TW590949B - Regenerative control apparatus of a motor driven vehicle - Google Patents

Abstract

To effectively utilize a regeneration action during running which involves frequent stopping and startup operations such as upon running in a city to achieve efficient recovery of energy. The regenerative control apparatus is for a motor driven vehicle having a brake which applies the brakes to the vehicle with a strength corresponding to a brake operation amount. A brake switch 51 outputs a brake signal corresponding to the brake operation amount. The regenerative control apparatus includes changeover means for changing over a motor to the regeneration side in response to a brake operation discriminated from the brake signal. An operation amount variation amount detection section 53 outputs a variation amount of the brake operation amount, and a regenerative duty map 52 determines a regeneration amount (regenerative duty) in response to the variation amount. The regenerative duty map 52 can be formed so as to output a regeneration amount as a function of the variation amount of the brake operation amount and the vehicle speed. Particularly, the regeneration amount is determined so as to increase as the variation amount of the brake operation amount increases.

Description

^ 90949 V. Description of the invention 0) [Technical field to which the invention belongs] Regarding the regeneration control of an electric vehicle, in particular, it can be used as a trigger = replacement. Regeneration control device for electric vehicle with 4-generation rechargeable battery [Prior technology]: The battery suppresses the discharge of the battery and uses the power generated by the battery to operate the brake lever to make a bicycle. In addition, the auxiliary driving device with regeneration is made by the output of the vehicle speed sensor and :: ;;: 2 °° Bu 3_ Bulletin, the electric compensation for the trigger of the regeneration control = Off & manual switch operation [What the invention seeks to solve = subsidized bicycles are also widely known. The speed of the previous electric vehicle determines the regeneration amount, and the operating speed of the brake usually corresponds to the braking operation point, that is, whether the n point is the same as the vehicle speed if the vehicle speed is the same. Therefore, ‘regardless of the brake ’s urgency ;: the movement is irrelevant-the regeneration of the set is almost constant. ‘Vehicles based on regenerative braking’ Even if the speed of braking operation is particularly high, it is expected to use = :. For the speed of the vehicle at that time, it is expected that the braking force will not only increase. Take further control so that the rider is going downhill ":: c Regeneration of the setting j Clever and comfortable walking feeling. Page 6 C: \ 2D.roDE \ 92.〇l \ 9H25〇17.ptd 590949 V. Description of the invention (2) The present invention is based on the urgency of the braking operation: re-question, the creator, its purpose is to provide A regeneration control device. The users of electric vehicles that can make the sense of alkali seizure change can be comfortably provided for the purpose of regenerating on the downhill. Regarding the regenerative control device of electric vehicles [means to solve the problem] In order to achieve the above purpose, the second characteristic of the output of the second system representing the braking operation is to include the brake signal according to the brake signal response according to the brake signal. The changing mechanism is based on Yida's transformation to the regeneration side; and the regeneration amount depends on the operation of the mechanism, and the aforementioned horse signal according to the determined braking operation ^ or ^ mechanism is based on the foregoing braking regeneration amount. According to this feature, the effectiveness of regenerative braking is determined by the amount of change in braking force in response to the amount of change in braking dynamics. The amount of control or braking operation changes. In addition, according to the present invention, the regeneration characteristics of the points (a) to (f) of the eighth (a) to (f) have the following structure (a): Politics. The higher the battery voltage is, the smaller the regeneration amount depends on the cell voltage and vehicle speed. The point of the regeneration amount (b) constitutes the point at which the output regeneration amount is used as a correction factor to correct the change amount of the foregoing amount and the function of the vehicle speed (e,). The larger or larger the amount of change in the dynamic operation amount or the brake operation amount is, the greater the increase is determined by the braking operation amount or the point of increasing the vehicle speed from the high-speed range to a low speed ^ ^ regeneration amount (d) structure braking operation The amount of change in the amount of regenerative amount of the brake operation amount or gradually reduced in the high speed range of the pair of brake operation. Differences (e) the difference between the amount of regeneration amount (f) ^^ or changes in the amount of braking operation § Judge the vehicle to travel downhill C: \ 2D-C0DE \ 92-01 \ 91125017.ptd Page 590949 V. Description of the invention (3), regardless of the presence or absence of braking operation " Further, this The invention also becomes a point of outputting a predetermined reproduction amount. The higher the number, the less the regeneration amount:, ::: Battery house and vehicle speed, the battery house operation amount or the amount of change in the operation amount should be judged by the brake. These characteristics, such as: Second life :: ㈡ :. = Two can be adapted according to the use and characteristics of the vehicle =: = a large amount of regeneration can be obtained under the condition of… 乂 5 degrees is difficult to increase the walking shape = regenerative braking is also possible It is the remaining amount of the battery ... ™ The embodiment of the invention = Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 2 is an electric assistance for an electric vehicle with a regeneration control device according to one of the embodiments Side view of the bicycle. The body frame 2 of the electric auxiliary bicycle includes the front tube 21, the rear tube 22, the Xiao cushion post 23, and the front tube 21, which are placed on the side of the limbs and the rear tube 2 2 ， Is extended from the front tube 2 丨 downward and rearward; ， the cushion pillar 23 is erected upward from the vicinity of the terminal portion of the rear tube 22. The combination of the rear officer 22 and the cushion pillar 23 and its peripheral portion are divided into 2 The upper and lower sides are covered by a resin cover 33 that can be attached and detached. The upper part of the front tube 21 is inserted through a joystick support 2 7 A to freely rotate the steering joystick (hereinafter, simply referred to as "operation lever") 2 7 The front wheel fork 26 connected to the joystick strut 27A is supported at the lower portion of the front pipe 21. The front wheel WF is freely rotated and supported by the front wheel fork 2 6 mm HI ·· C: \ 2D-C0DE \ 92-01 \ 91125017.ptd page 8 590949 5. The lower end of the description of the invention (4). The suspension at the lower portion of the body frame 2 serves as an electric assistance unit including a driving device for pedaling force assistance (described later). Specifically, J = — = Wu1, which is the connecting part 9 2 at the lower end of the post officer 2 2 and the second temple bracket (not shown) of the temple at the rear of the battery bracket with a C-pillar 23 The front not-shown connecting part 3 Guangzhuang p] L 3 screws lock the suspension. At the connecting portion 90, the chain puller 25 is locked together with the electric assistance unit 1 and the power supply switching unit 29 'of the auxiliary unit 70 in the city's early morning is provided near the pipe 21. By the power switch unit 29, a power saving mode that suppresses the amount of power consumption can be selected at the same time by using the product C (the two sheep, and the latter will be described later). Even if the power is turned on, for example,-(type recognition = to receive the infrared signal sent by the remote control switch. Sigh receiving receiving motion assistance unit 丨 is equipped with a drive sprocket 13, crank =: = wheel 13 is transmitted to the rear through the chain 6 Chain ^ = Rotating lever 27B, the operating system of the brake lever m = 7 is transmitted to the rear brake device (not shown). The moving wire 39 is switched (detailed later), and the brake switch contains the punch :: ,, 7 After being known as the brake lever 27B, the output represents its operation amount (sensor is, No .. According to the brake signal, the brake lever 27B 11 is actuated. According to the Han test, the operating axis of the brake lever 27B is one song and two ΐ:;: " 'Support Π electric assistance unit 1, two right on the crank, 丨 by the crank shaft support pedal 121 by electric assistance sheet page 9 C: \ 2D-〇〇DE \ 92.〇l \ 9]] 25〇7.ptd 590949 V. Description of the invention (5) Yuan 1 extends between the terminals of the left and right pair of chain stays 25 on the rear side, with the shaft support as the driving wheel and the rear wheel WR. The upper part of the cushion pillar 23 and the two chain etiquettes 25 Between the terminals, a pair of left and right cushion stays 24 is provided. The cushion support 23 is installed on the upper end of the cushion tube 31 with a cushion 30 that can slide, It can adjust the height of the cushion 30. "The battery 4 is installed at the rear of the cushion pillar 23 below the cushion 30. The battery 4 is housed in a storage box, and is mounted on the pillar 23 through the battery bracket. The battery 4 contains most of The battery slot is set up along the seat post 23 to form a slightly up and down direction. V Figure 3 is a plan view of the lever including the brake switch, and Figure 4 is an arrow view of Figure 3. In both figures, the brake lever 27B is a lever bracket. The frame 27C is supported by a lever handle 27D. The lever bracket 27C is provided with a frame shaft 27E for the front assembly portion 27CF divided in the front-rear direction of the vehicle body, and the brake lever 27b is provided to freely rotate about the pivot and the shaft 2 7E. The front part 27cf accommodates the brake switch 51 in response to the amount of change of the plunger; the thin front end of the column is connected to the rear of the brake and the brake lever 27B is brought close to the lever handle 271) (

=) 'The plunger 51A protrudes from the main body of the brake switch 51. After the brake lever 27B is released by operating the operating lever 7, the plunger 51A is pressed ^ the handle 27D and the setting detection is due to the movement of the plunger 51A. . From the circuit of the value (braking signal), the resistance of the switch 51 according to the system's system brake operation and operation amount (operation stroke). j, the greater the presence or absence can be detected. X, hereafter, the description of I will be made when the braking strength is larger at 2 and 1. The above-mentioned electricity will be tested 91325〇] 7.ptd page 10 590949

The output of the circuit of the resistance value is explained as the same figure as the output of the brake switch 51 (braking signal) / cross-section view of the electric and motor auxiliary unit 1, and FIG. 6 is a box of the electric auxiliary unit 1 of the AA arrow in FIG. 5, It is formed by the left cover 70L and the right cover 701, which are respectively installed on the main body 70 and its quotation. The box 70 and the left cover 70L and the right are lightweight and can be made into a resin molded product. Peripheral fixing of the box body > Suspension devices 9la, 92a adapted to the aforementioned connecting portions 90, 91, 92, respectively. A bearing 71 is provided on the main body 70, and a shaft is provided on the right cover 70r.

= The crankshaft 101 is connected to the inner wheel of the bearing 71, and the crankshaft 1 of the inner wheel of the bearing 72 is coaxial to the crankshaft 1 ο 1. The inner shaft is freely slidingly arranged at it =, the sleeve 73 in the direction, that is, the crank Shaft 丨 〇1 by bearing 71 and bearing U support standard. The sleeve member 73 is fixed to the wheel housing 74. On the outer periphery of the wheel housing 74, for example, an auxiliary gear 76 formed by a ratchet mechanism via a one-way clutch 75 is provided. The auxiliary caster 76 is preferably made of resin from the viewpoint of weight reduction. In addition, it is preferable to make the helical gear from the viewpoint of quietness and the like.

Gears 73a are formed at the ends of the sleeve 73, and the gears 73a are used as sun gears. Three satellite gears 7 are arranged on the outer periphery of the gears 73a. The satellite gear 7 7 is supported by a shaft 77a of the setting = support plate 102. Further, the support plate 102 is supported by the one-way clutch 7 8 on the crank shaft 101. The satellite gear 77 pairs the pedaling force detecting ring 79 with the internal gear formed on its inner periphery. At the end of the sleeve 73 (the gear side is not formed), the drive sprocket 13 is fixedly connected to the rear sprocket 14 by a chain 6. The pedaling force detecting ring 79 has protruding f79a and 79b on the outer periphery, and the arm

590949 V. Description of the invention (7) 8. The J9 second series uses the tension bullet # 8 placed between the arm 79a and the main body 70 and the force placed between the arm 79b and the main body 70. The direction of rotation when traveling The opposite direction (two in the figure is given the elastic yellow 8 1 is set to p ,,, and ten directions). The compression detection arm is not set on the arm 795 for a potentiometer of k-position with the same k-position. The auxiliary gear 76 is adjacent to the plate 86 through the spring washer 85, and is further advanced to the clutch plate 86, and is separated from the adjacent plate 86. The device pushes the plate 86 to the dust plate on the auxiliary tooth side. The force is free to the sleeve 73. Sliding in the direction of its axis "Anti-86 and 麈 2m: It is in contact with the inclined surface formed in the central part of the convex: 88: It is biased toward Λ near the clutch plate 86. The cam 88 8 two-rotation shaft 89 is supported by free rotation Right cover 7. 疋 The second axis is the part protruding to the right, and it is fixed 1 ^ 9 = Actuator 7. Actuator 7 can be opened by the motor and solenoid. When the brake is depressed, potential energy is given according to the braking signal of the brake switch 51. After the actuator 7 rotates in response to the braking signal, the rotary shaft 89 is rotated, and the cam 88 is rotated. The auxiliary gear 76 is fixed to the motor μ by toothing The small gear of the shaft 83. 1 to M is a 3-phase brushless motor, which is composed of a rotor ln, a stator coil 丨 2, a rubber magnet ring 113, a hole IC 115, and a shaft 116 of the rotor η. The rotor 111 ′ system A magnetic pole 11 with a beryllium (Nd-Fe-B series) magnet; the stator coil 11 2 'is provided on the outer periphery; the rubber magnet Shushu 3 (n-pole and the s-pole interactive arranged to form a ring person), based provided to the rotor Shushu pole side of the sensor of a used; the cavity I C11 5, line mounted on the substrate 114, disposed opposite to the rubber magnet

590949 V. Description of the invention (8) Iron ring 113. The shaft 116 is supported by a bearing 98 provided on the left cover 70L and a bearing 99 provided on the main body 70. It is placed close to the front of the box body 70, and a FET for controlling the motor μ and a controller 100 including a capacitor are provided, and the electric power is recognized to the coil 112 through the fet. The controller 100 responds to the pedaling force detector. The pedaling force generated by the controller 100 causes the motor μ to operate, so that the auxiliary force is generated, and the potential energy of the actuator Λ can be regenerated at the same time. In addition, the controller 100 controls the driver of the J motor M so as to generate a regeneration amount in response to the braking operation amount (described in detail later). Here ^ ΐ = 7 () and 盍 7QL, 7GR, although it is best to use = type from the viewpoint of weight reduction, but on the one hand, the periphery of the bearing is provided with an electric subsidy sheet with i ° form μ ′ 106 1 around the bearing. , 7 copper alloy, etc., metal reinforcing members 105,: bearing 71 of the strong crank shaft 101 and bearing of the motor shaft 116 2 == cover 90a, 91a, 92a of the mounting member is expected to be larger / loaded / Department 1 :. Reinforcing member formation of each part of the head 5-the body's reinforcing plate Π? Reinforcing members communicate with each other 'can be more] strong plate: not limited to all the bearings 71 and M, connected to the suspension "quote" \ Wai's reinforcement members' These ㈣ 间 between those close to each other, for example, even if the suspension device strength member and the surroundings of the bearing 99 are reinforced around the surroundings ^ τ 4 逑 around the bearing 7 1

C: \ 2D-OODE \ 92-O] \ 911250] 7.ptc3 Page 13 590949 V. Description of the invention (9) ^ ^ t; " ^ 490 Another reinforcement member 1 0 5, 1 〇 6 1 λ 7 -bu,, 1, ~, can be separated into rr i υ 〇, 〇06, 〇07 'When the resin is molded, it can be integrated in the above-mentioned Lizhanxi / II, 0L, 70R. Crank shaft 101, rear crank crank shaft = element 1 ′ is transmitted to the clutch 78 through the crank 11 plus pedaling force]. The rotation of the crank shaft 乂 1 is rotated by a single rotation around the peripheral support of the sun gear 73a = guard shaft ... rotation. The sun gear 77 makes the sun gear 73 ㈣. Too a fine rotation, the rotation of the drive key fixed to the sleeve plus the load on the rear wheel, because of the a-ring 79, its rotation amount is based on the electric red small movement. The pedaling force detection is the output corresponding to the load. ?: Measure: The output of the potentiometer 82 is also given to the motor M to generate potential energy, & large% according to the load ^, n. ^ Crank synthetic drive sprocket 13.仃 走% ’To decelerate the vehicle

⑽ (The output exceeds the judgement reference of the braking operation = the switch is turned into a rotating shaft 8 9 and the pressure σ ^ urges the yong ren to cry 柘 # a & the force plate 87 presses the clutch plate 86. Then, ί Two = The combination of the wheel shell Η and the auxiliary gear τΐ, the rotation system of (4) is transmitted to the rotation of the auxiliary toothed sprocket 13, which generates electricity through the casing ^ 1 in motion. It is produced by regeneration : The battery coil 4 is borrowed and recharged to the battery 4, and the battery 4 is charged. 1 stream passes through the controller 1.0 and is provided in this embodiment 'when walking on a flat road, etc., to meet the predetermined control page 14C: \ 2D-00DE \ 92-01 \ 9112503 7.ptd 590949 Description of the invention (10) ί = Walking in the second power-saving mode. In the power-saving mode, when the predetermined two are met, you will be assisted on time, and on the one hand, when you meet Other predetermined control criteria ^ Assistance! Re-opening and regenerative charging at the brake switch 51 ON. Power-saving mode: can be selected by the rider's operation. Figure 7 is a plan view showing an example of the power switch Qiu 29. Η

Day-Solid Insert a recording key (not shown) into the recording key hole 32 ′ and rotate the recording to select it remotely. If the recording key is in the "OFF" position, the power supply of the electric compensation = unit το 1 is cut off, and the power cannot be supplied from the battery 4 to the electric assistance unit 1. Turn the key to align it with the position of "ON", so the electric power can be supplied to the electric assistance unit 1, and when the pedaling force exceeds a predetermined value, the motor M 'is controlled to follow the assisting force read from the preset chart and The stepping force ratio (assistance ratio) gives subsidizing force. In addition, point the key at the position of "EC0" and select the "power saving mode". As described in detail later, it is possible to start assistance or cut off assistance in accordance with a predetermined control standard. Regenerative braking can also be performed in power saving mode. In addition, the power switch section 29 can be mounted on the vehicle body such that the "0N" position is oriented in the direction of travel of the vehicle body. Next, the assist, cut-off assist and regeneration control in the power saving mode will be described. In the power saving mode, the pedaling force is detected, and when it is determined that the pedaling force is lower than a predetermined value

The cut-off assist is performed when the need-free assist reference (hereinafter referred to as the "cut-off assist reference") is changed. FIG. 8 is a diagram showing the trajectory of the pedaling force for explaining the conditions for cutting off the assistance, and the calculated value CNTBT of the calculator updated according to the magnitude of the pedaling force is combined. The pedaling force corresponds to the change in the cycle period of the crank cycle. In the same figure, set the upper pedaling force TRQUP and the lower pedaling force TRQBT. Stepping force upper limit value TRQUP

C: \ 2D-OODE \ 92-Ol \ 9] 125017.ptd Page 15 590949 V. Description of the invention (π) is set in the range of 15 ~ 20kgf, and the lower limit of the pedaling force TRQBT is set in the range of 13 ~ 1 5kgf range. Pedal force is detected at an increase of 10 mm per second. When the pedaling force TRQA is below the pedaling lower limit value TRQBT, the calculated value CNTBT is increased (+1), and when the pedaling force TRqA is above the pedaling upper limit value TRqUP, the calculated value CNTBT is reduced (-1). When the pedaling force TRqA is equal to or greater than the pedaling lower limit value TRQBT and is less than the maximum pedaling force upper limit ATRqUP, the calculated value CNTBT is not changed. When the calculated value CNTBT exceeds the reference value (cut-off assist judgment reference value) TTED, the pedaling force TRQA implements the cut-off assist with the cut-off assist as a change. The calculation value CNTBT can be reset when the pedaling force TRQA exceeds the reset reference RESET set above the pedaling force upper limit value TRQUP, or when the starting assist condition described later is satisfied. Next, the control for starting assistance in the aforementioned power saving mode will be described. The assist system detects the pedaling force trajectory, and when it is judged that the pedaling force reference needs to be used as the assisting force reference (hereinafter referred to as "assistance reference", the assistance is performed according to the assist ratio of the reference. Figure 9 is a diagram showing the pedaling force trajectory for explaining the conditions for starting assistance. The combination indicates that the calculated value cntasl is updated every time the pedaling force exceeds the reference value. In the same figure, the reference value TRQASL of the pedaling force reference for starting the judgment element is set. As the calculated value of cntasl to assist the calculator. When = is the peak value of the stepping force, each time the reference force exceeds the reference value, it is judged as 夂:

590949

Quasi ’start auxiliary conditions are established. Specifically, FIG. 9 shows that the initial value of the calculated value CNTASL is “3”. The same figure: 'At the time points t1 and t2, the peak value of the pedaling force TRQk exceeds the reference value. l ^ QASL, although the calculated value CNTASL has been reduced twice, since the peak value of the next change f cycle does not exceed the reference value TRQASL, the calculated value CNTASL is reset to the initial value "3" at the time. Thereafter, the calculated value CfTASL is reduced to "0" at time points t4, t5, and t6. Further, at time point 7, when the pedaling force TRQA exceeds the reference value TRQASL, the start assist bar is established to start assist. The reference value TRQASL can be set to a plurality of standards, and the calculation value CNTASL different from other standards can be set for each reference. Fig. 丨 is a diagram showing the trajectory of the pedaling force in order to explain the start assistance of the establishment of each reference value when the majority reference value TRqASL is set. In the figure, the reference value TRQASU is equivalent to the pedaling force when slowly accelerating on a smooth road. For example, it is set at 20kgf 'The reference value TRQASL2 is equivalent to the force when climbing on a gentle slope. For example, it is set at 30kgf. Further, the reference value TRQASL3 corresponds to the pedaling force when starting, when suddenly climbing, or when accelerating rapidly during coasting, and is set to, for example, 35 kgf. In addition, the calculated value CNTASL1 corresponding to the reference value TRQASL1, the calculated value CNTASL2 corresponding to the reference value TRQASL2, and the calculated value CNTASL3 corresponding to the reference value TRQASL3 are set to "5", "3", and "2", respectively. These settings can be arbitrarily set according to the characteristics (use, function, etc.) of the vehicle and consumer preferences. With such a setting, referring to FIG. 10, when the flat road is slowly accelerating during taxiing, the calculated value CNTASL1 becomes “0” at time t 10, and due to the wall

590949 V. Description of the invention (13) The force TRQA exceeds the reference value TRQASL1, so the ratio of the pedaling force (assistance ratio) corresponding to the reference value TRQASL1 starts to assist. In addition, when facing the slope of the gentle slope, the calculated value CNTASL2 becomes "0" at time t11, and since the pedaling force TRQA exceeds the reference value TRQASL2, it is converted into an assist ratio corresponding to the reference value TRQASL2. Further, at the time of starting, from the starting time point t12 to a short time point t13, the calculated value CNTASL3 becomes "0", and since the pedaling force TRQA exceeds the reference value TRQASL3, the assistance is started at an assist ratio corresponding to the reference value TRQASL3. The calculated values CNTASL1 to CNTASL3 are initialized when the assist is stopped and when the CPU is reset.

Fig. 11 and Fig. 12 are flowcharts showing the processing main parts of the auxiliary and power saving modes including cut-off auxiliary described in Figs. At step 51 in Fig. 11, it is judged whether the brake switch 51 is ON. This judgment proceeds to step s2 at the negative timing, and proceeds to step S12 at the time of the month (Fig. 12). Whether the brake switch 51 is ON or not is determined based on whether the output Vbr of the brake switch 51 is above a reference value (for example, 0.5V) for ON and OFF judgment. In step S2, the pedaling force TRQA is detected. In step S3, the peak value of the pedaling force TRQA is detected, and when the peak value exceeds the reference value TRQASL, the calculated value CNTASL is reduced. In step S4, it is determined whether the reference value TRQASL corresponding to the pedaling force reference is based on whether the calculated value CNTASL is "0".

No form an auxiliary benchmark. In step S5, it is determined whether the pedaling force TRQA (current value) exceeds the reference value TRQASL. Step S5 is affirmative, that is, the stepping force forms a predetermined reference. If the current stepping force TRQA exceeds the reference value TRQASL, the process proceeds to step S6 to permit assistance. Here, the assist is based on the reference value TRQASL of the pedaling force and the assist ratio obtained from the vehicle speed, and the assist force is varied. In order to obtain the assist force, the output of the motor M is controlled.

91125017.ptd Page 18 590949 V. Description of the invention (14) In step S7, based on the magnitude of the pedaling force upper limit TRQUP and the pedaling force lower limit value TRQBT and the pedaling force TRQA, it is determined whether the pedaling force reference is the cut-off assist reference. According to the judgment result of step S7, in step 38, when the auxiliary reference +1 is turned off, the calculated value CNTBT is increased, and in step S9, when the auxiliary reference -1 is turned off, the calculated value CNTBT is decreased. When the auxiliary reference "0" is turned off, the process proceeds to step S10. On the other hand, if the calculated value CNTBT is reduced when the auxiliary reference is turned off, the calculated value CNTBT may be increased even if it is not. In step S10, it is judged whether or not the stepping force TRQA is at a predetermined low reference, that is, the cut-off assist reference value, based on whether the calculated value CNTBT becomes the cut-off assist determination reference value TTED. When the auxiliary reference is cut off, the calculated value CNT] gT is reduced. The initial value is used as the reference value TTED. Whether the calculated value CNTBT becomes "0" is used to determine whether the auxiliary reference is changed or not. If it is determined that the pedaling force is changed in the cut-off assist reference, the process proceeds to step S1 丨 and the cut-off assist is performed. In FIG. 12, at step S12, the output Vbr and the force TRQA of the brake switch 51 are detected. At step $ 13, _cut off the aforementioned brake operation amount | Is the difference between the current brake operation amount Vbr0 above the change amount a? The judgment is affirmative, that is, the drought control operation == the case where the change is large, then enter In step S14, revise the regenerative power of j = A, ^ c, and determine the regenerative amount of the regenerative motor value (feedback situation) earlier (described later). For example, the regenerative power

= 1.1 times. x, below, collectively referred to as regeneration: J current value is called regeneration power. Afternoon A heading ^ Regeneration-Aspect ′ If the change in the amount of braking operation is small, a downhill judgment is made. Judge whether it is downhill, for example =

590949 V. Description of the invention (15) Judgment is made when the pedal force household and shell are “0” and the vehicle speed is above 10 km per hour. If it is affirmative in step S15, it proceeds to step S16 to output the regenerative power set for downhill. The regenerative power for downhill is set to a smaller value as the vehicle speed increases. In addition, if step S15 is negative, that is, it is judged that the change in the braking operation amount is below the reference value and is not a downhill situation, the process proceeds to step S1 7 and the regeneration during normal braking operation determined by the vehicle speed is output. The work 'brake switch 51' is a picture of the brake switch becoming. Same rate. Regenerative braking is performed by regenerating according to the regenerative power described above. A specific example of the regenerative power according to each condition will be described later. "In step S18, determine whether the brake switch 5 丨 is ON and execute steps S1 2 to S17 to continue regenerative braking. After turning off, go to step S19 to stop regenerative braking. Figure 13 shows the regenerative power corresponding to the vehicle speed ¥. The regenerative power is set according to the car j / the same picture. Here, the change amount Mbr can be set to a finer setting. / It can be divided into three stages of small, medium and large. As shown in the figure, the regenerative power is As the speed increases, the low-speed and medium-speed range below 10 km / h of the female hour is woven. However, as the second car veers over, it is almost used in the high-speed field at a speed of 10 to 201 km. In addition, when the vehicle speed V exceeds the amount of change in the braking operation amount: again = becomes two. In addition, in the high-speed domain pair: small. The amount of binarization from the medium-speed domain to the low-speed domain is higher than that in the medium-speed domain. For example, if you stop walking on the city's red road and stop jealous of making the regenerative power larger, you can efficiently charge the battery and walk. 'By regeneration you can ___ 疋, due to the change in the amount of braking operation page 20 c: \ 2D-O0DE \ 92 -0】 \ 9]] ^ 7 ^ 7 590949 V. Description of the invention (16) The larger the amount of the chemical, the larger the vehicle will be, and Ray regeneration can be increased by two so in a short time can stop 14 is a pedaling force is the essence of "stars. Figure of an example. When the pedaling force is substantially "", the regenerative power when traveling downhill at a vehicle speed V of 10 km per hour or more, as shown in the figure, the regenerative power Λ ^ ^ ^ ° ® 13 ^ ^% # ^ Approximately intermediate value. The double-headed cymbals inside are equivalent to medium and small. Next, the flow chart of the rotation control of the example when walking downhill will be described. =%. Fig. 15 and Fig. 16 are examples of regeneration when the vehicle is going downhill when the vehicle is turned on. The difference is A, even if the brake switch is ON. In the above example, when the braking energy is used, in this modification, regardless of the potential of the actuator 7 converted to 1 for regenerative braking, if the 0N and 0FF of $ = 51 are satisfied, the potential energy of the actuator 7 is given. Create the conditions that can change the speed and pedaling force of the vehicle. Actuation = 2 Step S21, determine whether the brake switch 51 is ⑽. If the brake switch 51 is ON, go to step S22, step S23, and determine whether it is downhill. If " Q. When the pedaling force is substantially 0, the regenerative work is performed; the step is to enter the stepping position, and the step S25 is to determine whether it is downhill. Continue to the next step, that is, step S25 becomes affirmative, return to step S24 to continue the judgment when the regeneration system becomes negative, then go to step S2 6 and stop when it is judged that it is not walking downhill, that is, step 8 No = or step S25 is negative , And when the rotation control is stopped, enter the steps such as. Steps S27 to S35 ′ are the same as steps S3 to Step S of FIG.

C: \ 2D-CODE \ 92-01 \ 91125017.ptd Page 21 590949 V. Description of the invention (17) So the description is omitted. -When the brake switch 51 is not ON, the determination in step S21 is stopped, and the process proceeds to step S36 (Fig. 16). In step S36, the & & month outputs ~ and the vehicle speed V and the pedaling force τ_. In step 6S3f, the Gan Yi step S37 of the brake switch 51, it is determined whether the change amount Δvbr of the brake grip setting is a reference value of the change amount (for example, i 5 v). The case where j is affirmative is the brake operation, the situation Then, the process proceeds to step S38, and the output of the modified car is adjusted to the regenerative power determined by the vehicle speed to make IX power. For example, the case where the amount of change in the amount of braking operation is small is': Normal braking operation determined according to the vehicle speed 2. The above-mentioned regenerative power is regenerated and regenerative braking is performed. 9 In step S40, it is determined that the brake switch 51 is between 0N, and steps S36 to S39 are executed to continue No / I. After the brake switch 51 is _, the process proceeds to step S41 to stop regenerative braking. Cut the material and wind Figure 1 shows the six main parts of the controller 100. The microcomputer containing the coffee can be used / present block_Figure ° Also, this function outputs data (vehicle speed v), which is based on the predetermined plus' vehicle speed The power chart of the sensor 40 (supplementary chart) 4 丨 disk regeneration power rate input; ^ points are input drive 52. Electric power as a pedaling force sensor = (regenerative charging chart) is input to the auxiliary map J2 =! Data (treading force TRQA), section 50, and spike determination section 46. Tread butterfly section 43, second pedaling force judgment Auxiliary force chart 4 1 Based on | v, the optimal auxiliary speed t and pedaling force TRQA can be obtained, and it is set to output-pedaling force TRQA, auxiliary force chart :: data. For example, even for a solid-state watch, the higher the vehicle speed V is, the greater the subsidy

590949

The smaller the smaller the assist ratio. Bu represents the output of the brake switch 51, which is the brake ^ of the brake operation amount, and is input to the operation amount change amount detection section 53. The calculation of the current and previous output of the brake on_ = the change in the amount of work is green. The amount of change is input to the regeneration rate table 52 'When the brake switch 51 becomes 0N, according to the vehicle speed V, and AVbr is set to turn out to get the most suitable regenerative turn out == (. Again, control / Call ^ j θ In the regenerative power chart 52, it is possible to combine and set the correction value for the case where the shore test ratio is larger than the reference value of the change amount (multiply by the system; a chart of value J). Enter the vehicle speed detected by the vehicle speed sensing state 40. ν and the pedaling force TRQA detected with the pedaling force = 82 are input to the regenerative power station (re-ease). The radio 54 is used when the pedaling force TRQA is substantially ◦ and the vehicle speed t is high in the medium-speed domain. A specific example of the regenerative charging station 54 is shown in Fig. ^. Moreover, the regenerative charging station 54 can be used only for braking operation, and it can be used regardless of the braking operation. The auxiliary force data and the regeneration control signal are inputted to drive / regenerate. The drive cry 42 and the drive / regeneration drive 42 control the motor M in accordance with the assisting force data or the regeneration pestle number. Also, as the vehicle speed sensor 40, for example, it can be installed in the electric assistance unit by magnetic detection! Rules of the outer periphery of the board 102 Irregularities, according to their number and detects an output from a vehicle speed detecting means is constituted of qe.

590949

TROUP ά \ -h 糸 judge the current pedaling force based on the pedaling force reference value (for example, the aforementioned upper pedaling force TRQUP and the lower pedaling force TRQBT), and use the increase or decrease of the judgment result as the low reference for the cutting aid judgment calculator The calculated value of the calculator 44 is CNTBT. The comparison unit 45 compares the reference value of the cut-off assistance of the calculator 44. When the calculated value CNTBT reaches the cut-off assistance and the judgment reference value TTED, '胄 cut-off assistance instruction ΑΠ is output to the driving / regeneration this' pedaling force judgment portion 43. The calculator 44 and the comparison unit 45 constitute a reproduction reference detection mechanism. The spike detection unit 46 is provided by the pedaling force sensor 82, and the peak value of the pedaling force TRQA detected by the cycle is detected. The spike is input to the pedaling force reference judging unit 47. When the pedaling force reference judging unit 47 judges that the peaking force has exceeded a predetermined pedaling force At the time of the reference TRQASL, the calculation value CfTASL of the start assistance calculator 48 is updated. When the calculation value ⑶ of the assistance calculator 48 is started, 讥 becomes a predetermined value, and the permission assistance instruction A 丨 is issued. The permission assistance instruction A 丨 is input through the gate G The aforementioned drive / regeneration drive 4 2. A detection signal is output when the second pedaling force determining unit 50 judges that the current step "TRQA has exceeded the pedaling force reference value TRQASL. The shutter G is opened when a detection signal of the second pedaling force determining unit 50 is supplied, The permission assist signal instruction is input to the drive / regeneration drive 42. Here, the spike detection unit 46, the pedaling force reference judgment unit 47, and the start assist count difference 4 8 constitute a pedaling force fluctuation reference detection mechanism. The drive / regeneration drive 42 series According to the permission assistance instruction AI, the motor will be given a %% month b's driving force to assist the driving force of the vehicle according to the subsidy force data. Indicates the ACI, the regeneration control of the motor M so as to cause the amount of regeneration due to the control signals to be reproduced. That is, the force in accordance with the grant or reproducing data

C: \ 2D-CODE \ 92-01 \ 911250l7.ptd Page 24

590949 V. Description of the invention (20), the signal is determined to determine the driving circuit ρΕτ of the motor ^! = Broken;: =: or the size of regeneration. In addition, when the pedaling force reference judgment 2 judges that the large peak value does not exceed the pedaling force reference TRQASL, No. 2 will re-calculate the calculated value of the auxiliary calculator 48 = 'jin set 疋 佗 force μ, +, decadent 4 #tanliyan sigh At the initial value. In the above-mentioned yoke form, although the brushless horse is used in the present invention, it is not limited to the use of brushless work: = M, it can be applied without a motor. Figure 17 is a block diagram of the use of the attached power ::: == brush settings. In FIG. 17, the regeneration control device includes a regeneration control device 55 and a regeneration controller 56. The drive control power supply is connected to the drive controller through the power failure: m is empty, in order to supply current to the motor with brushes = 2: another battery, battery 4 is connected to drive control Machine charging

56. The driving controller 55 and the regenerator. . The life controllers 58 and 59 are connected to the motor 60. In addition, 1 =, each circuit breaker 57, 58, 59 is controlled by the circuit breaker signal. 9, ON and OFF of the switch 51 i51 ^ OFF ^^ ° ^ # PI ^ 58, 59 when it is switched to the driving controller and it is operated. _ The driving controller 55 has control for control, and it is supplied to the motor. 60 ％。 -1. The conductor µ of the FET551 has control FET561, n. On the one hand, the regeneration control can be boosted to the desired value and then "press the circuit breaker power of the FET561." In this embodiment, although it is based on the brake operation: the amount of change and the vehicle speed is made C: \ 2D-C0DE \ 92-01 \ 91125017.ptd Page 25 590949 V. Explanation of the invention (21) Decision = power, but even if it is based on braking operation. Edit 'rough control to brake operation volume rate: large. Figure 18 shows the corresponding braking operation volume and vehicle speed. Regeneration ::: The map of Chengyu 0 is shown in the figure, and then six children are in hand—a big example, especially, fish, " — the control causes the brake operation amount to change. Dasi J 疋 Vehicle speed V is from low speed to medium The speed range (around 3 per hour) becomes greater regenerative power. Μ 母 ... ~ 14km Above: Implementation mode can be based on the battery's "regenerative power." It can be understood that the charging status of the battery 4 is also uncertain. Almost no residual amount, or close to more than two miles? When it is close to being fully charged, there is no need to use recharging: Residual: In the case of a small amount, it is better to charge actively by regenerating 3 罝 Residual amount corresponding to battery 4 'When the residual amount is less than the predetermined value: Borrow Considering the electricity again, for example, in Japanese Patent Laid-Open No. Heu 2668668: When the battery voltage is below a predetermined value, the report cannot be placed. In the regenerative braking system that incorporated the Ransheng brake, the control device described in the bulletin was used to reduce the value to below the predetermined value. Because of the sudden electric power: the voltage value may damage the smoothness of walking. . So here:: Said: Change the regeneration amount with. It can be moderated. In the following description of the implementation mode, in response to the battery 4 = more, "quote regeneration" #, the remaining amount is small, the remaining amount, the same day Shou further consider the vehicle speed to determine the regeneration power. 3, Xixi regenerative stop because of battery residuals, such as the three workers can prevent the U-power / more than the heart rate of k-regeneration amount, and because the state of 10,000 can get the appropriate regeneration control amount, so page 26C: \ 2D-CODE \ 92-01 \ 911250l7.ptd Independence 949 V. Description of the invention (22) Smooth. The remaining amount of the battery 4 can be judged by the output voltage (battery voltage) of the battery 4 scoop. Said system Γ set 9 2: ί 3 voltage contains the regeneration control and other parts that determine the function of regeneration power. Figure; factory Tongguang said the same or the same terminal. The test results are: == 61, the battery voltage VB of the battery 4 .〇 / ϋ 丄 # is input to the regenerative power chart 5 and the regenerative power chart 5 2 is set to output the re-braking operation amount Vbr or the braking operation change amount. Letters between AVbr and vehicle speed v sheep, IJ description (as the main chart. For example, the one shown in Figure 13 can be used). A set of subsidy charts is used to output the correction coefficient for revising the regenerative power determined by the main chart. The “subsidy for electricity” refers to the output correction coefficient as the J function. This correction coefficient is obtained by multiplying the borrow chart. The figure is an example of a subsidy chart. Set the batteries on the X-axis and z-axis of the same figure. Voltage, vehicle speed, and correction coefficient. As shown in the figure, the chart is set to correspond to the battery voltage ⑽, and when the battery is charged ^ ^ is almost close to being fully charged, the correction coefficient is made ": the power generation moxibustion is smaller. In this embodiment, a special battery is used. % FIG. 21 is a flowchart considering the control of the battery voltage VB and the vehicle speed ¥, instead of steps S12 to S19 in the figure. That is, the step “u” of FIG. U is performed as shown in FIG. 21. In step S21, the brake switch output voltage Vbr, the battery voltage VB, and the vehicle speed v are detected. In step 2, the calculation is based on the previous calculation.

590949

_ V. Explanation of the invention (24) Response to vehicle speed and braking operation amount I " Dust determines the amount of change in the regeneration amount at that time, or the speed and electricity [effect of the invention]. It can be understood from the above description. # It is clear that in response to changes in the amount of brake operation, the right depends on the scope of the patent application] ~ 8 The inventions of patent parks 2 to 6 = the effect of generating brakes. In particular, a greater amount of regeneration is being obtained. In response to the vehicle speed, it is controlled to be possible on the low-speed side, and it is easy to brake quickly. The braking operation is frequent, so that the current obtained through regeneration can be used to perform larger regenerative braking. Speed rechargeable battery. In addition, if you can use the regenerative braking to advance the lever, even if you do not perform braking operation on the downhill, go forward, if you walk properly and charge the battery. The brake responds to the invention of the charge range of f 5 ;; t profit range items 3 and 8, by regenerating the condition, you can get more! Electricity: In the case of a large residual amount, the regenerative charging amount is almost equal to Λ, who is always the same, and the pool is close to being fully charged. Due to the larger amount, the residual amount is less. In addition, it is also necessary to prevent: = Preventing overcharging can extend battery life. In addition, the energy loss caused by wasted charging is stopped. Charging! When the remaining amount is less than the predetermined amount, the change in regenerative braking force and the gentle regenerative braking force can be made, and a good walking feeling can be made. [Explanation of the component number] 1 Electric assistance unit page 29 C: \ 2D-G0DE \ 92-01 \ 9H25017.ptd 590949 V. Description of the invention (25) 2 Body frame 4 Battery 6 Chain 7 Actuator 11 Crank 12 Pedal 13 Drive sprocket 14 Rear sprocket 21 Front tube 22 Rear tube 23 Cushion pillar 24 Cushion Braces 2 5 Chain stays 26 Front forks 2 7 Steering joysticks 2 7A Joystick struts 2 7B Brake levers 27C Lever trailer 27D Joystick handles 27E Pivot 29 Power switch 3 0 Seatpost 31 Cushion tube 32 Keyhole

C: \ 2D-CODE \ 92-01 \ 91125017.ptd Page 30 590949 V. Description of the invention (26) 3 3 Resin cover 40 Vehicle speed sensor 41 Supporting force chart 42 Drive / regeneration drive 43 Pedal force judgment unit 44 Low reference calculator 4 5 Comparison section 46 Peak value determination section 4 7 Pedal force determination section 48 Start assisting calculator 50 Second pedaling force determination section 51 Brake switch 51A Plunger 52 Regenerative power chart 5 3 Operating amount variation detection section 5 4 Regenerative power table 5 5 Drive controller 5 6 Regenerative controller 57 Circuit breaker 58 Circuit breaker 59 Circuit breaker 6 0 Motor 61 Battery voltage detection unit 70 Box body

C: \ 2D-CODE \ 92-Ol \ 911250】 7.ptd Page 31 590949 V. Description of the invention (27) 70L left cover 70R right cover 71 bearing 7 2 bearing 73 sleeve 7 3a sun gear 7 4 wheel housing 7 5 One-way clutch 7 6 Auxiliary gear 77 Satellite gear 7 7a Shaft 78 One-way clutch 7 9 Pedal force detection ring 79a Arm 79b Arm 81 Tension spring 82 Potentiometer 8 3 Pinion 85 Spring washer 86 Clutch plate 8 7 Pressure plate 88 Cam 89 Rotary shaft 90 Link

C: \ 2D-CODE \ 92-Ol \ 9]] 25〇n.ptd Page 32 590949 V. Description of the invention (28) 90a suspension device 91 connection portion 91a suspension device 9 2 connection portion 92a suspension device 9 8 bearing 99 bearing 100 controller 101 crank shaft 102 support plate 105 reinforcement plate 106 reinforcement plate 107 reinforcement plate 110 magnetic pole 111 rotor 112 stator coil

115 hole I C 116 Motor shaft G Gate Μ Motor

C: \ 2D-CODE \ 92-01 \ 91125017.ptd Page 33 &quot; _ _. The diagram briefly illustrates the function: a block diagram of the regeneration control device of the -form of the present invention, a side view of the car . ° Figure 4 is the top view of Figure 3 ... The main part of the mobile assistance unit. FIG. 6 is a cross-sectional view of A_A in FIG. 5. A top view of an example of a source switch unit. Fig. 9 is a diagram showing two steps for explaining the start of the auxiliary conditions. FIG. 10 is a diagram for explaining a plurality of steps. Diagram of conditional pedaling force trajectory. The beginning of the soil rate assists the establishment. Figure 11 shows the treatment of the power saving mode. Figure 12 shows the power saving mode. 4Q 4 —— Flow chart of section 4 (Part 2) 〇 Figure 13 is a diagram showing an example of the amount of change in response to the brake operation amount. <Regeneration power diagram> The regeneration power 14 when walking downhill is a graph showing that the pedaling force is substantially "0." Figure 15 shows the modification (1) of the modification when walking downhill. W Fig. 16 is off (No. 2). Fig. 17 is the use of electric power 1 10,000 yuan. Fig. 18 is the regeneration of the modified example when walking downhill according to the regenerative power of braking operation and vehicle speed. Flow chart of control Block diagram of the regeneration control device of the brush motor. Brake grip you 昙 n soil, + t.

I C: \ 2D-CODE \ 92-0] \ 9] 125017 .ptd Page 34 590949 Schematic description of the diagram. Fig. 19 is a block diagram of the essential parts of a regenerative control device including a function for determining regenerative power in response to a battery voltage. FIG. 20 is a diagram showing an example of a subsidy chart. FIG. 21 is a flowchart of regeneration control considering battery voltage and vehicle speed. Fig. 22 is a diagram showing an example of a graph constituting output regenerative power as a function of battery voltage and vehicle speed. Participate

C: \ 2D-CODE \ 92-01 \ 91125017.ptd Page 35

Claims (1)

^ ^ \ J ,, the patent application scope of electric vehicle regenerative control and the intensity of the response to the amount of braking operation; upper: moving horse Qianchao's brakes 2 features include: brake on M ;: the amount; the foregoing =: = Inverse; the brakes judged should be based on the judged system, which includes the regenerative control of the electric vehicle of ^ 2 ^ 1 and the aforementioned detection mechanism; the operation amount or the system's turnover, and the dismantling structure are the components Output regeneration amount, # &amp; 3. Such as =: the amount of change in the amount and the speed of the vehicle. Brake among them, including the right of the second electric vehicle of the second siege. The battery voltage of the battery control of cargo and electricity; The battery voltage and vehicle speed are determined by charging the regenerative current with the regenerative current, and the battery is used to determine the regenerative amount according to the previous correction factor. Q The smaller the amount of regeneration is determined 4 · If the scope of the patent application! The larger the amount of change is determined] Second action know! Or brake operation 5. If the electric power of item 4 of the scope of the patent application is applied, where the aforementioned regeneration amount determines the regeneration control device on the machine, it becomes a from the high speed range of the vehicle speed to C: \ 2D-CODE \ 92-Ol \ 91125017. ptd p. 36 /, patent application in the low-speed region of the speed range ^ 口 一 '—the difference between the small regeneration amount. The amount of change in cypress or brake operation amount is 6 of which, for example, please refer to item 4 of the patent scope, 'the regeneration amount is determined by the regeneration control device of the vehicle, and the brake operation amount or brake operation depends on the vehicle speed. The high-speed domain J Xia Xia's regeneration amount is not the same as the second in the patent application scope, which includes a speed control mechanism to regenerate the handle of the handle, judging mechanism, and judging whether the vehicle is traveling downhill. The amount of regeneration determines her. 8. The regeneration of an electric vehicle II: The intensity of the response to the braking operation plus: The movement is characterized by including: The brake is open, the output represents the brake operation conversion mechanism, and is based on the foregoing. The operation of the brake letter and: f ## ;, the aforementioned motor is converted to regenerative ... the brake mechanism of the brake mechanism is a detection mechanism for detecting the voltage of the battery; and, Dansheng Electric ~ the charged The decision mechanism for battery regeneration is based on the above-mentioned battery mines, the higher the battery level is, the higher the regenerative capacity is determined to be less and then the U and vehicle speed. When the battery is used, the regenerative capacity determination mechanism includes a modified system. Signal, because the operation amount of the brake is determined to be '&amp; w y v to be in accordance with the brake operation amount is increased or C: \ 2D-mDE \ 92 ^ 01 \ 91125017.ptd Page 37 590949 VI. Scope of patent application The amount of amendments is amended to the aforementioned amount of regeneration. Page 38 C: \ 2D-CODE \ 92-01 \ 91125017.ptd