JP2019142460A - Motor control device and power-assisted vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to assist human power more appropriately when pushing or pulling an electrically assisted vehicle by human power. A motor control device of the present invention includes an inverter that drives or regeneratively brakes a motor of an electrically assisted vehicle, and a direction of human power and a direction of rotation of the motor when a user pushes or pulls the electrically assisted vehicle by hand. It has a control unit that determines the control mode of the motor based on the above and controls the inverter so as to generate a torque based on human power in the determined control mode. As an example of the control mode, when the direction of human power is positive and the direction of rotation of the motor is positive, the positive power running is determined, and when the direction of human power is positive and the direction of rotation of the motor is negative, negative direction regeneration is performed. Or, if the positive power running is determined and the human power direction is negative and the motor rotation direction is positive, the positive direction regeneration or negative power running is determined, the human power direction is negative and the motor rotation direction is negative. If so, determine negative powering. [Selection diagram] Fig. 3

Description

  The present invention relates to a control technology for a motor mounted on an electric assist vehicle.

  Electric assist vehicles are heavier than batteries that do not have an assist function because of the battery and motor, and when the user gets off the vehicle and pushes to move, the assist function by the motor cannot be obtained. Compared to vehicles that do not, it required more labor and lost convenience.

  On the other hand, for example, there is a document that discloses an electrically assisted vehicle that drives a motor by pushing a dedicated button installed on a handle portion and assists hand pushing. In this document, it is disclosed that when a button is pressed, the vehicle is allowed to run at a constant speed or the speed can be changed. However, the situation in which the user manually pushes the electric assist vehicle is discussed in detail. I don't mean.

JP-A-10-250671 JP-A-9-263290

  Therefore, the objective of this invention is providing the technique for enabling it to assist human power more appropriately, when pushing and pulling an electrically assisted vehicle by human power as one side surface.

  The motor control device according to the present invention includes: (A) an inverter that power-drives or regeneratively brakes the motor of the electric assist vehicle; and (B) the direction of human power and the motor when the user pushes or pulls the electric assist vehicle by hand. And a control unit that controls the inverter so as to cause the motor to generate torque based on human power in the determined control mode.

  According to one aspect, human power can be more appropriately assisted when the electric assist vehicle is pushed or pulled by human power.

FIG. 1 is a diagram showing an external appearance of an electrically assisted bicycle. FIG. 2 is a top view of the electrically assisted bicycle. FIG. 3 is a top view of the electrically assisted bicycle with the handle tilted. FIG. 4 is a diagram illustrating a configuration example of the motor drive control device. FIG. 5 is a diagram illustrating a functional block configuration example of the hand pressing control unit. FIG. 6 is a diagram for explaining the control mode in the hand-pressed state. FIG. 7 is a diagram for explaining directions of motor rotation, human power, motor output torque, and the like. FIG. 8 is a diagram illustrating a processing flow in the embodiment. FIG. 9 is a diagram illustrating a processing flow of the control processing for each mode.

  Hereinafter, embodiments of the present invention will be described with an example of an electrically assisted bicycle which is an example of an electrically assisted vehicle. However, the embodiment of the present invention is not limited to an electric assist bicycle, and is not limited to a motor that assists in moving a moving body (for example, a carriage, a wheelchair, and an elevator) that moves according to human power. The present invention can also be applied to a motor drive control device. In addition, there are cases where the electric assist vehicle is not only two wheels but also three wheels.

[Embodiment 1]
FIG. 1 is an external view showing an example of an electrically assisted bicycle which is an example of an electrically assisted vehicle in the present embodiment. This electrically assisted bicycle 1 is equipped with a motor drive device. The motor drive device includes a battery pack 101, a motor drive control device 102, a torque sensor 103, a pedal rotation sensor 104, a motor 105, an operation panel 106, a human power sensor 107, a load sensor 108, and a handle turning angle. Sensor 111.

  The electrically assisted bicycle 1 also has a handle post 110, front wheels, rear wheels, headlamps, free wheels, a transmission, and the like.

  The battery pack 101 is, for example, a lithium ion secondary battery, but may be another type of battery, such as a lithium ion polymer secondary battery, a nickel metal hydride storage battery, or the like. The battery pack 101 supplies electric power to the motor 105 via the motor drive control device 102, and is also charged by regenerative power from the motor 105 via the motor drive control device 102 during regeneration.

  The torque sensor 103 is provided around the crankshaft, detects the pedal effort by the driver, and outputs the detection result to the motor drive control device 102. Further, like the torque sensor 103, the pedal rotation sensor 104 is provided around the crankshaft and outputs a signal corresponding to the rotation to the motor drive control device 102.

  The motor 105 is, for example, a well-known three-phase DC brushless motor, and is mounted on, for example, the front wheel of the electric assist bicycle 1. 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. Further, 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 control device 102.

  When the user is on the electric assist bicycle 1, the motor drive control device 102 performs a predetermined calculation based on signals from the rotation sensor of the motor 105, the torque sensor 103, the pedal rotation sensor 104, etc. The power running drive of 105 is controlled, and the regenerative braking of the motor 105 is also controlled. In a state where the user pushes or pulls the electric assist bicycle 1 with his / her hand (may be simplified as a hand-pressed state), the motor drive control device 102 includes a human power sensor 107, a rotation sensor for the motor 105, A predetermined calculation is performed based on signals from the torque sensor 103, the load sensor 108, and the like, a control mode of the motor 105 is determined, and control is performed so that the motor 105 is driven by power running or regenerative braking in the control mode.

  The operation panel 106 receives, for example, an instruction input regarding presence / absence of assist (that is, turning on and off the power switch), an input of a desired assist ratio or the like from the user when there is assist, and the instruction input or the like is received from the motor drive control device. To 102. In this embodiment, the operation panel 106 does not have a button for instructing to push or pull the power-assisted bicycle 1 by hand. However, such a button is provided to perform the control described below. It may be accepted as a start instruction.

  The human force sensor 107 is, for example, a stress sensor provided on a stem that is a joint portion of a handle. In the present embodiment, not only the human power in the direction of moving the electric assist bicycle 1 forward, but also the human power in the direction of moving the electric assist bicycle 1 backward is detected. Further, not limited to the stem, it may be provided at the grip portion of the handle, provided at a position where the deflection of the handle post 110 is detected, or provided near the shaft of the motor 105.

  The load sensor 108 is provided, for example, under the saddle, and outputs a signal indicating whether or not the user is seated on the saddle to the motor drive control device 102. The handle turning angle sensor 111 detects the handle turning angle θ and outputs the handle turning angle θ to the motor drive control device 102. In the present embodiment, the fork connected to the front wheel and the handle post 110 are integrated, and the handle is connected to the handle post 110 at the stem. Therefore, when the handle is moved, the handle post 110 rotates relative to the frame. By doing so, the front wheels also rotate in conjunction. The handle turning angle sensor 111 specifies this rotation angle as the handle turning angle θ.

  FIG. 2 shows a top view of the electrically assisted bicycle 1. In the present embodiment, as described above, the human force sensor 107 is provided on the stem. Thereby, when the user holds both the grips 109a and 109b of the handle of the electric assist bicycle 1 and moves the electric assist bicycle 1 forward or backward, the human power applied to the electric assist bicycle 1 is detected along with the direction thereof. The Note that a contact sensor may be provided on the grips 109 a and 109 b to detect whether or not both grips are gripped and to output the signal to the motor drive control device 102. Further, the human power sensor 107 may be provided on the grips 109a and 109b.

FIG. 3 shows a top view of the electrically assisted bicycle 1 with the handle being tilted. In this state, when the user presses gripping the grip 109a and 109b of the handle of the power-assisted bicycle 1, human power sensor 107 provided in the stem, for example for detecting the human power F _in. On the other hand, the steering angle sensor 111 detects the steering angle θ.

  Next, a configuration related to the motor drive control device 102 according to the present embodiment is shown in FIG.

  The motor drive 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) that perform switching for the U phase of the motor 105, and a high side FET (Svh) and a low side FET (Svl) that perform switching for the V phase of the motor 105. ) And a high-side FET (Swh) and a low-side FET (Swl) that perform switching for the W phase of the motor 105. The FET bridge 1030 functions as an inverter that drives the motor 105 to perform power running or regenerative braking.

  The controller 1020 includes a calculation unit 1021, a load input unit 1022, a turning angle input unit 1023, a motor rotation input unit 1024, a variable delay circuit 1025, a motor drive timing generation unit 1026, and a torque input unit 1027. A human-power input unit 1028 and an AD (Analog-Digital) input unit 1029.

  The calculation unit 1021 is input from the operation panel 106 (for example, on / off of assist), input from the load input unit 1022, input from the turning angle input unit 1023, input from the motor rotation input unit 1024, torque input unit A predetermined calculation is performed using the input from 1027, the input from the human input unit 1028, and the input from the AD input unit 1029, and output is performed to the motor drive timing generation unit 1026 and the variable delay circuit 1025. Note that 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. Further, the memory 10211 may be provided separately from the calculation unit 1021.

  The load input unit 1022 digitizes a signal indicating the presence / absence of sitting from the load sensor 108 and outputs the digitized signal to the calculation unit 1021. The turning angle input unit 1023 digitizes a signal representing the steering angle θ from the steering angle sensor 111 and outputs the digitized signal to the computing unit 1021.

  The motor rotation input unit 1024 digitizes a signal (for example, a rotation phase angle, a rotation direction, etc.) relating to rotation of the motor 105 (rotation of the front wheels in the present embodiment) from a hall signal output from the motor 105 and calculates the calculation unit 1021. Output to. For example, the motor rotation input unit 1024 may calculate and output the speed of the electrically assisted bicycle 1 (for example, a positive speed is a forward speed and a negative speed is a reverse speed) from the motor rotation input. 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. The human power input unit 1028 digitizes a signal representing human power from the human power sensor 107 and outputs the digitized signal to the calculation unit 1021. The AD input unit 1029 digitizes the output voltage from the secondary battery and outputs the digitized voltage to the arithmetic 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 code corresponding to 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. Depending on the calculation result of the calculation unit 1021, the motor 105 may be power-driven or regeneratively braked. The basic operation such as driving the motor is described in the pamphlet of International Publication No. 2012/086459 and is not a main part of the present embodiment, and thus the description thereof is omitted here.

  Next, FIG. 5 shows a functional block configuration example related to the hand pressing control unit 3000 in the calculation unit 1021. The hand pressing control unit 3000 includes a state determination unit 3100, a mode determination unit 3200, and a control unit 3300.

  The state determination unit 3100 determines whether or not to perform the control according to the present embodiment based on pedal torque input or the presence / absence of seating. Is output to the control unit 3300. The mode determination unit 3200 determines a control mode from the motor rotation direction included in the motor rotation input and the direction of human power included in the human power input, and outputs the control mode to the control unit 3300. When receiving a hand-pressed state notification from state determination unit 3100, control unit 3300 calculates the torque to be generated by motor 105 from the cut angle input and the human power input according to the control mode from mode determination unit 3200. Thus, the motor 105 is controlled so as to generate the torque.

  In the present embodiment, the control mode is any one of positive direction power running, positive direction regeneration or negative direction power running, positive direction power running or negative direction regeneration, and negative direction power running. The arithmetic unit 1021 power-drives or regeneratively brakes the motor 105 via the motor drive timing generation unit 1026, the variable delay circuit 1025, and the FET bridge 1030 so as to operate in any one of the control modes.

  FIG. 6 summarizes what control is performed in what situation in the hand-pressed state in the present embodiment. The traveling direction (forward or backward) of the electrically assisted bicycle 1, the motor rotation direction, the direction of the motor output torque, the direction of human power, and the like are shown in FIG. 7.

  In the mode 1, typically, in the situation where the hill is advanced upward (the situation where the hill is advanced forward) and the situation where the terrain is advanced, the human power works in a positive direction so that the electric assist bicycle 1 is advanced. Since it is pushed, the electric assist bicycle 1 is moving forward (corresponding to traveling) and the motor rotation is in the positive direction. In such a state, it is preferable to assist human power by causing the motor 105 to perform power running in the positive direction. At this time, the motor output torque is positive. Even if the human power works in the positive direction and pushes the electric assist bicycle 1 forward, the electric assist vehicle 1 may not move (corresponding to when the vehicle is stopped). In such a case, there is no motor rotation. The motor 105 is caused to perform forward powering according to the direction of

  However, for example, the situation where the assisted bicycle 1 moves too far in the forward direction changes from a situation where the hill is advanced upward or a situation where the terrain is advanced to a situation where the hill is advanced downward (a situation where the hill is moved forward). In this case, the human power changes in the negative direction and pulls the electrically assisted bicycle 1 backward, so that the mode is changed to mode 2 (or mode 4 in some cases).

  Mode 2 typically pulls the electric assist bicycle 1 to move backward in a situation where the manpower works in a negative direction in a situation where the vehicle advances downward on the slope. The bicycle 1 represents a control mode in a state where the bicycle 1 is moving forward (corresponding to traveling) and the motor rotation is in the positive direction. In such a state, it is preferable to assist the human power in the negative direction by causing the motor 105 to perform the positive direction regeneration or the negative direction power running so that the electrically assisted bicycle 1 does not advance down the hill too quickly. At this time, the motor output torque is negative. Note that the positive direction regeneration and the negative direction power running may be switched depending on, for example, the speed obtained from motor rotation or the relationship between the speed and human power. In addition, although the electric power assist bicycle 1 is pulled so that the human power works in the negative direction, the electric assist bicycle 1 sometimes does not move (corresponding to when the vehicle stops). In such a case, the motor does not rotate. The motor 105 is caused to perform negative direction powering according to the direction of human power.

  However, for example, if the slope of the slope becomes gentle and the electric assist bicycle 1 does not advance as intended, the human power changes in the positive direction and the electric assist bicycle 1 is pushed. Transition to 1. On the other hand, for example, when the hill is descended too much from the target, the human power in the negative direction increases, so that the motor rotation is changed to the negative direction and the mode 4 is changed.

  In mode 3, for example, in a situation where the hill is retracted upward (situation where the hill is descended backward), the human power works in the positive direction to push the electric assist bicycle 1, but the electric assist bicycle 1 is retracted due to its own weight. This represents a control mode in a state in which the motor rotation is in the negative direction (corresponding to traveling). In such a state, it is preferable to assist the human power in the positive direction by causing the motor 105 to perform positive direction power running or negative direction regeneration. At this time, the motor output torque is positive. Note that the positive direction power running and the negative direction regeneration may be switched depending on, for example, the speed obtained from motor rotation or the relationship between the speed and human power. Moreover, although the human power works in the positive direction and the electric assist bicycle 1 is pushed, there are cases where the electric assist bicycle 1 does not move (corresponding to when the vehicle is stopped). The motor 105 is caused to perform forward powering according to the direction.

  However, for example, when it is desired to move forward without moving backward, the human power increases in the positive direction, so that the motor rotation changes to the positive direction and the mode 1 is changed.

  In mode 4, for example, in a situation where the hill is moved backwards (a situation where the hill is moved backwards), the human power is working in the negative direction, the electric assist bicycle 1 is also moved backward (corresponding to traveling), and the motor rotation is negative. The control mode in the state of being in the direction is shown. In such a state, it is preferable to assist human power by causing the motor 105 to perform negative direction power running. At this time, the motor output torque is negative. In addition, although the human power works in the negative direction and the electric assist bicycle 1 is pulled, there is a case where the electric assist bicycle 1 does not move (corresponding to when the vehicle is stopped). The motor 105 is caused to perform negative direction powering according to the direction.

  However, if, for example, the retreat destination is a downhill, and the power-assisted bicycle 1 moves too far in the negative direction, the human power changes in the positive direction, so the mode changes to mode 3, and further to mode 1 Transition.

  In the stop state, it is not possible to distinguish between the mode 1 and the mode 3, and when the electrically assisted bicycle 1 starts to move, the control mode is switched according to the motor rotation direction. However, in either case, there is a case where the power is in the positive direction. Even when positive powering is performed in mode 1 and mode 3, the degree of assist may be different. Similarly, in the stop state, the mode 2 and the mode 4 cannot be distinguished, and when the electrically assisted bicycle 1 starts to move, the control mode is switched according to the motor rotation direction. In either case, however, negative powering may occur. Even when negative direction powering is performed in mode 2 and mode 4, the degree of assist may be different.

  By performing such control mode division, appropriate control of the motor 105 can be performed even when the electrically assisted bicycle 1 is pushed by hand or pulled by hand.

  Next, processing contents of the hand pressing control unit 3000 will be described with reference to FIGS. 8 and 9.

Hand control unit 3000, the human power F _in the human input unit 1028, acquires the motor rotation input from the motor rotational input unit 1024 (FIG. 8: step S1). Human power F _in, rather than the input from the manual sensor 107 provided on the stem and handle post 110, in some cases the input from the two sensors provided on the grip 109a and 109b of the handle. For inputs from two sensors, may be calculated by adding them manually F _in, it may be calculated human power F _in by averaging the two values.

  Further, the hand pushing control unit 3000 acquires the handle turning angle θ from the turning angle input unit 1023 (step S3). Furthermore, the hand push control unit 3000 acquires an input for state determination (step S5). In the case of the present embodiment, the input for the state determination is an input representing the pedal torque input from the torque input unit 1027 and the presence / absence of seating from the load input unit 1022. However, it may include input from contact sensors provided on the grips 109a and 109b of the handle.

  And the state determination part 3100 determines whether it is a hand-pressing state (step S7). For example, when there is an input indicating no seating and the pedal torque input is less than the threshold value, it is determined that the hand is pressed. In order to improve safety, it may be a requirement to acquire an input indicating presence of contact from both of the two contact sensors provided on the grips 109a and 109b. Further, in order to reduce the number of sensors, any of them may be used for determination. It should be noted that when the electrically assisted bicycle 1 is moving forward, it can be required that there is no pedal rotation (crank rotation), but when the vehicle is moving backward, the pedal automatically rotates. In the embodiment, it is excluded from the requirements.

  If it is determined that it is not in the hand-pressed state, the state determination unit 3100 outputs a riding state notification to the control unit 3300, and the control unit 3300 performs conventional control (step S15). For example, control is performed so as to generate assist torque in accordance with pedal torque input.

  On the other hand, when it is determined that the hand is pressed, the state determination unit 3100 outputs a hand pressed state notification to the control unit 3300.

The mode determination unit 3200, human power F _in determines whether a 0 (step S9). When human power F _in = 0, mode determination unit 3200 outputs mode 5 other than the control mode described with reference to FIG. In this case, the control unit 3300 controls that there is no motor output (step S13). That is, the motor output torque of the motor 105 is zero. Then, the process proceeds to step S17. Here, although it is confirmed whether human power F _in is 0, it may be compared with the absolute value and the positive constant value of manpower F _in. That is, if the absolute value of the human power F _in is less than the predetermined value, it is determined that the good condition even without an assist by the motor 105 may not issue a motor output torque.

On the other hand, when the human power F _in is not zero, the mode determination unit 3200 and the control unit 3300 executes the mode-specific control process (step S11). The mode-specific control processing will be described with reference to FIG.

Mode determination unit 3200, human power F _in is equal to or a positive value (Fig. 9: step S21). In this step, manpower F _in may be determined whether a positive constant value or more. If it is less than a certain value, it is determined that the motor 105 does not need to assist. Incidentally, if it is determined in this way, prior to the step S29, so that F _in is equal to or less than a negative predetermined value.

When human power F _in is a positive value, the mode determination unit 3200 determines whether the motor rotation is without or positive direction (step S23). When the motor does not rotate or is in the positive direction (when the speed is zero or a positive value), the mode determination unit 3200 determines that the mode is 1, and notifies the control unit 3300 of mode 1. Then, the control unit 3300, a torque corresponding to the human power F _in and steering wheel angle theta, and controls so as to perform forward power running of the motor 105 (step S25). The process then returns to the caller process.

In this embodiment, as shown in FIG. 3, keeping in mind that cause motor output torque τ in accordance with the human power F _e acting substantially to the front wheels in the direction,
Motor output torque τ = α × r × F _in × cos θ (1)
Is calculated. r represents the radius of the wheel (here, the front wheel) on which the motor 105 is mounted, and α is a coefficient representing the degree of assist. α may vary depending on the control mode. In FIG. 3, F _in × cos θ = F _e .

On the other hand, when the motor rotation is none or not in the positive direction, that is, when the motor rotation is in the negative direction (the speed is a negative value), the mode determination unit 3200 determines that the mode is 3, The mode 3 is notified to the control unit 3300. Then, the control unit 3300, a torque corresponding to the human power F _in and steering wheel angle theta, and controls so as to produce a positive direction power running or negative direction regeneration (step S27). The motor output torque is calculated by equation (1). The process then returns to the caller process.

Further, when the human power F _in is negative, the mode determination unit 3200 determines whether the motor rotation is positive direction (step S29). When the motor rotation is in the positive direction (when the speed is a positive value), mode determination unit 3200 determines that it is mode 2 and notifies mode 2 to control unit 3300. Then, the control unit 3300, a torque corresponding to the human power F _in and steering wheel angle theta, and controls so as to produce a positive direction regenerative or negative direction powering (step S31). The motor output torque is calculated by equation (1). The process then returns to the caller process.

On the other hand, when the motor rotation is not positive, that is, when the motor rotation is in the negative direction (speed is a negative value) or none (speed is zero), mode determination unit 3200 is in mode 4. It is determined that there is, and mode 4 is notified to control unit 3300. Then, the control unit 3300, a torque corresponding to the human power F _in and steering wheel angle theta, and controls so as to produce a negative direction powering (step S33). The motor output torque is calculated by equation (1). The process then returns to the caller process.

  Returning to the description of FIG. 8, the hand pressing control unit 3000 executes steps S1 to S15 for each unit time until an instruction to end the process is given, for example, when the user gives an instruction to turn off the power (step S17).

  Thus, appropriate power running drive or regenerative braking is performed for each control mode according to the situation, and even when the electric assist bicycle 1 is pushed by hand or pulled by hand, operability and convenience are achieved. Will improve.

  Although the embodiment of the present invention has been described above, the present invention is not limited to this. For example, any technical feature in the above-described embodiment may be deleted according to the purpose.

  Furthermore, 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. As for the processing flow, as long as the processing content does not change, the order of the steps may be changed, or a plurality of steps may be executed in parallel.

  The arithmetic unit 1021 may be partly or entirely implemented by a dedicated circuit, or may execute the program prepared in advance to realize the functions described above.

  The above-mentioned example of the sensor type is also an example, and other sensors that can obtain the parameters described above may be used. It should be noted that the installation location may be changed in accordance with the gist of the parameter measured by the sensor.

  The embodiment described above is summarized as follows.

  The motor control device according to the present embodiment includes (A) an inverter that power-drives or regeneratively brakes the motor of the electric assist vehicle, and (B) the direction of human power when the user pushes or pulls the electric assist vehicle by hand. And a control unit that determines the motor control mode based on the rotation direction of the motor, and controls the inverter so as to cause the motor to generate torque based on human power in the determined control mode.

  As described above, the user can be appropriately assisted in the appropriate control mode based on the human power and the motor rotation in the state of being pushed by the hand or pulled by the hand.

  Note that the control mode described above is any one of the motor positive direction power running, the motor positive direction regeneration or negative direction power running, the motor negative direction regeneration or positive direction power running, and the motor negative direction power running. In some cases. The preferred control mode is determined according to the situation.

  Specifically, the control unit described above determines (b1) the positive direction power running of the motor as the control mode when the direction of human power is the positive direction and the rotation direction of the motor is the positive direction, and (b2) When the direction of the human power is the positive direction and the rotation direction of the motor is the negative direction, the negative direction regeneration or the positive direction power running is determined as the control mode, and (b3) the direction of the human power is the negative direction and the rotation direction of the motor Is positive direction regeneration or negative direction power running as a control mode, (b4) When the direction of human power is negative and the rotation direction of the motor is negative direction, You may make it determine negative direction power running. In the hand-pressed state assumed as described above, it is preferable to divide the case as described above.

  Further, the control unit described above may correct the human power with the turning angle of the steering wheel of the electric assist vehicle. For example, the torque is calculated based on the human power acting in the direction in which the wheel is directed by the handle.

  Furthermore, the control unit described above outputs an output from a sensor that detects that the user is holding both grips on the handle of the electric assist vehicle, and a predetermined value when the user pushes or pulls the electric assist vehicle by hand. It may be detected by at least one of a pedal torque input of less than or an output indicating no boarding of a sensor that detects boarding of the electric assist vehicle. This is because conventional control should be performed when the vehicle is on board. Moreover, safety can be improved by making such a determination.

  The motor described above may be provided on a wheel that moves in conjunction with the movement of the handle of the electrically assisted vehicle. With such a motor, it is easy to provide appropriate assistance in a manually pushed state.

  Such a configuration is not limited to the matters described in the embodiments, and may be implemented in other configurations that exhibit substantially the same effect.

3000 Hand-push control unit 3100 State determination unit 3200 Mode determination unit 3300 Control unit

Claims (7)

An inverter that power-drives or regeneratively brakes the motor of the electric assist vehicle;
The control mode of the motor is determined based on the direction of human power when the user pushes or pulls the electric assist vehicle by hand and the rotation direction of the motor, and the torque based on the human power is determined in the determined control mode. A control unit for controlling the inverter to cause
A motor control device. The control mode is
2. The motor according to claim 1, which is any one of a positive direction power running of the motor, a positive direction regeneration or negative direction power running of the motor, a negative direction regeneration or positive direction power running of the motor, and a negative direction power running of the motor. Control device. The control unit is
When the direction of the human power is a positive direction and the rotation direction of the motor is a positive direction, the power direction of the motor is determined as the control mode,
When the direction of the human power is a positive direction and the rotation direction of the motor is a negative direction, a negative direction regeneration or a positive direction power running of the motor is determined as the control mode,
When the direction of the human power is a negative direction and the rotation direction of the motor is a positive direction, a positive direction regeneration or a negative direction power running of the motor is determined as the control mode,
The motor control device according to claim 2, wherein when the direction of the human power is a negative direction and the rotation direction of the motor is a negative direction, the negative direction power running of the motor is determined as the control mode. The motor control device according to any one of claims 1 to 3, wherein the control unit corrects the human power by a turning angle of a handle of the electric assist vehicle. The control unit is
A state where the user pushes or pulls the electric assist vehicle by hand,
It represents the output from the sensor that detects that the grip of the handle of the electric assist vehicle is grasped, the pedal torque input that is less than a predetermined value, and the absence of the sensor that detects whether or not the electric assist vehicle is in the vehicle. The motor control device according to any one of claims 1 to 4, wherein the motor control device is detected by at least one of outputs. The motor control device according to any one of claims 1 to 5, wherein the motor is provided on a wheel that moves in conjunction with a movement of a handle of the electric assist vehicle.   An electrically assisted vehicle comprising the motor control device according to any one of claims 1 to 6.

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