WO2022060107A1 - Circuit and method for controlling inertial driving of electric bicycle - Google Patents

Circuit and method for controlling inertial driving of electric bicycle Download PDF

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Publication number
WO2022060107A1
WO2022060107A1 PCT/KR2021/012634 KR2021012634W WO2022060107A1 WO 2022060107 A1 WO2022060107 A1 WO 2022060107A1 KR 2021012634 W KR2021012634 W KR 2021012634W WO 2022060107 A1 WO2022060107 A1 WO 2022060107A1
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Prior art keywords
speed
inertial
inertial driving
driving control
motor
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PCT/KR2021/012634
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French (fr)
Korean (ko)
Inventor
백인하
이승경
홍경호
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주식회사 만도
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Publication of WO2022060107A1 publication Critical patent/WO2022060107A1/en

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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
    • 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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/412—Speed sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/415—Inclination sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/415—Inclination sensors
    • B62J45/4152—Inclination sensors for sensing longitudinal inclination of the cycle
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—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
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/24—Coasting mode
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/13—Bicycles; Tricycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/303—Speed sensors
    • 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

Definitions

  • the present invention relates to a circuit and method for controlling inertia running of an e-bike, and more particularly, to a control circuit and method capable of increasing the inertia running time of an e-bike without a body.
  • a bicycle In general, a bicycle is not only widely used as an exercise device used for life sports, but also a means of transportation that is used very advantageously for short-distance transportation in downtown areas.
  • bicycles have been provided at subway stations, etc., so that citizens can use them.
  • electric bicycles that are driven using a power source or charged with power to illuminate headlights are also used.
  • the e-bike has the disadvantage that it is heavier than the general manpower bicycle due to the installation of batteries and motors, and the distance of inertia driving (driving without pedal driving) is short due to the weight of the e-bike. Inertial driving of bicycles is also commonly referred to as coasting.
  • Bicycle inertia driving is mainly used when driving downhill, but it is used when a slight deceleration is required regardless of whether or not the brake is used when driving on flat ground.
  • Users who are accustomed to the general manpower bicycle may consider the difference in inertia running between the manpower bicycle and the electric bicycle as an ideal of the electric bicycle, or may be dissatisfied with the quality.
  • a neutral mode is set in Registered Patent No. 10-1542103 (a driving control method of an electric two-wheeled vehicle, registered on July 30, 2015), and electricity supply to the motor of the electric two-wheeled vehicle is stopped in the neutral mode. Therefore, it is described as being driven by inertia.
  • the electric bicycle is driven by inertia by cutting off the current supplied to the motor driving the driving wheel.
  • the model of inertia driving differs depending on the inclination of the driving path. For example, in inertia driving on a downhill road, speed may increase due to acceleration even without pedaling.
  • the speed of inertia driving on flat ground is gradually reduced, and it stops after driving a predetermined distance.
  • the technical problem to be solved by the present invention is to provide a control circuit and method that can solve complaints about the electric bicycle that users may have by increasing the distance and time of inertia running of the electric bicycle to the level of a general human bicycle. there is.
  • Another object of the present invention is to provide a control circuit and method capable of preventing a safety accident in inertial driving by performing inertial driving control according to the inclination of a road.
  • the inertial running control circuit of an electric bicycle for solving the above problems, a generator speed sensor for detecting a pedal speed, a motor speed sensor for detecting a vehicle speed, and the generator speed sensor
  • An inertial driving control unit for performing inertial driving control to be the same as the speed reduction degree and inertial driving distance of the human bicycle according to the pedal speed and vehicle speed information, and a wheel speed controller for driving the motor according to the control of the inertial driving controller may include
  • the inertial driving control unit may perform inertial driving control.
  • it may further include a gradient detection unit for detecting the gradient of the traveling path.
  • the inclination detecting unit detects a flat or uphill road in a first state and a downhill road in the second state by using the relationship between the current speed detected by the motor speed sensor and the speed detected in the previous state can do.
  • the torque of the motor when the inertia driving control unit is in the first state as a result of the detection of the inclination detection unit, the torque of the motor is set to the set inertia torque, and the torque of the motor is reduced to 0 by decreasing it over time. and, when the detection result of the inclination detection unit is in the second state, the torque of the motor may be set to a set fixed torque and maintained.
  • the generator speed sensor may include a pedal position detector for detecting a position of a pedal, and a pedal speed calculator for calculating a rotational acceleration according to a change in the pedal position according to time.
  • the inertial driving control unit may determine the inertial driving state based on the pedal speed detected by the generator speed sensor.
  • the inertia driving control unit may identify a reference speed for determining whether to control the inertial driving, and when the vehicle speed is equal to or greater than the identified reference speed, perform the inertial driving control.
  • the inertial driving control unit identifies a reference speed for determining whether to control the inertial driving, and when the vehicle speed is equal to or greater than the identified reference speed, the inertial driving control amount and control corresponding to the vehicle speed The time may be identified, and the inertial driving may be controlled based on the inertial driving control amount and the control time.
  • the method for controlling inertia driving of an electric bicycle comprises the steps of: a) determining whether the inertial driving state is in an inertial driving state by checking the pedal speed in the inertial driving control unit; checking whether the vehicle speed is above the reference vehicle speed; c) performing a control to set the torque of the motor to 0 when the vehicle speed is less than the reference vehicle speed; It may include the step of performing control to make the motor torque to 0 by gradually decreasing the torque from the current motor torque over time.
  • the method may further include the step of determining, in the inertial driving control unit, whether the slope of the current traveling path is a flat road or an uphill road in the first state and a downhill road in the second state.
  • step d in performing step d), if the inclination is in the first state, the inertial driving control unit gradually decreases the torque of the motor from the current motor torque over time to reduce the motor torque to zero. Create control can be performed.
  • the inertial driving control unit may set and maintain the motor torque equal to 0 or the set fixed torque.
  • the method may further include identifying a reference speed for determining whether to control the inertia driving.
  • step d in performing step d), identifying an inertial driving control amount and control time corresponding to the vehicle speed; and controlling the inertia travel based on the inertia travel control amount and the control time.
  • the present invention gradually reduces the current supplied to the motor during inertial driving intervention to provide a considerable inertia driving distance and time for inertial driving of a general manpower bicycle, so that the user can feel the same inertia driving feeling compared to general manpower bicycles, It has the effect of preventing quality complaints from occurring.
  • the present invention has the effect of preventing the occurrence of a safety accident during inertial driving and preventing unnecessary power consumption by checking whether or not inertial driving is performed and determining whether to intervene in inertial driving according to the slope of the road surface.
  • FIG. 1 is a block diagram of a speed control device for an electric bicycle to which the present invention is applied.
  • FIG. 2 is a block diagram of an inertial travel control circuit according to a preferred embodiment of the present invention.
  • FIG. 3 is a block diagram of one embodiment of the generator speed sensor in FIG.
  • FIG. 4 is a flowchart of an inertial driving control method according to a preferred embodiment of the present invention.
  • FIG. 5 is a block diagram of an inertial driving control circuit according to another embodiment of the present invention.
  • FIG. 6 is a flowchart of an inertial driving control method according to another embodiment of the present invention.
  • FIG. 7 is a flowchart of an inertial driving control method according to another embodiment of the present invention.
  • first, second, etc. are used herein to describe various elements, regions and/or regions, it is to be understood that these elements, parts, regions, layers and/or regions are not limited by these terms. . These terms do not imply a specific order, upper and lower, or superiority, and are used only to distinguish one member, region or region from another member, region or region. Accordingly, a first member, region, or region described below may refer to a second member, region, or region without departing from the teachings of the present invention.
  • FIG. 1 is a structural diagram of an electric bicycle speed control device to which the present invention is applied, and FIG. 2 shows an electric bicycle inertial running control circuit according to a preferred embodiment of the present invention.
  • the electric bicycle speed control device 1 uses the positional relationship and speed of the pedal 32 and the driving wheel 22 to control the speed of the electric bicycle.
  • the position controller 2 controls the wheel 22 by the position ⁇ p of the pedal 32 measured by the generator position sensor 7 and the position ⁇ w of the wheel 22 measured using the motor position sensor 4 . ) of the speed command (Nw*).
  • the wheel speed controller 14 includes the wheel speed command, the actual wheel speed Nw measured using the motor speed sensor 5, and the pedal 32 speed measured using the generator speed sensor 12 ( Np) generates a torque command Tw* for wheel 22 speed control.
  • a torque command Tp* of the pedal 32 is also generated to generate a feeling of the pedal 32 like a bicycle with a chain, and an assist level is applied to the torque command of the pedal 32 .
  • the inertial driving control circuit 10 of the present invention shares a part of the configuration with the speed control device 1 of the electric bicycle. During inertia driving, the rotation speed of the pedal 32 is 0, but the wheel 22 is continuously driven.
  • the inertial travel control circuit 10 of the present invention includes the generator speed sensor 12 for detecting the speed of the pedal, the motor speed sensor 13 for detecting the rotational speed of the motor 20, and the generator speed sensor 12 an inertial driving control unit 11 that checks whether inertial driving is performed according to the pedal speed detected in and a wheel speed controller 14 for controlling the speed of the motor 20 by performing pulse width modulation of the gate driving signal according to the control of the inertial driving controller 11 .
  • the inertial travel control unit 11 performs control according to the pedal speed detected through the generator speed sensor 12 .
  • the inertia driving control unit 11 may use a control unit that substantially controls driving, and may use a separate control unit that controls only inertia driving if necessary.
  • the vehicle speed is controlled in proportion to the rotational speed of the pedal. Specifically, as the number of rotations of the pedal increases, control is performed to increase the rotation speed of the motor 20 in proportion.
  • the inertial driving control unit 11 may determine the inertial driving state based on the pedal speed detected by the generator speed sensor 12 . For example, when the pedal speed detected by the generator speed sensor 12 is 0 rpm, the inertial driving control unit 11 may determine the inertial driving state.
  • the pedal speed is not limited to 0 rpm, and may include a pedal speed low enough to be determined as an inertia driving state.
  • inertial running state and the inertial running control are used with different meanings.
  • the inertia running state means a state in which the pedal 32 does not rotate.
  • the inertia driving control means that the inertial driving control unit 11 performs the current control proposed in the present invention according to the speed and deceleration of the electric bicycle in the inertial driving state.
  • the inertia driving control unit 11 may be a processor including a memory for storing a lookup table, and the lookup table may include conditions of the inertia driving control and control state information matching the conditions.
  • the generator speed sensor 12 may use a known method for detecting the speed of the pedal.
  • the position information of the pedal may be detected by detecting the position information of the pedal and calculating an acceleration according to a change in the position information.
  • FIG. 3 shows an example of the generator speed sensor 12 .
  • the generator speed sensor 12 includes a pedal position detection unit 12a that detects the position of the pedal 32, and the position information of the pedal 32 detected according to a change in time by the pedal position detection unit 12a. It may include a pedal speed calculating unit 12b for calculating the speed.
  • the pedal speed calculating unit 12b calculates the rotational acceleration.
  • a generator speed sensor 12 is an example, and a pedal speed can be detected using a conventional angular speed sensor.
  • the inertial driving control unit 11 may confirm that the inertial driving state is present.
  • the inertia driving control unit 11 which has confirmed the inertial driving state, checks the current driving speed of the electric bicycle detected by the motor speed sensor 13 .
  • the motor speed sensor 13 calculates the number of revolutions per hour of the motor 20 in consideration of the ratio with the driving wheel to obtain the vehicle speed of the electric bicycle.
  • the rotor position detection and acceleration of the motor may be used, and other known speed detection methods may be applied.
  • the inertial traveling control unit 11 When the traveling speed detected by the motor speed sensor 13 is less than the reference speed, the inertial traveling control unit 11 outputs a control command for making the torque of the motor 20 become zero.
  • the wheel speed controller 14 controls the torque of the motor 20 to be 0 according to the control of the inertia driving controller 11 .
  • the torque of the motor 20 may be set to 0, so that the speed may be gradually decreased according to the decrease of the inertial force.
  • the action of the brake that can be operated by the user is omitted for convenience of description.
  • the reason for not performing the inertia driving control proposed by the present invention at less than the reference speed is determined to be a case of decelerating due to a risk factor such as a driver's intention to stop or a collision when the speed is low, and thus it can be understood that additional torque is not provided. there is.
  • the inertial travel control unit 11 performs the inertial travel control.
  • the inertial travel control of the inertial travel control unit 11 does not completely block the current supplied to the motor 20 , but supplies an additional current to maintain the inertia torque.
  • the inertia torque is a concept defined in the present invention, so that the inertia running holding time and inertial running distance of the non-chain electric bicycle to which the present invention is applied are the same as the inertial running holding time and inertia running distance of a general bicycle. It means the current supplied to and the torque generated by the current.
  • control is performed to gradually reduce the inertial driving torque of the motor 20 by reducing the supply amount of the additional current according to the set reduction ratio over time.
  • the inertial driving control unit 11 performs a control to compensate for the relatively slow driving speed and mileage compared to the inertial driving state of the general manpower bicycle by the weight of the electric bicycle as described above during inertial driving control.
  • FIG. 4 is a flowchart of a method for controlling inertia running of an electric bicycle according to a preferred embodiment of the present invention.
  • the inertial driving control unit 11 checks the pedal 32 speed to determine whether the inertial driving state is in the inertial driving state (S41), and in the inertial driving state, determining whether the vehicle speed is greater than or equal to the reference vehicle speed (S42) ) and, if it is less than the reference vehicle speed, step S43 of making the torque of the motor 20 to 0, and if it is greater than the reference vehicle speed, the torque of the motor 20 is gradually reduced from the current motor torque over time. and making the torque zero (S44).
  • the present invention can provide an inertia driving feeling equivalent to that of a general bicycle by preventing a sudden decrease in speed and shortening of the inertial driving distance in the inertial driving state of the electric bicycle, unlike the prior art.
  • FIG. 5 is a block diagram of an inertial driving control circuit of an electric bicycle according to another embodiment of the present invention.
  • the generator speed sensor 12 for detecting the speed of the pedal
  • the motor speed sensor 13 for detecting the running speed of the motor
  • the gradient detection unit for detecting the gradient of the running path (15) and checking whether inertial driving is performed according to the pedal speed detected by the generator speed sensor 12 and controlling the inertial driving based on the speed and speed change of the e-bike detected by the motor speed sensor 13
  • the inertia traveling control unit 11 performed according to the slope detected by the slope detection unit 15, and the pulse width modulation of the gate driving signal under the control of the inertial traveling control unit 11 to obtain a driving current It includes a wheel speed controller 14 that supplies the motor 20 .
  • the inertial driving control unit 11 checks the pedal speed detected through the generator speed sensor 12, and confirms whether the current electric bicycle is in an inertial driving state.
  • the inertial driving control unit 11 may determine the inertial driving state.
  • the inertia driving controller 11 may be a processor including a memory for storing a lookup table, and the lookup table may include conditions of the inertia driving control and control state information matching the conditions.
  • the lookup table may include a degree of inclination of a traveling path of the electric bicycle and specific current control information according to the degree of inclination.
  • the inertia driving control unit 11 which has confirmed the inertial driving state, checks the current driving speed of the electric bicycle detected by the motor speed sensor 13 .
  • the motor speed sensor 13 may calculate the vehicle speed of the electric bicycle by calculating the number of revolutions per hour of the motor 20 in consideration of the ratio with the driving wheel.
  • the inertial traveling control unit 11 When the traveling speed detected by the motor speed sensor 13 is less than the reference speed, the inertial traveling control unit 11 outputs a control command for making the torque of the motor 20 become zero.
  • control intervention may not be performed because the reduction in the inertia running speed and the mileage of the e-bike and the general bicycle are similar during inertia driving.
  • the inertial travel control unit 11 When the vehicle speed detected by the motor speed sensor 13 above is equal to or greater than the reference speed, the inertial travel control unit 11 performs the inertial travel control.
  • the inertia traveling control unit 11 performs different controls according to the inclination detected by the inclination detection unit 15 .
  • the gradient detection unit 15 detects gradients for two states.
  • the inclination detecting unit 15 may detect the inclination by using a change in vehicle speed in a state in which the pedal does not rotate.
  • the vehicle speed detected by the current motor speed sensor 13 when the vehicle speed detected by the current motor speed sensor 13 is equal to or reduced compared to the vehicle speed detected by the motor speed sensor 13 in the previous state, it may be determined as the first slope, which is a flat ground or an uphill road.
  • the vehicle speed detected by the current motor speed sensor 13 is faster than the vehicle speed detected by the motor speed sensor 13 in the previous state, it may be determined as a second slope that is a downhill road.
  • an additional current is supplied to the motor 20 during inertia driving to relatively increase the inertial driving speed and control to increase the inertial driving distance. Since it may be dangerous, the inertia driving control described above should be performed only in the case of the first slope, which is a flat or uphill road.
  • the motor torque is controlled to 0 so that the sudden acceleration of the speed is not made, or the motor torque is controlled to be driven with a fixed constant torque set forcibly, so as to prevent a sudden increase in speed like driving using the engine brake of the vehicle. can do.
  • the fixed torque may be set to a smaller value than the initial value of the aforementioned inertia torque.
  • the present invention can provide the inertia running speed and distance of the e-bike that matches the inertial running speed and distance of a general bicycle by intervening and controlling the inertial running state of the e-bike when various conditions are satisfied.
  • the present invention has a feature that can help prevent a safety accident by performing a control helpful for deceleration for safety on a downhill road.
  • FIG. 6 is a flowchart of a method for controlling inertia running of an electric bicycle according to another embodiment of the present invention.
  • the inertial driving control method of an electric bicycle includes the steps of determining whether the inertial driving state is in the inertial driving state by checking the pedal 32 speed in the inertial driving control unit 11 (S61); Checking whether the vehicle speed is equal to or greater than the reference vehicle speed in the inertial driving state (S62); if the vehicle speed is less than the reference vehicle speed, setting the torque of the motor 20 to zero (S63); (S64) of confirming, and if the slope is downhill as a result of the confirmation of step S64, setting the torque of the motor 20 to 0 or a set fixed torque (S65); In the case of a flat road or an uphill road, the torque of the motor 20 is gradually decreased over time to make the motor torque 0 (S66).
  • the present invention performs inertial running control of the e-bike in a safe state through determination of whether the pedal is rotated, determination of vehicle speed and determination of inclination, thereby providing an inertial running state of the e-bike that conforms to the inertia running of a general bicycle. can do.
  • the load on the brake can be reduced, and stability can be improved.
  • FIG. 7 is a flowchart of an inertial driving control method according to another embodiment of the present invention.
  • the inertial driving control unit 11 determines whether the electric bicycle is in an inertial driving state ( S71 ).
  • the inertial driving control unit 11 may determine the inertial driving state based on the pedal speed detected by the generator speed sensor 12 . For example, when the pedal speed detected by the generator speed sensor 12 is 0 rpm, the inertial driving control unit 11 may determine the inertial driving state.
  • the pedal speed is not limited to 0 rpm, and may include a pedal speed low enough to be determined as an inertia driving state. In this case, the inertia driving control unit 11 may preset a value corresponding to the low pedal speed.
  • the inertial driving controller 11 may identify a reference speed for controlling the inertial driving (S72).
  • the electric bicycle speed control device 1 may further include a reference speed identification unit (not shown) for identifying the reference speed separately from the inertia driving control unit 11 .
  • the reference speed for controlling the inertia driving at least one factor among a plurality of factors, for example, 1) the weight of the entire electric bicycle including the user's weight and the weight of the load, 2) the friction coefficient of the road surface, 3) the wind direction and speed, 4) the inclination of the road surface, and 5) the speed when pedaling is stopped.
  • the reference speed for determining whether to control the inertial driving may vary depending on factors such as the weight sensed by the e-bike, the wind speed at a specific point in time, and the friction coefficient in a specific area.
  • the data corresponding to each factor is sensed through a sensor (not shown) that measures each factor, or information is received from the outside, and there is no limitation in a method of acquiring the data.
  • the friction coefficient of the road surface can be used to calculate rolling resistance, which is one of the resistances received through the running of the electric bicycle, and the wind direction and speed can be used to calculate the air resistance compared to the user's body cross-sectional area.
  • the inertial driving control unit 11 identifies the inertial driving control amount and the control time, and performs control based thereon (S74).
  • the inertia driving control unit 11 may identify the inertial driving control amount and the control time using data on at least one factor used when identifying the reference speed in S72, and control the inertial driving of the electric bicycle based thereon.
  • the inertial driving control unit 11 identifies the inertial driving control amount and the control time using data on at least one factor used when identifying the reference speed in S72, , it is possible to control the inertia running of the electric bicycle based on it.
  • more accurate inertial driving control can be performed in consideration of various factors affecting the running speed of the electric bicycle.

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Abstract

The present invention relates to a circuit and a method for controlling inertial driving of an electric bicycle, and the circuit may comprise: a generator speed sensor that senses a pedal speed; a motor speed sensor that senses a vehicle speed; an inertial driving control unit that controls inertial driving to be the same as the speed reduction degree of inertial driving and inertial driving distance of a human-powered bicycle according to the pedal speed sensed by the generator speed sensor and vehicle speed information; and a wheel speed controller that drives a motor under the control of the inertial driving control unit.

Description

전기자전거의 관성 주행 제어 회로 및 방법Inertial driving control circuit and method of e-bike
본 발명은 전기자전거의 관성 주행 제어 회로 및 방법에 관한 것으로, 더 상세하게는 무체인 전기자전거의 관성 주행 시간을 증가시킬 수 있는 제어 회로 및 방법에 관한 것이다.The present invention relates to a circuit and method for controlling inertia running of an e-bike, and more particularly, to a control circuit and method capable of increasing the inertia running time of an e-bike without a body.
일반적으로, 자전거는 생활 스포츠에 사용하는 운동기구로서 널리 사용되고 있을 뿐만 아니라 도심지의 근거리 교통에도 매우 유익하게 사용하고 있는 교통수단이다. In general, a bicycle is not only widely used as an exercise device used for life sports, but also a means of transportation that is used very advantageously for short-distance transportation in downtown areas.
특히 교통체증을 감소시키고 이에 따른 공해 방지에 효과적이어서 선진국에서는 자전거의 이용을 적극 활성화시키고 도심에는 자전거 전용도로를 만들어 환경 보호, 교통체증의 해소, 국민 건강에 매우 많은 도움을 주고 있는 실정이다. In particular, it is effective in reducing traffic jams and preventing pollution. In developed countries, the use of bicycles is actively promoted, and bicycle lanes are created in the city center to protect the environment, solve traffic jams, and provide great help to public health.
최근에는 공익을 위해 지하철 역 등에 자전거를 구비해 놓고, 시민들이 이용할 수 있도록 하고 있다. 이러한 자전거 중에는 전원을 사용하여 구동하거나 헤드라이트를 밝히기 위하여 전원을 충전하는 전기자전거도 이용되고 있다.Recently, for the public interest, bicycles have been provided at subway stations, etc., so that citizens can use them. Among these bicycles, electric bicycles that are driven using a power source or charged with power to illuminate headlights are also used.
전기자전거는 배터리와 모터의 장착에 의해 일반 인력 자전거에 비하여 더 무겁다는 단점이 있으며, 전기자전거의 무게 특성상 관성 주행(페달 구동이 없이 주행하는 상태)의 거리가 짧다. 자전거의 관성 주행은 통상 코스팅이라고도 한다.The e-bike has the disadvantage that it is heavier than the general manpower bicycle due to the installation of batteries and motors, and the distance of inertia driving (driving without pedal driving) is short due to the weight of the e-bike. Inertial driving of bicycles is also commonly referred to as coasting.
자전거의 관성 주행은 내리막길에서의 주행시 주로 사용되지만, 평지 주행시 브레이크 사용의 유무와 관계 없이, 약간의 감속이 필요한 경우 사용된다.Bicycle inertia driving is mainly used when driving downhill, but it is used when a slight deceleration is required regardless of whether or not the brake is used when driving on flat ground.
일반 인력 자전거에 익숙한 사용자들은 인력 자전거와 전기자전거의 관성 주행 차이를 전기자전거의 이상으로 생각하거나, 품질에 불만을 가질 수 있다.Users who are accustomed to the general manpower bicycle may consider the difference in inertia running between the manpower bicycle and the electric bicycle as an ideal of the electric bicycle, or may be dissatisfied with the quality.
종래 전기자전거의 관성 주행과 관련하여 등록특허 10-1542103(전기이륜차의 주행제어 방법, 2015년 7월 30일 등록)에는 중립모드를 설정하고, 중립모드에서는 전기이륜차의 모터에 전기 공급이 중단되도록 하여, 관성에 의해 운행되는 것으로 기재되어 있다.In relation to inertial driving of conventional electric bicycles, a neutral mode is set in Registered Patent No. 10-1542103 (a driving control method of an electric two-wheeled vehicle, registered on July 30, 2015), and electricity supply to the motor of the electric two-wheeled vehicle is stopped in the neutral mode. Therefore, it is described as being driven by inertia.
즉, 페달이 구동되지 않는 상태에서, 구동휠을 구동하는 모터에 공급되는 전류를 차단함으로써, 전기자전거는 관성에 의해 주행하게 된다.That is, in a state in which the pedal is not driven, the electric bicycle is driven by inertia by cutting off the current supplied to the motor driving the driving wheel.
관성 주행의 모델은 주행로의 경사도에 따라 차이가 있다. 예를 들어 내리막길에서의 관성 주행은 페달링을 하지 않더라도 가속도에 의해 속도가 증가할 수 있다.The model of inertia driving differs depending on the inclination of the driving path. For example, in inertia driving on a downhill road, speed may increase due to acceleration even without pedaling.
평지에서의 관성 주행은 점차 속도가 감소하며, 소정의 거리를 주행 후 정지하게 된다.The speed of inertia driving on flat ground is gradually reduced, and it stops after driving a predetermined distance.
오르막 길에서는 관성 주행으로 주행할 수 있는 거리가 짧아지게 된다.On an uphill road, the distance that can be driven by inertia driving becomes shorter.
이와 같은 구성에서 평지 주행을 기준으로, 일반 인력 자전거에 익숙한 사용자들은 전기자전거의 관성 주행 거리 및 시간이 상대적으로 짧은 것에 대하여 불만을 가질 수 있으며, 이에 대한 개선이 요구되고 있다In such a configuration, based on flat driving, users who are familiar with the general manpower bicycle may be dissatisfied with the relatively short inertia mileage and time of the e-bike, and improvement is required.
본 발명이 해결하고자 하는 기술적 과제는, 전기자전거의 관성 주행의 거리 및 시간을 일반 인력 자전거의 수준으로 높여 사용자가 가질 수 있는 전기자전거에 대한 불만 사항을 해소할 수 있는 제어 회로 및 방법을 제공함에 있다.The technical problem to be solved by the present invention is to provide a control circuit and method that can solve complaints about the electric bicycle that users may have by increasing the distance and time of inertia running of the electric bicycle to the level of a general human bicycle. there is.
또한, 본 발명은 도로의 경사도에 따른 관성 주행 제어를 수행하여, 관성 주행에서의 안전사고 발생을 방지할 수 있는 제어 회로 및 방법을 제공함에 있다.Another object of the present invention is to provide a control circuit and method capable of preventing a safety accident in inertial driving by performing inertial driving control according to the inclination of a road.
상기와 같은 과제를 해결하기 위한 본 발명의 일측면에 따른 전기자전거의 관성 주행 제어 회로는, 페달 속도를 검출하는 발전기 속도센서와, 차속을 검출하는 모터 속도센서와, 상기 발전기 속도센서에서 검출된 페달 속도 및 차속 정보에 따라, 인력 자전거의 관성 주행의 속도 감소 정도 및 관성 주행 거리와 동일하도록 관성 주행 제어를 수행하는 관성 주행 제어부와, 상기 관성 주행 제어부의 제어에 따라 모터를 구동하는 휠속도 제어기를 포함할 수 있다.The inertial running control circuit of an electric bicycle according to an aspect of the present invention for solving the above problems, a generator speed sensor for detecting a pedal speed, a motor speed sensor for detecting a vehicle speed, and the generator speed sensor An inertial driving control unit for performing inertial driving control to be the same as the speed reduction degree and inertial driving distance of the human bicycle according to the pedal speed and vehicle speed information, and a wheel speed controller for driving the motor according to the control of the inertial driving controller may include
본 발명의 실시예에서, 상기 관성 주행 제어부는, 상기 발전기 속도센서에서 검출한 페달 속도가 0rpm이며, 상기 차속이 기준속도 이상인 경우, 관성 주행 제어를 수행할 수 있다.In an embodiment of the present invention, when the pedal speed detected by the generator speed sensor is 0 rpm and the vehicle speed is equal to or greater than a reference speed, the inertial driving control unit may perform inertial driving control.
본 발명의 실시예에서, 주행로의 경사도를 검출하는 경사도 검출부를 더 포함할 수 있다.In an embodiment of the present invention, it may further include a gradient detection unit for detecting the gradient of the traveling path.
본 발명의 실시예에서, 상기 경사도 검출부는, 상기 모터 속도센서에서 검출된 현재 속도와 이전 상태에서 검출된 속도의 관계를 이용하여, 제1상태인 평지 또는 오르막길과 제2상태인 내리막길을 검출할 수 있다.In an embodiment of the present invention, the inclination detecting unit detects a flat or uphill road in a first state and a downhill road in the second state by using the relationship between the current speed detected by the motor speed sensor and the speed detected in the previous state can do.
본 발명의 실시예에서, 상기 관성 주행 제어부는, 상기 경사도 검출부의 검출결과 제1상태일 때, 상기 모터의 토크를 설정된 관성 토크로 설정하고, 시간의 경과에 따라 감소시켜 모터의 토크를 0으로 만들며, 상기 경사도 검출부의 검출결과 제2상태일 때, 상기 모터의 토크를 설정된 고정 토크로 설정하고 유지할 수 있다.In an embodiment of the present invention, when the inertia driving control unit is in the first state as a result of the detection of the inclination detection unit, the torque of the motor is set to the set inertia torque, and the torque of the motor is reduced to 0 by decreasing it over time. and, when the detection result of the inclination detection unit is in the second state, the torque of the motor may be set to a set fixed torque and maintained.
본 발명의 실시예에서, 상기 발전기 속도센서는, 페달의 위치를 검출하는 페달 위치 검출부와, 시간에 따른 상기 페달 위치의 변화에 따라 회전 가속도를 연산하는 페달 속도 연산부를 포함할 수 있다.In an embodiment of the present invention, the generator speed sensor may include a pedal position detector for detecting a position of a pedal, and a pedal speed calculator for calculating a rotational acceleration according to a change in the pedal position according to time.
본 발명의 실시예에서, 상기 관성 주행 제어부는, 발전기 속도센서에서 검출된 페달 속도에 기초하여 관성 주행 상태를 판단할 수 있다.In an embodiment of the present invention, the inertial driving control unit may determine the inertial driving state based on the pedal speed detected by the generator speed sensor.
본 발명의 실시예에서, 상기 관성 주행 제어부는, 관성 주행을 제어할 지 여부를 결정하는 기준 속도를 식별하고, 상기 차속이 상기 식별된 기준속도 이상인 경우, 관성 주행 제어를 수행할 수 있다.In an embodiment of the present invention, the inertia driving control unit may identify a reference speed for determining whether to control the inertial driving, and when the vehicle speed is equal to or greater than the identified reference speed, perform the inertial driving control.
본 발명의 실시예에서, 상기 관성 주행 제어부는, 관성 주행을 제어할 지 여부를 결정하는 기준 속도를 식별하고, 상기 차속이 상기 식별된 기준속도 이상인 경우, 상기 차속에 대응하는 관성 주행 제어량과 제어 시간을 식별하고, 상기 관성 주행 제어량과 제어 시간에 기초하여 관성 주행을 제어할 수 있다.In an embodiment of the present invention, the inertial driving control unit identifies a reference speed for determining whether to control the inertial driving, and when the vehicle speed is equal to or greater than the identified reference speed, the inertial driving control amount and control corresponding to the vehicle speed The time may be identified, and the inertial driving may be controlled based on the inertial driving control amount and the control time.
또한, 본 발명의 다른 측면에 따른 전기자전거의 관성 주행 제어 방법은, a) 관성 주행 제어부에서 페달 속도를 확인하여, 관성 주행 상태인지 판단하는 단계와, b) 관성 주행 상태일 때 차속이 기준 차속 이상인지 확인하는 단계와, c) 차속이 기준 차속 미만이면, 상기 관성 주행 제어부가 모터의 토크를 0으로 만드는 제어를 수행하는 단계와, d) 차속이 기준 차속 이상이면, 상기 관성 주행 제어부가 모터의 토크를 현재의 모터 토크로부터 시간의 경과에 따라 점차 감소시켜 모터 토크를 0으로 만드는 제어를 수행하는 단계를 포함할 수 있다.In addition, the method for controlling inertia driving of an electric bicycle according to another aspect of the present invention comprises the steps of: a) determining whether the inertial driving state is in an inertial driving state by checking the pedal speed in the inertial driving control unit; checking whether the vehicle speed is above the reference vehicle speed; c) performing a control to set the torque of the motor to 0 when the vehicle speed is less than the reference vehicle speed; It may include the step of performing control to make the motor torque to 0 by gradually decreasing the torque from the current motor torque over time.
본 발명의 실시예에서, 상기 d) 단계의 이전에 상기 관성 주행 제어부에서 현재 주행로의 경사도를 제1상태인 평지 또는 오르막길과 제2상태인 내리막길인지 확인하는 단계를 더 포함할 수 있다.In an embodiment of the present invention, before step d), the method may further include the step of determining, in the inertial driving control unit, whether the slope of the current traveling path is a flat road or an uphill road in the first state and a downhill road in the second state.
본 발명의 실시예에서, 상기 d) 단계를 수행함에 있어서, 경사도가 제1상태이면, 상기 관성 주행 제어부가 모터의 토크를 현재의 모터 토크로부터 시간의 경과에 따라 점차 감소시켜 모터 토크를 0으로 만드는 제어를 수행할 수 있다.In an embodiment of the present invention, in performing step d), if the inclination is in the first state, the inertial driving control unit gradually decreases the torque of the motor from the current motor torque over time to reduce the motor torque to zero. Create control can be performed.
본 발명의 실시예에서, 상기 경사도가 제2상태이면, 상기 관성 주행 제어부가 모터 토크를 0 또는 설정된 고정 토크와 동일하게 설정하고, 유지할 수 있다.In an embodiment of the present invention, when the inclination is in the second state, the inertial driving control unit may set and maintain the motor torque equal to 0 or the set fixed torque.
본 발명의 실시예에서, 상기 b) 단계를 수행함에 있어서, 관성 주행을 제어할 지 여부를 결정하는 기준 속도를 식별하는 단계를 더 포함할 수 있다.In an embodiment of the present invention, in performing step b), the method may further include identifying a reference speed for determining whether to control the inertia driving.
본 발명의 실시예에서, 상기 d) 단계를 수행함에 있어서, 상기 차속에 대응하는 관성 주행 제어량과 제어 시간을 식별하는 단계; 및 상기 관성 주행 제어량과 제어 시간에 기초하여 관성 주행을 제어하는 단계를 더 포함할 수 있다.In an embodiment of the present invention, in performing step d), identifying an inertial driving control amount and control time corresponding to the vehicle speed; and controlling the inertia travel based on the inertia travel control amount and the control time.
본 발명은 관성 주행 개입시 모터에 공급되는 전류를 점차 감소시켜 일반 인력 자전거의 관성 주행에 상당한 관성 주행 거리 및 시간을 제공함으로써, 사용자가 일반 인력 자전거와 비교하여 동일한 관성 주행 감을 느낄 수 있도록 하여, 품질 불만이 발생하는 것을 방지할 수 있는 효과가 있다.The present invention gradually reduces the current supplied to the motor during inertial driving intervention to provide a considerable inertia driving distance and time for inertial driving of a general manpower bicycle, so that the user can feel the same inertia driving feeling compared to general manpower bicycles, It has the effect of preventing quality complaints from occurring.
또한, 본 발명은 관성 주행 여부를 확인하고, 노면의 경사도에 따라 관성 주행 개입 여부를 결정함으로써, 관성 주행시 안전사고의 발생을 방지함과 아울러 불필요한 전력의 소모를 방지할 수 있는 효과가 있다.In addition, the present invention has the effect of preventing the occurrence of a safety accident during inertial driving and preventing unnecessary power consumption by checking whether or not inertial driving is performed and determining whether to intervene in inertial driving according to the slope of the road surface.
도 1은 본 발명이 적용되는 전기자전거의 속도 제어장치의 구성도이다.1 is a block diagram of a speed control device for an electric bicycle to which the present invention is applied.
도 2는 본 발명의 바람직한 실시예의 관성 주행 제어 회로의 블록 구성도이다.2 is a block diagram of an inertial travel control circuit according to a preferred embodiment of the present invention.
도 3은 도 2에서 발전기 속도센서의 일실시 블록 구성도이다.3 is a block diagram of one embodiment of the generator speed sensor in FIG.
도 4는 본 발명의 바람직한 실시예에 따른 관성 주행 제어 방법의 순서도이다.4 is a flowchart of an inertial driving control method according to a preferred embodiment of the present invention.
도 5는 본 발명의 다른 실시예에 따른 관성 주행 제어 회로의 블록 구성도이다.5 is a block diagram of an inertial driving control circuit according to another embodiment of the present invention.
도 6은 본 발명의 다른 실시예에 따른 관성 주행 제어 방법의 순서도이다.6 is a flowchart of an inertial driving control method according to another embodiment of the present invention.
도 7은 본 발명의 또 다른 실시예에 따른 관성 주행 제어 방법의 순서도이다.7 is a flowchart of an inertial driving control method according to another embodiment of the present invention.
이하, 본 발명 전기자전거의 관성 주행 제어 회로 및 방법에 대하여 첨부한 도면을 참조하여 상세히 설명한다.Hereinafter, the inertia running control circuit and method of the present invention will be described in detail with reference to the accompanying drawings.
본 발명의 실시 예들은 당해 기술 분야에서 통상의 지식을 가진 자에게 본 발명을 더욱 완전하게 설명하기 위해 제공되는 것이며, 아래에 설명되는 실시 예들은 여러 가지 다른 형태로 변형될 수 있으며, 본 발명의 범위가 아래의 실시 예들로 한정되는 것은 아니다. 오히려, 이들 실시 예는 본 발명을 더욱 충실하고 완전하게 하며 당업자에게 본 발명의 사상을 완전하게 전달하기 위하여 제공되는 것이다.The embodiments of the present invention are provided to more completely explain the present invention to those of ordinary skill in the art, and the embodiments described below may be modified in various other forms, The scope is not limited to the following examples. Rather, these embodiments are provided so as to more fully and complete the present invention, and to fully convey the spirit of the present invention to those skilled in the art.
본 명세서에서 사용된 용어는 특정 실시 예를 설명하기 위하여 사용되며, 본 발명을 제한하기 위한 것이 아니다. 본 명세서에서 사용된 바와 같이 단수 형태는 문맥상 다른 경우를 분명히 지적하는 것이 아니라면, 복수의 형태를 포함할 수 있다. 또한, 본 명세서에서 사용되는 경우 "포함한다(comprise)" 및/또는"포함하는(comprising)"은 언급한 형상들, 숫자, 단계, 동작, 부재, 요소 및/또는 이들 그룹의 존재를 특정하는 것이며, 하나 이상의 다른 형상, 숫자, 동작, 부재, 요소 및/또는 그룹들의 존재 또는 부가를 배제하는 것이 아니다. 본 명세서에서 사용된 바와 같이, 용어 "및/또는"은 해당 열거된 항목 중 어느 하나 및 하나 이상의 모든 조합을 포함한다.　The terms used herein are used to describe specific embodiments, not to limit the present invention. As used herein, the singular form may include the plural form unless the context clearly dictates otherwise. Also, as used herein, “comprise” and/or “comprising” refers to the specific existence of the recited shapes, numbers, steps, actions, members, elements, and/or groups thereof. and does not exclude the presence or addition of one or more other shapes, numbers, movements, members, elements and/or groups. As used herein, the term “and/or” includes any one and all combinations of one or more of those listed items.
본 명세서에서 제1, 제2 등의 용어가 다양한 부재, 영역 및/또는 부위들을 설명하기 위하여 사용되지만, 이들 부재, 부품, 영역, 층들 및/또는 부위들은 이들 용어에 의해 한정되지 않음은 자명하다. 이들 용어는 특정 순서나 상하, 또는 우열을 의미하지 않으며, 하나의 부재, 영역 또는 부위를 다른 부재, 영역 또는 부위와 구별하기 위하여만 사용된다. 따라서, 이하 상술할 제1 부재, 영역 또는 부위는 본 발명의 가르침으로부터 벗어나지 않고서도 제2 부재, 영역 또는 부위를 지칭할 수 있다.Although the terms first, second, etc. are used herein to describe various elements, regions and/or regions, it is to be understood that these elements, parts, regions, layers and/or regions are not limited by these terms. . These terms do not imply a specific order, upper and lower, or superiority, and are used only to distinguish one member, region or region from another member, region or region. Accordingly, a first member, region, or region described below may refer to a second member, region, or region without departing from the teachings of the present invention.
이하, 본 발명의 실시 예들은 본 발명의 실시 예들을 개략적으로 도시하는 도면들을 참조하여 설명한다. 도면들에 있어서, 예를 들면, 제조 기술 및/또는 공차에 따라, 도시된 형상의 변형들이 예상될 수 있다. 따라서, 본 발명의 실시 예는 본 명세서에 도시된 영역의 특정 형상에 제한된 것으로 해석되어서는 아니 되며, 예를 들면 제조상 초래되는 형상의 변화를 포함하여야 한다.Hereinafter, embodiments of the present invention will be described with reference to the drawings schematically illustrating embodiments of the present invention. In the drawings, variations of the illustrated shape may be expected, for example depending on manufacturing technology and/or tolerances. Therefore, the embodiment of the present invention should not be construed as limited to the specific shape of the region shown in the present specification, but should include, for example, a change in shape caused by manufacturing.
도 1은 본 발명이 적용되는 전기자전거 속도제어장치의 구조도이고, 도 2는 본 발명의 바람직한 실시예에 따른 전기자전거의 관성 주행 제어 회로를 나타낸다.1 is a structural diagram of an electric bicycle speed control device to which the present invention is applied, and FIG. 2 shows an electric bicycle inertial running control circuit according to a preferred embodiment of the present invention.
도 1과 도 2를 각각 참조하면 전기자전거 속도제어장치(1)는 전기자전거의 속도를 제어하기 위해 페달(32)과 구동 휠(22)의 위치 관계와 속도를 이용한다.1 and 2, respectively, the electric bicycle speed control device 1 uses the positional relationship and speed of the pedal 32 and the driving wheel 22 to control the speed of the electric bicycle.
일반적인 체인을 사용하는 자전거는 페달과 휠이 체인을 통해 기계적으로 연결되어 있으므로, 페달이 회전하는 만큼 바퀴도 회전하게 된다.In a bicycle using a general chain, since the pedal and the wheel are mechanically connected through the chain, the wheel rotates as much as the pedal rotates.
그런데 체인이 없는 전기자전거는 기계적인 연결이 없으므로 페달이 회전하는 만큼 바퀴도 회전하도록 하기 위해서는 둘 사이의 위치 관계를 이용하여야 한다.However, since an e-bike without a chain has no mechanical connection, the positional relationship between the two must be used in order to make the wheel rotate as much as the pedal rotates.
위치 제어기(2)는 발전기 위치센서(7)에 의해 측정한 페달(32)의 위치(θp)와 모터 위치센서(4)를 이용해 측정한 휠(22)의 위치(θw)에 의해 휠(22)의 속도 지령(Nw*)을 만들어낸다. The position controller 2 controls the wheel 22 by the position θp of the pedal 32 measured by the generator position sensor 7 and the position θw of the wheel 22 measured using the motor position sensor 4 . ) of the speed command (Nw*).
즉, θp - θw = 0의 식과 같이, 페달(32)의 위치와 휠(22)의 위치의 차이가 0이 되도록 휠(22)의 속도를 제어하여 페달(32)의 위치와 휠(22)의 위치가 일치하도록 하려는 것이다.That is, by controlling the speed of the wheel 22 so that the difference between the position of the pedal 32 and the position of the wheel 22 becomes 0, as in the equation of θp - θw = 0, the position of the pedal 32 and the wheel 22 to match the position of
휠속도 제어기(14)는 휠의 속도 지령과 모터 속도센서(5)를 이용해 측정한 실제 휠(22)의 속도(Nw) 및 발전기 속도센서(12)를 이용해 측정한 페달(32)의 속도(Np)에 의해 휠(22) 속도 제어를 위한 토크 지령(Tw*)을 생성한다. The wheel speed controller 14 includes the wheel speed command, the actual wheel speed Nw measured using the motor speed sensor 5, and the pedal 32 speed measured using the generator speed sensor 12 ( Np) generates a torque command Tw* for wheel 22 speed control.
또한 체인이 있는 자전거와 같은 페달(32) 감을 생성하기 위해 페달(32)의 토크 지령(Tp*)도 생성하는데 페달(32)의 토크 지령에는 어시스트 레벨(Assist Level)이 적용된다. In addition, a torque command Tp* of the pedal 32 is also generated to generate a feeling of the pedal 32 like a bicycle with a chain, and an assist level is applied to the torque command of the pedal 32 .
이와 같은 구성에서 본 발명 관성 주행 제어 회로(10)는 일부의 구성을 상기 전기자전거의 속도제어장치(1)와 공유한다. 관성 주행시에는 페달(32)의 회전속도가 0이지만, 휠(22)은 계속 구동하는 상태가 된다.In this configuration, the inertial driving control circuit 10 of the present invention shares a part of the configuration with the speed control device 1 of the electric bicycle. During inertia driving, the rotation speed of the pedal 32 is 0, but the wheel 22 is continuously driven.
본 발명 관성 주행 제어 회로(10)는 페달의 속도를 검출하는 상기 발전기 속도센서(12)와, 모터(20)의 회전속도를 검출하는 모터 속도센서(13)와, 상기 발전기 속도센서(12)에서 검출된 페달 속도에 따라 관성 주행 여부를 확인함과 아울러 상기 모터 속도센서(13)에서 검출된 전기자전거의 속도 및 속도 변화에 근거하여 관성 주행 제어를 수행하는 관성 주행 제어부(11)와, 상기 관성 주행 제어부(11)의 제어에 따라 게이트 구동신호의 펄스폭 변조를 수행하여 모터(20)의 속도를 제어하는 휠속도 제어기(14)를 포함한다.The inertial travel control circuit 10 of the present invention includes the generator speed sensor 12 for detecting the speed of the pedal, the motor speed sensor 13 for detecting the rotational speed of the motor 20, and the generator speed sensor 12 an inertial driving control unit 11 that checks whether inertial driving is performed according to the pedal speed detected in and a wheel speed controller 14 for controlling the speed of the motor 20 by performing pulse width modulation of the gate driving signal according to the control of the inertial driving controller 11 .
이하, 상기와 같이 구성되는 본 발명의 바람직한 실시예에 따른 관성 주행 제어 회로(10)의 구성과 작용에 대하여 보다 상세히 설명한다.Hereinafter, the configuration and operation of the inertial travel control circuit 10 according to the preferred embodiment of the present invention configured as described above will be described in more detail.
먼저, 관성 주행 제어부(11)는 발전기 속도센서(12)를 통해 검출된 페달 속도에 따른 제어를 수행한다.First, the inertial travel control unit 11 performs control according to the pedal speed detected through the generator speed sensor 12 .
관성 주행 제어부(11)는 실질적으로 주행을 제어하는 제어부를 사용할 수 있으며, 필요에 따라 관성 주행만을 제어하는 별도의 제어부를 사용할 수 있다.The inertia driving control unit 11 may use a control unit that substantially controls driving, and may use a separate control unit that controls only inertia driving if necessary.
무체인 전기자전거의 경우 페달의 회전속도에 비례하는 차속제어가 이루어진다. 구체적으로 페달의 회전수가 높을 수록 모터(20)의 회전 속도를 비례하여 증가시키는 제어를 수행한다.In the case of an e-bike without a vehicle, the vehicle speed is controlled in proportion to the rotational speed of the pedal. Specifically, as the number of rotations of the pedal increases, control is performed to increase the rotation speed of the motor 20 in proportion.
본 발명의 일 실시예에 따르면, 관성 주행 제어부(11)는 발전기 속도센서(12)에서 검출된 페달 속도에 기초하여 관성 주행 상태를 판단할 수 있다. 예를 들어, 관성 주행 제어부(11)는 발전기 속도센서(12)에서 검출된 페달 속도가 0rpm일 때, 관성 주행 상태로 판단할 수 있다. 다만, 페달 속도는 0 rpm에 한정되지 않으며, 관성 주행 상태라고 판단될 수 있는 정도의 낮은 페달 속도를 포함할 수 있다. According to an embodiment of the present invention, the inertial driving control unit 11 may determine the inertial driving state based on the pedal speed detected by the generator speed sensor 12 . For example, when the pedal speed detected by the generator speed sensor 12 is 0 rpm, the inertial driving control unit 11 may determine the inertial driving state. However, the pedal speed is not limited to 0 rpm, and may include a pedal speed low enough to be determined as an inertia driving state.
본 발명의 설명에서 관성 주행 상태와 관성 주행 제어는 다른 의미로 사용된다.In the description of the present invention, the inertial running state and the inertial running control are used with different meanings.
관성 주행 상태는, 페달(32)이 회전하지 않는 상태를 의미한다.The inertia running state means a state in which the pedal 32 does not rotate.
관성 주행 제어는, 관성 주행 상태에서 관성 주행 제어부(11)가 전기자전거의 속도와 감속여부에 따라 본 발명에서 제시하는 전류 제어를 수행하는 것을 뜻한다.The inertia driving control means that the inertial driving control unit 11 performs the current control proposed in the present invention according to the speed and deceleration of the electric bicycle in the inertial driving state.
관성 주행 제어부(11)는 룩업 테이블을 저장하는 메모리를 포함하는 프로세서일 수 있으며, 룩업 테이블에는 관성 주행 제어의 조건과 그 조건에 부합하는 제어상태 정보가 포함될 수 있다.The inertia driving control unit 11 may be a processor including a memory for storing a lookup table, and the lookup table may include conditions of the inertia driving control and control state information matching the conditions.
발전기 속도센서(12)는 페달의 속도를 검출하는 알려진 방법을 사용할 수 있다. 예를 들어 페달의 위치 정보를 검출하고, 위치 정보의 변화에 따른 가속도를 연산하여 페달의 위치 정보를 확인할 수 있다.The generator speed sensor 12 may use a known method for detecting the speed of the pedal. For example, the position information of the pedal may be detected by detecting the position information of the pedal and calculating an acceleration according to a change in the position information.
도 3은 발전기 속도센서(12)의 일예를 도시하였다.3 shows an example of the generator speed sensor 12 .
발전기 속도센서(12)는 페달(32)의 위치를 검출하는 페달 위치 검출부(12a)와, 페달 위치 검출부(12a)에서 시간의 변화에 따라 검출된 페달(32)의 위치 정보를 이용하여 페달의 속도를 연산하는 페달 속도 연산부(12b)를 포함할 수 있다.The generator speed sensor 12 includes a pedal position detection unit 12a that detects the position of the pedal 32, and the position information of the pedal 32 detected according to a change in time by the pedal position detection unit 12a. It may include a pedal speed calculating unit 12b for calculating the speed.
페달 속도 연산부(12b)는 회전 가속도를 연산한다.The pedal speed calculating unit 12b calculates the rotational acceleration.
이와 같은 발전기 속도센서(12)의 구성은 하나의 예이며, 통상의 각속도센서를 이용하여 페달 속도를 검출할 수 있다.The configuration of such a generator speed sensor 12 is an example, and a pedal speed can be detected using a conventional angular speed sensor.
발전기 속도센서(12)에서 검출된 페달 속도가 0rpm인 경우, 상기 관성 주행 제어부(11)는 현재 관성 주행 상태임을 확인할 수 있다.When the pedal speed detected by the generator speed sensor 12 is 0 rpm, the inertial driving control unit 11 may confirm that the inertial driving state is present.
관성 주행 상태임을 확인한 관성 주행 제어부(11)는 모터 속도센서(13)에서 검출된 현재 전기자전거의 주행 속도를 확인한다.The inertia driving control unit 11, which has confirmed the inertial driving state, checks the current driving speed of the electric bicycle detected by the motor speed sensor 13 .
이때 모터 속도센서(13)는 모터(20)의 시간당 회전수를 구동 휠과의 비를 고려하여 연산함으로써 전기자전거의 차속을 구할 수 있다.In this case, the motor speed sensor 13 calculates the number of revolutions per hour of the motor 20 in consideration of the ratio with the driving wheel to obtain the vehicle speed of the electric bicycle.
이때 모터의 회전자 위치 검출과 가속도를 이용할 수 있으며, 기타 알려진 다른 속도 검출 방법을 적용할 수 있다.In this case, the rotor position detection and acceleration of the motor may be used, and other known speed detection methods may be applied.
상기 모터 속도센서(13)에서 검출한 주행 속도가 기준 속도 미만이면, 상기 관성 주행 제어부(11)는 모터(20)의 토크가 0이 되도록 하는 제어지령을 출력한다. When the traveling speed detected by the motor speed sensor 13 is less than the reference speed, the inertial traveling control unit 11 outputs a control command for making the torque of the motor 20 become zero.
관성 주행 제어부(11)의 제어에 따라 휠속도 제어기(14)는 모터(20)의 토크가 0이 되도록 제어한다.The wheel speed controller 14 controls the torque of the motor 20 to be 0 according to the control of the inertia driving controller 11 .
즉, 관성 주행 상태 진입시 속도가 기준 속도 미만인 경우, 모터(20)의 토크를 0으로 하여, 관성력의 감소에 따라 점차 속도가 감소되도록 할 수 있다. 이때 사용자에 의해 조작될 수 있는 브레이크의 작용은 설명의 편의를 위하여 생략되었다. That is, when the speed is less than the reference speed when the inertial driving state is entered, the torque of the motor 20 may be set to 0, so that the speed may be gradually decreased according to the decrease of the inertial force. In this case, the action of the brake that can be operated by the user is omitted for convenience of description.
기준 속도 미만에서 본 발명이 제안하는 관성 주행 제어를 수행하지 않는 이유는 속도가 낮은 경우, 운전자의 정지 의향 또는 충돌 등 위험요소가 있어 감속하는 경우로 판단하여 추가적인 토크를 제공하지 않는 것으로 이해될 수 있다. The reason for not performing the inertia driving control proposed by the present invention at less than the reference speed is determined to be a case of decelerating due to a risk factor such as a driver's intention to stop or a collision when the speed is low, and thus it can be understood that additional torque is not provided. there is.
또한, 모터 속도센서(13)에서 검출한 차속이 기준 속도 이상인 경우, 상기 관성 주행 제어부(11)는 관성 주행 제어를 수행한다.Also, when the vehicle speed detected by the motor speed sensor 13 is equal to or greater than the reference speed, the inertial travel control unit 11 performs the inertial travel control.
관성 주행 제어부(11)의 관성 주행 제어는 모터(20)에 공급되는 전류를 완전히 차단하지 않고, 추가적인 전류를 공급하여 관성 토크를 유지한다.The inertial travel control of the inertial travel control unit 11 does not completely block the current supplied to the motor 20 , but supplies an additional current to maintain the inertia torque.
여기서 관성 토크는 본 발명에서 정의되는 개념으로, 본 발명이 적용되는 무체인 전기자전거의 관성 주행 유지시간 및 관성 주행 거리를 일반 자전거의 관성 주행 유지시간 및 관성 주행 거리와 동일하게 되도록 모터(20)에 공급되는 전류와 그 전류에 의해 발생되는 토크를 의미한다.Here, the inertia torque is a concept defined in the present invention, so that the inertia running holding time and inertial running distance of the non-chain electric bicycle to which the present invention is applied are the same as the inertial running holding time and inertia running distance of a general bicycle. It means the current supplied to and the torque generated by the current.
이와 같은 상태에서 시간의 경과에 따라 추가적인 전류의 공급량을 설정된 감소비에 따라 감소시켜 모터(20)의 관성 주행 토크를 점차적으로 감소시키는 제어를 수행한다.In this state, control is performed to gradually reduce the inertial driving torque of the motor 20 by reducing the supply amount of the additional current according to the set reduction ratio over time.
즉, 관성 주행 제어부(11)는 관성 주행 제어시 앞서 설명한 바와 같이 전기자전거의 무게에 의해 일반 인력 자전거의 관성 주행 상태에 비하여 상대적으로 느린 주행 속도와 주행 거리를 보상하는 제어를 수행하게 된다.That is, the inertial driving control unit 11 performs a control to compensate for the relatively slow driving speed and mileage compared to the inertial driving state of the general manpower bicycle by the weight of the electric bicycle as described above during inertial driving control.
도 4는 본 발명의 바람직한 실시예에 따른 전기자전거의 관성 주행 제어 방법의 순서도이다.4 is a flowchart of a method for controlling inertia running of an electric bicycle according to a preferred embodiment of the present invention.
도 4를 참조하면, 관성 주행 제어부(11)에서 페달(32) 속도를 확인하여, 관성 주행 상태인지 판단하는 단계(S41)와, 관성 주행 상태일 때 차속이 기준 차속 이상인지 확인하는 단계(S42)와, 기준 차속 미만이면, 모터(20)의 토크를 0으로 만드는 단계(S43)와, 기준 차속 이상이면, 모터(20)의 토크를 현재의 모터 토크로부터 시간의 경과에 따라 점차 감소시켜 모터 토크를 0으로 만드는 단계(S44)를 포함한다.Referring to FIG. 4 , the inertial driving control unit 11 checks the pedal 32 speed to determine whether the inertial driving state is in the inertial driving state (S41), and in the inertial driving state, determining whether the vehicle speed is greater than or equal to the reference vehicle speed (S42) ) and, if it is less than the reference vehicle speed, step S43 of making the torque of the motor 20 to 0, and if it is greater than the reference vehicle speed, the torque of the motor 20 is gradually reduced from the current motor torque over time. and making the torque zero (S44).
상기 S43 단계와 S44단계의 수행 중에 페달이 회전하는 경우, 관성 주행 상태가 해제됨으로 판단하여 정상 주행 동작을 수행한다. 또한 감속을 위한 브레이크 레버가 동작하는 경우에도 관성 주행 상태가 해제됨으로 판단하여 정상 주행 동작을 수행할 수 있다.When the pedal rotates during the steps S43 and S44, it is determined that the inertia driving state is released and a normal driving operation is performed. In addition, even when the brake lever for deceleration is operated, it is determined that the inertia driving state is released and a normal driving operation may be performed.
이처럼 본 발명은 종래와 다르게 전기자전거의 관성 주행 상태에서 급격한 속도의 감소와 관성 주행 거리의 단축을 방지하여, 일반 자전거와 동등한 관성 주행 느낌을 줄 수 있다.As such, the present invention can provide an inertia driving feeling equivalent to that of a general bicycle by preventing a sudden decrease in speed and shortening of the inertial driving distance in the inertial driving state of the electric bicycle, unlike the prior art.
도 5는 본 발명의 다른 실시예에 따른 전기자전거의 관성 주행 제어 회로의 블록 구성도이다.5 is a block diagram of an inertial driving control circuit of an electric bicycle according to another embodiment of the present invention.
도 5를 참조하면 본 발명은, 페달의 속도를 검출하는 발전기 속도센서(12)와, 모터(20)의 주행속도를 검출하는 모터 속도센서(13)와, 주행로의 경사도를 검출하는 경사도 검출부(15)와, 상기 발전기 속도센서(12)에서 검출된 페달 속도에 따라 관성 주행 여부를 확인함과 아울러 상기 모터 속도센서(13)에서 검출된 전기자전거의 속도 및 속도 변화에 근거하여 관성 주행 제어를 수행하되, 경사도 검출부(15)에서 검출된 경사도에 따라 수행하는 관성 주행 제어부(11)와, 상기 관성 주행 제어부(11)의 제어에 따라 게이트 구동신호의 펄스폭 변조를 수행하여, 구동전류를 모터(20)에 공급하는 휠속도 제어기(14)를 포함한다.Referring to Figure 5, the present invention, the generator speed sensor 12 for detecting the speed of the pedal, the motor speed sensor 13 for detecting the running speed of the motor 20, and the gradient detection unit for detecting the gradient of the running path (15) and checking whether inertial driving is performed according to the pedal speed detected by the generator speed sensor 12 and controlling the inertial driving based on the speed and speed change of the e-bike detected by the motor speed sensor 13 The inertia traveling control unit 11 performed according to the slope detected by the slope detection unit 15, and the pulse width modulation of the gate driving signal under the control of the inertial traveling control unit 11 to obtain a driving current It includes a wheel speed controller 14 that supplies the motor 20 .
이하, 상기와 같이 구성되는 본 발명의 다른 실시예에 따른 전기자전거의 관성 주행 제어 회로의 구성과 작용에 대하여 설명한다.Hereinafter, the configuration and operation of the inertial driving control circuit of the electric bicycle according to another embodiment of the present invention configured as described above will be described.
먼저, 관성 주행 제어부(11)는 발전기 속도센서(12)를 통해 검출된 페달 속도를 확인하여, 현재 전기자전거가 관성 주행 상태인지 확인한다.First, the inertial driving control unit 11 checks the pedal speed detected through the generator speed sensor 12, and confirms whether the current electric bicycle is in an inertial driving state.
구체적으로, 관성 주행 제어부(11)는 발전기 속도센서(12)에서 검출된 페달 속도가 0rpm일 때, 관성 주행 상태로 판단할 수 있다.Specifically, when the pedal speed detected by the generator speed sensor 12 is 0 rpm, the inertial driving control unit 11 may determine the inertial driving state.
관성 주행 제어부(11)는 룩업 테이블을 저장하는 메모리를 포함하는 프로세서일 수 있으며, 룩업 테이블에는 관성 주행 제어의 조건과 그 조건에 부합하는 제어상태 정보가 포함될 수 있다. 또한 룩업 테이블에는 전기자전거의 주행로 경사정도와, 그 경사정도에 따른 구체적인 전류 제어 정보가 포함될 수 있다.The inertia driving controller 11 may be a processor including a memory for storing a lookup table, and the lookup table may include conditions of the inertia driving control and control state information matching the conditions. In addition, the lookup table may include a degree of inclination of a traveling path of the electric bicycle and specific current control information according to the degree of inclination.
관성 주행 상태임을 확인한 관성 주행 제어부(11)는 모터 속도센서(13)에서 검출된 현재 전기자전거의 주행 속도를 확인한다.The inertia driving control unit 11, which has confirmed the inertial driving state, checks the current driving speed of the electric bicycle detected by the motor speed sensor 13 .
이때 모터 속도센서(13)는 모터(20)의 시간당 회전수를 구동 휠과의 비를 고려하여 연산함으로써 전기자전거의 차속을 구할 수 있다.In this case, the motor speed sensor 13 may calculate the vehicle speed of the electric bicycle by calculating the number of revolutions per hour of the motor 20 in consideration of the ratio with the driving wheel.
상기 모터 속도센서(13)에서 검출한 주행 속도가 기준 속도 미만이면, 상기 관성 주행 제어부(11)는 모터(20)의 토크가 0이 되도록 하는 제어지령을 출력한다. When the traveling speed detected by the motor speed sensor 13 is less than the reference speed, the inertial traveling control unit 11 outputs a control command for making the torque of the motor 20 become zero.
즉, 기준 속도 미만의 저속에서는 관성 주행시 전기자전거와 일반 자전거의 관성 주행 속도 감소폭 및 주행거리가 유사하기 때문에 제어 개입을 하지 않는 것으로 할 수 있다.That is, at a low speed less than the reference speed, control intervention may not be performed because the reduction in the inertia running speed and the mileage of the e-bike and the general bicycle are similar during inertia driving.
위에서 모터 속도센서(13)에서 검출한 차속이 기준 속도 이상인 경우, 상기 관성 주행 제어부(11)는 관성 주행 제어를 수행한다.When the vehicle speed detected by the motor speed sensor 13 above is equal to or greater than the reference speed, the inertial travel control unit 11 performs the inertial travel control.
이때, 관성 주행 제어부(11)는 경사도 검출부(15)에서 검출된 경사도에 따라 다른 제어를 수행한다.At this time, the inertia traveling control unit 11 performs different controls according to the inclination detected by the inclination detection unit 15 .
상기 경사도 검출부(15)는 두 가지 상태에 대한 경사도를 검출하는 것으로 한다.It is assumed that the gradient detection unit 15 detects gradients for two states.
경사도 검출부(15)는 페달이 회전하지 않는 상태에서 차속의 변화를 이용하여 경사도를 검출하는 것일 수 있다.The inclination detecting unit 15 may detect the inclination by using a change in vehicle speed in a state in which the pedal does not rotate.
즉, 현재 모터 속도센서(13)에서 검출된 차속이, 이전 상태의 모터 속도센서(13)에서 검출된 차속에 비하여 같거나 감소하는 경우, 평지 또는 오르막길인 제1경사도로 판단할 수 있다.That is, when the vehicle speed detected by the current motor speed sensor 13 is equal to or reduced compared to the vehicle speed detected by the motor speed sensor 13 in the previous state, it may be determined as the first slope, which is a flat ground or an uphill road.
반대로 현재 모터 속도센서(13)에서 검출된 차속이, 이전 상태의 모터 속도센서(13)에서 검출된 차속에 비하여 더 빠른 경우, 내리막길인 제2경사도로 판단할 수 있다.Conversely, when the vehicle speed detected by the current motor speed sensor 13 is faster than the vehicle speed detected by the motor speed sensor 13 in the previous state, it may be determined as a second slope that is a downhill road.
앞서 설명한 바와 같이 본 발명은 관성 주행시 추가적인 전류를 모터(20)에 공급하여 관성 주행 속도를 상대적으로 높이고, 관성 주행 거리를 높이는 제어를 수행하는 것이지만, 내리막길인 제2경사도에서 속도를 더 증가시키는 것은 위험할 수 있으므로, 평지 또는 오르막길인 제1경사도인 경우에만 앞서 설명한 관성 주행 제어를 수행하도록 한다.As described above, in the present invention, an additional current is supplied to the motor 20 during inertia driving to relatively increase the inertial driving speed and control to increase the inertial driving distance. Since it may be dangerous, the inertia driving control described above should be performed only in the case of the first slope, which is a flat or uphill road.
제2경사도에서는 급격한 속도의 가속이 이루어지지 않도록 모터 토크를 0으로 제어하거나, 모터 토크를 강제로 설정된 일정한 고정 토크로 구동 제어함으로써, 마치 차량의 엔진브레이크를 사용한 주행과 같이 속도의 급격한 증가를 방지할 수 있다.In the second slope, the motor torque is controlled to 0 so that the sudden acceleration of the speed is not made, or the motor torque is controlled to be driven with a fixed constant torque set forcibly, so as to prevent a sudden increase in speed like driving using the engine brake of the vehicle. can do.
이때의 고정 토크는 앞서 언급한 관성 토크의 초기값에 비하여 더 작은 값으로 할 수 있다.At this time, the fixed torque may be set to a smaller value than the initial value of the aforementioned inertia torque.
이처럼 본 발명은 다양한 조건에 부합하는 경우 전기자전거의 관성 주행 상태에 개입하여 제어함으로써, 일반 자전거의 관성 주행 속도 및 거리에 부합하는 전기자전거의 관성 주행 속도 및 거리를 제공할 수 있다.As such, the present invention can provide the inertia running speed and distance of the e-bike that matches the inertial running speed and distance of a general bicycle by intervening and controlling the inertial running state of the e-bike when various conditions are satisfied.
또한, 본 발명은 내리막길에서는 안전을 위해 감속에 도움이 되는 제어를 수행함으로써, 안전사고 발생 방지에 도움을 줄 수 있는 특징이 있다.In addition, the present invention has a feature that can help prevent a safety accident by performing a control helpful for deceleration for safety on a downhill road.
도 6은 본 발명의 다른 실시예에 따른 전기자전거의 관성 주행 제어 방법의 순서도이다.6 is a flowchart of a method for controlling inertia running of an electric bicycle according to another embodiment of the present invention.
도 6을 참조하면 본 발명의 다른 실시예에 따른 전기자전거의 관성 주행 제어 방법은, 관성 주행 제어부(11)에서 페달(32) 속도를 확인하여, 관성 주행 상태인지 판단하는 단계(S61)와, 관성 주행 상태일 때 차속이 기준 차속 이상인지 확인하는 단계(S62)와, 기준 차속 미만이면, 모터(20)의 토크를 0으로 만드는 단계(S63)와, 기준 차속 이상이면, 현재 주행로의 경사도를 확인하는 단계(S64)와, 상기 S64단계의 확인 결과 경사로가 내리막길인 경우, 모터(20)의 토크를 0 또는 설정 고정 토크로 설정하는 단계(S65)와, 상기 S64단계의 확인 결과 경사로가 평지 또는 오르막길인 경우, 모터(20)의 토크로부터 시간의 경과에 따라 점차 감소시켜 모터 토크를 0으로 만드는 단계(S66)를 포함한다.Referring to FIG. 6 , the inertial driving control method of an electric bicycle according to another embodiment of the present invention includes the steps of determining whether the inertial driving state is in the inertial driving state by checking the pedal 32 speed in the inertial driving control unit 11 (S61); Checking whether the vehicle speed is equal to or greater than the reference vehicle speed in the inertial driving state (S62); if the vehicle speed is less than the reference vehicle speed, setting the torque of the motor 20 to zero (S63); (S64) of confirming, and if the slope is downhill as a result of the confirmation of step S64, setting the torque of the motor 20 to 0 or a set fixed torque (S65); In the case of a flat road or an uphill road, the torque of the motor 20 is gradually decreased over time to make the motor torque 0 (S66).
이와 같이 본 발명은 페달의 회전 여부의 판단, 차속의 판단 및 경사도의 판단을 통해 안전한 상태에서 전기자전거의 관성 주행 제어를 수행하여, 일반 자전거의 관성 주행에 부합하는 전기자전거의 관성 주행 상태를 제공할 수 있다.As described above, the present invention performs inertial running control of the e-bike in a safe state through determination of whether the pedal is rotated, determination of vehicle speed and determination of inclination, thereby providing an inertial running state of the e-bike that conforms to the inertia running of a general bicycle. can do.
또한, 내리막길에서의 관성 주행에서 모터의 토크를 고정 제어하여, 급격한 가속이 발생함을 방지하여 안전을 확보할 수 있다.In addition, it is possible to secure safety by preventing sudden acceleration by fixedly controlling the torque of the motor during inertial driving on a downhill road.
그리고 내리막길에서의 급격한 가속을 방지하여 브레이크의 부담을 경감시켜, 안정성을 높일 수 있다.In addition, by preventing sudden acceleration on a downhill road, the load on the brake can be reduced, and stability can be improved.
도 7은 본 발명의 또 다른 실시예에 따른 관성 주행 제어 방법의 순서도이다.7 is a flowchart of an inertial driving control method according to another embodiment of the present invention.
도 7에서 제시하는 관성 주행 제어 방법은 앞서 도 1 내지 도 6에서 설명하는 전기자전거의 구성을 인용하여 설명한다.The inertial driving control method presented in FIG. 7 will be described with reference to the configuration of the electric bicycle described above with reference to FIGS. 1 to 6 .
도 7을 참조하면, 관성 주행 제어부(11)는 전기자전거가 관성 주행 상태인지 판단한다(S71). 본 발명의 일 실시예에 따르면, 관성 주행 제어부(11)는 발전기 속도센서(12)에서 검출된 페달 속도에 기초하여 관성 주행 상태를 판단할 수 있다. 예를 들어, 관성 주행 제어부(11)는 발전기 속도센서(12)에서 검출된 페달 속도가 0rpm일 때, 관성 주행 상태로 판단할 수 있다. 다만, 페달 속도는 0 rpm에 한정되지 않으며, 관성 주행 상태라고 판단될 수 있는 정도의 낮은 페달 속도를 포함할 수 있다. 이 때, 관성 주행 제어부(11)는 낮은 페달 속도에 대응하는 값을 미리 설정할 수 있다.Referring to FIG. 7 , the inertial driving control unit 11 determines whether the electric bicycle is in an inertial driving state ( S71 ). According to an embodiment of the present invention, the inertial driving control unit 11 may determine the inertial driving state based on the pedal speed detected by the generator speed sensor 12 . For example, when the pedal speed detected by the generator speed sensor 12 is 0 rpm, the inertial driving control unit 11 may determine the inertial driving state. However, the pedal speed is not limited to 0 rpm, and may include a pedal speed low enough to be determined as an inertia driving state. In this case, the inertia driving control unit 11 may preset a value corresponding to the low pedal speed.
전기자전거가 관성 주행 상태이면(S71의 예), 관성 주행 제어부(11)는 관성 주행을 제어하는 기준 속도를 식별할 수 있다(S72). 이 때, 전기자전거 속도제어장치(1)는 관성 주행 제어부(11)와 별도로 기준 속도를 식별하는 기준 속도 식별부(미도시)를 추가로 포함할 수 있다. If the e-bike is in the inertial driving state (YES in S71), the inertial driving controller 11 may identify a reference speed for controlling the inertial driving (S72). In this case, the electric bicycle speed control device 1 may further include a reference speed identification unit (not shown) for identifying the reference speed separately from the inertia driving control unit 11 .
관성 주행을 제어하는 기준 속도의 경우, 복수의 인자 중 적어도 하나의 인자, 예를 들어, 1) 사용자의 몸무게 및 짐 무게를 포함하는 전체 전기자전거의 무게, 2) 노면의 마찰 계수, 3) 바람의 방향과 속도, 4) 노면의 경사도, 5) 페달링을 멈춘 시점의 속도를 고려하여 결정될 수 있다. 이는, 전기자전거가 감지하는 무게, 특정 시점에서의 바람 속도, 특정 지역에서의 마찰계수 등 인자에 따라 관성 주행을 제어할 지 여부를 결정하는 기준 속도가 달라질 수 있기 때문이다.In the case of the reference speed for controlling the inertia driving, at least one factor among a plurality of factors, for example, 1) the weight of the entire electric bicycle including the user's weight and the weight of the load, 2) the friction coefficient of the road surface, 3) the wind direction and speed, 4) the inclination of the road surface, and 5) the speed when pedaling is stopped. This is because the reference speed for determining whether to control the inertial driving may vary depending on factors such as the weight sensed by the e-bike, the wind speed at a specific point in time, and the friction coefficient in a specific area.
이 때, 각 인자에 대응하는 데이터는 각 인자를 측정하는 센서(미도시)를 통하여 감지되거나, 외부에서 정보를 수신하는 등 그 데이터의 획득 방법에 제한이 없다.In this case, the data corresponding to each factor is sensed through a sensor (not shown) that measures each factor, or information is received from the outside, and there is no limitation in a method of acquiring the data.
복수의 인자 중 노면의 마찰 계수는 전기자전거의 주행을 통해 받는 저항 중 하나인 구름저항을 계산하기 위해 이용될 수 있고, 바람의 방향과 속도는 사용자의 체격 단면적 대비 공기 저항을 계산하기 위해 이용될 수 있다.Among the plurality of factors, the friction coefficient of the road surface can be used to calculate rolling resistance, which is one of the resistances received through the running of the electric bicycle, and the wind direction and speed can be used to calculate the air resistance compared to the user's body cross-sectional area. can
관성 주행 상태일 때 차속이 기준 속도 이상이면(S73의 예), 관성 주행 제어부(11)는 관성 주행 제어량과 제어 시간을 식별하고, 그에 기초하여 제어한다(S74). 관성 주행 제어부(11)는 S72에서 기준 속도를 식별할 때 이용한 적어도 하나의 인자에 대한 데이터를 이용하여 관성 주행 제어량과 제어 시간을 식별하고, 그에 기초하여 전기자전거의 관성 주행을 제어할 수 있다.If the vehicle speed is equal to or greater than the reference speed in the inertial driving state (YES in S73), the inertial driving control unit 11 identifies the inertial driving control amount and the control time, and performs control based thereon (S74). The inertia driving control unit 11 may identify the inertial driving control amount and the control time using data on at least one factor used when identifying the reference speed in S72, and control the inertial driving of the electric bicycle based thereon.
관성 주행 상태일 때 차속이 기준 속도 미만이면(S73의 아니오), 모터(20)의 토크를 0으로 만든다(S75). 다만, 이에 한정되지 않고, 차속이 기준 속도 미만인 경우에도, 관성 주행 제어부(11)는 S72에서 기준 속도를 식별할 때 이용한 적어도 하나의 인자에 대한 데이터를 이용하여 관성 주행 제어량과 제어 시간을 식별하고, 그에 기초하여 전기자전거의 관성 주행을 제어할 수 있다.If the vehicle speed is less than the reference speed in the inertial driving state (No in S73), the torque of the motor 20 is set to 0 (S75). However, the present invention is not limited thereto, and even when the vehicle speed is less than the reference speed, the inertial driving control unit 11 identifies the inertial driving control amount and the control time using data on at least one factor used when identifying the reference speed in S72, , it is possible to control the inertia running of the electric bicycle based on it.
본 발명의 일 실시예에 따르면, 전기자전거의 주행 속도에 영향을 미치는 다양한 인자를 고려하여 보다 정확한 관성 주행 제어를 할 수 있다.According to an embodiment of the present invention, more accurate inertial driving control can be performed in consideration of various factors affecting the running speed of the electric bicycle.
본 발명은 상기 실시예에 한정되지 않고 본 발명의 기술적 요지를 벗어나지 아니하는 범위 내에서 다양하게 수정, 변형되어 실시될 수 있음은 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에 있어서 자명한 것이다.It is apparent to those of ordinary skill in the art that the present invention is not limited to the above embodiments and can be implemented with various modifications and variations without departing from the technical gist of the present invention. will be.

Claims (15)

  1. 페달 속도를 검출하는 발전기 속도센서;Generator speed sensor for detecting the pedal speed;
    차속을 검출하는 모터 속도센서;a motor speed sensor for detecting vehicle speed;
    상기 발전기 속도센서에서 검출된 페달 속도 및 차속 정보에 따라, 인력 자전거의 관성 주행의 속도 감소 정도 및 관성 주행 거리와 동일하도록 관성 주행 제어를 수행하는 관성 주행 제어부; 및an inertial driving control unit configured to perform inertial driving control to be the same as the speed reduction degree and inertial driving distance of the human bicycle according to the pedal speed and vehicle speed information detected by the generator speed sensor; and
    상기 관성 주행 제어부의 제어에 따라 모터를 구동하는 휠속도 제어기를 포함하는 전기자전거의 관성 주행 제어 회로.and a wheel speed controller for driving a motor according to the control of the inertial driving control unit.
  2. 제1항에 있어서,The method of claim 1,
    상기 관성 주행 제어부는,The inertial driving control unit,
    상기 발전기 속도센서에서 검출한 페달 속도가 0rpm이며, 상기 차속이 기준속도 이상인 경우, 관성 주행 제어를 수행 하는 것을 특징으로 하는 전기자전거의 관성 주행 제어 회로.When the pedal speed detected by the generator speed sensor is 0 rpm and the vehicle speed is equal to or greater than a reference speed, the inertial driving control circuit for an electric bicycle, characterized in that the inertia driving control is performed.
  3. 제1항에 있어서,According to claim 1,
    주행로의 경사도를 검출하는 경사도 검출부를 더 포함하는 전기자전거의 관성 주행 제어 회로.The inertial running control circuit of the electric bicycle further comprising a gradient detection unit for detecting the gradient of the running path.
  4. 제3항에 있어서,4. The method of claim 3,
    상기 경사도 검출부는,The inclination detection unit,
    상기 모터 속도센서에서 검출된 현재 속도와 이전 상태에서 검출된 속도의 관계를 이용하여, 제1상태인 평지 또는 오르막길과 제2상태인 내리막길을 검출하는 전기자전거의 관성 주행 제어 회로.An inertia running control circuit for an electric bicycle that detects a first state of a flat road or an uphill road and a second state of a downhill road by using the relationship between the current speed detected by the motor speed sensor and the speed detected in the previous state.
  5. 제4항에 있어서,5. The method of claim 4,
    상기 관성 주행 제어부는,The inertial driving control unit,
    상기 경사도 검출부의 검출결과 제1상태일 때, 상기 모터의 토크를 설정된 관성 토크로 설정하고, 시간의 경과에 따라 감소시켜 모터의 토크를 0으로 만들며,When the detection result of the inclination detection unit is in the first state, the torque of the motor is set to a set inertia torque, and the torque of the motor is made 0 by decreasing it over time,
    상기 경사도 검출부의 검출결과 제2상태일 때, 상기 모터의 토크를 0으로 하거나, 설정된 고정 토크로 설정하고 유지하는 것을 특징으로 하는 전기자전거의 관성 주행 제어 회로.The inertia running control circuit of the electric bicycle, characterized in that when the detection result of the inclination detection unit is in the second state, the torque of the motor is set to 0 or a set fixed torque is set and maintained.
  6. 제1항 내지 제5항 중 어느 한 항에 있어서,6. The method according to any one of claims 1 to 5,
    상기 발전기 속도센서는,The generator speed sensor,
    페달의 위치를 검출하는 페달 위치 검출부; 및a pedal position detection unit for detecting the position of the pedal; and
    시간에 따른 상기 페달 위치의 변화에 따라 회전 가속도를 연산하는 페달 속도 연산부를 포함하는 전기자전거의 관성 주행 제어 회로.The inertial running control circuit of an electric bicycle including a pedal speed calculator for calculating rotational acceleration according to a change in the pedal position according to time.
  7. a) 관성 주행 제어부에서 페달 속도를 확인하여, 관성 주행 상태인지 판단하는 단계;a) determining whether the inertia driving state by checking the pedal speed in the inertial driving control unit;
    b) 관성 주행 상태일 때 차속이 기준 차속 이상인지 확인하는 단계;b) determining whether the vehicle speed is equal to or greater than a reference vehicle speed in the inertial driving state;
    c) 차속이 기준 차속 미만이면, 상기 관성 주행 제어부가 모터의 토크를 0으로 만드는 제어를 수행하는 단계; 및c) when the vehicle speed is less than the reference vehicle speed, performing, by the inertial driving control unit, control to set the torque of the motor to zero; and
    d) 차속이 기준 차속 이상이면, 상기 관성 주행 제어부가 모터의 토크를 현재의 모터 토크로부터 시간의 경과에 따라 점차 감소시켜 모터 토크를 0으로 만드는 제어를 수행하는 단계를 포함하는 전기자전거의 관성 주행 제어 방법.d) when the vehicle speed is equal to or greater than the reference vehicle speed, the inertial driving control unit gradually decreases the motor torque from the current motor torque over time to reduce the motor torque to zero. control method.
  8. 제7항에 있어서,8. The method of claim 7,
    상기 d) 단계의 이전에 상기 관성 주행 제어부에서 현재 주행로의 경사도를 제1상태인 평지 또는 오르막길과 제2상태인 내리막길인지 확인하는 단계를 더 포함하는 전기자전거의 관성 주행 제어 방법.The inertial driving control method of the electric bicycle further comprising the step of confirming, in the inertial driving control unit, whether the slope of the current driving route is a first state of a flat road or an uphill road and a second state of a downhill road before the step d).
  9. 제8항에 있어서,9. The method of claim 8,
    상기 d) 단계를 수행함에 있어서, 경사도가 제1상태이면, 상기 관성 주행 제어부가 모터의 토크를 현재의 모터 토크로부터 시간의 경과에 따라 점차 감소시켜 모터 토크를 0으로 만드는 제어를 수행하는 것을 특징으로 하는 전기자전거의 관성 주행 제어 방법.In performing step d), if the inclination is in the first state, the inertial driving control unit performs control to make the motor torque to 0 by gradually decreasing the torque of the motor from the current motor torque over time. A method for controlling inertia running of an electric bicycle.
  10. 제9항에 있어서,10. The method of claim 9,
    상기 경사도가 제2상태이면, 상기 관성 주행 제어부가 모터 토크를 0 또는 설정된 고정 토크와 동일하게 설정하고, 유지하는 것을 특징으로 하는 전기자전거의 관성 주행 제어 방법.When the inclination is in the second state, the inertia driving control unit sets the motor torque equal to 0 or a set fixed torque, and maintains the motor torque.
  11. 제1항에 있어서,According to claim 1,
    상기 관성 주행 제어부는,The inertial driving control unit,
    발전기 속도센서에서 검출된 페달 속도에 기초하여 관성 주행 상태를 판단하는 전기자전거의 관성 주행 제어 회로.An inertial driving control circuit of an electric bicycle that determines the inertial driving state based on the pedal speed detected by the generator speed sensor.
  12. 제1항에 있어서,The method of claim 1,
    상기 관성 주행 제어부는,The inertial driving control unit,
    관성 주행을 제어할 지 여부를 결정하는 기준 속도를 식별하고,identify a reference speed that determines whether to control inertial travel;
    상기 차속이 상기 식별된 기준속도 이상인 경우, 관성 주행 제어를 수행 하는 것을 특징으로 하는 전기자전거의 관성 주행 제어 회로.When the vehicle speed is equal to or greater than the identified reference speed, the inertia driving control circuit of the electric bicycle, characterized in that the inertia driving control is performed.
  13. 제1항에 있어서,According to claim 1,
    상기 관성 주행 제어부는,The inertial driving control unit,
    관성 주행을 제어할 지 여부를 결정하는 기준 속도를 식별하고,identify a reference speed that determines whether to control inertial travel;
    상기 차속이 상기 식별된 기준속도 이상인 경우, 상기 차속에 대응하는 관성 주행 제어량과 제어 시간을 식별하고,when the vehicle speed is equal to or greater than the identified reference speed, identifying an inertial driving control amount and control time corresponding to the vehicle speed;
    상기 관성 주행 제어량과 제어 시간에 기초하여 관성 주행을 제어하는 전기자전거의 관성 주행 제어 회로. An inertia running control circuit for an electric bicycle that controls inertial running based on the inertial running control amount and control time.
  14. 제7항에 있어서,8. The method of claim 7,
    상기 b) 단계를 수행함에 있어서, 관성 주행을 제어할 지 여부를 결정하는 기준 속도를 식별하는 단계를 더 포함하는 전기자전거의 관성 주행 제어 방법.In performing step b), the method further comprising the step of identifying a reference speed for determining whether to control the inertia running.
  15. 제14항에 있어서,15. The method of claim 14,
    상기 d) 단계를 수행함에 있어서,In performing step d),
    상기 차속에 대응하는 관성 주행 제어량과 제어 시간을 식별하는 단계; 및identifying an inertial driving control amount and control time corresponding to the vehicle speed; and
    상기 관성 주행 제어량과 제어 시간에 기초하여 관성 주행을 제어하는 단계를 더 포함하는 전기자전거의 관성 주행 제어 방법.The inertial driving control method of an electric bicycle further comprising the step of controlling the inertial driving based on the inertial driving control amount and the control time.
PCT/KR2021/012634 2020-09-15 2021-09-15 Circuit and method for controlling inertial driving of electric bicycle WO2022060107A1 (en)

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