WO2019049334A1 - Electric vehicle, electric vehicle control device, and electric vehicle control method - Google Patents

Electric vehicle, electric vehicle control device, and electric vehicle control method Download PDF

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Publication number
WO2019049334A1
WO2019049334A1 PCT/JP2017/032572 JP2017032572W WO2019049334A1 WO 2019049334 A1 WO2019049334 A1 WO 2019049334A1 JP 2017032572 W JP2017032572 W JP 2017032572W WO 2019049334 A1 WO2019049334 A1 WO 2019049334A1
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WO
WIPO (PCT)
Prior art keywords
battery
power
power supply
motor generator
charging
Prior art date
Application number
PCT/JP2017/032572
Other languages
French (fr)
Japanese (ja)
Inventor
一由希 目黒
雄大 井ノ口
Original Assignee
新電元工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 新電元工業株式会社 filed Critical 新電元工業株式会社
Priority to JP2019540254A priority Critical patent/JP6808843B2/en
Priority to PCT/JP2017/032572 priority patent/WO2019049334A1/en
Priority to CN201780094635.4A priority patent/CN111225820B/en
Priority to TW107129483A priority patent/TWI677455B/en
Publication of WO2019049334A1 publication Critical patent/WO2019049334A1/en

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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
    • 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B60L58/15—Preventing overcharging
    • 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
    • B60L2210/00—Converter types
    • B60L2210/30—AC to DC converters
    • 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
    • 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
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • the present invention relates to an electric vehicle, an electric vehicle control device, and an electric vehicle control method.
  • An electric two-wheeled vehicle powered by a motor is equipped with a battery such as a lithium battery for supplying electric power for driving the motor.
  • a battery such as a lithium battery for supplying electric power for driving the motor.
  • the battery can be charged with the power supplied from the power supply (see, for example, Japanese Patent Application Laid-Open No. 2011-063066).
  • the motor when the motor power is not supplied to the motor when the rotational speed of the motor decelerates, when traveling by inertia, when traveling downhill, etc., the motor functions as a generator.
  • the battery can be charged (i.e., regeneratively charged) by the power generated in the motor as the wheels rotate.
  • the motor is not disconnected from the wheels even when not traveling. For this reason, for example, when the wheel is rotated by hand while the stand is standing, the motor may function as a generator and generate power as the wheel rotates.
  • an electric vehicle capable of appropriately charging the battery while preventing excessive power from being supplied to the battery from both the power source and the motor. It aims at providing a vehicle control method.
  • the electric vehicle is Chargeable and dischargeable batteries, A motor generator that outputs a torque for driving a wheel by the power supplied from the battery, or outputs a power as the wheel rotates; A charging unit for charging the battery with power supplied from a power supply; A rotational speed detection unit for detecting the rotational speed of the motor generator in the state of outputting the power; And a control unit configured to charge the battery with the power output from the motor generator and charge the battery with the power supplied from the power supply to the charging unit.
  • the control unit waits for control of charging the battery with the power supplied from the power supply until the state where the detected rotational speed is equal to or less than the threshold speed continues for a threshold time after the rotational speed is detected. When the state of being equal to or less than the threshold speed continues for the threshold time, control is performed to charge the battery with the power supplied from the power supply.
  • the state where the electric power is output may be a state in which a stand of the vehicle is erected so that the wheel is separated from the ground so that the wheel can be rotated by an external force.
  • An openable / closable storage unit for storing the battery;
  • a closed state detection unit for detecting a closed state of the storage unit;
  • the control unit performs control to charge the battery with the power supplied from the power supply when the closed state is detected when the state of being equal to or less than the threshold speed continues the threshold time. Good.
  • the storage unit may be opened and closed by a seat of a vehicle.
  • the charging unit includes a charging plug connected to the power supply, and an AC-DC converter for converting an AC voltage input from the power supply via the charging plug into a DC voltage.
  • the control unit may control the AC-DC converter to convert the AC voltage to the DC voltage, thereby performing control to charge the battery with the power supplied from the power supply.
  • the control unit waits for control to convert the alternating current voltage to the direct current voltage until the state of being equal to or less than the threshold speed continues after the charging plug is connected to the power supply, the threshold speed When the following state continues for the threshold time, control may be performed to convert the AC voltage to the DC voltage.
  • the threshold speed may be a threshold of an absolute value of the rotational speed.
  • the control unit determines whether or not the rotation speed is equal to or less than the threshold speed in a determination cycle set in advance, and the state is equal to or less than the threshold speed when the rotation speed is equal to or less than the threshold speed.
  • the control unit waits for control to charge the battery with the power supplied from the power supply until the count value of the duration is incremented and the count value reaches the completion value corresponding to the threshold time, and the count value is the completion value. Control may be performed to charge the battery with the power supplied from the power supply.
  • the control unit may reset the count value when the rotation speed is not equal to or less than the threshold speed.
  • the control unit may perform control to supply power from the battery to the motor generator.
  • the wheel and the motor generator may be mechanically connected without a clutch.
  • the electric vehicle control device is Chargeable and dischargeable batteries, A motor generator that outputs a torque for driving a wheel by the power supplied from the battery, or outputs a power as the wheel rotates; A charging unit for charging the battery with power supplied from a power supply; And a rotational speed detection unit for detecting the rotational speed of the motor generator in the state of outputting the electric power.
  • the control unit is configured to charge the battery with the power output from the motor generator, and control the charging unit to charge the battery with the power supplied from the power supply.
  • the control unit waits for control of charging the battery with the power supplied from the power supply until the state where the detected rotational speed is equal to or less than the threshold speed continues for a threshold time after the rotational speed is detected. And controlling the charging of the battery with the power supplied from the power supply when the state of being below the threshold speed continues for the threshold time.
  • An electric vehicle control method is Chargeable and dischargeable batteries, A motor generator that outputs a torque for driving a wheel by the power supplied from the battery, or outputs a power as the wheel rotates; A charging unit for charging the battery with power supplied from a power supply; And a rotational speed detection unit for detecting the rotational speed of the motor generator in the state of outputting the electric power. After the rotational speed is detected, control is waited for charging the battery with the power supplied from the power supply until the state where the detected rotational speed is less than or equal to the threshold speed continues for a threshold time, the threshold speed When the following state continues for the threshold time, control is performed to charge the battery with the power supplied from the power supply.
  • An electric vehicle includes a battery capable of charging and discharging, and a motor generator that outputs a torque for driving a wheel by power supplied from the battery, or outputs power as the wheel rotates.
  • a charging unit for charging the battery with the power supplied from the power supply a rotational speed detection unit for detecting the rotational speed of the motor generator in the state of outputting the power, and charging the battery with the power output from the motor generator
  • a control unit that performs control to charge the battery with power supplied from the power supply to the charging unit, and the control unit detects that the rotational speed is detected and then the detected rotational speed is equal to or less than a threshold speed Waited for control to charge the battery with power supplied from the power supply until the state lasted for the threshold time, and the state where it was below the threshold speed continued for the threshold time Can performs control to charge the battery with power supplied from the power supply.
  • the rotational speed of the motor generator is detected in a state where the motor generator outputs power as the wheels rotate, and the state in which the detected rotational speed is equal to or lower than the threshold speed continues for the threshold time. It is possible to wait for control to charge the battery with the power supplied from the power supply.
  • the battery can be charged with the power supplied from the power supply in a state where the power generation of the motor generator due to the rotation of the wheels is sufficiently suppressed.
  • FIG. 1 is a view showing an electric motorcycle 100 according to a first embodiment.
  • FIG. 2 is a view showing a power conversion unit 30 and a motor generator 3 in the electric motorcycle 100 according to the first embodiment.
  • FIG. 7 is a view showing a magnet provided on a rotor of a motor generator 3 and an angle sensor 4 in the electric motorcycle 100 according to the first embodiment.
  • FIG. 7 is a view showing a relationship between a rotor angle and an output of an angle sensor 4 in the electric motorcycle 100 according to the first embodiment.
  • It is a flowchart which shows the control method of the electric two-wheeled vehicle 100 which concerns on 1st Embodiment.
  • It is a figure showing electric motorcycle 100 concerning a 2nd embodiment.
  • It is a flow chart which shows a control method of electric motorcycle 100 concerning a 2nd embodiment.
  • the electric motorcycle 100 is an electric motorcycle such as an electric motorcycle that travels by driving a motor using electric power supplied from a battery. More specifically, the electric motorcycle 100 is a clutchless electric motorcycle in which a motor and wheels are mechanically connected without a clutch.
  • the electric motorcycle 100 includes an electric vehicle control device 1, a battery 2, a motor generator 3, an angle sensor 4 which is an example of a rotational speed detector, an accelerator position sensor 5, and a meter 7. , Wheels 8 and a charger 9 which is an example of a charging unit.
  • the electric vehicle control device 1 is a device that controls the electric motorcycle 100, and includes a control unit 10, a storage unit 20, and a power conversion unit 30.
  • the electric vehicle control device 1 may be configured as an electronic control unit (ECU) that controls the entire electric motorcycle 100. Next, each component of the electric vehicle control device 1 will be described in detail.
  • ECU electronice control unit
  • the control unit 10 receives information from various devices connected to the electric vehicle control device 1 and controls driving of the motor generator 3 via the power conversion unit 30. Details of the control unit 10 will be described later.
  • the storage unit 20 stores information used by the control unit 10 and a program for the control unit 10 to operate.
  • the storage unit 20 is, for example, a non-volatile semiconductor memory, but is not limited to this.
  • the power conversion unit 30 converts the DC power of the battery 2 into AC power and supplies the AC power to the motor generator 3. As shown in FIG. 2, the power conversion unit 30 is configured of a three-phase full bridge circuit.
  • the semiconductor switches Q1, Q3 and Q5 are high side switches, and the semiconductor switches Q2, Q4 and Q6 are low side switches. Control terminals of the semiconductor switches Q1 to Q6 are electrically connected to the control unit 10.
  • a smoothing capacitor C is provided between the power supply terminal 30a and the power supply terminal 30b.
  • the semiconductor switches Q1 to Q6 are, for example, MOSFETs or IGBTs.
  • the semiconductor switch Q1 is connected between the power supply terminal 30a to which the positive electrode of the battery 2 is connected and the input terminal 3a of the motor generator 3, as shown in FIG.
  • the semiconductor switch Q3 is connected between the power supply terminal 30a and the input terminal 3b of the motor generator 3.
  • the semiconductor switch Q5 is connected between the power supply terminal 30a and the input terminal 3c of the motor generator 3.
  • the semiconductor switch Q2 is connected between the input terminal 3a of the motor generator 3 and the power supply terminal 30b to which the negative electrode of the battery 2 is connected.
  • the semiconductor switch Q4 is connected between the input terminal 3b of the motor generator 3 and the power supply terminal 30b.
  • the semiconductor switch Q6 is connected between the input terminal 3c of the motor generator 3 and the power supply terminal 30b.
  • the input terminal 3a is a U-phase input terminal
  • the input terminal 3b is a V-phase input terminal
  • the input terminal 3c is a W-phase input terminal.
  • the battery 2 can be charged and discharged. Specifically, the battery 2 supplies DC power to the power conversion unit 30 at the time of discharge. Further, the battery 2 is charged by the DC power obtained by converting the AC power supplied from the power supply 13 by the charger 9 at the time of charging by the AC power supplied from the external power supply 13 such as a commercial power supply. Further, the battery 2 is charged by the DC voltage obtained by converting the AC power output by the motor generator 3 by the power conversion device 100 during charging by AC power output by the motor generator 3 as the wheels 8 rotate.
  • the battery 2 includes a battery management unit (BMU).
  • the battery management unit transmits, to the control unit 10, information on the voltage of the battery 2 and the state (charging rate etc.) of the battery 2.
  • the number of batteries 2 is not limited to one, and may be plural.
  • the battery 2 is, for example, a lithium ion battery, but may be another type of battery.
  • the battery 2 may be composed of batteries of different types (eg, lithium ion battery and lead battery).
  • the motor generator 3 outputs a torque for driving the wheel 8 by the power supplied from the battery 2. Alternatively, the motor generator 3 outputs power as the wheel 8 rotates.
  • motor generator 3 is driven by AC power supplied from power conversion unit 30 to output a torque for driving wheels 8.
  • the torque may be controlled by the control unit 10 outputting, to the semiconductor switches Q1 to Q6 of the power conversion unit 30, a PWM signal having a conduction timing and a duty ratio calculated based on the target torque. That is, the torque may be controlled by the control unit 10 controlling the power supplied from the battery 2 to the motor generator 3.
  • the motor generator 3 is mechanically connected to the wheel 8 and rotates the wheel 8 in a desired direction by torque.
  • the motor generator 3 is mechanically connected to the wheel 8 without a clutch.
  • the type of motor generator 3 is not particularly limited.
  • the motor generator 3 outputs AC power as the wheel 8 rotates. Specifically, motor generator 3 outputs AC power (that is, regenerative power) when the rotational speed of motor generator 3 is reduced or when motor generator 3 is rotated by an external force. As a case where the rotational speed of the motor generator 3 is decelerated, for example, there is a case where the vehicle is braked and being braked while traveling. Further, as a case where the motor generator 3 is rotated by an external force, for example, there is a case of traveling by inertia or a case of traveling on a slope (downhill) in a state where power is not supplied from the battery 2 to the motor generator 3 .
  • AC power that is, regenerative power
  • the stand of the wheel 8 is erected so that the wheel 8 can be rotated by an external force (for example, a user's hand) and the wheel 8 is separated from the ground
  • an external force for example, a user's hand
  • the AC power output from the motor generator 3 is converted into DC power by the power conversion unit 30, and the battery 2 is charged (that is, regeneratively charged) with the converted DC power.
  • the charger 9 charges the battery 2 with AC power supplied from the power supply 13.
  • the charger 9 has an AC-DC converter 91, a converter control unit 92, and a charging plug 93.
  • the charging plug 93 is connected to the power supply 13 via an outlet (not shown).
  • the AC-DC converter 91 converts an AC voltage input from the power supply 13 through the charging plug 93 into a DC voltage.
  • Converter control unit 92 controls power conversion of AC-DC converter 91.
  • the angle sensor 4 is a sensor that detects the rotation angle of the rotor of the motor generator 3 in order to detect the rotation speed of the motor generator 3.
  • magnets (sensor magnets) of N pole and S pole are alternately attached to the circumferential surface of the rotor of the motor generator 3.
  • the angle sensor 4 is formed of, for example, a Hall element, and detects a change in the magnetic field accompanying the rotation of the motor generator 3.
  • the magnet may be provided inside the flywheel (not shown).
  • the angle sensor 4 includes a U-phase angle sensor 4 u, a V-phase angle sensor 4 v, and a W-phase angle sensor 4 w.
  • U-phase angle sensor 4 u and V-phase angle sensor 4 v are arranged to form an angle of 30 ° with the rotor of motor generator 3.
  • the V-phase angle sensor 4v and the W-phase angle sensor 4w are disposed at an angle of 30 ° with respect to the rotor of the motor generator 3.
  • U-phase angle sensor 4u, V-phase angle sensor 4v and W-phase angle sensor 4w output pulse signals in phase according to the rotor angle (angular position) (that is, detection signals of rotation angles) Do.
  • a number (rotor stage number) indicating a rotor stage is assigned to each predetermined rotor angle.
  • the rotor stage indicates the angular position of the rotor of the motor generator 3.
  • rotor stage numbers 1, 2, 3, 4, 5 and 6 are assigned every 60 ° in electrical angle.
  • the rotor stage is defined by a combination of levels (H level or L level) of output signals of U-phase angle sensor 4 u, V-phase angle sensor 4 v and W-phase angle sensor 4 w.
  • the accelerator position sensor 5 detects an accelerator operation amount set by the user's accelerator operation, and transmits the detected accelerator operation amount to the control unit 10 as an electric signal. When the user wants to accelerate, the accelerator operation amount becomes large.
  • the meter 7 is a display (for example, a liquid crystal panel) provided on the electric motorcycle 100, and displays various information. Specifically, information such as the traveling speed of the electric motorcycle 100, the remaining amount of the battery 2, the current time, and the traveling distance is displayed on the meter 7. In the present embodiment, the meter 7 is provided on a handle (not shown) of the electric motorcycle 100.
  • control unit 10 of the electric vehicle control device 1 will be described in detail.
  • Control unit 10 performs control of charging battery 2 (that is, regenerative charging) with the power output from motor generator 3.
  • control unit 10 controls the charger 9 to charge the battery 2 with the power supplied from the power supply 13. Specifically, the control unit 10 controls the AC-DC converter 91 to convert an AC voltage to a DC voltage, thereby performing control to charge the battery 2 with the power supplied from the power supply 13. More specifically, control unit 10 outputs a charge permission signal for permitting charging of battery 2 by the power supplied from power supply 13 to converter control unit 92, whereby the AC-DC by converter control unit 92 is output. Control for charging the battery 2 is performed via control of the converter 91.
  • control unit 10 detects the rotational speed of motor generator 3 in the state of outputting power based on the pulse signal output from angle sensor 4 .
  • control unit 10 calculates the rotational speed of motor generator 3 based on time t from the fall of the output of the V-phase rotor angle sensor to the rise of the output of the U-phase rotor angle sensor as shown in FIG. Do.
  • a stand of the wheel 8 is erected so that the wheel 8 can be rotated by an external force. Can be mentioned as being off the ground.
  • the charging plug 93 is connected to the power supply 13 to charge the battery 2, and the wheel 8 is manually rotated.
  • the motor generator 3 can generate electric power.
  • Control unit 10 regulates charging of battery 2 in a state in which charging from both power supply 13 and motor generator 3 is possible, whereby excessive power to battery 2 from both power supply 13 and motor generator 3 is obtained. Are configured to avoid being supplied.
  • control unit 10 controls the battery supplied with power supplied from power supply 13 until the state in which the detected rotational speed is equal to or lower than the threshold speed continues for a threshold time. Wait for control to charge 2.
  • control unit 10 performs control to charge battery 2 with the power supplied from power supply 13.
  • the threshold speed of the motor generator 3 may be a threshold of the absolute value of the rotational speed.
  • control unit 10 causes AC-DC converter 91 to continue until the state where the rotational speed of motor generator 3 is equal to or lower than the threshold speed continues for the threshold time after charging plug 93 is connected to power supply 13. It may wait for control to convert alternating current voltage to direct current voltage.
  • control unit 10 may control the AC-DC converter 91 to convert an AC voltage into a DC voltage when the state of being equal to or lower than the threshold speed continues for the threshold time. Control of the AC-DC converter 91 may be performed via the converter control unit 92.
  • control unit 10 determines whether or not the rotation speed is equal to or less than the threshold speed in a predetermined determination cycle, and when the rotation speed is equal to or less than the threshold speed, the duration time of the state equal to or less than the threshold speed.
  • the count value may be incremented.
  • the control unit 10 may stand by for control of charging the battery with the power supplied from the power supply until the count value reaches the completion value corresponding to the threshold time.
  • control unit 10 may perform control to charge the battery 2 with the power supplied from the power supply 13.
  • control unit 10 may reset the count value when the rotational speed of the motor generator 3 is not equal to or less than the threshold speed. Further, instead of counting up (incrementing the count value) up to the completion value of the count value, countdown (decrement of the count value) to the completion value of the count value may be performed.
  • the charging plug 93 is connected to the power supply 13 (step S1).
  • control unit 10 determines whether the motor generator 3 is in the state of outputting power (step S2).
  • the control unit 10 detects that the rotation of the motor generator 3 is detected by the angle sensor 4 or when the accelerator operation amount is zero. Whether or not the motor generator 3 is in the state of outputting power may be determined based on whether or not the rotation of the motor generator 3 is detected.
  • control unit 10 After resetting the count value n, the control unit 10 acquires a pulse signal of the angle sensor 4 (step S4).
  • control unit 10 calculates the rotational speed of the motor generator 3 based on the acquired pulse signal (step S5).
  • control unit 10 determines whether the calculated absolute value of the rotation speed of the motor generator 3 is equal to or less than a threshold (step S6).
  • control unit 10 resets the count value (step S3).
  • control unit 10 determines whether the count value has reached the completion value (step S8). This determination corresponds to the determination as to whether or not the state where the rotational speed of motor generator 3 is equal to or less than the threshold speed has continued for the threshold time.
  • control unit 10 If the count value has reached the completion value (step S8: Yes), control unit 10 outputs a charge permission signal to converter control unit 92. On the other hand, when the count value has not reached the completion value (step S8: No), the control unit 10 acquires a pulse signal of the angle sensor 4 (step S4).
  • control unit 10 performs the processing from step S2 to step S8.
  • control unit 10 may confirm that the charging plug 93 is connected to the power supply 13 after the count value reaches the completion value.
  • control unit 10 may output a charge permission signal to converter control unit 92 after it is confirmed that charging plug 93 is connected to power supply 13.
  • control unit 10 detects (calculates) the rotational speed of the motor generator 3 in the state where the motor generator 3 outputs electric power, and then the detected rotational speed is the threshold speed. Control for charging the battery 2 with the power supplied from the power supply 13 is awaited until the following state continues for the threshold time. Then, when the state where the rotational speed of motor generator 3 is equal to or lower than the threshold speed continues for the threshold time, control unit 10 performs control to charge battery 2 with the power supplied from power supply 13.
  • battery 2 can be charged with the power supplied from power supply 13 in a state where the power generation of motor generator 3 due to the rotation of wheel 8 is sufficiently suppressed.
  • the control unit 10 controls the AC-DC converter 91 to convert an AC voltage to a DC voltage via the converter control unit 92, thereby the power supply 13 Control to charge the battery 2 with the power supplied from the At that time, after the charging plug 93 is connected to the power supply 13 (step S1 in FIG. 5), the control unit 10 continues until the state where the rotational speed of the motor generator 3 is lower than the threshold speed continues for the threshold time (FIG. 5).
  • Step S8) stands by for control to convert the AC voltage supplied from the power supply 13 into DC voltage, and the state where the rotational speed of the motor generator 3 is equal to or less than the threshold speed continues for a threshold time. Control to convert to (step S9 in FIG. 5).
  • control unit 10 uses the threshold of the absolute value of the rotational speed as the threshold speed of the rotational speed of the motor generator 3, regardless of the rotational direction of the wheel 8.
  • the battery 2 can be charged with the power supplied from the power supply 13 in a state where the power generation of the motor generator 3 due to the rotation of the wheel 8 is sufficiently suppressed.
  • control unit 10 determines whether or not the rotational speed of motor generator 3 is equal to or lower than the threshold speed at a preset determination cycle (step S5 in FIG. 5). ). When the rotational speed is equal to or less than the threshold speed, the control unit 10 increments the count value of the continuation time of the state equal to or less than the threshold speed (step S7 in FIG. 5). Until it reaches, control for charging the battery 2 with the power supplied from the power supply 13 is awaited (step S8). Then, when the count value reaches the completion value, the control unit 10 performs control to charge the battery 2 with the power supplied from the power supply 13 (step S9).
  • the control of charging the battery 2 with the power supplied from the power supply 13 can stand by until the count value reaches the completion value corresponding to the threshold time.
  • charging of battery 2 in a state where the power generation of motor generator 3 due to the rotation of wheel 8 is sufficiently suppressed can be reliably performed by simple control.
  • the control unit 10 when the rotational speed of the motor generator 3 is not equal to or lower than the threshold speed, the control unit 10 resets the count value of the continuation time of the state equal to or lower than the threshold speed.
  • the electric motorcycle 100 according to the second embodiment further includes an under-seat storage unit 14 which is an example of a storage unit, and a closed state detection unit. And a seat switch 15 which is an example.
  • the under-seat storage portion 14 is an openable / closable space for storing the battery 2 provided under the seat of the electric motorcycle 100.
  • the seat is attached to the vehicle body so as to be able to move (for example, rotate) the lower sheet storage portion 14 in a direction in which the lower sheet storage portion 14 can be opened and closed by, for example, a hinge mechanism.
  • the lower seat storage unit 14 is covered by the seat so that the driver can sit on the seat.
  • the lower sheet storage portion 14 is opened by the movement of the sheet in order to take out the charging plug 93.
  • the sheet switch 15 outputs an off signal indicating the detection result of the open state of the lower sheet storage portion 14 to the control unit 10 when the lower sheet storage portion 14 is opened by the movement of the sheet.
  • the sheet switch 15 outputs an on signal indicating the detection result of the closed state of the lower sheet storage unit 14 to the control unit 10.
  • the lower sheet storage portion 14 can be closed in a state in which the charging plug 93 is taken out.
  • the sheet switch 15 may be, for example, a mechanical switch that is turned on by being pressed by the sheet when the sheet is closed, and turned off by releasing the pressure by the sheet when the sheet is opened.
  • control section 10 detects that the sheet lower storage portion 14 is in the closed state (ON signal) by the sheet switch 15. Control is performed to charge the battery 2 with the power supplied from the power supply 13.
  • the control method of the electric motorcycle 100 according to the second embodiment will be described below with reference to the flowchart of FIG. 7, focusing on the difference from the first embodiment.
  • the flowchart of FIG. 7 is repeated as necessary.
  • step S8 when the count value reaches the completion value (step S8: Yes), the control unit 10 determines whether the sheet switch 15 is turned on (step S10). ).
  • step S10: Yes When the seat switch 15 is turned on (step S10: Yes), the control unit 10 outputs a charge permission signal to the converter control unit 92 (step S9). On the other hand, when the sheet switch 15 is not turned on (step S10: No), the control unit 10 resets the count value (step S3).
  • At least a part of the electric vehicle control device 1 (control unit 10) described in the above-described embodiment may be configured by hardware or may be configured by software.
  • a program for realizing at least a part of the functions of the control unit 10 may be stored in a recording medium such as a flexible disk or a CD-ROM, read by a computer, and executed.
  • the recording medium is not limited to a removable medium such as a magnetic disk or an optical disk, and may be a fixed recording medium such as a hard disk drive or a memory.
  • a program for realizing at least a part of the functions of the control unit 10 may be distributed via a communication line (including wireless communication) such as the Internet.
  • the program may be encrypted, modulated, compressed, or stored in a recording medium via a wired line or a wireless line such as the Internet or may be distributed.

Abstract

This electric vehicle is provided with: a chargeable/dischargeable battery; a motor generator that outputs torque for driving a wheel by electric power supplied from the battery or outputs electric power following rotation of the wheel; a charging unit that charges the battery by electric power supplied from a power source; a rotational speed detection unit that detects the rotational speed of the motor generator in a state where the motor generator outputs the electric power; and a control unit that executes control so as to charge the battery by the electric power outputted from the motor generator and to charge the battery by the electric power supplied from the power source to the charging unit, wherein the control unit holds the control for charging the battery by the electric power supplied from the power source until a state in which the detected rotational speed is not larger than a threshold speed continues for a threshold time after the detection of the rotational speed, and executes control for charging the battery by the electric power supplied from the power source when the state where the detected rotational speed is equal to or below the threshold speed has continued for the threshold time.

Description

電動車両、電動車両制御装置および電動車両制御方法Electric vehicle, electric vehicle control device, and electric vehicle control method
　本発明は、電動車両、電動車両制御装置および電動車両制御方法に関する。 The present invention relates to an electric vehicle, an electric vehicle control device, and an electric vehicle control method.
　モータを動力とした電動二輪車は、モータを駆動する電力を供給するリチウムバッテリなどのバッテリを搭載している。バッテリを電源に接続することで、電源から供給される電力によってバッテリを充電することができる（例えば、特開２０１１‐０６３０６６号公報参照）。 An electric two-wheeled vehicle powered by a motor is equipped with a battery such as a lithium battery for supplying electric power for driving the motor. By connecting the battery to the power supply, the battery can be charged with the power supplied from the power supply (see, for example, Japanese Patent Application Laid-Open No. 2011-063066).
　また、電動二輪車は、例えば、モータの回転速度が減速した時や、慣性による走行時、下り坂の走行時などのバッテリの電力をモータに供給していない時に、モータをジェネレータとして機能させることで、車輪の回転にともなってモータに発生した電力によってバッテリを充電（すなわち、回生充電）することができる。 In addition, in the electric motorcycle, for example, when the motor power is not supplied to the motor when the rotational speed of the motor decelerates, when traveling by inertia, when traveling downhill, etc., the motor functions as a generator. The battery can be charged (i.e., regeneratively charged) by the power generated in the motor as the wheels rotate.
　ところで、クラッチを有しない電動二輪車は、走行していない時においても、車輪からモータが切り離されない。このため、例えば、スタンドを立てた状態で車輪を手で回転させると、車輪の回転にともなってモータがジェネレータとして機能して発電する場合がある。 By the way, in the electric two-wheeled vehicle having no clutch, the motor is not disconnected from the wheels even when not traveling. For this reason, for example, when the wheel is rotated by hand while the stand is standing, the motor may function as a generator and generate power as the wheel rotates.
　このように、モータが発電する状況下において電源から供給される電力でバッテリを充電すると、電源とモータとの双方からバッテリに過剰な電力が供給される虞がある。このため、従来は、バッテリの充電を適切に行うことができない虞があった。 As described above, when the battery is charged with the power supplied from the power source under the condition where the motor generates power, there is a possibility that both the power source and the motor may supply excess power to the battery. Therefore, conventionally, there has been a possibility that the battery can not be properly charged.
　そこで、本発明は、電源とモータとの双方からバッテリに過剰な電力が供給されることを未然に回避して、バッテリの充電を適切に行うことが可能な電動車両、電動車両制御装置および電動車両制御方法を提供することを目的とする。 Therefore, according to the present invention, an electric vehicle, an electric vehicle control device, and an electric vehicle capable of appropriately charging the battery while preventing excessive power from being supplied to the battery from both the power source and the motor. It aims at providing a vehicle control method.
　本発明の一態様に係る電動車両は、
　充放電可能なバッテリと、
　前記バッテリから供給された電力によって車輪を駆動するためのトルクを出力し、または、前記車輪の回転にともなって電力を出力するモータジェネレータと、
　電源から供給された電力で前記バッテリを充電する充電部と、
　前記電力を出力する状態における前記モータジェネレータの回転速度を検出するための回転速度検出部と、
　前記モータジェネレータが出力した電力で前記バッテリを充電し、前記充電部に対して前記電源から供給された電力で前記バッテリを充電する制御を行う制御部と、を備え、
　前記制御部は、前記回転速度が検出された後、前記検出された回転速度が閾値速度以下である状態が閾値時間継続するまで、前記電源から供給された電力で前記バッテリを充電する制御を待機し、前記閾値速度以下である状態が前記閾値時間継続したとき、前記電源から供給された電力で前記バッテリを充電する制御を行う。 The electric vehicle according to an aspect of the present invention is
Chargeable and dischargeable batteries,
A motor generator that outputs a torque for driving a wheel by the power supplied from the battery, or outputs a power as the wheel rotates;
A charging unit for charging the battery with power supplied from a power supply;
A rotational speed detection unit for detecting the rotational speed of the motor generator in the state of outputting the power;
And a control unit configured to charge the battery with the power output from the motor generator and charge the battery with the power supplied from the power supply to the charging unit.
The control unit waits for control of charging the battery with the power supplied from the power supply until the state where the detected rotational speed is equal to or less than the threshold speed continues for a threshold time after the rotational speed is detected. When the state of being equal to or less than the threshold speed continues for the threshold time, control is performed to charge the battery with the power supplied from the power supply.
　また、前記電動車両において、
　前記電力を出力する状態は、外力で前記車輪を回転させ得るように車両のスタンドが立てられて前記車輪が地面から離れた状態であってもよい。 In the electric vehicle,
The state where the electric power is output may be a state in which a stand of the vehicle is erected so that the wheel is separated from the ground so that the wheel can be rotated by an external force.
　また、前記電動車両において、
　前記バッテリを収納する開閉可能な収納部と、
　前記収納部の閉鎖状態を検出するための閉鎖状態検出部と、を更に備え、
　前記制御部は、前記閾値速度以下である状態が前記閾値時間継続したときに、前記閉鎖状態が検出されている場合に、前記電源から供給された電力で前記バッテリを充電する制御を行ってもよい。 In the electric vehicle,
An openable / closable storage unit for storing the battery;
A closed state detection unit for detecting a closed state of the storage unit;
The control unit performs control to charge the battery with the power supplied from the power supply when the closed state is detected when the state of being equal to or less than the threshold speed continues the threshold time. Good.
　また、前記電動車両において、
　前記収納部は、車両のシートによって開閉されてもよい。 In the electric vehicle,
The storage unit may be opened and closed by a seat of a vehicle.
　また、前記電動車両において、
　前記充電部は、前記電源に接続される充電プラグと、前記充電プラグを介して前記電源から入力された交流電圧を直流電圧に変換するＡＣ－ＤＣコンバータと、を有し、
　前記制御部は、前記ＡＣ－ＤＣコンバータに対して前記交流電圧を前記直流電圧に変換する制御を行うことで、前記電源から供給された電力で前記バッテリを充電する制御を行ってもよい。 In the electric vehicle,
The charging unit includes a charging plug connected to the power supply, and an AC-DC converter for converting an AC voltage input from the power supply via the charging plug into a DC voltage.
The control unit may control the AC-DC converter to convert the AC voltage to the DC voltage, thereby performing control to charge the battery with the power supplied from the power supply.
　また、前記電動車両において、
　前記制御部は、前記充電プラグが前記電源に接続された後に、前記閾値速度以下である状態が前記閾値時間継続するまで、前記交流電圧を前記直流電圧に変換する制御を待機し、前記閾値速度以下である状態が前記閾値時間継続したとき、前記交流電圧を前記直流電圧に変換する制御を行ってもよい。 In the electric vehicle,
The control unit waits for control to convert the alternating current voltage to the direct current voltage until the state of being equal to or less than the threshold speed continues after the charging plug is connected to the power supply, the threshold speed When the following state continues for the threshold time, control may be performed to convert the AC voltage to the DC voltage.
　また、前記電動車両において、
　前記閾値速度は、前記回転速度の絶対値の閾値であってもよい。 In the electric vehicle,
The threshold speed may be a threshold of an absolute value of the rotational speed.
　また、前記電動車両において、
　前記制御部は、予め設定された判定周期で前記回転速度が前記閾値速度以下であるか否かを判定し、前記回転速度が前記閾値速度以下である場合に、前記閾値速度以下である状態の継続時間のカウント値をインクリメントし、前記カウント値が前記閾値時間に相当する完了値に達するまで、前記電源から供給された電力で前記バッテリを充電する制御を待機し、前記カウント値が前記完了値に達したときに、前記電源から供給された電力で前記バッテリを充電する制御を行ってもよい。 In the electric vehicle,
The control unit determines whether or not the rotation speed is equal to or less than the threshold speed in a determination cycle set in advance, and the state is equal to or less than the threshold speed when the rotation speed is equal to or less than the threshold speed. The control unit waits for control to charge the battery with the power supplied from the power supply until the count value of the duration is incremented and the count value reaches the completion value corresponding to the threshold time, and the count value is the completion value. Control may be performed to charge the battery with the power supplied from the power supply.
　また、前記電動車両において、
　前記制御部は、前記回転速度が前記閾値速度以下でない場合に前記カウント値をリセットしてもよい。 In the electric vehicle,
The control unit may reset the count value when the rotation speed is not equal to or less than the threshold speed.
　また、前記電動車両において、
　前記制御部は、前記バッテリから前記モータジェネレータに電力を供給する制御を行ってもよい。 In the electric vehicle,
The control unit may perform control to supply power from the battery to the motor generator.
　また、前記電動車両において、
　前記車輪と前記モータジェネレータとがクラッチを介さずに機械的に接続されていてもよい。 In the electric vehicle,
The wheel and the motor generator may be mechanically connected without a clutch.
　本発明の一態様に係る電動車両制御装置は、
　充放電可能なバッテリと、
　前記バッテリから供給された電力によって車輪を駆動するためのトルクを出力し、または、前記車輪の回転にともなって電力を出力するモータジェネレータと、
　電源から供給された電力で前記バッテリを充電する充電部と、
　前記電力を出力する状態における前記モータジェネレータの回転速度を検出するための回転速度検出部と、を備える電動車両を制御する電動車両制御装置であって、
　前記モータジェネレータが出力した電力で前記バッテリを充電し、前記充電部に対して前記電源から供給された電力で前記バッテリを充電する制御を行う制御部を備え、
　前記制御部は、前記回転速度が検出された後、前記検出された回転速度が閾値速度以下である状態が閾値時間継続するまで、前記電源から供給された電力で前記バッテリを充電する制御を待機し、前記閾値速度以下である状態が前記閾値時間継続したとき、前記電源から供給された電力で前記バッテリを充電する制御を行うことを特徴とする電動車両制御装置。 The electric vehicle control device according to one aspect of the present invention is
Chargeable and dischargeable batteries,
A motor generator that outputs a torque for driving a wheel by the power supplied from the battery, or outputs a power as the wheel rotates;
A charging unit for charging the battery with power supplied from a power supply;
And a rotational speed detection unit for detecting the rotational speed of the motor generator in the state of outputting the electric power.
The control unit is configured to charge the battery with the power output from the motor generator, and control the charging unit to charge the battery with the power supplied from the power supply.
The control unit waits for control of charging the battery with the power supplied from the power supply until the state where the detected rotational speed is equal to or less than the threshold speed continues for a threshold time after the rotational speed is detected. And controlling the charging of the battery with the power supplied from the power supply when the state of being below the threshold speed continues for the threshold time.
　本発明の一態様に係る電動車両制御方法は、
　充放電可能なバッテリと、
　前記バッテリから供給された電力によって車輪を駆動するためのトルクを出力し、または、前記車輪の回転にともなって電力を出力するモータジェネレータと、
　電源から供給された電力で前記バッテリを充電する充電部と、
　前記電力を出力する状態における前記モータジェネレータの回転速度を検出するための回転速度検出部と、を備える電動車両を制御する電動車両制御方法であって、
　前記回転速度が検出された後、前記検出された回転速度が閾値速度以下である状態が閾値時間継続するまで、前記電源から供給された電力で前記バッテリを充電する制御を待機し、前記閾値速度以下である状態が前記閾値時間継続したとき、前記電源から供給された電力で前記バッテリを充電する制御を行う。 An electric vehicle control method according to an aspect of the present invention is
Chargeable and dischargeable batteries,
A motor generator that outputs a torque for driving a wheel by the power supplied from the battery, or outputs a power as the wheel rotates;
A charging unit for charging the battery with power supplied from a power supply;
And a rotational speed detection unit for detecting the rotational speed of the motor generator in the state of outputting the electric power.
After the rotational speed is detected, control is waited for charging the battery with the power supplied from the power supply until the state where the detected rotational speed is less than or equal to the threshold speed continues for a threshold time, the threshold speed When the following state continues for the threshold time, control is performed to charge the battery with the power supplied from the power supply.
　本発明の一態様に係る電動車両は、充放電可能なバッテリと、バッテリから供給された電力によって車輪を駆動するためのトルクを出力し、または、車輪の回転にともなって電力を出力するモータジェネレータと、電源から供給された電力でバッテリを充電する充電部と、電力を出力する状態におけるモータジェネレータの回転速度を検出するための回転速度検出部と、モータジェネレータが出力した電力でバッテリを充電し、充電部に対して電源から供給された電力でバッテリを充電する制御を行う制御部と、を備え、制御部は、回転速度が検出された後、検出された回転速度が閾値速度以下である状態が閾値時間継続するまで、電源から供給された電力でバッテリを充電する制御を待機し、閾値速度以下である状態が閾値時間継続したとき、電源から供給された電力でバッテリを充電する制御を行う。 An electric vehicle according to an aspect of the present invention includes a battery capable of charging and discharging, and a motor generator that outputs a torque for driving a wheel by power supplied from the battery, or outputs power as the wheel rotates. A charging unit for charging the battery with the power supplied from the power supply, a rotational speed detection unit for detecting the rotational speed of the motor generator in the state of outputting the power, and charging the battery with the power output from the motor generator And a control unit that performs control to charge the battery with power supplied from the power supply to the charging unit, and the control unit detects that the rotational speed is detected and then the detected rotational speed is equal to or less than a threshold speed Waited for control to charge the battery with power supplied from the power supply until the state lasted for the threshold time, and the state where it was below the threshold speed continued for the threshold time Can performs control to charge the battery with power supplied from the power supply.
　このように、本発明によれば、車輪の回転にともなってモータジェネレータが電力を出力する状態におけるモータジェネレータの回転速度を検出し、検出された回転速度が閾値速度以下である状態が閾値時間継続するまで、電源から供給された電力でバッテリを充電する制御を待機することができる。 Thus, according to the present invention, the rotational speed of the motor generator is detected in a state where the motor generator outputs power as the wheels rotate, and the state in which the detected rotational speed is equal to or lower than the threshold speed continues for the threshold time. It is possible to wait for control to charge the battery with the power supplied from the power supply.
　これにより、車輪の回転にともなうモータジェネレータの発電が十分に抑制された状態において、電源から供給された電力でバッテリを充電することができる。 Thus, the battery can be charged with the power supplied from the power supply in a state where the power generation of the motor generator due to the rotation of the wheels is sufficiently suppressed.
　したがって、本発明によれば、電源とモータジェネレータとの双方からバッテリに過剰な電力が供給されることを未然に回避して、バッテリの充電を適切に行うことが可能となる。 Therefore, according to the present invention, it is possible to prevent the excessive supply of electric power to the battery from both the power supply and the motor generator, and to appropriately charge the battery.
第１の実施形態に係る電動二輪車１００を示す図である。FIG. 1 is a view showing an electric motorcycle 100 according to a first embodiment. 第１の実施形態に係る電動二輪車１００において、電力変換部３０およびモータジェネレータ３を示す図である。FIG. 2 is a view showing a power conversion unit 30 and a motor generator 3 in the electric motorcycle 100 according to the first embodiment. 第１の実施形態に係る電動二輪車１００において、モータジェネレータ３のロータに設けられた磁石、およびアングルセンサ４を示す図である。FIG. 7 is a view showing a magnet provided on a rotor of a motor generator 3 and an angle sensor 4 in the electric motorcycle 100 according to the first embodiment. 第１の実施形態に係る電動二輪車１００において、ロータアングルと、アングルセンサ４の出力との関係を示す図である。FIG. 7 is a view showing a relationship between a rotor angle and an output of an angle sensor 4 in the electric motorcycle 100 according to the first embodiment. 第１の実施形態に係る電動二輪車１００の制御方法を示すフローチャートである。It is a flowchart which shows the control method of the electric two-wheeled vehicle 100 which concerns on 1st Embodiment. 第２の実施形態に係る電動二輪車１００を示す図である。It is a figure showing electric motorcycle 100 concerning a 2nd embodiment. 第２の実施形態に係る電動二輪車１００の制御方法を示すフローチャートである。It is a flow chart which shows a control method of electric motorcycle 100 concerning a 2nd embodiment.
　以下、図面を参照して本発明に係る実施形態を説明する。なお、以下に示す実施形態は、本発明を限定するものではない。また、実施形態で参照する図面において、同一部分または同様な機能を有する部分には同一の符号または類似の符号を付し、その繰り返しの説明は省略する。 Hereinafter, embodiments according to the present invention will be described with reference to the drawings. The embodiments described below do not limit the present invention. In the drawings referred to in the embodiments, the same portions or portions having similar functions are denoted by the same reference numerals or similar reference numerals, and the description thereof will not be repeated.
（第１の実施形態）
　まず、図１を参照して、電動車両の一例としての第１の実施形態に係る電動二輪車１００について説明する。 First Embodiment
First, with reference to FIG. 1, an electric motorcycle 100 according to a first embodiment as an example of an electric vehicle will be described.
　電動二輪車１００は、バッテリから供給される電力を用いてモータを駆動することで走行する電動バイク等の電動二輪車である。より詳しくは、電動二輪車１００は、モータと車輪がクラッチを介さずに機械的に接続されたクラッチレスの電動二輪車である。 The electric motorcycle 100 is an electric motorcycle such as an electric motorcycle that travels by driving a motor using electric power supplied from a battery. More specifically, the electric motorcycle 100 is a clutchless electric motorcycle in which a motor and wheels are mechanically connected without a clutch.
　電動二輪車１００は、図１に示すように、電動車両制御装置１と、バッテリ２と、モータジェネレータ３と、回転速度検出部の一例であるアングルセンサ４と、アクセルポジションセンサ５と、メータ７と、車輪８と、充電部の一例である充電器９とを備える。 As shown in FIG. 1, the electric motorcycle 100 includes an electric vehicle control device 1, a battery 2, a motor generator 3, an angle sensor 4 which is an example of a rotational speed detector, an accelerator position sensor 5, and a meter 7. , Wheels 8 and a charger 9 which is an example of a charging unit.
　以下、電動二輪車１００の各構成要素について詳しく説明する。 Hereinafter, each component of electric motorcycle 100 will be described in detail.
　電動車両制御装置１は、電動二輪車１００を制御する装置であり、制御部１０と、記憶部２０と、電力変換部３０とを有している。なお、電動車両制御装置１は、電動二輪車１００全体を制御するＥＣＵ（Ｅｌｅｃｔｒｏｎｉｃ　Ｃｏｎｔｒｏｌ　Ｕｎｉｔ）として構成されてもよい。次に、電動車両制御装置１の各構成要素について詳しく説明する。 The electric vehicle control device 1 is a device that controls the electric motorcycle 100, and includes a control unit 10, a storage unit 20, and a power conversion unit 30. The electric vehicle control device 1 may be configured as an electronic control unit (ECU) that controls the entire electric motorcycle 100. Next, each component of the electric vehicle control device 1 will be described in detail.
　制御部１０は、電動車両制御装置１に接続された各種装置から情報を入力するとともに、電力変換部３０を介してモータジェネレータ３を駆動制御する。制御部１０の詳細については後述する。 The control unit 10 receives information from various devices connected to the electric vehicle control device 1 and controls driving of the motor generator 3 via the power conversion unit 30. Details of the control unit 10 will be described later.
　記憶部２０は、制御部１０が用いる情報や、制御部１０が動作するためのプログラムを記憶する。この記憶部２０は、例えば不揮発性の半導体メモリであるが、これに限定されない。 The storage unit 20 stores information used by the control unit 10 and a program for the control unit 10 to operate. The storage unit 20 is, for example, a non-volatile semiconductor memory, but is not limited to this.
　電力変換部３０は、バッテリ２の直流電力を交流電力に変換してモータジェネレータ３に供給する。この電力変換部３０は、図２に示すように、３相のフルブリッジ回路で構成されている。半導体スイッチＱ１，Ｑ３，Ｑ５はハイサイドスイッチであり、半導体スイッチＱ２，Ｑ４，Ｑ６はローサイドスイッチである。半導体スイッチＱ１～Ｑ６の制御端子は、制御部１０に電気的に接続されている。電源端子３０ａと電源端子３０ｂとの間には平滑コンデンサＣが設けられている。半導体スイッチＱ１～Ｑ６は、例えばＭＯＳＦＥＴまたはＩＧＢＴ等である。 The power conversion unit 30 converts the DC power of the battery 2 into AC power and supplies the AC power to the motor generator 3. As shown in FIG. 2, the power conversion unit 30 is configured of a three-phase full bridge circuit. The semiconductor switches Q1, Q3 and Q5 are high side switches, and the semiconductor switches Q2, Q4 and Q6 are low side switches. Control terminals of the semiconductor switches Q1 to Q6 are electrically connected to the control unit 10. A smoothing capacitor C is provided between the power supply terminal 30a and the power supply terminal 30b. The semiconductor switches Q1 to Q6 are, for example, MOSFETs or IGBTs.
　半導体スイッチＱ１は、図２に示すように、バッテリ２の正極が接続された電源端子３０ａと、モータジェネレータ３の入力端子３ａとの間に接続されている。同様に、半導体スイッチＱ３は、電源端子３０ａと、モータジェネレータ３の入力端子３ｂとの間に接続されている。半導体スイッチＱ５は、電源端子３０ａと、モータジェネレータ３の入力端子３ｃとの間に接続されている。 The semiconductor switch Q1 is connected between the power supply terminal 30a to which the positive electrode of the battery 2 is connected and the input terminal 3a of the motor generator 3, as shown in FIG. Similarly, the semiconductor switch Q3 is connected between the power supply terminal 30a and the input terminal 3b of the motor generator 3. The semiconductor switch Q5 is connected between the power supply terminal 30a and the input terminal 3c of the motor generator 3.
　半導体スイッチＱ２は、モータジェネレータ３の入力端子３ａと、バッテリ２の負極が接続された電源端子３０ｂとの間に接続されている。同様に、半導体スイッチＱ４は、モータジェネレータ３の入力端子３ｂと、電源端子３０ｂとの間に接続されている。半導体スイッチＱ６は、モータジェネレータ３の入力端子３ｃと、電源端子３０ｂとの間に接続されている。なお、入力端子３ａはＵ相の入力端子であり、入力端子３ｂはＶ相の入力端子であり、入力端子３ｃはＷ相の入力端子である。 The semiconductor switch Q2 is connected between the input terminal 3a of the motor generator 3 and the power supply terminal 30b to which the negative electrode of the battery 2 is connected. Similarly, the semiconductor switch Q4 is connected between the input terminal 3b of the motor generator 3 and the power supply terminal 30b. The semiconductor switch Q6 is connected between the input terminal 3c of the motor generator 3 and the power supply terminal 30b. The input terminal 3a is a U-phase input terminal, the input terminal 3b is a V-phase input terminal, and the input terminal 3c is a W-phase input terminal.
　バッテリ２は、充放電可能である。具体的には、バッテリ２は、放電時に電力変換部３０に直流電力を供給する。また、バッテリ２は、商用電源等の外部の電源１３から供給された交流電力による充電時に、電源１３から供給された交流電力を充電器９で変換した直流電力によって充電される。また、バッテリ２には、車輪８の回転にともなってモータジェネレータ３が出力する交流電力による充電時に、モータジェネレータ３が出力した交流電力を電力変換装置１００で変換した直流電圧によって充電される。 The battery 2 can be charged and discharged. Specifically, the battery 2 supplies DC power to the power conversion unit 30 at the time of discharge. Further, the battery 2 is charged by the DC power obtained by converting the AC power supplied from the power supply 13 by the charger 9 at the time of charging by the AC power supplied from the external power supply 13 such as a commercial power supply. Further, the battery 2 is charged by the DC voltage obtained by converting the AC power output by the motor generator 3 by the power conversion device 100 during charging by AC power output by the motor generator 3 as the wheels 8 rotate.
　このバッテリ２は、バッテリ管理ユニット（ＢＭＵ）を含む。バッテリ管理ユニットは、バッテリ２の電圧やバッテリ２の状態（充電率等）に関する情報を制御部１０に送信する。 The battery 2 includes a battery management unit (BMU). The battery management unit transmits, to the control unit 10, information on the voltage of the battery 2 and the state (charging rate etc.) of the battery 2.
　なお、バッテリ２の数は一つに限らず、複数であってもよい。バッテリ２は、例えばリチウムイオン電池であるが、他の種類のバッテリであってもよい。バッテリ２は、異なる種類（例えば、リチウムイオン電池と鉛電池）のバッテリから構成されてもよい。 The number of batteries 2 is not limited to one, and may be plural. The battery 2 is, for example, a lithium ion battery, but may be another type of battery. The battery 2 may be composed of batteries of different types (eg, lithium ion battery and lead battery).
　モータジェネレータ３は、バッテリ２から供給された電力によって車輪８を駆動するためのトルクを出力する。または、モータジェネレータ３は、車輪８の回転にともなって電力を出力する。 The motor generator 3 outputs a torque for driving the wheel 8 by the power supplied from the battery 2. Alternatively, the motor generator 3 outputs power as the wheel 8 rotates.
　具体的には、モータジェネレータ３は、電力変換部３０から供給される交流電力により駆動されることで、車輪８を駆動するためのトルクを出力する。トルクは、制御部１０が電力変換部３０の半導体スイッチＱ１～Ｑ６に目標トルクに基づいて算出された通電タイミングとデューティ比を有するＰＷＭ信号を出力することで制御されてもよい。すなわち、トルクは、制御部１０がバッテリ２からモータジェネレータ３に供給される電力を制御することで制御されてもよい。 Specifically, motor generator 3 is driven by AC power supplied from power conversion unit 30 to output a torque for driving wheels 8. The torque may be controlled by the control unit 10 outputting, to the semiconductor switches Q1 to Q6 of the power conversion unit 30, a PWM signal having a conduction timing and a duty ratio calculated based on the target torque. That is, the torque may be controlled by the control unit 10 controlling the power supplied from the battery 2 to the motor generator 3.
　モータジェネレータ３は、車輪８に機械的に接続されており、トルクによって所望の方向に車輪８を回転させる。本実施形態では、モータジェネレータ３は、クラッチを介さずに車輪８に機械的に接続されている。なお、モータジェネレータ３の種類は特に限定されない。 The motor generator 3 is mechanically connected to the wheel 8 and rotates the wheel 8 in a desired direction by torque. In the present embodiment, the motor generator 3 is mechanically connected to the wheel 8 without a clutch. The type of motor generator 3 is not particularly limited.
　また、モータジェネレータ３は、車輪８の回転にともなって交流電力を出力する。具体的には、モータジェネレータ３は、モータジェネレータ３の回転速度が減速した場合や、外力によってモータジェネレータ３が回転する場合に、交流電力（すなわち、回生電力）を出力する。モータジェネレータ３の回転速度が減速した場合としては、例えば、走行中に車両のブレーキがかけられて制動された場合が挙げられる。また、外力によってモータジェネレータ３が回転する場合としては、例えば、バッテリ２からモータジェネレータ３に電力が供給されていない状態において、慣性によって走行する場合や坂道（下り坂）を走行する場合が挙げられる。 Further, the motor generator 3 outputs AC power as the wheel 8 rotates. Specifically, motor generator 3 outputs AC power (that is, regenerative power) when the rotational speed of motor generator 3 is reduced or when motor generator 3 is rotated by an external force. As a case where the rotational speed of the motor generator 3 is decelerated, for example, there is a case where the vehicle is braked and being braked while traveling. Further, as a case where the motor generator 3 is rotated by an external force, for example, there is a case of traveling by inertia or a case of traveling on a slope (downhill) in a state where power is not supplied from the battery 2 to the motor generator 3 .
　これらの他にも、モータジェネレータ３が外力によって回転する場合には、外力（例えば、ユーザの手）で車輪８を回転させ得るように車輪８のスタンドが立てられて車輪８が地面から離れた状態において、外力で車輪８を回転させることにともなってモータジェネレータ３が回転する場合が含まれる。 Besides these, when the motor generator 3 is rotated by an external force, the stand of the wheel 8 is erected so that the wheel 8 can be rotated by an external force (for example, a user's hand) and the wheel 8 is separated from the ground In the state, the case where the motor generator 3 rotates as the wheel 8 is rotated by an external force is included.
　モータジェネレータ３が出力した交流電力は、電力変換部３０によって直流電力に変換され、変換された直流電力でバッテリ２が充電（すなわち、回生充電）される。 The AC power output from the motor generator 3 is converted into DC power by the power conversion unit 30, and the battery 2 is charged (that is, regeneratively charged) with the converted DC power.
　充電器９は、電源１３から供給された交流電力でバッテリ２を充電する。充電器９は、ＡＣ－ＤＣコンバータ９１と、コンバータ制御部９２と、充電プラグ９３とを有する。充電プラグ９３は、図示しないコンセントを介して電源１３に接続される。ＡＣ－ＤＣコンバータ９１は、充電プラグ９３を介して電源１３から入力された交流電圧を直流電圧に変換する。コンバータ制御部９２はＡＣ－ＤＣコンバータ９１の電力変換を制御する。 The charger 9 charges the battery 2 with AC power supplied from the power supply 13. The charger 9 has an AC-DC converter 91, a converter control unit 92, and a charging plug 93. The charging plug 93 is connected to the power supply 13 via an outlet (not shown). The AC-DC converter 91 converts an AC voltage input from the power supply 13 through the charging plug 93 into a DC voltage. Converter control unit 92 controls power conversion of AC-DC converter 91.
　アングルセンサ４は、モータジェネレータ３の回転速度を検出するために、モータジェネレータ３のロータの回転角度を検出するセンサである。図３に示すように、モータジェネレータ３のロータの周面には、Ｎ極とＳ極の磁石（センサマグネット）が交互に取り付けられている。アングルセンサ４は、例えばホール素子により構成されており、モータジェネレータ３の回転に伴う磁場の変化を検出する。なお、磁石は、フライホイール（図示せず）の内側に設けられてもよい。 The angle sensor 4 is a sensor that detects the rotation angle of the rotor of the motor generator 3 in order to detect the rotation speed of the motor generator 3. As shown in FIG. 3, magnets (sensor magnets) of N pole and S pole are alternately attached to the circumferential surface of the rotor of the motor generator 3. The angle sensor 4 is formed of, for example, a Hall element, and detects a change in the magnetic field accompanying the rotation of the motor generator 3. The magnet may be provided inside the flywheel (not shown).
　図３に示すように、アングルセンサ４は、Ｕ相アングルセンサ４ｕと、Ｖ相アングルセンサ４ｖと、Ｗ相アングルセンサ４ｗとを有している。本実施形態では、Ｕ相アングルセンサ４ｕとＶ相アングルセンサ４ｖとはモータジェネレータ３のロータに対して３０°の角度をなすように配置されている。同様に、Ｖ相アングルセンサ４ｖとＷ相アングルセンサ４ｗとはモータジェネレータ３のロータに対して３０°の角度をなすように配置されている。 As shown in FIG. 3, the angle sensor 4 includes a U-phase angle sensor 4 u, a V-phase angle sensor 4 v, and a W-phase angle sensor 4 w. In the present embodiment, U-phase angle sensor 4 u and V-phase angle sensor 4 v are arranged to form an angle of 30 ° with the rotor of motor generator 3. Similarly, the V-phase angle sensor 4v and the W-phase angle sensor 4w are disposed at an angle of 30 ° with respect to the rotor of the motor generator 3.
　図４に示すように、Ｕ相アングルセンサ４ｕ、Ｖ相アングルセンサ４ｖおよびＷ相アングルセンサ４ｗは、ロータアングル（角度位置）に応じた位相のパルス信号（すなわち、回転角度の検出信号）を出力する。 As shown in FIG. 4, U-phase angle sensor 4u, V-phase angle sensor 4v and W-phase angle sensor 4w output pulse signals in phase according to the rotor angle (angular position) (that is, detection signals of rotation angles) Do.
　また、図４に示すように、所定のロータアングルごとに、ロータステージを示す番号（ロータステージ番号）が割り振られている。ロータステージはモータジェネレータ３のロータの角度位置を示しており、本実施形態では、電気角で６０°ごとにロータステージ番号１，２，３，４，５，６が割り振られている。ロータステージは、Ｕ相アングルセンサ４ｕ、Ｖ相アングルセンサ４ｖおよびＷ相アングルセンサ４ｗの出力信号のレベル（ＨレベルまたはＬレベル）の組合せにより定義されている。例えば、ロータステージ番号１は（Ｕ相、Ｖ相、Ｗ相）＝（Ｈ，Ｌ，Ｈ）であり、ロータステージ番号２は（Ｕ相、Ｖ相、Ｗ相）＝（Ｈ，Ｌ，Ｌ）である。 Further, as shown in FIG. 4, a number (rotor stage number) indicating a rotor stage is assigned to each predetermined rotor angle. The rotor stage indicates the angular position of the rotor of the motor generator 3. In this embodiment, rotor stage numbers 1, 2, 3, 4, 5 and 6 are assigned every 60 ° in electrical angle. The rotor stage is defined by a combination of levels (H level or L level) of output signals of U-phase angle sensor 4 u, V-phase angle sensor 4 v and W-phase angle sensor 4 w. For example, rotor stage No. 1 is (U phase, V phase, W phase) = (H, L, H), and rotor stage No. 2 is (U phase, V phase, W phase) = (H, L, L) ).
　アクセルポジションセンサ５は、ユーザのアクセル操作により設定されたアクセル操作量を検知し、検知されたアクセル操作量を電気信号として制御部１０に送信する。ユーザが加速したい場合に、アクセル操作量は大きくなる。 The accelerator position sensor 5 detects an accelerator operation amount set by the user's accelerator operation, and transmits the detected accelerator operation amount to the control unit 10 as an electric signal. When the user wants to accelerate, the accelerator operation amount becomes large.
　メータ７は、電動二輪車１００に設けられたディスプレイ（例えば液晶パネル）であり、各種情報を表示する。具体的には、電動二輪車１００の走行速度、バッテリ２の残量、現在時刻、走行距離などの情報がメータ７に表示される。本実施形態では、メータ７は、電動二輪車１００のハンドル（図示せず）に設けられる。 The meter 7 is a display (for example, a liquid crystal panel) provided on the electric motorcycle 100, and displays various information. Specifically, information such as the traveling speed of the electric motorcycle 100, the remaining amount of the battery 2, the current time, and the traveling distance is displayed on the meter 7. In the present embodiment, the meter 7 is provided on a handle (not shown) of the electric motorcycle 100.
　次に、電動車両制御装置１の制御部１０について詳しく説明する。 Next, the control unit 10 of the electric vehicle control device 1 will be described in detail.
　制御部１０は、モータジェネレータ３が出力した電力でバッテリ２を充電（すなわち、回生充電）する制御を行う。 Control unit 10 performs control of charging battery 2 (that is, regenerative charging) with the power output from motor generator 3.
　また、制御部１０は、充電器９に対して、電源１３から供給された電力でバッテリ２を充電する制御を行う。具体的には、制御部１０は、ＡＣ－ＤＣコンバータ９１に対して交流電圧を直流電圧に変換する制御を行うことで、電源１３から供給された電力でバッテリ２を充電する制御を行う。より具体的には、制御部１０は、コンバータ制御部９２に対して電源１３から供給される電力によるバッテリ２の充電を許可する充電許可信号を出力することで、コンバータ制御部９２によるＡＣ－ＤＣコンバータ９１の制御を介してバッテリ２を充電する制御を行う。 Further, the control unit 10 controls the charger 9 to charge the battery 2 with the power supplied from the power supply 13. Specifically, the control unit 10 controls the AC-DC converter 91 to convert an AC voltage to a DC voltage, thereby performing control to charge the battery 2 with the power supplied from the power supply 13. More specifically, control unit 10 outputs a charge permission signal for permitting charging of battery 2 by the power supplied from power supply 13 to converter control unit 92, whereby the AC-DC by converter control unit 92 is output. Control for charging the battery 2 is performed via control of the converter 91.
　電源１３から供給された電力でバッテリ２を充電可能な状態において、制御部１０は、アングルセンサ４から出力されたパルス信号に基づいて、電力を出力する状態おけるモータジェネレータ３の回転速度を検出する。 In a state in which battery 2 can be charged with the power supplied from power supply 13, control unit 10 detects the rotational speed of motor generator 3 in the state of outputting power based on the pulse signal output from angle sensor 4 .
　一例として、制御部１０は、図４に示すように、Ｖ相ロータアングルセンサの出力の立下りからＵ相ロータアングルセンサの出力の立ち上がりまでの時間ｔに基づいてモータジェネレータ３の回転速度を算出する。 As an example, control unit 10 calculates the rotational speed of motor generator 3 based on time t from the fall of the output of the V-phase rotor angle sensor to the rise of the output of the U-phase rotor angle sensor as shown in FIG. Do.
　電源１３から供給された電力でバッテリ２を充電可能な状態においてモータジェネレータ３が電力を出力する状態としては、例えば、外力で車輪８を回転させ得るように車輪８のスタンドが立てられて車輪８が地面から離れた状態を挙げることができる。 As a state in which the motor generator 3 outputs electric power in a state in which the battery 2 can be charged with the electric power supplied from the power source 13, for example, a stand of the wheel 8 is erected so that the wheel 8 can be rotated by an external force. Can be mentioned as being off the ground.
　このように、車輪８のスタンドが立てられて車輪８が地面から離れた状態は、電源１３に充電プラグ９３を接続してバッテリ２を充電し得る状態であり、なおかつ、車輪８を手で回転させてモータジェネレータ３に電力を発生させ得る状態である。 As described above, when the stand of the wheel 8 is erected and the wheel 8 is separated from the ground, the charging plug 93 is connected to the power supply 13 to charge the battery 2, and the wheel 8 is manually rotated. And the motor generator 3 can generate electric power.
　制御部１０は、このような電源１３およびモータジェネレータ３の双方からの充電が可能な状態におけるバッテリ２の充電を規制することで、電源１３とモータジェネレータ３との双方からバッテリ２に過剰な電力が供給されることを回避するように構成されている。 Control unit 10 regulates charging of battery 2 in a state in which charging from both power supply 13 and motor generator 3 is possible, whereby excessive power to battery 2 from both power supply 13 and motor generator 3 is obtained. Are configured to avoid being supplied.
　具体的には、制御部１０は、モータジェネレータ３の回転速度が検出された後、検出された回転速度が閾値速度以下である状態が閾値時間継続するまで、電源１３から供給された電力でバッテリ２を充電する制御を待機する。 Specifically, after the rotational speed of motor generator 3 is detected, control unit 10 controls the battery supplied with power supplied from power supply 13 until the state in which the detected rotational speed is equal to or lower than the threshold speed continues for a threshold time. Wait for control to charge 2.
　そして、制御部１０は、検出されたモータジェネレータ３の回転速度が閾値速度以下である状態が閾値時間継続したとき、電源１３からから供給された電力でバッテリ２を充電する制御を行う。 Then, when the state where the detected rotational speed of motor generator 3 is equal to or lower than the threshold speed continues for the threshold time, control unit 10 performs control to charge battery 2 with the power supplied from power supply 13.
　モータジェネレータ３の閾値速度は、回転速度の絶対値の閾値であってもよい。 The threshold speed of the motor generator 3 may be a threshold of the absolute value of the rotational speed.
　より具体的には、制御部１０は、充電プラグ９３が電源１３に接続された後に、モータジェネレータ３の回転速度が閾値速度以下である状態が閾値時間継続するまで、ＡＣ－ＤＣコンバータ９１に対して、交流電圧を直流電圧に変換する制御を待機してもよい。 More specifically, control unit 10 causes AC-DC converter 91 to continue until the state where the rotational speed of motor generator 3 is equal to or lower than the threshold speed continues for the threshold time after charging plug 93 is connected to power supply 13. It may wait for control to convert alternating current voltage to direct current voltage.
　そして、制御部１０は、閾値速度以下である状態が閾値時間継続したとき、ＡＣ－ＤＣコンバータ９１に対して、交流電圧を直流電圧に変換する制御を行ってもよい。ＡＣ－ＤＣコンバータ９１に対する制御は、コンバータ制御部９２を介して行ってもよい。 Then, the control unit 10 may control the AC-DC converter 91 to convert an AC voltage into a DC voltage when the state of being equal to or lower than the threshold speed continues for the threshold time. Control of the AC-DC converter 91 may be performed via the converter control unit 92.
　例えば、制御部１０は、予め設定された判定周期で回転速度が閾値速度以下であるか否かを判定し、回転速度が閾値速度以下である場合に、閾値速度以下である状態の継続時間のカウント値をインクリメントしてもよい。制御部１０は、カウント値が閾値時間に相当する完了値に達するまで、電源から供給された電力でバッテリを充電する制御を待機してもよい。 For example, the control unit 10 determines whether or not the rotation speed is equal to or less than the threshold speed in a predetermined determination cycle, and when the rotation speed is equal to or less than the threshold speed, the duration time of the state equal to or less than the threshold speed. The count value may be incremented. The control unit 10 may stand by for control of charging the battery with the power supplied from the power supply until the count value reaches the completion value corresponding to the threshold time.
　そして、制御部１０は、カウント値が完了値に達したときに、電源１３から供給された電力でバッテリ２を充電する制御を行ってもよい。 Then, when the count value reaches the completion value, the control unit 10 may perform control to charge the battery 2 with the power supplied from the power supply 13.
　また、制御部１０は、モータジェネレータ３の回転速度が閾値速度以下でない場合に、カウント値をリセットしてもよい。また、カウント値の完了値までのカウントアップ（カウント値のインクリメント）の替わりに、カウント値の完了値までのカウントダウン（カウント値のディクリメント）を行うようにしてもよい。 Further, the control unit 10 may reset the count value when the rotational speed of the motor generator 3 is not equal to or less than the threshold speed. Further, instead of counting up (incrementing the count value) up to the completion value of the count value, countdown (decrement of the count value) to the completion value of the count value may be performed.
（電動二輪車１００の制御方法）
　以下、図５のフローチャートを参照して、電動車両制御方法の一例として、第１の実施形態に係る電動二輪車１００の制御方法について説明する。なお、図５のフローチャートは、必要に応じて繰り返される。 (Control Method of Electric Motorcycle 100)
Hereinafter, a control method of the electric motorcycle 100 according to the first embodiment will be described as an example of the electric vehicle control method with reference to the flowchart of FIG. 5. The flowchart of FIG. 5 is repeated as necessary.
　先ず、電源１３に充電プラグ９３を接続する（ステップＳ１）。 First, the charging plug 93 is connected to the power supply 13 (step S1).
　電源１３に充電プラグ９３が接続された後、制御部１０は、モータジェネレータ３が電力を出力する状態であるか否かを判定する（ステップＳ２）。 After the charging plug 93 is connected to the power supply 13, the control unit 10 determines whether the motor generator 3 is in the state of outputting power (step S2).
　例えば、制御部１０は、バッテリ２からモータジェネレータ３に電力が供給されていない状態においてアングルセンサ４によってモータジェネレータ３の回転が検出されていることや、アクセル操作量がゼロの状態においてモータジェネレータ３の回転が検出されていること等に基づいて、モータジェネレータ３が電力を出力する状態であるか否かを判定してもよい。 For example, in a state where power is not supplied from the battery 2 to the motor generator 3, the control unit 10 detects that the rotation of the motor generator 3 is detected by the angle sensor 4 or when the accelerator operation amount is zero. Whether or not the motor generator 3 is in the state of outputting power may be determined based on whether or not the rotation of the motor generator 3 is detected.
　モータジェネレータ３が電力を出力する状態である場合（ステップＳ２：Ｙｅｓ）、制御部１０は、モータジェネレータ３の回転速度が閾値以下である状態（すなわち、低速状態）の継続時間を数えるためのカウント値ｎをリセットする（ｎ＝０）（ステップＳ３）。一方、モータジェネレータ３が電力を出力する状態でない場合（ステップＳ２：Ｎｏ）、制御部１０は、コンバータ制御部９２に充電許可信号を出力することで、電源１３から供給された電力によるバッテリ２の充電を許可する（ステップＳ９）。 When motor generator 3 is in the state of outputting electric power (step S2: Yes), control unit 10 is a count for counting the duration of the state in which the rotational speed of motor generator 3 is equal to or less than the threshold (ie, low speed state). The value n is reset (n = 0) (step S3). On the other hand, when motor generator 3 is not in the state of outputting electric power (step S2: No), control unit 10 outputs a charge permission signal to converter control unit 92 to allow battery 2 to be supplied with power supplied from power supply 13. The charging is permitted (step S9).
　カウント値ｎをリセットした後、制御部１０は、アングルセンサ４のパルス信号を取得する（ステップＳ４）。 After resetting the count value n, the control unit 10 acquires a pulse signal of the angle sensor 4 (step S4).
　アングルセンサ４のパルス信号を取得した後、制御部１０は、取得されたパルス信号に基づいて、モータジェネレータ３の回転速度を算出する（ステップＳ５）。 After acquiring the pulse signal of the angle sensor 4, the control unit 10 calculates the rotational speed of the motor generator 3 based on the acquired pulse signal (step S5).
　モータジェネレータ３の回転速度を算出した後、制御部１０は、算出されたモータジェネレータ３の回転速度の絶対値が閾値以下であるか否かを判定する（ステップＳ６）。 After calculating the rotation speed of the motor generator 3, the control unit 10 determines whether the calculated absolute value of the rotation speed of the motor generator 3 is equal to or less than a threshold (step S6).
　モータジェネレータ３の回転速度の絶対値が閾値以下である場合（ステップＳ６：Ｙｅｓ）、制御部１０は、カウント値をインクリメントする（ｎ＝ｎ＋１）（ステップＳ７）。一方、モータジェネレータ３の回転速度の絶対値が閾値以下でない場合（ステップＳ６：Ｎｏ）、制御部１０は、カウント値をリセットする（ステップＳ３）。 If the absolute value of the rotational speed of motor generator 3 is equal to or less than the threshold (step S6: Yes), control unit 10 increments the count value (n = n + 1) (step S7). On the other hand, when the absolute value of the rotational speed of motor generator 3 is not equal to or less than the threshold (step S6: No), control unit 10 resets the count value (step S3).
　カウント値をインクリメントした後、制御部１０は、カウント値が完了値に達したか否かを判定する（ステップＳ８）。この判定は、モータジェネレータ３の回転速度が閾値速度以下である状態が閾値時間継続したか否かの判定に相当する。 After incrementing the count value, the control unit 10 determines whether the count value has reached the completion value (step S8). This determination corresponds to the determination as to whether or not the state where the rotational speed of motor generator 3 is equal to or less than the threshold speed has continued for the threshold time.
　カウント値が完了値に達した場合（ステップＳ８：Ｙｅｓ）、制御部１０は、コンバータ制御部９２に充電許可信号を出力する。一方、カウント値が完了値に達していない場合（ステップＳ８：Ｎｏ）、制御部１０は、アングルセンサ４のパルス信号を取得する（ステップＳ４）。 If the count value has reached the completion value (step S8: Yes), control unit 10 outputs a charge permission signal to converter control unit 92. On the other hand, when the count value has not reached the completion value (step S8: No), the control unit 10 acquires a pulse signal of the angle sensor 4 (step S4).
　なお、図５の例において、制御部１０は、電源１３に充電プラグ９３が接続された後に、ステップＳ２～ステップＳ８までの処理を行っている。これに対して、制御部１０は、カウント値が完了値に達した後に、電源１３に充電プラグ９３が接続されたことを確認してもよい。この場合、制御部１０は、電源１３に充電プラグ９３が接続されたことが確認されることを待って、コンバータ制御部９２に充電許可信号を出力してもよい。 In the example of FIG. 5, after the charging plug 93 is connected to the power supply 13, the control unit 10 performs the processing from step S2 to step S8. On the other hand, the control unit 10 may confirm that the charging plug 93 is connected to the power supply 13 after the count value reaches the completion value. In this case, control unit 10 may output a charge permission signal to converter control unit 92 after it is confirmed that charging plug 93 is connected to power supply 13.
　以下、第１の実施形態によってもたらされる作用について説明する。 Hereinafter, the operation provided by the first embodiment will be described.
　上述したように、第１の実施形態において、制御部１０は、モータジェネレータ３が電力を出力する状態におけるモータジェネレータ３の回転速度が検出（算出）された後、検出された回転速度が閾値速度以下である状態が閾値時間継続するまで、電源１３から供給された電力でバッテリ２を充電する制御を待機する。そして、制御部１０は、モータジェネレータ３の回転速度が閾値速度以下である状態が閾値時間継続したとき、電源１３から供給された電力でバッテリ２を充電する制御を行う。 As described above, in the first embodiment, the control unit 10 detects (calculates) the rotational speed of the motor generator 3 in the state where the motor generator 3 outputs electric power, and then the detected rotational speed is the threshold speed. Control for charging the battery 2 with the power supplied from the power supply 13 is awaited until the following state continues for the threshold time. Then, when the state where the rotational speed of motor generator 3 is equal to or lower than the threshold speed continues for the threshold time, control unit 10 performs control to charge battery 2 with the power supplied from power supply 13.
　これにより、車輪８の回転にともなうモータジェネレータ３の発電が十分に抑制された状態において、電源１３から供給された電力でバッテリ２を充電することができる。 Thus, battery 2 can be charged with the power supplied from power supply 13 in a state where the power generation of motor generator 3 due to the rotation of wheel 8 is sufficiently suppressed.
　この結果、電源１３とモータジェネレータ３との双方からバッテリ２に過剰な電力が供給されることを未然に回避して、バッテリ２の充電を適切に行うことが可能となる。 As a result, it is possible to prevent the excessive supply of power from the power source 13 and the motor generator 3 to the battery 2 in advance, and to charge the battery 2 appropriately.
　また、上述したように、第１の実施形態において、制御部１０は、コンバータ制御部９２を介してＡＣ－ＤＣコンバータ９１に対して交流電圧を直流電圧に変換する制御を行うことで、電源１３から供給された電力でバッテリ２を充電する制御を行う。その際に、制御部１０は、充電プラグ９３が電源１３に接続された後に（図５のステップＳ１）、モータジェネレータ３の回転速度が閾値速度以下である状態が閾値時間継続するまで（図５のステップＳ８）、電源１３から供給された交流電圧を直流電圧に変換する制御を待機し、モータジェネレータ３の回転速度が閾値速度以下である状態が閾値時間継続したときに、交流電圧を直流電圧に変換する制御を行う（図５のステップＳ９）。 Further, as described above, in the first embodiment, the control unit 10 controls the AC-DC converter 91 to convert an AC voltage to a DC voltage via the converter control unit 92, thereby the power supply 13 Control to charge the battery 2 with the power supplied from the At that time, after the charging plug 93 is connected to the power supply 13 (step S1 in FIG. 5), the control unit 10 continues until the state where the rotational speed of the motor generator 3 is lower than the threshold speed continues for the threshold time (FIG. 5). Step S8), stands by for control to convert the AC voltage supplied from the power supply 13 into DC voltage, and the state where the rotational speed of the motor generator 3 is equal to or less than the threshold speed continues for a threshold time. Control to convert to (step S9 in FIG. 5).
　これにより、モータジェネレータ３の回転速度が閾値速度以下である状態が閾値時間継続するまでは、電源１３からＡＣ－ＤＣコンバータ９１に入力された交流電力の直流電力への変換を待機することができるので、車輪８の回転にともなうモータジェネレータ３の発電が十分に抑制された状態におけるバッテリ２の充電を確実に行うことができる。 Thus, conversion of AC power input from the power supply 13 to the AC-DC converter 91 to DC power can be awaited until the state where the rotational speed of the motor generator 3 is less than the threshold speed continues for the threshold time. Therefore, charging of battery 2 can be reliably performed in a state where the power generation of motor generator 3 due to the rotation of wheel 8 is sufficiently suppressed.
　また、上述したように、第１の実施形態において、制御部１０は、モータジェネレータ３の回転速度の閾値速度として、回転速度の絶対値の閾値を用いることで、車輪８の回転方向にかかわらず、車輪８の回転にともなうモータジェネレータ３の発電が十分に抑制された状態において、電源１３から供給された電力でバッテリ２を充電することができる。 In addition, as described above, in the first embodiment, the control unit 10 uses the threshold of the absolute value of the rotational speed as the threshold speed of the rotational speed of the motor generator 3, regardless of the rotational direction of the wheel 8. The battery 2 can be charged with the power supplied from the power supply 13 in a state where the power generation of the motor generator 3 due to the rotation of the wheel 8 is sufficiently suppressed.
　また、上述したように、第１の実施形態において、制御部１０は、予め設定された判定周期でモータジェネレータ３の回転速度が閾値速度以下であるか否かを判定する（図５のステップＳ５）。制御部１０は、回転速度が閾値速度以下である場合に、閾値速度以下である状態の継続時間のカウント値をインクリメントし（図５のステップＳ７）、カウント値が閾値時間に相当する完了値に達するまで、電源１３から供給された電力でバッテリ２を充電する制御を待機する（ステップＳ８）。そして、制御部１０は、カウント値が完了値に達したときに、電源１３から供給された電力でバッテリ２を充電する制御を行う（ステップＳ９）。 Further, as described above, in the first embodiment, control unit 10 determines whether or not the rotational speed of motor generator 3 is equal to or lower than the threshold speed at a preset determination cycle (step S5 in FIG. 5). ). When the rotational speed is equal to or less than the threshold speed, the control unit 10 increments the count value of the continuation time of the state equal to or less than the threshold speed (step S7 in FIG. 5). Until it reaches, control for charging the battery 2 with the power supplied from the power supply 13 is awaited (step S8). Then, when the count value reaches the completion value, the control unit 10 performs control to charge the battery 2 with the power supplied from the power supply 13 (step S9).
　これにより、カウント値が閾値時間に相当する完了値に達するまでは、電源１３から供給された電力でバッテリ２を充電する制御を待機することができる。この結果、車輪８の回転にともなうモータジェネレータ３の発電が十分に抑制された状態におけるバッテリ２の充電を簡便な制御で確実に行うことができる。 As a result, the control of charging the battery 2 with the power supplied from the power supply 13 can stand by until the count value reaches the completion value corresponding to the threshold time. As a result, charging of battery 2 in a state where the power generation of motor generator 3 due to the rotation of wheel 8 is sufficiently suppressed can be reliably performed by simple control.
　また、上述したように、第１の実施形態において、制御部１０は、モータジェネレータ３の回転速度が閾値速度以下でない場合に、閾値速度以下である状態の継続時間のカウント値をリセットする。 Further, as described above, in the first embodiment, when the rotational speed of the motor generator 3 is not equal to or lower than the threshold speed, the control unit 10 resets the count value of the continuation time of the state equal to or lower than the threshold speed.
　これにより、回転速度が閾値速度以下である状態が閾値時間継続することを確実に待ったうえで、電源１３から供給された電力でバッテリ２を充電する制御を行うことができる。この結果、車輪８の回転にともなうモータジェネレータ３の発電が十分に抑制された状態におけるバッテリ２の充電を更に確実に行うことができる。 Thus, it is possible to perform control to charge the battery 2 with the power supplied from the power supply 13 after waiting for the threshold time to continue with a state in which the rotational speed is equal to or less than the threshold speed. As a result, charging of battery 2 in a state where the power generation of motor generator 3 due to the rotation of wheel 8 is sufficiently suppressed can be performed more reliably.
（第２の実施形態）
　次に、図６を参照して、第２の実施形態に係る電動二輪車１００について説明する。図６に示すように、第２の実施形態に係る電動二輪車１００は、第１の実施形態の構成に加えて、更に、収納部の一例であるシート下収納部１４と、閉鎖状態検出部の一例であるシートスイッチ１５とを備える。 Second Embodiment
Next, with reference to FIG. 6, an electric motorcycle 100 according to a second embodiment will be described. As shown in FIG. 6, in addition to the configuration of the first embodiment, the electric motorcycle 100 according to the second embodiment further includes an under-seat storage unit 14 which is an example of a storage unit, and a closed state detection unit. And a seat switch 15 which is an example.
　シート下収納部１４は、電動二輪車１００のシートの下に設けられたバッテリ２を収納するための開閉可能なスペースである。シートは、例えばヒンジ機構等によってシート下収納部１４を開閉可能な方向に移動（例えば、回転）できるように車体に取り付けられている。運転時において、シート下収納部１４は、運転者がシートに座るためにシートで覆われる。一方、バッテリ２の充電時において、シート下収納部１４は、充電プラグ９３を取り出すためにシートの移動によって開放される。 The under-seat storage portion 14 is an openable / closable space for storing the battery 2 provided under the seat of the electric motorcycle 100. The seat is attached to the vehicle body so as to be able to move (for example, rotate) the lower sheet storage portion 14 in a direction in which the lower sheet storage portion 14 can be opened and closed by, for example, a hinge mechanism. In operation, the lower seat storage unit 14 is covered by the seat so that the driver can sit on the seat. On the other hand, when the battery 2 is charged, the lower sheet storage portion 14 is opened by the movement of the sheet in order to take out the charging plug 93.
　シートスイッチ１５は、シートの移動によってシート下収納部１４が開放された場合、シート下収納部１４の開放状態の検出結果を示すオフ信号を制御部１０に出力する。一方、シートスイッチ１５は、シートの移動によってシート下収納部１４が閉鎖された場合、シート下収納部１４の閉鎖状態の検出結果を示すオン信号を制御部１０に出力する。なお、シート下収納部１４は、充電プラグ９３が取り出された状態で閉鎖させることができる。 The sheet switch 15 outputs an off signal indicating the detection result of the open state of the lower sheet storage portion 14 to the control unit 10 when the lower sheet storage portion 14 is opened by the movement of the sheet. On the other hand, when the lower sheet storage unit 14 is closed by the movement of the sheet, the sheet switch 15 outputs an on signal indicating the detection result of the closed state of the lower sheet storage unit 14 to the control unit 10. The lower sheet storage portion 14 can be closed in a state in which the charging plug 93 is taken out.
　シートスイッチ１５は、例えば、シートを閉じるときにシートで押圧されることによってオンし、シートを開くときにシートによる押圧が解除されることによってオフするメカニカルスイッチであってもよい。 The sheet switch 15 may be, for example, a mechanical switch that is turned on by being pressed by the sheet when the sheet is closed, and turned off by releasing the pressure by the sheet when the sheet is opened.
　制御部１０は、モータジェネレータ３の回転速度が閾値速度以下である状態が閾値時間継続したときに、シートスイッチ１５によってシート下収納部１４の閉鎖状態（オン信号）が検出されている場合に、電源１３から供給された電力でバッテリ２を充電する制御を行う。 When the state where the rotational speed of the motor generator 3 is equal to or less than the threshold speed continues for the threshold time, the control section 10 detects that the sheet lower storage portion 14 is in the closed state (ON signal) by the sheet switch 15. Control is performed to charge the battery 2 with the power supplied from the power supply 13.
　以下、図７のフローチャートを参照して、第２の実施形態に係る電動二輪車１００の制御方法について、第１の実施形態との差異を中心に説明する。なお、図７のフローチャートは、必要に応じて繰り返される。 The control method of the electric motorcycle 100 according to the second embodiment will be described below with reference to the flowchart of FIG. 7, focusing on the difference from the first embodiment. The flowchart of FIG. 7 is repeated as necessary.
　図７に示すように、第２の実施形態において、制御部１０は、カウント値が完了値に達した場合（ステップＳ８：Ｙｅｓ）、シートスイッチ１５がオンしたか否かを判定する（ステップＳ１０）。 As shown in FIG. 7, in the second embodiment, when the count value reaches the completion value (step S8: Yes), the control unit 10 determines whether the sheet switch 15 is turned on (step S10). ).
　シートスイッチ１５がオンした場合（ステップＳ１０：Ｙｅｓ）、制御部１０は、コンバータ制御部９２に充電許可信号を出力する（ステップＳ９）。一方、シートスイッチ１５がオンしていない場合（ステップＳ１０：Ｎｏ）、制御部１０は、カウント値をリセットする（ステップＳ３）。 When the seat switch 15 is turned on (step S10: Yes), the control unit 10 outputs a charge permission signal to the converter control unit 92 (step S9). On the other hand, when the sheet switch 15 is not turned on (step S10: No), the control unit 10 resets the count value (step S3).
　上述したように、第２の実施形態によれば、シートが開いた状態でのバッテリ２の充電を禁止することができるので、電源１３とモータジェネレータ３との双方からバッテリ２に過剰な電力が供給されることを未然に回避して、バッテリ２の充電を適切に行いながら、シート下収納部１４内への異物の混入を防止することができる。 As described above, according to the second embodiment, since charging of the battery 2 in a state where the seat is open can be prohibited, excessive power is supplied to the battery 2 from both the power supply 13 and the motor generator 3. Contamination of foreign matter into the lower sheet storage portion 14 can be prevented while charging the battery 2 appropriately while avoiding supply of the battery 2 in advance.
　上述した実施形態で説明した電動車両制御装置１（制御部１０）の少なくとも一部は、ハードウェアで構成してもよいし、ソフトウェアで構成してもよい。ソフトウェアで構成する場合には、制御部１０の少なくとも一部の機能を実現するプログラムをフレキシブルディスクやＣＤ－ＲＯＭ等の記録媒体に収納し、コンピュータに読み込ませて実行させてもよい。記録媒体は、磁気ディスクや光ディスク等の着脱可能なものに限定されず、ハードディスク装置やメモリなどの固定型の記録媒体でもよい。 At least a part of the electric vehicle control device 1 (control unit 10) described in the above-described embodiment may be configured by hardware or may be configured by software. When configured by software, a program for realizing at least a part of the functions of the control unit 10 may be stored in a recording medium such as a flexible disk or a CD-ROM, read by a computer, and executed. The recording medium is not limited to a removable medium such as a magnetic disk or an optical disk, and may be a fixed recording medium such as a hard disk drive or a memory.
　また、制御部１０の少なくとも一部の機能を実現するプログラムを、インターネット等の通信回線（無線通信も含む）を介して頒布してもよい。さらに、同プログラムを暗号化したり、変調をかけたり、圧縮した状態で、インターネット等の有線回線や無線回線を介して、あるいは記録媒体に収納して頒布してもよい。 Further, a program for realizing at least a part of the functions of the control unit 10 may be distributed via a communication line (including wireless communication) such as the Internet. Furthermore, the program may be encrypted, modulated, compressed, or stored in a recording medium via a wired line or a wireless line such as the Internet or may be distributed.
　上記の記載に基づいて、当業者であれば、本発明の追加の効果や種々の変形を想到できるかもしれないが、本発明の態様は、上述した個々の実施形態に限定されるものではない。異なる実施形態にわたる構成要素を適宜組み合わせてもよい。特許請求の範囲に規定された内容及びその均等物から導き出される本発明の概念的な思想と趣旨を逸脱しない範囲で種々の追加、変更及び部分的削除が可能である。 Although one skilled in the art may conceive of additional effects and various modifications of the present invention based on the above description, the aspects of the present invention are not limited to the individual embodiments described above. . The components in different embodiments may be combined as appropriate. Various additions, modifications and partial deletions are possible without departing from the conceptual idea and spirit of the present invention derived from the contents defined in the claims and the equivalents thereof.
１　電動車両制御装置
２　バッテリ
３　モータジェネレータ
４　アングルセンサ
９　充電器
１０　制御部
１００　電動二輪車 DESCRIPTION OF SYMBOLS 1 Electric vehicle control apparatus 2 Battery 3 Motor generator 4 Angle sensor 9 Charger 10 Control part 100 Electric motorcycle

Claims (13)

  1. 　充放電可能なバッテリと、
    　前記バッテリから供給された電力によって車輪を駆動するためのトルクを出力し、または、前記車輪の回転にともなって電力を出力するモータジェネレータと、
    　電源から供給された電力で前記バッテリを充電する充電部と、
    　前記電力を出力する状態における前記モータジェネレータの回転速度を検出するための回転速度検出部と、
    　前記モータジェネレータが出力した電力で前記バッテリを充電し、前記充電部に対して前記電源から供給された電力で前記バッテリを充電する制御を行う制御部と、を備え、
    　前記制御部は、前記回転速度が検出された後、前記検出された回転速度が閾値速度以下である状態が閾値時間継続するまで、前記電源から供給された電力で前記バッテリを充電する制御を待機し、前記閾値速度以下である状態が前記閾値時間継続したとき、前記電源から供給された電力で前記バッテリを充電する制御を行うことを特徴とする電動車両。     Chargeable and dischargeable batteries,
    A motor generator that outputs a torque for driving a wheel by the power supplied from the battery, or outputs a power as the wheel rotates;
    A charging unit for charging the battery with power supplied from a power supply;
    A rotational speed detection unit for detecting the rotational speed of the motor generator in the state of outputting the power;
    And a control unit configured to charge the battery with the power output from the motor generator and charge the battery with the power supplied from the power supply to the charging unit.
    The control unit waits for control of charging the battery with the power supplied from the power supply until the state where the detected rotational speed is equal to or less than the threshold speed continues for a threshold time after the rotational speed is detected. And controlling the charging of the battery with the power supplied from the power supply when the state of being equal to or less than the threshold speed continues for the threshold time.
  2. 　前記電力を出力する状態は、外力で前記車輪を回転させ得るように車両のスタンドが立てられて前記車輪が地面から離れた状態であることを特徴とする請求項１に記載の電動車両。 The electric vehicle according to claim 1, wherein the electric power is output in such a manner that a stand of the vehicle is erected so that the wheel can be rotated by an external force, and the wheel is separated from the ground.
  3. 　前記バッテリを収納する開閉可能な収納部と、
    　前記収納部の閉鎖状態を検出するための閉鎖状態検出部と、を更に備え、
    　前記制御部は、前記閾値速度以下である状態が前記閾値時間継続したときに、前記閉鎖状態が検出されている場合に、前記電源から供給された電力で前記バッテリを充電する制御を行うことを特徴とする請求項１に記載の電動車両。     An openable / closable storage unit for storing the battery;
    A closed state detection unit for detecting a closed state of the storage unit;
    The control unit performs control of charging the battery with the power supplied from the power supply when the closed state is detected when the state of being equal to or less than the threshold speed continues the threshold time. The electric vehicle according to claim 1, characterized in that
  4. 　前記収納部は、車両のシートによって開閉されることを特徴とする請求項３に記載の電動車両。 The electric vehicle according to claim 3, wherein the storage portion is opened and closed by a seat of the vehicle.
  5. 　前記充電部は、前記電源に接続される充電プラグと、前記充電プラグを介して前記電源から入力された交流電圧を直流電圧に変換するＡＣ－ＤＣコンバータと、を有し、
    　前記制御部は、前記ＡＣ－ＤＣコンバータに対して前記交流電圧を前記直流電圧に変換する制御を行うことで、前記電源から供給された電力で前記バッテリを充電する制御を行うことを特徴とする請求項１に記載の電動車両。     The charging unit includes a charging plug connected to the power supply, and an AC-DC converter for converting an AC voltage input from the power supply via the charging plug into a DC voltage.
    The control unit controls the AC-DC converter to convert the AC voltage to the DC voltage, thereby performing control to charge the battery with the power supplied from the power supply. The electric vehicle according to claim 1.
  6. 　前記制御部は、前記充電プラグが前記電源に接続された後に、前記閾値速度以下である状態が前記閾値時間継続するまで、前記交流電圧を前記直流電圧に変換する制御を待機し、前記閾値速度以下である状態が前記閾値時間継続したとき、前記交流電圧を前記直流電圧に変換する制御を行うことを特徴とする請求項５に記載の電動車両。 The control unit waits for control to convert the alternating current voltage to the direct current voltage until the state of being equal to or less than the threshold speed continues after the charging plug is connected to the power supply, the threshold speed 6. The electrically powered vehicle according to claim 5, wherein control is performed to convert the AC voltage into the DC voltage when the following condition continues for the threshold time.
  7. 　前記閾値速度は、前記回転速度の絶対値の閾値であることを特徴とする請求項１に記載の電動車両。 The electric vehicle according to claim 1, wherein the threshold speed is a threshold of an absolute value of the rotation speed.
  8. 　前記制御部は、予め設定された判定周期で前記回転速度が前記閾値速度以下であるか否かを判定し、前記回転速度が前記閾値速度以下である場合に、前記閾値速度以下である状態の継続時間のカウント値をインクリメントし、前記カウント値が前記閾値時間に相当する完了値に達するまで、前記電源から供給された電力で前記バッテリを充電する制御を待機し、前記カウント値が前記完了値に達したときに、前記電源から供給された電力で前記バッテリを充電する制御を行うことを特徴とする請求項１に記載の電動車両。 The control unit determines whether or not the rotation speed is equal to or less than the threshold speed in a determination cycle set in advance, and the state is equal to or less than the threshold speed when the rotation speed is equal to or less than the threshold speed. The control unit waits for control to charge the battery with the power supplied from the power supply until the count value of the duration is incremented and the count value reaches the completion value corresponding to the threshold time, and the count value is the completion value. The electrically powered vehicle according to claim 1, wherein when the power supply system has reached, control is performed to charge the battery with the power supplied from the power supply.
  9. 　前記制御部は、前記回転速度が前記閾値速度以下でない場合に前記カウント値をリセットすることを特徴とする請求項８に記載の電動車両。 The electric vehicle according to claim 8, wherein the control unit resets the count value when the rotation speed is not equal to or less than the threshold speed.
  10. 　前記制御部は、前記バッテリから前記モータジェネレータに電力を供給する制御を行うことを特徴とする請求項１に記載の電動車両。 The electric vehicle according to claim 1, wherein the control unit performs control of supplying power from the battery to the motor generator.
  11. 　前記車輪と前記モータジェネレータとがクラッチを介さずに機械的に接続されていることを特徴とする請求項１に記載の電動車両。 The electric vehicle according to claim 1, wherein the wheel and the motor generator are mechanically connected without a clutch.
  12. 　充放電可能なバッテリと、
    　前記バッテリから供給された電力によって車輪を駆動するためのトルクを出力し、または、前記車輪の回転にともなって電力を出力するモータジェネレータと、
    　電源から供給された電力で前記バッテリを充電する充電部と、
    　前記電力を出力する状態における前記モータジェネレータの回転速度を検出するための回転速度検出部と、を備える電動車両を制御する電動車両制御装置であって、
    　前記モータジェネレータが出力した電力で前記バッテリを充電し、前記充電部に対して前記電源から供給された電力で前記バッテリを充電する制御を行う制御部を備え、
    　前記制御部は、前記回転速度が検出された後、前記検出された回転速度が閾値速度以下である状態が閾値時間継続するまで、前記電源から供給された電力で前記バッテリを充電する制御を待機し、前記閾値速度以下である状態が前記閾値時間継続したとき、前記電源から供給された電力で前記バッテリを充電する制御を行うことを特徴とする電動車両制御装置。     Chargeable and dischargeable batteries,
    A motor generator that outputs a torque for driving a wheel by the power supplied from the battery, or outputs a power as the wheel rotates;
    A charging unit for charging the battery with power supplied from a power supply;
    And a rotational speed detection unit for detecting the rotational speed of the motor generator in the state of outputting the electric power.
    The control unit is configured to charge the battery with the power output from the motor generator, and control the charging unit to charge the battery with the power supplied from the power supply.
    The control unit waits for control of charging the battery with the power supplied from the power supply until the state where the detected rotational speed is equal to or less than the threshold speed continues for a threshold time after the rotational speed is detected. And controlling the charging of the battery with the power supplied from the power supply when the state of being below the threshold speed continues for the threshold time.
  13. 　充放電可能なバッテリと、
    　前記バッテリから供給された電力によって車輪を駆動するためのトルクを出力し、または、前記車輪の回転にともなって電力を出力するモータジェネレータと、
    　電源から供給された電力で前記バッテリを充電する充電部と、
    　前記電力を出力する状態における前記モータジェネレータの回転速度を検出するための回転速度検出部と、を備える電動車両を制御する電動車両制御方法であって、
    　前記回転速度が検出された後、前記検出された回転速度が閾値速度以下である状態が閾値時間継続するまで、前記電源から供給された電力で前記バッテリを充電する制御を待機し、前記閾値速度以下である状態が前記閾値時間継続したとき、前記電源から供給された電力で前記バッテリを充電する制御を行うことを特徴とする電動車両制御方法。     Chargeable and dischargeable batteries,
    A motor generator that outputs a torque for driving a wheel by the power supplied from the battery, or outputs a power as the wheel rotates;
    A charging unit for charging the battery with power supplied from a power supply;
    And a rotational speed detection unit for detecting the rotational speed of the motor generator in the state of outputting the electric power.
    After the rotational speed is detected, control is waited for charging the battery with the power supplied from the power supply until the state where the detected rotational speed is less than or equal to the threshold speed continues for a threshold time, the threshold speed The electric vehicle control method characterized by performing control which charges the said battery with the electric power supplied from the said power supply, when the state which is the following continues for the said threshold time.
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