WO2020017445A1 - モータ制御装置及び方法、並びに電動アシスト車 - Google Patents

モータ制御装置及び方法、並びに電動アシスト車 Download PDF

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Publication number
WO2020017445A1
WO2020017445A1 PCT/JP2019/027668 JP2019027668W WO2020017445A1 WO 2020017445 A1 WO2020017445 A1 WO 2020017445A1 JP 2019027668 W JP2019027668 W JP 2019027668W WO 2020017445 A1 WO2020017445 A1 WO 2020017445A1
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Prior art keywords
pedal
speed
rotation
motor
control device
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PCT/JP2019/027668
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English (en)
French (fr)
Japanese (ja)
Inventor
保坂　康夫
弘和 白川
太一 ▲柳▼岡
Original Assignee
太陽誘電株式会社
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Priority to DE112019001369.6T priority Critical patent/DE112019001369B4/de
Priority to JP2020531286A priority patent/JP7308198B2/ja
Publication of WO2020017445A1 publication Critical patent/WO2020017445A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/20—Electric propulsion with power supplied within the vehicle using propulsion power generated by humans or animals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
    • 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
    • B60L7/18—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/12—Bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions
    • B60L2240/642—Slope of road
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • 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
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Definitions

  • the present invention relates to a regeneration control technique for an electric assist vehicle.
  • the regeneration is automatically started without the user's operation, so that the regeneration is expected to be performed even in the running state where the regeneration has not been performed, and the regeneration amount is expected to increase.
  • the regeneration is automatically started when the user does not intend to decelerate, the user may feel uncomfortable.
  • Patent Document 2 when a detection unit detects a start instruction or a stop instruction of regenerative control by a passenger, and (b) a start instruction of regenerative control is detected by a detection unit, If the current vehicle speed is higher than the first vehicle speed until the first vehicle speed at the time of detection is specified and the control coefficient for the regenerative target amount is set to a predetermined value and the detection unit detects an instruction to stop the regenerative control.
  • the regenerative control start instruction is such that a reverse rotation of the pedal by a predetermined phase angle or more, the regenerative control start instruction switch is turned on, or the brake switch is continuously turned on within a predetermined time. It is said to be detected by.
  • regenerative braking force is applied in consideration of the intention of the occupant, and regenerative control is performed so as to maintain the first vehicle speed as much as possible. It is assumed that the occupant remembers an operation for instructing the start of the regenerative control with the intention to specify. Further, the vehicle speed at the time of instructing the start of the regenerative control is to be maintained, but the vehicle speed preferable for the occupant is not necessarily the vehicle speed at the time of instructing the start of the regenerative control.
  • the intention of the passenger is clear, but it is costly to provide the instruction switch, and it is an operation that is not normally performed, so it is troublesome to press the instruction switch during traveling. Hangs.
  • the cost for providing the brake switch is required, and the regenerative control depends on the brake operation, so that the energy obtained by the regeneration is not sufficient.
  • a sensor capable of detecting the reverse rotation is used, so that the cost is increased and the reverse rotation of the pedal is intended with the intention of specifying the first vehicle speed. Attempting to do so may result in sudden reverse rotation during normal rotation, which may complicate pedal operation.
  • an object of the present invention is to provide a new technique for performing regenerative control according to an estimated user's intention, as one aspect.
  • the motor control device includes: (A) a driving unit that drives a motor; and (B) a state of a predetermined traveling or pedal operation that is presumed to have no intention to accelerate.
  • a control unit that specifies the speed of the vehicle that moves in accordance with at least one of the rotations, determines a regenerative amount based on the specified speed, and controls the driving unit according to the regenerative amount.
  • FIG. 1 is a diagram showing an appearance of the electric assist bicycle.
  • FIG. 2 is a diagram illustrating a configuration example of the motor control device.
  • FIG. 3 is a diagram illustrating a configuration example of the regeneration control unit.
  • FIG. 4 is a diagram showing a processing flow in the embodiment.
  • FIG. 5 is a diagram illustrating a processing flow of the reference speed setting processing A.
  • FIG. 6 is a diagram depicting a processing flow of a confirmation processing;
  • FIG. 7 is a diagram depicting a processing flow of a regeneration amount determination processing;
  • FIG. 8 is a diagram illustrating an example of a correspondence relationship between ⁇ V and a regeneration coefficient.
  • FIG. 9 is a diagram for describing a control example according to the embodiment.
  • FIG. 9 is a diagram for describing a control example according to the embodiment.
  • FIG. 10 is a diagram depicting a processing flow of a reference speed setting processing B;
  • FIG. 11 is a diagram illustrating a processing flow of the reference speed setting processing C.
  • FIG. 12 is a diagram illustrating a processing flow of the regeneration amount determination processing B.
  • FIG. 13 is a diagram illustrating a processing flow of the reference speed adjustment processing A.
  • FIG. 14 is a diagram for explaining a specific example of the reference speed adjustment.
  • FIG. 15 is a diagram illustrating a processing flow of the reference speed adjustment processing B.
  • FIG. 16 is a diagram illustrating a processing flow of the reference speed adjustment processing C.
  • an electric assist bicycle which is an example of an electric assist vehicle.
  • the embodiment of the present invention is not limited to an electric bicycle, and is not limited to a motor-assisted bicycle.
  • a motor for assisting the movement of a moving body for example, a bogie, a wheelchair, an elevator, etc.
  • the present invention is also applicable to a motor control device and the like.
  • FIG. 1 is an external view showing an example of an electric assist bicycle which is an example of the electric assist vehicle in the present embodiment.
  • This electric assist bicycle 1 is equipped with a motor drive device.
  • the motor driving device includes a battery pack 101, a motor control device 102, a torque sensor 103, a pedal rotation sensor 104, a motor 105, and an operation panel 106.
  • the electric assist bicycle 1 may have the brake sensor 107 in some cases, but is not used in the present embodiment.
  • the electric assist bicycle 1 also has front wheels, rear wheels, headlights, freewheels, transmissions, and the like.
  • the battery pack 101 is, for example, a lithium ion secondary battery, but may be another type of battery, for example, a lithium ion polymer secondary battery, a nickel hydrogen storage battery, or the like.
  • the battery pack 101 supplies electric power to the motor 105 via the motor control device 102, and also performs charging with regenerative electric power from the motor 105 via the motor control device 102 during regeneration.
  • the torque sensor 103 is provided around the crankshaft, detects the pedaling force of the driver by the driver, and outputs the detection result to the motor control device 102.
  • the pedal rotation sensor 104 is provided around the crankshaft, and outputs a signal corresponding to the rotation to the motor control device 102.
  • the motor 105 is, for example, a known three-phase DC brushless motor, and is mounted on, for example, the front wheels of the electric assist bicycle 1.
  • the motor 105 rotates the front wheels, and the rotor is connected to the front wheels so that the rotor rotates according to the rotation of the front wheels.
  • the motor 105 includes a rotation sensor such as a Hall element and outputs rotation information of the rotor (that is, a Hall signal) to the motor control device 102.
  • the motor control device 102 performs a predetermined calculation based on signals from the rotation sensor, the torque sensor 103, the pedal rotation sensor 104, and the like of the motor 105, controls the driving of the motor 105, and also controls the regeneration by the motor 105.
  • the operation panel 106 receives, for example, an instruction input regarding the presence / absence of assist (that is, turning on / off the power switch), and if there is assist, an input of a desired assist ratio and the like from the user, and inputs the instruction input and the like to the motor control device 102.
  • the operation panel 106 may have a function of displaying data such as a travel distance, a travel time, a calorie consumption, and a regenerative electric energy, which are the results calculated by the motor control device 102.
  • the operation panel 106 may have a display unit such as an LED (Light Emitting Diode). Thereby, for example, the charge level of the battery pack 101, the on / off state, the mode corresponding to the desired assist ratio, and the like are presented to the driver.
  • LED Light Emitting Diode
  • FIG. 2 shows a configuration related to the motor control device 102 according to the present embodiment.
  • the motor control device 102 includes a controller 1020 and an FET (Field Effect Transistor) bridge 1030.
  • the FET bridge 1030 includes a high-side FET (Suh) and a low-side FET (Sul) for switching the U-phase of the motor 105, and a high-side FET (Svh) and a low-side FET (Svl) for switching the V-phase of the motor 105. ), And a high-side FET (Swh) and a low-side FET (Swl) for switching the W phase of the motor 105.
  • the FET bridge 1030 is a driving unit of the motor 105 and forms a part of a complementary switching amplifier.
  • the controller 1020 includes an arithmetic unit 1021, a pedal rotation input unit 1022, a motor rotation input unit 1024, a variable delay circuit 1025, a motor drive timing generation unit 1026, a torque input unit 1027, and an AD (Analog- Digital) input unit 1029.
  • the calculation unit 1021 includes an input from the operation panel 106 (for example, turning on / off the assist), an input from the pedal rotation input unit 1022, an input from the motor rotation input unit 1024, an input from the torque input unit 1027, and an AD input unit. A predetermined calculation is performed using the input from 1029 and output to the motor drive timing generation unit 1026 and the variable delay circuit 1025.
  • the calculation unit 1021 includes a memory 10211, and the memory 10211 stores various data used for calculation, data being processed, and the like.
  • the arithmetic unit 1021 may be realized by a processor executing a program, and in this case, the program may be stored in the memory 10211.
  • the memory 10211 may be provided separately from the arithmetic unit 1021 in some cases.
  • the pedal rotation input unit 1022 digitizes a pedal rotation phase angle (also simply referred to as a pedal rotation angle or a crank rotation phase angle, which may include a signal indicating a rotation direction) from the pedal rotation sensor 104. And outputs the result to the calculation unit 1021.
  • the motor rotation input unit 1024 digitizes a signal (for example, a rotation phase angle, a rotation direction, and the like) regarding the rotation of the motor 105 (the rotation of the front wheels in the present embodiment) from the Hall signal output by the motor 105, and converts the signal into a calculation unit 1021.
  • Output to Torque input section 1027 digitizes a signal corresponding to the pedaling force from torque sensor 103 and outputs the signal to arithmetic section 1021.
  • AD input section 1029 digitizes the output voltage from the secondary battery and outputs the result to arithmetic section 1021.
  • Calculating section 1021 outputs a lead angle value to variable delay circuit 1025 as a calculation result.
  • the variable delay circuit 1025 adjusts the phase of the Hall signal based on the advance angle value received from the arithmetic unit 1021, and outputs the adjusted hall signal to the motor drive timing generation unit 1026.
  • the calculation unit 1021 outputs a PWM code corresponding to, for example, a duty ratio of PWM (Pulse Width Modulation) to the motor drive timing generation unit 1026 as a calculation result.
  • the motor drive timing generation unit 1026 generates and outputs a switching signal for each FET included in the FET bridge 1030 based on the adjusted Hall signal from the variable delay circuit 1025 and the PWM code from the calculation unit 1021.
  • the motor 105 may be driven by power or may be regeneratively braked.
  • the basic operation of the motor is described in International Publication No. 2012/086459 and the like, and is not a main part of the present embodiment.
  • FIG. 3 shows a functional block configuration example (portion according to the present embodiment) related to the regeneration control unit 3000 in the arithmetic unit 1021.
  • the regeneration control unit 3000 includes a regeneration target calculation unit 3100, a reference speed setting unit 3200, and a control unit 3300.
  • the regeneration target calculation unit 3100 specifies a regeneration target amount that is predetermined according to the speed, the acceleration, or the like from the current speed, the acceleration, or the like, and outputs it.
  • the reference speed setting unit 3200 sets a reference speed which is a reference speed for performing the regenerative control.
  • the parameters used by the reference speed setting unit 3200 to set the reference speed are various, but there are cases where a pedal torque input is used and cases where a pedal torque input and a pedal rotation input are used.
  • the rotation speed or the vehicle speed of the front wheel and the rotation speed of the rear wheel converted based on the pedal rotation (the rotation speed obtained by converting the pedal rotation into the rotation speed of the rear wheel based on the gear ratio and the like, also referred to as a pedal-converted rotation speed)
  • the vehicle speed of the rear wheel also referred to as a pedal rotation conversion speed (a speed obtained by converting the pedal rotation into a vehicle speed based on a gear ratio or the like)
  • these parameters are used to detect that the user has no intention of acceleration.
  • the control unit 3300 receives the reference speed and the regeneration enable flag from the reference speed setting unit 3200, the speed and the like from the motor rotation processing unit 2000, the regeneration target amount from the regeneration target calculation unit 3100, and the The regenerative amount is calculated based on the pedal rotation input and the pedal torque input from the torque input unit 1027, and regenerative control is performed according to the regenerative amount.
  • control unit 3300 determines a regeneration coefficient from the obtained data, and calculates the regeneration amount by multiplying the regeneration coefficient by the regeneration target amount.
  • Control unit 3300 may perform not only regenerative control according to the present embodiment but also regenerative control based on another viewpoint. For example, automatic regeneration control based on acceleration or speed may be performed.
  • the arithmetic unit 1021 drives the motor 105 via the motor drive timing generation unit 1026, the variable delay circuit 1025, and the FET bridge 1030 so as to perform the conventional power running drive.
  • the arithmetic unit 1021 regenerates the motor 105 via the motor drive timing generation unit 1026, the variable delay circuit 1025, and the FET bridge 1030 so as to realize the regeneration amount output by the control unit 3300. Control.
  • the pedal rotation speed is reduced or stopped, and the timing when the pedal torque input almost disappears, the timing when the pedal torque input and the pedal rotation almost disappear
  • the current vehicle speed is set as a reference speed (that is, an upper limit speed) at a timing when a predetermined relationship between the motor rotation and the pedal rotation, which is estimated to have no intention to accelerate, is detected.
  • the regenerative control is started to suppress the speed increase.
  • a regenerative coefficient is set based on the difference between the reference speed and the current speed to activate regenerative braking.
  • the regeneration amount is controlled so as to realize a traveling state according to the user's intention, more comfortable traveling can be performed.
  • the regeneration control unit 3000 measures various data (FIG. 4: step S1).
  • pedal torque, vehicle speed, pedal rotation angle, and the like are measured. In other embodiments, additional parameters may be measured.
  • the reference speed setting unit 3200 determines whether or not the regeneration enable flag is ON (step S3). If the regeneration possible flag is ON, the process proceeds to step S7. On the other hand, if the regenerative flag is OFF, the reference speed setting unit 3200 executes a reference speed setting process (step S5).
  • the reference speed setting process according to the present embodiment will be described later with reference to FIG.
  • control unit 3300 executes a confirmation process for confirming whether the regenerative control according to the present embodiment may be performed (step S7).
  • the confirmation processing will be described later with reference to FIG.
  • the control unit 3300 executes the regeneration amount determination processing based on the processing result of the confirmation processing (step S9).
  • the regeneration amount determination processing will be described later with reference to FIG.
  • a regenerative coefficient is determined based on the reference speed, and the regenerative target is calculated from the regenerative target amount and the regenerative coefficient calculated by the regenerative target calculating unit 3100.
  • the amount is determined, and the motor 105 is caused to perform regenerative braking via the FET bridge 1030 or the like in order to realize the amount of regeneration.
  • the regenerative control unit 3000 determines whether or not to end the process based on an instruction to turn off the power (step S11). If the process is not to be ended, the process returns to step S1. On the other hand, if the processing is to be ended, the processing is ended here.
  • a regenerable flag is set in advance, and a reference speed is set at that timing, and when a speed increase from the reference speed is detected, the speed increase is detected.
  • the regenerative amount is determined so that the regenerative braking is performed.
  • regenerable flag and the time flag are initially set to OFF.
  • the reference speed setting unit 3200 determines whether the pedal torque is equal to or less than a predetermined threshold TH11 (FIG. 5: step S21).
  • the threshold value TH11 is a threshold value for determining that there is almost no pedal torque input. If the pedal torque exceeds the threshold value TH11, it is determined that the user intends to accelerate, and the process proceeds to step S35.
  • the reference speed setting unit 3200 determines whether the time flag indicating whether or not time measurement is being performed is ON. It is determined whether or not it is (step S23). If the time flag is not ON, the reference speed setting unit 3200 sets the time flag to ON (step S25). Further, the reference speed setting unit 3200 starts time measurement (step S27). Then, the process returns to the calling process.
  • the reference speed setting unit 3200 determines whether the measurement time from step S27 has passed a certain time. It is determined whether or not it is (step S29). If the measurement time has not passed the predetermined time, the process returns to the process of the calling source.
  • step S27 if the measurement time from step S27 has passed a certain time, it means that the state where the pedal torque is equal to or less than the threshold value TH11 has continued for a certain time or more.
  • a regenerative flag indicating whether or not the regeneration is possible is set to ON (step S31).
  • the reference speed setting unit 3200 sets the current speed from the motor rotation processing unit 2000 to the reference speed V0 (step S33).
  • the regenerable state is detected, and the reference speed V0 is set. Note that the regenerable flag and the reference speed V0 are output to the control unit 3300.
  • the reference speed setting unit 3200 sets the time flag to OFF and clears the measurement time (Step S35). As a result, the next time measurement can be performed appropriately. Then, the process returns to the calling process.
  • the reference speed setting process A As described above, according to the reference speed setting process A according to the present embodiment, if there is little input of pedal torque for a certain period of time or longer, it is estimated that the user does not intend to accelerate, and the reference speed V0 Is set, and a regeneration enable flag is set to prepare for regeneration control.
  • control unit 3300 determines whether or not the pedal rotation angle is less than threshold value TH2 (FIG. 6: step S41). This is because if the pedal rotation angle is made to a certain degree (threshold TH2) or more, it is presumed that the user is going to accelerate by pedaling, and it is not preferable to perform regeneration. Therefore, when the pedal rotation angle is equal to or larger than threshold value TH2, control unit 3300 sets the regenerable flag to OFF (step S47). Then, the process returns to the calling process.
  • threshold value TH2 threshold value TH2
  • the control unit 3300 determines whether the pedal torque is less than the threshold value TH3 (step S43).
  • the threshold value TH3 may be the same as the threshold value TH11, but may be a value larger than the threshold value TH11. If the threshold value TH3 is larger than the threshold value TH11, it is possible to suppress a swing in which the regenerable flag is turned ON or OFF due to a measurement error or the like. If the pedal torque is equal to or larger than the threshold value TH3, the process proceeds to step S47.
  • the control unit 3300 determines whether the current speed from the motor rotation processing unit 2000 exceeds the threshold TH4 (step S45). This is because it is inappropriate to perform the regenerative control when a certain speed is not obtained. If the current speed is equal to or less than the threshold TH4, the process proceeds to step S47. On the other hand, if the current speed exceeds the threshold TH4, the regenerative flag is not set to OFF, and the process returns to the process of the caller.
  • the regenerative enable flag is set. Set the flag to OFF.
  • the controller 3300 determines whether or not the regenerative flag is ON (FIG. 7: step S51). When the regenerable flag is OFF, it is inappropriate to perform the regenerative control according to the present embodiment. Therefore, control unit 3300 determines the regenerative amount (may be 0) under other conditions. Then, the regenerative braking of the motor 105 according to the regeneration amount is performed by the FET bridge 1030 and the like (step S59). Then, the process returns to the calling process.
  • the control unit 3300 determines whether the current speed from the motor rotation processing unit 2000 exceeds the reference speed V0 (step S53). In the present embodiment, when the current speed exceeds the reference speed V0, the speed is suppressed by regenerative braking. Therefore, if the current speed is equal to or lower than the reference speed V0, the present embodiment Such regenerative control is not performed. However, control may be performed such that a regeneration coefficient smaller than the current regeneration coefficient is used.
  • step S59 if the current speed is equal to or lower than the reference speed V0, the process proceeds to step S59.
  • ⁇ V current speed ⁇ V0
  • step S55 the correspondence between ⁇ V and the regeneration coefficient [%] is determined in advance.
  • FIG. 8 shows an example of this correspondence.
  • the vertical axis represents the regeneration coefficient [%]
  • the horizontal axis represents ⁇ V [km / h].
  • the relationship may be represented by a straight line a (which may be 100 or may be a value less than 100).
  • the regenerative coefficient may be determined based on another index value calculated by an equation including the (current speed-V0) term instead of the simple ⁇ V.
  • the determined regenerative coefficient is used as it is, a shock due to a large change in acceleration is given to the user. Therefore, it is necessary to gradually increase the regenerative coefficient to the determined regenerative coefficient from the time when the brake is turned off. Control is also performed.
  • the control unit 3300 determines the regenerative amount by multiplying the regenerative coefficient by the regenerative target amount corresponding to the current acceleration or the like output from the regenerative target calculating unit 3100, and according to the regenerative value via the FET bridge 1030 or the like.
  • the motor 105 performs regenerative braking (step S57). Then, the process returns to the calling process.
  • the timing is set at that timing.
  • the regeneration control is performed based on the reference speed V0.
  • FIG. 9 shows an operation example.
  • an operation in the case where the road surface changes from a flat ground to a downhill while the electric assist bicycle 1 is traveling will be described.
  • a case in which regeneration is performed according to a brake operation will be described first.
  • the user is pedaling, and regeneration is not performed.
  • a signal indicating pedal torque off is turned on in FIG. 9B.
  • the electrically assisted bicycle 1 enters a downhill, and the speed starts to increase as indicated by a dotted line c in FIG.
  • FIG. 9C the regenerable flag is turned on at time t2 as shown by the solid line a in FIG. 9C.
  • the speed at time t2 is set to the reference speed V0.
  • the regenerative operation state is set at the time t4, but in the present embodiment, the regenerative operation state is set at the time t3.
  • This allows the user to maintain the reference speed V0 without performing the brake operation, so that safe driving can be performed without performing the brake operation.
  • the regeneration is performed ahead of time, and the regeneration is performed in accordance with the brake operation. , The amount of charge also increases.
  • FIG. 10 shows a processing flow of the reference speed setting processing B.
  • the same parts as those in the reference speed setting processing A are denoted by the same reference numerals. That is, the difference between FIG. 5 and FIG. 10 is only the part where step S61 is added at the beginning.
  • the reference speed setting unit 3200 determines whether or not the pedal rotation angle is equal to or less than the threshold value TH12 (Step S61). If the pedal rotation angle exceeds the threshold value TH12, the process proceeds to step S35. On the other hand, if the pedal rotation angle is equal to or smaller than the threshold value TH12, the process proceeds to step S21.
  • the threshold value TH12 may be the same as the threshold value TH2, or may be a value smaller than the threshold value TH2. If TH12> TH2, it is possible to prevent the regenerative flag from turning ON or OFF due to a measurement error, slight pedal rotation, or the like.
  • FIG. 11 shows a processing flow of the reference speed setting processing C.
  • the same parts as those in the reference speed setting processing A are denoted by the same reference numerals. That is, the difference between FIG. 5 and FIG. 11 is the part where steps S71 and S73 are provided instead of step S21 at the beginning.
  • the reference speed setting unit 3200 calculates the rotation difference according to the present embodiment (FIG. 11: step S71).
  • the rotation difference according to the present embodiment is, for example, a difference between the rotation speed of the front wheel and the rotation speed of the rear wheel converted based on the pedal rotation (for example, the rotation speed of the front wheel ⁇ the rotation speed of the rear wheel). ).
  • a difference between the vehicle speed of the front wheels and the vehicle speed of the rear wheels converted based on the pedal rotation for example, the vehicle speed of the front wheels minus the vehicle speed of the rear wheels may be used.
  • a ratio or the like (for example, the rotation speed of the front wheel / the rotation speed of the rear wheel, the vehicle speed of the front wheel / the vehicle speed of the rear wheel) is used to determine whether or not the deviation is equal to or more than a predetermined level. You may make it determine.
  • the rotation speed of the front wheel is a first index value according to the rotation of the wheel
  • the rotation speed of the rear wheel is a second index value according to the rotation of the pedal. Then, based on this, it may be determined whether or not the first index value and the second index value deviate by a predetermined level or more.
  • the reference speed setting unit 3200 determines whether or not the rotation difference is equal to or larger than the threshold value TH13 (Step S73). If the rotation difference is equal to or greater than the threshold value TH13, it is estimated that the user has no intention to accelerate, and the process proceeds to step S23. On the other hand, when the rotation difference is less than the threshold value TH13, the process proceeds to step S35.
  • the rotation of the front wheels is focused on.
  • the rotation of the wheels of the electric assist bicycle 1 is detected or the vehicle speed is measured. Just do it.
  • the speed increase from the reference speed is compared with the first embodiment. Similarly, it can be suppressed.
  • the reference speed V0 is not changed unless the regenerable flag is turned off.
  • the speed V0 may be changed. For example, when going down a hill, if it is felt that regenerative braking is too effective, the reference speed V0 may be increased by explicitly instructing.
  • step S41 of the confirmation process (FIG. 6) is not executed, but the basic processing flow is the same as that of the first embodiment. The same is true, and only the regeneration amount determination processing is changed.
  • ⁇ Regeneration amount determination processing B according to the present embodiment will be described with reference to FIG.
  • the same parts as those in the regeneration amount determination processing shown in FIG. 7 are denoted by the same reference numerals. That is, the difference between the regenerative amount determination process and the regenerative amount determination process B in FIG. 7 is such that a process (step S81) in which the reference speed setting unit 3200 executes the reference speed adjustment process is added between steps S51 and S53. It is the part that is. That is, if the regenerable flag is set to ON, the reference speed adjustment processing is executed.
  • a reference speed adjustment process A shown in FIG. 13 is executed.
  • the present embodiment is an example in which the pedal rotation sensor 104 that can distinguish between the normal rotation of the pedal and the reverse rotation of the pedal is used.
  • the reference speed setting unit 3200 determines whether or not the pedal is rotating forward based on the pedal rotation input (step S91). If the pedal is rotating forward, the reference speed setting unit 3200 determines whether or not the pedal rotation angle is equal to or greater than the threshold TH21 (step S93). For example, it is determined whether the rotation has been made 360 ° or more. For example, the cumulative pedal rotation angle after the regenerable flag is set to ON may be measured, and the cumulative pedal rotation angle may be returned to zero each time the reference speed V0 is adjusted. If the pedal rotation angle is less than the threshold value TH21, the process returns to the calling process.
  • the reference speed setting unit 3200 increases the reference speed V0 by dV (step S95).
  • dV is, for example, 1 km / h. Then, the process returns to the calling process.
  • the reference speed setting unit 3200 determines whether or not the pedal is rotating backward (step S97). If the pedal is not rotating in the reverse direction, that is, if the pedal rotation has stopped, the process returns to the calling process.
  • the reference speed setting unit 3200 determines whether or not the pedal reverse rotation angle is equal to or larger than the threshold value TH21 (step S99). If the pedal reverse rotation angle is less than the threshold value TH21, the process returns to the calling process.
  • the reference speed setting unit 3200 decreases the reference speed V0 by dV (step S101). Then, the process returns to the calling process.
  • the dV at the time of decreasing may be different from the dV at the time of increasing.
  • the reference speed V0 is schematically adjusted as shown in FIG.
  • the upper part of FIG. 14 shows a change in the pedal rotation angle.
  • the lower part of FIG. 14 shows a change in the reference speed V0 (the horizontal axis represents the pedal rotation angle, and the vertical axis represents the reference speed).
  • the pedal rotation angle is 0 ° to less than 360 °
  • the reference speed remains at V0.
  • the rotation is 1 forward rotation, that is, 360 ° forward rotation, V0 + 1km is obtained. / H. If it is 360 ° or more and less than 720 °, there is no change. If two forward rotations, that is, 720 ° forward rotation, change to V0 + 2 km / h.
  • the upper limit value of the adjustment amount is set, and the reference speed V0 does not change even if the pedal is further rotated forward, but may be changed. Note that the reference speed V0 is not changed beyond +2 km / h. However, an upper limit value may be provided for the adjusted reference speed V0 so that the reference speed V0 does not exceed the upper limit.
  • the reference speed V0 can be increased or decreased based on a user's explicit instruction. If the user feels the speed is too fast or too slow, the user can rotate the pedal to make adjustments.
  • the upper limit value or the lower limit value of the adjustment amount is set, even if the user rotates the pedal excessively, it is possible to avoid a sudden change in ride quality.
  • Such adjustment of the reference speed may be performed only when the pedal torque is less than the threshold value. This is because if the pedal torque is measured to a certain extent or more, it is estimated that the user intends to accelerate, and it is estimated that adjustment of the reference speed is unnecessary.
  • the reference speed V0 is changed every 360 °, but the reference speed V0 may be changed every other angle. Further, the reference speed V0 may be changed linearly or exponentially according to the rotation angle. Further, the reference speed V0 may be changed according to the pedal rotation angle along a curve defined separately.
  • the reference speed V0 may be decreased instead of being increased by the forward rotation, and may be increased rather than decreased by the reverse rotation.
  • the pedal rotation sensor 104 capable of distinguishing between the normal rotation of the pedal and the reverse rotation of the pedal is used.
  • the reference speed adjustment processing B (FIG. 15) may be executed.
  • the reference speed setting unit 3200 determines whether or not the pedal rotation angle is equal to or greater than the threshold TH21 (step S111). For example, it is determined whether the rotation has been made 360 ° or more. For example, the cumulative pedal rotation angle after the regenerable flag is set to ON may be measured, and the cumulative pedal rotation angle may be returned to zero each time the reference speed V0 is adjusted. If the pedal rotation angle is less than the threshold value TH21, the process returns to the calling process.
  • the reference speed setting unit 3200 increases the reference speed V0 by dV or decreases the reference speed V0 by dV (step S113).
  • dV is, for example, 1 km / h. Then, the process returns to the calling process.
  • the dV at the time of decreasing may be different from the dV at the time of increasing.
  • the reference speed V0 is increased or decreased according to the rotation angle.
  • the increment or decrement may be stepwise increased or decreased every rotation, that is, every 360 °, linearly or along an arbitrary curve. It may be increased or decreased.
  • ⁇ Restriction of adjustment by pedal torque may be the same as that of the fourth embodiment. Further, the upper limit value or the lower limit value of the adjustment amount may be the same as in the fourth embodiment.
  • Embodiment 6 The reference speed V0 may be adjusted in a manner different from the fourth and fifth embodiments.
  • the reference speed adjustment processing C (FIG. 16) may be executed.
  • the reference speed setting unit 3200 determines whether or not the pedal rotation speed obtained from the pedal rotation input falls within the first speed band (for example, 0.5 rotation / s or more) (FIG. 16: step S121). For example, it is determined whether the rotation is performed at a relatively high speed. If the pedal rotation speed falls within the first speed band, the reference speed setting unit 3200 increases the reference speed V0 by dV (step S123). Then, the process returns to the calling process.
  • the first speed band for example, 0.5 rotation / s or more
  • the reference speed setting unit 3200 determines that the pedal rotation speed is in the second speed band (for example, 0.25 rotation exceeding 0 rotation / s). / S) (step S125). If the pedal rotation speed falls within the second speed band, the reference speed setting unit 3200 decreases the reference speed V0 by dV (step S127). Then, the process returns to the calling process. Also, when the pedal rotation speed is not within the second speed band, the process returns to the process of the calling source.
  • the dV at the time of decreasing may be different from the dV at the time of increasing.
  • the reference speed V0 is reduced corresponding to the first speed band, or the second speed band is used.
  • the reference speed V0 may be increased.
  • the functional block diagram described above is an example, and one functional block may be divided into a plurality of functional blocks, or a plurality of functional blocks may be integrated into one functional block.
  • the order of the steps may be changed or a plurality of steps may be executed in parallel as long as the processing content does not change.
  • the operation unit 1021 may be partially or entirely implemented by a dedicated circuit, or may execute a program prepared in advance to realize the above-described functions.
  • the motor control device includes: (A) a driving unit that drives a motor; and (B) a pedal that responds to detection of a predetermined traveling or pedal operation state estimated to have no intention to accelerate.
  • a control unit that specifies a speed of the vehicle that moves in accordance with at least one of the rotation and the rotation of the motor, determines a regenerative amount based on the specified speed, and controls a driving unit according to the regenerative amount.
  • a state of a predetermined running or pedal operation eg, forward or forward pedal operation
  • the speed is higher than the speed at the time of detection of the state. Is not assumed. Therefore, if the regeneration amount is determined based on the speed at the time of such state detection, the regeneration control according to the user's intention is performed. In addition, if the speed increase is appropriately suppressed, safety is improved.
  • the predetermined running or pedal operation state estimated to have no intention to accelerate may be detected independently of the brake operation. Since it is not necessary to provide a brake sensor, cost can be reduced. Also, the predetermined running or pedal operation state in which it is estimated that there is no intention to accelerate can be said to be a state in which after detecting a pedal operation by the user for acceleration, the pedal operation for acceleration is not detected.
  • the above-mentioned predetermined running or pedal operation state is (1) a state in which a pedal torque input less than a first threshold is continued for a predetermined time or more, (2) a pedal torque input less than a second threshold, and A state in which the pedal rotation angle smaller than the third threshold value is continued for a predetermined time or more, or (3) a value obtained from the degree of coincidence or deviation between the first value corresponding to the wheel rotation and the second value corresponding to the pedal rotation.
  • it is determined that the value of 1 and the second value are different from each other by a predetermined level or more.
  • Such a state is typically a state where it is estimated that there is no intention to accelerate, and is a state that the user performs without any special intention or occurs.
  • the regeneration control as described above may be performed when a state alternative to these is detected.
  • the regenerative braking can be started early in some cases, and in such a case, the energy recovered to the battery may increase.
  • the first value is the vehicle speed (m / s) or the wheel rotation speed (rpm) converted from the wheel rotation
  • the second value is the vehicle speed or the wheel rotation speed converted from the pedal rotation.
  • control unit described above may change the speed specified above according to the pedal rotation angle or the pedal rotation speed after detecting a predetermined traveling or pedal operation state.
  • the reference speed may be arbitrarily changed according to a user's explicit instruction. It is to be noted that the amount to be changed can be modified to provide an upper limit, allow only an increase, or allow only a decrease.
  • the control unit described above changes the speed specified above according to the pedal rotation angle or the pedal rotation speed after detecting a predetermined traveling or pedal operation state. May be changed. This is because, when a pedal torque equal to or larger than the threshold value is detected, the intention of acceleration is estimated, so that there is no need to change the reference speed.
  • control unit described above when the speed of the vehicle at the time of processing exceeds the specified speed, the regeneration amount according to the difference between the speed of the vehicle at the time of processing and the specified speed. It may be determined. As a result, the increase in speed can be effectively suppressed.
  • Such a configuration is not limited to the matters described in the embodiment, and may be implemented by another configuration having substantially the same effect.

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  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
PCT/JP2019/027668 2018-07-20 2019-07-12 モータ制御装置及び方法、並びに電動アシスト車 WO2020017445A1 (ja)

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JP7308198B2 (ja) 2023-07-13

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