TWI396641B - Automatic deceleration control device and method for electric scooter - Google Patents
Automatic deceleration control device and method for electric scooter Download PDFInfo
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Description
本發明係關於一種電動代步車的煞車控制裝置，尤指一種可判斷電動代步車是否正處於下坡狀態，在下坡時自動減緩電動代步車行駛速度的下坡自動減速控制裝置。The invention relates to a brake control device for an electric scooter, in particular to a downhill automatic deceleration control device capable of judging whether an electric scooter is in a downhill state and automatically slowing down the driving speed of the electric scooter when going downhill.
電動代步車在市面上早已推出多年，其設計原意在於針對老年人或行動不便者提供一種簡易的代步交通工具，減低這類人士的身體負擔，例如隨著年齡漸高或是曾經發生意外傷害，人體膝關節可能因退化或傷害而不耐長久行走，為避免因過度運動而使狀況再度惡化，有必要適當降低其活動量，因此開發此電動式的代步工具。Electric scooters have been on the market for many years and are designed to provide a simple means of transport for the elderly or those with reduced mobility, reducing the physical burden of such people, such as ageing or accidental injuries. The human knee joint may not be able to walk for a long time due to deterioration or injury. In order to avoid the situation from being deteriorated again due to excessive exercise, it is necessary to appropriately reduce the amount of activity, so the electric walking tool has been developed.
電動代步車的動力來源與一般使用燃油的機車不同，主要是借由電力驅動馬達而帶車輪前進，其行駛速度會較一般機車來得較慢。在平地行駛時，操作者尚可自己掌控車輛的行進速度；但當電動代步車正處於下坡前進時，由於會因重力加速度或坡度過大等關係，導致車體下坡速度越來越快，老年人恐因操控反應較慢而易產生恐懼，且易導致車輛翻覆的危險；更甚者，可能因恐懼慌亂而誤催動電門，使車輛不僅無法減速，反而提高下坡速度，如此更容易發生意外狀況。The power source of the electric scooter is different from that of the locomotive that generally uses fuel. The main reason is that the wheel is advanced by the electric drive motor, and the driving speed is slower than that of the general locomotive. When driving on a flat road, the operator can still control the speed of the vehicle. However, when the electric scooter is moving downhill, the speed of the vehicle body will be slower and slower due to the acceleration of gravity or the excessive slope. Older people are more likely to have fears due to slower manipulation and are more likely to cause the vehicle to overturn. Moreover, the electric door may be accidentally slammed by fear and panic, so that the vehicle can not only slow down, but increase the downhill speed, which is easier. An unexpected condition has occurred.
由於現有電動代步車在下坡時係缺乏任何減速保護機制，使駕駛者容易因車速過快而產生恐慌甚至發生翻覆等意外狀況，本發明之主要目的係提供一種電動代步車下坡自動減速控制裝置，係於判斷出電動代步車正下坡前進時，自動降低施加在馬達上的電流，使其減緩運轉速度，從而降低電動代步車之下坡速度。Since the existing electric scooter lacks any deceleration protection mechanism when going downhill, the driver is prone to accidental situations such as panic or even overturning due to excessive speed. The main object of the present invention is to provide an electric deceleration downhill automatic deceleration control device. When it is determined that the electric scooter is moving downhill, the current applied to the motor is automatically reduced to slow down the running speed, thereby reducing the downhill speed of the electric scooter.
為達到前述目的，本發明電動代步車下坡自動減速控制裝置係包含有：一電門開度檢知器，係檢知電動代步車之電門開度，輸出電門開度資料；一微處理器，連接該電門開度檢知器以接收該電門開度資料，根據該電門開度資料決定一馬達之驅動電壓及驅動電流，該微處理器內係建立有一下坡判斷減速程序；一馬達驅動電路，係連接該微處理器之輸出端，根據微處理器之控制指令而產生驅動電壓及驅動電流，以驅動馬達產生運轉；一回授檢測電路，連接在該馬達驅動電路與微處理器之間，負責感測馬達驅動電路輸出的驅動電壓及驅動電流，並將感測到的資料回授給微處理器；其中，該微處理器係根據回授檢測電路所測得之驅動電壓及驅動電流判斷電動代步車是否處於下坡狀態，於判斷是下坡狀態時，微處理器係降低送出至該馬達驅動電路之脈寬調變信號(PWM)的工作週期，以減緩該馬達之運轉速度。In order to achieve the foregoing objective, the automatic deceleration control device for the downslope of the electric scooter of the present invention comprises: an electric door opening degree detecting device, which detects the electric door opening degree of the electric scooter and outputs the opening information of the electric door; a microprocessor, Connecting the electric door opening detector to receive the opening information of the electric door, determining a driving voltage and a driving current of the motor according to the opening information of the electric motor, and establishing a deceleration program for lowering the slope in the microprocessor; a motor driving circuit Connected to the output end of the microprocessor, generates a driving voltage and a driving current according to a control command of the microprocessor to drive the motor to generate operation; a feedback detection circuit is connected between the motor driving circuit and the microprocessor Responsible for sensing the driving voltage and driving current of the motor driving circuit output, and feeding back the sensed data to the microprocessor; wherein the microprocessor is based on the driving voltage and driving current measured by the feedback detecting circuit Determining whether the electric scooter is in a downhill state, and when determining that it is a downhill state, the microprocessor reduces the pulse width modulation sent to the motor drive circuit No. (PWM) duty cycle to slow the speed of operation of the motor.
本發明之另一目的係提供一種電動代步車下坡自動減速控制方法，包含有：讀取電門開度資料，係以一微處理器接收電動代步車之電門開度資料；依電門開度資料輸出驅動電壓，微處理器根據電門開度資料，控制一馬達驅動電路使其產生對應該電門開度資料的驅動電壓，令馬達根據該驅動電壓運轉；判斷馬達的驅動電壓值是否超過一臨界值，該微處理器判斷驅動電壓是否已高於一臨界值，當高於臨界值時，係繼續下一步驟；讀取馬達的驅動電流值，微處理器係讀取馬達目前的驅動電流值大小；判斷驅動電流是否小於一預設值，微處理器判斷馬達的驅動電流是否小於一預設值，當小於該預設值時，執行下一步驟；降低脈寬調變信號之工作週期，該微處理器降低脈寬調變信號的工作週期，令控制馬達之驅動電晶體的導通時間縮小，從而減少通過馬達的電流，降低其轉速。Another object of the present invention is to provide an automatic deceleration control method for downslope of an electric scooter, comprising: reading the opening degree of the electric door, and receiving the electric opening information of the electric scooter by a microprocessor; The driving voltage is output, and the microprocessor controls a motor driving circuit to generate a driving voltage corresponding to the opening degree of the electric motor according to the opening degree data, so that the motor operates according to the driving voltage; and determines whether the driving voltage value of the motor exceeds a critical value. The microprocessor determines whether the driving voltage has risen above a critical value. When the threshold value is higher than the critical value, the process proceeds to the next step; the driving current value of the motor is read, and the microprocessor reads the current driving current value of the motor. Determining whether the driving current is less than a preset value, the microprocessor determines whether the driving current of the motor is less than a preset value, when less than the preset value, performing the next step; reducing the duty cycle of the pulse width modulation signal, The microprocessor reduces the duty cycle of the pulse width modulation signal, thereby reducing the conduction time of the driving transistor of the control motor, thereby reducing the passage of the motor Flow, reducing its speed.
藉由前述技術，當確定電動代步車正處於下坡前進時，本發明係縮減驅動電晶體之脈寬調變信號的工作週期，令馬達減速，從而減緩電動代步車之下坡速度，藉此防止老年人或行動不便者容易因下坡所產生的恐慌感，避免駕駛人錯誤操作電門，亦可降低電動代步車之翻覆意外。According to the foregoing technology, when it is determined that the electric scooter is moving downhill, the present invention reduces the duty cycle of the pulse width modulation signal of the driving transistor, and decelerates the motor, thereby slowing down the downhill speed of the electric scooter. Preventing the elderly or people with reduced mobility from being vulnerable to the panic caused by downhill, avoiding the driver's incorrect operation of the switch, and reducing the overturning accident of the electric scooter.
請參考圖1所示，本發明電動代步車下坡自動減速控制裝置係包含有：一電門開度檢知器10，係檢知電動代步車之電門開度，輸出電門開度資料；一微處理器20，其一輸入端連接該電門開度檢知器10以接收電門開度資料，根據該電門開度資料決定馬達40之驅動電壓及驅動電流值，馬達之驅動電壓值係可決定電動代步車之行駛速度，該微處理器20內係建立有一下坡判斷減速程序；一馬達驅動電路30，係連接該微處理器20之輸出端，根據微處理器20之控制指令而產生驅動電壓及驅動電流，以驅動馬達40產生運轉；一回授檢測電路50，係連接於該馬達驅動電路30與微處理器20之間，負責感測馬達驅動電路30所輸出的驅動電壓及通過馬達40的電流，並將感測到的資料回授給微處理器20，供微處理器20判斷是否需啟動下坡減速。Referring to FIG. 1 , the automatic deceleration control device for downhill of the electric scooter of the present invention comprises: an electric door opening degree detecting device 10, which detects the electric door opening degree of the electric scooter and outputs the opening information of the electric door; The processor 20 has an input connected to the gate opening detector 10 for receiving the opening degree data, and determining the driving voltage and the driving current value of the motor 40 according to the opening information of the motor. The driving voltage value of the motor determines the electric quantity. The speed of the scooter is set in the microprocessor 20 with a downslope determination deceleration program; a motor drive circuit 30 is connected to the output end of the microprocessor 20, and generates a driving voltage according to the control command of the microprocessor 20. And driving current to drive the motor 40 to generate operation; a feedback detection circuit 50 is connected between the motor driving circuit 30 and the microprocessor 20, and is responsible for sensing the driving voltage output by the motor driving circuit 30 and passing through the motor 40. The current is fed back to the microprocessor 20 for the microprocessor 20 to determine if a downhill deceleration needs to be initiated.
請參考圖2所示，為前述馬達驅動電路30之詳細電路圖，本實施例係採用具有對稱架構的H橋式驅動電路，包含有第一至第四驅動電晶體31~34，詳細連接方式如下：第一驅動電晶體31的一端連接一直流電壓，另一端連接至第一輸出接點35；第二驅動電晶體31的一端連接該直流電壓，另一端連接至第二輸出接點36；第三驅動電晶體33的一端連接該第一輸出接點35，另一端連接至接地；第三驅動電晶體34的一端連接該第二輸出接點36，另一端連接至接地。Referring to FIG. 2, for the detailed circuit diagram of the motor drive circuit 30, the embodiment adopts an H-bridge drive circuit having a symmetric structure, including first to fourth drive transistors 31-34, and the detailed connection manner is as follows: One end of the first driving transistor 31 is connected to the DC voltage, and the other end is connected to the first output contact 35; one end of the second driving transistor 31 is connected to the DC voltage, and the other end is connected to the second output contact 36; One end of the three driving transistor 33 is connected to the first output contact 35, and the other end is connected to the ground; one end of the third driving transistor 34 is connected to the second output contact 36, and the other end is connected to the ground.
其中，前述馬達40係連接在第一輸出接點35及第二輸出接點36之間；各驅動電晶體31~34係根據微處理器20所送當第一、第四驅動電晶體31、34導通時，正轉電流係通過馬達40而驅使其產生正轉，此時電動代步車可前進；相反的，當第二、第三驅動電晶體32、33導通時，反轉電流係通過馬達40而驅使其產生逆轉，此時電動代步車可後退。各驅動電晶體31~34的導通/關閉動作是以微處理器20所產生的脈寬調變信號(PWM)所控制，各脈寬調變信號的工作週期(duty cycle)決定驅動電晶體31~34的導通時間，亦同時決定應供給多少驅動電流至馬達40。The motor 40 is connected between the first output contact 35 and the second output contact 36; each of the driving transistors 31-34 is sent by the microprocessor 20 as the first and fourth driving transistors 31, When the conduction is 34, the forward current is driven to rotate forward by the motor 40, and the electric scooter can advance; conversely, when the second and third driving transistors 32, 33 are turned on, the reverse current is passed through the motor. 40 drives it back, and the electric scooter can go backwards. The on/off operation of each of the driving transistors 31 to 34 is controlled by a pulse width modulation signal (PWM) generated by the microprocessor 20, and the duty cycle of each pulse width modulation signal determines the driving transistor 31. The on-time of ~34 also determines how much drive current should be supplied to the motor 40.
請參考圖3，為本發明回授檢測電路50一較佳實施例之詳細電路圖，該回授檢測電路50包含有：一第一電阻501，其一端連接至一電壓源，另一端串聯一第一齊納二極體Z1，該第一齊納二極體Z1之正極接地；一第二電阻502，其一端連接到該第一電阻501與第一齊納二極體Z1的串聯節點，另一端作為輸出端；一第三電阻503，其一端連接到該第一電阻501與第一齊納二極體Z1的串聯節點，另一端作為輸出端並同時連接一第一電容C1，第一電容C1的另一端接地；一第四電阻504，其一端連接到該第一電阻501與第一齊納二極體Z1的串聯節點，另一端連接至馬達40的一端；一第五電阻505，其一端連接至該電壓源，另一端串聯一第二齊納二極體Z2，該第二齊納二極體Z2之正極接地；一第六電阻506，其一端連接到該第五電阻505與第二齊納二極體Z2的串聯節點，另一端作為輸出端；一第七電阻507，其一端連接到該第五電阻505與第二齊納二極體Z2的串聯節點，另一端作為輸出端並同時連接一第二電容C2，第一電容C2的另一端接地；一第八電阻508，其一端連接到該第五電阻505與第二齊納二極體Z2的串聯節點，另一端連接至馬達40的另一端。Please refer to FIG. 3 , which is a detailed circuit diagram of a feedback detection circuit 50 according to a preferred embodiment of the present invention. The feedback detection circuit 50 includes a first resistor 501 connected to a voltage source at one end and connected in series at the other end. a Zener diode Z1, the anode of the first Zener diode Z1 is grounded; a second resistor 502 has one end connected to the series node of the first resistor 501 and the first Zener diode Z1, and One end is used as an output terminal; a third resistor 503 is connected at one end to the series connection node of the first resistor 501 and the first Zener diode Z1, and the other end is used as an output terminal and is connected to a first capacitor C1 at the same time, the first capacitor The other end of C1 is grounded; a fourth resistor 504 has one end connected to the series connection of the first resistor 501 and the first Zener diode Z1, the other end connected to one end of the motor 40; and a fifth resistor 505 One end is connected to the voltage source, the other end is connected in series with a second Zener diode Z2, the anode of the second Zener diode Z2 is grounded, and a sixth resistor 506 is connected to the fifth resistor 505 and the other end. a series node of two Zener diode Z2, the other end serves as an output; a seventh resistor 507, one end of which is connected to the series connection node of the fifth resistor 505 and the second Zener diode Z2, the other end serves as an output terminal and is simultaneously connected to a second capacitor C2, and the other end of the first capacitor C2 is grounded; The eighth resistor 508 has one end connected to the series node of the fifth resistor 505 and the second Zener diode Z2, and the other end connected to the other end of the motor 40.
在馬達40無論是正轉或反轉時，均會有電流通過馬達40，在各電阻501~508上均會產生電壓，因此，藉由偵測第二、三、六、七電阻502、503、506、507輸出端上的電壓值，即可反推出目前通過馬達40上的電流大小，以提供給微處理器20判斷電動代步車是否下坡。When the motor 40 rotates forward or reverse, a current flows through the motor 40, and a voltage is generated at each of the resistors 501 to 508. Therefore, by detecting the second, third, sixth, and seventh resistors 502 and 503, The voltage value at the output of 506, 507 can reverse the current current through the motor 40 to provide the microprocessor 20 with a determination as to whether the electric scooter is going downhill.
請參考圖4所示，為利用脈寬調變信號(PWM)控制馬達40轉速之示意圖，圖中顯示有兩種不同工作週期的脈寬調變信號PWM1、PWM2，其中一脈寬調變信號PWM1的工作週期為50%，另一脈寬調變信號PWM2的工作週期為30%。當工作週期越大，馬達40獲得較多能量故轉速越高；工作週期越小，馬達40獲得較少能量故轉速較慢。Please refer to FIG. 4, which is a schematic diagram of controlling the rotation speed of the motor 40 by using a pulse width modulation signal (PWM). The figure shows two pulse width modulation signals PWM1 and PWM2 of different working cycles, wherein one pulse width modulation signal The duty cycle of PWM1 is 50%, and the duty cycle of PWM2 is another 30%. When the duty cycle is larger, the motor 40 obtains more energy, so the rotation speed is higher; the smaller the duty cycle, the smaller the energy of the motor 40, and the slower the rotation speed.
本發明之微處理器20即利用脈寬調變信號之工作週期大小來控制馬達，使電動代步車在下坡時能自動減緩速度，請參考圖5，微處理器20所執行之下坡判斷減速程序包含有下列步驟：讀取電門開度資料(501)，微處理器20係接收電門開度檢知器10所感測出的電門開度資料；依電門開度資料輸出驅動電壓(502)，微處理器20根據電門開度資料控制該馬達驅動電路30，使馬達驅動電路30能產生對應該電門開度資料的驅動電壓，馬達40接收該驅動電壓而轉動；判斷馬達的驅動電壓值是否超過一臨界值(503)，該微處理器20判斷目前的驅動電壓是否已高於一臨界值，該臨界值可設定為馬達40全速運轉時之驅動電壓的70%，例如馬達40全速運轉時之驅動電壓為Vmax ，則臨界值即可定為Vmax ×70%；當低於臨界值時，則回到步驟(501)以持續讀取電門開度資料，當高於臨界值時，代表馬達40的轉速相當快速，電動代步車有可能正在下坡前進，故繼續下一步驟以判斷是否為下坡；讀取通過馬達的電流值(504)，微處理器20係透過該回授檢測電路50檢知目前通過馬達40的電流大小；判斷電流是否小於一預設值(505)，微處理器20係判斷通過馬達40的電流是否小於一預設值(例如2安培)，當電流小於該預設值時，即表示電動代步車確實正在下坡前進，故將執行下一步驟；反之，若電流未小於該預設值，則電動代步車並未下坡，此時回歸到步驟(401)，持續讀取電門開度資料；降低脈寬調變信號之工作週期(506)，當判斷電動代步車正在下坡前進時，該微處理器20係刻意輸出低工作週期的脈寬調變信號至馬達驅動電路30，降低驅動電晶體31~34之導通時間，從而減少通過馬達40的電流；當流經馬達40的電流減小時，馬達40轉速即自然降低，故能達到電動代步車自動下坡減速之目的。The microprocessor 20 of the present invention controls the motor by using the duty cycle of the pulse width modulation signal, so that the electric scooter can automatically slow down when descending the slope. Referring to FIG. 5, the microprocessor 20 performs the downhill determination to decelerate. The program includes the following steps: reading the valve opening data (501), the microprocessor 20 receives the door opening data sensed by the door opening detector 10, and outputs the driving voltage (502) according to the door opening data. The microprocessor 20 controls the motor driving circuit 30 according to the opening information of the electric motor, so that the motor driving circuit 30 can generate a driving voltage corresponding to the opening degree of the electric motor, and the motor 40 receives the driving voltage to rotate; and determines whether the driving voltage value of the motor exceeds a threshold value (503), the microprocessor 20 determines whether the current driving voltage has been higher than a threshold value, and the threshold value can be set to 70% of the driving voltage when the motor 40 is running at full speed, for example, when the motor 40 is running at full speed. When the driving voltage is V max , the critical value can be determined as V max ×70%; when it is lower than the critical value, it returns to step (501) to continuously read the valve opening data, and when it is higher than the critical value, it represents horse The speed of 40 is quite fast, and the electric scooter may be going downhill, so the next step is continued to determine whether it is downhill; the current value (504) is read through the motor, and the microprocessor 20 transmits the feedback detection circuit. 50 detects the current current through the motor 40; determines whether the current is less than a predetermined value (505), and the microprocessor 20 determines whether the current through the motor 40 is less than a predetermined value (eg, 2 amps), when the current is less than the current When the preset value is set, it means that the electric scooter is indeed going downhill, so the next step will be executed; otherwise, if the current is not less than the preset value, the electric scooter does not go downhill, and then return to the step (401 ), continuously reading the opening information of the valve; reducing the working period of the pulse width modulation signal (506), when determining that the electric scooter is going downhill, the microprocessor 20 deliberately outputs the pulse width modulation of the low duty cycle The signal is sent to the motor drive circuit 30 to reduce the on-time of the driving transistors 31-34, thereby reducing the current through the motor 40. When the current flowing through the motor 40 is reduced, the motor 40 is naturally reduced in speed, so that the electric scooter can be self-generated. The purpose of slowing downhill.
綜上所述，本發明於判斷電動代步車目前的行駛速度較快時，進一步判斷通過馬達之電流值是否小於一預設值，當電流低於該預設值時，即確定電動代步車正處於下坡前進的狀態，此時係特地減少驅動電晶體之脈寬調變信號的工作週期，令馬達減速，從而減緩電動代步車之下坡速度，藉此防止老年人或行動不便者因下坡所產生的恐慌感，避免錯誤操作電門，降低電動代步車之翻覆意外。In summary, the present invention further determines whether the current value of the motor is less than a preset value when the current traveling speed of the electric scooter is relatively fast, and determines that the electric scooter is positive when the current is lower than the preset value. In the state of going downhill, this time, the duty cycle of the pulse width modulation signal of the driving transistor is specifically reduced, and the motor is decelerated, thereby slowing down the downhill speed of the electric scooter, thereby preventing the elderly or the inconvenience The panic caused by the slope avoids the wrong operation of the electric door and reduces the overturning accident of the electric scooter.
10．．．電門開度檢知器10. . . Electric door opening detector
20．．．微處理器20. . . microprocessor
30．．．馬達驅動電路30. . . Motor drive circuit
31．．．第一驅動電晶體31. . . First drive transistor
32．．．第二驅動電晶體32. . . Second drive transistor
33．．．第三驅動電晶體33. . . Third drive transistor
34．．．第四驅動電晶體34. . . Fourth drive transistor
35．．．第一輸出接點35. . . First output contact
36．．．第二輸出接點36. . . Second output contact
40．．．馬達40. . . motor
50．．．回授檢測電路50. . . Feedback detection circuit
501．．．第一電阻501. . . First resistance
502．．．第二電阻502. . . Second resistance
503．．．第三電阻503. . . Third resistance
504．．．第四電阻504. . . Fourth resistor
505．．．第五電阻505. . . Fifth resistor
506．．．第六電阻506. . . Sixth resistor
507．．．第七電阻507. . . Seventh resistor
508．．．第八電阻508. . . Eightth resistor
Z1．．．第一齊納二極體Z1. . . First Zener diode
Z2．．．第二齊納二極體Z2. . . Second Zener diode
PWM1、PWM2．．．脈寬調變信號PWM1, PWM2. . . Pulse width modulation signal
圖1：本發明之電路方塊圖。Figure 1: Circuit block diagram of the present invention.
圖2：本發明馬達驅動電路之詳細電路圖。Figure 2 is a detailed circuit diagram of the motor drive circuit of the present invention.
圖3：本發明回授檢測電路之詳細電路圖。Figure 3 is a detailed circuit diagram of the feedback detection circuit of the present invention.
圖4：本發明以脈寬調變信號(PWM)控制馬達轉速之原理示意圖。Figure 4: Schematic diagram of the principle of controlling the motor speed by pulse width modulation signal (PWM).
圖5：本發明之方法流程圖。Figure 5: Flow chart of the method of the present invention.
10．．．電門開度檢知器10. . . Electric door opening detector
20．．．微處理器20. . . microprocessor
30．．．馬達驅動電路30. . . Motor drive circuit
40．．．馬達40. . . motor
50．．．回授檢測電路50. . . Feedback detection circuit
Claims (9)
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| TW99132721A TWI396641B (en) | 2010-09-27 | 2010-09-27 | Automatic deceleration control device and method for electric scooter |
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| TW99132721A TWI396641B (en) | 2010-09-27 | 2010-09-27 | Automatic deceleration control device and method for electric scooter |
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| TWI396641B true TWI396641B (en) | 2013-05-21 |
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|---|---|---|---|---|
| TW570880B (en) * | 2001-10-16 | 2004-01-11 | Taiwan Bicycle Ind R&D Center | Method for controlling power for assisting traveling or an electromotive assisted vehicle at an inclined slope and a system for detecting inclination of slope |
| US20080108477A1 (en) * | 2006-11-08 | 2008-05-08 | Gm Global Technology Operations, Inc. | Downhill vehicle speed control algorithm for electric driven vehicles |
| CN101209681A (en) * | 2006-12-26 | 2008-07-02 | 比亚迪股份有限公司 | Electric motor outputting torque moment control system and control method in electric automobile descending condition |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW570880B (en) * | 2001-10-16 | 2004-01-11 | Taiwan Bicycle Ind R&D Center | Method for controlling power for assisting traveling or an electromotive assisted vehicle at an inclined slope and a system for detecting inclination of slope |
| US20080108477A1 (en) * | 2006-11-08 | 2008-05-08 | Gm Global Technology Operations, Inc. | Downhill vehicle speed control algorithm for electric driven vehicles |
| CN101209681A (en) * | 2006-12-26 | 2008-07-02 | 比亚迪股份有限公司 | Electric motor outputting torque moment control system and control method in electric automobile descending condition |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11123244B2 (en) | 2018-10-17 | 2021-09-21 | Industrial Technology Research Institute | Electric wheelchair control system and electric wheelchair control method |
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