JP3327181B2 - Electric bicycle - Google Patents

Electric bicycle

Info

Publication number
JP3327181B2
JP3327181B2 JP26311597A JP26311597A JP3327181B2 JP 3327181 B2 JP3327181 B2 JP 3327181B2 JP 26311597 A JP26311597 A JP 26311597A JP 26311597 A JP26311597 A JP 26311597A JP 3327181 B2 JP3327181 B2 JP 3327181B2
Authority
JP
Japan
Prior art keywords
pedal
pedal load
load torque
torque
output
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Lifetime
Application number
JP26311597A
Other languages
Japanese (ja)
Other versions
JPH1199983A (en
Inventor
正和 畑下
亮 松尾
正美 和田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Corp
Panasonic Holdings Corp
Original Assignee
Panasonic Corp
Matsushita Electric Industrial Co Ltd
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 Panasonic Corp, Matsushita Electric Industrial Co Ltd filed Critical Panasonic Corp
Priority to JP26311597A priority Critical patent/JP3327181B2/en
Publication of JPH1199983A publication Critical patent/JPH1199983A/en
Application granted granted Critical
Publication of JP3327181B2 publication Critical patent/JP3327181B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/53—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells in combination with an external power supply, e.g. from overhead contact lines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/12—Bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2270/00—Problem solutions or means not otherwise provided for
    • B60L2270/10—Emission reduction
    • B60L2270/14—Emission reduction of noise
    • B60L2270/145—Structure borne vibrations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION

【０００１】[0001]

【発明の属する技術分野】本発明はペダル負荷トルクに
応じて電動補助駆動装置を作動させることが可能な電気
自転車に関し、さらに詳しくは自転車の速度を検出し、
規定の速度およびトルクの範囲でペダル負荷を補助する
電動補助駆動装置を有する電気自転車に関するものであ
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric bicycle capable of operating an electric assist drive device in response to a pedal load torque, and more particularly, to detecting a bicycle speed.
The present invention relates to an electric bicycle having an electric assist driving device for assisting a pedal load in a specified speed and torque range.

【０００２】[0002]

【従来の技術】人力による駆動力と電動機による駆動力
を並列に設け、ペダル負荷に応じて規定範囲内で電動機
により駆動力を補助する機能を有する電気自転車は種々
提案されているが、電動補助駆動装置により補助する駆
動力範囲は、車速が、０から１５km／ｈまではペダル負
荷１に対して１以内、１５km／ｈから２４km／ｈ間では
車速に応じて漸次減少せしめ、２４km／ｈにおいて０と
なるよう制御せねばならない。2. Description of the Related Art Various types of electric bicycles have been proposed in which a driving force by a human power and a driving force by an electric motor are provided in parallel and a driving force is assisted by an electric motor within a specified range according to a pedal load. The driving force range assisted by the driving device is such that the vehicle speed is within 1 with respect to the pedal load 1 from 0 to 15 km / h, and gradually decreases according to the vehicle speed from 15 km / h to 24 km / h. It must be controlled to be zero.

【０００３】[0003]

【発明が解決しようとする課題】通常、ペダル負荷１に
対して電動機はほぼ駆動力１を補助するが、平地走行で
はペダリングにおいて漕ぐ脚足よりもペダルが先々と回
転して行く過大補助となるふわふわ現象が起きて走行感
が良くないという課題がある。Normally, the electric motor substantially assists the driving force 1 with respect to the pedal load 1. However, when traveling on level ground, the pedal is excessively assisted in that the pedals are rotated earlier than the pedaling legs to pedal. There is a problem that a fluffy phenomenon occurs and the running feeling is not good.

【０００４】また、一充電走行距離が平地走行にて２５
kmと航続距離が短かいため残量を気にしながらの走行お
よび頻繁に充電を行う必要があり使い勝手がよくなく課
題となっている。In addition, the traveling distance per charge is 25 when traveling on level ground.
Because of the short cruising range of km, it is necessary to run while paying attention to the remaining amount and to frequently charge the battery.

【０００５】[0005]

【課題を解決するための手段】上記課題を解決するため
本発明は、ペダル負荷トルクをモニタして軽負荷走行時
に電動機の駆動力補助の比率を時間の経過に対して漸減
させる出力制限制御による走行モードへの移行を滑らか
に行うとともに、ペダル負荷トルクが大きくなったと
き、直ちに出力制限制御を解除するように構成したもの
である。 SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention monitors a pedal load torque and gradually reduces a ratio of a driving force assist of an electric motor with time when the vehicle is running under a light load.
Smooth transition to driving mode with output limit control
And that the pedal load torque has increased
The output limit control is immediately released
It is.

【０００６】[0006]

【発明の実施の形態】本発明の請求項１に記載の発明
は、人力によってペダル負荷トルクが与えられることに
より駆動されるペダル駆動装置と、前記ペダル駆動装置
に対して並列に設けられ、前記ペダル負荷トルクを検出
するペダル負荷検出器と、前記ペダル負荷トルクが少な
くとも２つ以上設定された所定のレベル範囲内に有るか
どうかを判定する判定手段と、前記判定手段の出力に基
づいて一定時間ペダル負荷トルクが小さいレベル範囲内
に有ると判定された時のアシストトルクのペダル負荷ト
ルクに対する比率を、ペダル負荷トルクが大きいレベル
範囲内に有ると判定されていた時の比率よりも小さくな
るように電動機の出力制限制御を行う制御回路からなる
電動補助駆動装置を備えた電気自転車において、ペダル
負荷トルクが小さい レベル範囲内であると判定された
後、アシストトルクのペダル負荷トルクに対する比率を
時間の経過に対して漸減させることを特徴とする電気自
転車であり、軽負荷走行時に必要以上のアシストトルク
発生させないのでペダルが足に密着して自然なペダリン
グ感が得られるとともに、ペダル負荷の変動によっても
アシスト比率が滑らかに変化するので運転者は不自然な
ショックを感じることがなく自然な走行感が得られ、か
つ同時に電池の消耗を少なくすることができるという作
用がある。The invention according to claim 1 of the embodiment of the present invention includes a pedal driving device driven by the pedal load torque is provided by human power, provided in parallel with the pedal drive, the Detects pedal load torque
And a pedal load detector that reduces the pedal load torque.
At least two or more are within the specified level range
Determining means for determining whether or not the
Within a level range where the pedal load torque is small for a certain period of time
Pedal load torque of assist torque when it is determined that
The ratio to lux is the level at which the pedal load torque is large.
It is smaller than the ratio when it was determined to be within the range
Control circuit that controls the output of the motor
In an electric bicycle equipped with an electric auxiliary drive device, a pedal
It is determined that the load torque is within the small level range
Later, the ratio of assist torque to pedal load torque
An electric vehicle characterized by gradually decreasing over time.
The vehicle is turning and the assist torque is more than necessary when running under light load
Pedal is in close contact with the foot so it doesn't cause natural pedaling
Feeling as well as fluctuations in pedal load
The driver is unnatural because the assist ratio changes smoothly.
A natural driving feeling can be obtained without feeling shock,
At the same time, there is an effect that the consumption of the battery can be reduced .

【０００７】請求項２に記載の発明は、ペダル負荷トル
クが小さいレベル範囲内から大きいレベル範囲内へ移行
したと判断された時、直ちに出力制限制御を解除するこ
とを特徴とする請求項１に記載の電気自転車であり、運
転者はペダリングをまったく重いと感じることなく運転
できるという作用を有する。According to a second aspect of the present invention, a pedal load torque is provided.
Transition from a small level range to a large level range
Release the output limit control immediately when it is determined that
An electric bicycle according to claim 1, wherein the door, luck
Transformers drive without feeling pedaling at all
Has the effect of being able to.

【０００８】[0008]

【実施例】以下本発明の実施例について、図により説明
する。DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to the drawings.

【０００９】図１は発明による電気自転車の概略構成図
である。電動機，減速機，センサーおよび制御回路が一
体に収納された電動補助駆動装置１は車体のメインパイ
プ２とサドルパイプ３の結合部の下方に組み立てられて
いる。電動補助駆動装置１に電力を供給する電池は樹脂
製のボックス４に内蔵され、サドルパイプ３と後輪５間
の本体に組み込まれている。FIG. 1 is a schematic structural view of an electric bicycle according to the present invention. An electric auxiliary driving device 1 in which an electric motor, a speed reducer, a sensor, and a control circuit are integrally housed is assembled below a joint between a main pipe 2 and a saddle pipe 3 of a vehicle body. A battery for supplying electric power to the electric auxiliary driving device 1 is incorporated in a resin box 4 and is incorporated in a main body between the saddle pipe 3 and the rear wheel 5.

【００１０】図２は本発明による電動補助駆動装置の制
御ブロック図である。電動補助駆動装置１の制御は、電
動補助駆動装置に内蔵されているペダル負荷検出器１０
から出力される信号をマイクロコンピュータ１１に入力
し、その値に応じてＰＷＭインバータのデューティ比を
計算し、電動機１６への出力を決定している。FIG. 2 is a control block diagram of the electric auxiliary driving device according to the present invention. The control of the electric auxiliary driving device 1 is performed by a pedal load detector 10 built in the electric auxiliary driving device.
Is input to the microcomputer 11, the duty ratio of the PWM inverter is calculated according to the value, and the output to the electric motor 16 is determined.

【００１１】さらにマイクロコンピュータ１１はペダル
負荷トルクが所定の値に対して大または小であることを
判定する判定手段１２および判定手段１２の出力を監視
し、その状態に基づき予め設定された所定のプログラム
にしたがってアシスト比率を変更する変更手段１３を備
えている。Furthermore microcomputer 11 monitors the output of the determination means 12 and decision means 12 that the pedal load torque is large or small relative to a predetermined value, preset predetermined based on the state A change means 13 for changing the assist ratio according to a program is provided.

【００１２】ペダル負荷トルクとそれに対するアシスト
比率の時間による推移を示す特性図を図３に示す。FIG. 3 is a characteristic diagram showing a change over time of the pedal load torque and the assist ratio with respect to the pedal load torque.

【００１３】図３の平地走行のように運転者の漕ぐパワ
ーが少ない軽負荷走行時においては、破線従来のアシス
ト比率のようにペダル負荷トルクに対して電動補助駆動
装置が同等の大きさのトルクを出力した場合、ペダリン
グにおいて漕ぐ脚足よりもペダルが先々と回転して過大
補助となるふわふわ現象が起きるため走行感が良くな
い。When the vehicle is running lightly with little power to row, as shown in FIG. 3, the electric auxiliary driving device has a torque equivalent to the pedal load torque as indicated by the broken line conventional assist ratio. Is output, the pedals rotate earlier than the pedaling legs in pedaling, and a fluffy phenomenon that becomes excessive assistance occurs, so that the running feeling is not good.

【００１４】一方、このような軽負荷走行時においても
電動補助駆動装置の出力をペダル負荷トルクの半分以下
にするとペダルが踏み足に密着するようになりペダリン
グ感が自然な感じになる。また、坂道に達した場合瞬時
に電動補助駆動装置出力がペダル負荷トルクと同じ大き
さに戻るため快適に登坂でき乗り心地が良い電気自転車
となる。On the other hand, even when the vehicle is running under a light load, if the output of the electric auxiliary driving device is set to less than half of the pedal load torque, the pedal comes into close contact with the foot and the pedaling feel becomes natural. In addition, when the vehicle reaches a slope, the output of the electric assist driving device instantaneously returns to the same magnitude as the pedal load torque.

【００１５】また、ペダル負荷検出器１０の出力により
ペダル負荷トルクが所定の値よりも小であることを検出
した時瞬時にアシスト比率を小さくし、その後ペダル負
荷トルクが所定の値よりも大となったことを検出した時
瞬時にアシスト比率を元に戻すという制御を行うと、乗
り手の踏み足に対して電動機の補助が大きくなったり小
さくなったりというハンチング状態が発生し乗り心地が
良くない。そこで、走行状態の全体から見て軽負荷平地
走行と判断できるまでアシスト比率を小さくする走行モ
ードに移行しないために、ペダル負荷トルクが所定値以
下となった時点より一定時間継続した後に判定すること
によりハンチングを発生させることなくアシスト比率を
小さくする出力制限制御を実現し、航続距離を延ばすこ
とができる。出力制限制御の解除については、乗り手に
ペダリングが重いと感じさせないため瞬時のペダル負荷
検出器１０出力より判断して規定値に移行するように電
動機出力を制御する。Further, when it is detected from the output of the pedal load detector 10 that the pedal load torque is smaller than a predetermined value, the assist ratio is reduced immediately, and thereafter, the pedal load torque is determined to be larger than the predetermined value. If the control is performed such that the assist ratio is returned to the original state instantaneously when it is detected, the hunting state in which the assistance of the electric motor is increased or decreased with respect to the stepping foot of the rider occurs, and the ride comfort is not good. Therefore, in order not to shift to the traveling mode in which the assist ratio is reduced until it can be determined that the vehicle is traveling on light-load level ground from the viewpoint of the entire traveling state, it is necessary to perform the determination after continuing for a certain period of time from the time when the pedal load torque falls below the predetermined value. Assist ratio without hunting
It is possible to realize a smaller output limiting control and extend the cruising distance. As for the release of the output restriction control, the motor output is controlled so as to shift to the specified value by judging from the instantaneous output of the pedal load detector 10 in order not to make the rider feel that pedaling is heavy.

【００１６】図３では通常の制御から出力制限制御へ移
行する際に時間の経過に対して直線的にアシスト比率が
減衰する例で説明したが、制御の容易さと乗り心地の良
さのバランスを考えて様々な移行の仕方が考えられる。
図４にその一部について時間とアシスト比率の特性図を
示す。FIG. 3 shows an example in which the assist ratio attenuates linearly with the lapse of time when the control is shifted from the normal control to the output limiting control. The balance between ease of control and good riding comfort is considered. There are various ways of transition.
FIG. 4 shows a characteristic diagram of the time and the assist ratio for a part thereof.

【００１７】図4（ａ）は出力制限制御への移行時にス
テップ状にアシスト比率を減少させる場合のアシスト比
率特性図である。この場合ステップの数が少ないほど制
御は簡単となるが乗り心地については効果が少ない、逆
にステップの数を多くすると制御は複雑になるが乗り心
地は改善される。FIG. 4A is an assist ratio characteristic diagram in a case where the assist ratio is reduced in a stepwise manner when shifting to the output limiting control. In this case, the smaller the number of steps, the easier the control is, but the effect on ride quality is small. Conversely, if the number of steps is increased, the control becomes complicated, but the ride quality is improved.

【００１８】図４（ｂ）は出力制限制御への移行時に時
間の経過に対して連続的にアシスト比率を減少させる場
合のアシスト比率特性図である。この場合ステップ状に
アシスト比率を減少させるものに比べてより滑らかに出
力制限制御へ移行できる。FIG. 4B is an assist ratio characteristic diagram in the case where the assist ratio is continuously reduced with the elapse of time when shifting to the output limit control. In this case, it is possible to shift to the output restriction control more smoothly than in the case where the assist ratio is reduced stepwise.

【００１９】図４（ｃ）は出力制限制御への移行時に時
間の経過に対して多段階かつ非直線を含むあるレ−トに
てアシスト比率を減少させる場合のアシスト比率特性図
である。この場合制御は複雑になるが他のパターンに比
べてより滑らかに出力制限制御へ移行できる。FIG. 4C is an assist ratio characteristic diagram in the case where the assist ratio is decreased at a certain rate including a multi-step and a non-linear line with respect to the passage of time at the time of shifting to the output limiting control. In this case, the control becomes complicated, but it is possible to shift to the output restriction control more smoothly than other patterns.

【００２０】以上、図４に示したものは代表例であり、
アシスト比率の可変を非直線を含むあるレートまたは多
段階の組合せにて実施しても良いことは言うまでもな
い。FIG. 4 shows a typical example.
It goes without saying that the assist ratio may be changed at a certain rate including a non-linear line or a combination of multiple steps.

【００２１】なお、上記の発明の実施例の説明ではペダ
ル負荷トルクのレベルを大・小の２段階としてそれに対
応したアシスト比率で制御するように説明したが、ペダ
ル負荷トルクの大きさを大・中・小の３段階またはそれ
以上に細かく分割されたレベルで検出し、それに応じた
アシスト比率で制御するようにしても同様の効果を得ら
れることは言うまでもない。In the above description of the embodiment of the present invention, the pedal load torque level is set to two levels, large and small, and the control is performed with the assist ratio corresponding thereto. It is needless to say that the same effect can be obtained by performing detection at three or more levels, which are finely divided into small and medium levels, and controlling with an assist ratio according to the detection.

【００２２】[0022]

【発明の効果】上記実施例から明らかなように請求項１
記載の発明によれば、軽負荷走行時に必要以上のアシス
トトルク発生させないのでペダルが足に密着して自然な
ペダリング感が得られるとともに、ペダル負荷の変動に
よってもアシスト比率が滑らかに変化するので運転者は
不自然なショックを感じることがなく自然な走行感が得
られ、かつ同時に電池の消耗を少なくする電気自転車と
することができる。 As apparent from the above embodiment, claim 1
According to the invention described above, the unnecessary
No torque is generated, so the pedal is in close contact with the foot and
Pedaling feeling and pedal load fluctuation
Therefore, since the assist ratio changes smoothly, the driver
Natural feeling of running without feeling unnatural shock
With an electric bicycle that reduces battery consumption
can do.

【００２３】請求項２に記載の発明は、軽負荷走行では
なくなったと判断した時に直ちに出力制限制御を解除す
るものであり、運転者はペダリングをまったく重いと感
じることなく運転できる。 [0023] The invention described in claim 2 is for light load traveling.
Release the output limit control immediately when it is determined that it has run out
Driver feels that pedaling is quite heavy
You can drive without jiggling.

【図面の簡単な説明】[Brief description of the drawings]

【図１】本発明の実施例を示す電気自転車の概略構成図FIG. 1 is a schematic configuration diagram of an electric bicycle showing an embodiment of the present invention.

【図２】本発明による電動補助駆動装置の制御ブロック
図FIG. 2 is a control block diagram of the electric auxiliary driving device according to the present invention.

【図３】ペダル負荷トルクとそれに対するアシスト比率
の時間による推移を示す特性図FIG. 3 is a characteristic diagram showing a change over time of a pedal load torque and an assist ratio with respect to the pedal load torque.

【図４】（ａ）出力制限制御へステップ状に移行するア
シスト比率特性図 （ｂ）出力制限制御へ直線的に減少して移行するアシス
ト比率特性図 （ｃ）出力制限制御へステップ状かつ連続的に移行する
アシスト比率特性図FIG. 4 (a) Assist ratio characteristic diagram for stepwise transition to output limit control (b) Assist ratio characteristic diagram for linearly decreasing transition to output limit control (c) Stepwise and continuous to output limit control Assist ratio characteristic chart

【符号の説明】[Explanation of symbols]

１ 電動補助駆動装置 ２ メインパイプ ３ サドルパイプ ４ 電池ボックス ５ 後輪 １０ ペダル負荷検出器 １１ マイクロコンピュータ １２ 判定手段 １３ 変更手段 １４ ＰＷＭデューティ計算 １５ パワー部 １６ 電動機 DESCRIPTION OF SYMBOLS 1 Electric auxiliary drive 2 Main pipe 3 Saddle pipe 4 Battery box 5 Rear wheel 10 Pedal load detector 11 Microcomputer 12 Judgment means 13 Changing means 14 PWM duty calculation 15 Power unit 16 Electric motor

───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開 平８−230758（ＪＰ，Ａ) 特開 平６−255563（ＪＰ，Ａ) (58)調査した分野(Int.Cl.7，ＤＢ名) B62M 23/02 B60L 15/20 ────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-8-230758 (JP, A) JP-A-6-255563 (JP, A) (58) Fields investigated (Int. Cl. 7 , DB name) B62M 23/02 B60L 15/20

Claims (2)

(57)【特許請求の範囲】(57) [Claims] 【請求項１】 人力によってペダル負荷トルクが与えら
れることにより駆動されるペダル駆動装置と、前記ペダ
ル駆動装置に対して並列に設けられ、前記ペダル負荷ト
ルクを検出するペダル負荷検出器と、前記ペダル負荷ト
ルクが少なくとも２つ以上設定された所定のレベル範囲
内に有るかどうかを判定する判定手段と、前記判定手段
の出力に基づいて一定時間ペダル負荷トルクが小さいレ
ベル範囲内に有ると判定された時のアシストトルクのペ
ダル負荷トルクに対する比率を、ペダル負荷トルクが大
きいレベル範囲内に有ると判定されていた時の比率より
も小さくなるように電動機の出力制限制御を行う制御回
路からなる電動補助駆動装置を備えた電気自転車におい
て、ペダル負荷トルクが小さいレベル範囲内であると判
定された後、アシストトルクのペダル負荷トルクに対す
る比率を時間の経過に対して漸減させることを特徴とす
る電気自転車。 A pedal drive device which is driven by applying a pedal load torque by human power; and a pedal drive device which is provided in parallel with the pedal drive device, and is provided in parallel with the pedal drive device .
And a pedal load detector for detecting torque.
A predetermined level range in which at least two luc are set
Determining means for determining whether or not there is a
The pedal load torque is low for a certain period of time based on the output of
Of assist torque when it is determined that the
When the pedal load torque is large,
From the ratio when it was determined to be within the threshold level range
Control circuit that controls the output of the motor so that
Electric bicycle with electric auxiliary drive consisting of road
The pedal load torque is within the small level range.
After the setting, the assist torque
The ratio is gradually reduced over time.
Electric bicycle. 【請求項２】 ペダル負荷トルクが小さいレベル範囲内
から大きいレベル範囲内へ移行したと判断された時、直
ちに出力制限制御を解除することを特徴とする請求項１
に記載の電気自転車。 2. The pedal load torque is within a small level range.
When it is determined that the
2. The output limiting control is canceled.
The electric bicycle described in.
JP26311597A 1997-09-29 1997-09-29 Electric bicycle Expired - Lifetime JP3327181B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP26311597A JP3327181B2 (en) 1997-09-29 1997-09-29 Electric bicycle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP26311597A JP3327181B2 (en) 1997-09-29 1997-09-29 Electric bicycle

Publications (2)

Publication Number Publication Date
JPH1199983A JPH1199983A (en) 1999-04-13
JP3327181B2 true JP3327181B2 (en) 2002-09-24

Family

ID=17385044

Family Applications (1)

Application Number Title Priority Date Filing Date
JP26311597A Expired - Lifetime JP3327181B2 (en) 1997-09-29 1997-09-29 Electric bicycle

Country Status (1)

Country Link
JP (1) JP3327181B2 (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101014278B1 (en) * 2005-12-28 2011-02-16 야마하하쓰도키 가부시키가이샤 Motorized assist bicycle
JP5602186B2 (en) 2012-05-28 2014-10-08 マイクロスペース株式会社 Motor drive control device
CN107097683A (en) * 2017-04-21 2017-08-29 阿尔特汽车技术股份有限公司 Electric automobile upward slope starting control method
JP7060974B2 (en) * 2018-02-07 2022-04-27 ヤマハ発動機株式会社 Electric auxiliary bicycle and its drive system
CN113415373B (en) * 2021-07-09 2022-09-27 广东高标电子科技有限公司 Power-assisted vehicle energy recovery method and device, electronic equipment and storage medium

Also Published As

Publication number Publication date
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