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WO2015008812A1 - Dispositif de commande d'entraînement de moteur, et véhicule à assistance électrique - Google Patents

Dispositif de commande d'entraînement de moteur, et véhicule à assistance électrique Download PDF

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Publication number
WO2015008812A1
WO2015008812A1 PCT/JP2014/068983 JP2014068983W WO2015008812A1 WO 2015008812 A1 WO2015008812 A1 WO 2015008812A1 JP 2014068983 W JP2014068983 W JP 2014068983W WO 2015008812 A1 WO2015008812 A1 WO 2015008812A1
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WO
WIPO (PCT)
Prior art keywords
pedal
torque
threshold value
input torque
motor drive
Prior art date
Application number
PCT/JP2014/068983
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English (en)
Japanese (ja)
Inventor
保坂　康夫
和夫 浅沼
弘和 白川
Original Assignee
太陽誘電株式会社
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 太陽誘電株式会社 filed Critical 太陽誘電株式会社
Publication of WO2015008812A1 publication Critical patent/WO2015008812A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor

Definitions

  • the present invention relates to a motor drive control technique in an electric assist vehicle.
  • An electric motor such as an electric assist bicycle is required to extend the travel distance as much as possible by one charge. For this reason, in the case of a minute input torque, it is effective to perform control without motor driving. Therefore, there is a technique for providing a fixed threshold value and stopping the motor drive when torque input smaller than the fixed threshold value continues for a certain time or longer.
  • an object of the present invention is to provide a technique for enabling power saving at an appropriate timing according to one aspect.
  • the motor drive control device determines (A) a control unit that controls driving of the motor, and (B) whether or not the pedal input torque exceeds a threshold set according to the pedal rotation speed, If the pedal input torque is equal to or less than the threshold value, the control unit includes an instruction unit that instructs the control unit to suppress driving of the motor.
  • an appropriate threshold value corresponding to the driving situation appearing in the pedal rotation speed is set, motor driving can be suppressed at an appropriate timing, and power saving can be achieved. For example, if a small threshold value is used when the pedal rotation speed is low, the motor drive is less likely to be suppressed when it is preferable that there is assistance from the motor even if the pedal rotation speed is low. Further, if a large threshold is used when the pedal rotation speed is high, the frequency of motor drive suppression increases and power saving is achieved when a certain vehicle speed is present. *
  • the instruction to suppress the driving of the motor may be an instruction to stop the driving of the motor. Thereby, further power saving can be achieved.
  • the instruction unit described above is configured to control the motor to drive the motor based on a torque that is greater than zero and less than or equal to the pedal input torque within a predetermined range that is greater than or equal to the threshold. You may make it instruct
  • the instruction unit described above uses the first threshold value if the pedal rotation speed is less than the first value, and uses a second threshold value that is greater than the first threshold value if the pedal rotation speed is greater than the second value. If a threshold value is used and the pedal rotation speed is greater than or equal to the first value and less than or equal to the second value, between the first threshold value and the second threshold value depending on the difference between the pedal rotation speed and the first value.
  • the third threshold value may be used. As a result, an appropriate threshold value can be set. *
  • the instruction unit described above is configured so that the motor is driven based on a torque equal to or less than the pedal input torque, which is proportional to the difference between the pedal input torque and the threshold value. You may make it instruct
  • a program for causing the microprocessor to perform the processing described above such as a flexible disk, an optical disk such as a CD-ROM, a magneto-optical disk, a semiconductor memory (for example, a ROM).
  • a computer-readable storage medium such as a hard disk or a storage device.
  • Data in the middle of processing is temporarily stored in a storage device such as a RAM (Random Access Memory).
  • power saving can be achieved at an appropriate timing.
  • FIG. 1 is a view showing an appearance of a motor-equipped bicycle.
  • FIG. 2 is a functional block diagram of the motor drive controller.
  • FIG. 3 is a functional block diagram of the calculation unit.
  • FIG. 4 is a diagram illustrating an example of a relationship between pedal input torque and post-removal torque.
  • FIG. 5 is a diagram illustrating threshold setting of pedal input torque.
  • FIG. 6 is a diagram illustrating another example of the relationship between pedal input torque and post-removal torque.
  • FIG. 7 is a diagram illustrating processing contents of the instruction unit.
  • FIG. 8 is a diagram illustrating processing contents of the instruction unit.
  • FIG. 9 is a functional block diagram when implemented by a microprocessor.
  • FIG. 1 is an external view showing an example of a motor-equipped bicycle that is an electrically assisted vehicle according to the present embodiment.
  • This motorized bicycle 1 is equipped with a motor drive device.
  • the motor drive device includes a secondary battery 101, a motor drive controller 102, a torque sensor 103, a pedal rotation sensor 104, a motor 105, and an operation panel 106. *
  • the secondary battery 101 is, for example, a lithium ion secondary battery having a maximum supply voltage (voltage at full charge) of 24 V, but may be another type of battery, such as a lithium ion polymer secondary battery, a nickel hydride storage battery, or the like. good. *
  • the torque sensor 103 is provided on a wheel attached to the crankshaft, detects pedaling force of the pedal by the occupant, and outputs the detection result to the motor drive controller 102.
  • the pedal rotation sensor 104 is provided on a wheel attached to the crankshaft, and outputs a signal corresponding to the rotation to the motor drive controller 102.
  • the motor 105 is, for example, a well-known three-phase DC brushless motor, and is mounted on the front wheel of the motorized bicycle 1, for example.
  • the motor 105 rotates the front wheel, and the rotor is connected to the front wheel so that the rotor rotates in accordance with the rotation of the front wheel.
  • the motor 105 includes a rotation sensor such as a Hall element, and outputs rotor rotation information (that is, a Hall signal) to the motor drive controller 102.
  • a rotation sensor such as a Hall element
  • the operation panel 106 receives, for example, an instruction input regarding the presence / absence of assist from the user, and outputs the instruction input to the motor drive controller 102.
  • the operation panel 106 and other means may output a signal representing a transmission gear ratio (also referred to as a gear ratio) to the motor drive controller 102.
  • a transmission gear ratio also referred to as a gear ratio
  • the motor drive controller 102 includes a controller 1020 and an FET (Field Effect Transistor) bridge 1030.
  • the FET bridge 1030 includes a high side FET (S uh ) and a low side FET (S ul ) that perform switching for the U phase of the motor 105, and a high side FET (S vh ) that performs switching for the V phase of the motor 105, and It includes a low-side FET (S vl ), a high-side FET (S wh ) and a low-side FET (S wl ) that perform switching for the W phase of the motor 105.
  • This FET bridge 1030 constitutes a part of a complementary switching amplifier.
  • the controller 1020 includes a calculation unit 1021, a pedal rotation input unit 1022, a vehicle speed input unit 1024, a variable delay circuit 1025, a motor drive timing generation unit 1026, a torque input unit 1027, and an AD input unit 1029.
  • the calculation unit 1021 is input from the operation panel 106 (for example, on / off), input from the vehicle speed input unit 1024, input from the pedal rotation input unit 1022, input from the torque input unit 1027, and input from the AD input unit 1029. An operation described below is performed using the input, and output is performed to the motor drive timing generation unit 1026 and the variable delay circuit 1025.
  • the calculation unit 1021 includes a memory 10211, and the memory 10211 stores various data used for calculation, data being processed, and the like. Further, the calculation unit 1021 may be realized by executing a program by a processor. In this case, the program may be recorded in the memory 10211.
  • the vehicle speed input unit 1024 calculates the current vehicle speed from the hall signal output from the motor 105 and outputs the current vehicle speed to the calculation unit 1021.
  • the pedal rotation input unit 1022 digitizes a signal representing the pedal rotation phase angle and the like from the pedal rotation sensor 104 and outputs the digitized signal to the calculation unit 1021.
  • the torque input unit 1027 digitizes a signal corresponding to the pedaling force from the torque sensor 103 and outputs the digitized signal to the calculation unit 1021.
  • An AD (Analog-Digital) input unit 1029 digitizes the output voltage from the secondary battery 101 and outputs the digitized voltage to the arithmetic unit 1021. Further, the memory 10211 may be provided separately from the calculation unit 1021. *
  • the calculation unit 1021 outputs an advance value to the variable delay circuit 1025 as a calculation result.
  • the variable delay circuit 1025 adjusts the phase of the Hall signal based on the advance value received from the calculation unit 1021 and outputs the adjusted signal to the motor drive timing generation unit 1026.
  • the calculation unit 1021 outputs, for example, a PWM (Pulse Width Modulation) code corresponding to the PWM duty ratio to the motor drive timing generation unit 1026 as a calculation result.
  • the motor drive timing generation unit 1026 generates and outputs a switching signal for each FET included in the FET bridge 1030 based on the adjusted Hall signal from the variable delay circuit 1025 and the PWM code from the calculation unit 1021.
  • the calculation unit 1021 includes a pedal rotation speed calculation unit 1201, an instruction unit 1202, an assist torque calculation unit 1203, and a PWM code generation unit 1204.
  • the assist torque calculation unit 1203 and the PWM code generation unit 1204 operate as a motor drive control unit.
  • the pedal rotation speed calculation unit 1201 calculates the pedal rotation speed from data such as the pedal rotation phase angle from the pedal rotation input unit 1022. Note that the pedal rotation speed calculation unit 1201 may output the pedal rotation speed smoothed by a filter such as a low-pass filter in order to cope with the ripple of the pedal operation. *
  • the instruction unit 1202 outputs to the assist torque calculation unit 1203 a stop instruction or a post-removal torque that is a result of performing a low torque removal process on the pedal input torque by performing a process described below according to the pedal rotation speed.
  • the assist torque calculation unit 1203 outputs an instruction to stop the motor drive to the PWM code generation unit 1204 in response to the stop instruction from the instruction unit 1202.
  • the PWM code generation unit 1204 receives an instruction to stop the motor drive from the assist torque calculation unit 1203, the PWM code generation unit 1204 outputs a signal for stopping the motor to the motor drive timing generation unit 1026 and the like. Note that the assist torque calculation unit 1203 may directly output an instruction to stop the motor.
  • the assist torque calculation unit 1203 receives the post-removal torque from the instruction unit 1202, the assist torque calculation unit 1203 performs a predetermined calculation based on, for example, the post-removal torque and the vehicle speed from the vehicle speed input unit 1204, and the duty related to the PWM duty ratio.
  • the code is output to the PWM code generation unit 1204.
  • the calculation of the assist torque calculation unit 1203 is a calculation described in detail in, for example, the pamphlet of International Publication No. WO2012 / 086458.
  • the pedal input torque is converted into a first duty code corresponding to the duty ratio according to a predetermined rule
  • the vehicle speed is converted into a second duty code corresponding to the duty ratio according to a predetermined rule
  • a duty code to be output to the PWM code generation unit 1204 is calculated.
  • the pedal rotation speed when the pedal rotation speed is low, there may be a state such as when starting or when climbing a hill, so even if the pedal input torque shows a small value, the pedal input torque The motor is driven accordingly to assist in starting and climbing. That is, the threshold for ignoring the pedal input torque and stopping the motor drive is set small.
  • the pedal rotation speed when the pedal rotation speed is high, the vehicle speed is sufficiently increased. Therefore, when the pedal input torque is a small value, the motor driving is disregarded and power consumption is suppressed.
  • the horizontal axis represents pedal input torque
  • the vertical axis represents post-removal torque.
  • the threshold value T1 of the pedal input torque is adopted.
  • the motor drive may not be stopped, but may be made smaller than the current drive amount.
  • the threshold value T11 for the pedal input torque is adopted. As indicated by the middle line L2, when the pedal input torque is equal to or less than the threshold value T11, the motor drive is stopped, and when the threshold value T11 is exceeded, for example, the torque after removal is output as the pedal input torque. To do. *
  • the threshold value T12 of the pedal input torque is adopted.
  • the pedal input torque threshold T2 is adopted. Then, as indicated by the thick line L4, when the pedal input torque is less than or equal to the threshold value T2, the motor drive is stopped, and when the threshold value T2 is exceeded, for example, the torque after removal is output as the pedal input torque. To do. *
  • the threshold value is set in the form as shown in FIG. 5, for example.
  • the horizontal axis in FIG. 5 represents the pedal rotation speed, and the vertical axis represents the threshold value.
  • the threshold value is fixed at T1.
  • the threshold value is determined in a form proportional to the pedal rotation speed ⁇ P1 between the pedal rotation speeds P1 and P2.
  • FIG. 4 is a diagram for explaining the relationship between the change in the threshold value and the pedal input torque and the torque after removal, which may not be preferable. That is, if the pedal input torque fluctuates in the vicinity of the threshold value, the motor stop and the motor drive corresponding to the pedal input torque are frequently switched, or an operation that shocks the occupant may be performed. Therefore, as shown in FIG. 6, as soon as the threshold value at that time is exceeded, the torque after removal does not become the pedal input torque, but gradually increases to the same value as the pedal input torque as the pedal input torque increases. I will let you. *
  • the threshold value T1 of the pedal input torque is adopted.
  • the motor drive is stopped (here, torque “0” after removal for convenience), and when the pedal input torque exceeds the threshold value T1, the pedal input torque is exceeded.
  • the post-removal torque is increased in proportion to -T1
  • the post-removal torque the pedal input torque
  • the threshold value T11 for the pedal input torque is adopted. As indicated by the middle line R2, when the pedal input torque is less than or equal to the threshold value T11, the motor drive is stopped, and when exceeding the threshold value T11, the post-removal torque is increased in proportion to the pedal input torque ⁇ T11.
  • the torque after removal the pedal input torque
  • the threshold value T12 of the pedal input torque is adopted.
  • the pedal input torque threshold T2 is adopted. As indicated by the thick line R4, when the pedal input torque is less than or equal to the threshold value T2, the motor drive is stopped, and when exceeding the threshold value T2, the post-removal torque is increased in proportion to the pedal input torque -T2.
  • the torque after removal the pedal input torque
  • the torque after removal min ⁇ pedal input torque, (pedal input torque ⁇ threshold value) ⁇ proportional coefficient ⁇ .
  • min ⁇ A, B ⁇ represents a function that outputs the smaller one of A and B.
  • the instruction unit 1202 determines whether or not the pedal input torque exceeds 0 (step S1). When the pedal input torque is 0, the processing shifts to the processing in FIG. *
  • step S3 it is determined whether the pedal rotation speed is smaller than the pedal rotation speed threshold value P1 (step S3).
  • the instruction unit 1202 sets the threshold value of the pedal input torque to a predetermined lower limit value T1 (step S5). Then, the process proceeds to step S13.
  • step S7 determines whether the pedal rotation speed is higher than P2 (step S7).
  • the instruction unit 1202 sets the threshold value of the pedal input torque to a predetermined threshold upper limit value T2 (step S9). Then, the process proceeds to step S13.
  • step S11 the instruction unit 1202 sets the threshold value of the pedal input torque according to the pedal rotation speed.
  • the process proceeds to step S13.
  • the instruction unit 1202 determines whether or not the pedal input torque is larger than the threshold value (step S13). If the pedal input torque is equal to or less than the threshold value, the process proceeds to the process of FIG. On the other hand, when the pedal input torque is larger than the threshold value, the processing shifts to the processing of FIG. *
  • instruction unit 1202 After terminal A, instruction unit 1202 outputs a motor drive stop to assist torque calculation unit 1203 (step S19). In some cases, the motor drive is not stopped but an instruction to suppress the motor drive is given. This is because power saving can be achieved if the motor drive amount can be reduced. Then, the process proceeds to step S21. *
  • the instruction unit 1202 calculates a post-removal torque from the pedal input torque (step S15).
  • the torque after removal may be equal to the pedal input torque.
  • a coefficient may be multiplied or added to the pedal input torque.
  • a post-removal torque corresponding to (pedal input torque ⁇ threshold) that is greater than zero and less than or equal to the pedal input torque is calculated in a predetermined range equal to or greater than the threshold.
  • the predetermined range is determined according to the function used. In the example of FIG. 6, not only is proportional to (pedal input torque ⁇ threshold), but another function may be used. Further, even when the proportional coefficient is used, the proportional coefficient may be used according to, for example, (pedal input torque ⁇ threshold). *
  • the assist torque calculation unit 1203 performs a predetermined calculation based on the torque after removal from the instruction unit 1202, the vehicle speed, and the like, and outputs a duty code related to the duty ratio of PWM to the PWM code generation unit 1204.
  • the PWM code generation unit 1204 generates a PWM code by multiplying the duty code by a battery voltage / reference voltage (for example, 24 V) from the AD input unit 1029, and outputs the PWM code to the motor drive timing generation unit 1026. In this way, motor drive is controlled (step S17). *
  • the instruction unit 1202 determines whether or not an instruction to end the process such as a power interruption has been issued (step S21). If the end of the process is not instructed, the process returns to step S1 via the terminal C. On the other hand, if the process end is instructed, the process ends. *
  • the motor can be driven according to the pedal input torque to assist in starting and climbing.
  • the present invention is not limited to this.
  • the functional block diagram described above is divided into functional blocks for convenience of explanation, and the actual circuit configuration may be different, and when implemented by a program, it may not match the program module configuration. is there.
  • motor drive controller 102 may be realized by a dedicated circuit, or the function as described above may be realized by a microprocessor executing a program.
  • a RAM (Random Access Memory) 4501, a processor 4503, a ROM (Read Only Memory) 4507, and a sensor group 4515 are connected by a bus 4519.
  • a program for executing the processing in the present embodiment and an operating system (OS: Operating System) when present are stored in the ROM 4507, and when executed by the processor 4503, the program is read from the ROM 4507.
  • the data is read into the RAM 4501.
  • the ROM 4507 records threshold values and other parameters, and such parameters are also read.
  • the processor 4503 controls the sensor group 4515 described above to acquire a measurement value. Further, data in the middle of processing is stored in the RAM 4501.
  • the processor 4503 may include a ROM 4507, and may further include a RAM 4501.
  • a control program for performing the above-described processing may be stored and distributed on a computer-readable removable disk and written to the ROM 4507 by a ROM writer.
  • Such a computer apparatus has various functions as described above by organically cooperating hardware such as the processor 4503, RAM 4501, and ROM 4507 described above and a program (or OS in some cases). Realize.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

Le problème à résoudre dans le cadre de la présente invention consiste à économiser de l'énergie à un moment approprié. La solution proposée consiste en un dispositif de commande d'entraînement de moteur qui comprend : (A) une unité de commande qui commande l'entraînement d'un moteur ; et (B) une unité d'instruction qui détermine si le couple d'entraînement de pédale dépasse une valeur de seuil déterminée selon une vitesse de rotation des pédales, et qui ordonne à l'unité de commande d'empêcher l'entraînement du moteur lorsque le couple d'entraînement de pédale est inférieur ou égal à la valeur de seuil. De préférence, une petite valeur de seuil est utilisée lorsque la vitesse de rotation des pédales est faible, et une valeur de seuil importante est utilisée lorsque la vitesse de rotation des pédales est élevée.
PCT/JP2014/068983 2013-07-17 2014-07-17 Dispositif de commande d'entraînement de moteur, et véhicule à assistance électrique WO2015008812A1 (fr)

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JP2013148194A JP6411714B2 (ja) 2013-07-17 2013-07-17 モータ駆動制御装置及び電動アシスト車

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108860444A (zh) * 2017-05-09 2018-11-23 摩特动力工业股份有限公司 Ecvt系统及其控制方法
DE102022210583A1 (de) * 2022-10-06 2024-04-11 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Betreiben einer Antriebseinheit eines Elektrofahrrads

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6417624B2 (ja) * 2015-08-03 2018-11-07 ブリヂストンサイクル株式会社 電動補助装置及び電動補助自転車
JP6503276B2 (ja) * 2015-10-13 2019-04-17 ブリヂストンサイクル株式会社 電動補助装置及び電動補助自転車
JP7099905B2 (ja) * 2018-08-22 2022-07-12 株式会社シマノ 人力駆動車用制御装置および人力駆動車用駆動システム
JP6981944B2 (ja) * 2018-08-30 2021-12-17 株式会社シマノ 人力駆動車用制御装置および人力駆動車用駆動システム

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JPH05246378A (ja) * 1992-03-09 1993-09-24 Yamaha Motor Co Ltd 電動モータ付き自転車
JP2000344175A (ja) * 1999-06-07 2000-12-12 Mitsubishi Heavy Ind Ltd 電動アシスト自転車

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JP3528996B2 (ja) * 1995-04-17 2004-05-24 本田技研工業株式会社 電動補助自転車
JP2002029487A (ja) * 2000-07-14 2002-01-29 Mitsuba Corp 電動アシスト自転車
JP2002264882A (ja) * 2001-03-06 2002-09-18 Mitsuba Corp 電動アシスト自転車のアシスト力制御方法
JP2008143330A (ja) * 2006-12-08 2008-06-26 Bridgestone Corp 電動補助自転車の駆動力制御装置及び電動補助自転車
JP2009126427A (ja) * 2007-11-26 2009-06-11 Honda Motor Co Ltd 電動アシスト自転車
JP2013121797A (ja) * 2011-12-12 2013-06-20 Honda Motor Co Ltd 電動補助自転車

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JPH05246378A (ja) * 1992-03-09 1993-09-24 Yamaha Motor Co Ltd 電動モータ付き自転車
JP2000344175A (ja) * 1999-06-07 2000-12-12 Mitsubishi Heavy Ind Ltd 電動アシスト自転車

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108860444A (zh) * 2017-05-09 2018-11-23 摩特动力工业股份有限公司 Ecvt系统及其控制方法
DE102022210583A1 (de) * 2022-10-06 2024-04-11 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Betreiben einer Antriebseinheit eines Elektrofahrrads

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