JP3223057B2 - Electric car - Google Patents

Abstract

PURPOSE: To provide an electric vehicle which has a small load at the time of manually pushing and in which the safety is improved by electrically braking when the speed is increased. CONSTITUTION: An electromagnetic brake releasing switch 22 for releasing an electromagnetic brake in the case of manually pushing is provided. A controller 2 for releasing dynamic braking by a motor controller 7 when the signal from the switch 22 is input and dynamic braking by the controller 7 when the traveling speed at that time exceeds a predetermined value is provided. Thus, at the time of traveling by manual pushing, it can be manually pushed by a small load, and when reaching a predetermined speed, the dynamic braking is executed, and hence the safety can be improved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric vehicle, such as an electric wheelchair or an electric vehicle, which runs by driving an electric motor.

[0002]

2. Description of the Related Art Conventionally, an electric vehicle of this type has a riding section for a user, runs by rotating a wheel by driving a motor by a battery, and controls a running speed of an accelerator provided on an operation panel or a foot. It is known that a vehicle travels at a desired speed according to an instruction. Then, when the speed indicated by the accelerator becomes zero while the electric vehicle is traveling, the electric power is braked by the motor to reduce the speed. Furthermore, when entering the operation of stopping,
An electromagnetic brake, which is mounted on the motor to stop the rotation of the motor by detecting that the rotation speed of the wheel has become zero, stops the rotation of the motor by pressing the brake shoe against the rotating plate that rotates with the motor. Operates and starts the operation of stopping without fail. In addition, after stopping, when storing in a warehouse or moving in a narrow place, the user often pushes it by hand, so that the connection between the motor and the wheel is released in order to release the connection between the motor and the wheel. Is provided with a mechanical clutch for disconnecting the hand by a user's hand, and manual pushing is enabled by operating the mechanical clutch.

[0003] However, when a user pushes a hand in an electric vehicle as described above, the driving wheels are released by a mechanical clutch, so that a downhill or the like occurs in the middle of the hand pushing and the electric vehicle is used due to its weight. In some cases, the person rolled irrespective of the intention of the person, which was extremely dangerous.

In order to solve such a problem, a means for releasing the electromagnetic brake while the mechanical clutch is connected may be considered. In this case, the control circuit of the electric vehicle will be described with reference to FIGS. 6 and 7 regarding the control of switching between normal rotation and reverse rotation of the motor by the FET and the control of switching between normal rotation and reverse rotation by the relay.

[0005] First, control of normal rotation and reverse rotation by the FET will be described.

Reference numeral 1 denotes a power switch for energizing a control circuit and a motor M. The power switch 1 is connected to a microcomputer 2 (hereinafter, referred to as a microcomputer).
When the switch 1 is turned on, a signal is input to the microcomputer 2.

Reference numeral 3 denotes an accelerator volume for converting a traveling speed designated by a user into an electric signal. The accelerator volume 3 is linked to an accelerator lever (not shown), and the user rotates the accelerator lever. The speed can be indicated by the momentum.

Reference numeral 4 denotes a motor encoder for detecting the rotational speed of the running motor M or the driving wheels. A rotational speed signal from the motor encoder 4 is input to the microcomputer 2, and the signal and the instruction speed of the user are inputted. The traveling speed is feedback-controlled so that the command speed can be obtained by comparing the microcomputer with the microcomputer.

Reference numeral 5 denotes a battery serving as a power supply. The battery 5 uses a rechargeable lead storage battery. Further, a constant voltage circuit 6 is connected to the battery 5 and the power is supplied to the microcomputer 2 after stepping down.

Reference numeral 7 denotes a motor control circuit for performing PWM control on the driving of the motor M. The motor control circuit 7 includes FETs 1 and 4 or
The rotation speed of the motor M changes depending on how long the switches 2 and 3 are turned on. Further, the motor control circuit 7 controls the rotation direction of the motor M by turning on one of the FETs 1 and 4 or the FETs 2 and 3,
That is, the traveling direction is switched.

In addition, the motor control circuit 7 determines that F
By turning on the ET3 and ET4, it is possible to apply the power generation braking by the motor M. The motor control circuit 7 sends the signal of the instruction speed zero from the accelerator volume 3 or the values of the motor encoder 4 and the accelerator volume 3 to the microcomputer. When the speed exceeds the designated speed as compared in step 2, a signal is input from the microcomputer 2 to apply power generation braking. The dynamic braking of the motor control circuit 7 is 100% when the difference between the accelerator volume 3 and the actual traveling speed is large, and 80% as the difference becomes smaller.
Control to apply braking stepwise at 60% is performed. When the motor is stopped, braking is performed by supplying 100% current to the FET, assuming that the electromagnetic brake does not operate. The value of% at this time is a ratio of how long the FET is turned on within a predetermined period.

Reference numeral 9 denotes an electromagnetic brake control circuit for operating an electromagnetic brake (not shown) when the motor encoder 4 detects zero command speed and zero running speed of the accelerator volume 3, that is, when the vehicle stops. The electromagnetic brake control circuit 9 cuts off the current flowing to the electromagnetic brake coil 10 during traveling, and operates the electromagnetic brake. This electromagnetic brake is provided with a brake shoe that can be pressed against a rotating plate that rotates together with the rotating shaft of the motor M, and stops the energization of the electromagnetic brake coil 10 to press the brake shoe against the rotating plate. The motor M stops rotating.

Reference numeral 21 denotes a forward / reverse selector switch for switching the direction in which the user wants to advance.
Is switched to forward or reverse, a signal is input to the microcomputer 2, and the motor control circuit 7 controls the FETs 1 and 4 or the FETs 2 and 3 to control the rotation direction of the motor M according to the instruction of the microcomputer 2.

Next, the operation will be described.

When the vehicle runs normally, the resistance value of the accelerator volume 3 changes in accordance with an instruction from the accelerator lever, and the motor M drives at a speed corresponding to the change. In the case of deceleration, when the actual speed from the motor encoder 4 becomes larger than the speed indicated by the accelerator lever, the motor control circuit 7 turns on the FETs 3 and 4 to form a closed circuit in the motor M, and the power generation braking is stopped. This is the case. Further, when the vehicle is stopped, the electromagnetic brake operates to fix the driving wheels. In FIG. 6, the direction indicated by the solid arrow indicates the flow of the motor current during forward movement. In FIG. 6, the direction indicated by the broken line arrow indicates the direction in which the motor current flows during power generation braking during forward movement.

Next, when the user manually pushes, the electromagnetic brake is released by a manual operation by an external means so that the drive wheels can rotate freely.

In the above-described control using the FET, when the speed instruction signal from the accelerator volume 3 is zero, a normal FET is used so that the braking is effective even if the electromagnetic brake is broken.
Nos. 3 and 4 are kept ON, so that dynamic braking is always applied. Therefore, when the driving wheels are rotated, the motor M rotates, and the same state as at the time of deceleration, that is, a closed circuit is formed, the power generation braking is applied, and there is a problem that the motor M becomes very heavy and difficult to move. The flow of the motor current at this time is the same as that at the time of the power generation braking described above, and is indicated by a broken arrow in FIG.

Next, the control of the normal rotation and the reverse rotation by the relay will be described with reference to FIG.

However, since only the part of the forward / reverse switching circuit is different from that of the above-described FET control, only this part will be described.

Reference numeral 11 denotes a forward / reverse rotation switching circuit for switching the rotation direction of the motor M. The forward / reverse rotation switching circuit 11 is connected to relay coils RL-2 and RL-3. , A switch for switching the connection of the motor M to the forward rotation or the reverse rotation depending on whether or not the relay coil is energized, that is, the relay switches RL-2 and R
By turning L-3 ON or OFF, the direction of current flow to the motor M is switched to switch the rotation direction of the motor M. The switching of the rotation direction is performed according to the instruction of the forward / reverse switch 21.

The operation of this circuit will be described.

When the vehicle normally travels, the resistance of the accelerator volume 3 changes according to an instruction from the accelerator lever, and the motor M drives accordingly to travel. Further, when decelerating, the relay switch RL-2, the relay switch RL-2, and the relay switch RL-2 are set so that the motor M forms a closed circuit when the actual speed from the motor encoder 4 becomes larger than the speed indicated by the accelerator lever.
RL-3 is rotated in a direction opposite to the traveling direction instructed, so that dynamic braking is applied. Further, when the vehicle is stopped, the electromagnetic brake operates to fix the driving wheels. In FIG. 7, the direction indicated by the solid arrow indicates the flow of the motor current during forward running. The direction indicated by the broken line arrow indicates the direction in which the motor current flows when the dynamic braking during forward running is applied. At this time, the relay switches RL-2 and RL-3 are switched to the opposite side.

Next, when the user performs manual pushing, the electromagnetic brake connected to the motor M is released by manually operating the external means, and the driving wheels are allowed to rotate freely.

In the case of the switching control of the traveling direction by the relay switch as described above, the relay switches RL-2, R
L-3 is switched to the reverse rotation side when the vehicle is switched on the traveling side, for example, when the vehicle is stopped by dynamic braking after traveling forward, and when the handwheel is pressed, the motor M rotates when the drive wheel is rotated. However, there is a problem in that the dynamic braking is applied by the closed circuit, and it becomes very heavy and hard to move. The flow of the motor current at this time is indicated by a broken arrow in FIG.

Although the two types of control have been described only for the forward rotation, the same problem occurs at the time of the reverse rotation only when the flow of the current is reversed.

[0026]

As described above, when the vehicle is pushed by hand, for example, when the vehicle goes downhill, the vehicle rolls by itself, and the vehicle does not run irrespective of the user's intention. Another object of the present invention is to provide a very safe electric vehicle with a small load.

[0027]

SUMMARY OF THE INVENTION The present invention provides a motor for rotating a driving wheel, a motor control circuit for controlling the driving of the motor and a power generation braking, and an electromagnetic brake control for controlling an electromagnetic brake for stopping the rotation of the motor. A circuit, a traveling speed detector for detecting a traveling speed, an accelerator volume for instructing a rotation speed of the motor, a switch for opening and closing a circuit for energizing the motor, and an electromagnetic brake release switch for releasing the electromagnetic brake. When the signal from the electromagnetic brake release switch is input, the switch opens an energizing circuit to the motor, and when the signal from the traveling speed detector exceeds a predetermined value, the energizing circuit to the motor is turned off. A closing control circuit, a forward / reverse switching circuit for controlling a rotation direction of the motor by switching the switch, and a rotation direction of the motor. A forward / reverse detection circuit that outputs a signal, the control circuit switches a switch in the same direction as the rotation direction of the motor when the energization circuit to the motor is opened, and the direction opposite to the rotation direction of the motor when the energization circuit to the motor is closed. The switch is changed over to.

[0028]

[0029]

[0030]

[0031]

[0032]

[0033]

According to the configuration of the first aspect of the present invention, when the electric vehicle is manually pushed, the electromagnetic brake that is operating while the electric vehicle is stopped,
The electromagnetic brake is released by pressing the electromagnetic brake release switch, the circuit of the motor is opened by the switch, and the power generation braking is not applied even if the motor is rotated by manual pressing. Further, the speed of hand pushing is detected by a traveling speed detector, and when a predetermined speed is reached, a switch from the motor control circuit is switched by a signal from the control circuit so that an energizing circuit from the motor control circuit to the motor is closed, so that power generation braking is applied. Send a signal to apply braking. Then, when opening the energizing circuit to the motor, the switch is switched to a direction that is the same as the traveling direction, that is, when the vehicle is moving forward, it is switched to the forward side, and when the energizing circuit to the motor is closed, the direction is opposite to the traveling direction. In other words, when the vehicle is moving forward, it is switched to the reverse side so that the case where the dynamic braking is applied or not is performed by switching the forward / backward switch.

[0034]

[0035]

[0036]

[0037]

[0038]

[0039]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described with reference to FIGS.

Reference numeral 12 denotes an electric tricycle main body. A drive wheel 13 which is rotated by a motor M described later is provided at the rear of the main body 12, and one front wheel (not shown) is provided at the front. The front wheels are connected by a handle shaft 14, and a bar handle 15 is provided above the handle shaft 14. By moving the bar handle 15 left and right, the front wheels can be moved left and right, and traveling steering can be performed.

Reference numeral 16 denotes a floor portion provided between the drive wheel 13 and the front wheels, on which a user rides when the user gets on the vehicle. The floor portion 16 is a single frame (shown in FIG. On the other hand, the one whose outer periphery is formed of resin is fixed thereon.

Reference numeral 17 denotes a cover for storing a battery, a motor, a speed reduction mechanism, etc., behind the floor section 16.
A chair 18 on which a user rides is provided above.

Reference numeral 19 denotes an accelerator lever which rotates in a horizontal direction about one point, and is urged by a spring to always return to the front side.

Reference numeral 20 denotes a display panel provided with a display unit for displaying the remaining amount of the battery and switches for switching between forward and backward movements and maximum speed.

Next, the control circuit of this embodiment will be described.

Since the present embodiment has substantially the same circuit configuration as the prior art shown in FIG. 6, the same portions are denoted by the same reference numerals, and only different portions will be described.

Reference numeral 22 denotes an electromagnetic brake release switch for manually releasing an electromagnetic brake for stopping the rotation of the motor M. The electromagnetic brake release switch 22 is provided on the display panel 20, and is operated by operating the electromagnetic brake release switch. Release the electromagnetic brake electrically. Further, the electromagnetic brake release switch 20 does not operate unless power is turned on by the power switch 1. When the electromagnetic brake release switch 22 is turned on, a signal is input to the control circuit, that is, the microcomputer 2, and a current flows from the electromagnetic brake control circuit 9 to the electromagnetic brake coil 10, so that an electromagnetic brake (not shown) ) Is released by the action of an electromagnet.

Next, the operation will be described.

When the vehicle travels, turning on the power switch 1 causes a current to flow through the relay coil RL-1, and the relay switch RL-1 turns on in conjunction therewith, allowing current to flow through the microcomputer 2 and energizing the motor M. State.
The resistance value of the accelerator volume 3 changes in conjunction with the movement of the accelerator lever 19, and the microcomputer 2
Outputs a signal to the motor control circuit 7, and the FET1,
4, or by controlling the FETs 2 and 3 by PWM, the motor M can be rotated at the motor rotation speed specified by the user. FET1, 4 or FET2, 3
The rotation direction of the motor M can be controlled by PWM control of either of them, and the main body 12 can be moved in accordance with a user's instruction from the forward / reverse switch 21. The direction indicated by the solid arrow in FIG. 1 indicates the direction in which the motor current flows during forward running.

Next, a case where the vehicle is decelerated from the normal running will be described.

During traveling, when the commanded speed signal from the accelerator volume 3 becomes zero, or when the actual speed from the motor encoder 4 exceeds the speed from the accelerator volume 3, the motor control is performed by a signal from the microcomputer 2. Circuit 7
, One of the FETs 3 and 4 is controlled for power generation braking. As a result, a closed circuit is formed between the motor M and the FETs 3 and 4, and the power generation braking is applied by the rotation of the motor M, and the motor M is decelerated. At this time, O
N, the FET to be turned off applies a large braking so that the ON time becomes longer as the FET becomes larger due to the difference in speed. Regarding the control of the FET during forward running, normally, F
When the ET1 and the FET4 are turned on and the power generation braking is applied, the FET3 or the FET4 is turned on to form a closed circuit. The direction of the motor current at the time of dynamic braking is the direction indicated by the dashed line in FIG.

When the microcomputer 2 inputs that the speed signal from the traveling speed detection circuit, that is, the motor encoder 4 is zero, the power is supplied from the electromagnetic brake control circuit 9 to the electromagnetic brake coil 10. Refuse to operate the electromagnetic brake and stop.

Further, the state of storing in the garage, moving within a small range, and pushing by hand will be described with reference to the flowcharts of FIGS.

First, the power switch 1 is turned on by the user.
N (S1), when the electromagnetic brake release switch 22 is turned ON (S2), the microcomputer 2 determines that the hand is being pushed. The electromagnetic brake is released by the operation of the electromagnetic brake coil 10 according to the signal from the electromagnetic brake control circuit 9 (S3), and the FET 3 and the FET 4 are turned off by the motor control circuit 7 according to the signal from the microcomputer 2.
Control is performed so that dynamic braking is not applied (S9), and the main body 12 is manually pushed without applying a load. The direction of the current flow at this time is indicated by a broken arrow in FIG.

Next, when the vehicle is approaching a downhill or the like in such a state and the traveling speed increases irrespective of the user's intention, the speed signal from the traveling speed detector 4 for detecting the traveling speed is set in advance. When the predetermined value v is exceeded (S10), the microcomputer 2 determines that the speed is slightly dangerous, and outputs a signal from the microcomputer 2 to the motor control circuit 7 to turn on the FETs 3 and 4.
Then, the power generation braking is operated (S11). Further, when the speed increases and reaches a predetermined speed V which is a critical speed (S12), a signal is output to the electromagnetic brake control circuit 9 to stop energizing the electromagnetic brake coil 10, thereby starting the electromagnetic brake. It operates (S13) to stop the driving wheels by braking (S14).

Next, the operation before the manual pushing operation will be described. When the electromagnetic brake release switch 22 enters first (S2) after the power switch is first turned on (S2) and the vehicle is in the manual pushing state (S4), the accelerator is released. Even if a speed instruction signal from the volume 3 is received, it is not accepted, and the hand pushing state is maintained as it is (S5). Further, after the power switch 1 is turned on (S1), when a speed instruction signal is input from the accelerator volume 3 (S6), normal running is continued and even if the electromagnetic brake release switch 22 is turned on during running (S8). The vehicle continues traveling without receiving it (S7).

Next, a control circuit according to a second embodiment will be described with reference to FIG.

In this embodiment, since the circuit configuration is almost the same as that of the prior art shown in FIG. 7, the same portions are denoted by the same reference numerals, and only different portions will be described.

Reference numeral 23 denotes a forward / reverse rotation detecting circuit for detecting the direction of rotation of the drive wheel 13. The forward / reverse rotation detecting circuit 23 inputs a signal of the rotating direction to the microcomputer 2.

Next, the operation will be described.

When traveling forward, the power switch 1 is turned on.
As a result, the relay coil RL-1 is energized, and the relay switch RL-1 is turned on in conjunction therewith, causing current to flow to the microcomputer 2 and the motor M to be in an energizable state. And
Accelerator volume 3 in conjunction with the movement of the accelerator lever 19
Is changed, a signal is output from the microcomputer 2 to the motor drive circuit 7 in accordance with this value, and the FETs 1 and 2
By performing the control, the motor M can be rotated at the motor rotation speed specified by the user. Further, when the user instructs the traveling direction with the forward / reverse switch 21, the connection of the motor M is switched by the forward / reverse switching circuit 11, and the main body 12 is moved in the direction indicated by the forward / reverse switch 21 of the user. Can be. In FIG. 2, RL-2 and RL-3 are switched to the forward side when moving forward, and are switched to the opposite side when moving backward. In FIG. 2, the direction indicated by the solid arrow is the flow of the motor current during forward running.

Next, the case where the vehicle is decelerated from the normal running will be described.

When the indicated speed signal from the accelerator volume 3 is zero, or when the actual speed from the motor encoder 4 exceeds the speed from the accelerator volume 3,
RL-2, RL-3 are in the direction opposite to the traveling direction, for example,
When moving forward, the switch is switched in the opposite direction, and the motor M
A closed circuit is formed between the FET and the FET2, and the dynamic braking is applied to decelerate. The current flow at this time is indicated by a dashed line in FIG.

Further, when the speed gradually decreases and the microcomputer 2 inputs that the speed signal from the traveling speed detection circuit, that is, the motor encoder 4 is zero, a signal is output to the electromagnetic brake control circuit 9 and the electromagnetic brake is output. Coil 10
When the power supply to is cut off, the electromagnetic brake operates and the vehicle stops.

Further, the state in which the vehicle is stored in the garage or moved within a small range and is pushed by hand will be described with reference to FIGS.

First, the power switch 1 is turned off by the user.
N (S1), when the electromagnetic brake release switch 22 is turned ON (S2), the microcomputer 2 determines that the hand is being pushed. Then, the electromagnetic brake is released by the operation of the electromagnetic brake coil 10 according to the signal from the electromagnetic brake control circuit 9 (S3), and the manual pushing direction detected by the forward / reverse rotation detection circuit 23 is taken into the microcomputer 2 and
Then, the switches RL-2 and RL-3 are switched to a position in the same traveling direction as the detected traveling direction by the forward / reverse switching circuit 11. For example, when the traveling direction is forward, the direction is switched to the positive side. By switching in this manner, the motor M becomes a circuit in which a closed circuit cannot be formed, and no dynamic braking is applied (S9). Further, when the hand pushing direction is switched halfway, the relay is switched each time by the movement of the forward / reverse rotation detecting circuit 24 (S9). The current flow at this time is indicated by a broken arrow in FIG.

Next, when the vehicle approaches a downhill or the like in such a state and the traveling speed increases regardless of the user's intention, a speed signal from the traveling speed detector 4 for detecting the traveling speed is set in advance. When the value exceeds the predetermined value v (S10), the microcomputer 2 determines and outputs a signal from the microcomputer 2 to the forward / reverse switching circuit 11 to set the relay switches RL-2 and RL-3 at positions in the running direction opposite to the running direction. Switching and deceleration with power generation braking (S11). The direction in which the current of the motor M flows at this time is the direction indicated by the one-dot chain line in FIG. Further, when the speed increases and reaches a predetermined speed V which is a dangerous speed (S12), a signal is output to the electromagnetic brake control circuit 9 to cut off the power supply to the electromagnetic brake coil 10, and the electromagnetic force is applied by the action of the electromagnet. The brake is operated (S13) and braking is performed (S14).

Next, the operation before the manual pushing operation will be described. Similar to the first embodiment, after the first power switch 1 is turned on (S1), the electromagnetic brake release switch 22 is turned on first (S2). In the hand-pressed state (S4), even if a speed instruction signal from the accelerator volume 3 is input, the speed-indicating signal is not accepted, and the hand-pressed state is maintained (S5).
After the power switch 1 is turned on (S1), when a speed instruction signal is input from the accelerator volume 3 (S6), normal running is continued, and the electromagnetic brake release switch 22 is turned on during running.
Is received (S8), the vehicle continues traveling (S7).

In the first and second embodiments described above, only the control during forward running is shown. However, in the case of reverse running, the operation is the same except that the direction of the motor current and the connection of the relay switch are reversed. is there.

[0070]

As described above, the electric vehicle according to the present invention is provided with the electromagnetic brake release switch for releasing the electromagnetic brake, and when a signal is input from the electromagnetic brake release switch, the switch opens the circuit for energizing the motor. When the signal from the traveling speed detector exceeds a predetermined value, a control circuit that closes the current supply circuit to the motor is provided. It's very safe to put on. Further, the circuit configuration is very simple. And a forward / reverse switching circuit for controlling the rotation direction of the motor by switching a switch; and a forward / reverse detection circuit for detecting the rotation direction of the motor. The switch is switched in the same direction as that of the motor, and when the circuit for energizing the motor is closed, the switch is switched in the direction opposite to the direction of rotation of the motor. The circuit configuration is simplified.

[0071]

[0072]

[0073]

[0074]

[0075]

[Brief description of the drawings]

FIG. 1 is a control circuit diagram according to a first embodiment of the present invention.

FIG. 2 is a control circuit diagram according to a second embodiment of the present invention.

FIG. 3 is a flowchart of the first and second embodiments of the present invention.

FIG. 4 is the same flowchart.

FIG. 5 is an overall perspective view of the main body.

FIG. 6 is a control circuit diagram showing a conventional technique of the present invention.

FIG. 7 is a control circuit diagram of the same.

[Explanation of symbols]

 13 Drive wheel M Motor 7 Motor drive circuit 8 Power generation braking circuit 9 Electromagnetic brake control circuit 4 Running speed detection circuit 3 Accelerator 22 Electromagnetic brake release switch 2 Control circuit 11 Forward / reverse rotation switching circuit 23 Forward / reverse rotation detection circuit

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B60L ⁷ /00-7/28 B60L 9/00-9/32 B60L 15/00-15/38 F16D 65 / 34 H02P 3/16

Claims (1)

(57) [Claims] 1. A motor for rotating driving wheels, and a motor
A motor control circuit that controls driving and dynamic braking;
An electromagnetic brake system that controls an electromagnetic brake that stops rotation
A control circuit, a traveling speed detector for detecting the traveling speed,
An accelerator volume for instructing the rotation speed of the motor;
A switch for opening and closing a circuit for energizing the motor;
An electromagnetic brake release switch is provided to release the rake.
The signal from the electromagnetic brake release switch is input
The switch opens an energizing circuit to the motor, and
When the signal from the line speed detector exceeds a predetermined value,
A control circuit for closing a current supply circuit to the motor, wherein the rotation direction of the motor is changed by switching the switch.
Forward / reverse switching circuit for controlling the rotation direction of the motor.
And a forward / reverse detection circuit for detecting,
When opening the power supply circuit to the motor,
When switching the switch to close the power supply circuit to the motor
Switching the switch in the direction opposite to the direction of motor rotation
An electric car, characterized by: