 drive circuit 600 bypass control Circuit 700 bypass circuit 701 drive circuit 800 battery voltage detection circuit Cl capacitor LI 扼 flow Q1, Q2 field effect transistor Q1 Bu Q32 field effect transistor Q41 field effect transistor 30-149741.doc

Claims (1)

201119907 VII. Patent application scope: k kinds of motor drive devices 'characteristics include: DC motor 'which becomes power source or power source; primary battery 'which becomes the power source of the above-mentioned DC motor; motor drive circuit 'which will power from the above a secondary battery is supplied to the DC motor to drive the DC motor; a main control circuit controls driving and driving of the DC motor by the motor drive circuit; and a voltage conversion circuit is inserted in the secondary battery and the An output voltage of the secondary battery is converted between the motor driving circuits and supplied to the motor driving circuit; and an electrical switching operation control circuit controls the voltage conversion circuit to perform a boosting operation according to an instruction of the main control circuit, And the voltage conversion operation control circuit is configured to operate when the DC motor operates as a power source and when the output voltage of the DC motor is higher than a supply voltage of the secondary battery, send a control signal to the voltage conversion Circuit to put on Output voltage of the DC motor and the drop of the reduced lower than the voltage of said output voltage of the direct current motor is supplied to the secondary battery to charge the secondary battery. 2. The motor driving device of claim 1, wherein the voltage conversion circuit comprises a mechanism for boosting an output of the secondary battery according to an instruction of the main control circuit and in accordance with a control number generated by the voltage conversion operation control circuit The voltage is supplied to the motor drive circuit as compared with the voltage at which the voltage is transferred to the 14974l.doc. 201119907. 3. The motor driving device of claim 1, wherein the DC motor is a three-phase DC motor that outputs a rotation-related signal, and the motor driving circuit includes an inverter circuit that uses a plurality of field effect transistors as switching elements. The main control circuit includes a mechanism that operates the motor drive circuit based on the signal output from the three-phase DC motor and adjusts a ratio of an application time to a non-application time when a voltage is applied to the three-phase DC motor. 4. The motor driving device of claim 1, comprising: a bypass circuit connected between the input and output terminals of the voltage conversion circuit; and a bypass control circuit that operates when the DC motor operates as a power source When the voltage of the DC motor electromotive force is lower than the output voltage of the secondary battery, the control is performed according to the instruction of the main control circuit to set the bypass circuit to be in an on state between the input and output ends of the voltage conversion circuit. Short circuit. 5. The motor driving device of claim 1, wherein the voltage conversion circuit includes a bypass control circuit that is based on the main control circuit when the speed obtained from the signal of the DC motor is lower than a predetermined speed The command is controlled such that the control signal sent by the electric power conversion operation control circuit sets the bypass circuit to be in an on state to short-circuit the input of the electric (four) circuit and the output end of the circuit 14974I.doc 201119907. 6. The motor driving device of claim 1, wherein the circuit 2=conversion circuit comprises a bypass control circuit, and the bypass control circuit is “according to the above-mentioned signal of the DC motor”, according to the instruction of the main control circuit. Second = the judgment of the sensor is based on the assumption that the bypass circuit is turned off and the voltage conversion circuit is in an operating state. 7. The motor drive device of claim 1, wherein the voltage conversion circuit includes a use field A circuit as a circuit of the effect transistor. 8. A motor driving device according to the δ month item 6, which includes a voltage value detecting circuit that detects a value of an output voltage of the secondary battery and supplies information of the detected value to The main control circuit includes a mechanism that instructs selection of a boosting operation when an output voltage of the secondary battery is equal to or higher than the predetermined voltage based on a control signal generated by the voltage conversion operation control circuit. 9. The motor drive device of claim 6, wherein the main control circuit comprises a mechanism according to the The control signal generated by the voltage conversion operation control circuit issues a command to the voltage conversion circuit to select the step-down operation for regeneration when the brake sensor is determined to be in an on state. The motor driving device 'is characterized by comprising: a DC motor 'which becomes a power source or a power source; 149741.doc 201119907 A-into-battery' which becomes a power source of the above-mentioned DC motor; a motor drive circuit which supplies power from the above secondary battery And supplying the DC motor to the DC motor; the main control circuit controls the driving and driving stop of the DC motor by the motor driving circuit; and the voltage conversion circuit is insertable into the secondary battery and the motor Converting an output voltage of the secondary battery between the driving circuits and supplying the voltage to the motor driving circuit; and a voltage converting operation control circuit for controlling the voltage converting circuit to perform a step-down operation or stopping according to an instruction of the main control circuit; and θ a bypass circuit connected to the above electricity Between the input and output ends of the voltage conversion circuit; and @ The voltage conversion operation control circuit sends a control signal to the voltage when the determination of the brake sensor is off state and the determination of the human sensor is in an on state a switching circuit for causing the bypass circuit to be in an on state when the speed obtained from the signal of the DC motor is lower than a predetermined speed, and driving the motor by the operation of the motor driving circuit, and according to the DC motor When the speed I obtained by the signal is equal to or higher than the predetermined speed, the vehicle returns to the starting time point. II. An electric assist vehicle characterized in that it is attached to a moving body including a wheel and rotating the wheel by applying manpower. A motor-driven device according to the above-mentioned claim 1 or 10, wherein the electric-assisted vehicle of claim 11 wherein the above-mentioned DC motor is the rear-wheel drive vehicle I49741.doc 201119907 is mounted on the front wheel . 13. The electric assist vehicle of claim 11, wherein the motor driving device comprises a human power sensor that detects an amount of manpower applied and supplies information of the amount of the manpower to the main control circuit, wherein the voltage conversion circuit includes a mechanism for boosting an output voltage of the secondary battery and supplying a voltage of a voltage higher than the output voltage to the motor drive circuit according to an instruction of the main control circuit, wherein the drive control circuit includes a mechanism from the human The sensor inputs the information "When the human power detected by the human sensor is equal to or greater than a predetermined threshold, the voltage conversion circuit is boosted to supply a voltage higher than the output voltage of the secondary battery. To the above motor drive circuit. 149741.doc