WO2015030108A1 - モータ駆動制御装置及び電動アシスト車 - Google Patents
モータ駆動制御装置及び電動アシスト車 Download PDFInfo
- Publication number
- WO2015030108A1 WO2015030108A1 PCT/JP2014/072558 JP2014072558W WO2015030108A1 WO 2015030108 A1 WO2015030108 A1 WO 2015030108A1 JP 2014072558 W JP2014072558 W JP 2014072558W WO 2015030108 A1 WO2015030108 A1 WO 2015030108A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- pedal
- torque
- motor
- unit
- motor drive
- Prior art date
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D17/00—Control of torque; Control of mechanical power
- G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
-
- 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
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
-
- 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
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/60—Rider propelled cycles with auxiliary electric motor power-driven at axle parts
Definitions
- the present invention relates to a motor drive control technique in an electric assist vehicle.
- Drive control of an electric motor such as an electric assist bicycle is performed according to the purpose based on signals from a torque sensor, a vehicle speed sensor, a motor current sensor, and the like.
- the drive control is performed from various viewpoints such as safety, legal compliance, assist feeling, startability, and the like, but it is assumed that the sensor always outputs a correct value in order to perform appropriate drive control.
- the output of the torque sensor typically changes so as to make a pulse as the driver rotates the pedal.
- a failure when a failure occurs in the torque sensor, a constant value may be output regardless of the driver's pedal operation.
- a certain conventional technique addresses the above problem by a method in which the motor drive is stopped when a state in which the range of variation in the pedal effort is small continues for a certain time or longer.
- the “certain time” is set to be long to some extent with reference to the time when the pedal rotates at a low speed. This is because, if a certain time is set short, within the short time, the pedal is rotating at a low speed, and thus the pedaling force fluctuation is small, and as described above, the pedaling force fluctuation is small. This is because it becomes impossible to distinguish the state.
- the motor drive control device includes: (A) a control unit that controls driving of the motor; and (B) a state in which the pedal input torque variation is less than a predetermined range, When a continuing event is detected, the control unit includes an instruction unit that suppresses driving of the motor.
- Appropriate measures for torque sensor failure can be taken at an early stage by determining whether or not the pedal input torque fluctuation is less than the predetermined range based on the pedal rotation speed instead of a fixed time. become able to. For example, if the predetermined number of rotations is “1”, it can be determined that an abnormality has occurred if the pedal input torque hardly changes during one rotation of the pedal, and in a short time if the pedal is rotating at high speed. Anomalies can be detected. Even when the pedal is rotating at a low speed, it is not necessary to take a large time margin as in the prior art, so an abnormality can be detected at an early stage. *
- the suppression of the driving of the motor may include stopping the driving of the motor.
- the driver may be notified.
- pedal input torque described above may be a value calibrated with an offset value.
- the program is stored in a computer-readable storage medium or storage device such as a flexible disk, an optical disk such as a CD-ROM, a magneto-optical disk, a semiconductor memory (for example, ROM), or a hard disk.
- a storage device such as a RAM (Random Access Memory).
- a torque sensor failure can be dealt with early.
- FIG. 1 is a diagram for explaining a problem of the prior art.
- FIG. 2 is a view showing an appearance of a motor-equipped bicycle.
- FIG. 3 is a functional block diagram of the motor drive controller.
- FIG. 4 is a functional block diagram of the calculation unit.
- FIG. 5 is a diagram illustrating a processing flow of the calculation unit.
- FIG. 6 is a diagram illustrating a processing flow of the calculation unit.
- FIGS. 7A and 7B are diagrams schematically showing the operation according to the present embodiment.
- FIG. 8 is a functional block diagram when implemented by a microprocessor.
- FIG. 2 is an external view showing an example of a motor-equipped bicycle that is an electrically assisted vehicle in the present embodiment.
- This motorized bicycle 1 is equipped with a motor drive device.
- the motor drive device includes a secondary battery 101, a motor drive controller 102, a torque sensor 103, a pedal rotation sensor 104, a motor 105, and an operation panel 106. *
- the secondary battery 101 is, for example, a lithium ion secondary battery having a maximum supply voltage (voltage at full charge) of 24 V, but may be another type of battery, such as a lithium ion polymer secondary battery, a nickel hydride storage battery, or the like. good. *
- the torque sensor 103 is provided on a wheel attached to the crankshaft, detects the pedaling force of the pedal by the driver, and outputs the detection result to the motor drive controller 102.
- the pedal rotation sensor 104 is provided on a wheel attached to the crankshaft, and outputs a signal corresponding to the rotation to the motor drive controller 102.
- the motor 105 is, for example, a well-known three-phase DC brushless motor, and is mounted on the front wheel of the motorized bicycle 1, for example.
- the motor 105 rotates the front wheel, and the rotor is connected to the front wheel so that the rotor rotates in accordance with the rotation of the front wheel.
- the motor 105 includes a rotation sensor such as a Hall element, and outputs rotor rotation information (that is, a Hall signal) to the motor drive controller 102.
- a rotation sensor such as a Hall element
- the operation panel 106 receives, for example, an instruction input regarding the presence / absence of assist from the user, and outputs the instruction input to the motor drive controller 102.
- the operation panel 106 outputs a signal representing a transmission gear ratio (also referred to as a gear ratio) to the motor drive controller 102.
- a transmission gear ratio also referred to as a gear ratio
- the motor drive controller 102 includes a controller 1020 and an FET (Field Effect Transistor) bridge 1030.
- the FET bridge 1030 includes a high side FET (S uh ) and a low side FET (S ul ) that perform switching for the U phase of the motor 105, and a high side FET (S vh ) that performs switching for the V phase of the motor 105, and It includes a low-side FET (S vl ), a high-side FET (S wh ) and a low-side FET (S wl ) that perform switching for the W phase of the motor 105.
- This FET bridge 1030 constitutes a part of a complementary switching amplifier.
- the controller 1020 includes a calculation unit 1021, a pedal rotation input unit 1022, a vehicle speed input unit 1024, a variable delay circuit 1025, a motor drive timing generation unit 1026, a torque input unit 1027, and an AD input unit 1029.
- the calculation unit 1021 is input from the operation panel 106 (for example, gear ratio, on / off, etc.), input from the vehicle speed input unit 1024, input from the pedal rotation input unit 1022, input from the torque input unit 1027, AD input unit The operation described below is performed using the input from 1029. After that, output is made to the motor drive timing generation unit 1026 and the variable delay circuit 1025.
- the calculation unit 1021 includes a memory 10211, and the memory 10211 stores various data used for calculation, data being processed, and the like. Further, the calculation unit 1021 may be realized by executing a program by a processor. In this case, the program may be recorded in the memory 10211.
- the vehicle speed input unit 1024 calculates the current vehicle speed (also referred to as motor drive wheel speed) from the hall signal output by the motor 105 and outputs the calculated vehicle speed to the calculation unit 1021.
- the pedal rotation input unit 1022 digitizes a signal representing the pedal rotation phase angle and the like from the pedal rotation sensor 104 and outputs the digitized signal to the calculation unit 1021.
- the torque input unit 1027 digitizes a signal corresponding to the pedaling force from the torque sensor 103 and outputs the digitized signal to the calculation unit 1021.
- An AD (Analog-Digital) input unit 1029 digitizes the output voltage from the secondary battery 101 and outputs the digitized voltage to the arithmetic unit 1021. Further, the memory 10211 may be provided separately from the calculation unit 1021. *
- the calculation unit 1021 outputs an advance value to the variable delay circuit 1025 as a calculation result.
- the variable delay circuit 1025 adjusts the phase of the Hall signal based on the advance value received from the calculation unit 1021 and outputs the adjusted signal to the motor drive timing generation unit 1026.
- the calculation unit 1021 outputs, for example, a PWM (Pulse Width Modulation) code corresponding to the PWM duty ratio to the motor drive timing generation unit 1026 as a calculation result.
- the motor drive timing generation unit 1026 generates and outputs a switching signal for each FET included in the FET bridge 1030 based on the adjusted Hall signal from the variable delay circuit 1025 and the PWM code from the calculation unit 1021.
- FIG. 4 shows a functional block diagram of the arithmetic unit 1021 that performs main processing according to the present embodiment.
- the calculation unit 1021 includes an offset value storage unit 1204, an instruction unit 1201, an assist torque calculation unit 1202, and a PWM code generation unit 1203.
- the assist torque calculation unit 1202 and the PWM code generation unit 1203 operate as a motor drive control unit.
- the instruction unit 1201 is stored in the pedal rotation input (for example, phase angle or rotation speed) from the pedal rotation input unit 1022, the pedal input torque (sensor value here) from the torque input unit 1027, and the offset value storage unit 1204.
- a process for determining whether or not an event indicating an abnormality such as a failure of the torque sensor 103 has occurred is performed from the offset value for calibration of the pedal input torque that is present.
- the instruction unit 1201 determines that an event indicating abnormality has occurred, the instruction unit 1201 outputs a suppression instruction to suppress motor driving or a stop instruction to stop the motor driving to the assist torque calculation unit 1202, and an event indicating abnormality has not occurred.
- pedal input torque calibrated with the offset value (hereinafter referred to as post-calibration pedal input torque) is output to the assist torque calculator 1202.
- the post-calibration pedal input torque “zero” may be output.
- the assist torque calculation unit 1202 performs a predetermined calculation based on the post-calibration pedal input torque (which may be zero) from the instruction unit 1201, the vehicle speed from the vehicle speed input unit 1024, and the like. Subsequently, a duty code related to the PWM duty ratio is output to the PWM code generation unit 1203.
- the calculation of the assist torque calculation unit 1202 is a calculation described in detail in, for example, the pamphlet of International Publication No. 2012/086458. Briefly, the pedal input torque is converted into a first duty code corresponding to the duty ratio according to a predetermined rule. The vehicle speed is converted into a second duty code corresponding to the duty ratio according to a predetermined rule. By adding the first and second duty codes, a duty code to be output to the PWM code generation unit 1203 is calculated. *
- the assist torque calculation unit 1202 outputs an instruction to stop or suppress motor driving to the PWM code generation unit 1203 in response to a stop instruction or suppression instruction from the instruction unit 1201.
- the PWM code generating unit 1203 When receiving an instruction to stop or suppress motor driving from the assist torque calculating unit 1202, the PWM code generating unit 1203 outputs a signal for stopping or suppressing the motor to the motor driving timing generating unit 1026 and the like.
- the assist torque calculation unit 1202 may directly output a stop instruction or a suppression instruction for stopping or suppressing the motor.
- the instruction unit 1201 acquires pedal input torque (sensor value) from the torque input unit 1027 (step S1). Then, the instruction unit 1201 calculates the post-calibration pedal input torque TQN from the offset value stored in the sensor value-offset value storage unit 1204 (step S3). *
- the instruction unit 1201 determines whether or not the post-calibration pedal input torque TQN exceeds 0 (step S5). If the post-calibration pedal input torque TQN is 0 or less, the process proceeds to the process of FIG. *
- the instruction unit 1201 calculates the torque fluctuation ⁇ TQ by
- the reference torque TQB is set to 0 or the like.
- the reference torque TQB will be described below. For example, when the pedal rotation speed becomes equal to or higher than the rotation threshold value, the reference torque TQB is updated with the post-calibration pedal input torque at that time.
- the instruction unit 1201 determines whether or not the torque fluctuation ⁇ TQ is less than the fluctuation threshold (step S9).
- the variation threshold is determined to be a predetermined ratio (for example, 10%) of
- the variation threshold value may be a fixed value.
- step S10 If the torque variation ⁇ TQ is equal to or greater than the variation threshold, the instruction unit 1201 initializes a failure determination counter to 0 (step S10). Then, the processing shifts to the processing in FIG. *
- the instruction unit 1201 determines whether or not the pedal rotation number (phase angle) obtained from the pedal rotation input unit 1022 is greater than or equal to the rotation threshold (step S11). .
- the rotation threshold For example, 0.2 rotation is used as the rotation threshold.
- the maximum pedal frequency in a range where torque is input is usually about 120 rpm, and 0.2 rotation is about 100 ms.
- the operation cycle of steps S1 to S25 is typically 10 ms or less, even when the pedal rotation is fast, it is possible to appropriately detect a change in the pedal rotation speed that is about the rotation threshold as described above. *
- step S15 if the pedal rotation speed is less than the rotation threshold value, the process proceeds to step S15. On the other hand, if the pedal rotation speed is equal to or greater than the rotation threshold value, the instruction unit 1201 increments the determination counter by 1 (step S13). *
- the instruction unit 1201 determines whether or not the value of the determination counter is equal to or greater than the determination threshold value (step S15). For example, when the target is to detect rotation for one rotation, the determination threshold is “5”. If the value of the determination counter is equal to or greater than the determination threshold value, the process proceeds to the process of FIG. On the other hand, if the value of the determination counter is less than the determination threshold, the process proceeds to the process of FIG. *
- the instruction unit 1201 clears the post-calibration pedal input torque to zero and outputs it to the assist torque calculation unit 1202 or the assist torque calculation unit 1202 or the like after the terminal B. On the other hand, an instruction is output so as to stop or suppress the motor drive (step S19).
- the assist torque calculation unit 1202 performs a predetermined calculation based on the vehicle speed, for example, assuming that the pedal input torque is zero, and PWM The duty code related to the duty ratio is output to the PWM code generation unit 1203.
- the PWM code generation unit 1203 generates a PWM code by multiplying the duty code by a battery voltage / reference voltage (for example, 24 V) from the AD input unit 1029, and outputs the PWM code to the motor drive timing generation unit 1026. In this way, the motor drive is controlled.
- a battery voltage / reference voltage for example, 24 V
- instruction unit 1201 outputs post-calibration pedal input torque to assist torque calculation unit 1202.
- the assist torque calculation unit 1202 performs a predetermined calculation based on the post-calibration pedal input torque and the vehicle speed from the instruction unit 1201, and outputs a duty code related to the PWM duty ratio to the PWM code generation unit 1203.
- the PWM code generation unit 1203 generates a PWM code by multiplying the duty code by a battery voltage / reference voltage (for example, 24 V) from the AD input unit 1029, and outputs the PWM code to the motor drive timing generation unit 1026. In this way, motor drive is controlled (step S17).
- the instruction unit 1201 determines whether or not the pedal rotation speed acquired from the pedal rotation input unit 1022 is equal to or greater than the rotation threshold (step S21).
- the rotation threshold is the same as the rotation threshold in step S11, but may be different. If the pedal rotation speed is less than the rotation threshold value, the process proceeds to step S25. On the other hand, if the pedal rotation speed is equal to or greater than the rotation threshold, the instruction unit 1201 updates the reference torque TQB with the current post-calibration pedal input torque (step S23). Then, the process proceeds to step S25.
- the instruction unit 1201 determines whether an instruction to end the process is given (step S25). If the end of the process is not instructed, the process returns to step S1 via the terminal C. On the other hand, when the end of the process is instructed, the process ends. *
- FIG. 7A shows an example of the time change of the pedal input torque after calibration
- FIG. 7B shows an example of the time change of the count value of the determination counter.
- the fluctuation range of the post-calibration pedal input torque is 10% above and below the reference torque TQB set as a threshold value due to failure of the torque sensor 103 or the like. Stay in the state. *
- the determination counter counts one by one at the timing of the pedal 0.4 rotation, 0.6 rotation, 0.8 rotation, 1.0 rotation, and 1.2 rotation. Up. Then, at the timing of the pedal 1.2 rotation, after the pedal input torque after calibration does not change much, the determination counter value corresponding to one rotation of the pedal becomes “5”.
- control is performed so that the post-calibration pedal input torque becomes zero.
- the motor drive may be stopped or suppressed.
- the present invention is not limited to this. For example, if the accumulated phase angle corresponding to a predetermined number of rotations is obtained by accumulating the phase angle of the pedal rotation acquired from the pedal rotation input unit 1022 at a predetermined interval without using the determination counter, You may make it suppress. *
- step S15 a flag is set. For example, whether the flag is set before step S9. If the flag is set, the process may not be shifted to step S10. *
- motor drive controller 102 may be realized by a dedicated circuit, or the function as described above may be realized by a microprocessor executing a program.
- the assist torque calculation unit 1202 performs control according to the vehicle speed.
- the assist torque may be calculated without using the vehicle speed.
- a RAM (Random Access Memory) 4501, a processor 4503, a ROM (Read Only Memory) 4507, and a sensor group 4515 are connected via a bus 4519.
- a program for executing the processing in this embodiment and an operating system (OS: Operating System) when present are stored in the ROM 4507, and when executed by the processor 4503, the ROM 4507 to the RAM 4501. Is read out.
- OS Operating System
- the ROM 4507 records threshold values and other parameters, and such parameters are also read.
- the processor 4503 controls the sensor group 4515 described above to acquire a measurement value. Further, data in the middle of processing is stored in the RAM 4501.
- the processor 4503 may include a ROM 4507, and may further include a RAM 4501.
- a control program for performing the above-described processing may be stored and distributed on a computer-readable removable disk and written to the ROM 4507 by a ROM writer.
- Such a computer apparatus has various functions as described above by organically cooperating hardware such as the processor 4503, RAM 4501, and ROM 4507 described above and a program (or OS in some cases). Realize.
Abstract
Description
モータ駆動を停止又は抑制させる指示を出力する。PWMコード生成部1203は、アシストトルク演算部1202からモータ駆動を停止又は抑制させる指示を受け付けると、モータ駆動タイミング生成部1026等に対してモータを停止又は抑制するための信号を出力する。なお、アシストトルク演算部1202が、直接モータを停止又は抑制させる停止指示又は抑制指示を出力するようにしても良い。
Claims (4)
- モータの駆動を制御する制御部と、 ペダル入力トルクの変動が所定幅未満である状態が、ペダル回転が所定回転数以上となる期間継続する事象を検出すると、前記制御部に、前記モータの駆動を抑制させる指示部と、 を有するモータ駆動制御装置。
- 前記モータの駆動の抑制が、前記モータの駆動の停止を含む 請求項1記載のモータ駆動制御装置。
- 前記ペダル入力トルクが、オフセット値で較正された値である 請求項1又は2記載のモータ駆動制御装置。
- 請求項1乃至3のいずれか1項記載のモータ駆動制御装置を有する電動アシスト車。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201480046394.2A CN105473439A (zh) | 2013-08-29 | 2014-08-28 | 马达驱动控制装置和电动助力车 |
US14/912,784 US20160202710A1 (en) | 2013-08-29 | 2014-08-28 | Motor driving control apparatus and electrically assisted vehicle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013177853A JP2015044526A (ja) | 2013-08-29 | 2013-08-29 | モータ駆動制御装置及び電動アシスト車 |
JP2013-177853 | 2013-08-29 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2015030108A1 true WO2015030108A1 (ja) | 2015-03-05 |
Family
ID=52586656
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2014/072558 WO2015030108A1 (ja) | 2013-08-29 | 2014-08-28 | モータ駆動制御装置及び電動アシスト車 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20160202710A1 (ja) |
JP (1) | JP2015044526A (ja) |
CN (1) | CN105473439A (ja) |
TW (1) | TW201524839A (ja) |
WO (1) | WO2015030108A1 (ja) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014212758A1 (de) * | 2014-07-02 | 2016-01-07 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Erkennung eines Fahrers eines Fahrzeugs |
JP6761696B2 (ja) * | 2016-08-18 | 2020-09-30 | 株式会社シマノ | 自転車用制御装置および自転車の制御方法 |
EP3308993A1 (en) * | 2016-09-30 | 2018-04-18 | Taiyo Yuden Co., Ltd. | Motor driving control apparatus and electrically assisted vehicle |
JP6826917B2 (ja) * | 2017-03-09 | 2021-02-10 | ヤマハ発動機株式会社 | 電動補助車両 |
CN108357620A (zh) * | 2018-02-06 | 2018-08-03 | 浙江齐享科技有限公司 | 一种调节电动助力自行车辅助功率的方法及系统 |
JP2020142739A (ja) * | 2019-03-08 | 2020-09-10 | 太陽誘電株式会社 | モータ駆動制御装置及び電動アシスト車 |
TWI715265B (zh) * | 2019-10-24 | 2021-01-01 | 英屬開曼群島商睿能創意公司 | 電動助力車、傳動裝置及控制方法 |
DE102022205202A1 (de) | 2022-05-24 | 2023-11-30 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zum Betreiben einer Antriebseinheit eines Elektrofahrrads |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05310177A (ja) * | 1992-05-11 | 1993-11-22 | Yamaha Motor Co Ltd | 電動モータ付き自転車 |
JPH06247377A (ja) * | 1993-02-25 | 1994-09-06 | Yamaha Motor Co Ltd | 電動モータ付き自転車 |
JPH08230752A (ja) * | 1995-02-28 | 1996-09-10 | Sanyo Electric Co Ltd | 電動自転車 |
JPH08230751A (ja) * | 1995-02-28 | 1996-09-10 | Sanyo Electric Co Ltd | 電動機停止機能付き電動自転車 |
JP2005132275A (ja) * | 2003-10-31 | 2005-05-26 | Moric Co Ltd | 電動補助自転車のトルクセンサ異常判別方法 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3230760B2 (ja) * | 1992-03-09 | 2001-11-19 | ヤマハ発動機株式会社 | 電動モータ付き自転車 |
US5370200A (en) * | 1992-05-11 | 1994-12-06 | Yamaha Hatsudoki Kabushiki Kaisha | Bicycle with electric motor |
TW352071U (en) * | 1993-09-14 | 1999-02-01 | Riken Kk | An electric powered bicycle |
TW404383U (en) * | 1995-02-28 | 2000-09-01 | Sanyo Electric Co | Electric bicycle |
JPH08258782A (ja) * | 1995-03-27 | 1996-10-08 | Sanyo Electric Co Ltd | 電動自転車 |
JP3528996B2 (ja) * | 1995-04-17 | 2004-05-24 | 本田技研工業株式会社 | 電動補助自転車 |
DE102010028644B4 (de) * | 2010-05-06 | 2023-03-23 | Robert Bosch Gmbh | Verfahren zur Zustandserfassung von Pedalsensoren eines Fahrrads mit Elektroantrieb sowie Steuerungsvorrichtung hierfür |
JP5564389B2 (ja) * | 2010-09-30 | 2014-07-30 | 本田技研工業株式会社 | 電動補助自転車の制御装置 |
CN103430446B (zh) * | 2010-12-22 | 2016-09-07 | 微空间株式会社 | 电动机驱动控制装置 |
JP6415809B2 (ja) * | 2012-12-17 | 2018-10-31 | ヤマハ発動機株式会社 | 駆動ユニット及び電動補助自転車 |
-
2013
- 2013-08-29 JP JP2013177853A patent/JP2015044526A/ja active Pending
-
2014
- 2014-08-25 TW TW103129207A patent/TW201524839A/zh unknown
- 2014-08-28 WO PCT/JP2014/072558 patent/WO2015030108A1/ja active Application Filing
- 2014-08-28 CN CN201480046394.2A patent/CN105473439A/zh active Pending
- 2014-08-28 US US14/912,784 patent/US20160202710A1/en not_active Abandoned
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05310177A (ja) * | 1992-05-11 | 1993-11-22 | Yamaha Motor Co Ltd | 電動モータ付き自転車 |
JPH06247377A (ja) * | 1993-02-25 | 1994-09-06 | Yamaha Motor Co Ltd | 電動モータ付き自転車 |
JPH08230752A (ja) * | 1995-02-28 | 1996-09-10 | Sanyo Electric Co Ltd | 電動自転車 |
JPH08230751A (ja) * | 1995-02-28 | 1996-09-10 | Sanyo Electric Co Ltd | 電動機停止機能付き電動自転車 |
JP2005132275A (ja) * | 2003-10-31 | 2005-05-26 | Moric Co Ltd | 電動補助自転車のトルクセンサ異常判別方法 |
Also Published As
Publication number | Publication date |
---|---|
US20160202710A1 (en) | 2016-07-14 |
CN105473439A (zh) | 2016-04-06 |
TW201524839A (zh) | 2015-07-01 |
JP2015044526A (ja) | 2015-03-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2015030108A1 (ja) | モータ駆動制御装置及び電動アシスト車 | |
US8248010B2 (en) | Motor driving device, electric power steering device using the same and method for detecting failure in the same | |
US10266198B2 (en) | Motor control device | |
US8436568B2 (en) | Motor drive apparatus and electric power steering system using the same | |
JP5452466B2 (ja) | ハイブリッド車両システム及びその制御方法 | |
JP2017169405A (ja) | モータ制御装置及び操舵制御装置 | |
JP6411714B2 (ja) | モータ駆動制御装置及び電動アシスト車 | |
JP5375059B2 (ja) | センサ異常検出装置及びセンサの異常検出方法 | |
JP5945741B2 (ja) | 電動パワーステアリング装置 | |
US9906174B2 (en) | Power steering device and control device for power steering device | |
US10411574B2 (en) | Motor controller | |
KR102004080B1 (ko) | 전동 파워 스티어링 장치의 제어 장치 및 전동 파워 스티어링 장치 | |
US20180057043A1 (en) | Steering control device | |
JP2009248755A (ja) | 電動パワーステアリング装置 | |
WO2012063541A1 (ja) | 電源状態診断方法及び装置 | |
JP2015145238A (ja) | モータ駆動制御装置及び電動アシスト車 | |
JP5785527B2 (ja) | モータ駆動制御装置及び電動アシスト車 | |
JP6965697B2 (ja) | 操舵制御装置 | |
JP2013121294A (ja) | 電動パワーステアリング用モータの故障診断装置 | |
JP6198498B2 (ja) | 制御装置及び電動アシスト車 | |
JP6381321B2 (ja) | 制御装置及び電動アシスト車 | |
TWI619638B (zh) | Motor drive control device and electric auxiliary vehicle | |
JP2012147658A (ja) | モータ駆動制御装置 | |
TWI646014B (zh) | Control device and electric auxiliary vehicle | |
CN110937018B (zh) | 转向设备、转向方法以及转向控制装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 201480046394.2 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 14840941 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 14912784 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 14840941 Country of ref document: EP Kind code of ref document: A1 |