WO2012090251A1 - 電動車両の加速制御システム - Google Patents
電動車両の加速制御システム Download PDFInfo
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- WO2012090251A1 WO2012090251A1 PCT/JP2010/007610 JP2010007610W WO2012090251A1 WO 2012090251 A1 WO2012090251 A1 WO 2012090251A1 JP 2010007610 W JP2010007610 W JP 2010007610W WO 2012090251 A1 WO2012090251 A1 WO 2012090251A1
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- acceleration
- electric motor
- electric
- lever
- reference position
- Prior art date
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/14—Dynamic electric regenerative braking for vehicles propelled by ac motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/51—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by AC-motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/66—Arrangements of batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/02—Frames
- B62K11/04—Frames characterised by the engine being between front and rear wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
- B62K23/02—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips hand actuated
- B62K23/04—Twist grips
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/80—Accessories, e.g. power sources; Arrangements thereof
- B62M6/90—Batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M7/00—Motorcycles characterised by position of motor or engine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M7/00—Motorcycles characterised by position of motor or engine
- B62M7/02—Motorcycles characterised by position of motor or engine with engine between front and rear wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/12—Bikes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/24—Driver interactions by lever actuation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K2204/00—Adaptations for driving cycles by electric motor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Definitions
- the present invention relates to an acceleration control system for an electric vehicle in which electric power corresponding to a command input by an acceleration operator is supplied to an electric motor, and the electric motor drives driving wheels with output torque corresponding to the electric power.
- An acceleration control system that adjusts the output torque of an electric motor in an electric vehicle that drives driving wheels by the electric motor is known.
- the output torque of the electric motor is adjusted according to the operation amount of an acceleration operator such as a throttle grip.
- an acceleration control system for example, there is a control device as disclosed in Patent Document 1.
- the throttle grip gives an acceleration command by a turning operation, and an acceleration command corresponding to the angular displacement is transmitted to the control device.
- the range in which the throttle grip can be rotated is limited to the extent that it can be rotated with the right hand, and is a relatively narrow range. Therefore, the change amount of the output torque with respect to the unit change amount of the angular displacement amount is large, and it is difficult to finely adjust.
- an object of the present invention is to provide an acceleration control system for an electric vehicle that can finely adjust the output torque of the electric motor.
- the acceleration control system for an electric vehicle includes an electric motor that drives driving wheels when electric power is supplied, an acceleration operator for inputting a command for accelerating the driving wheels, and the command from the acceleration operator. And an acceleration amount adjuster provided separately from the acceleration operation element, and the control apparatus supplies the electric motor to the electric motor in response to the command of the acceleration amount adjustment element. The amount of power to be controlled is controlled.
- control device generates electric power supplied to the electric motor when the acceleration operator is operated, and suppresses electric power supplied to the electric motor when the acceleration amount adjuster is operated. It is preferable that
- the output torque transmitted by returning the acceleration operator to the original unoperated state can be suppressed, and the acceleration amount adjuster is operated even when the acceleration operator is operated. Therefore, the output torque transmitted can be suppressed. In this way, the output torque can be suppressed by any of the acceleration operator and the acceleration amount adjuster.
- the acceleration operator can be operated in a first predetermined direction from a predetermined first reference position, and an urging force is applied in a direction opposite to the first predetermined direction so as to return to the first reference position.
- the acceleration amount adjuster is operable in a second predetermined direction from a predetermined second reference position, and attached in a direction opposite to the second predetermined direction so as to return to the second reference position.
- the control device increases power supplied to the electric motor as the operation amount of the acceleration operation element with respect to the first reference position increases, so that the acceleration operation element moves to the first reference position.
- the electric power is decreased as it returns, and when the operation amount of the acceleration amount adjuster with respect to the second reference position becomes larger, the electric power supplied to the electric motor is reduced so that the acceleration amount adjuster becomes the second reference position. It is preferable to increase the power as back towards.
- the drive wheel is accelerated when the acceleration operator is operated in the first predetermined direction, and the acceleration of the drive wheel is stopped when the acceleration operator is returned to the first reference position. Further, when the acceleration amount adjuster is operated in the second predetermined direction, the acceleration of the drive wheel is weakened, and the acceleration of the drive wheel can be increased by returning the acceleration operator to the second reference position. As described above, the acceleration amount can be adjusted by operating or returning the acceleration amount adjuster, which is different from the acceleration amount adjuster, in the second predetermined direction, and the degree of freedom of operation is improved.
- the control device invalidates the operation of the acceleration operation member and supplies power to the electric motor. It is preferable to stop the operation.
- the driving wheel can be prevented from moving even if the driver or other third party operates the acceleration controller by operating the acceleration amount adjuster.
- the vehicle further includes a steering device having two grip portions that the driver grips with the left and right hands, the acceleration operator is provided in one grip portion, and the acceleration amount adjuster is the other grip It is preferable to be provided in the part.
- each of the acceleration operator and the acceleration amount adjuster can be operated with separate hands. Therefore, the acceleration amount can be adjusted with both left and right hands.
- the acceleration operator is a throttle grip-type operator provided on the one gripping portion so as to be rotatable in the first predetermined direction around an axis. It is preferable that the acceleration amount adjuster is a lever-type operation element that can be operated in the second predetermined direction.
- control device is configured to supply a specified power corresponding to the operation amount of the acceleration operator to the electric motor, and operate the acceleration amount adjusting device more than the predetermined operation amount to accelerate the acceleration.
- the operation element is operated and then the acceleration amount adjusting device is returned to an operation amount equal to or greater than a predetermined operation amount to drive the electric motor, the electric power supplied to the electric motor is gradually increased until a predetermined electric power is reached. It is preferable.
- the acceleration operation element is a throttle grip type operation element that can be rotated, it is easy to keep each rotation constant, and it is easy to keep the operation amount constant.
- the acceleration amount adjusting device is a lever-type operator, it can be easily operated in a short time and can be quickly decelerated.
- the acceleration amount adjuster when the acceleration amount adjuster is operated in the second predetermined direction and the predetermined torque increase condition is satisfied after the acceleration amount adjuster is operated in the second predetermined direction, the specified power corresponding to the operation amount of the acceleration operator at that time It is preferable that a larger instantaneous electric power is supplied to the electric motor.
- the output torque can be sharply increased after the output torque is decreased by operating the acceleration amount adjuster.
- the output torque of the electric motor can be finely adjusted.
- FIG. 6 is a side view of an electric motorcycle shown as an example of an electric vehicle including the control system according to the first to fourth embodiments of the present invention when viewed from the right side. It is a block diagram which shows the electric constitution of the control system with which the electric motorcycle of 1st thru
- FIG. 2 is an enlarged plan view showing an enlarged vicinity of a handle of the electric motorcycle shown in the first embodiment of the present invention.
- Fig. 2 is a flowchart showing a procedure of electric motor control processing for the electric motorcycle shown in Fig. 1.
- FIG. 2 is a flowchart showing a procedure of start processing of the electric motorcycle shown in Fig. 1.
- FIG. 3 is a graph showing an example of a change with time of an accelerator grip operation amount, an adjustment lever operation amount, and torque of the electric motorcycle shown in FIG. 1.
- FIG. 3 is a graph showing an example of a change with time of an accelerator grip operation amount, an adjustment lever operation amount, and torque of the electric motorcycle shown in FIG. 1.
- FIG. 2 is a graph showing changes over time in the accelerator grip, torque, and adjustment lever of the electric motorcycle shown in FIG. 1.
- It is an enlarged plan view which expands and shows the steering wheel vicinity of the electric vehicle which concerns on 2nd Embodiment of this invention.
- It is a block diagram which shows the electric constitution of the control system with which the electric two-wheeled vehicle which concerns on 4th Embodiment of this invention is provided.
- the electric motorcycles 1, 1A to 1C are illustrated as embodiments of the electric vehicle according to the present invention, and the concept of direction is based on the direction seen from the driver of the electric motorcycle 1, 1A to 1C.
- symbol is attached
- the present invention is not limited to the embodiments, and can be added, deleted, and changed without departing from the spirit of the invention.
- the electric motorcycle 1 includes a front wheel 2 and a rear wheel 3.
- the front wheel 2 is rotatably supported by the lower end portion of the front fork 4, and the front fork 4 is connected to a bar-type handle 5 via a steering shaft (not shown).
- the steering shaft is rotatably supported by a head pipe 7, and a main frame 8 is provided on the head pipe 7.
- the main frame 8 extends rearwardly downward from the head pipe 7 and is positioned along the center line in the vehicle width direction when seen from above.
- the head pipe 7 is provided with a pair of down frames 9.
- the pair of down frames 9 extend downward from the head pipe 7 while extending outward in the vehicle width direction, and bend in the middle and extend rearward.
- a pivot frame 10 is provided at the rear lower end portion of the main frame 8 and the rear end portions of the pair of down frames 9, and the rear lower end portion and the rear end portion are connected by the pivot frame 10. Yes.
- the pivot frame 10 is provided with a swing arm 11.
- the front end portion of the swing arm 11 is connected to the pivot frame 10 so as to be swingable, and the rear wheel 3 is rotatably supported at the rear end portion.
- a rear wheel suspension 13 is provided at the front end side portion of the swing arm 11.
- the rear wheel suspension 13 is also connected to the rear end portion of the main frame 8, and spans between the swing arm 11 and the main frame 8.
- a seat rail 12 is provided at the rear end portion of the main frame 8.
- the seat rail 12 extends rearward from the rear portion of the main frame 8, and a seat 14 for riding a driver is provided thereon.
- a dummy tank 15 is provided in front of the seat 14, and the dummy tank 15 is positioned between the seat 14 and the handle 5 so as to be sandwiched between them.
- a control device 16 is provided in the dummy tank 15, and an electric motor case 17 is provided below the dummy tank 15.
- the electric motor case 17 is supported by the main frame 8 and the pair of down frames 9, and an electric motor 18 is accommodated therein.
- the electric motor 18 is a so-called three-phase AC motor, and is connected to the rear wheel 3 serving as a driving wheel via a power transmission mechanism 19.
- the power transmission mechanism 19 is, for example, a chain, a belt, or a drive shaft, and has a function of transmitting the output torque of the electric motor 18 to the rear wheel 3 that is a driving wheel and transmitting the rotational force of the rear wheel 3 to the electric motor 18. ing.
- the electric motor 18 generates electric power by the rotational force transmitted from the rear wheel 3.
- the electric motor 18 configured as described above is connected to the power storage device 20 via the inverter device 21 as shown in FIG.
- the power storage device 20 and the inverter device 21 are located between the bent portions of the pair of down frames 9.
- the power storage device 20 has a function of discharging and charging direct current
- the inverter device 21 is an inverter function that converts the direct current discharged from the power storage device 20 into a three-phase alternating current and supplies it to the motor 18. It has a converter function of converting the generated alternating current into direct current and storing it in the power storage device 20.
- the inverter device 21 is connected to the control device 16.
- the control device 16 has an inverter drive unit 22.
- the inverter drive unit 22 controls the drive of the inverter device 21, specifically, performs PWM control, and adjusts the frequency and voltage of alternating current supplied to the electric motor 18.
- the generated power of the motor 18 is adjusted by changing the duty ratio while adjusting the supplied power.
- the duty ratio is adjusted by changing the switching cycle and timing of the switching element of the inverter device 21 in accordance with the vehicle speed, thereby changing the power generation.
- control device 16 includes a determination unit 23, which receives commands received from various operators provided in various places of the electric motorcycle 1 through various sensors. Based on the command, it is determined whether various conditions are satisfied.
- the control device 16 constitutes a control system 33 together with these various operators.
- various operators provided in the electric motorcycle 1 will be described with reference to FIGS. 2 and 3.
- the steering wheel 5, which is a steering device, has a pair of left and right grips 5a and 5b as shown in FIG. As shown in FIG. 2, the pair of grips 5a and 5b, which are gripping portions, are respectively formed at the left end and the right end of the handle 5, and the right grip 5a of the handle 5 accelerates and rotates the rear wheel 3.
- An accelerator grip for inputting an acceleration command (more specifically, a torque command) is configured.
- the accelerator grip 5a which is an acceleration operator, is configured to be rotatable about an axis L1 extending in the direction in which the handle 5 extends, and is positioned at the grip reference position (first reference position) in a non-operating state.
- the accelerator grip 5a is given a biasing force that biases it toward a grip reference position in a predetermined direction (specifically, the rear side as viewed from the driver and the direction opposite to the arrow A, that is, the front). Against this urging force, it can be rotated in the direction opposite to the predetermined direction (specifically, the front side as viewed from the driver and the direction of the arrow A, that is, the rear).
- the accelerator grip 5a is provided with an accelerator grip sensor 24.
- the accelerator grip sensor 24 issues an acceleration command corresponding to an angular displacement amount (hereinafter also simply referred to as “operation amount”) ⁇ from the grip reference position. It is designed to output. Specifically, the output torque T is increased as the angular displacement position increases.
- the accelerator grip sensor 24 is connected to the control device 16, and gives the acceleration command to the control device 16.
- the inverter drive unit 22 of the control device 16 controls the drive of the inverter device 21 in accordance with this acceleration command and adjusts the power supplied to the electric motor 18. More specifically, the control device 16 increases the output torque of the electric motor 18 by turning the accelerator grip 5a from the grip reference position to the near side, and decreases the output torque of the electric motor 18 by returning to the grip reference position.
- a brake lever 25 is provided in front of the accelerator grip 5a.
- the brake lever 25 can be gripped together with the right grip 5a by putting the finger on the right hand on it and swinging forward from the brake lever reference position (see the solid line in FIG. 3) by pulling the finger on the brake lever toward you. It can be moved (see the two-dot chain line in FIG. 3).
- the urging force is applied to the brake lever 25 so as to return it to the brake lever reference position.
- the brake lever 25 returns to the brake lever reference position. It has become.
- the brake lever 25 is an operator for operating a front wheel brake mechanism (not shown) provided on the front wheel 2. By pulling the brake lever 25 toward the front, the front wheel brake mechanism is operated and the front wheel 2 is mechanically operated. Braking force acts. Further, the braking force acting on the front wheel 2 can be adjusted by adjusting the displacement amount of the brake lever 25.
- a brake sensor 26 is provided in the brake lever 25 having such a function. The brake sensor 26 is a so-called switching sensor, and detects whether or not the brake lever 25 is operated. The brake sensor 26 is also connected to the control device 16 so as to give a detection result to the control device 16.
- an adjustment lever 27 is provided in front of the left grip 5b.
- the adjustment lever 27 can be gripped together with the left grip 5b by placing the finger of the left hand on the adjustment lever 27. By pulling the finger on the adjustment lever 27 forward, the adjustment lever reference position (solid line in FIG. 3). (Refer to the two-dot chain line in FIG. 3).
- the adjustment lever 27 is given a biasing force to return it to the reference position of the adjustment lever, and when the driver releases the adjustment lever 27 with the driver pulling forward, the adjustment lever 27 returns to the adjustment lever reference position. It is like that.
- the adjustment lever 27 functions as an adjuster that inputs an adjustment command from the driver so as to adjust the output torque of the electric motor 18 and adjust the power generation to be described later.
- the adjustment lever 27 is provided with a position sensor 28.
- the position sensor 28 outputs an adjustment command according to a position (that is, an operation amount) with respect to the adjustment lever reference position.
- the position sensor 28 is connected to the control device 16 and inputs an adjustment command to the control device 16.
- the control device 16 performs torque adjustment processing and regenerative braking force adjustment processing, which will be described later, based on the input adjustment command, thereby adjusting the output torque of the electric motor 18 and adjusting the regenerative braking force.
- the handle 5 is further provided with a main switch 29.
- the main switch 29 is, for example, a push button type switch, and is a switch for instructing start and end of power supply to main electronic components of the electric motorcycle 1.
- the main switch 29 is not limited to a push button type switch, but is a rotary type switch that inserts and rotates a key such as a key cylinder, an IC card, a portable terminal capable of wireless communication, and the like. It is also possible to use a switch that can give a start command by holding.
- the main switch 29 is provided with a main switch sensor 30.
- the main switch sensor 30 detects whether or not the main switch 29 is operated.
- the main switch 29 is connected to the control device 16 and gives a detection result to the control device 16.
- the electric motorcycle 1 includes a foot brake lever 31 as shown in FIG.
- the foot brake levers 31 are respectively provided on the right side of the lower end portion of the pivot frame 10.
- the foot brake lever 31 is configured so that a heel portion of the right foot can be placed and a tiptoe can be hung on the tip portion thereof.
- the foot brake lever 31 swings downward from the foot brake reference position (position shown in FIG. 1) by pushing the tip of the foot brake downward with a toe. An urging force is applied to return to the brake reference position.
- the foot brake lever 31 is an operator for operating a rear wheel brake mechanism (not shown) provided on the rear wheel 3, and the rear wheel brake mechanism is pressed by pushing the tip of the foot brake lever 31 downward. Actuates and mechanical braking force acts on the rear wheel 3. Further, the braking force acting on the rear wheel 3 can be adjusted by adjusting the displacement amount of the foot brake lever 31.
- a foot brake sensor 32 is provided on the foot brake lever 31 having such a function. The foot brake sensor 32 is a so-called switching sensor, and detects whether or not the foot brake lever 31 is operated. The foot brake sensor 32 is also connected to the control device 16 so as to give a detection result to the control device 16.
- the controls and sensors arranged in various places constitute a control system 33 together with the control device 16, the electric motor 18, the power storage device 20 and the inverter device 21.
- the control system 33 includes a vehicle speed sensor 34 that detects the speed of the electric motorcycle 1 in addition to the sensors described above, and the vehicle speed sensor 34 gives a signal corresponding to the detected speed to the control device 16. Yes.
- step s1 which is a torque adjustment condition determination step, it is determined which of a predetermined torque adjustment condition and a regenerative braking force adjustment condition is satisfied.
- the torque adjustment condition is that the accelerator grip 5a is angularly displaced from the grip reference position, that is, the accelerator grip 5a is being operated.
- the regenerative braking force adjustment condition is that the accelerator grip 5a is returned from the grip reference position to an operation amount within a specified range (for example, 0 deg to 5 deg), that is, the accelerator grip 5a is not operated. is there.
- the regenerative braking force adjustment condition may be that the rotation speed of the electric motor 18 is not more than a predetermined value, that the traveling speed is not more than a predetermined speed, or that the brake operator is operated.
- step s1 If it is determined in step s1 that the torque adjustment condition is satisfied based on the accelerator grip sensor 24, the process proceeds to step s2.
- step s2 the control device 16 performs output torque adjustment (that is, torque adjustment processing) of the electric motor 18 in accordance with the adjustment command. If it is determined in step s1 that the regenerative braking force adjustment condition is satisfied based on the output from the accelerator grip sensor 24, the process proceeds to step s3.
- step s3 the control device 16 adjusts the power generation (regenerative force) of the electric motor 18 (regenerative braking force adjustment processing) in accordance with the adjustment command.
- the control device 16 to which the adjustment command is given in this way determines which of the torque adjustment condition and the regenerative braking force adjustment condition is satisfied based on the output from the accelerator grip sensor 24, and the determination result is Different processing is performed based on each.
- the process proceeds to step s4, where it is detected whether or not the operation of the adjustment lever 27 has been completed based on the adjustment command from the position sensor 28 (that is, returned to the adjustment lever reference position). If the operation of the adjustment lever 27 has not been completed, the process returns to step s1 again, and when it is detected that the operation of the adjustment lever 27 has been completed, the processing is terminated.
- the torque adjustment process of step s2 and the regenerative braking force adjustment process of step s3 are each demonstrated.
- FIG. 5 (a) and 5 (b) show the operation amounts of the throttle grip 5a and the adjusting lever 27, and FIG. 5 (c) shows the electric motor when the operation as shown in FIGS. 5 (a) and 5 (b) is performed.
- 18 is a graph showing torque generated at 18; In each graph, the horizontal axis indicates time, and the vertical axis indicates the operation amount and torque, respectively.
- the control device 16 supplies the electric power 18 according to the acceleration command from the accelerator grip sensor 24 to generate torque.
- the control device 16 reduces the output torque of the electric motor 18 in accordance with the adjustment command.
- the inverter drive unit 22 controls the drive of the inverter device 21 to reduce the power supplied to the motor 18.
- the inverter drive unit 22 is configured to reduce the supplied power in accordance with the position of the adjustment lever 27 with respect to the adjustment lever reference position (that is, the operation amount). For example, a predetermined amount of cutoff operation from the adjustment lever reference position.
- the reduction of the supplied power can be adjusted in a stepless manner from 0% (adjusting lever reference position) to 100% (cutting position) until the shutting position exceeding P1. It should be noted that the generated power may be adjusted stepwise in accordance with an adjustment command from the position sensor 28 instead of steplessly.
- the control device 16 When the adjustment lever 27 is moved to the shut-off position, the control device 16 shuts off the electrical connection between the motor 18 and the power storage device 20 via the inverter device 21, and supplies power to the motor 18 and the motor. Power generation by 18 is suspended. By returning from this state toward the grip reference position, the control device 16 increases the output torque of the electric motor 18 again at a rate corresponding to the adjustment command.
- the adjustment lever 27 can easily perform fine adjustment of the output torque, which is difficult to operate with only the accelerator grip 5a. Further, the accelerator grip 5a can increase the output torque by operating to the near side, and can suppress the output torque by returning to the non-operation state side. On the other hand, the adjustment lever 27 can suppress the output torque by operating toward the blocking position, and can return the output torque by returning to the adjustment lever reference position. As described above, the output torque can be suppressed by any one of the two operators 5a and 27. In addition, since the direction in which the two operating elements 5a and 27 are operated in the opposite direction with respect to the increase / decrease in output torque, the degree of freedom in operation is improved. Further, by operating the adjustment lever 27 to the shut-off position, the operation of the accelerator grip 5a is invalidated and the power supply to the electric motor 18 is stopped.
- the accelerator grip 5a is configured to increase or decrease the output torque by a turning operation, it is easy to keep the operation amount (turning angle) constant and to travel at a constant speed.
- the adjustment lever 27 is configured to increase or decrease the output torque by pulling or releasing it, it can be operated greatly in a short time, and the output torque can be changed quickly and greatly. . Therefore, the output operation according to the situation can be further performed.
- the adjustment lever 27 is an operator for reducing the output torque generated according to the operation amount of the accelerator grip 5a, and the control device 16 applies the operation amount of the accelerator grip 5a to the adjustment lever 27.
- the torque more than the output torque corresponding to is not generated.
- the control device 16 detects that the adjustment lever 27 is in the cutoff position based on the adjustment command from the position sensor 24, the adjustment command is given priority regardless of the operation amount of the accelerator grip 5a, and the electric motor 18 and the power storage device 20 Is blocked.
- the control device 16 adjusts the power supplied to the electric motor 18 so as to reduce the ratio of the output torque of the electric motor 18 in accordance with the adjustment command from the position sensor 28, but the accelerator grip sensor 24.
- the control device 16 supplies power so that the motor 18 generates a torque value (T TH -T R ) obtained by subtracting the torque value T R according to the adjustment command from the torque value T TH generated according to the acceleration command from You may come to adjust.
- the ratio or subtraction of the output torque that decreases per lever operation amount based on the running state such as the rotation speed of the electric motor 18, the running speed, and the gear ratio (when a transmission is interposed in the power transmission mechanism 19).
- the amount may vary.
- the output torque that decreases per unit operation amount of the adjustment lever 27 may be increased or decreased for each speed range of the high speed range, the medium speed range, and the low speed range.
- you may change the output torque reduced according to the time change of the operation amount.
- a delay characteristic may be provided in order to prevent a sudden decrease and increase in output torque in response to a sudden operation of the adjusting lever 27.
- FIG. 6A is a graph showing the operation amount of the adjustment lever 27, and FIG. 6B is a graph showing the power generation of the electric motor 18 when the operation as shown in FIG. 6A is performed.
- the horizontal axis indicates time
- the vertical axis indicates the operation amount and the generated power, respectively.
- the rotational force of the rotating rear wheel 3 is applied to the electric motor 18 via the power transmission mechanism 19.
- the inverter device 21 is driven to cause the electric motor 18 to generate power, and the generated power is stored in the power storage device 20 via the inverter device 21 and regenerated.
- the electric power generated by the electric motor 18 becomes the rotational resistance of the rear wheel 3 and a braking force acts on the rear wheel 3.
- this braking force will be referred to as regenerative braking force to be described separately from mechanical braking force by the brake mechanism.
- the control device 16 adjusts the power generated by the electric motor 18 at the time of regeneration according to the operation amount of the adjustment lever 27, that is, the adjustment command from the position set 27.
- the control device 16 decreases the power generation of the motor 18 by pulling the adjustment lever 27 from the adjustment lever reference position to the near side, and increases the power generation of the motor 18 by returning to the adjustment lever reference position. ing.
- the inverter drive unit 22 is connected to the inverter device 21.
- the drive is controlled to reduce the electric power generated by the electric motor 18 (see FIG. 6B).
- the inverter drive unit 22 adjusts the power generation of the electric motor 18 in accordance with the position of the adjustment lever 27 with respect to the adjustment lever reference position, that is, the acceleration / deceleration command from the position sensor 28.
- the inverter drive unit 22 drives the inverter device 21 so that the generated power can be continuously adjusted from 100% (adjustment lever reference position) to 0% (cutoff position) between the adjustment lever reference position and the cutoff position. Control. It should be noted that the generated power may be adjusted stepwise in accordance with an adjustment command from the position sensor 28 instead of steplessly.
- the mechanical braking force by the brake mechanism for the rear wheel and the regenerative braking force acting on the rear wheel 3 different from the mechanical braking force can be adjusted separately with the left and right hands, and according to the situation.
- the driver can adjust the braking force to be used and its magnitude.
- the accelerator grip 5a and the adjustment lever 27 are provided separately, the acceleration force and the regenerative braking force can be adjusted independently, and the driver can adjust the acceleration force and the regenerative braking force according to the situation. Can be adjusted.
- the adjustment lever 27 is provided in the vicinity of the left grip 5b, the driver can easily give a command even while traveling. Furthermore, since the adjustment lever 27 also serves as an electrical disconnection switch between the electric motor 18 and the storage battery, it is not necessary to provide a separate switch, and the number of parts can be reduced compared to such a case.
- the adjustment lever 27 By positioning the adjustment lever 27 at the cutoff position, it is possible to switch to a cutoff state in which the output torque and power generation of the electric motor 18 are zero. Therefore, if the adjustment lever 27 is in the cut-off position, the accelerator grip 5a can be returned to the non-operating state, and it can be prevented that torque or regenerative braking force is generated even if operated from there. . As a result, it is possible to eliminate a shock when switching between the torque adjustment state and the regenerative braking force adjustment state.
- the regenerative braking force can be adjusted according to the amount of operation of the adjustment lever 27, the regenerative braking force can be adjusted by the running state and the driver's feeling, like the brake lever 25. . Furthermore, since the regenerative braking force can be adjusted by operating the adjustment lever 27 in the front-rear direction, the adjustment is easy.
- the power generation that decreases per lever unit operation amount may be changed based on the running state such as the rotation speed, running speed, and gear ratio of the electric motor 18.
- the regeneration amount can be adjusted according to the driver's preference.
- the rate of decrease may be changed.
- the reduction rate when the adjustment lever 27 is positioned at the adjustment lever reference position may be about 30% so that a large regenerative braking force does not act in the high speed range.
- the reduction rate when the adjustment lever is located at the reference position is set to about 100% so that a large regenerative braking force acts.
- the change in the ratio of the adjustment lever 27 to the operation amount is changed to each speed region or speed so that the regenerative braking force generated when the speed of the electric motorcycle 1 is decreased while the operation amount of the adjustment lever 27 is maintained. It may be changed every time. Further, when the speed decreases and becomes a speed range equal to or lower than a predetermined speed, the rate of decrease with respect to the operation amount of the adjustment lever 27 is reduced. Thereby, it is possible to prevent the regenerative braking force from acting excessively below the predetermined speed.
- the control device 16 adjusts the acceleration amount of the rear wheel 3 with an operator different from the accelerator grip 5a when operating the accelerator grip 5a, and adjusts the power generation of the generator 18 when the accelerator grip 5a is not operated. It is supposed to be.
- the electric motorcycle 1 that can adjust the output torque and the regenerative braking force by the adjustment lever 27 does not start by starting the electric motor 18 unless the start sequence that is a predetermined start sequence is satisfied.
- the starting sequence will be described with reference to FIG.
- step s11 the control device 16 checks whether an error has occurred in each part of the control device 16 or electronic components connected thereto. If it is determined that an error has occurred in the electronic component or the like, the process proceeds to step s12.
- step s12 the driver is warned by displaying that an error has occurred in an instrument (not shown) such as a meter device, and the start processing step is terminated.
- the determination unit 23 determines in step s11 that no error has occurred in the system, the process proceeds to step s13.
- the first condition satisfaction determination step which is step s13, is a step of determining whether or not the first startable condition is satisfied.
- the first startable condition is that the brake lever 25 as the first operator is operated, that is, the brake lever 25 is pulled toward the front side.
- the determination unit 23 repeatedly performs determination until the first startable condition is satisfied based on the detection result from the brake sensor 26. If it is determined that the first startable condition is satisfied, the process proceeds to step s14. .
- the second condition satisfaction determination step which is step s14, is a step of determining whether or not the second startable condition is satisfied.
- the second startable condition is that the adjustment lever 27, which is a second operator different from the first operator, is operated and pulled to the blocking position. Based on the adjustment command from the position sensor 28, the determination unit 23 repeatedly performs the determination until the second startable condition is satisfied. If the determination unit 23 determines that the second startable condition is satisfied, the start condition described later is satisfied. If it does, it will be in the start stand-by state which can start, and will transfer to step s15.
- the determination unit 23 determines whether or not the count added in step s16 described later exceeds a predetermined value X that is set in advance. When it is determined that the count is equal to or less than the predetermined value X, the process proceeds to step s16.
- the count addition step which is step s16, the determination unit 23 adds one count.
- the count is a value stored in the determination unit 23 and indicates a duration of a standby state to be described later. The count is incremented by one every predetermined time. When the determination unit 23 adds 1 to the count, the process proceeds to step s17.
- the determination unit 23 determines whether or not the start condition is satisfied.
- the starting condition is that the adjusting lever 27 is in a non-blocking operation state and the accelerator grip 5a is operated. That is, the starting condition is that the adjusting lever 27 is not positioned at the blocking position, and the accelerator grip 5a is rotated forward from the grip reference position. If the determination unit 23 determines whether the start condition is satisfied based on the detection result from the position sensor 28 and the acceleration command from the accelerator grip sensor 24, and determines that the start condition is satisfied, step s18 is performed. Migrate to
- the inverter drive unit 22 drives the inverter device 21, and supplies electric power to the motor 18 according to the acceleration command from the accelerator grip sensor 24 and the adjustment command from the position sensor 28. Thereby, the electric motor 18 is actuated to drive the rear wheel 3, and the electric motorcycle 3 starts.
- the process proceeds to step s19, and when the electric motorcycle 1 further stops, the process proceeds to step s20.
- the main switch determination step that is step s20, it is a step of determining whether or not the main switch 29 is turned off.
- the determination unit 23 determines that the power supply has been turned off and performs a start process. finish.
- the determination part 23 determines with the OFF operation not being carried out, it will return to step s17.
- the adjustment lever 27 by operating the adjustment lever 27 to the shut-off position, it is possible to make the driver recognize that the vehicle cannot start even if the accelerator grip 5a is operated.
- the accelerator grip 5a when the accelerator grip 5a is operated after the adjustment lever 27 is returned to the adjustment lever reference position, the driver can be made aware that the electric vehicle can be started. In this way, the driver can be made aware that the vehicle is ready to start by a method other than visual observation. Therefore, it is possible to save the trouble of visual confirmation at the time of starting and the convenience is improved.
- step s17 If the determination unit 23 determines in step s17 that the start condition described above is not satisfied, the process returns to step s15. If the determination unit 23 determines that the count is not less than the predetermined value X in step s15, the process proceeds to step s21. In the standby state determination step that is step s21, it is determined based on the position of the adjustment lever 27 whether or not the start standby state is to be continued. The determination unit 23 detects the position of the adjustment lever 27 based on the adjustment command from the position sensor 28, and when the adjustment lever 27 is located at a position other than the cutoff position, the determination unit 23 until the adjustment lever 27 is positioned at the cutoff position. 23 repeats the determination.
- step s22 the determination unit 23 resets the count to zero. When reset, the process proceeds to step s17.
- the start standby state if the adjustment lever 27 is operated at least once before the count reaches X after satisfying the first and second start possible conditions, the start standby state is maintained.
- the vehicle can start by satisfying the start condition.
- the start standby state can be continued by a simple operation such as an operation of the adjustment lever 27, and it can be recognized that the start standby state is continued by such a simple operation.
- the electric motorcycle 1 can be started immediately without satisfying the first and second startable conditions again, and the start operation is simple.
- the driver can determine whether the electric motorcycle 1 is stopped or started as compared with the case where the operating element is the brake lever 25. It is easy to show intentions clearly. Further, the driving state of the electric motorcycle 1 can be changed to a state according to the driver's intention.
- the vehicle can be started through steps s13 and s14. After starting, the torque and the regenerative braking force acting on the rear wheel 3 by operating the accelerator grip 5a and the adjustment lever 27 are described above. Can be adjusted to. For example, the case where the start condition is satisfied by operating the accelerator grip 5a after returning the adjustment lever 27 to the adjustment lever reference position will be described. In this case, the control device 16 supplies the electric motor 18 with power supplied according to the acceleration command from the accelerator grip sensor 24 to increase the output torque.
- the first startable condition is the operation of the brake lever 25, but the present invention is not limited to this and may be seated on the seat 14.
- the seating on the seat 14 can be detected by providing, for example, a seat sensor that transmits the fact to the control device 16 when seated on the seat.
- the second startable condition is the operation of the adjustment lever 27.
- the present invention is not limited to this, but the operation of the foot brake lever 31 (pressing downward from the foot brake reference position) or a button switch (not shown). It may be an operation.
- the button switch is provided on the grip 5a side on the right side of the handle, for example, and is configured by a push button switch, a seesaw switch, or the like.
- the determination of whether or not the off operation has been performed may be repeated without returning to step s17.
- FIGS. 8 and 9 are graphs showing changes with time in the output torque of the electric motor 18 with respect to the operation of the accelerator grip 5a and the adjusting lever 27.
- FIG. 8A and FIG. 9A are graphs showing changes with time in the operation amount of the accelerator grip 5a (the operation amount is on the vertical axis and the time is on the horizontal axis)
- FIGS. FIG. 8B is a graph showing the change over time in the operation amount of the adjustment lever 27 (the vertical axis is the operation amount, and the horizontal axis is the time)
- FIGS. 8C and 9C show the operations described above.
- the graph shows the change over time in the output torque of the electric motor 18 (when the vertical axis is the output torque and the horizontal axis is the time).
- the control device 16 adjusts the adjustment lever 27 of the adjustment lever 27.
- the electric power supplied to the electric motor 18 is increased according to the amount of return toward the reference position. Thereby, the torque in the electric motor 18 increases in accordance with the operation amount of the adjustment lever 27 (see FIG. 8C).
- the adjustment lever 27 returns to the adjustment lever reference position, the specified power corresponding to the acceleration command from the accelerator grip sensor 24 is supplied to the electric motor 18, and an output torque corresponding to the operation amount is generated in the accelerator grip 5a. .
- the front lever 2 can be braked by operating the brake lever 25 while the position of the adjusting lever 27 is returned from the blocking position toward the adjusting lever reference position and the accelerator grip 5a is being operated.
- electric power is supplied to the electric motor 18 according to the operation amount of the accelerator grip 5a, and torque of the electric motor 18 according to the electric power supply is applied to the rear wheel 3. Therefore, when the brake lever 25 is returned, the electric motorcycle 1 can be accelerated to one machine.
- the control device 16 supplies a supply power that is equal to or higher than the specified power corresponding to the operation amount of the accelerator grip 5a.
- the electric motor 18 is provided.
- FIG. 10 (a) and 10 (b) show changes over time in the operation amounts of the accelerator grip 5a and the preparation lever 27, and
- FIG. 10 (c) shows the output torque of the electric motor 18 when the operation as described above is performed. The change with time is shown. 10A to 10C, the vertical axis indicates the operation amount and the output torque, respectively, and the horizontal axis indicates time.
- the accelerator grip 5a is operated to operate the adjustment lever 27 to reduce the output torque during acceleration (time t11), and then the operation position (time t12).
- time t13 To the adjustment lever reference position (time t13).
- the time (t13-t12) until the operation amount ⁇ Stroke per unit time is less than or equal to a predetermined value x ( ⁇ Stroke ⁇ x), that is, the return from the operation position to the adjustment lever reference position is a predetermined time (for example, In the case of 0.1 second to 1 second) or less
- the control device 16 has instantaneous power (for example, greater than the supplied power corresponding to the amount of operation of the accelerator grip 5a for a predetermined time after returning to the adjustment lever reference position)
- the electric motor 18 is supplied with electric power that is two to three times the electric power supplied according to the amount of operation of the accelerator grip 5a.
- the torque of the rear wheel 3 can be sharply increased to prevent a decrease in torque output due to the operation of the adjustment lever 27.
- the operation amount is zero at the adjustment lever reference position, and a positive value is increased by pulling to the near side.
- instantaneous power is applied according to the operation amount ⁇ Stroke per unit time.
- the time (t13-t12) until the operation lever returns from the operation position to the adjustment lever reference position is simply a predetermined time or less. You may make it make instantaneous electric power act on.
- the electric motorcycle 1A of the second embodiment according to the present invention is similar in configuration to the electric motorcycle 1 of the first embodiment. Below, about the structure of 1 A of electric motorcycles of 2nd Embodiment, a different point from the electric motorcycle 1 of 1st Embodiment is demonstrated. The same applies to the electric motorcycles 1B and 1C of the third and fourth embodiments.
- the electric motorcycle 1A has a handle 5A extending linearly in the left-right direction as shown in FIG.
- An adjustment lever 27A is provided on the front side of the left grip 5a of the handle 5A.
- the adjustment lever 27A can be attached with the thumb of the left hand, and is swung forward with respect to the adjustment lever reference position (see the solid line in FIG. 11) by pushing forward with the thumb (see the two-dot chain line in FIG. 11). Be able to. Further, the adjustment lever 27A is given a biasing force to return to the adjustment lever reference position, and when the driver presses the thumb away from the adjustment lever 27A, the adjustment lever 27A returns to the adjustment lever reference position. ing.
- the adjustment lever 27A configured as described above has the same function as the adjustment lever 27 of the first embodiment except that the arrangement position and the operation direction are different, and the control device 16A has an adjustment lever reference position.
- the acceleration amount and the regenerative braking force are adjusted steplessly according to the position with respect to.
- the electric motorcycle 1A of the second embodiment has the same effects as the electric motorcycle 1 of the first embodiment.
- the inverter drive unit 22 of the control device 16B increases so that the power generation of the motor 18 increases. Controls the drive of the inverter device 21 (see FIG. 1).
- the electric power generated by the electric motor 18 is stepless from 0% to 100% by moving the adjustment lever 27 from the adjustment lever reference position (cutoff position) where the generated power is 0% to a predetermined position where the generated power is 100%. It can be adjusted with.
- the inverter drive unit 22 of the control device 16B controls the drive of the inverter device 21 so that the power supplied to the electric motor 18 is increased when the operation amount of the adjustment lever 27 is increased while the accelerator grip 5a is being operated. (See FIG. 1). Further, the power supplied to the motor 18 is 0% to 100% by moving the adjustment lever 27 from the adjustment lever reference position (cutoff position) where the power supply is 0% to a predetermined position where the power supply is 100%. It can be adjusted in stages.
- the amount of acceleration can be adjusted by operating the front side like the accelerator grip 5a, and the operation is easy.
- the supplied power and the generated power are both 0% and 100% at the predetermined position.
- the supplied power may be 0% and the generated power may be 100%, and the supplied power may be 100% and the generated power may be 0% at a predetermined position. Or vice versa.
- the electric motorcycle 1B of the third embodiment has the same effects as the electric motorcycle 1 of the first embodiment.
- the electric motorcycle 1C of the fourth embodiment is provided with a foot lever 41 as shown in FIG.
- the foot lever 41 is provided on the left side (that is, the side opposite to the foot brake lever 31) at the lower end portion of the pivot frame 10.
- the foot lever 41 is configured such that both the left heel part can be placed and a tiptoe can be hung on the tip part.
- the foot lever 41 swings downward from the foot lever reference position by pushing the tip of the foot lever downward with a toe. Further, the foot lever 41 is applied with an urging force to return to the foot lever reference position, and the foot lever 41 returns to the foot brake reference position when the toe is released from the tip portion.
- the foot lever 41 is provided with a foot sensor 42.
- the foot sensor 42 is a so-called switching sensor and detects whether or not the foot lever 41 is operated.
- the foot sensor 42 is also connected to the control device 16C, and gives a detection result to the control device 16C.
- the determination unit 23C of the control device 16C determines that the second startable condition is satisfied when the foot lever 41 is operated in step s14 of the start processing and a detection result to that effect is given from the foot sensor 42. It is like that. By operating the foot lever 41 in this way, the starting sequence is completed.
- the determination unit 23C of the control device 16C determines that the start condition is satisfied because the foot lever 41 is in the non-operating state and the accelerator grip 5a is operated.
- an operator for switching the driving state may be provided separately from the adjusting lever 27, the accelerator grip 5a, and the brake lever 25. If it is such an operator, what is provided in the position which can be operated by a driver
- a push button such as a drive state switching button may be provided.
- the button is configured to be turned on / off.
- the power is switched to a driving state in which electric power can be supplied to the electric motor 18 and the electric motor can generate electric power. It is possible to switch to a cut-off state where power generation cannot be performed.
- the control device 16C determines that the second second startable condition is satisfied.
- the adjustment levers 27 and 27A are provided on the left grip 5a and the brake lever 25 is provided on the right grip 5b. However, they may be provided on the opposite sides. Furthermore, in the first to fourth embodiments, the adjustment levers 27 and 27A and the foot lever 41 play the role of a drive state switch, but the brake lever 25 and the foot brake lever 31 may also be a drive state switch. In this case, for example, when the adjustment lever 27 is operated to the shut-off position and the brake lever 25 is operated, the control device 16 stops supplying power to the electric motor 18 and either one of the two operating elements 27 and 25 is operated. On the other hand, in the non-operating state, the control device 16 allows the electric power supply to the electric motor 18. Thus, by incorporating two operations, it is possible to make the driver recognize that the electric motor 18 is in a non-driven state from the case of one operation.
- the case where both the torque adjustment process and the regenerative braking force adjustment process are executed by the operation of the adjustment lever 27 has been described. Only processing may be executed. That is, if the adjustment lever 27 is operated while the accelerator grip 5a is operated, torque adjustment processing is executed. However, even if the adjustment lever 27 is operated when the accelerator grip 5a is operated, regenerative braking force adjustment processing is performed. Is not executed, or even if the adjustment lever 27 is operated when the accelerator grip 5a is operated, the torque adjustment processing is not executed, and if the adjustment lever 27 is operated while the accelerator grip 5a is operated, regeneration is performed. Embodiment which performs a braking force adjustment process may be sufficient. Further, the adjustment lever 27 has only the function of the driving state changer, and may not have the functions of torque adjustment and regenerative braking force adjustment.
- the electric motorcycles 1, 1A to 1C do not necessarily have to go through a start sequence as described above, and can start if a simpler start sequence, for example, one of the first and second startable conditions is satisfied. It may be a start sequence.
- the acceleration / deceleration adjustment during running the amount of electric power supplied to the motor and the amount of regeneration are adjusted separately according to the situation, but when the lever operation amount is small, torque control with small braking force, lever operation amount When is large, regenerative control with a large braking force, or shut-off control may be performed at the boundary between regenerative control and torque control. In this case, when the lever is operated, the command by the throttle grip may be invalidated, and acceleration / deceleration control may be preferentially performed based on the command by the lever.
- the amount of power supplied to the motor and the amount of regeneration are adjusted separately according to the situation (the amount of operation of the accelerator grip 5a), but an acceleration command based on the amount of operation of the accelerator grip 5a is given.
- the operation amount of the adjustment lever 27 is smaller than the predetermined operation amount, torque adjustment processing with a small deceleration effect is executed.
- regenerative braking force adjustment processing with a large deceleration effect is executed. May be executed. In this case, it is preferable that the cutoff control is performed at the boundary between the torque adjustment process and the regenerative braking force adjustment process.
- the rear wheel 3 is driven by one electric motor 18, but a plurality of electric motors 18 are connected by a gear mechanism or the like, and these The rear wheel 3 may be driven by a plurality of electric motors 18.
- the inverter drive unit 22 controls the inverter device 21 so as to change the number of motors 18 to be driven / generated according to the operation amount of the adjustment lever 27. Thereby, an output torque and electric power generation can be adjusted in steps.
- the electric motor 18 is constituted by a three-phase AC motor, it may be a DC motor.
- a voltage / current control device is provided instead of the inverter device 21. The current and voltage supplied to the electric motor 18 are controlled by the voltage / current control device, and the output torque and the rotational speed of the electric motor 18 can be adjusted.
- the control device 16 after determining that the second startable condition is satisfied in step s14, the control device 16 notifies that to a meter device or the like. You may make it display on the instrumentation which a driver
- control system 33 is applied to the electric motorcycles 1 and 1A to 1C.
- the control system 33 may be applied to an electric four-wheel vehicle, an electric tricycle, and the like. Any vehicle that is driven can be applied. In particular, it is suitably used in a vehicle having a handle that is gripped with both hands.
Abstract
Description
前記加速量調整子は、前記第2所定方向に操作可能なレバー形の操作子であることが好ましい。
電動二輪車1は、図1に示すように、前輪2及び後輪3を備えている。前輪2は、フロントフォーク4の下端部に回転可能に支持され、フロントフォーク4は、ステアリングシャフト(図示せず)を介してバー型のハンドル5と連結される。このステアリングシャフトは、ヘッドパイプ7により回動可能に支持されており、このヘッドパイプ7には、メインフレーム8が設けられている。メインフレーム8は、ヘッドパイプ7から後下がりに延在し、上から見た平面視で車幅方向の中心線に沿うように位置している。また、ヘッドパイプ7には、一対のダウンフレーム9が設けられている。一対のダウンフレーム9は、ヘッドパイプ7から車幅方向の外側に夫々張り出しつつ下方に延在し、途中で屈曲して後方に延在している。
このように制御装置16は、アクセルグリップ5aの操作時においてアクセルグリップ5aと異なる操作子で後輪3の加速量を調整し、またアクセルグリップ5aの非操作時において発電機18の発電力を調整するようになっている。このように出力トルク及び回生制動力を調整レバー27によって調整可能な電動二輪車1は、予め定められた発進順序である発進シークエンスを満足しなければ電動機18を始動して発進しないようになっており、以下では、その発進シークエンスについて図7を参照しながら説明する。
本発明に係る第2実施形態の電動二輪車1Aは、第1実施形態の電動二輪車1と構成が類似している。以下において、第2実施形態の電動二輪車1Aの構成については、第1実施形態の電動二輪車1と異なる点について説明する。第3及び4実施形態の電動二輪車1B,1Cについても同様である。
第3実施形態の電動二輪車1Bでは、アクセルグリップ5aがグリップ基準位置にある際に調整レバー27の操作量を増大させると、電動機18の発電力が増加するよう、制御装置16Bのインバータ駆動部22がインバータ装置21の駆動を制御するようになっている(図1参照)。また、電動機18の発電力は、発電力が0%になる調整レバー基準位置(遮断位置)から発電力が100%となる所定位置まで調整レバー27を動かすことで0%~100%まで無段階で調整できるようになっている。
第4実施形態の電動二輪車1Cには、図12に示すようにフットレバー41が設けられている。フットレバー41は、ピボットフレーム10の下端部で左側(即ち、フットブレーキレバー31と反対側)に設けられている。フットレバー41は、共に左足の踵部を載せ、更にその先端部につま先を掛けることができるようになっている。そしてフットレバー41は、その先端部をつま先で下方に押すことでフットレバー基準位置から下方に揺動するようになっている。また、フットレバー41には、フットレバー基準位置に戻すような付勢力が与えられており、それらの先端部からつま先を離すとフットレバー41がフットブレーキ基準位置に戻るようになっている。更にフットレバー41には、フットセンサ42が設けられている。フットセンサ42は、いわゆるスイッチングセンサであり、フットレバー41の操作の有無を検出するようになっている。フットセンサ42もまた、制御装置16Cに接続されており、検出結果を制御装置16Cに与えるようになっている。
第1乃至第4実施形態では、調整レバー27,27Aが左側のグリップ5aに設けられ、ブレーキレバー25が右側のグリップ5bに設けられているが、夫々反対側に設けられていてもよい。更に、第1乃至第4実施形態では、調整レバー27,27Aやフットレバー41が駆動状態切換子の役割を果たしているが、ブレーキレバー25やフットブレーキレバー31も駆動状態切換子としてもよい。この場合、例えば、調整レバー27を遮断位置まで操作させ、且つブレーキレバー25が操作されることで、制御装置16が電動機18への電力供給を止め、2つの操作子27,25のうち何れか一方でも非操作状態の場合、制御装置16は電動機18への電力供給を許容するようになっている。このように、2つの操作を組み込むことで電動機18が非駆動状態であることを運転者に1つの操作の場合より認識させることができる。
3 後輪
5 ハンドル
5a アクセルグリップ(右側のグリップ)
5b 左側のグリップ
16 制御装置
18 電動機
20 蓄電装置
21 インバータ装置
22 インバータ駆動部
23 判定部
25 ブレーキレバー
27 調整レバー
31 フットブレーキレバー
33 制御システム
41 フットレバー
Claims (8)
- 電力が供給されると駆動輪を駆動する電動機と、
前記駆動輪を加速させる指令を入力するための加速操作子と、
前記加速操作子からの前記指令に応じて電力を前記電動機に供給する制御装置と、
加速操作子とは別に設けられる加速量調整子とを備え、
前記制御装置は、前記加速量調整子の前記指令に応じて前記電動機に供給する電力量を制御するようになっている、電動車両の加速制御システム。 - 前記制御装置は、前記加速操作子が操作されると前記電動機に供給される電力を発生させ、前記加速量調整子が操作されると前記電動機に供給される電力を抑制させるようになっている、請求項1に記載の電動車両の加速制御システム。
- 前記加速操作子は、予め定められる第1基準位置から第1所定方向に操作可能であり、且つ前記第1基準位置に戻るように前記第1所定方向と反対方向に付勢力が与えられており、
前記加速量調整子は、予め定められる第2基準位置から第2所定方向に操作可能であり、且つ前記第2基準位置に戻るように前記第2所定方向と反対方向に付勢力が与えられており、
前記制御装置は、前記加速操作子の前記第1基準位置に対する操作量が大きくなるにつれて前記電動機に供給される電力を増大させて前記加速操作子が前記第1基準位置の方に戻るにつれて前記電力を減少させ、前記加速量調整子の第2基準位置に対する操作量が大きくなると前記電動機に供給される電力を減少させて前記加速量調整子が前記第2基準位置の方に戻るにつれて前記電力を増加させる、請求項2に記載の加速制御システム。 - 前記制御装置は、前記加速量調整子が前記第2基準位置から第2所定方向に所定操作量以上操作されると、前記加速操作子の操作を無効にして前記電動機に電力供給を停止するようになっている、請求項3に記載の電動車両の加速制御システム。
- 運転者が左右の手で夫々把持する2つ把持部を有する操舵装置を更に備え、
前記加速操作子は、一方の把持部に設けられ、
前記加速量調整子は、他方の把持部に設けられている、請求項3又は4に記載の電動車両の加速制御システム。 - 前記加速操作子は、前記一方の把持部に軸線回りに前記第1所定方向に回動操作可能に設けられたスロットルグリップ形の操作子であり、
前記加速量調整子は、前記第2所定方向に操作可能なレバー形の操作子である、請求項5に記載の電動車両の加速制御システム。 - 前記制御装置は、前記加速操作子の前記操作量に応じた規定電力を前記電動機に供給するようになっており、発進前において前記加速量調整具を前記所定操作量以上操作して前記加速操作子を操作し、その後に加速量調整装置を所定操作量以上の操作量まで戻して前記電動機を駆動させて発進させると、前記電動機に供給される電力を規定電力に達するまで徐々に増加させるようになっている、請求項4に記載の電動車両の加速制御システム。
- 前記制御装置は、前記加速量調整子が前記第2所定方向に操作された後、予め定めるトルク増大条件を充足すると、そのときの前記加速操作子の操作量に対応する規定電力より大きい瞬時電力を前記電動機に供給するようになっている、請求項3乃至7の何れか1つに記載の電動車両の加速制御システム。
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EP10861349.8A EP2660096B1 (en) | 2010-12-28 | 2010-12-28 | Acceleration control system for electric vehicle |
PCT/JP2010/007610 WO2012090251A1 (ja) | 2010-12-28 | 2010-12-28 | 電動車両の加速制御システム |
US13/976,979 US8880266B2 (en) | 2010-12-28 | 2010-12-28 | Acceleration control system in electric vehicle |
CN201080070459.9A CN103221254B (zh) | 2010-12-28 | 2010-12-28 | 电动车辆的加速控制系统 |
JP2012550585A JP5478738B2 (ja) | 2010-12-28 | 2010-12-28 | 電動車両の加速制御システム |
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